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Tango: Using tango_support library to get depth to color transform (#143), poses are in device frames and camera local transform is from device to camera (including optical rotation), "720" Mode is now called "HD Mode"

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matlabbe
2016-11-16 10:13:16 -05:00
parent 76edd53e40
commit f6cca3313a
13 changed files with 114 additions and 128 deletions
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8
app/android/jni/CameraTango.h
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@@ -77,7 +77,7 @@ public:
void close(); // close Tango connection
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose, bool inOpenGLFrame) const;
rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose) const;
void setDecimation(int value) {decimation_ = value;}
void setAutoExposure(bool enabled) {autoExposure_ = enabled;}
@@ -90,7 +90,7 @@ protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
rtabmap::Transform getPoseAtTimestamp(double timestamp, bool inOpenGLFrame);
rtabmap::Transform getPoseAtTimestamp(double timestamp);
virtual void mainLoopBegin();
virtual void mainLoop();
@@ -108,10 +108,8 @@ private:
double tangoColorStamp_;
boost::mutex dataMutex_;
USemaphore dataReady_;
rtabmap::Transform imuTDevice_;
rtabmap::Transform imuTDepthCamera_;
rtabmap::Transform deviceTDepth_;
CameraModel model_;
Transform deviceTColorCamera_;
};
} /* namespace rtabmap */