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Code Issues Packages Projects Releases Wiki Activity

Tango: add Maximum Motion Speed option (default low) to avoid blurry images

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This commit is contained in:
matlabbe
2017-09-28 17:15:53 -04:00
parent 1220eab47a
commit 81c8e1b192
8 changed files with 127 additions and 44 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+48 -14
View File
@@ -181,6 +181,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
private long mOnPauseStamp = 0;
private boolean mOnPause = false;
private Date mDateOnPause = new Date();
private long mLastFastMovementNotificationStamp = 0;
private boolean mBlockBack = true;
private MenuItem mItemSave;
@@ -435,6 +436,10 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
@Override
public void onClick(DialogInterface dialog, int which) {
RTABMapLib.cancelProcessing();
mProgressDialog.setTitle("");
mProgressDialog.setMessage(String.format("Cancelling..."));
mProgressDialog.show();
}
});
@@ -449,6 +454,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
mWorkingDirectory = "";
mWorkingDirectoryHuman = "";
mTotalLoopClosures = 0;
mLastFastMovementNotificationStamp = System.currentTimeMillis()/1000;
if(Environment.getExternalStorageState().compareTo(Environment.MEDIA_MOUNTED)==0)
{
@@ -639,23 +645,22 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
if(!DISABLE_LOG) Log.i(TAG, "onPause()");
mOnPause = true;
mLocationManager.removeUpdates(mLocationListener);
mSensorManager.unregisterListener(this);
// This deletes OpenGL context!
mGLView.onPause();
RTABMapLib.onPause();
unbindService(mTangoServiceConnection);
if(!mButtonPause.isChecked())
{
mButtonPause.setChecked(true);
pauseMapping();
}
mLocationManager.removeUpdates(mLocationListener);
mSensorManager.unregisterListener(this);
RTABMapLib.onPause();
unbindService(mTangoServiceConnection);
// This deletes OpenGL context!
mGLView.onPause();
mOnPauseStamp = System.currentTimeMillis()/1000;
}
@@ -690,6 +695,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
if(!DISABLE_LOG) Log.d(TAG, "update preferences...");
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
mUpdateRate = sharedPref.getString(getString(R.string.pref_key_update_rate), getString(R.string.pref_default_update_rate));
String maxSpeed = sharedPref.getString(getString(R.string.pref_key_max_speed), getString(R.string.pref_default_max_speed));
mTimeThr = sharedPref.getString(getString(R.string.pref_key_time_thr), getString(R.string.pref_default_time_thr));
String memThr = sharedPref.getString(getString(R.string.pref_key_mem_thr), getString(R.string.pref_default_mem_thr));
mLoopThr = sharedPref.getString(getString(R.string.pref_key_loop_thr), getString(R.string.pref_default_loop_thr));
@@ -720,6 +726,8 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
RTABMapLib.setMappingParameter("Rtabmap/DetectionRate", mUpdateRate);
RTABMapLib.setMappingParameter("Rtabmap/TimeThr", mTimeThr);
RTABMapLib.setMappingParameter("Rtabmap/MemoryThr", memThr);
RTABMapLib.setMappingParameter("RGBD/LinearSpeedUpdate", maxSpeed);
RTABMapLib.setMappingParameter("RGBD/AngularSpeedUpdate", String.valueOf(Float.parseFloat(maxSpeed)/2.0f));
RTABMapLib.setMappingParameter("Mem/RehearsalSimilarity", simThr);
RTABMapLib.setMappingParameter("Kp/MaxFeatures", mMaxFeatures);
RTABMapLib.setMappingParameter("Vis/MaxFeatures", maxFeaturesLoop);
@@ -1009,6 +1017,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
int matches,
int rejected,
float optimizationMaxError,
boolean fastMovement,
String[] statusTexts)
{
mStatusTexts = statusTexts;
@@ -1083,6 +1092,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
if(mButtonPause!=null && !mButtonPause.isChecked())
{
long currentTime = System.currentTimeMillis()/1000;
if(loopClosureId > 0)
{
mToast.setText(String.format("Loop closure detected! (%d/%d inliers)", inliers, matches));
@@ -1107,6 +1117,18 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
}
mToast.show();
}
else if(fastMovement)
{
if(currentTime - mLastFastMovementNotificationStamp > 2)
{
mToast.setText("Move slower... blurry images are not added to map (\"Settings->Mapping...->Maximum Motion Speed\" is enabled).");
mToast.show();
}
}
else
{
mLastFastMovementNotificationStamp = currentTime;
}
}
}
@@ -1129,11 +1151,13 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
final float fps,
final int rejected,
final float rehearsalValue,
final float optimizationMaxError)
final float optimizationMaxError,
final float distanceTravelled,
