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Tango: fixed MaxOptimizeError value that now is a factor. Docker: updated tango download links

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matlabbe
2018-03-18 18:47:13 -04:00
parent 548f0b6130
commit dd59d3c713
5 changed files with 46 additions and 27 deletions
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app/android/jni/CameraTango.cpp
+2 -2
View File
@@ -950,8 +950,8 @@ void CameraTango::mainLoop()
info.interval = data.stamp()-previousStamp_;
info.transform = previousPose_.inverse() * pose;
}
info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.000001);
LOGI("Publish odometry message (variance=%f)", firstFrame?9999:0.000001);
info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.0001);
LOGI("Publish odometry message (variance=%f)", firstFrame?9999:0.0001);
this->post(new OdometryEvent(data, pose, info));
previousPose_ = pose;
previousStamp_ = data.stamp();
app/android/jni/RTABMapApp.cpp
+5 -2
View File
@@ -95,7 +95,7 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeFromGraphEnd(), std::string("true")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisMinInliers(), std::string("25")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisEstimationType(), std::string("0"))); // 0=3D-3D 1=PnP
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeMaxError(), std::string("0.1")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeMaxError(), std::string("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")));
@@ -3305,6 +3305,7 @@ bool RTABMapApp::handleEvent(UEvent * event)
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopVisual_matches(), uValue(stats.data(), rtabmap::Statistics::kLoopVisual_matches(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopRejectedHypothesis(), uValue(stats.data(), rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopOptimization_max_error(), uValue(stats.data(), rtabmap::Statistics::kLoopOptimization_max_error(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopOptimization_max_error_ratio(), uValue(stats.data(), rtabmap::Statistics::kLoopOptimization_max_error_ratio(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryRehearsal_sim(), uValue(stats.data(), rtabmap::Statistics::kMemoryRehearsal_sim(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopHighest_hypothesis_value(), uValue(stats.data(), rtabmap::Statistics::kLoopHighest_hypothesis_value(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryDistance_travelled(), uValue(stats.data(), rtabmap::Statistics::kMemoryDistance_travelled(), 0.0f)));
@@ -3322,6 +3323,7 @@ bool RTABMapApp::handleEvent(UEvent * event)
int matches = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopVisual_matches(), 0.0f);
int rejected = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f);
float optimizationMaxError = uValue(bufferedStatsData_, rtabmap::Statistics::kLoopOptimization_max_error(), 0.0f);
float optimizationMaxErrorRatio = uValue(bufferedStatsData_, rtabmap::Statistics::kLoopOptimization_max_error_ratio(), 0.0f);
float rehearsalValue = uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryRehearsal_sim(), 0.0f);
float hypothesis = uValue(bufferedStatsData_, rtabmap::Statistics::kLoopHighest_hypothesis_value(), 0.0f);
float distanceTravelled = uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryDistance_travelled(), 0.0f);
@@ -3345,7 +3347,7 @@ bool RTABMapApp::handleEvent(UEvent * event)
jclass clazz = env->GetObjectClass(RTABMapActivity);
if(clazz)
{
jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIIFIFIFFFIFFFFFF)V" );
jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIIFIFIFFFFIFFFFFF)V" );
