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Tango: moved export to file button under share to sketchfab (fixing overlap of button on opengl status text), fixed export empty poses after resuming without relocalizing (append mode)

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This commit is contained in:
matlabbe
2017-07-03 14:42:48 -04:00
parent 44969a7fdf
commit 4b7d558026
4 changed files with 19 additions and 8 deletions
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15
app/android/jni/RTABMapApp.cpp
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@@ -2062,8 +2062,19 @@ bool RTABMapApp::exportMesh(
std::map<int, rtabmap::Transform> poses = rtabmap_->getLocalOptimizedPoses();
if(poses.empty())
{
UERROR("Empty optimized poses!");
return false;
// look if we just triggered new map without localizing afterward (pause/resume in append Mode)
std::multimap<int, rtabmap::Link> links;
rtabmap_->getGraph(
poses,
links,
true,
false);
if(poses.empty())
{
UERROR("Empty optimized poses!");
return false;
}
rtabmap_->setOptimizedPoses(poses);
}
if(blockRendering)

9
app/android/res/layout/activity_rtabmap.xml
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@@ -86,9 +86,8 @@
android:layout_height="wrap_content"
android:layout_marginRight="5dp"
android:layout_alignParentTop="true"
android:layout_marginTop="61dp"
android:layout_marginTop="10dp"
android:layout_alignParentRight="true"
android:paddingRight="5dp"
android:textOff="@string/pause"
android:textOn="@string/resume" />
@@ -96,7 +95,7 @@
android:id="@+id/button_shareToSketchfab"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_alignParentTop="true"
android:layout_below="@+id/pause_button"
android:layout_alignRight="@+id/pause_button"
android:text="@string/share_to_sketchfab" />
@@ -104,8 +103,8 @@
android:id="@+id/button_saveOnDevice"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_alignParentTop="true"
android:layout_toLeftOf="@+id/button_shareToSketchfab"
android:layout_alignRight="@+id/button_shareToSketchfab"
android:layout_below="@+id/button_shareToSketchfab"
android:text="@string/save_to_file" />
<Button

2
app/android/res/values/strings.xml
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@@ -306,7 +306,7 @@
<string name="pref_title_smoothing">Smoothing</string>
<string name="pref_summary_smoothing">Smooth the point clouds.</string>
<string name="pref_title_fisheye">Fish Eye Camera</string>
<string name="pref_summary_fisheye">Use fish eye camera instead of the color camera. Cannot be used on Yellowstone tablet.</string>
<string name="pref_summary_fisheye">Use fish eye camera instead of the color camera. May not work on some devices.</string>
<string name="pref_title_update_rate">Update Rate</string>
<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>

1
corelib/src/Rtabmap.cpp
View File

@@ -2550,6 +2550,7 @@ bool Rtabmap::process(
id = _memory->getLastWorkingSignature()->id();
UDEBUG("Refresh local map from %d", id);
}
UDEBUG("id=%d _optimizedPoses=%d", id, (int)_optimizedPoses.size());
if(id > 0)
{
if(_lastLocalizationNodeId != 0)