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Tango: slight modifications of the default parameters

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matlabbe
2016-09-10 18:45:46 -04:00
parent 94a4fb4579
commit 26c7078923
2 changed files with 5 additions and 2 deletions
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5
app/android/jni/RTABMapApp.cpp
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@@ -53,7 +53,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/io/obj_io.h> #include <pcl/io/obj_io.h>
const int kVersionStringLength = 128; const int kVersionStringLength = 128;
const int minPolygonClusterSize = 100; const int minPolygonClusterSize = 200;
static JavaVM *jvm; static JavaVM *jvm;
static jobject RTABMapActivity = 0; static jobject RTABMapActivity = 0;
@@ -69,11 +69,14 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(mappingParameters_.begin(), mappingParameters_.end()); parameters.insert(mappingParameters_.begin(), mappingParameters_.end());
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpDetectorStrategy(), std::string("6"))); // GFTT/BRIEF parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpDetectorStrategy(), std::string("6"))); // GFTT/BRIEF
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxFeatures(), std::string("200")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kGFTTQualityLevel(), std::string("0.0001"))); parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kGFTTQualityLevel(), std::string("0.0001")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemImagePreDecimation(), std::string(fullResolution_?"2":"1"))); parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemImagePreDecimation(), std::string(fullResolution_?"2":"1")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kFASTThreshold(), std::string("1"))); parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kFASTThreshold(), std::string("1")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kBRIEFBytes(), std::string("64"))); parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kBRIEFBytes(), std::string("64")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapTimeThr(), std::string("800"))); parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapTimeThr(), std::string("800")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapPublishLikelihood(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapPublishPdf(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemBinDataKept(), uBool2Str(!trajectoryMode_))); parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemBinDataKept(), uBool2Str(!trajectoryMode_)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemNotLinkedNodesKept(), std::string("false"))); parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemNotLinkedNodesKept(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), graphOptimization_?"10":"0")); parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), graphOptimization_?"10":"0"));

2
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
View File

@@ -92,7 +92,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private int mParamUpdateRateHzIndex = 1; private int mParamUpdateRateHzIndex = 1;
private int mParamTimeThrMsIndex = 4; private int mParamTimeThrMsIndex = 4;
private int mParamMaxFeaturesIndex = 4; private int mParamMaxFeaturesIndex = 2;
private int mParamLoopThrMsIndex = 1; private int mParamLoopThrMsIndex = 1;
private int mParamOptimizeErrorIndex = 3; private int mParamOptimizeErrorIndex = 3;