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Code Issues Packages Projects Releases Wiki Activity

Tango: update to 0.11.14

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This commit is contained in:
matlabbe
2017-02-05 17:24:45 -05:00
parent ce8bd9ac40
commit f7616f6e94
27 changed files with 2284 additions and 1575 deletions
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82
app/android/res/layout/activity_rtabmap.xml
View File

@@ -23,15 +23,15 @@
android:layout_height="fill_parent"
android:layout_gravity="top" />
<LinearLayout
android:id="@+id/debug_layout"
<LinearLayout
android:id="@+id/status_layout"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_alignParentTop="true"
android:layout_alignParentLeft="true"
android:orientation="vertical"
android:paddingLeft="5dp" >
<LinearLayout
android:layout_width="wrap_content"
android:layout_height="wrap_content"
@@ -47,6 +47,48 @@
android:layout_width="wrap_content"
android:layout_height="wrap_content" />
</LinearLayout>
<LinearLayout
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:orientation="horizontal" >
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="@string/memory" />
<TextView
android:id="@+id/memory"
android:layout_width="wrap_content"
android:layout_height="wrap_content" />
</LinearLayout>
<LinearLayout
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:orientation="horizontal" >
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="@string/free_memory" />
<TextView
android:id="@+id/free_memory"
android:layout_width="wrap_content"
android:layout_height="wrap_content" />
</LinearLayout>
</LinearLayout>
<LinearLayout
android:id="@+id/debug_layout"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_alignParentLeft="true"
android:orientation="vertical"
android:layout_below="@+id/status_layout"
android:paddingLeft="5dp" >
<LinearLayout
android:layout_width="wrap_content"
@@ -88,29 +130,14 @@
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="@string/memory" />
android:text="@string/database_size" />
<TextView
android:id="@+id/memory"
android:id="@+id/database_size"
android:layout_width="wrap_content"
android:layout_height="wrap_content" />
</LinearLayout>
<LinearLayout
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:orientation="horizontal" >
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="@string/db_size" />
<TextView
android:id="@+id/db_size"
android:layout_width="wrap_content"
android:layout_height="wrap_content" />
</LinearLayout>
<LinearLayout
android:layout_width="wrap_content"
@@ -178,6 +205,21 @@
android:layout_height="wrap_content"
android:orientation="horizontal" >
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="@string/rehearsal" />
<TextView
android:id="@+id/rehearsal"
android:layout_width="wrap_content"
android:layout_height="wrap_content" />
</LinearLayout>
<LinearLayout
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:orientation="horizontal" >
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"

351
app/android/res/layout/activity_settings.xml
View File

@@ -3,12 +3,12 @@
<PreferenceCategory
android:title="@string/pref_title_rendering">
<ListPreference
android:key="@string/pref_key_decimation"
android:title="@string/pref_title_decimation"
android:summary="@string/pref_summary_decimation"
android:entries="@array/pref_decimation_keys"
android:entryValues="@array/pref_decimation_values"
android:defaultValue="@string/pref_default_decimation"/>
android:key="@string/pref_key_density"
android:title="@string/pref_title_density"
android:summary="@string/pref_summary_density"
android:entries="@array/pref_density_keys"
android:entryValues="@array/pref_density_values"
android:defaultValue="@string/pref_default_density"/>
<ListPreference
android:key="@string/pref_key_depth"
android:title="@string/pref_title_depth"
@@ -43,160 +43,199 @@
android:summary="@string/pref_summary_nodes_filtering"
android:defaultValue="@string/pref_default_nodes_filtering"/>
</PreferenceCategory>
<PreferenceCategory
android:title="@string/pref_title_mapping">
<PreferenceScreen
android:key="pref_button_mapping"
android:title="@string/pref_title_mapping"
android:summary="@string/pref_summary_mapping"
android:persistent="false">
<SwitchPreference
android:key="@string/pref_key_append"
android:title="@string/pref_title_append"
android:summary="@string/pref_summary_append"
android:defaultValue="@string/pref_default_append"/>
<SwitchPreference
