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Fixed Tango odometry variance

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This commit is contained in:
matlabbe
2017-02-07 15:57:52 -05:00
parent 5e9c4fde95
commit 1c555f321b
4 changed files with 12 additions and 8 deletions
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4
app/android/jni/CameraTango.cpp
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@@ -685,8 +685,8 @@ void CameraTango::mainLoop()
stampEpochOffset_ = UTimer::now()-data.stamp();
}
data.setStamp(stampEpochOffset_ + data.stamp());
LOGI("Publish odometry message (variance=%f)", firstFrame_?9999:0.0001);
this->post(new OdometryEvent(data, pose, firstFrame_?9999:0.0001, firstFrame_?9999:0.0001));
LOGI("Publish odometry message (variance=%f)", firstFrame_?9999:0.000001);
this->post(new OdometryEvent(data, pose, firstFrame_?9999:0.000001, firstFrame_?9999:0.000001));
firstFrame_ = false;
}
else if(!this->isKilled())

12
app/android/jni/RTABMapApp.cpp
View File

@@ -101,13 +101,10 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
int featuresLoop = uStr2Int(parameters.at(rtabmap::Parameters::kVisMaxFeatures()));
if(featuresVoc==0 || featuresLoop < featuresVoc)
{
// re-use already extracted descriptors
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemRawDescriptorsKept(), std::string("true")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDLoopClosureReextractFeatures(), std::string("false")));
}
else
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemRawDescriptorsKept(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDLoopClosureReextractFeatures(), std::string("true")));
}
}
@@ -2226,8 +2223,15 @@ int RTABMapApp::postProcessing(int approach)
// detect more loop closures
if(approach == -1 || approach == 2)
{
// detect more loop closures
// detect more loop closures, don't re-extract features for this
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDLoopClosureReextractFeatures(), std::string("false")));
rtabmap_->parseParameters(parameters);
returnedValue = rtabmap_->detectMoreLoopClosures(1.0f, M_PI/6.0f, approach == -1?5:1);
// put back re-extraction if it was set
rtabmap_->parseParameters(this->getRtabmapParameters());
}
// graph optimization