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Tango: added "Pose (x,y,z)" in debug view

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matlabbe
2017-10-06 13:42:12 -04:00
parent 1aad6d0517
commit 9a09db9212
2 changed files with 23 additions and 4 deletions
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16
app/android/jni/RTABMapApp.cpp
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@@ -3223,6 +3223,12 @@ bool RTABMapApp::handleEvent(UEvent * event)
float hypothesis = uValue(bufferedStatsData_, rtabmap::Statistics::kLoopHighest_hypothesis_value(), 0.0f);
float distanceTravelled = uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryDistance_travelled(), 0.0f);
int fastMovement = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryFast_movement(), 0.0f);
rtabmap::Transform currentPose = main_scene_.GetCameraPose();
float x=0.0f,y=0.0f,z=0.0f,roll=0.0f,pitch=0.0f,yaw=0.0f;
if(!currentPose.isNull())
{
currentPose.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
}
// Call JAVA callback with some stats
UINFO("Send statistics to GUI");
@@ -3236,7 +3242,7 @@ bool RTABMapApp::handleEvent(UEvent * event)
jclass clazz = env->GetObjectClass(RTABMapActivity);
if(clazz)
{
jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIIIFIFIFFFI)V" );
jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIIIFIFIFFFIFFFFFF)V" );
if(methodID)
{
env->CallVoidMethod(RTABMapActivity, methodID,
@@ -3259,7 +3265,13 @@ bool RTABMapApp::handleEvent(UEvent * event)
rehearsalValue,
optimizationMaxError,
distanceTravelled,
fastMovement);
fastMovement,
x,
y,
z,
roll,
pitch,
yaw);
success = true;
}
}