android:key="@string/pref_key_drift_correction"
android:title="@string/pref_title_drift_correction"
android:summary="@string/pref_summary_drift_correction"
android:defaultValue="@string/pref_default_drift_correction"/>
<SwitchPreference
android:key="@string/pref_key_auto_exposure"
android:title="@string/pref_title_auto_exposure"
android:summary="@string/pref_summary_auto_exposure"
android:defaultValue="@string/pref_default_auto_exposure"/>
<SwitchPreference
android:key="@string/pref_key_resolution"
android:title="@string/pref_title_resolution"
android:summary="@string/pref_summary_resolution"
android:defaultValue="@string/pref_default_resolution"/>
<ListPreference
android:key="@string/pref_key_update_rate"
android:title="@string/pref_title_update_rate"
android:summary="@string/pref_summary_update_rate"
android:entries="@array/pref_update_rate_keys"
android:entryValues="@array/pref_update_rate_values"
android:defaultValue="@string/pref_default_update_rate"/>
<ListPreference
android:key="@string/pref_key_time_thr"
android:title="@string/pref_title_time_thr"
android:summary="@string/pref_summary_time_thr"
android:entries="@array/pref_time_thr_keys"
android:entryValues="@array/pref_time_thr_values"
android:defaultValue="@string/pref_default_time_thr"/>
<ListPreference
android:key="@string/pref_key_loop_thr"
android:title="@string/pref_title_loop_thr"
android:summary="@string/pref_summary_loop_thr"
android:entries="@array/pref_loop_thr_keys"
android:entryValues="@array/pref_loop_thr_values"
android:defaultValue="@string/pref_default_loop_thr"/>
<ListPreference
android:key="@string/pref_key_opt_error"
android:title="@string/pref_title_opt_error"
android:summary="@string/pref_summary_opt_error"
android:entries="@array/pref_opt_error_keys"
android:entryValues="@array/pref_opt_error_values"
android:defaultValue="@string/pref_default_opt_error"/>
<ListPreference
android:key="@string/pref_key_features"
android:title="@string/pref_title_features"
android:summary="@string/pref_summary_features"
android:entries="@array/pref_features_keys"
android:entryValues="@array/pref_features_values"
android:defaultValue="@string/pref_default_features"/>
<ListPreference
android:key="@string/pref_key_features_type"
android:title="@string/pref_title_features_type"
android:summary="@string/pref_summary_features_type"
android:entries="@array/pref_features_type_keys"
android:entryValues="@array/pref_features_type_values"
android:defaultValue="@string/pref_default_features_type"/>
</PreferenceScreen>
</PreferenceCategory>
<PreferenceCategory
android:title="@string/pref_title_export">
<PreferenceScreen
android:key="pref_button_export"
android:title="@string/pref_title_export"
android:summary="@string/pref_summary_export"
android:persistent="false">
<ListPreference
android:key="@string/pref_key_cloud_voxel"
android:title="@string/pref_title_cloud_voxel"
android:summary="@string/pref_summary_cloud_voxel"
android:entries="@array/pref_cloud_voxel_keys"
android:entryValues="@array/pref_cloud_voxel_values"
android:defaultValue="@string/pref_default_cloud_voxel"/>
<ListPreference
android:key="@string/pref_key_texture_size"
android:title="@string/pref_title_texture_size"
android:summary="@string/pref_summary_texture_size"
android:entries="@array/pref_texture_size_keys"
android:entryValues="@array/pref_texture_size_values"
android:defaultValue="@string/pref_default_texture_size"/>
<ListPreference
android:key="@string/pref_key_normal_k"
android:title="@string/pref_title_normal_k"
android:summary="@string/pref_summary_normal_k"
android:entries="@array/pref_normal_k_values"
android:entryValues="@array/pref_normal_k_values"
android:defaultValue="@string/pref_default_normal_k"/>
<SwitchPreference
android:key="@string/pref_key_block_render"
android:title="@string/pref_title_block_render"
android:summary="@string/pref_summary_block_render"
android:defaultValue="@string/pref_default_block_render"/>
<PreferenceCategory
android:title="@string/pref_title_optimized">
<ListPreference
android:key="@string/pref_key_opt_depth"
android:title="@string/pref_title_opt_depth"
android:summary="@string/pref_summary_opt_depth"
android:entries="@array/pref_opt_depth_values"
android:entryValues="@array/pref_opt_depth_values"
android:defaultValue="@string/pref_default_opt_depth"/>
<ListPreference
android:key="@string/pref_key_opt_decimation_factor"
android:title="@string/pref_title_opt_decimation_factor"
android:summary="@string/pref_summary_opt_decimation_factor"
