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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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2
app/android/AndroidManifest.xml.in
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@@ -2,7 +2,7 @@
<!-- BEGIN_INCLUDE(manifest) --> <!-- BEGIN_INCLUDE(manifest) -->
<manifest xmlns:android="http://schemas.android.com/apk/res/android" <manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.introlab.rtabmap" package="com.introlab.rtabmap"
android:versionCode="18" android:versionCode="19"
android:versionName="@RTABMAP_VERSION@"> android:versionName="@RTABMAP_VERSION@">
<uses-permission android:name="android.permission.CAMERA" /> <uses-permission android:name="android.permission.CAMERA" />

9
app/android/jni/RTABMapApp.cpp
View File

@@ -373,6 +373,7 @@ bool RTABMapApp::smoothMesh(int id, Mesh & mesh)
int RTABMapApp::Render() int RTABMapApp::Render()
{ {
UTimer fpsTime; UTimer fpsTime;
bool notifyCameraStarted = false;
bool notifyDataLoaded = false; bool notifyDataLoaded = false;
boost::mutex::scoped_lock lock(renderingMutex_); boost::mutex::scoped_lock lock(renderingMutex_);
@@ -413,7 +414,7 @@ int RTABMapApp::Render()
{ {
cv::Mat compressed = iter->second.texture; cv::Mat compressed = iter->second.texture;
iter->second.texture = rtabmap::uncompressImage(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); main_scene_.setCloudVisible(iter->first, iter->second.visible);
iter->second.texture = compressed; iter->second.texture = compressed;
} }
@@ -436,7 +437,7 @@ int RTABMapApp::Render()
main_scene_.SetCameraPose(opengl_world_T_tango_world*pose); main_scene_.SetCameraPose(opengl_world_T_tango_world*pose);
if(!camera_->isRunning() && cameraJustInitialized_) if(!camera_->isRunning() && cameraJustInitialized_)
{ {
notifyDataLoaded = true; notifyCameraStarted = true;
cameraJustInitialized_ = false; cameraJustInitialized_ = false;
} }
} }
@@ -450,7 +451,7 @@ int RTABMapApp::Render()
odomEvents_.clear(); odomEvents_.clear();
if(cameraJustInitialized_) if(cameraJustInitialized_)
{ {
notifyDataLoaded = true; notifyCameraStarted = true;
cameraJustInitialized_ = false; cameraJustInitialized_ = false;
} }
} }
@@ -797,7 +798,7 @@ int RTABMapApp::Render()
UEventsManager::post(new PostRenderEvent(rtabmapEvents.back())); UEventsManager::post(new PostRenderEvent(rtabmapEvents.back()));
} }
return notifyDataLoaded?1:0; return notifyDataLoaded||notifyCameraStarted?1:0;
} }
void RTABMapApp::SetCameraType( void RTABMapApp::SetCameraType(