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Tango: added fisheye option

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This commit is contained in:
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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31
app/android/jni/RTABMapApp.cpp
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@@ -76,7 +76,7 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxFeatures(), std::string("200")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kGFTTQualityLevel(), std::string("0.0001")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemImagePreDecimation(), std::string(fullResolution_?"2":"1")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemImagePreDecimation(), std::string(cameraColor_&&fullResolution_?"2":"1")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kBRIEFBytes(), std::string("64")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapTimeThr(), std::string("800")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapPublishLikelihood(), std::string("false")));
@@ -153,6 +153,7 @@ RTABMapApp::RTABMapApp() :
autoExposure_(true),
rawScanSaved_(false),
smoothing_(true),
cameraColor_(true),
fullResolution_(false),
appendMode_(true),
maxCloudDepth_(0.0),
@@ -257,13 +258,12 @@ void RTABMapApp::onCreate(JNIEnv* env, jobject caller_activity)
this->registerToEventsManager();
camera_ = new rtabmap::CameraTango(fullResolution_?1:2, autoExposure_, rawScanSaved_, smoothing_);
camera_ = new rtabmap::CameraTango(cameraColor_, !cameraColor_ || fullResolution_?1:2, autoExposure_, rawScanSaved_, smoothing_);
}
void RTABMapApp::setScreenRotation(int displayRotation, int cameraRotation)
{
TangoSupportRotation rotation = tango_gl::util::GetAndroidRotationFromColorCameraToDisplay(
displayRotation, cameraRotation);
TangoSupportRotation rotation = tango_gl::util::GetAndroidRotationFromColorCameraToDisplay(displayRotation, cameraRotation);
LOGI("Set orientation: display=%d camera=%d -> %d", displayRotation, cameraRotation, (int)rotation);
main_scene_.setScreenRotation(rotation);
camera_->setScreenRotation(rotation);
@@ -458,6 +458,7 @@ bool RTABMapApp::onTangoServiceConnected(JNIEnv* env, jobject iBinder)
return false;
}
camera_->setColorCamera(cameraColor_);
if(camera_->init())
{
LOGI("Start camera thread");
@@ -524,7 +525,6 @@ std::vector<pcl::Vertices> RTABMapApp::filterOrganizedPolygons(
}
}
int biggestCluster = 0;
unsigned int biggestClusterSize = 0;
for(std::map<int, std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
{
@@ -533,12 +533,11 @@ std::vector<pcl::Vertices> RTABMapApp::filterOrganizedPolygons(
if(iter->second.size() > biggestClusterSize)
{
biggestClusterSize = iter->second.size();
biggestCluster = iter->first;
}
}
unsigned int minClusterSize = (unsigned int)(float(biggestClusterSize)*clusterRatio_);
LOGI("Biggest cluster is %d = %d -> minClusterSize(ratio=%f)=%d",
biggestCluster, biggestClusterSize, clusterRatio_, (int)minClusterSize);
LOGI("Biggest cluster %d -> minClusterSize(ratio=%f)=%d",
biggestClusterSize, clusterRatio_, (int)minClusterSize);
std::vector<pcl::Vertices> filteredPolygons(polygons.size());
int oi = 0;
@@ -1558,6 +1557,14 @@ void RTABMapApp::setRawScanSaved(bool enabled)
}
}
void RTABMapApp::setCameraColor(bool enabled)
{
if(cameraColor_ != enabled)
{
cameraColor_ = enabled;
}
}
void RTABMapApp::setFullResolution(bool enabled)
{
if(fullResolution_ != enabled)
@@ -1858,6 +1865,12 @@ cv::Mat RTABMapApp::mergeTextures(pcl::TextureMesh & mesh, int textureSize) cons
{
cv::multiply(resizedImage, createdMeshes_.at(textures[i]).gain, resizedImage);
}
if(resizedImage.type() == CV_8UC1)
{
cv::Mat resizedImageColor;
cv::cvtColor(resizedImage,resizedImageColor,CV_GRAY2RGB);
resizedImage = resizedImageColor;
}
UASSERT(resizedImage.type() == globalTexture.type());
resizedImage.copyTo(globalTexture(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
}
@@ -1979,7 +1992,9 @@ bool RTABMapApp::exportMesh(
UTimer timer;
LOGI("Assemble clouds (%d)...", (int)poses.size());
#ifndef DISABLE_LOG
int cloudCount=0;
#endif
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mergedClouds(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin();
iter!= poses.end();