android:entries="@array/pref_opt_decimation_factor_keys"
android:entryValues="@array/pref_opt_decimation_factor_values"
android:defaultValue="@string/pref_default_opt_decimation_factor"/>
<ListPreference
android:key="@string/pref_key_opt_color_radius"
android:title="@string/pref_title_opt_color_radius"
android:summary="@string/pref_summary_opt_color_radius"
android:entries="@array/pref_opt_color_radius_keys"
android:entryValues="@array/pref_opt_color_radius_values"
android:defaultValue="@string/pref_default_opt_color_radius"/>
<SwitchPreference
android:key="@string/pref_key_opt_clean_white"
android:title="@string/pref_title_opt_clean_white"
android:summary="@string/pref_summary_opt_clean_white"
android:defaultValue="@string/pref_default_opt_clean_white"/>
</PreferenceCategory>
</PreferenceScreen>
</PreferenceCategory>
<PreferenceCategory
android:title="@string/pref_title_general">
<PreferenceScreen
android:key="pref_button_mapping"
android:title="@string/pref_title_mapping_sub"
android:summary="@string/pref_summary_mapping"
android:persistent="false">
<SwitchPreference
android:key="@string/pref_key_append"
android:title="@string/pref_title_append"
android:summary="@string/pref_summary_append"
android:defaultValue="@string/pref_default_append"/>
<SwitchPreference
android:key="@string/pref_key_auto_exposure"
android:title="@string/pref_title_auto_exposure"
android:summary="@string/pref_summary_auto_exposure"
android:defaultValue="@string/pref_default_auto_exposure"/>
<SwitchPreference
android:key="@string/pref_key_resolution"
android:title="@string/pref_title_resolution"
android:summary="@string/pref_summary_resolution"
android:defaultValue="@string/pref_default_resolution"/>
<PreferenceCategory
android:title="@string/pref_title_mapping_core">
<ListPreference
android:key="@string/pref_key_update_rate"
android:title="@string/pref_title_update_rate"
android:summary="@string/pref_summary_update_rate"
android:entries="@array/pref_update_rate_keys"
android:entryValues="@array/pref_update_rate_values"
android:defaultValue="@string/pref_default_update_rate"/>
<ListPreference
android:key="@string/pref_key_time_thr"
android:title="@string/pref_title_time_thr"
android:summary="@string/pref_summary_time_thr"
android:entries="@array/pref_time_thr_keys"
android:entryValues="@array/pref_time_thr_values"
android:defaultValue="@string/pref_default_time_thr"/>
<ListPreference
android:key="@string/pref_key_mem_thr"
android:title="@string/pref_title_mem_thr"
android:summary="@string/pref_summary_mem_thr"
android:entries="@array/pref_mem_thr_keys"
android:entryValues="@array/pref_mem_thr_values"
android:defaultValue="@string/pref_default_mem_thr"/>
<ListPreference
android:key="@string/pref_key_loop_thr"
android:title="@string/pref_title_loop_thr"
android:summary="@string/pref_summary_loop_thr"
android:entries="@array/pref_loop_thr_keys"
android:entryValues="@array/pref_loop_thr_values"
android:defaultValue="@string/pref_default_loop_thr"/>
<ListPreference
android:key="@string/pref_key_sim_thr"
android:title="@string/pref_title_sim_thr"
android:summary="@string/pref_summary_sim_thr"
android:entries="@array/pref_sim_thr_keys"
android:entryValues="@array/pref_sim_thr_values"
android:defaultValue="@string/pref_default_sim_thr"/>
<ListPreference
android:key="@string/pref_key_opt_error"
android:title="@string/pref_title_opt_error"
android:summary="@string/pref_summary_opt_error"
android:entries="@array/pref_opt_error_keys"
android:entryValues="@array/pref_opt_error_values"
android:defaultValue="@string/pref_default_opt_error"/>
<ListPreference
android:key="@string/pref_key_features_voc"
android:title="@string/pref_title_features_voc"
android:summary="@string/pref_summary_features_voc"
android:entries="@array/pref_features_voc_keys"
android:entryValues="@array/pref_features_voc_values"
android:defaultValue="@string/pref_default_features_voc"/>
<ListPreference
android:key="@string/pref_key_features"
android:title="@string/pref_title_features"
android:summary="@string/pref_summary_features"
android:entries="@array/pref_features_keys"
android:entryValues="@array/pref_features_values"
android:defaultValue="@string/pref_default_features"/>
<ListPreference
android:key="@string/pref_key_features_type"
android:title="@string/pref_title_features_type"
android:summary="@string/pref_summary_features_type"
android:entries="@array/pref_features_type_keys"
