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RtabmapThread: changed state stack for a queue to process events in FIFO order (instead of FILO). Tango: Added detector type parameter (FREAK is now the default with 400 features).

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This commit is contained in:
matlabbe
2017-01-27 11:47:57 -05:00
parent b4a0fe54cd
commit 79a211ad02
9 changed files with 65 additions and 14 deletions
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16
app/android/jni/RTABMapApp.cpp
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@@ -72,11 +72,9 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(mappingParameters_.begin(), mappingParameters_.end());
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::kMemImagePreDecimation(), std::string(fullResolution_?"2":"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::kRtabmapTimeThr(), std::string("800")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapPublishLikelihood(), std::string("false")));
@@ -157,6 +155,7 @@ RTABMapApp::RTABMapApp() :
exportedMesh_(new pcl::TextureMesh)
{
mappingParameters_.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpDetectorStrategy(), "5")); // GFTT/FREAK
}
RTABMapApp::~RTABMapApp() {
@@ -995,7 +994,7 @@ void RTABMapApp::setTrajectoryMode(bool enabled)
void RTABMapApp::setGraphOptimization(bool enabled)
{
graphOptimization_ = enabled;
if(!camera_->isRunning())
if(!camera_->isRunning() && rtabmap_->getMemory()->getLastWorkingSignature()!=0)
{
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
@@ -1090,7 +1089,7 @@ void RTABMapApp::setMaxCloudDepth(float value)
void RTABMapApp::setMeshDecimation(int value)
{
LOGE("Set decimation to level %d", value);
LOGW("Set mesh decimation to level %d", value);
meshDecimation_ = 1;
if(camera_)
{
@@ -1180,7 +1179,13 @@ int RTABMapApp::setMappingParameter(const std::string & key, const std::string &
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));
if(compatibleKey.compare(rtabmap::Parameters::kKpDetectorStrategy()) == 0 &&
mappingParameters_.at(rtabmap::Parameters::kKpDetectorStrategy()).compare(value) != 0)
{
// Changing feature type should reset mapping!
resetMapping();
}
uInsert(mappingParameters_, rtabmap::ParametersPair(compatibleKey, value));
UEventsManager::post(new rtabmap::ParamEvent(mappingParameters_));
return 0;
}
@@ -2040,6 +2045,7 @@ bool RTABMapApp::postExportation(bool visualize)
exportedMesh_.reset(new pcl::TextureMesh);
exportedTexture_ = cv::Mat();
exportedMeshUpdated_ = false;
visualizingMesh_ = false;
}
return visualizingMesh_;