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Tango: Added texture to meshes #57

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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.h
+7 -4
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@@ -96,16 +96,18 @@ class Scene {
void setGraphVisible(bool visible);
void setTraceVisible(bool visible);
void addOrUpdateCloud(
void addCloud(
int id,
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const std::vector<pcl::Vertices> & polygons,
const rtabmap::Transform & pose);
void addOrUpdateCloud(
const rtabmap::Transform & pose,
const cv::Mat & image = cv::Mat());
void 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 = cv::Mat());
void setCloudPose(int id, const rtabmap::Transform & pose);
void setCloudVisible(int id, bool visible);
@@ -140,6 +142,7 @@ class Scene {
// Shader to display point cloud.
GLuint cloud_shader_program_;
GLuint texture_mesh_shader_program_;
GLuint graph_shader_program_;
bool meshRendering_;