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Code Issues Packages Projects Releases Wiki Activity

Tango: 0.12.0 (performance optimization, time and memory)

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This commit is contained in:
matlabbe
2017-02-22 09:48:45 -05:00
parent 595ac49552
commit a9b03bb39e
19 changed files with 1238 additions and 625 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+409 -282
View File
@@ -36,6 +36,10 @@ import android.content.pm.PackageManager;
import android.content.pm.PackageManager.NameNotFoundException;
import android.content.res.Configuration;
import android.graphics.Bitmap;
import android.graphics.Canvas;
import android.graphics.Color;
import android.graphics.Paint;
import android.graphics.Typeface;
import android.hardware.Camera;
import android.graphics.Point;
import android.hardware.display.DisplayManager;
@@ -52,6 +56,7 @@ import android.os.IBinder;
import android.preference.PreferenceManager;
import android.text.Editable;
import android.text.InputType;
import android.text.TextPaint;
import android.util.Log;
import android.view.Display;
import android.view.Menu;
@@ -93,6 +98,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
public static final String RTABMAP_TMP_DB = "rtabmap.tmp.db";
public static final String RTABMAP_TMP_DIR = "tmp/";
public static final String RTABMAP_TMP_FILENAME = "map";
public static final String RTABMAP_SDCARD_PATH = "/sdcard/";
public static final String RTABMAP_AUTH_TOKEN_KEY = "com.introlab.rtabmap.AUTH_TOKEN";
public static final String RTABMAP_FILENAME_KEY = "com.introlab.rtabmap.FILENAME";
@@ -136,6 +142,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private MenuItem mItemRenderingMesh;
private MenuItem mItemRenderingTextureMesh;
private MenuItem mItemDataRecorderMode;
private MenuItem mItemStatusVisibility;
private MenuItem mItemDebugVisibility;
private ToggleButton mButtonFirst;
private ToggleButton mButtonThird;
@@ -149,6 +157,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private String mOpenedDatabasePath = "";
private String mWorkingDirectory = "";
private String mWorkingDirectoryHuman = "";
private String mUpdateRate;
private String mTimeThr;
@@ -157,15 +166,16 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private String mMinInliers;
private String mMaxOptimizationError;
private LinearLayout mLayoutDebug;
private int mTotalLoopClosures = 0;
private boolean mMapIsEmpty = false;
private boolean mExportedOBJ = false;
private Toast mToast = null;
private AlertDialog mMemoryWarningDialog = null;
private Thread mMemStatusUpdateThread = null;
private String[] mStatusTexts = new String[16];
//Tango Service connection.
ServiceConnection mTangoServiceConnection = new ServiceConnection() {
@@ -254,12 +264,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mRenderer = new Renderer(this);
mGLView.setRenderer(mRenderer);
mLayoutDebug = (LinearLayout) findViewById(R.id.debug_layout);
mLayoutDebug.setVisibility(LinearLayout.GONE);
mProgressDialog = new ProgressDialog(this);
mProgressDialog.setCanceledOnTouchOutside(false);
mRenderer.setProgressDialog(mProgressDialog);
mRenderer.setToast(mToast);
// Check if the Tango Core is out dated.
if (!CheckTangoCoreVersion(MIN_TANGO_CORE_VERSION)) {
@@ -270,6 +278,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mOpenedDatabasePath = "";
mWorkingDirectory = "";
mWorkingDirectoryHuman = "";
mTotalLoopClosures = 0;
if(Environment.getExternalStorageState().compareTo(Environment.MEDIA_MOUNTED)==0)
@@ -278,6 +287,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mWorkingDirectory = extStore.getAbsolutePath() + "/" + getString(R.string.app_name) + "/";
extStore = new File(mWorkingDirectory);
extStore.mkdirs();
mWorkingDirectoryHuman = RTABMAP_SDCARD_PATH + getString(R.string.app_name) + "/";
}
else
{
@@ -407,6 +417,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
RTABMapLib.setAutoExposure(sharedPref.getBoolean(getString(R.string.pref_key_auto_exposure), Boolean.parseBoolean(getString(R.string.pref_default_auto_exposure))));
RTABMapLib.setRawScanSaved(sharedPref.getBoolean(getString(R.string.pref_key_raw_scan_saved), Boolean.parseBoolean(getString(R.string.pref_default_raw_scan_saved))));
RTABMapLib.setFullResolution(sharedPref.getBoolean(getString(R.string.pref_key_resolution), Boolean.parseBoolean(getString(R.string.pref_default_resolution))));
RTABMapLib.setSmoothing(sharedPref.getBoolean(getString(R.string.pref_key_smoothing), Boolean.parseBoolean(getString(R.string.pref_default_smoothing))));
RTABMapLib.setAppendMode(sharedPref.getBoolean(getString(R.string.pref_key_append), Boolean.parseBoolean(getString(R.string.pref_default_append))));
RTABMapLib.setMappingParameter("Rtabmap/DetectionRate", mUpdateRate);
RTABMapLib.setMappingParameter("Rtabmap/TimeThr", mTimeThr);
@@ -480,6 +491,12 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private void setCamera(int type)
{
// for convenience, for a refresh of the memory used
stopUpdateStatusThread();
mStatusTexts[1] = getString(R.string.memory)+String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024));
mStatusTexts[2] = getString(R.string.free_memory)+String.valueOf(getFreeMemory());
updateStatusTexts();
RTABMapLib.setCamera(type);
mButtonFirst.setChecked(type==0);
mButtonThird.setChecked(type==1);
@@ -584,6 +601,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemRenderingMesh = menu.findItem(R.id.mesh);
mItemRenderingTextureMesh = menu.findItem(R.id.texture_mesh);
mItemDataRecorderMode = menu.findItem(R.id.data_recorder);
mItemStatusVisibility = menu.findItem(R.id.status);
mItemDebugVisibility = menu.findItem(R.id.debug);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
mItemOpen.setEnabled(false);
@@ -633,58 +652,107 @@ public class RTABMapActivity extends Activity implements OnClickListener {
activityManager.getMemoryInfo(mi);
return mi.availMem / 0x100000L; // MB
}
private void updateStatsUI(
int nodes,
int words,
int points,
int polygons,
float updateTime,
int loopClosureId,
int highestHypId,
int databaseMemoryUsed,
int inliers,
int matches,
int featuresExtracted,
float hypothesis,
int nodesDrawn,
float fps,
int rejected,
float rehearsalValue,
float optimizationMaxError)
private void updateStatusTexts()
{
if(mButtonPause!=null)
if(mItemStatusVisibility != null && mItemDebugVisibility != null)
{
if(mButtonPause.isChecked())
if(mItemStatusVisibility.isChecked() && mItemDebugVisibility.isChecked())
{
((TextView)findViewById(R.id.status)).setText("Paused");
mRenderer.updateTexts(mStatusTexts);
}
else if(mItemStatusVisibility.isChecked())
{
mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, 0, 3));
}
else if(mItemDebugVisibility.isChecked())
{
mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, 4, mStatusTexts.length));
}
else
{
String updateValue = mUpdateRate.compareTo("0")==0?"Max":mUpdateRate;
((TextView)findViewById(R.id.status)).setText(mItemLocalizationMode.isChecked()?String.format("Localization (%s Hz)", updateValue):mItemDataRecorderMode.isChecked()?String.format("Recording (%s Hz)", updateValue):String.format("Mapping (%s Hz)", updateValue));
mRenderer.updateTexts(null);
}
}
}
private void updateStatsUI(
int processMemoryUsed,
int loopClosureId,
int inliers,
int matches,
int rejected,
float optimizationMaxError,
String[] statusTexts)
{
mStatusTexts = statusTexts;
updateStatusTexts();
if(mButtonPause!=null)
{
if(!mButtonPause.isChecked())
{
//check if we are low in memory
long memoryUsed = processMemoryUsed;
long memoryFree = getFreeMemory();
if(memoryFree < 100)
{
mButtonPause.setChecked(true);
pauseMapping();
if(mMemoryWarningDialog!=null)
{
mMemoryWarningDialog.dismiss();
mMemoryWarningDialog = null;
}
mMemoryWarningDialog = new AlertDialog.Builder(getActivity())
.setTitle("Memory is full!")
