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rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded.

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Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
This commit is contained in:
matlabbe
2016-11-21 17:09:04 -05:00
parent 4c559a3191
commit 14908e3a11
19 changed files with 380 additions and 296 deletions
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2
app/android/AndroidManifest.xml.in
View File

@@ -14,7 +14,7 @@
<uses-library android:name="com.projecttango.libtango_device2" android:required="true" />
<!-- This is the platform API where NativeActivity was introduced. -->
<uses-sdk android:minSdkVersion="17" />
<uses-sdk android:minSdkVersion="18" />
<!-- This .apk has no Java code itself, so set hasCode to false. -->
<application

174
app/android/jni/RTABMapApp.cpp
View File

@@ -78,6 +78,7 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapTimeThr(), std::string("800")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapPublishLikelihood(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapPublishPdf(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapStartNewMapOnLoopClosure(), uBool2Str(appendMode_)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemBinDataKept(), uBool2Str(!trajectoryMode_)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemNotLinkedNodesKept(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), graphOptimization_?"10":"0"));
@@ -87,21 +88,21 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxDepth(), std::string("10"))); // to avoid extracting features in invalid depth (as we compute transformation directly from the words)
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::kVisMinInliers(), std::string("25")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisEstimationType(), std::string("0"))); // 0=3D-3D 1=PnP
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeMaxError(), std::string("0.1")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityPathMaxNeighbors(), std::string("0"))); // disable scan matching to merged nodes
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityBySpace(), std::string("false"))); // just keep loop closure detection
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDNeighborLinkRefining(), uBool2Str(driftCorrection_)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRegStrategy(), std::string(driftCorrection_?"1":"0")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRegStrategy(), std::string(driftCorrection_?"2":"0")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpPointToPlane(), std::string("true")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemLaserScanNormalK(), std::string("6")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemLaserScanNormalK(), std::string("10")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpIterations(), std::string("10")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpEpsilon(), std::string("0.001")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxRotation(), std::string("0.17"))); // 10 degrees
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxTranslation(), std::string("0.05")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpCorrespondenceRatio(), std::string("0.3")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpCorrespondenceRatio(), std::string("0.5")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxCorrespondenceDistance(), std::string("0.05")));
parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kKpMaxFeatures()));
@@ -130,6 +131,7 @@ RTABMapApp::RTABMapApp() :
trajectoryMode_(false),
autoExposure_(true),
fullResolution_(false),
appendMode_(true),
maxCloudDepth_(0.0),
meshTrianglePix_(1),
meshAngleToleranceDeg_(15.0),
@@ -481,8 +483,15 @@ int RTABMapApp::Render()
{
// uncompress
rtabmap::SensorData data = jter->second.sensorData();
cv::Mat tmpA,tmpB;
data.uncompressData(&tmpA, &tmpB);
cv::Mat tmpA,depth;
data.uncompressData(&tmpA, &depth);
// do post-processing bilateral filtering now
UTimer t;
depth = rtabmap::util2d::fastBilateralFiltering(depth, 2.0f, 0.075f);
