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fixed some compilation warnings

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This commit is contained in:
matlabbe
2017-01-03 22:14:21 -05:00
parent 6abed48af6
commit ac1c5f81ae
3 changed files with 16 additions and 2 deletions
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14
app/android/jni/CameraTango.cpp
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@@ -197,6 +197,19 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
return false;
}
// Drift correction allows motion tracking to recover after it loses tracking.
//
// The drift corrected pose is is available through the frame pair with
// base frame AREA_DESCRIPTION and target frame DEVICE.
/*ret = TangoConfig_setBool(tango_config_, "config_enable_drift_correction", true);
if (ret != TANGO_SUCCESS) {
LOGE(
"NativeRTABMap: enabling config_enable_drift_correction "
"failed with error code: %d",
ret);
return false;
}*/
// Get TangoCore version string from service.
char tango_core_version[kVersionStringLength];
ret = TangoConfig_getString(tango_config_, "tango_service_library_version", tango_core_version, kVersionStringLength);
@@ -229,6 +242,7 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
// Attach the onPoseAvailable callback.
// The callback will be called after the service is connected.
TangoCoordinateFramePair pair;
//pair.base = TANGO_COORDINATE_FRAME_AREA_DESCRIPTION; // drift correction is enabled
pair.base = TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.target = TANGO_COORDINATE_FRAME_DEVICE;
ret = TangoService_connectOnPoseAvailable(1, &pair, onPoseAvailableRouter);