.setCancelable(false)
.setMessage(String.format("Scanning has been paused because free memory is too "
+ "low (%d 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.", memoryUsed))
.setPositiveButton("Ok", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
mMemoryWarningDialog = null;
}
})
.create();
mMemoryWarningDialog.show();
}
else if(mMemoryWarningDialog == null && memoryUsed*3 > memoryFree && (mItemDataRecorderMode == null || !mItemDataRecorderMode.isChecked()))
{
mMemoryWarningDialog = new AlertDialog.Builder(getActivity())
.setTitle("Warning: Memory is almost full!")
.setCancelable(false)
.setMessage(String.format("Free memory (%d MB) should be at least 3 times the "
+ "memory used (%d 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 reduces memory needed for rendering.", memoryFree, memoryUsed))
.setPositiveButton("Pause", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
mButtonPause.setChecked(true);
pauseMapping();
}
})
.setNeutralButton("Continue", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
}
})
.create();
mMemoryWarningDialog.show();
}
}
}
((TextView)findViewById(R.id.memory)).setText(String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024)));
((TextView)findViewById(R.id.free_memory)).setText(String.valueOf(getFreeMemory()));
((TextView)findViewById(R.id.points)).setText(String.valueOf(points));
((TextView)findViewById(R.id.polygons)).setText(String.valueOf(polygons));
((TextView)findViewById(R.id.nodes)).setText(String.format("%d (%d shown)", nodes, nodesDrawn));
((TextView)findViewById(R.id.words)).setText(String.valueOf(words));
((TextView)findViewById(R.id.database_size)).setText(String.valueOf(databaseMemoryUsed));
((TextView)findViewById(R.id.inliers)).setText(String.valueOf(inliers));
((TextView)findViewById(R.id.features)).setText(String.format("%d / %s", featuresExtracted, mMaxFeatures.compareTo("0")==0?"No Limit":mMaxFeatures.compareTo("-1")==0?"Disabled":mMaxFeatures));
((TextView)findViewById(R.id.rehearsal)).setText(String.format("%.3f", rehearsalValue));
((TextView)findViewById(R.id.update_time)).setText(String.format("%.3f / %s", updateTime, mTimeThr.compareTo("0")==0?"No Limit":mTimeThr));
((TextView)findViewById(R.id.hypothesis)).setText(String.format("%.3f / %s (%d)", hypothesis, mLoopThr, loopClosureId>0?loopClosureId:highestHypId));
((TextView)findViewById(R.id.fps)).setText(String.format("%.3f Hz", fps));
if(mButtonPause!=null && !mButtonPause.isChecked())
{
if(loopClosureId > 0)
{
++mTotalLoopClosures;
mToast.setText(String.format("Loop closure detected! (%d/%d inliers)", inliers, matches));
mToast.show();
}
@@ -701,7 +769,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mToast.show();
}
}
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
}
// called from jni
@@ -713,10 +780,11 @@ public class RTABMapActivity extends Activity implements OnClickListener {
final float updateTime,
final int loopClosureId,
final int highestHypId,
final int processMemoryUsed,
final int databaseMemoryUsed,
final int inliers,
final int matches,
final int features,
final int featuresExtracted,
final float hypothesis,
final int nodesDrawn,
final float fps,
@@ -726,10 +794,57 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
Log.i(TAG, String.format("updateStatsCallback()"));
final String[] statusTexts = new String[16];
if(mButtonPause!=null)
{
if(mButtonPause.isChecked())
{
statusTexts[0] = getString(R.string.status)+"Paused";
}
else
{
String updateValue = mUpdateRate.compareTo("0")==0?"Max":mUpdateRate;
statusTexts[0] = getString(R.string.status)+(mItemLocalizationMode.isChecked()?String.format("Localization (%s Hz)", updateValue):mItemDataRecorderMode.isChecked()?String.format("Recording (%s Hz)", updateValue):String.format("Mapping (%s Hz)", updateValue));
}
}
else
{
statusTexts[0] = getString(R.string.status);
}
stopUpdateStatusThread();
// getNativeHeapAllocatedSize() is too slow, so we need to use the estimate.
// Multiply by 3/2 to match getNativeHeapAllocatedSize()
final int adjustedMemoryUsed = (processMemoryUsed*3)/2;
statusTexts[1] = getString(R.string.memory)+adjustedMemoryUsed;
statusTexts[2] = getString(R.string.free_memory)+getFreeMemory();
if(loopClosureId > 0)
{
++mTotalLoopClosures;
}
int index = 4;
statusTexts[index++] = getString(R.string.nodes)+nodes+" (" + nodesDrawn + " shown)";
statusTexts[index++] = getString(R.string.words)+words;
statusTexts[index++] = getString(R.string.database_size)+databaseMemoryUsed;
statusTexts[index++] = getString(R.string.points)+points;
statusTexts[index++] = getString(R.string.polygons)+polygons;
statusTexts[index++] = getString(R.string.update_time)+(int)(updateTime) + " / " + (mTimeThr.compareTo("0")==0?"No Limit":mTimeThr);
statusTexts[index++] = getString(R.string.features)+featuresExtracted +" / " + (mMaxFeatures.compareTo("0")==0?"No Limit":mMaxFeatures.compareTo("-1")==0?"Disabled":mMaxFeatures);
statusTexts[index++] = getString(R.string.rehearsal)+(int)(rehearsalValue*100.0f);
statusTexts[index++] = getString(R.string.total_loop)+mTotalLoopClosures;
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";
runOnUiThread(new Runnable() {
public void run() {
updateStatsUI(nodes, words, points, polygons, updateTime, loopClosureId, highestHypId, databaseMemoryUsed, inliers, matches, features, hypothesis, nodesDrawn, fps, rejected, rehearsalValue, optimizationMaxError);
}
public void run() {
updateStatsUI(adjustedMemoryUsed, loopClosureId, inliers, matches, rejected, optimizationMaxError, statusTexts);
}
});
}
@@ -743,14 +858,16 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
