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

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This commit is contained in:
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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4
app/android/jni/CameraTango.cpp
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();

7
app/android/jni/RTABMapApp.cpp
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,