data.setDepthOrRightRaw(depth);
LOGI("Bilateral filtering of %d, time=%fs", jter->first, t.ticks());
uInsert(bufferedSensorData, std::make_pair(jter->first, data));
uInsert(rawPoses_, std::make_pair(jter->first, jter->second.getPose()));
@@ -583,9 +592,18 @@ int RTABMapApp::Render()
inserted.first->second.texture = data.imageRaw();
inserted.first->second.cameraModel = data.cameraModels()[0];
main_scene_.addMesh(id, inserted.first->second, iter->second);
if(notifyDataLoaded)
{
// gain compensation is done, so don't compress the texture yet
inserted.first->second.texture = data.imageRaw(); // keep raw
// mesh will be added in gain compensation below
}
else
{
main_scene_.addMesh(id, inserted.first->second, iter->second);
inserted.first->second.texture = data.imageCompressed(); // keep compressed
}
inserted.first->second.texture = data.imageCompressed(); // keep compressed
}
else
{
@@ -615,18 +633,21 @@ int RTABMapApp::Render()
}
}
//update cloud visibility
std::set<int> addedClouds = main_scene_.getAddedClouds();
for(std::set<int>::const_iterator iter=addedClouds.begin();
iter!=addedClouds.end();
++iter)
if(poses.size())
{
if(*iter > 0 && poses.find(*iter) == poses.end())
//update cloud visibility
std::set<int> addedClouds = main_scene_.getAddedClouds();
for(std::set<int>::const_iterator iter=addedClouds.begin();
iter!=addedClouds.end();
++iter)
{
main_scene_.setCloudVisible(*iter, false);
std::map<int, Mesh>::iterator meshIter = createdMeshes_.find(*iter);
UASSERT(meshIter!=createdMeshes_.end());
meshIter->second.visible = true;
if(*iter > 0 && poses.find(*iter) == poses.end())
{
main_scene_.setCloudVisible(*iter, false);
std::map<int, Mesh>::iterator meshIter = createdMeshes_.find(*iter);
UASSERT(meshIter!=createdMeshes_.end());
meshIter->second.visible = true;
}
}
}
}
@@ -667,42 +688,49 @@ int RTABMapApp::Render()
if(notifyDataLoaded || gainCompensationOnNextRender_>0)
{
UTimer tGainCompensation;
LOGI("Gain compensation...");
boost::mutex::scoped_lock lock(meshesMutex_);
if(createdMeshes_.size() > 1)
rtabmap::GainCompensator compensator;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds;
for(std::map<int, Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
{
rtabmap::GainCompensator compensator;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds;
for(std::map<int, Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
clouds.insert(std::make_pair(iter->first, iter->second.cloud));
}
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
rtabmap_->getGraph(poses, links, false, true);
if(gainCompensationOnNextRender_ == 2)
{
// full compensation
links.clear();
for(std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr>::const_iterator iter=clouds.begin(); iter!=clouds.end(); ++iter)
{
clouds.insert(std::make_pair(iter->first, iter->second.cloud));
}
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
rtabmap_->getGraph(poses, links, false, true);
if(gainCompensationOnNextRender_ == 2)
{
// full compensation
links.clear();
for(std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr>::const_iterator iter=clouds.begin(); iter!=clouds.end(); ++iter)
int from = iter->first;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr>::const_iterator jter = iter;
++jter;
for(;jter!=clouds.end(); ++jter)
{
int from = iter->first;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr>::const_iterator jter = iter;
++jter;
for(;jter!=clouds.end(); ++jter)
{
int to = jter->first;
links.insert(std::make_pair(from, rtabmap::Link(from, to, rtabmap::Link::kUserClosure, poses.at(from).inverse()*poses.at(to))));
}
int to = jter->first;
links.insert(std::make_pair(from, rtabmap::Link(from, to, rtabmap::Link::kUserClosure, poses.at(from).inverse()*poses.at(to))));
}
}
}
if(clouds.size() > 1 && links.size())
{
compensator.feed(clouds, links);
for(std::map<int, Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
LOGI("Gain compensation... compute gain: links=%d, time=%fs", (int)links.size(), tGainCompensation.ticks());
}
for(std::map<int, Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
