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Updated default RGBD/OptimizeMaxError to 0.05 m for Tango app

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This commit is contained in:
matlabbe
2016-04-11 10:43:28 -04:00
parent 29dd529762
commit f185a4d739
4 changed files with 63 additions and 17 deletions
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2
app/android/AndroidManifest.xml.in
View File

@@ -2,7 +2,7 @@
<!-- BEGIN_INCLUDE(manifest) -->
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.introlab.rtabmap"
android:versionCode="7"
android:versionCode="8"
android:versionName="@RTABMAP_VERSION@">
<uses-permission android:name="android.permission.CAMERA" />

11
app/android/jni/RTABMapApp.cpp
View File

@@ -77,7 +77,8 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeFromGraphEnd(), std::string("true")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), std::string("true")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisMinInliers(), std::string("15")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisEstimationType(), std::string("0"))); // PnP
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisEstimationType(), std::string("0"))); // 0=3D-3D 1=PnP
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeMaxError(), std::string("0.05")));
return parameters;
}
@@ -1084,8 +1085,10 @@ void RTABMapApp::handleEvent(UEvent * event)
int words = (int)uValue(stats.data(), rtabmap::Statistics::kKeypointDictionary_size(), 0.0f);
float updateTime = uValue(stats.data(), rtabmap::Statistics::kTimingTotal(), 0.0f);
int loopClosureId = stats.loopClosureId()>0?stats.loopClosureId():stats.proximityDetectionId()>0?stats.proximityDetectionId():0;
int highestHypId = (int)uValue(stats.data(), rtabmap::Statistics::kLoopHighest_hypothesis_id(), 0.0f);
int databaseMemoryUsed = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryDatabase_memory_used(), 0.0f);
int inliers = (int)uValue(stats.data(), rtabmap::Statistics::kLoopVisual_inliers(), 0.0f);
int rejected = (int)uValue(stats.data(), rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f);
int featuresExtracted = stats.getSignatures().size()?stats.getSignatures().rbegin()->second.getWords().size():0;
float hypothesis = uValue(stats.data(), rtabmap::Statistics::kLoopHighest_hypothesis_value(), 0.0f);
@@ -1101,7 +1104,7 @@ void RTABMapApp::handleEvent(UEvent * event)
jclass clazz = env->GetObjectClass(RTABMapActivity);
if(clazz)
{
jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIFI)V" );
jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIFII)V" );
if(methodID)
{
env->CallVoidMethod(RTABMapActivity, methodID,
@@ -1111,11 +1114,13 @@ void RTABMapApp::handleEvent(UEvent * event)
totalPolygons_,
updateTime,
loopClosureId,
highestHypId,
databaseMemoryUsed,
inliers,
featuresExtracted,
hypothesis,
lastDrawnCloudsCount_);
lastDrawnCloudsCount_,
rejected);
success = true;
}
}

13
app/android/res/menu/optionmenu.xml
View File

@@ -49,11 +49,16 @@
<item android:id="@+id/trajectory_mode" android:checked="false" android:title="Trajectory Mode" />
<item android:id="@+id/graph_optimization" android:checked="true" android:title="Optimized Graph" />
<item android:id="@+id/nodes_filtering" android:checked="false" android:title="Nodes Filtering" />
<item android:id="@+id/update_rate" android:checkable="false" android:title="Map Update Rate..." />
<item android:id="@+id/time_threshold" android:checkable="false" android:title="Time Threshold..." />
<item android:id="@+id/loop_threshold" android:checkable="false" android:title="Loop Closure Threshold..." />
<item android:id="@+id/features" android:checkable="false" android:title="Max Features Extracted..." />
<item android:id="@+id/resolution" android:checked="false" android:title="720p Mode" />
<item android:id="@+id/menu_param_settings" android:checkable="false" android:title="Parameters...">
<menu >
<item android:id="@+id/update_rate" android:title="Map Update Rate..." />
<item android:id="@+id/time_threshold" android:title="Time Threshold..." />
<item android:id="@+id/loop_threshold" android:title="Loop Closure Threshold..." />
<item android:id="@+id/optimize_error" android:title="Max Optimization Error..." />
<item android:id="@+id/features" android:title="Max Features Extracted..." />
</menu>
</item>
</group>
</menu>
</item>

