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Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.

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This commit is contained in:
matlabbe
2017-02-15 19:07:10 -05:00
parent 1be0d52051
commit af1cdadabd
40 changed files with 2090 additions and 1227 deletions
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app/android/jni/CameraTango.cpp
+51 -2
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@@ -46,7 +46,10 @@ const int scanDownsampling = 10;
void onPointCloudAvailableRouter(void* context, const TangoPointCloud* point_cloud)
{
CameraTango* app = static_cast<CameraTango*>(context);
app->cloudReceived(cv::Mat(1, point_cloud->num_points, CV_32FC4, point_cloud->points[0]), point_cloud->timestamp);
if(point_cloud->num_points>0)
{
app->cloudReceived(cv::Mat(1, point_cloud->num_points, CV_32FC4, point_cloud->points[0]), point_cloud->timestamp);
}
}
void onFrameAvailableRouter(void* context, TangoCameraId id, const TangoImageBuffer* color)
@@ -104,7 +107,8 @@ CameraTango::CameraTango(int decimation, bool autoExposure, bool publishRawScan)
rawScanPublished_(publishRawScan),
cloudStamp_(0),
tangoColorType_(0),
tangoColorStamp_(0)
tangoColorStamp_(0),
colorCameraToDisplayRotation_(ROTATION_0)
{
UASSERT(decimation >= 1);
}
@@ -641,6 +645,51 @@ SensorData CameraTango::captureImage(CameraInfo * info)
//LOGD("rtabmap = %s", odom.prettyPrint().c_str());
//LOGD("opengl(r)= %s", (opengl_world_T_rtabmap_world * odom * rtabmap_device_T_opengl_device).prettyPrint().c_str());
// Rotate image depending on the camera orientation
if(colorCameraToDisplayRotation_ == ROTATION_90)
{
cv::Mat rgbt(rgb.cols, rgb.rows, rgb.type());
cv::flip(rgb,rgb,1);
cv::transpose(rgb,rgbt);
rgb = rgbt;
cv::Mat deptht(depth.cols, depth.rows, depth.type());
cv::flip(depth,depth,1);
cv::transpose(depth,deptht);
depth = deptht;
cv::Size sizet(model.imageHeight(), model.imageWidth());
model = CameraModel(model.fy(), model.fx(), model.cy(), model.cx()>0?model.imageWidth()-model.cx():0, model.localTransform()*rtabmap::Transform(0,0,0,0,0,1.57079632679489661923132169163975144));
model.setImageSize(sizet);
}
else if(colorCameraToDisplayRotation_ == ROTATION_180)
{
cv::flip(rgb,rgb,1);
cv::flip(rgb,rgb,0);
cv::flip(depth,depth,1);
cv::flip(depth,depth,0);
cv::Size sizet(model.imageWidth(), model.imageHeight());
model = CameraModel(
model.fx(),
model.fy(),
model.cx()>0?model.imageWidth()-model.cx():0,
model.cy()>0?model.imageHeight()-model.cy():0,
model.localTransform()*rtabmap::Transform(0,0,0,0,0,1.57079632679489661923132169163975144*2.0));
model.setImageSize(sizet);
}
else if(colorCameraToDisplayRotation_ == ROTATION_270)
{
cv::Mat rgbt(rgb.cols, rgb.rows, rgb.type());
cv::transpose(rgb,rgbt);
cv::flip(rgbt,rgbt,1);
rgb = rgbt;
cv::Mat deptht(depth.cols, depth.rows, depth.type());
cv::transpose(depth,deptht);
cv::flip(deptht,deptht,1);
depth = deptht;
cv::Size sizet(model.imageHeight(), model.imageWidth());
model = CameraModel(model.fy(), model.fx(), model.cy()>0?model.imageHeight()-model.cy():0, model.cx(), model.localTransform()*rtabmap::Transform(0,0,0,0,0,-1.57079632679489661923132169163975144));
model.setImageSize(sizet);
}
if(rawScanPublished_)
{
data = SensorData(scan, LaserScanInfo(cloud.total()/scanDownsampling, 0, model.localTransform()), rgb, depth, model, this->getNextSeqID(), rgbStamp);