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Tango: added Noise Filtering post-processing option, set RGBD/MaxLocalRetrieved to 0 (avoiding some high processing time peaks), fill depth holes up to 5 pixels

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matlabbe
2016-09-03 20:38:27 -04:00
parent 7f2c118f8d
commit 91da92346d
9 changed files with 89 additions and 17 deletions
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app/android/jni/CameraTango.cpp
+2 -2
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@@ -37,8 +37,9 @@ namespace rtabmap {
#define nullptr 0
const int kVersionStringLength = 128;
const int holeSize = 1;
const int holeSize = 5;
const float maxDepthError = 0.10;
const int scanDownsampling = 10;
// Callbacks
void onPointCloudAvailableRouter(void* context, const TangoXYZij* xyz_ij)
@@ -558,7 +559,6 @@ SensorData CameraTango::captureImage(CameraInfo * info)
poseDepth.setNull();
}
int scanDownsampling = 10;
cv::Mat scan;
if(!poseDepth.isNull() && !poseColor.isNull())
{