if(mButtonPause.isChecked())
{
((TextView)findViewById(R.id.status)).setText(
status == 1 && msg.isEmpty()?"Paused":msg);
mStatusTexts[0] = getString(R.string.status)+(status == 1 && msg.isEmpty()?"Paused":msg);
}
else
{
((TextView)findViewById(R.id.status)).setText(
status == 1 && msg.isEmpty()?(mItemLocalizationMode!=null&&mItemLocalizationMode.isChecked()?"Localization":mItemDataRecorderMode!=null&&mItemDataRecorderMode.isChecked()?"Recording":"Mapping"):msg);
mStatusTexts[0] = getString(R.string.status)+(status == 1 && msg.isEmpty()?(mItemLocalizationMode!=null&&mItemLocalizationMode.isChecked()?"Localization":mItemDataRecorderMode!=null&&mItemDataRecorderMode.isChecked()?"Recording":"Mapping"):msg);
}
mStatusTexts[1] = getString(R.string.memory)+String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024));
mStatusTexts[2] = getString(R.string.free_memory)+String.valueOf(getFreeMemory());
updateStatusTexts();
}
}
@@ -901,6 +1018,47 @@ public class RTABMapActivity extends Activity implements OnClickListener {
});
workingThread.start();
}
public void startUpdateStatusThread()
{
if(mMemStatusUpdateThread == null)
{
mMemStatusUpdateThread = new Thread() {
@Override
public void run() {
try {
while (!isInterrupted()) {
Thread.sleep(1000);
if(mState != RTABMapActivity.State.STATE_VISUALIZING)
{
runOnUiThread(new Runnable() {
@Override
public void run() {
mStatusTexts[1] = getString(R.string.memory)+String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024));
mStatusTexts[2] = getString(R.string.free_memory)+String.valueOf(getFreeMemory());
updateStatusTexts();
}
});
}
}
} catch (InterruptedException e) {
}
}
};
mMemStatusUpdateThread.start();
}
}
public void stopUpdateStatusThread()
{
if(mMemStatusUpdateThread != null)
{
Thread tmp = mMemStatusUpdateThread;
mMemStatusUpdateThread = null;
tmp.interrupt();
}
}
private void updateState(State state)
{
@@ -920,32 +1078,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemReset.setEnabled(false);
mItemModes.setEnabled(false);
mButtonPause.setVisibility(View.INVISIBLE);
if(mMemStatusUpdateThread == null)
{
mMemStatusUpdateThread = new Thread() {
@Override
public void run() {
try {
while (!isInterrupted()) {
Thread.sleep(1000);
if(mState == RTABMapActivity.State.STATE_PROCESSING)
{
runOnUiThread(new Runnable() {
@Override
public void run() {
((TextView)findViewById(R.id.memory)).setText(String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024)));
((TextView)findViewById(R.id.free_memory)).setText(String.valueOf(getFreeMemory()));
}
});
}
}
} catch (InterruptedException e) {
}
}
};
mMemStatusUpdateThread.start();
}
startUpdateStatusThread();
break;
case STATE_VISUALIZING:
mButtonLighting.setVisibility(View.VISIBLE);
@@ -961,12 +1094,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemModes.setEnabled(true);
mButtonPause.setVisibility(View.INVISIBLE);
mItemDataRecorderMode.setEnabled(mButtonPause.isChecked());
if(mMemStatusUpdateThread != null)
{
Thread tmp = mMemStatusUpdateThread;
mMemStatusUpdateThread = null;
tmp.interrupt();
}
stopUpdateStatusThread();
break;
default:
mButtonLighting.setVisibility(View.INVISIBLE);
@@ -983,12 +1111,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mButtonPause.setVisibility(View.VISIBLE);
mItemDataRecorderMode.setEnabled(mButtonPause.isChecked());
RTABMapLib.postExportation(false);
if(mMemStatusUpdateThread != null)
{
Thread tmp = mMemStatusUpdateThread;
mMemStatusUpdateThread = null;
tmp.interrupt();
}
stopUpdateStatusThread();
break;
}
}
@@ -1000,11 +1123,17 @@ public class RTABMapActivity extends Activity implements OnClickListener {
if(mButtonPause.isChecked())
{
RTABMapLib.setPausedMapping(true);
((TextView)findViewById(R.id.status)).setText("Paused");
mStatusTexts[0] = getString(R.string.status)+"Paused";
mStatusTexts[1] = getString(R.string.memory)+String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024));
mStatusTexts[2] = getString(R.string.free_memory)+String.valueOf(getFreeMemory());
updateStatusTexts();
mMapIsEmpty = false;
mDateOnPause = new Date();
if(!mOnPause && !mItemLocalizationMode.isChecked() && !mItemDataRecorderMode.isChecked())
long memoryFree = getFreeMemory();
if(!mOnPause && !mItemLocalizationMode.isChecked() && !mItemDataRecorderMode.isChecked() && memoryFree >= 100)
{
// Do standard post processing?
new AlertDialog.Builder(getActivity())
@@ -1025,8 +1154,13 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
else
{
if(mMemoryWarningDialog != null)
{
mMemoryWarningDialog.dismiss();
mMemoryWarningDialog=null;
}
RTABMapLib.setPausedMapping(false);
((TextView)findViewById(R.id.status)).setText(mItemLocalizationMode.isChecked()?"Localization":mItemDataRecorderMode.isChecked()?"Recording":"Mapping");
if(mItemDataRecorderMode.isChecked())
{
mToast.makeText(getActivity(), String.format("Data Recorder Mode: no map is created, only raw data is recorded."), mToast.LENGTH_LONG).show();
@@ -1154,17 +1288,15 @@ public class RTABMapActivity extends Activity implements OnClickListener {
});
workingThread.start();
}
else if(itemId == R.id.status)
{
item.setChecked(!item.isChecked());
updateStatusTexts();
}
else if(itemId == R.id.debug)
{
item.setChecked(!item.isChecked());
if(!item.isChecked())
{
mLayoutDebug.setVisibility(LinearLayout.GONE);
}
else
{
mLayoutDebug.setVisibility(LinearLayout.VISIBLE);
}
updateStatusTexts();
}
else if(itemId == R.id.mesh || itemId == R.id.texture_mesh || itemId == R.id.point_cloud)
{
@@ -1256,62 +1388,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
.setMessage("Do you want to overwrite the existing file?")