54
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
View File

@@ -85,11 +85,13 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private int mParamTimeThrMsIndex = 4;
private int mParamMaxFeaturesIndex = 4;
private int mParamLoopThrMsIndex = 1;
private int mParamOptimizeErrorIndex = 3;
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"};
final String[] mOptimizeErrorValues = {"Disabled", "0.01", "0.025", "0.05", "0.1", "0.2", "0.35", "0.5", "1"};
private LinearLayout mLayoutDebug;
@@ -310,11 +312,13 @@ public class RTABMapActivity extends Activity implements OnClickListener {
int polygons,
float updateTime,
int loopClosureId,
int highestHypId,
int databaseMemoryUsed,
int inliers,
int featuresExtracted,
float hypothesis,
int nodesDrawn)
int nodesDrawn,
int rejected)
{
if(mItemPause!=null)
{
@@ -330,13 +334,21 @@ public class RTABMapActivity extends Activity implements OnClickListener {
((TextView)findViewById(R.id.inliers)).setText(String.valueOf(inliers));
((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)
((TextView)findViewById(R.id.hypothesis)).setText(String.format("%.3f / %s (%d)", hypothesis, mLoopThrValues[mParamLoopThrMsIndex], loopClosureId>0?loopClosureId:highestHypId));
if(mItemPause!=null && !mItemPause.isChecked())
{
++mTotalLoopClosures;
mToast.setText("Loop closure detected!");
mToast.show();
if(loopClosureId > 0)
{
++mTotalLoopClosures;
mToast.setText("Loop closure detected!");
mToast.show();
}
else if(rejected > 0 && inliers >= 15)
{
mToast.setText("Loop closure rejected after graph optimization.");
mToast.show();
}
}
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
}
@@ -349,17 +361,19 @@ public class RTABMapActivity extends Activity implements OnClickListener {
final int polygons,
final float updateTime,
final int loopClosureId,
final int highestHypId,
final int databaseMemoryUsed,
final int inliers,
final int features,
final float hypothesis,
final int nodesDrawn)
final int nodesDrawn,
final int rejected)
{
Log.i(TAG, String.format("updateStatsCallback()"));
runOnUiThread(new Runnable() {
public void run() {
updateStatsUI(nodes, words, points, polygons, updateTime, loopClosureId, databaseMemoryUsed, inliers, features, hypothesis, nodesDrawn);
updateStatsUI(nodes, words, points, polygons, updateTime, loopClosureId, highestHypId, databaseMemoryUsed, inliers, features, hypothesis, nodesDrawn, rejected);
}
});
}
@@ -629,6 +643,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mProgressDialog.dismiss();
if(loopDetected >= 0)
{
mTotalLoopClosures+=loopDetected;
mToast.makeText(getActivity(), String.format("Detection done! %d new loop closure(s) added.", loopDetected), mToast.LENGTH_SHORT).show();
}
else if(loopDetected < 0)
@@ -896,6 +911,27 @@ public class RTABMapActivity extends Activity implements OnClickListener {
});
builder.show();
}
else if(itemId == R.id.optimize_error)
{
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Max Optimization Error (m)");
builder.setSingleChoiceItems(mOptimizeErrorValues, mParamOptimizeErrorIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < mOptimizeErrorValues.length)
{
mParamOptimizeErrorIndex = which;
if(RTABMapLib.setMappingParameter("RGBD/OptimizeMaxError", which==0?"0":mOptimizeErrorValues[which]) != 0)
{
mToast.makeText(getActivity(), "Failed to set parameter \"RGBD/OptimizeMaxError\"!", mToast.LENGTH_LONG).show();
}
}
}
});
builder.show();
}
else if (itemId == R.id.save)
{
if(mOpenedDatabasePath.isEmpty())