{
cv::Mat compressedImage = iter->second.texture;
iter->second.texture = compressedImage.rows == 1 ? rtabmap::uncompressImage(compressedImage) : compressedImage;
if(!iter->second.cloud->empty())
{
cv::Mat compressedImage = iter->second.texture;
iter->second.texture = rtabmap::uncompressImage(compressedImage);
if(!iter->second.cloud->empty())
if(clouds.size() > 1 && links.size())
{
compensator.apply(iter->first, iter->second.cloud);
if(!iter->second.texture.empty())
@@ -710,22 +738,21 @@ int RTABMapApp::Render()
compensator.apply(iter->first, iter->second.texture);
}
}
// If we do bilateral filtering, do it right now as the texture is uncompressed
if((notifyDataLoaded || bilateralFilteringOnNextRender_) &&
iter->second.cloud->size() && smoothMesh(iter->first, iter->second))
{
main_scene_.addMesh(iter->first, iter->second, opengl_world_T_rtabmap_world*iter->second.pose);
}
else
{
main_scene_.updateMesh(iter->first, iter->second);
}
iter->second.texture = rtabmap::compressImage2(iter->second.texture, ".jpg");
}
bilateralFilteringOnNextRender_ = false;
if(notifyDataLoaded)
{
main_scene_.addMesh(iter->first, iter->second, opengl_world_T_rtabmap_world* poses.at(iter->first));
}
else
{
main_scene_.updateMesh(iter->first, iter->second);
}
iter->second.texture = rtabmap::compressImage2(iter->second.texture, ".jpg");
}
LOGI("Gain compensation... applying gain: meshes=%d, time=%fs", (int)createdMeshes_.size(), tGainCompensation.ticks());
gainCompensationOnNextRender_ = 0;
notifyDataLoaded = true;
}
@@ -929,6 +956,17 @@ void RTABMapApp::setFullResolution(bool enabled)
}
}
void RTABMapApp::setAppendMode(bool enabled)
{
if(appendMode_ != enabled)
{
appendMode_ = enabled;
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapStartNewMapOnLoopClosure(), uBool2Str(appendMode_)));
this->post(new rtabmap::ParamEvent(parameters));
}
}
void RTABMapApp::setDataRecorderMode(bool enabled)
{
if(dataRecorderMode_ != enabled)
@@ -979,9 +1017,12 @@ void RTABMapApp::resetMapping()
UEventsManager::post(new rtabmap::RtabmapEventCmd(rtabmap::RtabmapEventCmd::kCmdResetMemory));
}
void RTABMapApp::save()
void RTABMapApp::save(const std::string & databasePath)
{
UEventsManager::post(new rtabmap::RtabmapEventCmd(rtabmap::RtabmapEventCmd::kCmdClose));
rtabmapThread_->join(true);
rtabmap_->close(true, databasePath);
rtabmap_->init(getRtabmapParameters(), databasePath);
rtabmapThread_->start();
}
bool RTABMapApp::exportMesh(const std::string & filePath)
@@ -1079,7 +1120,7 @@ bool RTABMapApp::exportMesh(const std::string & filePath)
UDirectory::makeDir(textureDirectory);
for(unsigned int i=0;i<textures.size(); ++i)
{
cv::Mat rawImage = rtabmap::uncompressImage(textures[i]);
cv::Mat rawImage = textures[i].rows>1?textures[i]:rtabmap::uncompressImage(textures[i]);
std::string texFile = textureDirectory+"/"+textureMesh.tex_materials[i].tex_name+".png";
cv::imwrite(texFile, rawImage);
@@ -1161,11 +1202,11 @@ int RTABMapApp::postProcessing(int approach)
if(approach == -1 || approach == 2)
{
// detect more loop closures
returnedValue = rtabmap_->detectMoreLoopClosures(0.5f, M_PI/6.0f, approach == -1?3:1);
returnedValue = rtabmap_->detectMoreLoopClosures(1.0f, M_PI/6.0f, approach == -1?5:1);
}
// ICP refining
if(returnedValue >=0 && ((approach == -1 && !driftCorrection_) || approach == 3))
if(returnedValue >=0 && approach == 3)
{
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRegStrategy(), std::string("1"))); // ICP
@@ -1228,7 +1269,7 @@ int RTABMapApp::postProcessing(int approach)
{
boost::mutex::scoped_lock lock(renderingMutex_);
// filter polygons
if(approach == -1 || approach == 4)
if(approach == 4)
{
filterPolygonsOnNextRender_ = true;
}
@@ -1330,11 +1371,6 @@ void RTABMapApp::handleEvent(UEvent * event)
status_.first = ((rtabmap::RtabmapEventInit*)event)->getStatus();
status_.second = ((rtabmap::RtabmapEventInit*)event)->getInfo();
if(status_.first == rtabmap::RtabmapEventInit::kClosed)
{
clearSceneOnNextRender_ = true;
}
// Call JAVA callback with init msg
bool success = false;
if(jvm && RTABMapActivity)

