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Tango: swipe down to show hud, added notification sound after saving or exporting, added polygon cluster filtering export option, action and status bars are transparent

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This commit is contained in:
matlabbe
2017-07-24 20:24:16 -04:00
parent 62de6fcdae
commit 5855198b5f
10 changed files with 146 additions and 47 deletions
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5
app/android/AndroidManifest.xml.in
View File

@@ -2,7 +2,7 @@
<!-- BEGIN_INCLUDE(manifest) -->
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.introlab.rtabmap"
android:versionCode="53"
android:versionCode="54"
android:versionName="@RTABMAP_VERSION@">
<uses-permission android:name="android.permission.CAMERA" />
@@ -31,7 +31,8 @@
android:label="@string/app_name"
android:launchMode="singleTask"
android:screenOrientation="fullSensor"
android:configChanges="orientation|screenSize|keyboardHidden">
android:configChanges="orientation|screenSize|keyboardHidden"
android:theme="@style/ThemeApp">
<!-- Tell NativeActivity the name of our .so -->
<meta-data android:name="android.app.lib_name"
android:value="NativeRTABMap" />

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

@@ -2051,7 +2051,7 @@ bool RTABMapApp::exportMesh(
int optimizedMaxPolygons,
float optimizedColorRadius,
bool optimizedCleanWhitePolygons,
bool optimizedColorWhitePolygons, // not yet used
int optimizedMinClusterSize,
float optimizedMaxTextureDistance,
int optimizedMinTextureClusterSize,
bool blockRendering)
@@ -2341,7 +2341,7 @@ bool RTABMapApp::exportMesh(
optimizedColorRadius,
textureSize == 0,
optimizedCleanWhitePolygons,
0);
optimizedMinClusterSize);
if(textureSize>0)
{

2
app/android/jni/RTABMapApp.h
View File

@@ -164,7 +164,7 @@ class RTABMapApp : public UEventsHandler {
int optimizedMaxPolygons,
float optimizedColorRadius,
bool optimizedCleanWhitePolygons,
bool optimizedColorWhitePolygons,
int optimizedMinClusterSize,
float optimizedMaxTextureDistance,
int optimizedMinTextureClusterSize,
bool blockRendering);

4
app/android/jni/jni_interface.cpp
View File

@@ -377,7 +377,7 @@ Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
int optimizedMaxPolygons,
float optimizedColorRadius,
bool optimizedCleanWhitePolygons,
bool optimizedColorWhitePolygons,
int optimizedMinClusterSize,
float optimizedMaxTextureDistance,
int optimizedMinTextureClusterSize,
bool blockRendering)
@@ -395,7 +395,7 @@ Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
optimizedMaxPolygons,
optimizedColorRadius,
optimizedCleanWhitePolygons,
optimizedColorWhitePolygons,
optimizedMinClusterSize,
optimizedMaxTextureDistance,
optimizedMinTextureClusterSize,
blockRendering);

13
app/android/res/layout/activity_settings.xml
View File

@@ -292,6 +292,14 @@
android:summary="@string/pref_summary_opt_clean_white"
android:defaultValue="@string/pref_default_opt_clean_white"/>
<ListPreference
android:key="@string/pref_key_opt_min_cluster_size"
android:title="@string/pref_title_opt_min_cluster_size"
android:summary="@string/pref_summary_opt_min_cluster_size"
android:entries="@array/pref_opt_min_cluster_size_keys"
android:entryValues="@array/pref_opt_min_cluster_size_values"
android:defaultValue="@string/pref_default_opt_min_cluster_size"/>
</PreferenceCategory>
</PreferenceScreen>
<ListPreference
@@ -308,6 +316,11 @@
android:entries="@array/pref_cluster_ratio_keys"
android:entryValues="@array/pref_cluster_ratio_values"
android:defaultValue="@string/pref_default_cluster_ratio"/>
<SwitchPreference
android:key="@string/pref_key_notification_sound"
android:title="@string/pref_title_notification_sound"
android:summary="@string/pref_summary_notification_sound"
android:defaultValue="@string/pref_default_notification_sound"/>
</PreferenceCategory>
<PreferenceCategory
android:title="@string/pref_title_presets">

