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Tango: updated UI

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This commit is contained in:
matlabbe
2017-06-28 13:59:20 -04:00
parent 64fc9f203e
commit ebada30984
19 changed files with 323 additions and 98 deletions
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19
app/android/jni/RTABMapApp.cpp
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@@ -298,7 +298,11 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
optTexture_ = cv::Mat();
cv::Mat cloudMat;
std::vector<std::vector<std::vector<unsigned int> > > polygons;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
#else
std::vector<std::vector<Eigen::Vector2f> > texCoords;
#endif
cv::Mat textures;
std::map<int, rtabmap::Transform> optPoses;
if(!databaseSource.empty())
@@ -1051,6 +1055,7 @@ int RTABMapApp::Render()
pcl::fromPCLPointCloud2(optMesh_->cloud, *mesh.cloud);
pcl::fromPCLPointCloud2(optMesh_->cloud, *mesh.normals);
mesh.polygons = optMesh_->tex_polygons[0];
mesh.pose.setIdentity();
if(optMesh_->tex_coordinates.size())
{
mesh.texCoords = optMesh_->tex_coordinates[0];
@@ -1568,7 +1573,7 @@ int RTABMapApp::Render()
if(rtabmapEvents.size())
{
// send statistics to GUI
LOGW("Posting PostRenderEvent! %fs", renderingTime_);
LOGI("New data added to map, rendering time: %fs", renderingTime_);
UEventsManager::post(new PostRenderEvent(rtabmapEvents.back()));
rtabmapEvents.pop_back();
@@ -1740,6 +1745,10 @@ void RTABMapApp::setOrthoCropFactor(float value)
{
main_scene_.setOrthoCropFactor(value);
}
void RTABMapApp::setGridRotation(float value)
{
main_scene_.setGridRotation(value);
}
void RTABMapApp::setLighting(bool enabled)
{
main_scene_.setLighting(enabled);
@@ -2764,7 +2773,11 @@ bool RTABMapApp::postExportation(bool visualize)
{
cv::Mat cloudMat;
std::vector<std::vector<std::vector<unsigned int> > > polygons;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
#else
std::vector<std::vector<Eigen::Vector2f> > texCoords;
#endif
cv::Mat textures;
std::map<int, rtabmap::Transform> optPoses;
if(rtabmap_ && rtabmap_->getMemory())
@@ -2801,7 +2814,11 @@ bool RTABMapApp::writeExportedMesh(const std::string & directory, const std::str
pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
cv::Mat cloudMat;
std::vector<std::vector<std::vector<unsigned int> > > polygons;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
#else
std::vector<std::vector<Eigen::Vector2f> > texCoords;
#endif
cv::Mat textures;
std::map<int, rtabmap::Transform> optPoses;
if(rtabmap_ && rtabmap_->getMemory())