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Fixed occlusion image origin offset (iOS and android). Android: disabled maximum odom image rate for faster feedback in First-Person. Min/Max range parameters also filter scans. Fixed background renderer not showing image (ARCore Java driver).

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This commit is contained in:
matlabbe
2021-06-13 22:07:47 -04:00
parent 6342658ec5
commit 696216b35b
8 changed files with 89 additions and 53 deletions
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34
app/android/jni/RTABMapApp.cpp
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@@ -504,7 +504,7 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
else
{
//scan
cloud = rtabmap::util3d::laserScanToPointCloudRGB(data.laserScanRaw(), data.laserScanRaw().localTransform(), 255, 255, 255);
cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(data.laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), data.laserScanRaw().localTransform(), 255, 255, 255);
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
@@ -1241,7 +1241,9 @@ int RTABMapApp::Render()
#ifdef RTABMAP_ARCORE
if(cameraDriver_ == 1)
{
if(main_scene_.background_renderer_ == 0)
if(main_scene_.background_renderer_ == 0 &&
((rtabmap::CameraARCore*)camera_)->getTextureId() != 9999 &&
((rtabmap::CameraARCore*)camera_)->getTextureId() != 0)
{
main_scene_.background_renderer_ = new BackgroundRenderer();
main_scene_.background_renderer_->InitializeGlContent(((rtabmap::CameraARCore*)camera_)->getTextureId(), true);
@@ -1250,6 +1252,11 @@ int RTABMapApp::Render()
{
uvsTransformed = ((rtabmap::CameraARCore*)camera_)->uvsTransformed();
((rtabmap::CameraARCore*)camera_)->getVPMatrices(arViewMatrix, arProjectionMatrix);
if(graphOptimization_ && !mapToOdom_.isIdentity())
{
rtabmap::Transform mapCorrection = rtabmap::opengl_world_T_rtabmap_world * mapToOdom_ *rtabmap::rtabmap_world_T_opengl_world;
arViewMatrix = glm::inverse(rtabmap::glmFromTransform(mapCorrection)*glm::inverse(arViewMatrix));
}
}
if(!visualizingMesh_ && main_scene_.GetCameraType() == tango_gl::GestureCamera::kFirstPerson)
{
@@ -1261,7 +1268,7 @@ int RTABMapApp::Render()
pcl::IndicesPtr indices(new std::vector<int>);
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());
cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::opengl_world_T_rtabmap_world*mapToOdom_*occlusionModel.localTransform());
occlusionMesh.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>());
pcl::copyPointCloud(*cloud, *occlusionMesh.cloud);
occlusionMesh.indices = indices;
@@ -1276,7 +1283,9 @@ int RTABMapApp::Render()
#endif
if(cameraDriver_ == 3)
{
if(main_scene_.background_renderer_ == 0)
if(main_scene_.background_renderer_ == 0 &&
((rtabmap::CameraMobile*)camera_)->getTextureId() != 9999 &&
((rtabmap::CameraMobile*)camera_)->getTextureId() != 0)
{
main_scene_.background_renderer_ = new BackgroundRenderer();
main_scene_.background_renderer_->InitializeGlContent(((rtabmap::CameraMobile*)camera_)->getTextureId(), false);
@@ -1301,7 +1310,7 @@ int RTABMapApp::Render()
pcl::IndicesPtr indices(new std::vector<int>);
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());
cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::opengl_world_T_rtabmap_world*mapToOdom_*occlusionModel.localTransform());
occlusionMesh.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>());
pcl::copyPointCloud(*cloud, *occlusionMesh.cloud);
occlusionMesh.indices = indices;
@@ -1794,7 +1803,7 @@ int RTABMapApp::Render()
else
{
//scan
cloud = rtabmap::util3d::laserScanToPointCloudRGB(data.laserScanRaw(), data.laserScanRaw().localTransform(), 255, 255, 255);
cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(data.laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), data.laserScanRaw().localTransform(), 255, 255, 255);
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
@@ -2009,7 +2018,7 @@ int RTABMapApp::Render()
else
{
//scan
cloud = rtabmap::util3d::laserScanToPointCloudRGB(odomEvent.data().laserScanRaw(), odomEvent.data().laserScanRaw().localTransform(), 255, 255, 255);
cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(odomEvent.data().laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), odomEvent.data().laserScanRaw().localTransform(), 255, 255, 255);
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
@@ -3241,7 +3250,7 @@ bool RTABMapApp::exportMesh(
else if(!data.laserScanRaw().empty())
{
//scan
cloud = rtabmap::util3d::laserScanToPointCloudRGB(data.laserScanRaw(), data.laserScanRaw().localTransform(), 255, 255, 255);
cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(data.laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), data.laserScanRaw().localTransform(), 255, 255, 255);
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
@@ -3271,7 +3280,7 @@ bool RTABMapApp::exportMesh(
else if(!data.laserScanRaw().empty())
{
//scan
cloud = rtabmap::util3d::laserScanToPointCloudRGB(data.laserScanRaw(), data.laserScanRaw().localTransform(), 255, 255, 255);
cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(data.laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), data.laserScanRaw().localTransform(), 255, 255, 255);
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
@@ -3910,8 +3919,13 @@ void RTABMapApp::postOdometryEvent(
if(!outputDepth.empty())
{
rtabmap::Transform poseWithOriginOffset = pose;
if(!camera_->getOriginOffset().isNull())
{
poseWithOriginOffset = camera_->getOriginOffset() * pose;
}
rtabmap::CameraModel depthModel = model.scaled(float(outputDepth.cols) / float(model.imageWidth()));
depthModel.setLocalTransform(mapToOdom_*pose*model.localTransform());
depthModel.setLocalTransform(poseWithOriginOffset*model.localTransform());
camera_->setOcclusionImage(outputDepth, depthModel);
}