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Tango: added GPS to default status when saved, reduced to 1 sec for GPS too old

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This commit is contained in:
matlabbe
2017-09-29 12:45:02 -04:00
parent b187409e59
commit 6da7788f61
3 changed files with 25 additions and 17 deletions
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2
app/android/jni/CameraTango.cpp
View File

@@ -848,7 +848,7 @@ SensorData CameraTango::captureImage(CameraInfo * info)
}
data.setGroundTruth(odom);
if(lastKnownGPS_.stamp() > 0.0 && rgbStamp-lastKnownGPS_.stamp()<2.0)
if(lastKnownGPS_.stamp() > 0.0 && rgbStamp-lastKnownGPS_.stamp()<1.0)
{
data.setGPS(lastKnownGPS_);
}

2
app/android/res/values/strings.xml
View File

@@ -35,7 +35,7 @@
<string name="hypothesis">"Hypothesis (%): "</string>
<string name="fps">"FPS (rendering): "</string>
<string name="distance">"Distance travelled: "</string>
<string name="gps">"GPS (long,lat,alt,bearing,acc): "</string>
<string name="gps">"GPS (long,lat,alt,bearing,err): "</string>
<string name="time">"Time: "</string>
<!-- Preference keys: BEGIN -->

38
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
View File

@@ -221,6 +221,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
private String mLoopThr;
private String mMinInliers;
private String mMaxOptimizationError;
private boolean mGPSSaved = false;
private LocationManager mLocationManager;
private LocationListener mLocationListener;
@@ -708,8 +709,8 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
boolean keepAllDb = sharedPref.getBoolean(getString(R.string.pref_key_keep_all_db), Boolean.parseBoolean(getString(R.string.pref_default_keep_all_db)));
boolean optimizeFromGraphEnd = sharedPref.getBoolean(getString(R.string.pref_key_optimize_end), Boolean.parseBoolean(getString(R.string.pref_default_optimize_end)));
String optimizer = sharedPref.getString(getString(R.string.pref_key_optimizer), getString(R.string.pref_default_optimizer));
boolean gpsSaved = sharedPref.getBoolean(getString(R.string.pref_key_gps_saved), Boolean.parseBoolean(getString(R.string.pref_default_gps_saved)));
if(gpsSaved)
mGPSSaved = sharedPref.getBoolean(getString(R.string.pref_key_gps_saved), Boolean.parseBoolean(getString(R.string.pref_default_gps_saved)));
if(mGPSSaved)
{
mLocationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 0, 0, mLocationListener);
mSensorManager.registerListener(this, mSensorManager.getDefaultSensor(Sensor.TYPE_ORIENTATION), SensorManager.SENSOR_DELAY_GAME);
@@ -997,11 +998,11 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
}
else if((mItemStatusVisibility.isChecked() || mState == State.STATE_VISUALIZING_WHILE_LOADING))
{
mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, 0, 3));
mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, 0, 4));
}
else if(mItemDebugVisibility.isChecked())
{
mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, 4, mStatusTexts.length));
mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, 5, mStatusTexts.length));
}
else
{
@@ -1201,22 +1202,29 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
mMapNodes = nodes;
if(mLastKnownLocation != null)
if(mGPSSaved)
{
long millisec = System.currentTimeMillis() - mLastKnownLocation.getTime();
if(millisec > 2000)
if(mLastKnownLocation != null)
{
statusTexts[3] = getString(R.string.gps)+String.format("[too old, %d ms]", millisec);
long millisec = System.currentTimeMillis() - mLastKnownLocation.getTime();
if(millisec > 1000)
{
statusTexts[3] = getString(R.string.gps)+String.format("[too old, %d ms]", millisec);
}
else
{
statusTexts[3] = getString(R.string.gps)+
String.format("%.2f %.2f %.2fm %.0fdeg %.0fm",
mLastKnownLocation.getLongitude(),
mLastKnownLocation.getLatitude(),
mLastKnownLocation.getAltitude(),
mCompassDeg,
mLastKnownLocation.getAccuracy());
}
}
else
{
statusTexts[3] = getString(R.string.gps)+
String.format("%.2f %.2f %.2fm %.0fdeg %.0fm",
mLastKnownLocation.getLongitude(),
mLastKnownLocation.getLatitude(),
mLastKnownLocation.getAltitude(),
mCompassDeg,
mLastKnownLocation.getAccuracy());
statusTexts[3] = getString(R.string.gps)+"[not yet available]";
}
}