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Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering

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This commit is contained in:
matlabbe
2016-04-04 13:03:43 -04:00
parent ff32f54aa8
commit af405e69b1
22 changed files with 424 additions and 193 deletions
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app/android/jni/point_cloud_drawable.cpp
+43 -26
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@@ -46,7 +46,8 @@ PointCloudDrawable::PointCloudDrawable(
nPoints_(0),
pose_(1.0f),
visible_(true),
shader_program_(cloudShaderProgram!=0?cloudShaderProgram:textureShaderProgram)
cloud_shader_program_(cloudShaderProgram),
texture_shader_program_(textureShaderProgram)
{
UASSERT(!cloud->empty());
@@ -57,7 +58,7 @@ PointCloudDrawable::PointCloudDrawable(
return;
}
if(textureShaderProgram)
if(!cloud->is_dense && !image.empty())
{
LOGI("cloud=%dx%d image=%dx%d\n", (int)cloud->width, (int)cloud->height, image.cols, image.rows);
UASSERT(polygons.size() && !cloud->is_dense && !image.empty() && image.type() == CV_8UC3);
@@ -74,16 +75,19 @@ PointCloudDrawable::PointCloudDrawable(
std::vector<float> vertices;
if(textures_)
{
vertices = std::vector<float>(cloud->size()*5);
vertices = std::vector<float>(cloud->size()*6);
for(unsigned int i=0; i<cloud->size(); ++i)
{
vertices[i*5] = cloud->at(i).x;
vertices[i*5+1] = cloud->at(i).y;
vertices[i*5+2] = cloud->at(i).z;
vertices[i*6] = cloud->at(i).x;
vertices[i*6+1] = cloud->at(i).y;
vertices[i*6+2] = cloud->at(i).z;
// rgb
vertices[i*6+3] = cloud->at(i).rgb;
// texture uv
vertices[i*5+3] = float(i % cloud->width)/float(cloud->width); //u
vertices[i*5+4] = float(i/cloud->width)/float(cloud->height); //v
vertices[i*6+4] = float(i % cloud->width)/float(cloud->width); //u
vertices[i*6+5] = float(i/cloud->width)/float(cloud->height); //v
}
}
else
@@ -180,47 +184,60 @@ void PointCloudDrawable::Render(const glm::mat4 & projectionMatrix, const glm::m
if(vertex_buffers_ && nPoints_ && visible_)
{
glUseProgram(shader_program_);
GLuint mvp_handle_ = glGetUniformLocation(shader_program_, "mvp");
glm::mat4 mvp_mat = projectionMatrix * viewMatrix * pose_;
glUniformMatrix4fv(mvp_handle_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
if(textures_)
if(meshRendering && textures_)
{
glUseProgram(texture_shader_program_);
GLuint mvp_handle_ = glGetUniformLocation(texture_shader_program_, "mvp");
glm::mat4 mvp_mat = projectionMatrix * viewMatrix * pose_;
glUniformMatrix4fv(mvp_handle_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
// Texture activate unit 0
glActiveTexture(GL_TEXTURE0);
// Bind the texture to this unit.
glBindTexture(GL_TEXTURE_2D, textures_);
// Tell the texture uniform sampler to use this texture in the shader by binding to texture unit 0.
GLuint texture_handle = glGetUniformLocation(shader_program_, "u_Texture");
GLuint texture_handle = glGetUniformLocation(texture_shader_program_, "u_Texture");
glUniform1i(texture_handle, 0);
GLint attribute_vertex = glGetAttribLocation(shader_program_, "vertex");
GLint attribute_texture = glGetAttribLocation(shader_program_, "a_TexCoordinate");
GLint attribute_vertex = glGetAttribLocation(texture_shader_program_, "vertex");
GLint attribute_texture = glGetAttribLocation(texture_shader_program_, "a_TexCoordinate");
glEnableVertexAttribArray(attribute_vertex);
glEnableVertexAttribArray(attribute_texture);
glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
glVertexAttribPointer(attribute_vertex, 3, GL_FLOAT, GL_FALSE, 5*sizeof(GLfloat), 0);
glVertexAttribPointer(attribute_texture, 2, GL_FLOAT, GL_FALSE, 5*sizeof(GLfloat), (GLvoid*) (3 * sizeof(GLfloat)));
glVertexAttribPointer(attribute_vertex, 3, GL_FLOAT, GL_FALSE, 6*sizeof(GLfloat), 0);
glVertexAttribPointer(attribute_texture, 2, GL_FLOAT, GL_FALSE, 6*sizeof(GLfloat), (GLvoid*) (4 * sizeof(GLfloat)));
glDrawElements(GL_TRIANGLES, polygons_.size(), GL_UNSIGNED_SHORT, polygons_.data());
}
else // point cloud or colored mesh
{
GLuint point_size_handle_ = glGetUniformLocation(shader_program_, "point_size");
glUseProgram(cloud_shader_program_);
GLuint mvp_handle_ = glGetUniformLocation(cloud_shader_program_, "mvp");
glm::mat4 mvp_mat = projectionMatrix * viewMatrix * pose_;
glUniformMatrix4fv(mvp_handle_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
GLuint point_size_handle_ = glGetUniformLocation(cloud_shader_program_, "point_size");
glUniform1f(point_size_handle_, pointSize);
GLint attribute_vertex = glGetAttribLocation(shader_program_, "vertex");
GLint attribute_color = glGetAttribLocation(shader_program_, "color");
GLint attribute_vertex = glGetAttribLocation(cloud_shader_program_, "vertex");
GLint attribute_color = glGetAttribLocation(cloud_shader_program_, "color");
glEnableVertexAttribArray(attribute_vertex);
glEnableVertexAttribArray(attribute_color);
glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
glVertexAttribPointer(attribute_vertex, 3, GL_FLOAT, GL_FALSE, 4*sizeof(GLfloat), 0);
glVertexAttribPointer(attribute_color, 3, GL_UNSIGNED_BYTE, GL_TRUE, 4*sizeof(GLfloat), (GLvoid*) (3 * sizeof(GLfloat)));
if(textures_)
{
glVertexAttribPointer(attribute_vertex, 3, GL_FLOAT, GL_FALSE, 6*sizeof(GLfloat), 0);
glVertexAttribPointer(attribute_color, 3, GL_UNSIGNED_BYTE, GL_TRUE, 6*sizeof(GLfloat), (GLvoid*) (3 * sizeof(GLfloat)));
}
else
{
glVertexAttribPointer(attribute_vertex, 3, GL_FLOAT, GL_FALSE, 4*sizeof(GLfloat), 0);
glVertexAttribPointer(attribute_color, 3, GL_UNSIGNED_BYTE, GL_TRUE, 4*sizeof(GLfloat), (GLvoid*) (3 * sizeof(GLfloat)));
}
if(meshRendering && polygons_.size())
{
glDrawElements(GL_TRIANGLES, polygons_.size(), GL_UNSIGNED_SHORT, polygons_.data());