i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tango #57: Added 720p option, Export PLY or OBJ, Added Rendering and Mapping menus, RtabmapThread: Fixed large covariance (9999) detection

Browse Source
This commit is contained in:
matlabbe
2016-04-02 15:17:40 -04:00
parent d489cd48e9
commit 30e52b785a
15 changed files with 339 additions and 333 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app/android/jni/CameraTango.cpp
+9 -2
View File
@@ -99,8 +99,12 @@ static rtabmap::Transform opticalRotation(
CameraTango::CameraTango(int decimation, bool autoExposure) :
Camera(0, opticalRotation),
tango_config_(0),
firstFrame_(true),
decimation_(decimation),
autoExposure_(autoExposure)
autoExposure_(autoExposure),
cloudStamp_(0),
tangoColorType_(0),
tangoColorStamp_(0)
{
UASSERT(decimation >= 1);
}
@@ -318,6 +322,7 @@ void CameraTango::close()
tango_config_ = nullptr;
TangoService_disconnect();
}
firstFrame_ = true;
}
void CameraTango::cloudReceived(const cv::Mat & cloud, double timestamp)
@@ -624,7 +629,9 @@ void CameraTango::mainLoop()
{
rtabmap::Transform pose = data.groundTruth();
data.setGroundTruth(Transform());
this->post(new OdometryEvent(data, pose, 0.0001, 0.0001));
LOGI("Publish odometry message (variance=%f)", firstFrame_?9999:0.0001);
this->post(new OdometryEvent(data, pose, firstFrame_?9999:0.0001, firstFrame_?9999:0.0001));
firstFrame_ = false;
}
else if(!this->isKilled())
{