i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-08 11:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added imu to odom bundle adjustment. Added IMUFilter classes. Changed Aruco parameter prefix to Marker. Zed: publishing IMU data.

Browse Source
This commit is contained in:
matlabbe
2019-05-07 18:57:53 -04:00
parent 4675240d6e
commit e6f471d88e
32 changed files with 1733 additions and 158 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+3 -3
View File
@@ -840,10 +840,10 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
else
{
RTABMapLib.setMappingParameter("RGBD/MarkerDetection", "true");
RTABMapLib.setMappingParameter("Aruco/Dictionary", markerDetection);
RTABMapLib.setMappingParameter("Aruco/CornerRefinementMethod", Integer.parseInt(markerDetection) > 16?"3":"0");
RTABMapLib.setMappingParameter("Marker/Dictionary", markerDetection);
RTABMapLib.setMappingParameter("Marker/CornerRefinementMethod", Integer.parseInt(markerDetection) > 16?"3":"0");
}
RTABMapLib.setMappingParameter("Aruco/MaxDepthError", markerDetectionDepthError);
RTABMapLib.setMappingParameter("Marker/MaxDepthError", markerDetectionDepthError);
if(!DISABLE_LOG) Log.d(TAG, "set exporting parameters...");
RTABMapLib.setCloudDensityLevel(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_density), getString(R.string.pref_default_density))));