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Tango: Added texture to meshes #57

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This commit is contained in:
matlabbe
2016-03-21 15:45:26 -04:00
parent 1b4539a0df
commit bc78f789eb
6 changed files with 381 additions and 133 deletions
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app/android/jni/scene.cpp
+50 -8
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@@ -60,6 +60,26 @@ const std::string kPointCloudFragmentShader =
" gl_FragColor = vec4(v_color.z, v_color.y, v_color.x, 1.0);\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"
"void main() {\n"
" gl_Position = mvp*vec4(vertex.x, vertex.y, vertex.z, 1.0);\n"
" v_TexCoordinate = a_TexCoordinate;\n"
"}\n";
const std::string kTextureMeshFragmentShader =
"precision mediump float;\n"
"precision mediump int;\n"
"uniform sampler2D u_Texture;\n"
"varying vec2 v_TexCoordinate;\n"
"void main() {\n"
" gl_FragColor = texture2D(u_Texture, v_TexCoordinate);\n"
"}\n";
const std::string kGraphVertexShader =
"precision mediump float;\n"
"precision mediump int;\n"
@@ -92,6 +112,7 @@ Scene::Scene() :
traceVisible_(true),
currentPose_(0),
cloud_shader_program_(0),
texture_mesh_shader_program_(0),
graph_shader_program_(0),
meshRendering_(true),
pointSize_(3.0f) {}
@@ -130,6 +151,11 @@ void Scene::InitGLContent()
cloud_shader_program_ = tango_gl::util::CreateProgram(kPointCloudVertexShader.c_str(), kPointCloudFragmentShader.c_str());
UASSERT(cloud_shader_program_ != 0);
}
if(texture_mesh_shader_program_ == 0)
{
texture_mesh_shader_program_ = tango_gl::util::CreateProgram(kTextureMeshVertexShader.c_str(), kTextureMeshFragmentShader.c_str());
UASSERT(texture_mesh_shader_program_ != 0);
}
if(graph_shader_program_ == 0)
{
graph_shader_program_ = tango_gl::util::CreateProgram(kGraphVertexShader.c_str(), kGraphFragmentShader.c_str());
@@ -156,6 +182,10 @@ void Scene::DeleteResources() {
glDeleteShader(cloud_shader_program_);
cloud_shader_program_ = 0;
}
if (texture_mesh_shader_program_) {
glDeleteShader(texture_mesh_shader_program_);
texture_mesh_shader_program_ = 0;
}
if (graph_shader_program_) {
glDeleteShader(graph_shader_program_);
graph_shader_program_ = 0;
@@ -372,11 +402,12 @@ void Scene::setTraceVisible(bool visible)
}
//Should only be called in OpenGL thread!
void Scene::addOrUpdateCloud(
void Scene::addCloud(
int id,
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const std::vector<pcl::Vertices> & polygons,
const rtabmap::Transform & pose)
const rtabmap::Transform & pose,
const cv::Mat & image)
{
LOGI("addOrUpdateCloud cloud %d", id);
std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
@@ -387,16 +418,22 @@ void Scene::addOrUpdateCloud(
}
//create
UASSERT(cloud_shader_program_ != 0);
PointCloudDrawable * drawable = new PointCloudDrawable(cloud_shader_program_, cloud, polygons);
UASSERT(cloud_shader_program_ != 0 && texture_mesh_shader_program_!=0);
PointCloudDrawable * drawable = new PointCloudDrawable(
image.empty()?cloud_shader_program_:0,
image.empty()?0:texture_mesh_shader_program_,
cloud,
polygons,
image);
drawable->setPose(pose);
pointClouds_.insert(std::make_pair(id, drawable));
}
void Scene::addOrUpdateCloud(
void Scene::addCloud(
int id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const std::vector<pcl::Vertices> & polygons,
const rtabmap::Transform & pose)
const rtabmap::Transform & pose,
const cv::Mat & image)
{
LOGI("addOrUpdateCloud cloud %d", id);
std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
@@ -407,8 +444,13 @@ void Scene::addOrUpdateCloud(
}
//create
UASSERT(cloud_shader_program_ != 0);
PointCloudDrawable * drawable = new PointCloudDrawable(cloud_shader_program_, cloud, polygons);
UASSERT(cloud_shader_program_ != 0 && texture_mesh_shader_program_!=0);
PointCloudDrawable * drawable = new PointCloudDrawable(
image.empty()?cloud_shader_program_:0,
image.empty()?0:texture_mesh_shader_program_,
cloud,
polygons,
image);
drawable->setPose(pose);
pointClouds_.insert(std::make_pair(id, drawable));
}