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
final String newDatabasePath = mWorkingDirectory + fileName + ".db";
mProgressDialog.setTitle("Saving");
if(mOpenedDatabasePath.equals(newDatabasePath))
{
mProgressDialog.setMessage(String.format("Please wait while updating \"%s\"...", newDatabasePath));
}
else
{
mProgressDialog.setMessage(String.format("Please wait while saving \"%s\"...", newDatabasePath));
}
mProgressDialog.show();
updateState(State.STATE_PROCESSING);
Thread saveThread = new Thread(new Runnable() {
public void run() {
RTABMapLib.save(newDatabasePath); // save
runOnUiThread(new Runnable() {
public void run() {
if(mOpenedDatabasePath.equals(newDatabasePath))
{
mToast.makeText(getActivity(), String.format("Database \"%s\" updated.", newDatabasePath), mToast.LENGTH_LONG).show();
}
else
{
mToast.makeText(getActivity(), String.format("Database saved to \"%s\".", newDatabasePath), mToast.LENGTH_LONG).show();
Intent intent = new Intent(getActivity(), RTABMapActivity.class);
// use System.currentTimeMillis() to have a unique ID for the pending intent
PendingIntent pIntent = PendingIntent.getActivity(getActivity(), (int) System.currentTimeMillis(), intent, 0);
// build notification
// the addAction re-use the same intent to keep the example short
Notification n = new Notification.Builder(getActivity())
.setContentTitle(getString(R.string.app_name))
.setContentText(newDatabasePath + " saved!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
}
if(!mItemDataRecorderMode.isChecked())
{
mOpenedDatabasePath = newDatabasePath;
}
mProgressDialog.dismiss();
updateState(State.STATE_IDLE);
}
});
}
});
saveThread.start();
saveDatabase(fileName);
}
})
.setNegativeButton("No", new DialogInterface.OnClickListener() {
@@ -1323,61 +1400,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
else
{
final String newDatabasePath = mWorkingDirectory + fileName + ".db";
mProgressDialog.setTitle("Saving");
if(mOpenedDatabasePath.equals(newDatabasePath))
{
mProgressDialog.setMessage(String.format("Please wait while updating \"%s\"...", mOpenedDatabasePath));
}
else
{
mProgressDialog.setMessage(String.format("Please wait while saving \"%s\"...", newDatabasePath));
}
mProgressDialog.show();
updateState(State.STATE_PROCESSING);
Thread saveThread = new Thread(new Runnable() {
public void run() {
RTABMapLib.save(newDatabasePath); // save
runOnUiThread(new Runnable() {
public void run() {
if(mOpenedDatabasePath.equals(newDatabasePath))
{
mToast.makeText(getActivity(), String.format("Database \"%s\" updated.", newDatabasePath), mToast.LENGTH_LONG).show();
}
else
{
mToast.makeText(getActivity(), String.format("Database saved to \"%s\".", newDatabasePath), mToast.LENGTH_LONG).show();
Intent intent = new Intent(getActivity(), RTABMapActivity.class);
// use System.currentTimeMillis() to have a unique ID for the pending intent
PendingIntent pIntent = PendingIntent.getActivity(getActivity(), (int) System.currentTimeMillis(), intent, 0);
// build notification
// the addAction re-use the same intent to keep the example short
Notification n = new Notification.Builder(getActivity())
.setContentTitle(getString(R.string.app_name))
.setContentText(newDatabasePath + " saved!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
}
if(!mItemDataRecorderMode.isChecked())
{
mOpenedDatabasePath = newDatabasePath;
}
mProgressDialog.dismiss();
updateState(State.STATE_IDLE);
}
});
}
});
saveThread.start();
saveDatabase(fileName);
}
}
}
@@ -1388,17 +1411,22 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
else if(itemId == R.id.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.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));
int index = 4;
mStatusTexts[index++] = getString(R.string.nodes)+0;
mStatusTexts[index++] = getString(R.string.words)+0;
mStatusTexts[index++] = getString(R.string.database_size)+0;
mStatusTexts[index++] = getString(R.string.points)+0;
mStatusTexts[index++] = getString(R.string.polygons)+0;
mStatusTexts[index++] = getString(R.string.update_time)+0;
mStatusTexts[index++] = getString(R.string.features)+0;
mStatusTexts[index++] = getString(R.string.rehearsal)+0;
mStatusTexts[index++] = getString(R.string.total_loop)+0;
mStatusTexts[index++] = getString(R.string.inliers)+0;
mStatusTexts[index++] = getString(R.string.hypothesis)+0;
mStatusTexts[index++] = getString(R.string.fps)+0;
updateStatusTexts();
mOpenedDatabasePath = "";
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
@@ -1422,17 +1450,21 @@ public class RTABMapActivity extends Activity implements OnClickListener {
.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.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));
int index = 4;
mStatusTexts[index++] = getString(R.string.nodes)+0;
mStatusTexts[index++] = getString(R.string.words)+0;
mStatusTexts[index++] = getString(R.string.database_size)+0;
mStatusTexts[index++] = getString(R.string.points)+0;
mStatusTexts[index++] = getString(R.string.polygons)+0;
mStatusTexts[index++] = getString(R.string.update_time)+0;
mStatusTexts[index++] = getString(R.string.features)+0;
mStatusTexts[index++] = getString(R.string.rehearsal)+0;
mStatusTexts[index++] = getString(R.string.total_loop)+0;
mStatusTexts[index++] = getString(R.string.inliers)+0;
mStatusTexts[index++] = getString(R.string.hypothesis)+0;
mStatusTexts[index++] = getString(R.string.fps)+0;
updateStatusTexts();
mItemDataRecorderMode.setChecked(!dataRecorderOldState);
RTABMapLib.setDataRecorderMode(mItemDataRecorderMode.isChecked());
@@ -1467,7 +1499,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
})
.show();
}
else if(itemId == R.id.export_point_cloud ||
else if(itemId == R.id.export_point_cloud ||
itemId == R.id.export_point_cloud_highrez ||
itemId == R.id.export_mesh ||
itemId == R.id.export_mesh_texture ||
itemId == R.id.export_optimized_mesh ||
@@ -1476,14 +1509,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
final boolean isOBJ = itemId == R.id.export_mesh_texture || itemId == R.id.export_optimized_mesh_texture;
final String extension = isOBJ? ".obj" : ".ply";
final int polygons = Integer.parseInt(((TextView)findViewById(R.id.polygons)).getText().toString());
final boolean meshing = itemId != R.id.export_point_cloud;
final boolean meshing = itemId != R.id.export_point_cloud && itemId != R.id.export_point_cloud_highrez;
final boolean regenerateCloud = itemId == R.id.export_point_cloud_highrez;
final boolean optimized = itemId == R.id.export_optimized_mesh || itemId == R.id.export_optimized_mesh_texture;
// get Export settings
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
final float cloudVoxelSize = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_cloud_voxel), getString(R.string.pref_default_cloud_voxel)));
final String cloudVoxelSizeStr = sharedPref.getString(getString(R.string.pref_key_cloud_voxel), getString(R.string.pref_default_cloud_voxel));
final float cloudVoxelSize = Float.parseFloat(cloudVoxelSizeStr);
final int textureSize = isOBJ?Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_texture_size), getString(R.string.pref_default_texture_size))):0;
final int normalK = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_normal_k), getString(R.string.pref_default_normal_k)));
final float maxTextureDistance = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_max_texture_distance), getString(R.string.pref_default_max_texture_distance)));
@@ -1511,6 +1544,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
final boolean success = RTABMapLib.exportMesh(
tmpPath,
cloudVoxelSize,
regenerateCloud,
meshing,
textureSize,
normalK,
@@ -1527,6 +1561,11 @@ public class RTABMapActivity extends Activity implements OnClickListener {
public void run() {
if(success)
{
if(!meshing && cloudVoxelSize>0.0f)
{
mToast.makeText(getActivity(), String.format("Cloud assembled and voxelized at %s m.", cloudVoxelSizeStr), mToast.LENGTH_LONG).show();
}
// Visualize the result?
new AlertDialog.Builder(getActivity())
.setCancelable(false)
@@ -1563,6 +1602,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
saveOnDevice();
}
})
.setNeutralButton("Cancel", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
}
})
.show();
}
})
@@ -1596,11 +1639,11 @@ public class RTABMapActivity extends Activity implements OnClickListener {
builder.setTitle("Choose Your File (*.db)");
builder.setItems(filesWithSize, new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, final int which) {
// Smooth and adjust color now?
// Adjust color now?
new AlertDialog.Builder(getActivity())
.setTitle("Opening database...")
.setMessage("Do you want to smooth and adjust colors now?\nThis can be done later under Optimize menu.")
.setMessage("Do you want to adjust colors now?\nThis can be done later under Optimize menu.")
