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Added RGBD/MaxOdomCacheSize option to iOS App.

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matlabbe
2021-12-12 20:40:28 -05:00
parent 0e62050824
commit 6eb81cbb72
2 changed files with 45 additions and 0 deletions
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1
app/ios/RTABMapApp/ViewController.swift
View File

@@ -1340,6 +1340,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
rtabmap!.setMappingParameter(key: "Vis/FeatureType", value: defaults.string(forKey: "FeatureType")!); rtabmap!.setMappingParameter(key: "Vis/FeatureType", value: defaults.string(forKey: "FeatureType")!);
rtabmap!.setMappingParameter(key: "Mem/NotLinkedNodesKept", value: defaults.bool(forKey: "SaveAllFramesInDatabase") ? "true" : "false"); rtabmap!.setMappingParameter(key: "Mem/NotLinkedNodesKept", value: defaults.bool(forKey: "SaveAllFramesInDatabase") ? "true" : "false");
rtabmap!.setMappingParameter(key: "RGBD/OptimizeFromGraphEnd", value: defaults.bool(forKey: "OptimizationfromGraphEnd") ? "true" : "false"); rtabmap!.setMappingParameter(key: "RGBD/OptimizeFromGraphEnd", value: defaults.bool(forKey: "OptimizationfromGraphEnd") ? "true" : "false");
rtabmap!.setMappingParameter(key: "RGBD/MaxOdomCacheSize", value: defaults.string(forKey: "MaximumOdometryCacheSize")!);
rtabmap!.setMappingParameter(key: "Optimizer/Strategy", value: defaults.string(forKey: "GraphOptimizer")!); rtabmap!.setMappingParameter(key: "Optimizer/Strategy", value: defaults.string(forKey: "GraphOptimizer")!);
rtabmap!.setMappingParameter(key: "RGBD/ProximityBySpace", value: defaults.string(forKey: "ProximityDetection")!); rtabmap!.setMappingParameter(key: "RGBD/ProximityBySpace", value: defaults.string(forKey: "ProximityDetection")!);

44
app/ios/Settings.bundle/Mapping.plist
View File

@@ -552,6 +552,50 @@
<key>DefaultValue</key> <key>DefaultValue</key>
<true/> <true/>
</dict> </dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Used only in localization mode (when clicking First-P. View during visualization). This is used to get smoother localizations and to verify localization transforms (when Max Optimization Error is not disabled) to make sure we don't teleport to a location very similar to one we previously localized on.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Maximum odometry cache size</string>
<key>Key</key>
<string>MaximumOdometryCacheSize</string>
<key>DefaultValue</key>
<string>10</string>
<key>Titles</key>
<array>
<string>500</string>
<string>200</string>
<string>100</string>
<string>75</string>
<string>50</string>
<string>40</string>
<string>30</string>
<string>20</string>
<string>10</string>
<string>5</string>
<string>Disabled</string>
</array>
<key>Values</key>
<array>
<string>500</string>
<string>200</string>
<string>100</string>
<string>75</string>
<string>50</string>
<string>40</string>
<string>30</string>
<string>20</string>
<string>10</string>
<string>5</string>
<string>0</string>
</array>
</dict>
<dict> <dict>
<key>Type</key> <key>Type</key>
<string>PSGroupSpecifier</string> <string>PSGroupSpecifier</string>