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Tango: Added Data Recorder mode (See Mapping menu)

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matlabbe
2016-10-29 18:14:25 -04:00
parent 9e0b45e27a
commit a09aebeca4
6 changed files with 104 additions and 6 deletions
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app/android/jni/RTABMapApp.cpp
+24 -1
View File
@@ -103,6 +103,16 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpCorrespondenceRatio(), std::string("0.3")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxCorrespondenceDistance(), std::string("0.05")));
parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kKpMaxFeatures()));
parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kMemRehearsalSimilarity()));
parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kMemMapLabelsAdded()));
if(dataRecorderMode_)
{
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxFeatures(), std::string("-1")));
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kMemRehearsalSimilarity(), std::string("1.0"))); // deactivate rehearsal
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kMemMapLabelsAdded(), "false")); // don't create map labels
}
return parameters;
}
@@ -123,6 +133,7 @@ RTABMapApp::RTABMapApp() :
meshTrianglePix_(1),
meshAngleToleranceDeg_(15.0),
paused_(false),
dataRecorderMode_(false),
clearSceneOnNextRender_(false),
filterPolygonsOnNextRender_(false),
gainCompensationOnNextRender_(0),
@@ -206,6 +217,10 @@ void RTABMapApp::openDatabase(const std::string & databasePath)
rtabmap_->init(parameters, databasePath);
rtabmapThread_ = new rtabmap::RtabmapThread(rtabmap_);
if(parameters.find(rtabmap::Parameters::kRtabmapDetectionRate()) != parameters.end())
{
rtabmapThread_->setDetectorRate(uStr2Float(parameters.at(rtabmap::Parameters::kRtabmapDetectionRate())));
}
// Generate all meshes
std::map<int, rtabmap::Signature> signatures;
@@ -402,7 +417,7 @@ int RTABMapApp::Render()
// update buffered signatures
std::map<int, rtabmap::SensorData> bufferedSensorData;
if(!trajectoryMode_)
if(!trajectoryMode_ && !dataRecorderMode_)
{
for(std::list<rtabmap::Statistics>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
{
@@ -834,6 +849,14 @@ void RTABMapApp::setFullResolution(bool enabled)
}
}
void RTABMapApp::setDataRecorderMode(bool enabled)
{
if(dataRecorderMode_ != enabled)
{
dataRecorderMode_ = enabled; // parameters will be set when resuming (we assume we are paused)
}
}
void RTABMapApp::setMaxCloudDepth(float value)
{
maxCloudDepth_ = value;
app/android/jni/RTABMapApp.h
+2
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@@ -122,6 +122,7 @@ class RTABMapApp : public UEventsHandler {
void setGridVisible(bool visible);
void setAutoExposure(bool enabled);
void setFullResolution(bool enabled);
void setDataRecorderMode(bool enabled);
void setMaxCloudDepth(float value);
void setMeshAngleTolerance(float value);
void setMeshTriangleSize(int value);
@@ -159,6 +160,7 @@ class RTABMapApp : public UEventsHandler {
rtabmap::ParametersMap mappingParameters_;
bool paused_;
bool dataRecorderMode_;
bool clearSceneOnNextRender_;
bool filterPolygonsOnNextRender_;
int gainCompensationOnNextRender_;
app/android/jni/jni_interface.cpp
+6
View File
@@ -192,6 +192,12 @@ Java_com_introlab_rtabmap_RTABMapLib_setFullResolution(
return app.setFullResolution(enabled);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setDataRecorderMode(
JNIEnv*, jobject, bool enabled)
{
return app.setDataRecorderMode(enabled);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setMaxCloudDepth(
JNIEnv*, jobject, float value)
{