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Tango: fixed black clouds. Rtabmap: only add latest optimized pose to graph if localized.

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matlabbe
2016-12-05 13:27:29 -05:00
parent 3c17049084
commit e5524ddc1d
6 changed files with 23 additions and 12 deletions
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app/android/jni/point_cloud_drawable.cpp
+1 -1
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@@ -336,7 +336,7 @@ void PointCloudDrawable::Render(const glm::mat4 & projectionMatrix, const glm::m
GLuint point_size_handle_ = glGetUniformLocation(cloud_shader_program_, "point_size");
glUniform1f(point_size_handle_, pointSize);
GLuint gain_handle = glGetUniformLocation(texture_shader_program_, "u_gain");
GLuint gain_handle = glGetUniformLocation(cloud_shader_program_, "u_gain");
glUniform1f(gain_handle, gain_);
GLint attribute_vertex = glGetAttribLocation(cloud_shader_program_, "vertex");