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Tango: added comptible fisheye cloud density level

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This commit is contained in:
matlabbe
2017-03-15 17:05:19 -04:00
parent 1bd9d41164
commit 5b08a69607
6 changed files with 79 additions and 61 deletions
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4
app/android/jni/CameraTango.cpp
View File

@@ -736,7 +736,7 @@ SensorData CameraTango::captureImage(CameraInfo * info)
bool pixelSet = false;
if(pixel_x_l>=0 && pixel_x_l<depth.cols &&
pixel_y_l>0 && pixel_y_l<depth.rows &&
pixel_y_l>0 && pixel_y_l<depth.rows && // ignore first line
depth_value)
{
unsigned short & depthPixel = depth.at<unsigned short>(pixel_y_l, pixel_x_l);
@@ -747,7 +747,7 @@ SensorData CameraTango::captureImage(CameraInfo * info)
}
}
if(pixel_x_h>=0 && pixel_x_h<depth.cols &&
pixel_y_h>0 && pixel_y_h<depth.rows &&
pixel_y_h>0 && pixel_y_h<depth.rows && // ignore first line
depth_value)
{
unsigned short & depthPixel = depth.at<unsigned short>(pixel_y_h, pixel_x_h);

123
app/android/jni/RTABMapApp.cpp
View File

@@ -157,7 +157,7 @@ RTABMapApp::RTABMapApp() :
fullResolution_(false),
appendMode_(true),
maxCloudDepth_(0.0),
meshDecimation_(1),
cloudDensityLevel_(1),
meshTrianglePix_(1),
meshAngleToleranceDeg_(15.0),
clusterRatio_(0.1),
@@ -173,6 +173,7 @@ RTABMapApp::RTABMapApp() :
gainCompensationOnNextRender_(0),
bilateralFilteringOnNextRender_(false),
cameraJustInitialized_(false),
meshDecimation_(1),
totalPoints_(0),
totalPolygons_(0),
lastDrawnCloudsCount_(0),
@@ -461,6 +462,72 @@ bool RTABMapApp::onTangoServiceConnected(JNIEnv* env, jobject iBinder)
camera_->setColorCamera(cameraColor_);
if(camera_->init())
{
//update mesh decimation based on camera calibration
LOGI("Cloud density level %d", cloudDensityLevel_);
meshDecimation_ = 1;
if(camera_)
{
// Google Tango Tablet 160x90
// Phab2Pro 240x135
// FishEye 640x480
int width = camera_->getCameraModel().imageWidth()/(cameraColor_?8:1);
int height = camera_->getCameraModel().imageHeight()/(cameraColor_?8:1);
if(cloudDensityLevel_ == 3) // high
{
if(height >= 480 && width % 20 == 0 && height % 20 == 0)
{
meshDecimation_ = 20;
}
else if(width % 10 == 0 && height % 10 == 0)
{
meshDecimation_ = 10;
}
else if(width % 15 == 0 && height % 15 == 0)
{
meshDecimation_ = 15;
}
else
{
UERROR("Could not set decimation to high (size=%dx%d)", width, height);
}
}
else if(cloudDensityLevel_ == 2) // medium
{
if(height >= 480 && width % 10 == 0 && height % 10 == 0)
{
meshDecimation_ = 10;
}
else if(width % 5 == 0 && height % 5 == 0)
{
meshDecimation_ = 5;
}
else
{
UERROR("Could not set decimation to medium (size=%dx%d)", width, height);
}
}
else if(cloudDensityLevel_ == 1) // low
{
if(height >= 480 && width % 5 == 0 && height % 5 == 0)
{
meshDecimation_ = 5;
}
else if(width % 3 == 0 && width % 3 == 0)
{
meshDecimation_ = 3;
}
else if(width % 2 == 0 && width % 2 == 0)
{
meshDecimation_ = 2;
}
else
{
UERROR("Could not set decimation to low (size=%dx%d)", width, height);
}
}
}
LOGI("Set decimation to %d", meshDecimation_);
LOGI("Start camera thread");
if(!paused_)
{
@@ -1616,59 +1683,9 @@ void RTABMapApp::setMaxCloudDepth(float value)
maxCloudDepth_ = value;
}
void RTABMapApp::setMeshDecimation(int value)
void RTABMapApp::setCloudDensityLevel(int value)
{
LOGW("Set mesh decimation to level %d", value);
meshDecimation_ = 1;
if(camera_)
{
// Google Tango Tablet 160x90
// Phab2Pro 240x135
int width = camera_->getCameraModel().imageWidth()/8;
int height = camera_->getCameraModel().imageHeight()/8;
if(value == 3) // high
{
if(width % 10 == 0 && height % 10 == 0)
{
meshDecimation_ = 10;
}
else if(width % 15 == 0 && height % 15 == 0)
{
meshDecimation_ = 15;
}
else
{
UERROR("Could not set decimation to high (size=%dx%d)", width, height);
}
}
else if(value == 2) // medium
{
if(width % 5 == 0 && height % 5 == 0)
{
meshDecimation_ = 5;
}
else
{
UERROR("Could not set decimation to medium (size=%dx%d)", width, height);
}
}
else if(value == 1) // low
{
if(width % 3 == 0 && width % 3 == 0)
{
meshDecimation_ = 3;
}
else if(width % 2 == 0 && width % 2 == 0)
{
meshDecimation_ = 2;
}
else
{
UERROR("Could not set decimation to low (size=%dx%d)", width, height);
}
}
}
UINFO("Set decimation to %d", meshDecimation_);
cloudDensityLevel_ = value;
}
void RTABMapApp::setMeshAngleTolerance(float value)

5
app/android/jni/RTABMapApp.h
View File

@@ -134,7 +134,7 @@ class RTABMapApp : public UEventsHandler {
void setAppendMode(bool enabled);
void setDataRecorderMode(bool enabled);
void setMaxCloudDepth(float value);
void setMeshDecimation(int value);
void setCloudDensityLevel(int value);
void setMeshAngleTolerance(float value);
void setMeshTriangleSize(int value);
void setClusterRatio(float value);
@@ -194,7 +194,7 @@ class RTABMapApp : public UEventsHandler {
bool fullResolution_;
bool appendMode_;
float maxCloudDepth_;
int meshDecimation_;
int cloudDensityLevel_;
int meshTrianglePix_;
float meshAngleToleranceDeg_;
float clusterRatio_;
@@ -213,6 +213,7 @@ class RTABMapApp : public UEventsHandler {
int gainCompensationOnNextRender_;
bool bilateralFilteringOnNextRender_;
bool cameraJustInitialized_;
int meshDecimation_;
int totalPoints_;
int totalPolygons_;
int lastDrawnCloudsCount_;

4
app/android/jni/jni_interface.cpp
View File

@@ -247,10 +247,10 @@ Java_com_introlab_rtabmap_RTABMapLib_setMaxCloudDepth(
return app.setMaxCloudDepth(value);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setMeshDecimation(
Java_com_introlab_rtabmap_RTABMapLib_setCloudDensityLevel(
JNIEnv*, jobject, int value)
{
return app.setMeshDecimation(value);
return app.setCloudDensityLevel(value);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setMeshAngleTolerance(