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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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6
app/android/jni/RTABMapApp.cpp
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@@ -89,7 +89,7 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), std::string("true")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisMinInliers(), std::string("15")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisEstimationType(), std::string("0"))); // 0=3D-3D 1=PnP
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeMaxError(), std::string("0.05")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeMaxError(), std::string("0.1")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityPathMaxNeighbors(), std::string("0"))); // disable scan matching to merged nodes
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityBySpace(), std::string("false"))); // just keep loop closure detection
@@ -413,7 +413,7 @@ int RTABMapApp::Render()
{
cv::Mat compressed = 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);
main_scene_.addMesh(iter->first, iter->second, opengl_world_T_rtabmap_world*iter->second.pose*rtabmap_device_T_opengl_device);
main_scene_.setCloudVisible(iter->first, iter->second.visible);
iter->second.texture = compressed;
}
@@ -433,7 +433,7 @@ int RTABMapApp::Render()
if(!pose.isNull())
{
// update camera pose?
main_scene_.SetCameraPose(pose);
main_scene_.SetCameraPose(opengl_world_T_tango_world*pose);
if(!camera_->isRunning() && cameraJustInitialized_)
{
notifyDataLoaded = true;