OccupancyGridLayer is unusable

[chadrockey]

Original author: damonkoh...@google.com (July 12, 2012 07:15:34)

The Android device will quickly run out of memory if maps are being published faster than they can be processed. In addition, it does not enforce maps with dimensions that are a power of 2 nor does it resize maps to ensure those conditions are met.

Original issue: http://code.google.com/p/rosjava/issues/detail?id=131

[chadrockey]

From jamu...@gmail.com on July 12, 2012 10:17:22
In my testing in the last day or so, I also couldn't even get a map to show up correctly on a OccupancyGridLayer even if the map is small enough to fit into memory. This could be a problem with the way that I am implementing it, but my map does show up correctly with map_saver.

(I probably don't know enough about GL, maybe this is because it is 500x500 and not a power of 2?)

[chadrockey]

From jamu...@gmail.com on July 16, 2012 23:58:27
I've attached a patchset to the tip of the google branch which will make OccupancyGridLayer actually work, by resizing maps to be a power of 2.

I believe that I can probably make this faster soon, but at least this works. I've tested it minimally on 500x500 maps and similar sizes.

I also added a check to TextureDrawable to make it check for textures to be power of two size.

[chadrockey]

From damonkoh...@google.com on July 31, 2012 09:12:54
The OccupancyGridLayer now displays maps up to 1024x1024. Resizing is not yet supported.