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Fixed Tango odometry variance

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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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12
app/android/jni/RTABMapApp.cpp
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@@ -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