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Tango: Added Level of detail rendering depending on the distance from the camera

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This commit is contained in:
matlabbe
2017-03-05 21:48:18 -05:00
parent fed9d4ef3b
commit 9f65ef199b
10 changed files with 192 additions and 26 deletions
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app/android/jni/scene.cpp
+21 -9
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@@ -352,6 +352,14 @@ int Scene::Render() {
}
}
float fov = 45.0f;
rtabmap::Transform openglCamera = GetOpenGLCameraPose(&fov)*rtabmap::Transform(0.0f, 0.0f, 3.0f, 0.0f, 0.0f, 0.0f);
// transform in same coordinate as frustum filtering
openglCamera *= rtabmap::Transform(
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
-1.0f, 0.0f, 0.0f, 0.0f);
int cloudDrawn=0;
if(mapRendering_ && frustumCulling_)
{
@@ -375,13 +383,6 @@ int Scene::Render() {
if(oi)
{
float fov = 45.0f;
rtabmap::Transform openglCamera = GetOpenGLCameraPose(&fov)*rtabmap::Transform(0.0f, 0.0f, 3.0f, 0.0f, 0.0f, 0.0f);
// transform in same coordinate as frustum filtering
openglCamera *= rtabmap::Transform(
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
-1.0f, 0.0f, 0.0f, 0.0f);
pcl::IndicesPtr indices = rtabmap::util3d::frustumFiltering(
cloud,
pcl::IndicesPtr(new std::vector<int>),
@@ -399,7 +400,13 @@ 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_, lighting_);
std::map<int, PointCloudDrawable*>::const_iterator iter = pointClouds_.find(ids[indices->at(i)]);
Eigen::Vector3f cloudToCamera(
iter->second->getPose().x() - openglCamera.x(),
iter->second->getPose().y() - openglCamera.y(),
iter->second->getPose().z() - openglCamera.z());
float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];
iter->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_, lighting_, distanceToCameraSqr);
}
}
}
@@ -410,7 +417,12 @@ int Scene::Render() {
if((mapRendering_ || iter->first < 0) && iter->second->isVisible())
{
++cloudDrawn;
iter->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_, lighting_);
Eigen::Vector3f cloudToCamera(
iter->second->getPose().x() - openglCamera.x(),
iter->second->getPose().y() - openglCamera.y(),
iter->second->getPose().z() - openglCamera.z());
float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];
iter->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_, lighting_, distanceToCameraSqr);
}
}
}