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Tango: some default parameters tuning

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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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4
app/android/jni/RTABMapApp.cpp
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@@ -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)
{