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Added Marker Max Range option (default 1m)

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matlabbe
2025-03-09 18:54:20 -07:00
parent c049b40ce9
commit f2e5a3b8bd
4 changed files with 51 additions and 2 deletions
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1
app/android/jni/RTABMapApp.cpp
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@@ -273,7 +273,6 @@ RTABMapApp::RTABMapApp() :
metricSystem_(true),
measuringTextSize_(0.05f),
snapAxisThr_(0.95),
markerDetection_(false),
measuringMode_(0),
addMeasureClicked_(false),
teleportClicked_(false),

1
app/android/jni/RTABMapApp.h
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@@ -285,7 +285,6 @@ class RTABMapApp : public UEventsHandler {
float measuringTextSize_;
float snapAxisThr_;
std::vector<cv::Vec3f> snapAxes_;
bool markerDetection_;
int measuringMode_;
bool addMeasureClicked_;
bool teleportClicked_;

1
app/ios/RTABMapApp/ViewController.swift
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@@ -1527,6 +1527,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
rtabmap!.setMappingParameter(key: "Marker/Dictionary", value: defaults.string(forKey: "ArUcoMarkerDetection")!);
rtabmap!.setMappingParameter(key: "Marker/CornerRefinementMethod", value: (markerDetection > 16 ? "3":"0"));
rtabmap!.setMappingParameter(key: "Marker/MaxDepthError", value: defaults.string(forKey: "MarkerDepthErrorEstimation")!);
rtabmap!.setMappingParameter(key: "Marker/MaxRange", value: defaults.string(forKey: "MarkerMaxRange")!);
if let val = NumberFormatter().number(from: defaults.string(forKey: "MarkerSize")!)?.doubleValue
{
rtabmap!.setMappingParameter(key: "Marker/Length", value: String(format: "%f", val/100.0))

50
app/ios/Settings.bundle/Mapping.plist
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@@ -836,6 +836,56 @@
<key>KeyboardType</key>
<string>NumberPad</string>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Maximum range at which the markers are detected. Long range increases the estimated orientation error of the tag, which can then cause bad graph optimization. Using larger tags can improve orientation estimation at longer range.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Marker Maximum Range</string>
<key>Key</key>
<string>MarkerMaxRange</string>
<key>DefaultValue</key>
<real>1</real>
<key>Titles</key>
<array>
<string>No Limit</string>
<string>0.5 m</string>
<string>1 m</string>
<string>2 m</string>
<string>3 m</string>
<string>4 m</string>
<string>5 m</string>
<string>6 m</string>
<string>7 m</string>
<string>8 m</string>
<string>9 m</string>
<string>10 m</string>
<string>15 m</string>
<string>20 m</string>
</array>
<key>Values</key>
<array>
<string>0</string>
<real>0.5</real>
<real>1</real>
<real>2</real>
<real>3</real>
<real>4</real>
<real>5</real>
<real>6</real>
<real>7</real>
<real>8</real>
<real>9</real>
<integer>10</integer>
<real>15</real>
<real>20</real>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>