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Tango: Fixed auto-exposure config error (now ignoring it), updated log info

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This commit is contained in:
matlabbe
2016-04-08 18:58:18 -04:00
parent ab35106359
commit cc9c9d552c
4 changed files with 41 additions and 36 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+22 -21
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@@ -82,10 +82,15 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private int mMeshTriangleSizeIndex = 0;
private int mParamUpdateRateHzIndex = 1;
private int mParamTimeThrMsIndex = 1;
private int mParamTimeThrMsIndex = 4;
private int mParamMaxFeaturesIndex = 4;
private int mParamLoopThrMsIndex = 1;
final String[] mUpdateRateValues = {"0.5", "1", "2", "Max"};
final String[] mTimeThrValues = {"400", "500", "600", "700", "800", "900", "1000", "1100", "1200", "1300", "1400", "1500", "No Limit"};
final String[] mMaxFeaturesValues = {"Disabled", "100", "200", "300", "400", "500", "600", "700", "800", "900", "1000", "No Limit"};
final String[] mLoopThrValues = {"Disabled", "0.11", "0.20", "0.30", "0.40", "0.50", "0.60", "0.70", "0.80", "0.90"};
private LinearLayout mLayoutDebug;
private int mTotalLoopClosures = 0;
@@ -313,7 +318,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
if(mItemPause!=null)
{
((TextView)findViewById(R.id.status)).setText(mItemPause.isChecked()?"Paused":mItemLocalizationMode.isChecked()?"Localization":"Mapping");
((TextView)findViewById(R.id.status)).setText(mItemPause.isChecked()?"Paused":mItemLocalizationMode.isChecked()?String.format("Localization (%s Hz)", mUpdateRateValues[mParamUpdateRateHzIndex]):String.format("Mapping (%s Hz)", mUpdateRateValues[mParamUpdateRateHzIndex]));
}
((TextView)findViewById(R.id.points)).setText(String.valueOf(points));
@@ -323,9 +328,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
((TextView)findViewById(R.id.memory)).setText(String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024)));
((TextView)findViewById(R.id.db_size)).setText(String.valueOf(databaseMemoryUsed));
((TextView)findViewById(R.id.inliers)).setText(String.valueOf(inliers));
((TextView)findViewById(R.id.features)).setText(String.valueOf(featuresExtracted));
((TextView)findViewById(R.id.update_time)).setText(String.format("%.3f", updateTime));
((TextView)findViewById(R.id.hypothesis)).setText(String.format("%.3f (%d)", hypothesis, loopClosureId));
((TextView)findViewById(R.id.features)).setText(String.format("%d / %s", featuresExtracted, mMaxFeaturesValues[mParamMaxFeaturesIndex]));
((TextView)findViewById(R.id.update_time)).setText(String.format("%.3f / %s", updateTime, mTimeThrValues[mParamTimeThrMsIndex]));
((TextView)findViewById(R.id.hypothesis)).setText(String.format("%.3f / %s (%d)", hypothesis, mLoopThrValues[mParamLoopThrMsIndex], loopClosureId));
if(loopClosureId > 0)
{
++mTotalLoopClosures;
@@ -807,15 +812,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Update Rate (Hz)");
final String[] values = {"0.5", "1", "2", "Max"};
builder.setSingleChoiceItems(values, mParamUpdateRateHzIndex, new DialogInterface.OnClickListener() {
builder.setSingleChoiceItems(mUpdateRateValues, mParamUpdateRateHzIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < 4)
if(which >=0 && which < mUpdateRateValues.length)
{
mParamUpdateRateHzIndex = which;
if(RTABMapLib.setMappingParameter("Rtabmap/DetectionRate", values[which]) != 0)
if(RTABMapLib.setMappingParameter("Rtabmap/DetectionRate", mUpdateRateValues[which]) != 0)
{
mToast.makeText(getActivity(), "Failed to set parameter \"Rtabmap/DetectionRate\"!", mToast.LENGTH_LONG).show();
}
@@ -829,15 +833,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Time Threshold (ms)");
final String[] values = {"400", "700", "1400", "No Limit"};
builder.setSingleChoiceItems(values, mParamTimeThrMsIndex, new DialogInterface.OnClickListener() {
builder.setSingleChoiceItems(mTimeThrValues, mParamTimeThrMsIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < 4)
if(which >=0 && which < mTimeThrValues.length)
{
mParamTimeThrMsIndex = which;
if(RTABMapLib.setMappingParameter("Rtabmap/TimeThr", which==3?"0":values[which]) != 0)
if(RTABMapLib.setMappingParameter("Rtabmap/TimeThr", which==mTimeThrValues.length-1?"0":mTimeThrValues[which]) != 0)
{
mToast.makeText(getActivity(), "Failed to set parameter \"Rtabmap/TimeThr\"!", mToast.LENGTH_LONG).show();
}
@@ -851,15 +854,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Max Features");
final String[] values = {"Disabled", "100", "200", "300", "400", "500", "600", "700", "800", "900", "1000", "No Limit"};
builder.setSingleChoiceItems(values, mParamMaxFeaturesIndex, new DialogInterface.OnClickListener() {
builder.setSingleChoiceItems(mMaxFeaturesValues, mParamMaxFeaturesIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < 12)
if(which >=0 && which < mMaxFeaturesValues.length)
{
mParamMaxFeaturesIndex = which;
if(RTABMapLib.setMappingParameter("Kp/MaxFeatures", which==0?"-1":which==11?"0":values[which]) != 0)
if(RTABMapLib.setMappingParameter("Kp/MaxFeatures", which==0?"-1":which==mMaxFeaturesValues.length-1?"0":mMaxFeaturesValues[which]) != 0)
{
mToast.makeText(getActivity(),"Failed to set parameter \"Kp/MaxFeatures\"!", mToast.LENGTH_LONG).show();
}
@@ -873,15 +875,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Loop Closure Threshold");
final String[] values = {"Disabled", "0.11", "0.20", "0.30", "0.40", "0.50", "0.60", "0.70", "0.80", "0.90"};
builder.setSingleChoiceItems(values, mParamTimeThrMsIndex, new DialogInterface.OnClickListener() {
builder.setSingleChoiceItems(mLoopThrValues, mParamLoopThrMsIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < 10)
if(which >=0 && which < mLoopThrValues.length)
{
mParamLoopThrMsIndex = which;
if(RTABMapLib.setMappingParameter("Rtabmap/LoopThr", which==0?"1":values[which]) != 0)
if(RTABMapLib.setMappingParameter("Rtabmap/LoopThr", which==0?"1":mLoopThrValues[which]) != 0)
{
mToast.makeText(getActivity(), "Failed to set parameter \"Rtabmap/LoopThr\"!", mToast.LENGTH_LONG).show();
}