4
app/android/jni/RTABMapApp.h
View File

@@ -122,6 +122,7 @@ class RTABMapApp : public UEventsHandler {
void setGridVisible(bool visible);
void setAutoExposure(bool enabled);
void setFullResolution(bool enabled);
void setAppendMode(bool enabled);
void setDataRecorderMode(bool enabled);
void setMaxCloudDepth(float value);
void setMeshAngleTolerance(float value);
@@ -129,7 +130,7 @@ class RTABMapApp : public UEventsHandler {
int setMappingParameter(const std::string & key, const std::string & value);
void resetMapping();
void save();
void save(const std::string & databasePath);
bool exportMesh(const std::string & filePath);
int postProcessing(int approach);
@@ -154,6 +155,7 @@ class RTABMapApp : public UEventsHandler {
bool trajectoryMode_;
bool autoExposure_;
bool fullResolution_;
bool appendMode_;
float maxCloudDepth_;
int meshTrianglePix_;
float meshAngleToleranceDeg_;

12
app/android/jni/jni_interface.cpp
View File

@@ -192,6 +192,12 @@ Java_com_introlab_rtabmap_RTABMapLib_setFullResolution(
return app.setFullResolution(enabled);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setAppendMode(
JNIEnv*, jobject, bool enabled)
{
return app.setAppendMode(enabled);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setDataRecorderMode(
JNIEnv*, jobject, bool enabled)
{
@@ -234,9 +240,11 @@ Java_com_introlab_rtabmap_RTABMapLib_resetMapping(
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_save(
JNIEnv* env, jobject)
JNIEnv* env, jobject, jstring databasePath)
{
return app.save();
std::string databasePathC;
GetJStringContent(env,databasePath,databasePathC);
return app.save(databasePathC);
}
JNIEXPORT bool JNICALL

1
app/android/res/menu/optionmenu.xml
View File

@@ -65,6 +65,7 @@
<item android:id="@+id/localization_mode" android:checked="false" android:title="Localization Mode" />
<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/append" android:checked="true" android:title="Append Mode" />
<item android:id="@+id/nodes_filtering" android:checked="false" android:title="Nodes Filtering" />
<item android:id="@+id/drift_correction" android:checked="false" android:title="Drift Correction" />
<item android:id="@+id/resolution" android:checked="false" android:title="HD Mode" />