android:entryValues="@array/pref_features_type_values"
android:defaultValue="@string/pref_default_features_type"/>
</PreferenceCategory>
<PreferenceCategory
android:title="@string/pref_title_mapping_database">
<SwitchPreference
android:key="@string/pref_key_keep_all_db"
android:title="@string/pref_title_keep_all_db"
android:summary="@string/pref_summary_keep_all_db"
android:defaultValue="@string/pref_default_keep_all_db"/>
<SwitchPreference
android:key="@string/pref_key_raw_scan_saved"
android:title="@string/pref_title_raw_scan_saved"
android:summary="@string/pref_summary_raw_scan_saved"
android:defaultValue="@string/pref_default_raw_scan_saved"/>
<SwitchPreference
android:key="@string/pref_key_db_in_memory"
android:title="@string/pref_title_db_in_memory"
android:summary="@string/pref_summary_db_in_memory"
android:defaultValue="@string/pref_default_db_in_memory"/>
</PreferenceCategory>
</PreferenceScreen>
<PreferenceScreen
android:key="pref_button_export"
android:title="@string/pref_title_export_sub"
android:summary="@string/pref_summary_export"
android:persistent="false">
<ListPreference
android:key="@string/pref_key_cloud_voxel"
android:title="@string/pref_title_cloud_voxel"
android:summary="@string/pref_summary_cloud_voxel"
android:entries="@array/pref_cloud_voxel_keys"
android:entryValues="@array/pref_cloud_voxel_values"
android:defaultValue="@string/pref_default_cloud_voxel"/>
<ListPreference
android:key="@string/pref_key_texture_size"
android:title="@string/pref_title_texture_size"
android:summary="@string/pref_summary_texture_size"
android:entries="@array/pref_texture_size_keys"
android:entryValues="@array/pref_texture_size_values"
android:defaultValue="@string/pref_default_texture_size"/>
<ListPreference
android:key="@string/pref_key_normal_k"
android:title="@string/pref_title_normal_k"
android:summary="@string/pref_summary_normal_k"
android:entries="@array/pref_normal_k_values"
android:entryValues="@array/pref_normal_k_values"
android:defaultValue="@string/pref_default_normal_k"/>
<ListPreference
android:key="@string/pref_key_max_texture_distance"
android:title="@string/pref_title_max_texture_distance"
android:summary="@string/pref_summary_max_texture_distance"
android:entries="@array/pref_max_texture_distance_keys"
android:entryValues="@array/pref_max_texture_distance_values"
android:defaultValue="@string/pref_default_max_texture_distance"/>
<SwitchPreference
android:key="@string/pref_key_block_render"
android:title="@string/pref_title_block_render"
android:summary="@string/pref_summary_block_render"
android:defaultValue="@string/pref_default_block_render"/>
<PreferenceCategory
android:title="@string/pref_title_optimized">
<ListPreference
android:key="@string/pref_key_opt_depth"
android:title="@string/pref_title_opt_depth"
android:summary="@string/pref_summary_opt_depth"
android:entries="@array/pref_opt_depth_values"
android:entryValues="@array/pref_opt_depth_values"
android:defaultValue="@string/pref_default_opt_depth"/>
<ListPreference
android:key="@string/pref_key_opt_decimation_factor"
android:title="@string/pref_title_opt_decimation_factor"
android:summary="@string/pref_summary_opt_decimation_factor"
android:entries="@array/pref_opt_decimation_factor_keys"
android:entryValues="@array/pref_opt_decimation_factor_values"
android:defaultValue="@string/pref_default_opt_decimation_factor"/>
<ListPreference
android:key="@string/pref_key_opt_color_radius"
android:title="@string/pref_title_opt_color_radius"
android:summary="@string/pref_summary_opt_color_radius"
android:entries="@array/pref_opt_color_radius_keys"
android:entryValues="@array/pref_opt_color_radius_values"
android:defaultValue="@string/pref_default_opt_color_radius"/>
<SwitchPreference
android:key="@string/pref_key_opt_clean_white"
android:title="@string/pref_title_opt_clean_white"
android:summary="@string/pref_summary_opt_clean_white"
android:defaultValue="@string/pref_default_opt_clean_white"/>
</PreferenceCategory>
</PreferenceScreen>
<ListPreference
android:key="@string/pref_key_gain_max_radius"
android:title="@string/pref_title_gain_max_radius"

3
app/android/res/menu/optionmenu.xml
View File

@@ -8,6 +8,7 @@
<item android:id="@+id/texture_mesh" android:checked="true" android:title="Texture Mesh" />
</group>
<item android:id="@+id/save" android:title="Save" android:showAsAction="ifRoom"/>
<item android:id="@+id/post_processing" android:title="Optimize" android:showAsAction="ifRoom">
<menu>
