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Tango: Added Settings/Optimized Mesh/Sketchfab Upload

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This commit is contained in:
matlabbe
2017-01-26 16:46:24 -05:00
parent 66ee792e8c
commit 3a73414972
27 changed files with 4441 additions and 2029 deletions
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app/android/jni/scene.cpp
+90 -39
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@@ -42,47 +42,87 @@ const glm::vec3 kFrustumScale = glm::vec3(0.4f, 0.3f, 0.5f);
const std::string kPointCloudVertexShader =
"precision mediump float;\n"
"precision mediump int;\n"
"attribute vec3 vertex;\n"
"attribute vec3 color;\n"
"uniform mat4 mvp;\n"
"uniform float point_size;\n"
"varying vec3 v_color;\n"
"attribute vec3 aVertex;\n"
"attribute vec3 aNormal;\n"
"attribute vec3 aColor;\n"
"uniform mat4 uMVP;\n"
"uniform mat3 uN;\n"
"uniform vec3 uAmbientColor;\n"
"uniform vec3 uLightingDirection;\n"
"uniform bool uUseLighting;\n"
"uniform float uPointSize;\n"
"varying vec3 vColor;\n"
"varying float vLightWeighting;\n"
"void main() {\n"
" gl_Position = mvp*vec4(vertex.x, vertex.y, vertex.z, 1.0);\n"
" gl_PointSize = point_size;\n"
" v_color = color;\n"
" gl_Position = uMVP*vec4(aVertex.x, aVertex.y, aVertex.z, 1.0);\n"
" gl_PointSize = uPointSize;\n"
" if (!uUseLighting) {\n"
" vLightWeighting = vec3(1.0, 1.0, 1.0);\n"
" } else {\n"
" vec3 transformedNormal = uN * aNormal;\n"
" vLightWeighting = max(dot(transformedNormal, uLightingDirection), 0.0);\n"
" if(vLightWeighting<0.1) vLightWeighting=0.1;\n"
" }\n"
" vColor = aColor;\n"
"}\n";
const std::string kPointCloudFragmentShader =
"precision mediump float;\n"
"precision mediump int;\n"
"uniform float u_gain;\n"
"varying vec3 v_color;\n"
"uniform float uGain;\n"
"varying vec3 vColor;\n"
"varying float vLightWeighting;\n"
"void main() {\n"
" gl_FragColor = vec4(v_color.z*u_gain, v_color.y*u_gain, v_color.x*u_gain, 1.0);\n"
" vec4 textureColor = vec4(vColor.z*uGain, vColor.y*uGain, vColor.x*uGain, 1.0);\n"
" gl_FragColor = vec4(textureColor.rgb * uGain * vLightWeighting, textureColor.a);\n"
"}\n";
const std::string kTextureMeshVertexShader =
"precision mediump float;\n"
"precision mediump int;\n"
"attribute vec3 vertex;\n"
"attribute vec2 a_TexCoordinate;\n"
"uniform mat4 mvp;\n"
"varying vec2 v_TexCoordinate;\n"
"attribute vec3 aVertex;\n"
"attribute vec3 aNormal;\n"
"attribute vec2 aTexCoord;\n"
"uniform mat4 uMVP;\n"
"uniform mat3 uN;\n"
"uniform vec3 uAmbientColor;\n"
"uniform vec3 uLightingDirection;\n"
"uniform bool uUseLighting;\n"
"varying vec2 vTexCoord;\n"
"varying float vLightWeighting;\n"
"void main() {\n"
" gl_Position = mvp*vec4(vertex.x, vertex.y, vertex.z, 1.0);\n"
" v_TexCoordinate = a_TexCoordinate;\n"
" gl_Position = uMVP*vec4(aVertex.x, aVertex.y, aVertex.z, 1.0);\n"
" if(aTexCoord.x < 0.0) {\n"
" vTexCoord.x = 1.0;\n"
" vTexCoord.y = 1.0;\n" // bottom right corner
" } else {\n"
" vTexCoord = aTexCoord;\n"
" }\n"
" if (!uUseLighting) {\n"
" vLightWeighting = vec3(1.0, 1.0, 1.0);\n"
" } else {\n"
" vec3 transformedNormal = uN * aNormal;\n"
" vLightWeighting = max(dot(transformedNormal, uLightingDirection), 0.0);\n"
" if(vLightWeighting<0.1) vLightWeighting=0.1;\n"
" }\n"
"}\n";
const std::string kTextureMeshFragmentShader =
"precision mediump float;\n"
"precision mediump int;\n"
