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Tango: Added Data Recorder mode (See Mapping menu)

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This commit is contained in:
matlabbe
2016-10-29 18:14:25 -04:00
parent 9e0b45e27a
commit a09aebeca4
6 changed files with 104 additions and 6 deletions
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25
app/android/jni/RTABMapApp.cpp
View File

@@ -103,6 +103,16 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpCorrespondenceRatio(), std::string("0.3")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxCorrespondenceDistance(), std::string("0.05")));
parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kKpMaxFeatures()));
parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kMemRehearsalSimilarity()));
parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kMemMapLabelsAdded()));
if(dataRecorderMode_)
{
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxFeatures(), std::string("-1")));
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kMemRehearsalSimilarity(), std::string("1.0"))); // deactivate rehearsal
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kMemMapLabelsAdded(), "false")); // don't create map labels
}
return parameters;
}
@@ -123,6 +133,7 @@ RTABMapApp::RTABMapApp() :
meshTrianglePix_(1),
meshAngleToleranceDeg_(15.0),
paused_(false),
dataRecorderMode_(false),
clearSceneOnNextRender_(false),
filterPolygonsOnNextRender_(false),
gainCompensationOnNextRender_(0),
@@ -206,6 +217,10 @@ void RTABMapApp::openDatabase(const std::string & databasePath)
rtabmap_->init(parameters, databasePath);
rtabmapThread_ = new rtabmap::RtabmapThread(rtabmap_);
if(parameters.find(rtabmap::Parameters::kRtabmapDetectionRate()) != parameters.end())
{
rtabmapThread_->setDetectorRate(uStr2Float(parameters.at(rtabmap::Parameters::kRtabmapDetectionRate())));
}
// Generate all meshes
std::map<int, rtabmap::Signature> signatures;
@@ -402,7 +417,7 @@ int RTABMapApp::Render()
// update buffered signatures
std::map<int, rtabmap::SensorData> bufferedSensorData;
if(!trajectoryMode_)
if(!trajectoryMode_ && !dataRecorderMode_)
{
for(std::list<rtabmap::Statistics>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
{
@@ -834,6 +849,14 @@ void RTABMapApp::setFullResolution(bool enabled)
}
}
void RTABMapApp::setDataRecorderMode(bool enabled)
{
if(dataRecorderMode_ != enabled)
{
dataRecorderMode_ = enabled; // parameters will be set when resuming (we assume we are paused)
}
}
void RTABMapApp::setMaxCloudDepth(float value)
{
maxCloudDepth_ = value;

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

@@ -122,6 +122,7 @@ class RTABMapApp : public UEventsHandler {
void setGridVisible(bool visible);
void setAutoExposure(bool enabled);
void setFullResolution(bool enabled);
void setDataRecorderMode(bool enabled);
void setMaxCloudDepth(float value);
void setMeshAngleTolerance(float value);
void setMeshTriangleSize(int value);
@@ -159,6 +160,7 @@ class RTABMapApp : public UEventsHandler {
rtabmap::ParametersMap mappingParameters_;
bool paused_;
bool dataRecorderMode_;
bool clearSceneOnNextRender_;
bool filterPolygonsOnNextRender_;
int gainCompensationOnNextRender_;

6
app/android/jni/jni_interface.cpp
View File

@@ -192,6 +192,12 @@ Java_com_introlab_rtabmap_RTABMapLib_setFullResolution(
return app.setFullResolution(enabled);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setDataRecorderMode(
JNIEnv*, jobject, bool enabled)
{
return app.setDataRecorderMode(enabled);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setMaxCloudDepth(
JNIEnv*, jobject, float value)
{

1
app/android/res/menu/optionmenu.xml
View File

@@ -67,6 +67,7 @@
<item android:id="@+id/nodes_filtering" android:checked="false" android:title="Nodes Filtering" />
<item android:id="@+id/drift_correction" android:checked="false" android:title="Drift Correction" />
<item android:id="@+id/resolution" android:checked="false" android:title="720p Mode" />
<item android:id="@+id/data_recorder" android:checked="false" android:title="Data Recorder Mode" />
<item android:id="@+id/menu_param_settings" android:checkable="false" android:title="Parameters...">
<menu >
<item android:id="@+id/update_rate" android:title="Map Update Rate..." />

