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Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option

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matlabbe
2017-04-18 17:30:14 -04:00
parent 286ab7a600
commit 732223e832
17 changed files with 734 additions and 631 deletions
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app/android/jni/CameraTango.cpp
+1 -27
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@@ -104,14 +104,13 @@ void onTangoEventAvailableRouter(void* context, const TangoEvent* event)
const float CameraTango::bilateralFilteringSigmaS = 2.0f;
const float CameraTango::bilateralFilteringSigmaR = 0.075f;
CameraTango::CameraTango(bool colorCamera, int decimation, bool autoExposure, bool publishRawScan, bool smoothing) :
CameraTango::CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing) :
Camera(0),
tango_config_(0),
firstFrame_(true),
stampEpochOffset_(0.0),
colorCamera_(colorCamera),
decimation_(decimation),
autoExposure_(autoExposure),
rawScanPublished_(publishRawScan),
smoothing_(smoothing),
cloudStamp_(0),
@@ -219,31 +218,6 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
LOGE("NativeRTABMap: config_enable_color_camera() failed with error code: %d", ret);
return false;
}
// disable auto exposure (disabled, seems broken on latest Tango releases)
ret = TangoConfig_setBool(tango_config_, "config_color_mode_auto", autoExposure_);
if (ret != TANGO_SUCCESS)
{
LOGE("NativeRTABMap: config_color_mode_auto() failed with error code: %d", ret);
//return false;
}
else
{
if(!autoExposure_)
{
ret = TangoConfig_setInt32(tango_config_, "config_color_iso", 800);
if (ret != TANGO_SUCCESS)
{
LOGE("NativeRTABMap: config_color_iso() failed with error code: %d", ret);
return false;
}
}
bool verifyAutoExposureState;
int32_t verifyIso, verifyExp;
TangoConfig_getBool( tango_config_, "config_color_mode_auto", &verifyAutoExposureState );
TangoConfig_getInt32( tango_config_, "config_color_iso", &verifyIso );
TangoConfig_getInt32( tango_config_, "config_color_exp", &verifyExp );
LOGI( "NativeRTABMap: config_color autoExposure=%s %d %d", verifyAutoExposureState?"On" : "Off", verifyIso, verifyExp );
}
}
// Enable depth.