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Tango: Fixed a bug where gain compensation was done while mapping (causing big lags)

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matlabbe
2016-11-18 13:07:53 -05:00
parent 43ff7e4b3e
commit e5db40e4ae
2 changed files with 6 additions and 3 deletions
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app/android/AndroidManifest.xml.in
+1 -1
View File
@@ -2,7 +2,7 @@
<!-- BEGIN_INCLUDE(manifest) --> <!-- BEGIN_INCLUDE(manifest) -->
<manifest xmlns:android="http://schemas.android.com/apk/res/android" <manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.introlab.rtabmap" package="com.introlab.rtabmap"
android:versionCode="17" android:versionCode="18"
android:versionName="@RTABMAP_VERSION@"> android:versionName="@RTABMAP_VERSION@">
<uses-permission android:name="android.permission.CAMERA" /> <uses-permission android:name="android.permission.CAMERA" />
app/android/jni/RTABMapApp.cpp
+5 -2
View File
@@ -474,7 +474,8 @@ int RTABMapApp::Render()
uInsert(bufferedSensorData, std::make_pair(jter->first, jter->second.sensorData())); uInsert(bufferedSensorData, std::make_pair(jter->first, jter->second.sensorData()));
uInsert(rawPoses_, std::make_pair(jter->first, jter->second.getPose())); uInsert(rawPoses_, std::make_pair(jter->first, jter->second.getPose()));
} }
else if(!jter->second.sensorData().imageCompressed().empty() && else if(totalPoints_ == 0 &&
!jter->second.sensorData().imageCompressed().empty() &&
!jter->second.sensorData().depthOrRightCompressed().empty()) !jter->second.sensorData().depthOrRightCompressed().empty())
{ {
// uncompress // uncompress
@@ -483,6 +484,8 @@ int RTABMapApp::Render()
data.uncompressData(&tmpA, &tmpB); data.uncompressData(&tmpA, &tmpB);
uInsert(bufferedSensorData, std::make_pair(jter->first, data)); uInsert(bufferedSensorData, std::make_pair(jter->first, data));
uInsert(rawPoses_, std::make_pair(jter->first, jter->second.getPose())); uInsert(rawPoses_, std::make_pair(jter->first, jter->second.getPose()));
LOGI("Detecting that we are loading a database, so do some post-processing...");
notifyDataLoaded = true; notifyDataLoaded = true;
} }
} }
@@ -952,7 +955,7 @@ int RTABMapApp::setMappingParameter(const std::string & key, const std::string &
{ {
if(rtabmap::Parameters::getDefaultParameters().find(key) != rtabmap::Parameters::getDefaultParameters().end()) if(rtabmap::Parameters::getDefaultParameters().find(key) != rtabmap::Parameters::getDefaultParameters().end())
{ {
LOGI(uFormat("Setting param \"%s\" to \"\"", key.c_str(), value.c_str()).c_str()); LOGI(uFormat("Setting param \"%s\" to \"%s\"", key.c_str(), value.c_str()).c_str());
uInsert(mappingParameters_, rtabmap::ParametersPair(key, value)); uInsert(mappingParameters_, rtabmap::ParametersPair(key, value));
UEventsManager::post(new rtabmap::ParamEvent(mappingParameters_)); UEventsManager::post(new rtabmap::ParamEvent(mappingParameters_));
return 0; return 0;