386
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
View File

@@ -87,7 +87,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private String mOpenedDatabasePath = "";
private String mTempDatabasePath = "";
private String mNewDatabasePath = "";
private String mWorkingDirectory = "";
private int mMaxDepthIndex = 5;
@@ -179,7 +178,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mOpenedDatabasePath = "";
mTempDatabasePath = "";
mNewDatabasePath = "";
mWorkingDirectory = "";
mTotalLoopClosures = 0;
@@ -436,108 +434,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
((TextView)findViewById(R.id.status)).setText(
status == 1 && msg.isEmpty()?mItemPause!=null&&mItemPause.isChecked()?"Paused":mItemLocalizationMode!=null&&mItemLocalizationMode.isChecked()?"Localization":"Mapping":msg);
/*0=kInitializing,
1=kInitialized,
2=kClosing,
3=kClosed,
4=kInfo,
5=kError*/
if(status == 3)
{
msg = "";
if(!mNewDatabasePath.isEmpty())
{
boolean removed = true;
File outputFile = new File(mNewDatabasePath);
if(outputFile.exists())
{
removed = outputFile.delete();
}
if(removed)
{
File tempFile = new File(mTempDatabasePath);
if(tempFile.renameTo(outputFile))
{
msg = String.format("Database saved to \"%s\". Tip: You can open a saved database with \"Open\".", mNewDatabasePath);
Intent intent = new Intent(this, RTABMapActivity.class);
// use System.currentTimeMillis() to have a unique ID for the pending intent
PendingIntent pIntent = PendingIntent.getActivity(this, (int) System.currentTimeMillis(), intent, 0);
// build notification
// the addAction re-use the same intent to keep the example short
Notification n = new Notification.Builder(this)
.setContentTitle(getString(R.string.app_name))
.setContentText(mNewDatabasePath + " saved!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
}
else
{
msg = String.format("Failed to rename temporary database from \"%s\" to \"%s\".",
mTempDatabasePath, mNewDatabasePath);
}
}
else
{
msg = String.format("Failed to overwrite the database \"%s\". The temporary database is still correctly saved at \"%s\".",
mNewDatabasePath, mTempDatabasePath);
}
}
else if(!mOpenedDatabasePath.isEmpty())
{
msg = String.format("Database \"%s\" updated.", mOpenedDatabasePath);
}
if(!msg.isEmpty())
{
mToast.makeText(this, msg, mToast.LENGTH_LONG).show();
}
mOpenedDatabasePath = "";
mNewDatabasePath = "";
//restart a new scan by default
RTABMapLib.openDatabase(mTempDatabasePath);
((TextView)findViewById(R.id.points)).setText(String.valueOf(0));
((TextView)findViewById(R.id.polygons)).setText(String.valueOf(0));
((TextView)findViewById(R.id.nodes)).setText(String.valueOf(0));
((TextView)findViewById(R.id.words)).setText(String.valueOf(0));
((TextView)findViewById(R.id.memory)).setText(String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024)));
((TextView)findViewById(R.id.db_size)).setText(String.valueOf(0));
((TextView)findViewById(R.id.inliers)).setText(String.valueOf(0));
((TextView)findViewById(R.id.features)).setText(String.valueOf(0));
((TextView)findViewById(R.id.update_time)).setText(String.valueOf(0));
((TextView)findViewById(R.id.hypothesis)).setText(String.valueOf(0));
((TextView)findViewById(R.id.fps)).setText(String.valueOf(0));
mTotalLoopClosures = 0;
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
if(mItemSave!=null)
{
if(mItemPause.isChecked())
{
mItemPause.setChecked(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
RTABMapLib.setPausedMapping(false); // resume mapping
}
}
mProgressDialog.dismiss();
}
}
//called from jni
@@ -938,6 +834,11 @@ public class RTABMapActivity extends Activity implements OnClickListener {
item.setChecked(!item.isChecked());
RTABMapLib.setFullResolution(item.isChecked());
}
else if(itemId == R.id.append)
{
item.setChecked(!item.isChecked());
RTABMapLib.setAppendMode(item.isChecked());
}
else if(itemId == R.id.max_depth)
{
// get double
@@ -1102,90 +1003,161 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
else if (itemId == R.id.save)
{
if(mOpenedDatabasePath.isEmpty())
{
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("RTAB-Map Database Name (*.db):");
final EditText input = new EditText(this);
input.setInputType(InputType.TYPE_CLASS_TEXT);
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("RTAB-Map Database Name (*.db):");
final EditText input = new EditText(this);
