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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/scene.cpp
+2 -28
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@@ -402,32 +402,6 @@ void Scene::setTraceVisible(bool visible)
}
//Should only be called in OpenGL thread!
void Scene::addCloud(
int id,
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const std::vector<pcl::Vertices> & polygons,
const rtabmap::Transform & pose,
const cv::Mat & image)
{
LOGI("addOrUpdateCloud cloud %d", id);
std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
if(iter != pointClouds_.end())
{
delete iter->second;
pointClouds_.erase(iter);
}
//create
UASSERT(cloud_shader_program_ != 0 && texture_mesh_shader_program_!=0);
PointCloudDrawable * drawable = new PointCloudDrawable(
image.empty()?cloud_shader_program_:0,
image.empty()?0:texture_mesh_shader_program_,
cloud,
polygons,
image);
drawable->setPose(pose);
pointClouds_.insert(std::make_pair(id, drawable));
}
void Scene::addCloud(
int id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
@@ -446,8 +420,8 @@ void Scene::addCloud(
//create
UASSERT(cloud_shader_program_ != 0 && texture_mesh_shader_program_!=0);
PointCloudDrawable * drawable = new PointCloudDrawable(
image.empty()?cloud_shader_program_:0,
image.empty()?0:texture_mesh_shader_program_,
cloud->is_dense || image.empty()?cloud_shader_program_:0,
cloud->is_dense || image.empty()?0:texture_mesh_shader_program_,
cloud,
polygons,
image);