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Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database

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This commit is contained in:
matlabbe
2017-04-01 14:14:36 -04:00
parent d68eeada0e
commit aa37ac6038
19 changed files with 271 additions and 113 deletions
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app/android/jni/point_cloud_drawable.cpp
+49 -32
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@@ -44,35 +44,41 @@ PointCloudDrawable::PointCloudDrawable(
GLuint textureShaderProgram,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
float gain) :
vertex_buffers_(0),
textures_(0),
nPoints_(0),
pose_(rtabmap::Transform::getIdentity()),
poseGl_(1.0f),
visible_(true),
hasNormals_(false),
cloud_shader_program_(cloudShaderProgram),
texture_shader_program_(textureShaderProgram),
gain_(1.0f)
float gainR,
float gainG,
float gainB) :
vertex_buffers_(0),
textures_(0),
nPoints_(0),
pose_(rtabmap::Transform::getIdentity()),
poseGl_(1.0f),
visible_(true),
hasNormals_(false),
cloud_shader_program_(cloudShaderProgram),
texture_shader_program_(textureShaderProgram),
gainR_(gainR),
gainG_(gainG),
gainB_(gainB)
{
updateCloud(cloud, indices, gain);
updateCloud(cloud, indices);
}
PointCloudDrawable::PointCloudDrawable(
GLuint cloudShaderProgram,
GLuint textureShaderProgram,
const Mesh & mesh) :
vertex_buffers_(0),
textures_(0),
nPoints_(0),
pose_(rtabmap::Transform::getIdentity()),
poseGl_(1.0f),
visible_(true),
hasNormals_(false),
cloud_shader_program_(cloudShaderProgram),
texture_shader_program_(textureShaderProgram),
gain_(1.0f)
vertex_buffers_(0),
textures_(0),
nPoints_(0),
pose_(rtabmap::Transform::getIdentity()),
poseGl_(1.0f),
visible_(true),
hasNormals_(false),
cloud_shader_program_(cloudShaderProgram),
texture_shader_program_(textureShaderProgram),
gainR_(1.0f),
gainG_(1.0f),
gainB_(1.0f)
{
updateMesh(mesh);
}
@@ -132,13 +138,12 @@ void PointCloudDrawable::updatePolygons(const std::vector<pcl::Vertices> & polyg
}
}
void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const pcl::IndicesPtr & indices, float gain)
void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const pcl::IndicesPtr & indices)
{
UASSERT(cloud.get() && !cloud->empty());
nPoints_ = 0;
polygons_.clear();
polygonsLowRes_.clear();
gain_ = gain;
verticesLowRes_.clear();
verticesLowLowRes_.clear();
aabbMinModel_ = aabbMinWorld_ = pcl::PointXYZ(1000,1000,1000);
@@ -264,7 +269,9 @@ void PointCloudDrawable::updateMesh(const Mesh & mesh)
vertex_buffers_ = 0;
}
gain_ = mesh.gain;
gainR_ = mesh.gains[0];
gainG_ = mesh.gains[1];
gainB_ = mesh.gains[2];
bool textureUpdate = false;
if(!mesh.texture.empty() && mesh.texture.type() == CV_8UC3)
@@ -513,14 +520,16 @@ void PointCloudDrawable::updateMesh(const Mesh & mesh)
glBindTexture(GL_TEXTURE_2D, textures_);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
cv::Mat rgbImage;
cv::cvtColor(mesh.texture, rgbImage, CV_BGR2RGB);
cv::cvtColor(mesh.texture, rgbImage, CV_BGR2RGBA);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
//glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
//glPixelStorei(GL_UNPACK_SKIP_PIXELS, 0);
//glPixelStorei(GL_UNPACK_SKIP_ROWS, 0);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, rgbImage.cols, rgbImage.rows, 0, GL_RGB, GL_UNSIGNED_BYTE, rgbImage.data);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, rgbImage.cols, rgbImage.rows, 0, GL_RGBA, GL_UNSIGNED_BYTE, rgbImage.data);
GLint error = glGetError();
if(error != GL_NO_ERROR)
@@ -636,8 +645,12 @@ void PointCloudDrawable::Render(const glm::mat4 & projectionMatrix,
GLuint texture_handle = glGetUniformLocation(texture_shader_program_, "uTexture");
glUniform1i(texture_handle, 0);
GLuint gain_handle = glGetUniformLocation(texture_shader_program_, "uGain");
glUniform1f(gain_handle, gain_);
GLuint gainR_handle = glGetUniformLocation(texture_shader_program_, "uGainR");
GLuint gainG_handle = glGetUniformLocation(texture_shader_program_, "uGainG");
GLuint gainB_handle = glGetUniformLocation(texture_shader_program_, "uGainB");
glUniform1f(gainR_handle, gainR_);
glUniform1f(gainG_handle, gainG_);
glUniform1f(gainB_handle, gainB_);
GLint attribute_vertex = glGetAttribLocation(texture_shader_program_, "aVertex");
GLint attribute_texture = glGetAttribLocation(texture_shader_program_, "aTexCoord");
@@ -705,8 +718,12 @@ void PointCloudDrawable::Render(const glm::mat4 & projectionMatrix,
GLuint point_size_handle_ = glGetUniformLocation(cloud_shader_program_, "uPointSize");
glUniform1f(point_size_handle_, pointSize);
GLuint gain_handle = glGetUniformLocation(cloud_shader_program_, "uGain");
glUniform1f(gain_handle, gain_);
GLuint gainR_handle = glGetUniformLocation(cloud_shader_program_, "uGainR");
GLuint gainG_handle = glGetUniformLocation(cloud_shader_program_, "uGainG");
GLuint gainB_handle = glGetUniformLocation(cloud_shader_program_, "uGainB");
glUniform1f(gainR_handle, gainR_);
glUniform1f(gainG_handle, gainG_);
glUniform1f(gainB_handle, gainB_);
GLint attribute_vertex = glGetAttribLocation(cloud_shader_program_, "aVertex");
GLint attribute_color = glGetAttribLocation(cloud_shader_program_, "aColor");