<item android:id="@+id/post_processing_standard" android:title="Standard Optimization" />
@@ -15,7 +16,6 @@
<menu>
<item android:id="@+id/global_graph_optimization" android:title="Global Graph Optimization" />
<item android:id="@+id/detect_more_loop_closures" android:title="Detect More Loop Closures" />
<item android:id="@+id/icp_refining" android:title="ICP Refining" />
<item android:id="@+id/gain_compensation_fast" android:title="Adjust Colors (Fast)" />
<item android:id="@+id/gain_compensation_full" android:title="Adjust Colors (Full)" />
<item android:id="@+id/bilateral_filtering" android:title="Mesh Smoothing" />
@@ -25,6 +25,7 @@
</item>
</menu>
</item>
<item android:id="@+id/export" android:showAsAction="ifRoom" android:title="Export">
<menu>
<item android:id="@+id/export_point_cloud" android:title="Point Cloud (*.ply)" />

170
app/android/res/values/strings.xml
View File

@@ -2,7 +2,7 @@
<resources>
<string name="app_name">RTAB-Map</string>
<string name="sys_name">RTAB-Map</string>
<string name="menu_name">Real-Time Appearance-Based Mapping</string>
<string name="menu_name">RTAB-Map</string>
<string name="settings">Settings</string>
<string name="dropbox">Dropbox</string>
<string name="status">"Status: "</string>
@@ -20,12 +20,14 @@
<string name="points">"Number of points: "</string>
<string name="update_time">"Update time (ms): "</string>
<string name="loop_closure">"Loop closure ID: "</string>
<string name="db_size">"Database (MB): "</string>
<string name="free_memory">"Free Memory (MB): "</string>
<string name="database_size">"Database (MB): "</string>
<string name="total_loop">"Loop closures: "</string>
<string name="inliers">"Inliers: "</string>
<string name="features">"Features: "</string>
<string name="rehearsal">"Rehearsal: "</string>
<string name="polygons">"Polygons: "</string>
<string name="memory">"Memory (MB): "</string>
<string name="memory">"Used Memory (MB): "</string>
<string name="hypothesis">"Hypothesis: "</string>
<string name="fps">"FPS (rendering): "</string>
@@ -33,7 +35,7 @@
<string name="pref_key_rendering">pref_key_rendering</string><string name="pref_default_rendering">2</string>
<string name="pref_key_reset_button">pref_key_reset_button</string>
<string name="pref_key_decimation">pref_key_decimation</string> <string name="pref_default_decimation">0</string>
<string name="pref_key_density">pref_key_density</string> <string name="pref_default_density">1</string>
<string name="pref_key_depth">pref_key_depth</string> <string name="pref_default_depth">0</string>
<string name="pref_key_point_size">pref_key_point_size</string> <string name="pref_default_point_size">5</string>
<string name="pref_key_angle">pref_key_angle</string> <string name="pref_default_angle">15</string>
@@ -41,23 +43,29 @@
<string name="pref_key_nodes_filtering">pref_key_nodes_filtering</string> <string name="pref_default_nodes_filtering">false</string>
<string name="pref_key_append">pref_key_append</string> <string name="pref_default_append">true</string>
<string name="pref_key_drift_correction">pref_key_drift_correction</string> <string name="pref_default_drift_correction">false</string>
<string name="pref_key_auto_exposure">pref_key_auto_exposure</string> <string name="pref_default_auto_exposure">true</string>
<string name="pref_key_resolution">pref_key_resolution</string> <string name="pref_default_resolution">false</string>
<string name="pref_key_update_rate">pref_key_update_rate</string> <string name="pref_default_update_rate">1</string>
<string name="pref_key_time_thr">pref_key_time_thr</string> <string name="pref_default_time_thr">800</string>
<string name="pref_key_time_thr">pref_key_time_thr</string> <string name="pref_default_time_thr">1000</string>
<string name="pref_key_mem_thr">pref_key_mem_thr</string> <string name="pref_default_mem_thr">0</string>
<string name="pref_key_loop_thr">pref_key_loop_thr</string> <string name="pref_default_loop_thr">0.11</string>
<string name="pref_key_sim_thr">pref_key_sim_thr</string> <string name="pref_default_sim_thr">0.3</string>
<string name="pref_key_opt_error">pref_key_opt_error</string> <string name="pref_default_opt_error">0.1</string>
<string name="pref_key_features_voc">pref_key_features_voc</string> <string name="pref_default_features_voc">200</string>
<string name="pref_key_features">pref_key_features</string> <string name="pref_default_features">400</string>
