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Tango #57: Added 720p option, Export PLY or OBJ, Added Rendering and Mapping menus, RtabmapThread: Fixed large covariance (9999) detection

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This commit is contained in:
matlabbe
2016-04-02 15:17:40 -04:00
parent d489cd48e9
commit 30e52b785a
15 changed files with 339 additions and 333 deletions
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app/android/jni/point_cloud_drawable.cpp
-118
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@@ -35,124 +35,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <GLES2/gl2.h>
PointCloudDrawable::PointCloudDrawable(
GLuint cloudShaderProgram,
GLuint textureShaderProgram,
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const std::vector<pcl::Vertices> & polygons,
const cv::Mat & image) :
vertex_buffers_(0),
textures_(0),
nPoints_(0),
pose_(1.0f),
visible_(true),
shader_program_(cloudShaderProgram!=0?cloudShaderProgram:textureShaderProgram)
{
UASSERT(!cloud->empty());
glGenBuffers(1, &vertex_buffers_);
if(!vertex_buffers_)
{
LOGE("OpenGL: could not generate vertex buffers\n");
return;
}
if(textureShaderProgram)
{
LOGI("cloud=%dx%d image=%dx%d\n", (int)cloud->width, (int)cloud->height, image.cols, image.rows);
UASSERT_MSG(polygons.size() && !cloud->is_dense && !image.empty() && image.type() == CV_8UC3,
uFormat("polygons=%d dense=%d image=%d", (int)polygons.size(), cloud->is_dense?1:0, image.type()).c_str());
glGenTextures(1, &textures_);
if(!textures_)
{
vertex_buffers_ = 0;
LOGE("OpenGL: could not generate vertex buffers\n");
return;
}
}
LOGI("Creating cloud buffer %d", vertex_buffers_);
std::vector<float> vertices;
if(textures_)
{
vertices = std::vector<float>(cloud->size()*5);
for(unsigned int i=0; i<cloud->size(); ++i)
{
vertices[i*5] = cloud->at(i).x;
vertices[i*5+1] = cloud->at(i).y;
vertices[i*5+2] = cloud->at(i).z;
// texture uv
vertices[i*5+3] = float(i % cloud->width)/float(cloud->width); //u
vertices[i*5+4] = float(i/cloud->width)/float(cloud->height); //v
}
}
else
{
vertices = std::vector<float>(cloud->size()*4);
for(unsigned int i=0; i<cloud->size(); ++i)
{
vertices[i*4] = cloud->at(i).x;
vertices[i*4+1] = cloud->at(i).y;
vertices[i*4+2] = cloud->at(i).z;
vertices[i*4+3] = cloud->at(i).rgb;
}
}
glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
glBufferData(GL_ARRAY_BUFFER, sizeof(GLfloat) * (int)vertices.size(), (const void *)vertices.data(), GL_STATIC_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, 0);
GLint error = glGetError();
if(error != GL_NO_ERROR)
{
LOGE("OpenGL: Could not allocate point cloud (0x%x)\n", error);
vertex_buffers_ = 0;
return;
}
if(textures_)
{
// gen texture from image
glBindTexture(GL_TEXTURE_2D, textures_);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
cv::Mat rgbImage;
cv::cvtColor(image, rgbImage, CV_BGR2RGB);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, rgbImage.cols, rgbImage.rows, 0, GL_RGB, GL_UNSIGNED_BYTE, (const void *)rgbImage.data);
glBindTexture(GL_TEXTURE_2D, 0);
GLint error = glGetError();
if(error != GL_NO_ERROR)
{
LOGE("OpenGL: Could not allocate texture (0x%x)\n", error);
textures_ = 0;
glDeleteBuffers(1, &vertex_buffers_);
vertex_buffers_ = 0;
return;
}
}
nPoints_ = cloud->size();
if(polygons.size())
{
int polygonSize = polygons[0].vertices.size();
UASSERT(polygonSize == 3);
polygons_.resize(polygons.size() * polygonSize);
int oi = 0;
for(unsigned int i=0; i<polygons.size(); ++i)
{
UASSERT((int)polygons[i].vertices.size() == polygonSize);
for(int j=0; j<polygonSize; ++j)
{
polygons_[oi++] = (unsigned short)polygons[i].vertices[j];
}
}
}
}
PointCloudDrawable::PointCloudDrawable(
GLuint cloudShaderProgram,
GLuint textureShaderProgram,