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Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option

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This commit is contained in:
matlabbe
2016-09-02 22:37:12 -04:00
parent 4bd9e4f847
commit e5074afdeb
17 changed files with 350 additions and 121 deletions
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app/android/jni/scene.h
+4 -1
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@@ -94,6 +94,7 @@ class Scene {
const std::multimap<int, rtabmap::Link> & links);
void setGraphVisible(bool visible);
void setGridVisible(bool visible);
void setTraceVisible(bool visible);
void addCloud(
@@ -109,7 +110,7 @@ class Scene {
std::set<int> getAddedClouds() const;
void setMapRendering(bool enabled) {mapRendering_ = enabled;}
void setMeshRendering(bool enabled) {meshRendering_ = enabled;}
void setMeshRendering(bool enabled, bool withTexture) {meshRendering_ = enabled; meshRenderingTexture_ = withTexture;}
void setPointSize(float size) {pointSize_ = size;}
private:
@@ -129,6 +130,7 @@ class Scene {
tango_gl::Trace* trace_;
GraphDrawable * graph_;
bool graphVisible_;
bool gridVisible_;
bool traceVisible_;
std::map<int, PointCloudDrawable*> pointClouds_;
@@ -142,6 +144,7 @@ class Scene {
bool mapRendering_;
bool meshRendering_;
bool meshRenderingTexture_;
float pointSize_;
};