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Tango: some default parameters tuning

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This commit is contained in:
matlabbe
2017-10-02 17:44:59 -04:00
parent 83e7f06500
commit c4ae4919a5
4 changed files with 31 additions and 2 deletions
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23
app/android/jni/CameraTango.cpp
View File

@@ -729,6 +729,13 @@ SensorData CameraTango::captureImage(CameraInfo * info)
CameraModel depthModel = model_.scaled(1.0f/float(depthSizeDec));
std::vector<cv::Point3f> scanData(rawScanPublished_?cloud.total():0);
int oi=0;
int closePoints = 0;
float closeROI[4];
closeROI[0] = depth.cols/4;
closeROI[1] = 3*(depth.cols/4);
closeROI[2] = depth.rows/4;
closeROI[3] = 3*(depth.rows/4);
unsigned short minDepthValue=10000;
for(unsigned int i=0; i<cloud.total(); ++i)
{
float * p = cloud.ptr<float>(0,i);
@@ -747,6 +754,17 @@ SensorData CameraTango::captureImage(CameraInfo * info)
pixel_y_h = static_cast<int>((depthModel.fy()) * (pt.y / pt.z) + depthModel.cy() + 0.5f);
unsigned short depth_value(pt.z * 1000.0f);
if(pixel_x_l>=closeROI[0] && pixel_x_l<closeROI[1] &&
pixel_y_l>closeROI[2] && pixel_y_l<closeROI[3] &&
depth_value < 600)
{
++closePoints;
if(depth_value < minDepthValue)
{
minDepthValue = depth_value;
}
}
bool pixelSet = false;
if(pixel_x_l>=0 && pixel_x_l<depth.cols &&
pixel_y_l>0 && pixel_y_l<depth.rows && // ignore first line
@@ -776,6 +794,11 @@ SensorData CameraTango::captureImage(CameraInfo * info)
}
}
if(closePoints > 100)
{
this->post(new CameraTangoEvent(0, "TooClose", ""));
}
if(oi)
{
scan = cv::Mat(1, oi, CV_32FC3, scanData.data()).clone();

4
app/android/jni/RTABMapApp.cpp
View File

@@ -99,6 +99,8 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeMaxError(), std::string("0.1")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityPathMaxNeighbors(), std::string("0"))); // disable scan matching to merged nodes
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityBySpace(), std::string("false"))); // just keep loop closure detection
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDLinearUpdate(), std::string("0.05")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDAngularUpdate(), std::string("0.05")));
if(parameters.find(rtabmap::Parameters::kOptimizerStrategy()) != parameters.end())
{
@@ -1286,7 +1288,7 @@ int RTABMapApp::Render()
int rejected = (int)uValue(stats.data(), rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f);
if(!paused_ && loopClosure>0)
{
main_scene_.setBackgroundColor(0, 0.7f, 0); // green
main_scene_.setBackgroundColor(0, 0.5f, 0); // green
}
else if(!paused_ && rejected>0)
{

2
app/android/res/values/strings.xml
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@@ -54,7 +54,7 @@
<string name="pref_key_depth">pref_key_depth</string>
<string name="pref_default_depth">2.5</string>
<string name="pref_key_point_size">pref_key_point_size</string>
<string name="pref_default_point_size">5</string>
<string name="pref_default_point_size">10</string>
<string name="pref_key_angle">pref_key_angle</string>
<string name="pref_default_angle">20</string>
<string name="pref_key_triangle">pref_key_triangle</string>

4
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
View File

@@ -1391,6 +1391,10 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
str = String.format("Too few features (%s) were tracked in the fisheye image. This may result in poor odometry!", value);
}
}
else if(key.equals("TooClose"))
{
str = String.format("Too close! Tip: Scan from at least ~1 meter from surfaces.", value);
}
else
{
str = String.format("Unknown Tango event detected!? (type=%d)", type);