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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 234 additions and 71 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+4 -1
View File
@@ -460,6 +460,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
RTABMapLib.setRawScanSaved(sharedPref.getBoolean(getString(R.string.pref_key_raw_scan_saved), Boolean.parseBoolean(getString(R.string.pref_default_raw_scan_saved))));
RTABMapLib.setFullResolution(sharedPref.getBoolean(getString(R.string.pref_key_resolution), Boolean.parseBoolean(getString(R.string.pref_default_resolution))));
RTABMapLib.setSmoothing(sharedPref.getBoolean(getString(R.string.pref_key_smoothing), Boolean.parseBoolean(getString(R.string.pref_default_smoothing))));
RTABMapLib.setCameraColor(!sharedPref.getBoolean(getString(R.string.pref_key_fisheye), Boolean.parseBoolean(getString(R.string.pref_default_fisheye))));
RTABMapLib.setAppendMode(sharedPref.getBoolean(getString(R.string.pref_key_append), Boolean.parseBoolean(getString(R.string.pref_default_append))));
RTABMapLib.setMappingParameter("Rtabmap/DetectionRate", mUpdateRate);
RTABMapLib.setMappingParameter("Rtabmap/TimeThr", mTimeThr);
@@ -585,7 +586,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private void setAndroidOrientation() {
Display display = getWindowManager().getDefaultDisplay();
Camera.CameraInfo colorCameraInfo = new Camera.CameraInfo();
Camera.getCameraInfo(0, colorCameraInfo);
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
boolean fisheye = sharedPref.getBoolean(getString(R.string.pref_key_fisheye), Boolean.parseBoolean(getString(R.string.pref_default_fisheye)));
Camera.getCameraInfo(fisheye?1:0, colorCameraInfo);
RTABMapLib.setScreenRotation(display.getRotation(), colorCameraInfo.orientation);
}
app/android/src/com/introlab/rtabmap/RTABMapLib.java
+1
View File
@@ -71,6 +71,7 @@ public class RTABMapLib
public static native void setRawScanSaved(boolean enabled);
public static native void setFullResolution(boolean enabled);
public static native void setSmoothing(boolean enabled);
public static native void setCameraColor(boolean enabled);
public static native void setAppendMode(boolean enabled);
public static native void setDataRecorderMode(boolean enabled);
public static native void setMaxCloudDepth(float value);