input.setInputType(InputType.TYPE_CLASS_TEXT);
if(mOpenedDatabasePath.isEmpty())
{
String timeStamp = new SimpleDateFormat("yyMMdd-hhmmss").format(new Date());
input.setText(timeStamp);
input.setSelectAllOnFocus(true);
input.selectAll();
builder.setView(input);
builder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which)
}
else
{
File f = new File(mOpenedDatabasePath);
String name = f.getName();
input.setText(name.substring(0,name.lastIndexOf(".")));
}
input.setSelectAllOnFocus(true);
input.selectAll();
builder.setView(input);
builder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which)
{
final String fileName = input.getText().toString();
dialog.dismiss();
if(!fileName.isEmpty())
{
final String fileName = input.getText().toString();
dialog.dismiss();
if(!fileName.isEmpty())
File newFile = new File(mWorkingDirectory + fileName + ".db");
if(newFile.exists())
{
File newFile = new File(mWorkingDirectory + fileName + ".db");
if(newFile.exists())
{
new AlertDialog.Builder(getActivity())
.setTitle("File Already Exists")
.setMessage("Do you want to overwrite the existing file?")
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
mNewDatabasePath = mWorkingDirectory + fileName + ".db";
mProgressDialog.setTitle("Saving");
mProgressDialog.setMessage(String.format("Please wait while saving \"%s\"...", mNewDatabasePath));
mProgressDialog.show();
RTABMapLib.save(); // send save event
//disable gui actions
mItemSave.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
}
})
.setNegativeButton("No", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
}
})
.show();
}
else
{
mNewDatabasePath = mWorkingDirectory + fileName + ".db";
mProgressDialog.setTitle("Saving");
mProgressDialog.setMessage(String.format("Please wait while saving \"%s\"...", mNewDatabasePath));
mProgressDialog.show();
RTABMapLib.save(); // send save event
//disable gui actions
mItemSave.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
}
new AlertDialog.Builder(getActivity())
.setTitle("File Already Exists")
.setMessage("Do you want to overwrite the existing file?")
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
final String newDatabasePath = mWorkingDirectory + fileName + ".db";
mProgressDialog.setTitle("Saving");
if(mOpenedDatabasePath.equals(newDatabasePath))
{
mProgressDialog.setMessage(String.format("Please wait while updating \"%s\"...", newDatabasePath));
}
else
{
mProgressDialog.setMessage(String.format("Please wait while saving \"%s\"...", newDatabasePath));
}
mProgressDialog.show();
Thread saveThread = new Thread(new Runnable() {
public void run() {
RTABMapLib.save(newDatabasePath); // save
runOnUiThread(new Runnable() {
public void run() {
if(mOpenedDatabasePath.equals(newDatabasePath))
{
mToast.makeText(getActivity(), String.format("Database \"%s\" updated.", newDatabasePath), mToast.LENGTH_LONG).show();
}
else
{
mToast.makeText(getActivity(), String.format("Database saved to \"%s\".", newDatabasePath), mToast.LENGTH_LONG).show();
Intent intent = new Intent(getActivity(), RTABMapActivity.class);
// use System.currentTimeMillis() to have a unique ID for the pending intent
PendingIntent pIntent = PendingIntent.getActivity(getActivity(), (int) System.currentTimeMillis(), intent, 0);
// build notification
// the addAction re-use the same intent to keep the example short
Notification n = new Notification.Builder(getActivity())
.setContentTitle(getString(R.string.app_name))
.setContentText(newDatabasePath + " saved!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
}
mProgressDialog.dismiss();
}
});
}
});
saveThread.start();
mOpenedDatabasePath = newDatabasePath;
}
})
.setNegativeButton("No", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
}
})
.show();
}
else
{
final String newDatabasePath = mWorkingDirectory + fileName + ".db";
mProgressDialog.setTitle("Saving");
if(mOpenedDatabasePath.equals(newDatabasePath))
{
mProgressDialog.setMessage(String.format("Please wait while updating \"%s\"...", mOpenedDatabasePath));
}
else
{
mProgressDialog.setMessage(String.format("Please wait while saving \"%s\"...", newDatabasePath));
}
mProgressDialog.show();
Thread saveThread = new Thread(new Runnable() {
public void run() {
RTABMapLib.save(newDatabasePath); // save
runOnUiThread(new Runnable() {
public void run() {
