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Added depth/rgb registration option

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matlabbe
2021-06-10 11:07:25 -04:00
parent d7b5fa5d17
commit ba38d9f321
13 changed files with 842 additions and 140 deletions
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15
app/android/jni/RTABMapApp.h
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@@ -176,17 +176,21 @@ class RTABMapApp : public UEventsHandler {
int postProcessing(int approach);
void postCameraPoseEvent(
float x, float y, float z, float qx, float qy, float qz, float qw);
float x, float y, float z, float qx, float qy, float qz, float qw, double stamp);
void postOdometryEvent(
float x, float y, float z, float qx, float qy, float qz, float qw,
float fx, float fy, float cx, float cy,
double stamp,
rtabmap::Transform pose,
float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
float depth_fx, float depth_fy, float depth_cx, float depth_cy,
const rtabmap::Transform & rgbFrame,
const rtabmap::Transform & depthFrame,
double stamp,
double depthStamp,
const void * yPlane, const void * uPlane, const void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
const void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
const void * conf, int confLen, int confWidth, int confHeight, int confFormat,
const float * points, int pointsLen, int pointsChannels,
float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw, //view matrix
const rtabmap::Transform & viewMatrix, //view matrix
float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7); // tex coord
@@ -265,6 +269,7 @@ class RTABMapApp : public UEventsHandler {
std::list<rtabmap::RtabmapEvent*> rtabmapEvents_;
std::list<rtabmap::OdometryEvent> odomEvents_;
std::list<rtabmap::Transform> poseEvents_;
std::map<double, rtabmap::Transform> poseBuffer_;
rtabmap::Transform mapToOdom_;