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iOS: fixed origin when we do New Scan while we were already mapping, improved FPV feedback in point cloud mode, showing camera overlay in visualization mode (pinch out to disable). Localization mode: Updated how marker detection transform are modified by gravity constraints.

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This commit is contained in:
matlabbe
2021-06-12 12:42:56 -04:00
parent 3f633081cb
commit 6342658ec5
11 changed files with 92 additions and 46 deletions
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25
app/android/jni/RTABMapApp.cpp
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@@ -1259,7 +1259,8 @@ int RTABMapApp::Render()
if(occlusionModel.isValidForProjection())
{
pcl::IndicesPtr indices(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(occlusionImage, occlusionModel, 1, 0, 0, indices.get());
int meshDecimation = updateMeshDecimation(occlusionImage.cols, occlusionImage.rows);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(occlusionImage, occlusionModel, meshDecimation, 0, 0, indices.get());
cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::opengl_world_T_rtabmap_world*occlusionModel.localTransform());
occlusionMesh.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>());
pcl::copyPointCloud(*cloud, *occlusionMesh.cloud);
@@ -1298,7 +1299,8 @@ int RTABMapApp::Render()
if(occlusionModel.isValidForProjection())
{
pcl::IndicesPtr indices(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(occlusionImage, occlusionModel, 1, 0, 0, indices.get());
int meshDecimation = updateMeshDecimation(occlusionImage.cols, occlusionImage.rows);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(occlusionImage, occlusionModel, meshDecimation, 0, 0, indices.get());
cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::opengl_world_T_rtabmap_world*occlusionModel.localTransform());
occlusionMesh.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>());
pcl::copyPointCloud(*cloud, *occlusionMesh.cloud);
@@ -1451,6 +1453,23 @@ int RTABMapApp::Render()
{
main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
}
// Update markers
for(std::map<int, rtabmap::Transform>::const_iterator iter=stats.poses().begin();
iter!=stats.poses().end() && iter->first<0;
++iter)
{
int id = iter->first;
if(main_scene_.hasMarker(id))
{
//just update pose
main_scene_.setMarkerPose(id, rtabmap::opengl_world_T_rtabmap_world*iter->second);
}
else
{
main_scene_.addMarker(id, rtabmap::opengl_world_T_rtabmap_world*iter->second);
}
}
}
}
@@ -3892,7 +3911,7 @@ void RTABMapApp::postOdometryEvent(
if(!outputDepth.empty())
{
rtabmap::CameraModel depthModel = model.scaled(float(outputDepth.cols) / float(model.imageWidth()));
depthModel.setLocalTransform(pose*model.localTransform());
depthModel.setLocalTransform(mapToOdom_*pose*model.localTransform());
camera_->setOcclusionImage(outputDepth, depthModel);
}