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Tango: fixed database saved in memory option when disabled (now disabled by default)

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This commit is contained in:
matlabbe
2017-10-08 21:55:27 -04:00
parent 9a09db9212
commit 49f9a1e8d7
20 changed files with 158 additions and 80 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+17 -19
View File
@@ -237,7 +237,9 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
private AlertDialog mMemoryWarningDialog = null;
private String[] mStatusTexts = new String[16];
private final int STATUS_TEXTS_SIZE = 18;
private final int STATUS_TEXTS_POSE_INDEX = 5;
private String[] mStatusTexts = new String[STATUS_TEXTS_SIZE];
GestureDetector mGesDetect = null;
@@ -998,11 +1000,11 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
}
else if((mItemStatusVisibility.isChecked() || mState == State.STATE_VISUALIZING_WHILE_LOADING))
{
mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, 0, 4));
mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, 0, STATUS_TEXTS_POSE_INDEX-1));
}
else if(mItemDebugVisibility.isChecked())
{
mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, 5, mStatusTexts.length));
mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, STATUS_TEXTS_POSE_INDEX-1, mStatusTexts.length));
}
else
{
@@ -1165,7 +1167,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
{
if(!DISABLE_LOG) Log.i(TAG, String.format("updateStatsCallback()"));
final String[] statusTexts = new String[19];
final String[] statusTexts = new String[STATUS_TEXTS_SIZE];
if(mButtonPause!=null && !mButtonPause.isChecked())
{
String updateValue = mUpdateRate.compareTo("0")==0?"Max":mUpdateRate;
@@ -1175,16 +1177,13 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
{
statusTexts[0] = mStatusTexts[0];
}
// getNativeHeapAllocatedSize() is too slow, so we need to use the estimate.
// Multiply by 3/2 to match getNativeHeapAllocatedSize()
final int adjustedMemoryUsed = (processMemoryUsed*3)/2;
if(mButtonPause!=null)
{
if(!mButtonPause.isChecked())
{
statusTexts[1] = getString(R.string.memory)+adjustedMemoryUsed;
// getNativeHeapAllocatedSize() is too slow, so we need to use the estimate.
statusTexts[1] = getString(R.string.memory)+processMemoryUsed;
}
else if(mState == State.STATE_PROCESSING)
{
@@ -1238,10 +1237,9 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
String formattedDate = new SimpleDateFormat("HH:mm:ss.SSS").format(new Date());
statusTexts[4] = getString(R.string.time)+formattedDate;
int index = 5;
int index = STATUS_TEXTS_POSE_INDEX;
statusTexts[index++] = getString(R.string.nodes)+nodes+" (" + nodesDrawn + " shown)";
statusTexts[index++] = getString(R.string.words)+words;
statusTexts[index++] = getString(R.string.database_size)+databaseMemoryUsed;
statusTexts[index++] = getString(R.string.points)+points;
statusTexts[index++] = getString(R.string.polygons)+polygons;
statusTexts[index++] = getString(R.string.update_time)+(int)(updateTime) + " / " + (mTimeThr.compareTo("0")==0?"No Limit":mTimeThr);
@@ -1256,7 +1254,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
runOnUiThread(new Runnable() {
public void run() {
updateStatsUI(adjustedMemoryUsed, loopClosureId, inliers, matches, rejected, optimizationMaxError, fastMovement!=0, statusTexts);
updateStatsUI(processMemoryUsed, loopClosureId, inliers, matches, rejected, optimizationMaxError, fastMovement!=0, statusTexts);
}
});
}
@@ -1920,11 +1918,10 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
{
mTotalLoopClosures = 0;
int index = 4;
int index = STATUS_TEXTS_POSE_INDEX;
mMapNodes = 0;
mStatusTexts[index++] = getString(R.string.nodes)+0;
mStatusTexts[index++] = getString(R.string.words)+0;
mStatusTexts[index++] = getString(R.string.database_size)+0;
mStatusTexts[index++] = getString(R.string.points)+0;
mStatusTexts[index++] = getString(R.string.polygons)+0;
mStatusTexts[index++] = getString(R.string.update_time)+0;
@@ -1934,13 +1931,14 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
mStatusTexts[index++] = getString(R.string.inliers)+0;
mStatusTexts[index++] = getString(R.string.hypothesis)+0;
mStatusTexts[index++] = getString(R.string.fps)+0;
mStatusTexts[index++] = getString(R.string.distance)+0;
mStatusTexts[index++] = String.format("Pose (x,y,z): 0 0 0");
updateStatusTexts();
mOpenedDatabasePath = "";
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
(new File(tmpDatabase)).delete();
RTABMapLib.openDatabase(tmpDatabase, databaseInMemory, false);
mMapIsEmpty = true;
@@ -1959,11 +1957,10 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
public void onClick(DialogInterface dialog, int which) {
// reset
mTotalLoopClosures = 0;
int index = 4;
int index = STATUS_TEXTS_POSE_INDEX;
mMapNodes = 0;
mStatusTexts[index++] = getString(R.string.nodes)+0;
mStatusTexts[index++] = getString(R.string.words)+0;
mStatusTexts[index++] = getString(R.string.database_size)+0;
mStatusTexts[index++] = getString(R.string.points)+0;
mStatusTexts[index++] = getString(R.string.polygons)+0;
mStatusTexts[index++] = getString(R.string.update_time)+0;
@@ -1973,6 +1970,8 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
mStatusTexts[index++] = getString(R.string.inliers)+0;
mStatusTexts[index++] = getString(R.string.hypothesis)+0;
mStatusTexts[index++] = getString(R.string.fps)+0;
mStatusTexts[index++] = getString(R.string.distance)+0;
mStatusTexts[index++] = String.format("Pose (x,y,z): 0 0 0");
updateStatusTexts();
mItemDataRecorderMode.setChecked(!dataRecorderOldState);
@@ -1982,7 +1981,6 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
(new File(tmpDatabase)).delete();
RTABMapLib.openDatabase(tmpDatabase, databaseInMemory, false);
mItemOpen.setEnabled(!mItemDataRecorderMode.isChecked() && mButtonPause.isChecked());