22
app/android/res/values/strings.xml
View File

@@ -124,10 +124,14 @@
<string name="pref_default_opt_color_radius">0.05</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_opt_min_cluster_size">pref_key_opt_min_cluster_size</string>
<string name="pref_default_opt_min_cluster_size">0</string>
<string name="pref_key_gain_max_radius">pref_key_gain_max_radius</string>
<string name="pref_default_gain_max_radius">0.02</string>
<string name="pref_key_cluster_ratio">pref_key_cluster_ratio</string>
<string name="pref_default_cluster_ratio">0.05</string>
<string name="pref_key_notification_sound">pref_key_notification_sound</string>
<string name="pref_default_notification_sound">true</string>
<!-- Preference keys: END -->
<string name="pref_title_rendering">Rendering</string>
@@ -657,22 +661,22 @@
<item>"2"</item>
</string-array>
<string-array name="pref_min_texture_cluster_size_keys">
<item>"Disabled"</item>
<item>"1000"</item>
<item>"500"</item>
<item>"200"</item>
<item>"100"</item>
<item>"50"</item>
<item>"10"</item>
<item>"Disabled"</item>
</string-array>
<string-array name="pref_min_texture_cluster_size_values">
<item>"0"</item>
<item>"1000"</item>
<item>"500"</item>
<item>"200"</item>
<item>"100"</item>
<item>"50"</item>
<item>"10"</item>
<item>"0"</item>
</string-array>
<string name="pref_title_optimized">Optimized</string>
@@ -684,7 +688,9 @@
<string name="pref_summary_opt_color_radius">Radius used to transfer nearest color from the point cloud to reconstructed mesh. When exporting with texture, if Clean Mesh is also enabled, this will limit the number of polygons textured in holes.</string>
<string name="pref_title_opt_clean_white">Clean Mesh</string>
<string name="pref_summary_opt_clean_white">Clean mesh from textureless or colorless reconstructed polygons.</string>
<string name="pref_summary_opt_min_cluster_size">This can be used to filter polygons before texturing.</string>
<string name="pref_title_opt_min_cluster_size">Polygon Filtering</string>
<string-array name="pref_opt_depth_keys">
<item>"Auto"</item>
<item>"12"</item>
@@ -733,12 +739,22 @@
<item>"0.01"</item>
<item>"-1"</item>
</string-array>
<string-array name="pref_opt_min_cluster_size_keys">
<item>"Only biggest cluster kept"</item>
<item>"Keep all polygons"</item>
</string-array>
<string-array name="pref_opt_min_cluster_size_values">
<item>"-1"</item>
<item>"0"</item>
</string-array>
<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 Adjust Colors optimization.</string>
<string name="pref_title_cluster_ratio">Noise Filtering Ratio</string>
<string name="pref_summary_cluster_ratio">Polygon clusters with size smaller than this ratio of the largest cluster are removed by the Noise Filtering optimization.</string>
<string name="pref_title_notification_sound">Notification Sound</string>
<string name="pref_summary_notification_sound">After saving database or preparing data to export, a notification sound is played.</string>
<string-array name="pref_gain_max_radius_keys">
<item>"0.3 m"</item>

10
app/android/res/values/styles.xml Normal file
View File

@@ -0,0 +1,10 @@
<resources>
<style name="ThemeActionBar" parent="@android:style/Widget.DeviceDefault.ActionBar.Solid">
<item name="android:background">#20000000</item>
</style>
<style name="ThemeApp" parent="@android:style/Theme.DeviceDefault">
<item name="android:actionBarStyle">@style/ThemeActionBar</item>
<item name="android:windowActionBarOverlay">true</item>
</style>
</resources>

