Re: Lenovo Phab 2 Pro Google Project Tango

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Lenovo-Phab-2-Pro-Google-Project-Tango-tp2355p2387.html

You can email me a link if you wish (click on my username here and click send email). If the break happens on a link that was previously ok, that means it is a graph optimization problem. Sometime TORO does this, if it is selected, you must increase graph optimization iterations to 100. g2o doesn't always work well with multi-session maps, it is why GTSAM is used for Tango. Unfortunately, I think the Windows binaries are not built with GTSAM.

If you want to see RGB-D clouds in the desktop version, set Decimation to 2 or 1 in "3D Rendering" settings (Preferences) under Map column. Not sure about the Phab2 pro image size, but the size used on the tango tablet cannot be decimated exactly by the default 4.

To save some RAM on the rendering, I added to the Tango wishlist a possible "low-resolution rendering mode".

cheers,
Mathieu