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Localization: Improved resulting pose in case there are gravity constraints. iOS: clear odom trace when not visible, fixed opt mesh not correctly aligned with graph on loading when switching RGBD/OptimizeFromGraphEnd.

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This commit is contained in:
matlabbe
2021-12-18 15:37:49 -05:00
parent bca8b30832
commit 33130890fd
5 changed files with 74 additions and 47 deletions
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app/android/jni/RTABMapApp.cpp
+9 -2
View File
@@ -448,7 +448,7 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
poses,
links,
true,
true,
false, // Make sure poses are the same than optimized mesh (in case we switched RGBD/OptimizedFromGraphEnd)
&signatures,
true,
true,
@@ -1399,7 +1399,14 @@ int RTABMapApp::Render()
}
else if(rtabmapThread_ && rtabmapThread_->isRunning() && landmark!=0)
{
main_scene_.setBackgroundColor(1, 0.65f, 0); // orange
if(rejected)
{
main_scene_.setBackgroundColor(0.5, 0.325f, 0); // dark orange
}
else
{
main_scene_.setBackgroundColor(1, 0.65f, 0); // orange
}
}
else if(rtabmapThread_ && rtabmapThread_->isRunning() && rejected>0)
{
app/android/jni/scene.cpp
+4
View File
@@ -594,6 +594,10 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
{
trace_->Render(projectionMatrix, viewMatrix);
}
else
{
trace_->ClearVertexArray();
}
}
if(gridVisible_ && !renderBackgroundCamera)
app/ios/RTABMapApp.xcodeproj/project.pbxproj
+4 -4
View File
@@ -981,7 +981,7 @@
CLANG_CXX_LIBRARY = "libc++";
CODE_SIGN_IDENTITY = "Apple Development";
CODE_SIGN_STYLE = Automatic;
CURRENT_PROJECT_VERSION = 7;
CURRENT_PROJECT_VERSION = 8;
DEFINES_MODULE = YES;
DEVELOPMENT_TEAM = 3RRB6NV8U9;
EXCLUDED_ARCHS = "";
@@ -1006,7 +1006,7 @@
"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
);
MARKETING_VERSION = 0.20.12;
MARKETING_VERSION = 0.20.16;
OTHER_CFLAGS = "";
PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;
PRODUCT_NAME = "$(TARGET_NAME)";
@@ -1038,7 +1038,7 @@
CLANG_USE_OPTIMIZATION_PROFILE = NO;
CODE_SIGN_IDENTITY = "Apple Development";
CODE_SIGN_STYLE = Automatic;
CURRENT_PROJECT_VERSION = 7;
CURRENT_PROJECT_VERSION = 8;
DEFINES_MODULE = YES;
DEVELOPMENT_TEAM = 3RRB6NV8U9;
FRAMEWORK_SEARCH_PATHS = (
@@ -1063,7 +1063,7 @@
"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
);
MARKETING_VERSION = 0.20.12;
MARKETING_VERSION = 0.20.16;
ONLY_ACTIVE_ARCH = YES;
OTHER_CFLAGS = "";
PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;
app/ios/Settings.bundle/Root.plist
+1 -1
View File
@@ -462,7 +462,7 @@
</dict>
<dict>
<key>DefaultValue</key>
<string>0.20.12</string>
<string>0.20.16</string>
<key>Key</key>
<string>Version</string>
<key>Title</key>