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int whichIn) {
openDatabase(files[which], true);
@@ -1633,6 +1676,67 @@ public class RTABMapActivity extends Activity implements OnClickListener {
return true;
}
private void saveDatabase(String fileName)
{
final String newDatabasePath = mWorkingDirectory + fileName + ".db";
final String newDatabasePathHuman = mWorkingDirectoryHuman + fileName + ".db";
mProgressDialog.setTitle("Saving");
if(mOpenedDatabasePath.equals(newDatabasePath))
{
mProgressDialog.setMessage(String.format("Please wait while updating \"%s\"...", newDatabasePathHuman));
}
else
{
mProgressDialog.setMessage(String.format("Please wait while saving \"%s\"...", newDatabasePathHuman));
}
mProgressDialog.show();
updateState(State.STATE_PROCESSING);
startUpdateStatusThread();
Thread saveThread = new Thread(new Runnable() {
public void run() {
RTABMapLib.save(newDatabasePath); // save
runOnUiThread(new Runnable() {
public void run() {
if(mOpenedDatabasePath.equals(newDatabasePath))
{
mToast.makeText(getActivity(), String.format("Database \"%s\" updated.", newDatabasePathHuman), mToast.LENGTH_LONG).show();
}
else
{
mToast.makeText(getActivity(), String.format("Database saved to \"%s\".", newDatabasePathHuman), mToast.LENGTH_LONG).show();
Intent intent = new Intent(getActivity(), RTABMapActivity.class);
// use System.currentTimeMillis() to have a unique ID for the pending intent
PendingIntent pIntent = PendingIntent.getActivity(getActivity(), (int) System.currentTimeMillis(), intent, 0);
// build notification
// the addAction re-use the same intent to keep the example short
Notification n = new Notification.Builder(getActivity())
.setContentTitle(getString(R.string.app_name))
.setContentText(newDatabasePathHuman + " saved!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
NotificationManager notificationManager =
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
notificationManager.notify(0, n);
}
if(!mItemDataRecorderMode.isChecked())
{
mOpenedDatabasePath = newDatabasePath;
}
mProgressDialog.dismiss();
updateState(State.STATE_IDLE);
}
});
}
});
saveThread.start();
}
private void saveOnDevice()
{
AlertDialog.Builder builder = new AlertDialog.Builder(this);
@@ -1705,6 +1809,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
final String extension = mExportedOBJ?".obj":".ply";
final String path = mWorkingDirectory + fileName + extension;
final String pathHuman = mWorkingDirectoryHuman + fileName + extension;
boolean success = true;
if(mExportedOBJ)
@@ -1726,28 +1831,28 @@ public class RTABMapActivity extends Activity implements OnClickListener {
copy(fromOBJFile,toOBJFile);
copy(fromMTLFile,toMTLFile);
copy(fromJPGFile,toJPGFile);
mToast.makeText(getActivity(), String.format("Mesh \"%s\" (with texture \"%s\" and \"%s\") successfully exported!", path, fileName + ".jpg", fileName + ".mtl"), mToast.LENGTH_LONG).show();
mToast.makeText(getActivity(), String.format("Mesh \"%s\" (with texture \"%s\" and \"%s\") successfully exported!", pathHuman, fileName + ".jpg", fileName + ".mtl"), mToast.LENGTH_LONG).show();
}
catch(IOException e)
{
mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" (with texture \"%s\" and \"%s\") failed! Error=%s", path, fileName + ".jpg", fileName + ".mtl", e.getMessage()), mToast.LENGTH_LONG).show();
mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" (with texture \"%s\" and \"%s\") failed! Error=%s", pathHuman, fileName + ".jpg", fileName + ".mtl", e.getMessage()), mToast.LENGTH_LONG).show();
success = false;
}
}
else
{
File toPLYFile = new File(mWorkingDirectory + fileName + extension);
File toPLYFile = new File(path);
toPLYFile.delete();
File fromPLYFile = new File(mWorkingDirectory + RTABMAP_TMP_DIR + RTABMAP_TMP_FILENAME + extension);
try
{
copy(fromPLYFile,toPLYFile);
mToast.makeText(getActivity(), String.format("Mesh/point cloud \"%s\" successfully exported!", path), mToast.LENGTH_LONG).show();
mToast.makeText(getActivity(), String.format("Mesh/point cloud \"%s\" successfully exported!", pathHuman), mToast.LENGTH_LONG).show();
}
catch(Exception e)
{
mToast.makeText(getActivity(), String.format("Exporting mesh/point cloud \"%s\" failed! Error=%s", path, e.getMessage()), mToast.LENGTH_LONG).show();
mToast.makeText(getActivity(), String.format("Exporting mesh/point cloud \"%s\" failed! Error=%s", pathHuman, e.getMessage()), mToast.LENGTH_LONG).show();
success=false;
}
}
@@ -1762,7 +1867,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
// the addAction re-use the same intent to keep the example short
Notification n = new Notification.Builder(getActivity())
.setContentTitle(getString(R.string.app_name))
.setContentText(path + " exported!")
.setContentText(pathHuman + " exported!")
.setSmallIcon(R.drawable.ic_launcher)
.setContentIntent(pIntent)
.setAutoCancel(true).build();
@@ -1775,19 +1880,11 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
}
private void openDatabase(String fileName, boolean optimize)
private void openDatabase(final String fileName, final boolean optimize)
{
mOpenedDatabasePath = mWorkingDirectory + fileName;
if(!mItemTrajectoryMode.isChecked())
{
mProgressDialog.setTitle("Loading");
mProgressDialog.setMessage(String.format("Database \"%s\" loaded. Please wait while creating point clouds and meshes...", fileName));
mProgressDialog.show();
updateState(State.STATE_PROCESSING);
}
String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
(new File(tmpDatabase)).delete();
try{
copy(new File(mOpenedDatabasePath), new File(tmpDatabase));
@@ -1798,32 +1895,62 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
int status = RTABMapLib.openDatabase(tmpDatabase, databaseInMemory, optimize);
setCamera(1);
updateState(State.STATE_IDLE);
final boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
if(status == -1)
{
new AlertDialog.Builder(getActivity())
.setCancelable(false)
.setTitle("Error")
.setMessage("The map is loaded but optimization of the map's graph has "
+ "failed, so the map cannot be shown. Change the Graph Optimizer approach used"
+ " or enable/disable if the graph is optimized from graph "
+ "end in \"Settings -> Mapping...\" and try opening again.")
.setPositiveButton("Open Settings", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
Intent intent = new Intent(getActivity(), SettingsActivity.class);
startActivity(intent);
}
})
.setNegativeButton("Close", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
}
})
.show();
}
mProgressDialog.setTitle("Loading");
mProgressDialog.setMessage(String.format("Opening database \"%s\"...", fileName));
mProgressDialog.show();
updateState(State.STATE_PROCESSING);
Thread openThread = new Thread(new Runnable() {
public void run() {
final int status = RTABMapLib.openDatabase(tmpDatabase, databaseInMemory, optimize);
runOnUiThread(new Runnable() {
public void run() {
setCamera(1);
updateState(State.STATE_IDLE);
mProgressDialog.dismiss();
if(status == -1)
{
new AlertDialog.Builder(getActivity())
.setCancelable(false)
.setTitle("Error")
.setMessage("The map is loaded but optimization of the map's graph has "
+ "failed, so the map cannot be shown. Change the Graph Optimizer approach used"
+ " or enable/disable if the graph is optimized from graph "
+ "end in \"Settings -> Mapping...\" and try opening again.")
