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Updated default RGBD/OptimizeMaxError to 0.05 m for Tango app

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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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11
app/android/jni/RTABMapApp.cpp
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@@ -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;
}
}