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Tango: added comptible fisheye cloud density level

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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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123
app/android/jni/RTABMapApp.cpp
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@@ -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)