.setPositiveButton("Open Settings", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
Intent intent = new Intent(getActivity(), SettingsActivity.class);
startActivity(intent);
}
})
.setNegativeButton("Close", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
}
})
.show();
}
else
{
// creating meshes...
startUpdateStatusThread();
if(!mItemTrajectoryMode.isChecked())
{
mProgressDialog.setTitle("Loading");
mProgressDialog.setMessage(String.format("Database \"%s\" loaded. Please wait while creating point clouds and meshes...", fileName));
mProgressDialog.show();
}
}
}
});
}
});
openThread.start();
}
public void copy(File src, File dst) throws IOException {
app/android/src/com/introlab/rtabmap/RTABMapLib.java
+2
View File
@@ -70,6 +70,7 @@ public class RTABMapLib
public static native void setAutoExposure(boolean enabled);
public static native void setRawScanSaved(boolean enabled);
public static native void setFullResolution(boolean enabled);
public static native void setSmoothing(boolean enabled);
public static native void setAppendMode(boolean enabled);
public static native void setDataRecorderMode(boolean enabled);
public static native void setMaxCloudDepth(float value);
@@ -88,6 +89,7 @@ public class RTABMapLib
public static native boolean exportMesh(
String filePath,
float cloudVoxelSize,
boolean regenerateCloud,
boolean meshing,
int textureSize,
int normalK,
app/android/src/com/introlab/rtabmap/Renderer.java
+133 -24
View File
@@ -16,10 +16,14 @@
package com.introlab.rtabmap;
import java.util.Vector;
import java.util.concurrent.locks.ReentrantLock;
import android.app.Activity;
import android.app.ProgressDialog;
import android.content.Context;
import android.opengl.GLES20;
import android.opengl.GLSurfaceView;
import android.opengl.Matrix;
import android.util.Log;
import android.widget.Toast;
@@ -30,56 +34,161 @@ import javax.microedition.khronos.opengles.GL10;
// ground grid, camera frustum, camera axis, and trajectory based on the Tango
// device's pose.
public class Renderer implements GLSurfaceView.Renderer {
private static Activity mActivity;
public Renderer(Activity c) {
mActivity = c;
}
private ProgressDialog mProgressDialog;
private final float[] mtrxProjection = new float[16];
private final float[] mtrxView = new float[16];
private final float[] mtrxProjectionAndView = new float[16];
private TextManager mTextManager = null;
private float mSurfaceHeight = 0.0f;
private Vector<TextObject> mTexts;
private static RTABMapActivity mActivity;
public Renderer(RTABMapActivity c) {
mActivity = c;
}
private ProgressDialog mProgressDialog = null;
private Toast mToast = null;
private boolean mTextChanged = false;
private ReentrantLock mTextLock = new ReentrantLock();
public void setProgressDialog(ProgressDialog progressDialog)
{
mProgressDialog = progressDialog;
}
public void setToast(Toast toast)
{
mToast = toast;
}
// Render loop of the Gl context.
public void onDrawFrame(GL10 gl) {
public void onDrawFrame(GL10 useGLES20instead) {
try
{
final int value = RTABMapLib.render();
if(mTextManager!=null)
{
if(mTextChanged)
{
mTextChanged = false;
Vector<TextObject> txtcollection = new Vector<TextObject>();
mTextLock.lock();
try {
if(mTexts.size() > 0)
{
txtcollection.addAll(mTexts);
}
} finally {
mTextLock.unlock();
}
// Prepare the text for rendering
mTextManager.PrepareDraw(txtcollection);
}
mTextManager.Draw(mtrxProjectionAndView);
}
mActivity.runOnUiThread(new Runnable() {
public void run() {
if(value != 0 && mProgressDialog != null && mProgressDialog.isShowing())
{
Log.i("RTABMapActivity", "Renderer: dismiss dialog, value received=" + String.valueOf(value));
mProgressDialog.dismiss();
mActivity.stopUpdateStatusThread();
}
if(value==-1)
if(value==-1 && mToast!=null)
{
Toast.makeText(mActivity, String.format("Out of Memory!"), Toast.LENGTH_LONG).show();
mToast.makeText(mActivity, String.format("Out of Memory!"), Toast.LENGTH_LONG).show();
}
}
});
}
catch(final Exception e)
{
mActivity.runOnUiThread(new Runnable() {
public void run() {
Toast.makeText(mActivity, String.format("Rendering error! %s", e.getMessage()), Toast.LENGTH_LONG).show();
}
if(mToast!=null)
{
mActivity.runOnUiThread(new Runnable() {
public void run() {
mToast.makeText(mActivity, String.format("Rendering error! %s", e.getMessage()), Toast.LENGTH_LONG).show();
}
});
});
}
}
}
// Called when the surface size changes.
public void onSurfaceChanged(GL10 gl, int width, int height) {
RTABMapLib.setupGraphic(width, height);
}
// Called when the surface size changes.
public void onSurfaceChanged(GL10 useGLES20instead, int width, int height) {
RTABMapLib.setupGraphic(width, height);
mSurfaceHeight = (float)height;
// Called when the surface is created or recreated.
public void onSurfaceCreated(GL10 gl, EGLConfig config) {
RTABMapLib.initGlContent();
}
// Clear our matrices
for(int i=0;i<16;i++)
{
mtrxProjection[i] = 0.0f;
mtrxView[i] = 0.0f;
mtrxProjectionAndView[i] = 0.0f;
}
// Setup our screen width and height for normal sprite translation.
Matrix.orthoM(mtrxProjection, 0, 0f, width, 0.0f, height, 0, 50);
// Set the camera position (View matrix)
Matrix.setLookAtM(mtrxView, 0, 0f, 0f, 1f, 0f, 0f, 0f, 0f, 1.0f, 0.0f);
// Calculate the projection and view transformation
Matrix.multiplyMM(mtrxProjectionAndView, 0, mtrxProjection, 0, mtrxView, 0);
}
// Called when the surface is created or recreated.
public void onSurfaceCreated(GL10 useGLES20instead, EGLConfig config) {
RTABMapLib.initGlContent();
// Create our text manager
mTextManager = new TextManager(mActivity);
GLES20.glEnable(GLES20.GL_BLEND);
GLES20.glBlendFunc(GLES20.GL_ONE, GLES20.GL_ONE_MINUS_SRC_ALPHA);
}
public void updateTexts(String[] texts)
{
if(mTextManager != null && mSurfaceHeight > 0.0f)
{
Vector<TextObject> textObjects = new Vector<TextObject>();
float offset = mSurfaceHeight-mTextManager.getMaxTextHeight();
if(texts != null)
{
for(int i=0;i<texts.length; ++i)
{
if(texts[i]!=null && texts[i].length()>0)
{
TextObject txt = new TextObject(texts[i], 0, offset);
textObjects.add(txt);
}
offset-=mTextManager.getMaxTextHeight();
}
}
mTextLock.lock();
try {
mTexts = textObjects;
} finally {
mTextLock.unlock();
}
mTextChanged = true;
}
}
}
app/android/src/com/introlab/rtabmap/SketchfabActivity.java
+2 -3
View File
@@ -303,8 +303,7 @@ public class SketchfabActivity extends Activity implements OnClickListener {
{
Log.i(RTABMapActivity.TAG, String.format("Zipped files = %d MB", fileSizeMB));
builder.setMessage(String.format("Total size to upload = %d MB. %sDo you want to continue?\n\n"
+ "Tip: To reduce the model size, try \"Optimized Mesh\" export. "
+ "You can also look at the Settings->Exporting options to reduce the output size.", fileSizeMB,
+ "Tip: To reduce the model size, you can also look at the Settings->Exporting options to reduce the output size.", fileSizeMB,
fileSizeMB>=50?"Note that for size over 50 MB, a Sketchfab PRO account is required, otherwise the upload may fail. ":""));
}
@@ -448,7 +447,7 @@ public class SketchfabActivity extends Activity implements OnClickListener {
multipart.addFormField("description", mDescription.getText().toString());
multipart.addFormField("tags", mTags.getText().toString());
multipart.addFormField("source", "RTAB-Map");
multipart.addFormField("isPublished", mDraft.isChecked()?"true":"false");
multipart.addFormField("isPublished", mDraft.isChecked()?"false":"true");
multipart.addFilePart("modelFile", uploadFile);
Log.i(RTABMapActivity.TAG, "Starting multipart request");
app/android/src/com/introlab/rtabmap/TextManager.java
+443
View File
@@ -0,0 +1,443 @@
//package ri.blog.opengl008;
package com.introlab.rtabmap;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.nio.FloatBuffer;
import java.nio.ShortBuffer;
import java.util.Iterator;
import java.util.Vector;
import android.content.Context;
import android.graphics.Bitmap;
import android.graphics.Canvas;
import android.graphics.Color;
import android.graphics.Rect;
import android.graphics.Typeface;
import android.opengl.GLES20;
import android.opengl.GLUtils;
import android.text.TextPaint;
public class TextManager {
/* SHADER Text
*
* This shader is for rendering 2D text textures straight from a texture
* Color and alpha blended.