"uniform sampler2D u_Texture;\n"
"uniform float u_gain;\n"
"varying vec2 v_TexCoordinate;\n"
"uniform sampler2D uTexture;\n"
"uniform float uGain;\n"
"varying vec2 vTexCoord;\n"
"varying float vLightWeighting;\n"
"void main() {\n"
" gl_FragColor = texture2D(u_Texture, v_TexCoordinate);\n"
" gl_FragColor.x *= u_gain;\n"
" gl_FragColor.y *= u_gain;\n"
" gl_FragColor.z *= u_gain;\n"
" vec4 textureColor = texture2D(uTexture, vTexCoord);\n"
" gl_FragColor = vec4(textureColor.rgb * uGain * vLightWeighting, textureColor.a);\n"
"}\n";
const std::string kGraphVertexShader =
@@ -123,21 +163,31 @@ Scene::Scene() :
mapRendering_(true),
meshRendering_(true),
meshRenderingTexture_(true),
pointSize_(3.0f) {}
pointSize_(5.0f),
frustumCulling_(true),
lighting_(true)
{
gesture_camera_ = new tango_gl::GestureCamera();
gesture_camera_->SetCameraType(
tango_gl::GestureCamera::kFirstPerson);
}
Scene::~Scene() {DeleteResources();}
Scene::~Scene() {
DeleteResources();
delete gesture_camera_;
}
//Should only be called in OpenGL thread!
void Scene::InitGLContent()
{
if(gesture_camera_ != 0)
if(axis_ != 0)
{
DeleteResources();
}
UASSERT(gesture_camera_ == 0);
UASSERT(axis_ == 0);
gesture_camera_ = new tango_gl::GestureCamera();
axis_ = new tango_gl::Axis();
frustum_ = new tango_gl::Frustum();
trace_ = new tango_gl::Trace();
@@ -151,8 +201,6 @@ void Scene::InitGLContent()
trace_->SetColor(kTraceColor);
grid_->SetColor(kGridColor);
grid_->SetPosition(-kHeightOffset);
gesture_camera_->SetCameraType(
tango_gl::GestureCamera::kFirstPerson);
if(cloud_shader_program_ == 0)
{
@@ -175,15 +223,14 @@ void Scene::InitGLContent()
void Scene::DeleteResources() {
LOGI("Scene::DeleteResources()");
if(gesture_camera_)
if(axis_)
{
delete gesture_camera_;
delete axis_;
axis_ = 0;
delete frustum_;
delete trace_;
delete grid_;
delete currentPose_;
gesture_camera_ = 0;
}
if (cloud_shader_program_) {
@@ -288,9 +335,8 @@ int Scene::Render() {
gesture_camera_->GetViewMatrix());
}
bool frustumCulling = true;
int cloudDrawn=0;
if(mapRendering_ && frustumCulling)
if(mapRendering_ && frustumCulling_)
{
//Use camera frustum to cull nodes that don't need to be drawn
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
@@ -336,7 +382,7 @@ 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_, meshRenderingTexture_);
pointClouds_.find(ids[indices->at(i)])->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_, lighting_);
}
}
}
@@ -347,7 +393,7 @@ int Scene::Render() {
if((mapRendering_ || iter->first < 0) && iter->second->isVisible())
{
++cloudDrawn;
iter->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_);
iter->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_, lighting_);
}
}
}
@@ -426,7 +472,7 @@ void Scene::addCloud(
const pcl::IndicesPtr & indices,
const rtabmap::Transform & pose)
{
LOGI("add cloud %d", id);
LOGI("add cloud %d (%d points %d indices)", id, (int)cloud->size(), indices.get()?(int)indices->size():0);
std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
if(iter != pointClouds_.end())
{
@@ -496,6 +542,11 @@ bool Scene::hasCloud(int id) const
return pointClouds_.find(id) != pointClouds_.end();
}
bool Scene::hasMesh(int id) const
{
return pointClouds_.find(id) != pointClouds_.end() && pointClouds_.at(id)->hasMesh();
}
bool Scene::hasTexture(int id) const
{
return pointClouds_.find(id) != pointClouds_.end() && pointClouds_.at(id)->hasTexture();