127
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
View File

@@ -257,6 +257,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
display.getSize(mScreenSize);
getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
getWindow().addFlags(WindowManager.LayoutParams.FLAG_TRANSLUCENT_STATUS);
// Setting content view of this activity.
setContentView(R.layout.activity_rtabmap);
@@ -367,7 +368,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
@Override
public boolean onTouch(View v, MotionEvent event) {
resetNoTouchTimer();
resetNoTouchTimer(getActionBar().isShowing() && mHudVisible == false);
mGesDetect.onTouchEvent(event);
@@ -728,7 +729,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
}
TangoInitializationHelper.bindTangoService(getActivity(), mTangoServiceConnection);
resetNoTouchTimer();
resetNoTouchTimer(true);
}
private void setCamera(int type)
@@ -822,11 +823,31 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
@Override
public boolean onDoubleTap(MotionEvent event) {
if(!DISABLE_LOG) Log.i(TAG, "onDoubleTap");
float normalizedX = event.getX(0) / mScreenSize.x;
float normalizedY = event.getY(0) / mScreenSize.y;
RTABMapLib.onTouchEvent(3, event.getActionMasked(), normalizedX, normalizedY, 0.0f, 0.0f);
return true;
}
@Override
public boolean onFling(
MotionEvent e1,
MotionEvent e2,
float velocityX,
float velocityY) {
if(!DISABLE_LOG) Log.i(TAG, String.format("onFling velocityY=%f", velocityY));
if(velocityY < -1000)
{
notouchHandler.removeCallbacks(notouchCallback);
notouchHandler.postDelayed(notouchCallback, 0);
}
else if(velocityY > 1000)
{
resetNoTouchTimer(true);
}
return true;
}
}
@Override
@@ -1364,14 +1385,20 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
};
public void resetNoTouchTimer(){
if(!mHudVisible)
resetNoTouchTimer(false);
}
public void resetNoTouchTimer(boolean showHud){
if(showHud)
{
setNavVisibility(true);
mHudVisible = true;
updateState(mState);
setNavVisibility(true);
if(mItemSave != null)
{
updateState(mState);
}
}
mHudVisible = true;
notouchHandler.removeCallbacks(notouchCallback);
notouchHandler.postDelayed(notouchCallback, NOTOUCH_TIMEOUT);
}
@@ -1387,6 +1414,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
mToast.makeText(getActivity(), String.format("Re-adding %d online clouds, this may take some time...", mMapNodes), mToast.LENGTH_LONG).show();
}
mState = state;
if(!DISABLE_LOG) Log.i(TAG, String.format("updateState() state=%s hud=%d", state.toString(), mHudVisible?1:0));
switch(state)
{
case STATE_PROCESSING:
@@ -1744,6 +1772,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
.setNegativeButton("No", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
resetNoTouchTimer(true);
}
})
.show();
@@ -2010,7 +2039,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
final int optimizedDepth = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_opt_depth), getString(R.string.pref_default_opt_depth)));
final float optimizedColorRadius = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_opt_color_radius), getString(R.string.pref_default_opt_color_radius)));
final boolean optimizedCleanWhitePolygons = sharedPref.getBoolean(getString(R.string.pref_key_opt_clean_white), Boolean.parseBoolean(getString(R.string.pref_default_opt_clean_white)));
final boolean optimizedColorWhitePolygons = false;//sharedPref.getBoolean("pref_key_opt_color_white", false); // not used
final int optimizedMinClusterSize = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_opt_min_cluster_size), getString(R.string.pref_default_opt_min_cluster_size)));
final boolean blockRendering = sharedPref.getBoolean(getString(R.string.pref_key_block_render), Boolean.parseBoolean(getString(R.string.pref_default_block_render)));
@@ -2041,22 +2070,41 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
optimizedMaxPolygons,
optimizedColorRadius,
optimizedCleanWhitePolygons,
optimizedColorWhitePolygons,
optimizedMinClusterSize,
maxTextureDistance,
minTextureClusterSize,
blockRendering);
runOnUiThread(new Runnable() {
public void run() {
if(mExportProgressDialog.isShowing())
{
{
if(success)
{
{
if(!meshing && cloudVoxelSize>0.0f)
{
mToast.makeText(getActivity(), String.format("Cloud assembled and voxelized at %s m.", cloudVoxelSizeStr), mToast.LENGTH_LONG).show();
}
final long endTime = System.currentTimeMillis()/1000;
if(endTime-startTime > 10)
{
// build notification
// the addAction re-use the same intent to keep the example short
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
boolean notifySound = sharedPref.getBoolean(getString(R.string.pref_key_notification_sound), Boolean.parseBoolean(getString(R.string.pref_default_notification_sound)));
Notification n = new Notification.Builder(getActivity())
.setContentTitle(getString(R.string.app_name))
.setContentText("Data generated and ready to be exported!")
.setSmallIcon(R.drawable.ic_launcher)
.setDefaults(notifySound?Notification.DEFAULT_SOUND:0)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
}
// Visualize the result?
AlertDialog d = new AlertDialog.Builder(getActivity())
@@ -2065,7 +2113,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
.setMessage(Html.fromHtml("Do you want visualize the result before saving to file or sharing to <a href=\"https://sketchfab.com/about\">Sketchfab</a>?"))
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
resetNoTouchTimer();
resetNoTouchTimer(true);
mSavedRenderingType = mItemRenderingPointCloud.isChecked()?0:mItemRenderingMesh.isChecked()?1:2;
if(!meshing)
{
@@ -2113,6 +2161,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
})
.setNeutralButton("Cancel", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
resetNoTouchTimer(true);
}
})
.create();
@@ -2166,33 +2215,38 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
RTABMapLib.save(newDatabasePath); // save
runOnUiThread(new Runnable() {
public void run() {
String msg;
if(mOpenedDatabasePath.equals(newDatabasePath))
{
mToast.makeText(getActivity(), String.format("Database \"%s\" updated.", newDatabasePathHuman), mToast.LENGTH_LONG).show();
msg = String.format("Database \"%s\" updated.", newDatabasePathHuman);
}
else
{
mToast.makeText(getActivity(), String.format("Database saved to \"%s\".", newDatabasePathHuman), 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(newDatabasePathHuman + " saved!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
msg = String.format("Database saved to \"%s\".", newDatabasePathHuman);
}
mToast.makeText(getActivity(), msg, mToast.LENGTH_LONG).show();
// build notification
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);
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
boolean notifySound = sharedPref.getBoolean(getString(R.string.pref_key_notification_sound), Boolean.parseBoolean(getString(R.string.pref_default_notification_sound)));
Notification n = new Notification.Builder(getActivity())
.setContentTitle(getString(R.string.app_name))
.setContentText(msg)
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setDefaults(notifySound?Notification.DEFAULT_SOUND:0)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
resetNoTouchTimer(true);
if(!mItemDataRecorderMode.isChecked())
{
mOpenedDatabasePath = newDatabasePath;
@@ -2233,6 +2287,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
public void onClick(DialogInterface dialog, int which)
{
dialog.dismiss();
resetNoTouchTimer(true);
}
});
builder.setPositiveButton("Ok", new DialogInterface.OnClickListener() {
@@ -2357,11 +2412,12 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
resetNoTouchTimer(true);
}
});
}
@@ -2371,6 +2427,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
public void run() {
mProgressDialog.dismiss();
mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! No files found in tmp directory!? Last export may have failed or have been canceled.", pathHuman), mToast.LENGTH_LONG).show();
resetNoTouchTimer(true);
}
});
}
@@ -2453,7 +2510,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
if(status >= 1 && status<=3)
{
mProgressDialog.dismiss();
resetNoTouchTimer();
resetNoTouchTimer(true);
updateState(State.STATE_VISUALIZING);
mToast.makeText(getActivity(), String.format("Database loaded!"), mToast.LENGTH_LONG).show();
}