*
*/
public static final String vs_Text =
"uniform mat4 uMVPMatrix;" +
"attribute vec4 vPosition;" +
"attribute vec4 a_Color;" +
"attribute vec2 a_texCoord;" +
"varying vec4 v_Color;" +
"varying vec2 v_texCoord;" +
"void main() {" +
" gl_Position = uMVPMatrix * vPosition;" +
" v_texCoord = a_texCoord;" +
" v_Color = a_Color;" +
"}";
public static final String fs_Text =
"precision mediump float;" +
"varying vec4 v_Color;" +
"varying vec2 v_texCoord;" +
"uniform sampler2D s_texture;" +
"void main() {" +
" gl_FragColor = texture2D( s_texture, v_texCoord ) * v_Color;" +
" gl_FragColor.rgb *= v_Color.a;" +
"}";
public static int sp_Text;
public static final int RI_TEXT_TEXTURE_SIZE = 512; // 512
public static final float RI_TEXT_HEIGHT_BASE = 32.0f;
public static final char RI_TEXT_START = ' ';
public static final char RI_TEXT_STOP = '~'+1;
public float getMaxTextHeight() {return mTextHeight;}
private float mUVWidth;
private float mUVHeight;
private float mTextHeight;
private FloatBuffer vertexBuffer;
private FloatBuffer textureBuffer;
private FloatBuffer colorBuffer;
private ShortBuffer drawListBuffer;
private float[] vecs;
private float[] uvs;
private short[] indices;
private float[] colors;
private int index_vecs;
private int index_indices;
private int index_uvs;
private int index_colors;
private int texturenr;
private int[] mTextures;
private float uniformscale = 1.0f;
float[] mCharacterWidth;
public TextManager(Context context)
{
// Create the arrays
vecs = new float[3 * 10];
colors = new float[4 * 10];
uvs = new float[2 * 10];
indices = new short[10];
// init as 0 as default
texturenr = 0;
// Text shader
int vshadert = TextManager.loadShader(GLES20.GL_VERTEX_SHADER, TextManager.vs_Text);
int fshadert = TextManager.loadShader(GLES20.GL_FRAGMENT_SHADER, TextManager.fs_Text);
TextManager.sp_Text = GLES20.glCreateProgram();
GLES20.glAttachShader(TextManager.sp_Text, vshadert);
GLES20.glAttachShader(TextManager.sp_Text, fshadert); // add the fragment shader to program
GLES20.glLinkProgram(TextManager.sp_Text); // creates OpenGL ES program executables
// Generate Textures, if more needed, alter these numbers.
mTextures = new int[1];
GLES20.glGenTextures(1, mTextures, 0);
// Create an empty, mutable bitmap
Bitmap bitmap = Bitmap.createBitmap(RI_TEXT_TEXTURE_SIZE, RI_TEXT_TEXTURE_SIZE, Bitmap.Config.ARGB_4444);
// get a canvas to paint over the bitmap
Canvas canvas = new Canvas(bitmap);
bitmap.eraseColor(0);
// Draw the text
TextPaint textPaint = new TextPaint();
textPaint.setTextSize(RI_TEXT_HEIGHT_BASE);
textPaint.setColor(Color.WHITE);
textPaint.setAntiAlias(true);
textPaint.setTypeface(Typeface.create("Arial", Typeface.BOLD));
// compute real maximum height
mTextHeight=0.0f;
for(char c=RI_TEXT_START; c<RI_TEXT_STOP; ++c)
{
Rect textBounds = new Rect();
textPaint.getTextBounds(String.valueOf(c), 0, 1, textBounds);
if(textBounds.height() + textBounds.bottom > mTextHeight)
{
mTextHeight = textBounds.height() + textBounds.bottom;
}
}
mUVWidth = (float)RI_TEXT_HEIGHT_BASE/(float)RI_TEXT_TEXTURE_SIZE;
mUVHeight = mTextHeight/(float)RI_TEXT_TEXTURE_SIZE;
int colCount = RI_TEXT_TEXTURE_SIZE/(int)RI_TEXT_HEIGHT_BASE;
mCharacterWidth = new float[RI_TEXT_STOP-RI_TEXT_START];
int i=0;
for(char c=RI_TEXT_START; c<RI_TEXT_STOP; ++c)
{
Rect textBounds = new Rect();
textPaint.getTextBounds(String.valueOf(c), 0, 1, textBounds);
canvas.drawText(String.valueOf(c), (i%colCount)*RI_TEXT_HEIGHT_BASE, (i/colCount) * mTextHeight + RI_TEXT_HEIGHT_BASE, textPaint);
mCharacterWidth[i] = textPaint.measureText(String.valueOf(c));
++i;
}
GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, mTextures[0]);
GLES20.glTexParameteri(GLES20.GL_TEXTURE_2D, GLES20.GL_TEXTURE_MIN_FILTER, GLES20.GL_LINEAR);
GLES20.glTexParameteri(GLES20.GL_TEXTURE_2D, GLES20.GL_TEXTURE_MAG_FILTER, GLES20.GL_LINEAR);
GLUtils.texImage2D(GLES20.GL_TEXTURE_2D, 0, bitmap, 0);
//Clean up
bitmap.recycle();
}
public void setTextureID(int val)
{
texturenr = val;
}
public static int loadShader(int type, String shaderCode){
// create a vertex shader type (GLES20.GL_VERTEX_SHADER)
// or a fragment shader type (GLES20.GL_FRAGMENT_SHADER)
int shader = GLES20.glCreateShader(type);
// add the source code to the shader and compile it
GLES20.glShaderSource(shader, shaderCode);
GLES20.glCompileShader(shader);
// return the shader
return shader;
}
public void AddCharRenderInformation(float[] vec, float[] cs, float[] uv, short[] indi)
{
// We need a base value because the object has indices related to
// that object and not to this collection so basicly we need to
// translate the indices to align with the vertexlocation in ou
// vecs array of vectors.
short base = (short) (index_vecs / 3);
// We should add the vec, translating the indices to our saved vector
for(int i=0;i<vec.length;i++)
{
vecs[index_vecs] = vec[i];
index_vecs++;
}
// We should add the colors, so we can use the same texture for multiple effects.
for(int i=0;i<cs.length;i++)
{
colors[index_colors] = cs[i];
index_colors++;
}
// We should add the uvs
for(int i=0;i<uv.length;i++)
{
uvs[index_uvs] = uv[i];
index_uvs++;
}
// We handle the indices
for(int j=0;j<indi.length;j++)
{
indices[index_indices] = (short) (base + indi[j]);
index_indices++;
}
}
public void PrepareDrawInfo(Vector<TextObject> txtcollection)
{
// Reset the indices.
index_vecs = 0;
index_indices = 0;
index_uvs = 0;
index_colors = 0;
// Get the total amount of characters
int charcount = 0;
for (TextObject txt : txtcollection) {
if(txt!=null)
{
if(!(txt.text==null))
{
charcount += txt.text.length();
}
}
}
// Create the arrays we need with the correct size.
vecs = null;
colors = null;
uvs = null;
indices = null;
vecs = new float[charcount * 12];
colors = new float[charcount * 16];
uvs = new float[charcount * 8];
indices = new short[charcount * 6];
}
public void PrepareDraw(Vector<TextObject> txtcollection)
{
// Setup all the arrays
PrepareDrawInfo(txtcollection);
// Using the iterator protects for problems with concurrency
for( Iterator< TextObject > it = txtcollection.iterator(); it.hasNext() ; )
{
TextObject txt = it.next();
if(txt!=null)
{
if(!(txt.text==null))
{
convertTextToTriangleInfo(txt);
}
}
}
}
public void Draw(float[] m)
{
if(vecs.length > 0)
{
GLES20.glDisable(GLES20.GL_DEPTH_TEST);
// Set the correct shader for our grid object.