if(mOpenedDatabasePath.equals(newDatabasePath))
{
mToast.makeText(getActivity(), String.format("Database \"%s\" updated.", newDatabasePath), mToast.LENGTH_LONG).show();
}
else
{
mToast.makeText(getActivity(), String.format("Database saved to \"%s\".", newDatabasePath), mToast.LENGTH_LONG).show();
Intent intent = new Intent(getActivity(), RTABMapActivity.class);
// use System.currentTimeMillis() to have a unique ID for the pending intent
PendingIntent pIntent = PendingIntent.getActivity(getActivity(), (int) System.currentTimeMillis(), intent, 0);
// build notification
// the addAction re-use the same intent to keep the example short
Notification n = new Notification.Builder(getActivity())
.setContentTitle(getString(R.string.app_name))
.setContentText(newDatabasePath + " saved!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
}
mProgressDialog.dismiss();
}
});
}
});
saveThread.start();
mOpenedDatabasePath = newDatabasePath;
}
}
});
builder.show();
}
else
{
mProgressDialog.setTitle("Saving");
mProgressDialog.setMessage(String.format("Please wait while updating \"%s\"...", mOpenedDatabasePath));
mProgressDialog.show();
RTABMapLib.save(); // send save event
//disable gui actions
mItemSave.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
}
}
});
builder.show();
}
else if(itemId == R.id.reset)
{
@@ -1276,8 +1248,17 @@ public class RTABMapActivity extends Activity implements OnClickListener {
final EditText input = new EditText(this);
input.setInputType(InputType.TYPE_CLASS_TEXT);
builder.setView(input);
String timeStamp = new SimpleDateFormat("yyMMdd-hhmmss").format(new Date());
input.setText(timeStamp);
if(mOpenedDatabasePath.isEmpty())
{
String timeStamp = new SimpleDateFormat("yyMMdd-hhmmss").format(new Date());
input.setText(timeStamp);
}
else
{
File f = new File(mOpenedDatabasePath);
String name = f.getName();
input.setText(name.substring(0,name.lastIndexOf(".")));
}
input.setSelectAllOnFocus(true);
input.selectAll();
builder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
@@ -1333,6 +1314,24 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
mToast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), mToast.LENGTH_LONG).show();
}
Intent intent = new Intent(getActivity(), RTABMapActivity.class);
// use System.currentTimeMillis() to have a unique ID for the pending intent
PendingIntent pIntent = PendingIntent.getActivity(getActivity(), (int) System.currentTimeMillis(), intent, 0);
// build notification
// the addAction re-use the same intent to keep the example short
Notification n = new Notification.Builder(getActivity())
.setContentTitle(getString(R.string.app_name))
.setContentText(path + " exported!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
}
else
{
@@ -1376,6 +1375,25 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
mToast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), mToast.LENGTH_LONG).show();
}
Intent intent = new Intent(getActivity(), RTABMapActivity.class);
// use System.currentTimeMillis() to have a unique ID for the pending intent
PendingIntent pIntent = PendingIntent.getActivity(getActivity(), (int) System.currentTimeMillis(), intent, 0);
// build notification
// the addAction re-use the same intent to keep the example short
Notification n = new Notification.Builder(getActivity())
.setContentTitle(getString(R.string.app_name))
.setContentText(path + " exported!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
}
else
{

3
app/android/src/com/introlab/rtabmap/RTABMapLib.java
View File

@@ -68,6 +68,7 @@ public class RTABMapLib
public static native void setGridVisible(boolean visible);
public static native void setAutoExposure(boolean enabled);
public static native void setFullResolution(boolean enabled);
public static native void setAppendMode(boolean enabled);
public static native void setDataRecorderMode(boolean enabled);
public static native void setMaxCloudDepth(float value);
public static native void setMeshAngleTolerance(float value);
@@ -75,7 +76,7 @@ public class RTABMapLib
public static native int setMappingParameter(String key, String value);
public static native void resetMapping();
public static native void save();
public static native void save(String outputDatabasePath);
public static native boolean exportMesh(String filePath);
public static native int postProcessing(int approach);