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Tango: added fisheye option

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matlabbe
2017-03-13 20:51:59 -04:00
parent d21ae76fff
commit ef7bf87187
11 changed files with 236 additions and 73 deletions
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6
app/android/jni/CameraTango.h
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@@ -75,7 +75,7 @@ public:
static const float bilateralFilteringSigmaR;
public:
CameraTango(int decimation, bool autoExposure, bool publishRawScan, bool smoothing);
CameraTango(bool colorCamera, int decimation, bool autoExposure, bool publishRawScan, bool smoothing);
virtual ~CameraTango();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
@@ -84,6 +84,7 @@ public:
virtual std::string getSerial() const;
const CameraModel & getCameraModel() const {return model_;}
rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose) const;
void setColorCamera(bool enabled) {if(!this->isRunning()) colorCamera_ = enabled;}
void setDecimation(int value) {decimation_ = value;}
void setSmoothing(bool enabled) {smoothing_ = enabled;}
void setAutoExposure(bool enabled) {autoExposure_ = enabled;}
@@ -109,6 +110,7 @@ private:
bool firstFrame_;
UTimer cameraStartedTime_;
double stampEpochOffset_;
bool colorCamera_;
int decimation_;
bool autoExposure_;
bool rawScanPublished_;
@@ -123,6 +125,8 @@ private:
CameraModel model_;
Transform deviceTColorCamera_;
TangoSupportRotation colorCameraToDisplayRotation_;
cv::Mat fisheyeRectifyMapX_;
cv::Mat fisheyeRectifyMapY_;
};
} /* namespace rtabmap */