75
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
View File

@@ -79,6 +79,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private MenuItem mItemRenderingPointCloud;
private MenuItem mItemRenderingMesh;
private MenuItem mItemRenderingTextureMesh;
private MenuItem mItemDataRecorderMode;
private String mOpenedDatabasePath = "";
@@ -337,10 +338,12 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemRenderingPointCloud = menu.findItem(R.id.point_cloud);
mItemRenderingMesh = menu.findItem(R.id.mesh);
mItemRenderingTextureMesh = menu.findItem(R.id.texture_mesh);
mItemDataRecorderMode = menu.findItem(R.id.data_recorder);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
return true;
}
@@ -525,6 +528,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemPostProcessing.setEnabled(false);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
RTABMapLib.setPausedMapping(false); // resume mapping
}
}
@@ -658,9 +662,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
item.setChecked(!item.isChecked());
mItemSave.setEnabled(item.isChecked());
mItemExport.setEnabled(item.isChecked());
mItemOpen.setEnabled(item.isChecked());
mItemPostProcessing.setEnabled(item.isChecked());
mItemExport.setEnabled(item.isChecked() && !mItemDataRecorderMode.isChecked());
mItemOpen.setEnabled(item.isChecked() && !mItemDataRecorderMode.isChecked());
mItemPostProcessing.setEnabled(item.isChecked() && !mItemDataRecorderMode.isChecked());
mItemDataRecorderMode.setEnabled(item.isChecked());
// mItemSave.setEnabled(item.isChecked() && !mWorkingDirectory.isEmpty());
if(item.isChecked())
{
@@ -675,8 +680,15 @@ public class RTABMapActivity extends Activity implements OnClickListener {
else
{
RTABMapLib.setPausedMapping(false);
((TextView)findViewById(R.id.status)).setText(mItemLocalizationMode.isChecked()?"Localization":"Mapping");
mToast.makeText(getActivity(), String.format("On resume, a new map is created. Tip: Try relocalizing in the previous area."), mToast.LENGTH_LONG).show();
if(mItemDataRecorderMode.isChecked())
{
mToast.makeText(getActivity(), String.format("Data Recorder Mode: no map is created, only raw data is recorded."), mToast.LENGTH_LONG).show();
}
else
{
((TextView)findViewById(R.id.status)).setText(mItemLocalizationMode.isChecked()?"Localization":"Mapping");
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 (itemId == R.id.post_processing_standard)
@@ -1112,6 +1124,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
}
})
.setNegativeButton("No", new DialogInterface.OnClickListener() {
@@ -1135,6 +1148,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
}
}
}
@@ -1153,6 +1167,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
}
}
else if(itemId == R.id.reset)
@@ -1181,6 +1196,56 @@ public class RTABMapActivity extends Activity implements OnClickListener {
RTABMapLib.openDatabase(mTempDatabasePath);
}
}
else if(itemId == R.id.data_recorder)
{
final boolean dataRecorderOldState = item.isChecked();
new AlertDialog.Builder(getActivity())
.setTitle("Data Recorder Mode")
.setMessage("Changing from/to data recorder mode will close the current session. Do you want to continue?")
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
// reset
((TextView)findViewById(R.id.points)).setText(String.valueOf(0));
((TextView)findViewById(R.id.polygons)).setText(String.valueOf(0));
((TextView)findViewById(R.id.nodes)).setText(String.valueOf(0));
((TextView)findViewById(R.id.words)).setText(String.valueOf(0));
((TextView)findViewById(R.id.memory)).setText(String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024)));
((TextView)findViewById(R.id.db_size)).setText(String.valueOf(0));
((TextView)findViewById(R.id.inliers)).setText(String.valueOf(0));
((TextView)findViewById(R.id.features)).setText(String.valueOf(0));
((TextView)findViewById(R.id.update_time)).setText(String.valueOf(0));
((TextView)findViewById(R.id.hypothesis)).setText(String.valueOf(0));
((TextView)findViewById(R.id.fps)).setText(String.valueOf(0));
mTotalLoopClosures = 0;
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
mItemDataRecorderMode.setChecked(!dataRecorderOldState);
RTABMapLib.setDataRecorderMode(mItemDataRecorderMode.isChecked());
mOpenedDatabasePath = "";
RTABMapLib.openDatabase(mTempDatabasePath);
mItemOpen.setEnabled(!mItemDataRecorderMode.isChecked() && mItemPause.isChecked());
mItemPostProcessing.setEnabled(!mItemDataRecorderMode.isChecked() && mItemPause.isChecked());
mItemExport.setEnabled(!mItemDataRecorderMode.isChecked() && mItemPause.isChecked());
if(mItemDataRecorderMode.isChecked())
{
mToast.makeText(getActivity(), String.format("Data recorder mode activated! Tip: You can increase data update rate in Parameters menu under Mapping options."), mToast.LENGTH_LONG).show();
}
else
{
mToast.makeText(getActivity(), String.format("Data recorder mode deactivated!"), mToast.LENGTH_LONG).show();
}
}
})
.setNegativeButton("No", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
}
})
.show();
}
else if(itemId == R.id.export_obj || itemId == R.id.export_ply)
{
final String extension = itemId == R.id.export_ply ? ".ply" : ".obj";

1
app/android/src/com/introlab/rtabmap/RTABMapLib.java
View File

@@ -68,6 +68,7 @@ public class RTABMapLib
public static native void setGridVisible(boolean visible);
public static native void setAutoExposure(boolean enabled);
public static native void setFullResolution(boolean enabled);
public static native void setDataRecorderMode(boolean enabled);
public static native void setMaxCloudDepth(float value);
public static native void setMeshAngleTolerance(float value);
public static native void setMeshTriangleSize(int value);