GLES20.glUseProgram(sp_Text);
// The vertex buffer.
ByteBuffer bb = ByteBuffer.allocateDirect(vecs.length * 4);
bb.order(ByteOrder.nativeOrder());
vertexBuffer = bb.asFloatBuffer();
vertexBuffer.put(vecs);
vertexBuffer.position(0);
// The vertex buffer.
ByteBuffer bb3 = ByteBuffer.allocateDirect(colors.length * 4);
bb3.order(ByteOrder.nativeOrder());
colorBuffer = bb3.asFloatBuffer();
colorBuffer.put(colors);
colorBuffer.position(0);
// The texture buffer
ByteBuffer bb2 = ByteBuffer.allocateDirect(uvs.length * 4);
bb2.order(ByteOrder.nativeOrder());
textureBuffer = bb2.asFloatBuffer();
textureBuffer.put(uvs);
textureBuffer.position(0);
// initialize byte buffer for the draw list
ByteBuffer dlb = ByteBuffer.allocateDirect(indices.length * 2);
dlb.order(ByteOrder.nativeOrder());
drawListBuffer = dlb.asShortBuffer();
drawListBuffer.put(indices);
drawListBuffer.position(0);
// get handle to vertex shader's vPosition member
int mPositionHandle = GLES20.glGetAttribLocation(sp_Text, "vPosition");
// Enable a handle to the triangle vertices
GLES20.glEnableVertexAttribArray(mPositionHandle);
// Prepare the background coordinate data
GLES20.glVertexAttribPointer(mPositionHandle, 3,
GLES20.GL_FLOAT, false,
0, vertexBuffer);
int mTexCoordLoc = GLES20.glGetAttribLocation(sp_Text, "a_texCoord" );
// Prepare the texturecoordinates
GLES20.glVertexAttribPointer ( mTexCoordLoc, 2, GLES20.GL_FLOAT,
false,
0, textureBuffer);
GLES20.glEnableVertexAttribArray ( mPositionHandle );
GLES20.glEnableVertexAttribArray ( mTexCoordLoc );
int mColorHandle = GLES20.glGetAttribLocation(sp_Text, "a_Color");
// Enable a handle to the triangle vertices
GLES20.glEnableVertexAttribArray(mColorHandle);
// Prepare the background coordinate data
GLES20.glVertexAttribPointer(mColorHandle, 4,
GLES20.GL_FLOAT, false,
0, colorBuffer);
// get handle to shape's transformation matrix
int mtrxhandle = GLES20.glGetUniformLocation(sp_Text, "uMVPMatrix");
// Apply the projection and view transformation
GLES20.glUniformMatrix4fv(mtrxhandle, 1, false, m, 0);
int mSamplerLoc = GLES20.glGetUniformLocation (sp_Text, "s_texture" );
// Texture activate unit 0
GLES20.glActiveTexture(GLES20.GL_TEXTURE0);
// Bind the texture to this unit.
GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, mTextures[0]);
// Set the sampler texture unit to our selected id
GLES20.glUniform1i ( mSamplerLoc, texturenr);
// Draw the triangle
GLES20.glDrawElements(GLES20.GL_TRIANGLES, indices.length, GLES20.GL_UNSIGNED_SHORT, drawListBuffer);
// Disable vertex array
GLES20.glDisableVertexAttribArray(mPositionHandle);
GLES20.glDisableVertexAttribArray(mTexCoordLoc);
GLES20.glDisableVertexAttribArray(mColorHandle);
}
}
private void convertTextToTriangleInfo(TextObject val)
{
// Get attributes from text object
float x = val.x;
float y = val.y;
String text = val.text;
// Create
for(int j=0; j<text.length(); j++)
{
// get ascii value
char c = text.charAt(j);
int c_val = (int)c;
int indx = c_val-RI_TEXT_START;
if(indx<0 || indx>=mCharacterWidth.length) {
// unknown character, we will add a space for it to be save.
indx = 0;
}
int colCount = RI_TEXT_TEXTURE_SIZE/(int)RI_TEXT_HEIGHT_BASE;
// Calculate the uv parts
int row = indx / colCount;
int col = indx % colCount;
float v = row * mUVHeight;
float v2 = v + mUVHeight;
float u = col * mUVWidth;
float u2 = u + mCharacterWidth[indx]/(float)RI_TEXT_TEXTURE_SIZE;
// Creating the triangle information
float[] vec = new float[12];
float[] uv = new float[8];
float[] colors = new float[16];
vec[0] = x;
vec[1] = y + (mTextHeight * uniformscale);
vec[2] = 0.99f;
vec[3] = x;
vec[4] = y;
vec[5] = 0.99f;
vec[6] = x + (mCharacterWidth[indx] * uniformscale);
vec[7] = y;
vec[8] = 0.99f;
vec[9] = x + (mCharacterWidth[indx] * uniformscale);
vec[10] = y + (mTextHeight * uniformscale);
vec[11] = 0.99f;
colors = new float[]
{val.color[0], val.color[1], val.color[2], val.color[3],
val.color[0], val.color[1], val.color[2], val.color[3],
val.color[0], val.color[1], val.color[2], val.color[3],
val.color[0], val.color[1], val.color[2], val.color[3]
};
// 0.001f = texture bleeding hack/fix
uv[0] = u+0.001f;
uv[1] = v+0.001f;
uv[2] = u+0.001f;
uv[3] = v2-0.001f;
uv[4] = u2-0.001f;
uv[5] = v2-0.001f;
uv[6] = u2-0.001f;
uv[7] = v+0.001f;
short[] inds = {0, 1, 2, 0, 2, 3};
// Add our triangle information to our collection for 1 render call.
AddCharRenderInformation(vec, colors, uv, inds);
// Calculate the new position
x += (mCharacterWidth[indx] * uniformscale);
}
}
public float getUniformscale() {
return uniformscale;
}
public void setUniformscale(float uniformscale) {
this.uniformscale = uniformscale;
}
}
app/android/src/com/introlab/rtabmap/TextObject.java
+33
View File
@@ -0,0 +1,33 @@
//package ri.blog.opengl008;
package com.introlab.rtabmap;
public class TextObject {
public String text;
public float x;
public float y;
public float[] color;
public TextObject()
{
text = "default";
x = 0f;
y = 0f;
color = new float[] {1f, 1f, 1f, 1.0f};
}
public TextObject(String txt, float xcoord, float ycoord)
{
text = txt;
x = xcoord;
y = ycoord;
color = new float[] {1f, 1f, 1f, 1.0f};
}
/*public boolean validate()
{
if(text.compareTo("")==0) return false;
return true;
}*/
}