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Tango: Added AprilTag dictionaries for marker detection option.

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matlabbe
2019-02-23 23:11:24 +00:00
parent eef47e1681
commit 222db70cf6
2 changed files with 11 additions and 2 deletions
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app/android/res/values/strings.xml
+8
View File
@@ -619,6 +619,10 @@
<item>"7X7_250"</item>
<item>"7X7_1000"</item>
<item>"ARUCO_ORIGINAL"</item>
<item>"APRILTAG_16h5"</item>
<item>"APRILTAG_25h9"</item>
<item>"APRILTAG_36h10"</item>
<item>"APRILTAG_36h11"</item>
</string-array>
<string-array name="pref_marker_detection_values">
<item>"-1"</item>
@@ -639,6 +643,10 @@
<item>"14"</item>
<item>"15"</item>
<item>"16"</item>
<item>"17"</item>
<item>"18"</item>
<item>"19"</item>
<item>"20"</item>
</string-array>
<string name="pref_title_export_sub">Exporting&#8230;</string>
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+3 -2
View File
@@ -832,7 +832,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
RTABMapLib.setMappingParameter("Mem/NotLinkedNodesKept", String.valueOf(keepAllDb));
RTABMapLib.setMappingParameter("RGBD/OptimizeFromGraphEnd", String.valueOf(optimizeFromGraphEnd));
RTABMapLib.setMappingParameter("Optimizer/Strategy", optimizer);
if(Float.parseFloat(markerDetection) == -1)
if(Integer.parseInt(markerDetection) == -1)
{
RTABMapLib.setMappingParameter("RGBD/MarkerDetection", "false");
}
@@ -840,6 +840,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
{
RTABMapLib.setMappingParameter("RGBD/MarkerDetection", "true");
RTABMapLib.setMappingParameter("Aruco/Dictionary", markerDetection);
RTABMapLib.setMappingParameter("Aruco/CornerRefinementMethod", Integer.parseInt(markerDetection) > 16?"3":"0");
}
if(!DISABLE_LOG) Log.d(TAG, "set exporting parameters...");
@@ -1204,7 +1205,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
}
else if(landmarkDetected != 0)
{
mToast.setText(String.format("Landmark %d detected!", landmarkDetected));
mToast.setText(String.format("Marker %d detected!", landmarkDetected));
mToast.show();
}
else if(rejected > 0)