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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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11
app/android/jni/RTABMapApp.cpp
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)
{

4
app/android/jni/scene.cpp
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)