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Tango: 0.12.0 (performance optimization, time and memory)

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matlabbe
2017-02-22 09:48:45 -05:00
parent 595ac49552
commit a9b03bb39e
19 changed files with 1238 additions and 625 deletions
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8
app/android/jni/CameraTango.h
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@@ -71,7 +71,11 @@ private:
class CameraTango : public Camera, public UThread, public UEventsSender {
public:
CameraTango(int decimation, bool autoExposure, bool publishRawScan);
static const float bilateralFilteringSigmaS;
static const float bilateralFilteringSigmaR;
public:
CameraTango(int decimation, bool autoExposure, bool publishRawScan, bool smoothing);
virtual ~CameraTango();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
@@ -81,6 +85,7 @@ public:
const CameraModel & getCameraModel() const {return model_;}
rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose) const;
void setDecimation(int value) {decimation_ = value;}
void setSmoothing(bool enabled) {smoothing_ = enabled;}
void setAutoExposure(bool enabled) {autoExposure_ = enabled;}
void setRawScanPublished(bool enabled) {rawScanPublished_ = enabled;}
void setScreenRotation(TangoSupportRotation colorCameraToDisplayRotation) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
@@ -107,6 +112,7 @@ private:
int decimation_;
bool autoExposure_;
bool rawScanPublished_;
bool smoothing_;
cv::Mat cloud_;
double cloudStamp_;
cv::Mat tangoColor_;