i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 08:47:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation

Browse Source
This commit is contained in:
matlabbe
2016-12-03 21:49:40 -05:00
parent d2287ab9f4
commit 3c17049084
15 changed files with 365 additions and 180 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app/android/jni/scene.h
+7 -1
View File
@@ -100,23 +100,29 @@ class Scene {
void addCloud(
int id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const rtabmap::Transform & pose);
void addMesh(
int id,
const Mesh & mesh,
const cv::Mat & texture,
const rtabmap::Transform & pose);
void setCloudPose(int id, const rtabmap::Transform & pose);
void setCloudVisible(int id, bool visible);
bool hasCloud(int id) const;
bool hasTexture(int id) const;
std::set<int> getAddedClouds() const;
void updateCloudPolygons(int id, const std::vector<pcl::Vertices> & polygons);
void updateMesh(int id, const Mesh & mesh);
void updateMesh(int id, const Mesh & mesh, const cv::Mat & texture);
void setMapRendering(bool enabled) {mapRendering_ = enabled;}
void setMeshRendering(bool enabled, bool withTexture) {meshRendering_ = enabled; meshRenderingTexture_ = withTexture;}
void setPointSize(float size) {pointSize_ = size;}
bool isMeshRendering() const {return meshRendering_;}
bool isMeshTexturing() const {return meshRendering_ && meshRenderingTexture_;}
private:
// Camera object that allows user to use touch input to interact with.
tango_gl::GestureCamera* gesture_camera_;