2
app/android/src/com/introlab/rtabmap/RTABMapLib.java
View File

@@ -109,7 +109,7 @@ public class RTABMapLib
int optimizedMaxPolygons,
float optimizedColorRadius,
boolean optimizedCleanWhitePolygons,
boolean optimizedColorWhitePolygons,
int optimizedMinClusterSize,
float optimizedMaxTextureDistance,
int optimizedMinTextureClusterSize,
boolean blockRendering);

4
app/android/src/com/introlab/rtabmap/SettingsActivity.java
View File

@@ -215,7 +215,8 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
((Preference)findPreference(getString(R.string.pref_key_opt_depth))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_depth))).getEntry() + ") "+getString(R.string.pref_summary_opt_depth));
((Preference)findPreference(getString(R.string.pref_key_opt_color_radius))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_color_radius))).getEntry() + ") "+getString(R.string.pref_summary_opt_color_radius));
((Preference)findPreference(getString(R.string.pref_key_opt_min_cluster_size))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_min_cluster_size))).getEntry() + ") "+getString(R.string.pref_summary_opt_min_cluster_size));
((Preference)findPreference(getString(R.string.pref_key_cluster_ratio))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_cluster_ratio))).getEntry() + ") "+getString(R.string.pref_summary_cluster_ratio));
((Preference)findPreference(getString(R.string.pref_key_gain_max_radius))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_gain_max_radius))).getEntry() + ") "+getString(R.string.pref_summary_gain_max_radius));
}
@@ -272,6 +273,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
if(key.compareTo(getString(R.string.pref_key_opt_depth))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_depth));
if(key.compareTo(getString(R.string.pref_key_opt_color_radius))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_color_radius));
if(key.compareTo(getString(R.string.pref_key_opt_min_cluster_size))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_min_cluster_size));
if(key.compareTo(getString(R.string.pref_key_cluster_ratio))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_cluster_ratio));
if(key.compareTo(getString(R.string.pref_key_gain_max_radius))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_gain_max_radius));