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Tango: Fixed scan local transform

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matlabbe
2017-03-08 12:55:21 -05:00
parent 719416741f
commit c12980ee91
1 changed files with 3 additions and 1 deletions
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4
app/android/jni/CameraTango.cpp
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@@ -667,6 +667,8 @@ SensorData CameraTango::captureImage(CameraInfo * info)
//LOGD("rtabmap = %s", odom.prettyPrint().c_str());
//LOGD("opengl(r)= %s", (opengl_world_T_rtabmap_world * odom * rtabmap_device_T_opengl_device).prettyPrint().c_str());
Transform scanLocalTransform = model.localTransform();
// Rotate image depending on the camera orientation
if(colorCameraToDisplayRotation_ == ROTATION_90)
{
@@ -722,7 +724,7 @@ SensorData CameraTango::captureImage(CameraInfo * info)
if(rawScanPublished_)
{
data = SensorData(scan, LaserScanInfo(cloud.total()/scanDownsampling, 0, model.localTransform()), rgb, depth, model, this->getNextSeqID(), rgbStamp);
data = SensorData(scan, LaserScanInfo(cloud.total()/scanDownsampling, 0, scanLocalTransform), rgb, depth, model, this->getNextSeqID(), rgbStamp);
}
else
{