<string name="pref_key_features_type">pref_key_features_type</string> <string name="pref_default_features_type">6</string>
<string name="pref_key_keep_all_db">pref_key_keep_all_db</string> <string name="pref_default_keep_all_db">true</string>
<string name="pref_key_raw_scan_saved">pref_key_raw_scan_saved</string> <string name="pref_default_raw_scan_saved">false</string>
<string name="pref_key_db_in_memory">pref_key_db_in_memory</string> <string name="pref_default_db_in_memory">true</string>
<string name="pref_key_cloud_voxel">pref_key_cloud_voxel</string> <string name="pref_default_cloud_voxel">0</string>
<string name="pref_key_cloud_voxel">pref_key_cloud_voxel</string> <string name="pref_default_cloud_voxel">0.01</string>
<string name="pref_key_texture_size">pref_key_texture_size</string> <string name="pref_default_texture_size">4096</string>
<string name="pref_key_normal_k">pref_key_normal_k</string> <string name="pref_default_normal_k">6</string>
<string name="pref_key_max_texture_distance">pref_key_max_texture_distance</string> <string name="pref_default_max_texture_distance">0</string>
<string name="pref_key_block_render">pref_key_block_render</string> <string name="pref_default_block_render">false</string>
<string name="pref_key_opt_depth">pref_key_opt_depth</string> <string name="pref_default_opt_depth">8</string>
<string name="pref_key_opt_depth">pref_key_opt_depth</string> <string name="pref_default_opt_depth">9</string>
<string name="pref_key_opt_decimation_factor">pref_key_opt_decimation_factor</string><string name="pref_default_opt_decimation_factor">80</string>
<string name="pref_key_opt_color_radius">pref_key_opt_color_radius</string> <string name="pref_default_opt_color_radius">0.0</string>
<string name="pref_key_opt_color_radius">pref_key_opt_color_radius</string> <string name="pref_default_opt_color_radius">0</string>
<string name="pref_key_opt_clean_white">pref_key_opt_clean_white</string> <string name="pref_default_opt_clean_white">true</string>
<string name="pref_key_gain_max_radius">pref_key_gain_max_radius</string> <string name="pref_default_gain_max_radius">0.02</string>
@@ -66,8 +74,8 @@
<string name="pref_title_rendering">Rendering</string>
<string name="pref_title_decimation">Mesh Decimation</string>
<string name="pref_summary_decimation">Decimate the cloud size to reduce rendering time and memory.</string>
<string name="pref_title_density">Point Cloud Density</string>
<string name="pref_summary_density">Decrease density to reduce rendering time and memory. Tip: To apply a different density to current map: save the map, change density and re-open the same map to regenerate the point clouds at this density.</string>
<string name="pref_title_angle">Mesh Angle Tolerance</string>
<string name="pref_summary_angle">Minimum polygon angle.</string>
<string name="pref_title_triangle">Mesh Triangle Size</string>
@@ -77,17 +85,19 @@
<string name="pref_title_point_size">Point Size</string>
<string name="pref_summary_point_size">Size of the points when rendering only the point cloud.</string>
<string name="pref_title_nodes_filtering">Nodes Filtering</string>
<string name="pref_summary_nodes_filtering">Hide close point clouds from rendering.</string>
<string name="pref_summary_nodes_filtering">Render only the newest point cloud of a loop closure.</string>
<string-array name="pref_decimation_keys">
<string-array name="pref_density_keys">
<item>"Maximum"</item>
<item>"High"</item>
<item>"Medium"</item>
<item>"Disabled"</item>
<item>"Low"</item>
<item>"Very Low"</item>
</string-array>
<string-array name="pref_decimation_values">
<item>"2"</item>
<item>"1"</item>
<string-array name="pref_density_values">
<item>"0"</item>
<item>"1"</item>
<item>"2"</item>
<item>"3"</item>
</string-array>
<string-array name="pref_depth_keys">
@@ -148,13 +158,14 @@
<item>"2"</item>
</string-array>
<string name="pref_title_mapping_sub">Mapping...</string>
<string name="pref_title_mapping">Mapping</string>
<string name="pref_summary_mapping">Advanced mapping parameters for fine tuning.</string>
<string name="pref_title_mapping_core">Core</string>
<string name="pref_title_mapping_database">Database</string>
<string name="pref_title_append">Append Mode</string>
<string name="pref_summary_append">When resuming mapping, wait for a relocalization on the current map before starting a new map.</string>
<string name="pref_title_drift_correction">Drift Correction</string>
