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Tango: updated to use TangoPointCloud callback (fixed deprecated TangoXYZij)

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matlabbe
2016-10-27 14:44:11 -04:00
parent 8f90d25468
commit d06abbbd91
1 changed files with 12 additions and 4 deletions
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app/android/jni/CameraTango.cpp
+12 -4
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@@ -42,10 +42,10 @@ const float maxDepthError = 0.10;
const int scanDownsampling = 10; const int scanDownsampling = 10;
// Callbacks // Callbacks
void onPointCloudAvailableRouter(void* context, const TangoXYZij* xyz_ij) void onPointCloudAvailableRouter(void* context, const TangoPointCloud* point_cloud)
{ {
CameraTango* app = static_cast<CameraTango*>(context); CameraTango* app = static_cast<CameraTango*>(context);
app->cloudReceived(cv::Mat(1, xyz_ij->xyz_count, CV_32FC3, xyz_ij->xyz[0]), xyz_ij->timestamp); 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) void onFrameAvailableRouter(void* context, TangoCameraId id, const TangoImageBuffer* color)
@@ -182,6 +182,14 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
return false; return false;
} }
// Need to specify the depth_mode as XYZC.
ret = TangoConfig_setInt32(tango_config_, "config_depth_mode", TANGO_POINTCLOUD_XYZC);
if (ret != TANGO_SUCCESS)
{
LOGE("Failed to set 'depth_mode' configuration flag with error code: %d", ret);
return false;
}
// Note that it's super important for AR applications that we enable low // Note that it's super important for AR applications that we enable low
// latency imu integration so that we have pose information available as // latency imu integration so that we have pose information available as
// quickly as possible. Without setting this flag, you'll often receive // quickly as possible. Without setting this flag, you'll often receive
@@ -208,7 +216,7 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
LOGI("NativeRTABMap: Setup callbacks"); LOGI("NativeRTABMap: Setup callbacks");
// Attach the OnXYZijAvailable callback. // Attach the OnXYZijAvailable callback.
// The callback will be called after the service is connected. // The callback will be called after the service is connected.
ret = TangoService_connectOnXYZijAvailable(onPointCloudAvailableRouter); ret = TangoService_connectOnPointCloudAvailable(onPointCloudAvailableRouter);
if (ret != TANGO_SUCCESS) if (ret != TANGO_SUCCESS)
{ {
LOGE("NativeRTABMap: Failed to connect to point cloud callback with error code: %d", ret); LOGE("NativeRTABMap: Failed to connect to point cloud callback with error code: %d", ret);
@@ -341,7 +349,7 @@ void CameraTango::cloudReceived(const cv::Mat & cloud, double timestamp)
{ {
if(this->isRunning()) if(this->isRunning())
{ {
UASSERT(cloud.type() == CV_32FC3); UASSERT(cloud.type() == CV_32FC4);
boost::mutex::scoped_lock lock(dataMutex_); boost::mutex::scoped_lock lock(dataMutex_);
bool notify = cloud_.empty(); bool notify = cloud_.empty();