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Using shadows on all texts and icons to see them better when background is white. Buffering database previews to show faster the Library. Updated how RAM usage is computed and now show max memory. Added warnings when RAM usage is low.

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This commit is contained in:
matlabbe
2025-02-15 17:33:26 -08:00
parent 15be406509
commit 994fad982f
3 changed files with 129 additions and 48 deletions
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121
app/ios/RTABMapApp/ViewController.swift
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@@ -45,6 +45,8 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
private var mReviewRequested = false
private var mMaximumMemory: Int = 0
// UI states
private enum State {
case STATE_WELCOME, // Camera/Motion off - showing only buttons open and start new scan
@@ -96,6 +98,8 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
private var mHudVisible: Bool = true
private var mLastTimeHudShown: DispatchTime = .now()
private var mMenuOpened: Bool = false
private var lowMemoryWarningShown: Bool = false
static var previewImages: [String: UIImage] = [:]
@IBOutlet weak var stopButton: UIButton!
@IBOutlet weak var recordButton: UIButton!
@@ -175,13 +179,41 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
}
}
func addShadow(_ view: UIView, _ offset: Int = 4)
{
view.layer.shadowColor = UIColor.black.cgColor
view.layer.shadowRadius = 3.0
view.layer.shadowOpacity = 1.0
view.layer.shadowOffset = CGSize(width: offset, height: offset)
view.layer.masksToBounds = false
}
override func viewDidLoad() {
mMaximumMemory = getAvailableMemory()
super.viewDidLoad()
// Do any additional setup after loading the view.
self.toastLabel.isHidden = true
session.delegate = self
addShadow(stopButton)
addShadow(recordButton)
addShadow(menuButton)
addShadow(viewButton)
addShadow(newScanButtonLarge)
addShadow(libraryButton)
addShadow(closeVisualizationButton)
addShadow(stopCameraButton)
addShadow(exportOBJPLYButton)
addShadow(statusLabel, 0)
addShadow(toastLabel, 0)
addShadow(orthoDistanceSlider, 0)
addShadow(orthoGridSlider, 0)
depthSupported = ARWorldTrackingConfiguration.supportsFrameSemantics(.sceneDepth)
rtabmap = RTABMap()
@@ -236,6 +268,20 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
self.updateState(state: self.mState)
}
}
func progressStatusUpdate() {
DispatchQueue.main.asyncAfter(deadline: .now() + 1.0) {
if self.mState == .STATE_PROCESSING && self.statusShown
{
let availableMem = self.getAvailableMemory()
let usedMem = self.mMaximumMemory - availableMem;
self.statusLabel.text =
"Status: \(self.getStateString(state: self.mState))\n" +
"RAM Usage (MB): \(usedMem) / \(self.mMaximumMemory)"
self.progressStatusUpdate()
}
}
}
func progressUpdated(_ rtabmap: RTABMap, count: Int, max: Int) {
DispatchQueue.main.async {
@@ -280,10 +326,11 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
self.showToast(message: "Optimized mesh detected in the database, it is shown while the database is loading...", seconds: 3)
}
let usedMem = self.getMemoryUsage()
let availableMem = self.getAvailableMemory()
let usedMem = self.mMaximumMemory - availableMem;
self.statusLabel.text =
"Status: " + (status == 1 && msg.isEmpty ? self.mState == State.STATE_CAMERA ? "Camera Preview" : "Idle" : msg) + "\n" +
"Memory Usage: \(usedMem) MB"
"RAM Usage (MB): \(usedMem) / \(self.mMaximumMemory)"
}
}
@@ -316,7 +363,8 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
pitch: Float,
yaw: Float)
{
let usedMem = self.getMemoryUsage()
let availableMem = self.getAvailableMemory()
let usedMem = self.mMaximumMemory - availableMem;
if(loopClosureId > 0)
{
@@ -339,7 +387,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
self.statusLabel.text =
self.statusLabel.text! +
"Status: \(self.getStateString(state: self.mState))\n" +
"Memory Usage : \(usedMem) MB"
"RAM Usage (MB): \(usedMem) / \(self.mMaximumMemory)"
}
if self.debugShown {
self.statusLabel.text =
@@ -426,6 +474,43 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
self.showToast(message: "Landmark \(landmarkDetected) detected!", seconds: 1);
}
}
if(self.mState == .STATE_MAPPING)
{
if(availableMem < 400)
{
let msg = "Scanning will be stopped because the free memory is too "
+ "low (\(availableMem) MB). You should be able to save the database but some post-processing and exporting options may fail. "
+ "\n\nNote that for large environments, you can save multiple databases and "
+ "merge them with RTAB-Map Desktop version."
