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DbViewer: do the max optimization error test when adding a new loop closure (rejecting it if it fails)

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matlabbe
2016-11-24 15:09:16 -05:00
parent 2a43a95ddd
commit 5b183d9105
4 changed files with 221 additions and 103 deletions
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34
app/android/jni/RTABMapApp.cpp
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@@ -992,16 +992,44 @@ void RTABMapApp::setMeshTriangleSize(int value)
int RTABMapApp::setMappingParameter(const std::string & key, const std::string & value)
{
if(rtabmap::Parameters::getDefaultParameters().find(key) != rtabmap::Parameters::getDefaultParameters().end())
std::string compatibleKey = key;
// Backward compatibility
std::map<std::string, std::pair<bool, std::string> >::const_iterator iter=rtabmap::Parameters::getRemovedParameters().find(key);
if(iter != rtabmap::Parameters::getRemovedParameters().end())
{
LOGI(uFormat("Setting param \"%s\" to \"%s\"", key.c_str(), value.c_str()).c_str());
if(iter->second.first)
{
// can be migrated
compatibleKey = iter->second.second;
LOGW("Parameter name changed: \"%s\" -> \"%s\". Please update the code accordingly. Value \"%s\" is still set to the new parameter name.",
iter->first.c_str(), iter->second.second.c_str(), value.c_str());
}
else
{
if(iter->second.second.empty())
{
LOGE("Parameter \"%s\" doesn't exist anymore!",
iter->first.c_str());
}
else
{
LOGE("Parameter \"%s\" doesn't exist anymore! You may look at this similar parameter: \"%s\"",
iter->first.c_str(), iter->second.second.c_str());
}
}
}
if(rtabmap::Parameters::getDefaultParameters().find(compatibleKey) != rtabmap::Parameters::getDefaultParameters().end())
{
LOGI(uFormat("Setting param \"%s\" to \"%s\"", compatibleKey.c_str(), value.c_str()).c_str());
uInsert(mappingParameters_, rtabmap::ParametersPair(key, value));
UEventsManager::post(new rtabmap::ParamEvent(mappingParameters_));
return 0;
}
else
{
LOGE(uFormat("Key \"%s\" doesn't exist!", key.c_str()).c_str());
LOGE(uFormat("Key \"%s\" doesn't exist!", compatibleKey.c_str()).c_str());
return -1;
}
}