if(methodID)
{
env->CallVoidMethod(RTABMapActivity, methodID,
@@ -3366,6 +3368,7 @@ bool RTABMapApp::handleEvent(UEvent * event)
rejected,
rehearsalValue,
optimizationMaxError,
optimizationMaxErrorRatio,
distanceTravelled,
fastMovement,
x,
app/android/res/values/strings.xml
+22 -18
View File
@@ -91,7 +91,7 @@
<string name="pref_key_min_inliers">pref_key_min_inliers</string>
<string name="pref_default_min_inliers">25</string>
<string name="pref_key_opt_error">pref_key_opt_error</string>
<string name="pref_default_opt_error">0.1</string>
<string name="pref_default_opt_error">2</string>
<string name="pref_key_features_voc">pref_key_features_voc</string>
<string name="pref_default_features_voc">200</string>
<string name="pref_key_features">pref_key_features</string>
@@ -333,7 +333,7 @@
<string name="pref_title_min_inliers">Min Inliers</string>
<string name="pref_summary_min_inliers">Minimum visual inliers to accept a loop closure.</string>
<string name="pref_title_opt_error">Max Optimization Error</string>
<string name="pref_summary_opt_error">Reject any loop closures causing error corrections in the map higher than this threshold.</string>
<string name="pref_summary_opt_error">Reject any loop closures causing error corrections in the map higher than this factor of the link\'s variance.</string>
<string name="pref_title_features_voc">Max Features Extracted (Vocabulary)</string>
<string name="pref_summary_features_voc">Extracting more features per image would result in better loop closure hypotheses but more processing time is required.</string>
<string name="pref_title_features">Max Features Extracted (Loop Closure)</string>
@@ -494,25 +494,29 @@
<item>"10"</item>
</string-array>
<string-array name="pref_opt_error_keys">
<item>"1.0 m"</item>
<item>"0.5 m"</item>
<item>"0.35 m"</item>
<item>"0.2 m"</item>
<item>"0.1 m"</item>
<item>"0.05 m"</item>
<item>"0.025 m"</item>
<item>"0.01 m"</item>
<item>"10x"</item>
<item>"9x"</item>
<item>"8x"</item>
<item>"7x"</item>
<item>"6x"</item>
<item>"5x"</item>
<item>"4x"</item>
<item>"3x"</item>
<item>"2x"</item>
<item>"1x"</item>
<item>"Disabled"</item>
</string-array>
<string-array name="pref_opt_error_values">
<item>"1.0"</item>
<item>"0.5"</item>
<item>"0.35"</item>
<item>"0.2"</item>
<item>"0.1"</item>
<item>"0.05"</item>
<item>"0.025"</item>
<item>"0.01"</item>
<item>"10"</item>
<item>"9"</item>
<item>"8"</item>
<item>"7"</item>
<item>"6"</item>
<item>"5"</item>
<item>"4"</item>
<item>"3"</item>
<item>"2"</item>
<item>"1"</item>
<item>"0"</item>
</string-array>
<string-array name="pref_features_voc_keys">
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+14 -2
View File
@@ -71,6 +71,7 @@ import android.os.Handler;
import android.os.Debug;
import android.os.IBinder;
import android.os.Message;
import android.preference.ListPreference;
import android.preference.PreferenceManager;
import android.text.Editable;
import android.text.Html;
@@ -708,6 +709,15 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
String simThr = sharedPref.getString(getString(R.string.pref_key_sim_thr), getString(R.string.pref_default_sim_thr));
mMinInliers = sharedPref.getString(getString(R.string.pref_key_min_inliers), getString(R.string.pref_default_min_inliers));
mMaxOptimizationError = sharedPref.getString(getString(R.string.pref_key_opt_error), getString(R.string.pref_default_opt_error));
float maxOptimizationError = Float.parseFloat(mMaxOptimizationError);
if(maxOptimizationError >0 && maxOptimizationError<1)
{
Log.w(TAG, "Migration of " + getString(R.string.pref_key_opt_error) + " from " + mMaxOptimizationError + " to " + getString(R.string.pref_default_opt_error)) ;
