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Tango: updated how RGB and depth images are synchronized (to minimize the dt between them). Added time offset to get stamps in epoch time. Trajectory Mode: fixed top button not selected.

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This commit is contained in:
matlabbe
2017-01-30 12:29:34 -05:00
parent 819db9538f
commit 7b5761106d
5 changed files with 55 additions and 38 deletions
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8
app/android/jni/RTABMapApp.cpp
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@@ -191,6 +191,7 @@ void RTABMapApp::onCreate(JNIEnv* env, jobject caller_activity)
if(camera_)
{
delete camera_;
camera_ = 0;
}
if(rtabmapThread_)
{
@@ -407,6 +408,8 @@ bool RTABMapApp::smoothMesh(int id, Mesh & mesh)
// OpenGL thread
int RTABMapApp::Render()
{
UASSERT(camera_!=0 && rtabmap_!=0);
UTimer fpsTime;
boost::mutex::scoped_lock lock(renderingMutex_);
@@ -983,10 +986,6 @@ void RTABMapApp::setLocalizationMode(bool enabled)
}
void RTABMapApp::setTrajectoryMode(bool enabled)
{
if(trajectoryMode_ != enabled)
{
main_scene_.SetCameraType(enabled?tango_gl::GestureCamera::kTopDown:tango_gl::GestureCamera::kThirdPersonFollow);
}
trajectoryMode_ = enabled;
this->post(new rtabmap::ParamEvent(rtabmap::Parameters::kMemBinDataKept(), uBool2Str(!trajectoryMode_)));
}
@@ -994,6 +993,7 @@ void RTABMapApp::setTrajectoryMode(bool enabled)
void RTABMapApp::setGraphOptimization(bool enabled)
{
graphOptimization_ = enabled;
UASSERT(camera_ != 0 && rtabmap_!=0 && rtabmap_->getMemory()!=0);
if(!camera_->isRunning() && rtabmap_->getMemory()->getLastWorkingSignature()!=0)
{
std::map<int, rtabmap::Transform> poses;