final int fastMovement)
{
if(!DISABLE_LOG) Log.i(TAG, String.format("updateStatsCallback()"));
final String[] statusTexts = new String[17];
final String[] statusTexts = new String[18];
if(mButtonPause!=null && !mButtonPause.isChecked())
{
String updateValue = mUpdateRate.compareTo("0")==0?"Max":mUpdateRate;
@@ -1212,10 +1236,11 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
statusTexts[index++] = getString(R.string.inliers)+inliers;
statusTexts[index++] = getString(R.string.hypothesis)+(int)(hypothesis*100.0f) +" / " + (int)(Float.parseFloat(mLoopThr)*100.0f) + " (" + (loopClosureId>0?loopClosureId:highestHypId)+")";
statusTexts[index++] = getString(R.string.fps)+(int)fps+" Hz";
statusTexts[index++] = getString(R.string.distance)+(int)distanceTravelled+" m";
runOnUiThread(new Runnable() {
public void run() {
updateStatsUI(adjustedMemoryUsed, loopClosureId, inliers, matches, rejected, optimizationMaxError, statusTexts);
updateStatsUI(adjustedMemoryUsed, loopClosureId, inliers, matches, rejected, optimizationMaxError, fastMovement!=0, statusTexts);
}
});
}
@@ -1428,6 +1453,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
}
else
{
mProgressDialog.dismiss();
mToast.makeText(getActivity(), String.format("Optimization canceled"), mToast.LENGTH_LONG).show();
}
updateState(State.STATE_IDLE);
@@ -1607,6 +1633,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
mMemoryWarningDialog=null;
}
RTABMapLib.setPausedMapping(false);
mLastFastMovementNotificationStamp = System.currentTimeMillis()/1000;
if(mItemDataRecorderMode.isChecked())
{
@@ -1616,6 +1643,12 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
{
mToast.makeText(getActivity(), String.format("On resume, a new map is created. Tip: Try relocalizing in the previous area."), mToast.LENGTH_LONG).show();
}
else if(mMapIsEmpty && mItemLocalizationMode!=null && mItemLocalizationMode.isChecked())
{
mItemLocalizationMode.setChecked(false);
RTABMapLib.setLocalizationMode(false);
mToast.makeText(getActivity(), String.format("Disabled localization mode as the map is empty, now mapping..."), mToast.LENGTH_LONG).show();
}
}
}
@@ -2376,6 +2409,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
}
else
{
mProgressDialog.dismiss();
mToast.makeText(getActivity(), String.format("Export canceled"), mToast.LENGTH_LONG).show();
updateState(previousState);
}
app/android/src/com/introlab/rtabmap/SettingsActivity.java
+2
View File
@@ -195,6 +195,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
((Preference)findPreference(getString(R.string.pref_key_rendering_texture_decimation))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_rendering_texture_decimation))).getEntry() + ") "+getString(R.string.pref_summary_rendering_texture_decimation));
((Preference)findPreference(getString(R.string.pref_key_update_rate))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_update_rate))).getEntry() + ") "+getString(R.string.pref_summary_update_rate));
((Preference)findPreference(getString(R.string.pref_key_max_speed))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_max_speed))).getEntry() + ") "+getString(R.string.pref_summary_max_speed));
((Preference)findPreference(getString(R.string.pref_key_time_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_time_thr))).getEntry() + ") "+getString(R.string.pref_summary_time_thr));
((Preference)findPreference(getString(R.string.pref_key_mem_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_mem_thr))).getEntry() + ") "+getString(R.string.pref_summary_mem_thr));
((Preference)findPreference(getString(R.string.pref_key_loop_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_loop_thr))).getEntry() + ") "+getString(R.string.pref_summary_loop_thr));
@@ -253,6 +254,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
if(key.compareTo(getString(R.string.pref_key_rendering_texture_decimation))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_rendering_texture_decimation));
if(key.compareTo(getString(R.string.pref_key_update_rate))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_update_rate));
if(key.compareTo(getString(R.string.pref_key_max_speed))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_max_speed));
if(key.compareTo(getString(R.string.pref_key_time_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_time_thr));
if(key.compareTo(getString(R.string.pref_key_mem_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_mem_thr));
if(key.compareTo(getString(R.string.pref_key_loop_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_loop_thr));