<string name="pref_summary_drift_correction">Iterative-closest-point (ICP) is done to refine geometrically the links in the map. Use only when environment is highly geometric. Camera should move slowly.</string>
<string name="pref_title_auto_exposure">Auto Exposure</string>
<string name="pref_summary_auto_exposure">Adjust camera exposure depending on the lighting to get always maximum contrast. This may change texture color between scanned images. Color correction option in Post-Processing can help to uniformize colors. May not work on some devices.</string>
<string name="pref_title_resolution">HD Mode</string>
@@ -164,14 +175,26 @@
<string name="pref_summary_update_rate">Rate at which a new node is added to map.</string>
<string name="pref_title_time_thr">Time Limit</string>
<string name="pref_summary_time_thr">Maximum time allowed for map updates. If time to add a new node is above this theshold, some old parts of the map are temporarly forgotten to reduce time of next updates.</string>
<string name="pref_title_mem_thr">Memory Limit</string>
<string name="pref_summary_mem_thr">Maximum nodes kept in working memory.</string>
<string name="pref_title_loop_thr">Loop Closure Threshold</string>
<string name="pref_summary_loop_thr">Threshold at which loop closure hypotheses are accepted. Higher means more robust to false loop closures while rejecting more good loop closures.</string>
<string name="pref_title_sim_thr">Similarity Threshold</string>
<string name="pref_summary_sim_thr">Threshold at which consecutive images are considered the same, so the corresponding node\'s weight is increased. The background turns dark blue when this happens.</string>
<string name="pref_title_opt_error">Max Optimization Error</string>
<string name="pref_summary_opt_error">Reject any loop closures causing error corrections in the map higher than this threshold.</string>
<string name="pref_title_features">Max Features Extracted</string>
<string name="pref_summary_features">Extracting more features per image would result in better loop closure detection but more processing time required.</string>
<string name="pref_title_features_voc">Max Features Extracted (Vocabulary)</string>
<string name="pref_summary_features_voc">Extracting more features per image would result in better loop closure hypotheses but more processing time is required.</string>
<string name="pref_title_features">Max Features Extracted (Loop Closure)</string>
<string name="pref_summary_features">Extracting more features per image would result in better loop closure transforms but more processing time is required.</string>
<string name="pref_title_features_type">Feature Type</string>
<string name="pref_summary_features_type">BRIEF features are fast to compute but are not rotation invariant like FREAK. Warning: Changing feature type will automatically reset the map!</string>
<string name="pref_title_keep_all_db">Save All Frames in Database</string>
<string name="pref_summary_keep_all_db">Discarded frames while not moving are still saved in database. Useful to replay exactly the scanning on RTAB-Map Desktop.</string>
<string name="pref_title_raw_scan_saved">Save Raw Scan</string>
<string name="pref_summary_raw_scan_saved">Save raw point clouds in database.</string>
<string name="pref_title_db_in_memory">Database In Memory</string>
<string name="pref_summary_db_in_memory">The database is kept in RAM for fast access. Set to false to reduce RAM used at the cost of slower access. This parameter is applied on reset or when a database is opened.</string>
<string-array name="pref_update_rate_keys">
<item>"Max"</item>
@@ -223,6 +246,25 @@
<item>"400"</item>
</string-array>
<string-array name="pref_mem_thr_keys">
<item>"No Limit"</item>
<item>"500 nodes"</item>
<item>"400 nodes"</item>
<item>"300 nodes"</item>
<item>"200 nodes"</item>
<item>"100 nodes"</item>
<item>"50 nodes"</item>
</string-array>
<string-array name="pref_mem_thr_values">
<item>"0"</item>
<item>"500"</item>
<item>"400"</item>
<item>"300"</item>
<item>"200"</item>
<item>"100"</item>
<item>"50"</item>
</string-array>
<string-array name="pref_loop_thr_keys">
<item>"0.90"</item>
<item>"0.80"</item>
@@ -232,7 +274,9 @@
<item>"0.40"</item>
<item>"0.30"</item>
<item>"0.20"</item>
<item>"0.15"</item>
<item>"0.11"</item>
<item>"0.10"</item>
</string-array>
<string-array name="pref_loop_thr_values">
<item>"0.90"</item>
@@ -243,7 +287,28 @@
<item>"0.40"</item>
<item>"0.30"</item>
<item>"0.20"</item>
