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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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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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10
app/android/res/layout/activity_rtabmap.xml
View File

@@ -297,5 +297,15 @@
android:paddingRight="5dp"
android:textOff="@string/pause"
android:textOn="@string/resume" />
<Button
android:id="@+id/close_visualization_button"
android:layout_width="200dp"
android:layout_height="wrap_content"
android:layout_alignParentLeft="true"
android:layout_alignParentBottom="true"
android:layout_marginLeft="5dp"
android:paddingLeft="5dp"
android:text="@string/close_visualization"/>
</RelativeLayout>

7
app/android/res/layout/activity_settings.xml
View File

@@ -108,6 +108,13 @@
android:entries="@array/pref_features_keys"
android:entryValues="@array/pref_features_values"
android:defaultValue="@string/pref_default_features"/>
<ListPreference
android:key="@string/pref_key_features_type"
android:title="@string/pref_title_features_type"
android:summary="@string/pref_summary_features_type"
android:entries="@array/pref_features_type_keys"
android:entryValues="@array/pref_features_type_values"
android:defaultValue="@string/pref_default_features_type"/>
</PreferenceScreen>
</PreferenceCategory>

15
app/android/res/values/strings.xml
View File

@@ -14,6 +14,7 @@
<string name="resume">Paused</string>
<string name="light_on">Lighting</string>
<string name="light_off">Lighting</string>
<string name="close_visualization">Close Visualization</string>
<string name="start">Start</string>
<string name="nodes">"Nodes (WM): "</string>
<string name="points">"Number of points: "</string>
@@ -47,7 +48,8 @@
<string name="pref_key_time_thr">pref_key_time_thr</string> <string name="pref_default_time_thr">800</string>
<string name="pref_key_loop_thr">pref_key_loop_thr</string> <string name="pref_default_loop_thr">0.11</string>
<string name="pref_key_opt_error">pref_key_opt_error</string> <string name="pref_default_opt_error">0.1</string>
<string name="pref_key_features">pref_key_features</string> <string name="pref_default_features">200</string>
<string name="pref_key_features">pref_key_features</string> <string name="pref_default_features">400</string>
<string name="pref_key_features_type">pref_key_features_type</string> <string name="pref_default_features_type">5</string>
<string name="pref_key_cloud_voxel">pref_key_cloud_voxel</string> <string name="pref_default_cloud_voxel">0</string>
<string name="pref_key_texture_size">pref_key_texture_size</string> <string name="pref_default_texture_size">4096</string>
@@ -168,6 +170,8 @@
<string name="pref_summary_opt_error">Reject any loop closures causing error corrections in the map higher than this threshold.</string>
<string name="pref_title_features">Max Features Extracted</string>
<string name="pref_summary_features">Extracting more features per image would result in better loop closure detection but more processing time required.</string>
<string name="pref_title_features_type">Feature Type</string>
<string name="pref_summary_features_type">BRIEF features are fast to compute but are not rotation invariant like FREAK. Warning: Changing feature type will automatically reset the map!</string>
<string-array name="pref_update_rate_keys">
<item>"Max"</item>
@@ -294,6 +298,15 @@
<item>"-1"</item>
</string-array>
<string-array name="pref_features_type_keys">
<item>"BRIEF"</item>
<item>"FREAK"</item>
</string-array>
<string-array name="pref_features_type_values">
<item>"6"</item>
<item>"5"</item>
</string-array>
<string name="pref_title_export">Exporting</string>
<string name="pref_summary_export">Advanced parameters used when exporting the map.</string>