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Tango: removed post-processing done after resuming the app

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matlabbe
2016-11-18 14:18:04 -05:00
parent e5db40e4ae
commit e809b30cb9
2 changed files with 6 additions and 5 deletions
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9
app/android/jni/RTABMapApp.cpp
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@@ -373,6 +373,7 @@ bool RTABMapApp::smoothMesh(int id, Mesh & mesh)
int RTABMapApp::Render()
{
UTimer fpsTime;
bool notifyCameraStarted = false;
bool notifyDataLoaded = false;
boost::mutex::scoped_lock lock(renderingMutex_);
@@ -413,7 +414,7 @@ int RTABMapApp::Render()
{
cv::Mat compressed = iter->second.texture;
iter->second.texture = rtabmap::uncompressImage(iter->second.texture);
main_scene_.addMesh(iter->first, iter->second, opengl_world_T_rtabmap_world*iter->second.pose*rtabmap_device_T_opengl_device);
main_scene_.addMesh(iter->first, iter->second, opengl_world_T_rtabmap_world*iter->second.pose);
main_scene_.setCloudVisible(iter->first, iter->second.visible);
iter->second.texture = compressed;
}
@@ -436,7 +437,7 @@ int RTABMapApp::Render()
main_scene_.SetCameraPose(opengl_world_T_tango_world*pose);
if(!camera_->isRunning() && cameraJustInitialized_)
{
notifyDataLoaded = true;
notifyCameraStarted = true;
cameraJustInitialized_ = false;
}
}
@@ -450,7 +451,7 @@ int RTABMapApp::Render()
odomEvents_.clear();
if(cameraJustInitialized_)
{
notifyDataLoaded = true;
notifyCameraStarted = true;
cameraJustInitialized_ = false;
}
}
@@ -797,7 +798,7 @@ int RTABMapApp::Render()
UEventsManager::post(new PostRenderEvent(rtabmapEvents.back()));
}
return notifyDataLoaded?1:0;
return notifyDataLoaded||notifyCameraStarted?1:0;
}
void RTABMapApp::SetCameraType(