let alert = UIAlertController(title: "Memory is full!", message: msg, preferredStyle: .alert)
let alertActionYes = UIAlertAction(title: "Ok", style: .default) {
(UIAlertAction) -> Void in
self.stopMapping(ignoreSaving: false, offerPostProcessing: false);
}
alert.addAction(alertActionYes)
self.present(alert, animated: true, completion: nil)
}
else if(!self.lowMemoryWarningShown && usedMem*3 > availableMem && !self.mDataRecording)
{
self.lowMemoryWarningShown = true
let msg = "Available memory (\(availableMem) MB) should be at least 3 times the "
+ "memory used (\(usedMem) MB) so that some post-processing and exporting options "
+ "have enough memory to work correctly. If you just want to save the database "
+ "after scanning, you can continue until the next warning.\n\n"
+ "Note that showing only point clouds and/or decrease density reduce memory needed for rendering."
let alert = UIAlertController(title: "Memory is full!", message: msg, preferredStyle: .alert)
let alertActionYes = UIAlertAction(title: "Stop Now", style: .default) {
(UIAlertAction) -> Void in
self.stopMapping(ignoreSaving: false);
}
alert.addAction(alertActionYes)
let alertActionNo = UIAlertAction(title: "Continue", style: .cancel) {
(UIAlertAction) -> Void in
}
alert.addAction(alertActionNo)
self.present(alert, animated: true, completion: nil)
}
}
}
}
@@ -439,23 +524,8 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
}
}
func getMemoryUsage() -> UInt64 {
var taskInfo = mach_task_basic_info()
var count = mach_msg_type_number_t(MemoryLayout<mach_task_basic_info>.size)/4
let kerr: kern_return_t = withUnsafeMutablePointer(to: &taskInfo) {
$0.withMemoryRebound(to: integer_t.self, capacity: 1) {
task_info(mach_task_self_, task_flavor_t(MACH_TASK_BASIC_INFO), $0, &count)
}
}
if kerr == KERN_SUCCESS {
return taskInfo.resident_size / (1024*1024)
}
else {
print("Error with task_info(): " +
(String(cString: mach_error_string(kerr), encoding: String.Encoding.ascii) ?? "unknown error"))
return 0
}
func getAvailableMemory() -> Int {
return os_proc_available_memory()/(1024*1024)
}
@objc func appMovedToBackground() {
@@ -1750,6 +1820,8 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
self.progressView!.tintColor = self.view.tintColor
alertView.view.addSubview(self.progressView!)
self.progressStatusUpdate() // This will update memory usage during post processing
var success : Bool = false
DispatchQueue.background(background: {
@@ -1856,6 +1928,8 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
self.progressView!.tintColor = self.view.tintColor
alertView.view.addSubview(self.progressView!)
self.progressStatusUpdate() // This will update memory usage during post processing
var loopDetected : Int = -1
DispatchQueue.background(background: {
loopDetected = self.rtabmap!.postProcessing(approach: approach);
@@ -1898,7 +1972,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
})
}
func stopMapping(ignoreSaving: Bool)
func stopMapping(ignoreSaving: Bool, offerPostProcessing: Bool = true)
{
session.pause()
locationManager?.stopUpdatingLocation()
@@ -1917,7 +1991,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
if !ignoreSaving
{
if(mDataRecording)
if(mDataRecording || !offerPostProcessing)
{
// Go directly to save
self.save()
@@ -2313,6 +2387,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
@IBAction func recordAction(_ sender: UIButton) {
rtabmap?.setPausedMapping(paused: false);
lowMemoryWarningShown = false
updateState(state: .STATE_MAPPING)
}