SharedPreferences.Editor editor = sharedPref.edit();
editor.putString(getString(R.string.pref_key_opt_error), getString(R.string.pref_default_opt_error));
editor.commit();
mMaxOptimizationError = getString(R.string.pref_default_opt_error);
}
mMaxFeatures = sharedPref.getString(getString(R.string.pref_key_features_voc), getString(R.string.pref_default_features_voc));
String maxFeaturesLoop = sharedPref.getString(getString(R.string.pref_key_features), getString(R.string.pref_default_features));
String featureType = sharedPref.getString(getString(R.string.pref_key_features_type), getString(R.string.pref_default_features_type));
@@ -1023,6 +1033,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
int matches,
int rejected,
float optimizationMaxError,
float optimizationMaxErrorRatio,
boolean fastMovement,
String[] statusTexts)
{
@@ -1110,7 +1121,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
{
if(optimizationMaxError > 0.0f)
{
mToast.setText(String.format("Loop closure rejected, too high graph optimization error (%.3fm > %sm).", optimizationMaxError, mMaxOptimizationError));
mToast.setText(String.format("Loop closure rejected, too high graph optimization error (%.3fm: ratio=%.3f < factor=%sx).", optimizationMaxError, optimizationMaxErrorRatio, mMaxOptimizationError));
}
else
{
@@ -1158,6 +1169,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
final int rejected,
final float rehearsalValue,
final float optimizationMaxError,
final float optimizationMaxErrorRatio,
final float distanceTravelled,
final int fastMovement,
final float x,
@@ -1238,7 +1250,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
runOnUiThread(new Runnable() {
public void run() {
updateStatsUI(loopClosureId, inliers, matches, rejected, optimizationMaxError, fastMovement!=0, statusTexts);
updateStatsUI(loopClosureId, inliers, matches, rejected, optimizationMaxError, optimizationMaxErrorRatio, fastMovement!=0, statusTexts);
}
});
}
docker/xenial/android/tango/build.bash
+3 -3
View File
@@ -11,7 +11,7 @@ prefix=$1
git clone https://github.com/introlab/rtabmap.git rtabmap-tango
# tango
wget https://developers.google.com/tango/downloads/TangoSDK_Ikariotikos_C.zip
wget 'https://docs.google.com/uc?authuser=0&id=12rHHkYM5k-UnQn-xGXs9JqYWhSXrgJr3&export=download' -O TangoSDK_Ikariotikos_C.zip
unzip -qq TangoSDK_Ikariotikos_C.zip
rm TangoSDK_Ikariotikos_C.zip
cp -r lib_tango_client_api/include/* $prefix/armeabi-v7a/include/.
@@ -19,7 +19,7 @@ cp -r lib_tango_client_api/include/* $prefix/arm64-v8a/include/.
cp -r lib_tango_client_api/lib/armeabi-v7a/* $prefix/armeabi-v7a/lib/.
cp -r lib_tango_client_api/lib/arm64-v8a/* $prefix/arm64-v8a/lib/.
rm -r lib_tango_client_api
wget https://developers.google.com/tango/downloads/TangoSupport_Ikariotikos_C.zip
wget 'https://docs.google.com/uc?authuser=0&id=1AqVuEVu5284X6OgrGWu12VTrx4pY99Jb&export=download' -O TangoSupport_Ikariotikos_C.zip
unzip -qq TangoSupport_Ikariotikos_C.zip
rm TangoSupport_Ikariotikos_C.zip
cp -r lib_tango_support_api/include/* $prefix/armeabi-v7a/include/.
@@ -28,7 +28,7 @@ cp -r lib_tango_support_api/lib/armeabi-v7a/* $prefix/armeabi-v7a/lib/.
cp -r lib_tango_support_api/lib/arm64-v8a/* $prefix/arm64-v8a/lib/.
cp -r lib_tango_support_api/lib/* rtabmap-tango/app/android/jni/third-party/lib/.
rm -r lib_tango_support_api
wget https://developers.google.com/tango/downloads/TangoSDK_Ikariotikos_Java.jar
wget 'https://docs.google.com/uc?authuser=0&id=1s5iPJ7xiridj9Jj--gCy2XiQFniheVm6&export=download' -O TangoSDK_Ikariotikos_Java.jar
mv TangoSDK_Ikariotikos_Java.jar rtabmap-tango/app/android/libs/.
# resource tool