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Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option

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This commit is contained in:
matlabbe
2016-09-02 22:37:12 -04:00
parent 4bd9e4f847
commit e5074afdeb
17 changed files with 350 additions and 121 deletions
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app/android/jni/scene.cpp
+14 -5
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@@ -109,6 +109,7 @@ Scene::Scene() :
trace_(0),
graph_(0),
graphVisible_(true),
gridVisible_(true),
traceVisible_(true),
currentPose_(0),
cloud_shader_program_(0),
@@ -116,6 +117,7 @@ Scene::Scene() :
graph_shader_program_(0),
mapRendering_(true),
meshRendering_(true),
meshRenderingTexture_(true),
pointSize_(3.0f) {}
Scene::~Scene() {DeleteResources();}
@@ -275,9 +277,11 @@ int Scene::Render() {
}
}
grid_->Render(gesture_camera_->GetProjectionMatrix(),
gesture_camera_->GetViewMatrix());
if(gridVisible_)
{
grid_->Render(gesture_camera_->GetProjectionMatrix(),
gesture_camera_->GetViewMatrix());
}
bool frustumCulling = true;
int cloudDrawn=0;
@@ -327,7 +331,7 @@ int Scene::Render() {
for(unsigned int i=0; i<indices->size(); ++i)
{
++cloudDrawn;
pointClouds_.find(ids[indices->at(i)])->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_);
pointClouds_.find(ids[indices->at(i)])->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_);
}
}
}
@@ -338,7 +342,7 @@ int Scene::Render() {
if((mapRendering_ || iter->first < 0) && iter->second->isVisible())
{
++cloudDrawn;
iter->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_);
iter->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_);
}
}
}
@@ -400,6 +404,11 @@ void Scene::setGraphVisible(bool visible)
graphVisible_ = visible;
}
void Scene::setGridVisible(bool visible)
{
gridVisible_ = visible;
}
void Scene::setTraceVisible(bool visible)
{
traceVisible_ = visible;