<item>"0.15"</item>
<item>"0.11"</item>
<item>"0.10"</item>
</string-array>
<string-array name="pref_sim_thr_keys">
<item>"Disabled"</item>
<item>"0.60"</item>
<item>"0.50"</item>
<item>"0.40"</item>
<item>"0.30"</item>
<item>"0.20"</item>
<item>"0.10"</item>
</string-array>
<string-array name="pref_sim_thr_values">
<item>"0"</item>
<item>"0.6"</item>
<item>"0.5"</item>
<item>"0.4"</item>
<item>"0.3"</item>
<item>"0.2"</item>
<item>"0.1"</item>
</string-array>
<string-array name="pref_opt_error_keys">
@@ -269,7 +334,7 @@
<item>"0"</item>
</string-array>
<string-array name="pref_features_keys">
<string-array name="pref_features_voc_keys">
<item>"No Limit"</item>
<item>"1000"</item>
<item>"900"</item>
@@ -283,7 +348,7 @@
<item>"100"</item>
<item>"Disabled"</item>
</string-array>
<string-array name="pref_features_values">
<string-array name="pref_features_voc_values">
<item>"0"</item>
<item>"1000"</item>
<item>"900"</item>
@@ -298,6 +363,33 @@
<item>"-1"</item>
</string-array>
<string-array name="pref_features_keys">
<item>"No Limit"</item>
<item>"1000"</item>
<item>"900"</item>
<item>"800"</item>
<item>"700"</item>
<item>"600"</item>
<item>"500"</item>
<item>"400"</item>
<item>"300"</item>
<item>"200"</item>
<item>"100"</item>
</string-array>
<string-array name="pref_features_values">
<item>"0"</item>
<item>"1000"</item>
<item>"900"</item>
<item>"800"</item>
<item>"700"</item>
<item>"600"</item>
<item>"500"</item>
<item>"400"</item>
<item>"300"</item>
<item>"200"</item>
<item>"100"</item>
</string-array>
<string-array name="pref_features_type_keys">
<item>"BRIEF"</item>
<item>"FREAK"</item>
@@ -307,6 +399,7 @@
<item>"5"</item>
</string-array>
<string name="pref_title_export_sub">Exporting...</string>
<string name="pref_title_export">Exporting</string>
<string name="pref_summary_export">Advanced parameters used when exporting the map.</string>
@@ -316,8 +409,10 @@
<string name="pref_summary_texture_size">If the map is large, you may want to increase this to maximize the texture resolution.</string>
<string name="pref_title_normal_k">Normal K</string>
<string name="pref_summary_normal_k">K-nearest neighbors used for normal computation when a mesh is created.</string>
<string name="pref_title_max_texture_distance">Max Texture Distance</string>
<string name="pref_summary_max_texture_distance">Maximum distance from a camera for polygons to be textured by this camera.</string>
<string name="pref_title_block_render">Block Rendering Thread While Exporting</string>
<string name="pref_summary_block_render">This decreases exporting time, but freezes rendering while exporting.</string>
<string name="pref_summary_block_render">This decreases exporting time, but freezes rendering while exporting. This also clears temporary the rendered clouds/meshes from memory during exporting, this can be useful to avoid out of memory errors.</string>
<string-array name="pref_cloud_voxel_keys">
<item>"0.2 m"</item>
@@ -325,6 +420,7 @@
<item>"0.05 m"</item>
<item>"0.02 m"</item>
<item>"0.01 m"</item>
<item>"0.005 m"</item>
<item>"Disabled"</item>
</string-array>
<string-array name="pref_cloud_voxel_values">
@@ -333,6 +429,7 @@
<item>"0.05"</item>
<item>"0.02"</item>
<item>"0.01"</item>
<item>"0.005"</item>
<item>"0"</item>
</string-array>
@@ -358,6 +455,27 @@
<item>"12"</item>
<item>"6"</item>
</string-array>
<string-array name="pref_max_texture_distance_keys">
<item>"No Limit"</item>
<item>"5 m"</item>
<item>"4.5 m"</item>
<item>"4 m"</item>
<item>"3.5 m"</item>
<item>"3 m"</item>
<item>"2.5 m"</item>
<item>"2 m"</item>
</string-array>
<string-array name="pref_max_texture_distance_values">
<item>"0"</item>
<item>"5"</item>
<item>"4.5"</item>
<item>"4"</item>
<item>"3.5"</item>
<item>"3"</item>
<item>"2.5"</item>
<item>"2"</item>
</string-array>
<string name="pref_title_optimized">Optimized</string>
@@ -431,7 +549,7 @@
<string name="pref_title_general">General</string>
<string name="pref_title_gain_max_radius">Color Correction Radius</string>
<string name="pref_summary_gain_max_radius">Radius used to find pixel correspondences for color correction.</string>
<string name="pref_summary_gain_max_radius">Radius used to find pixel correspondences for Adjust Colors optimization.</string>
<string name="pref_title_min_cluster_size">Min Cluster Size</string>
<string name="pref_summary_min_cluster_size">Minimum number of polygons for a cluster to be kept after Noise Filtering optimization.</string>