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Code Issues Packages Projects Releases Wiki Activity

Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.

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This commit is contained in:
matlabbe
2017-02-15 19:07:10 -05:00
parent 1be0d52051
commit af1cdadabd
40 changed files with 2090 additions and 1227 deletions
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5
app/android/AndroidManifest.xml.in
View File

@@ -29,7 +29,7 @@
<activity android:name="RTABMapActivity"
android:label="@string/app_name"
android:launchMode="singleTask"
android:screenOrientation="landscape"
android:screenOrientation="fullSensor"
android:configChanges="orientation|screenSize|keyboardHidden">
<!-- Tell NativeActivity the name of our .so -->
<meta-data android:name="android.app.lib_name"
@@ -40,7 +40,8 @@
</intent-filter>
</activity>
<activity android:name="SettingsActivity" android:label="@string/settings"/>
<activity android:name="SettingsActivity" android:label="@string/settings" android:screenOrientation="fullSensor"/>
<activity android:name="SketchfabActivity" android:label="@string/sketchfab" android:screenOrientation="fullSensor"/>
</application>
</manifest>

53
app/android/jni/CameraTango.cpp
View File

@@ -46,7 +46,10 @@ const int scanDownsampling = 10;
void onPointCloudAvailableRouter(void* context, const TangoPointCloud* point_cloud)
{
CameraTango* app = static_cast<CameraTango*>(context);
app->cloudReceived(cv::Mat(1, point_cloud->num_points, CV_32FC4, point_cloud->points[0]), point_cloud->timestamp);
if(point_cloud->num_points>0)
{
app->cloudReceived(cv::Mat(1, point_cloud->num_points, CV_32FC4, point_cloud->points[0]), point_cloud->timestamp);
}
}
void onFrameAvailableRouter(void* context, TangoCameraId id, const TangoImageBuffer* color)
@@ -104,7 +107,8 @@ CameraTango::CameraTango(int decimation, bool autoExposure, bool publishRawScan)
rawScanPublished_(publishRawScan),
cloudStamp_(0),
tangoColorType_(0),
tangoColorStamp_(0)
tangoColorStamp_(0),
colorCameraToDisplayRotation_(ROTATION_0)
{
UASSERT(decimation >= 1);
}
@@ -641,6 +645,51 @@ SensorData CameraTango::captureImage(CameraInfo * info)
//LOGD("rtabmap = %s", odom.prettyPrint().c_str());
//LOGD("opengl(r)= %s", (opengl_world_T_rtabmap_world * odom * rtabmap_device_T_opengl_device).prettyPrint().c_str());
// Rotate image depending on the camera orientation
if(colorCameraToDisplayRotation_ == ROTATION_90)
{
cv::Mat rgbt(rgb.cols, rgb.rows, rgb.type());
cv::flip(rgb,rgb,1);
cv::transpose(rgb,rgbt);
rgb = rgbt;
cv::Mat deptht(depth.cols, depth.rows, depth.type());
cv::flip(depth,depth,1);
cv::transpose(depth,deptht);
depth = deptht;
cv::Size sizet(model.imageHeight(), model.imageWidth());
model = CameraModel(model.fy(), model.fx(), model.cy(), model.cx()>0?model.imageWidth()-model.cx():0, model.localTransform()*rtabmap::Transform(0,0,0,0,0,1.57079632679489661923132169163975144));
model.setImageSize(sizet);
}
else if(colorCameraToDisplayRotation_ == ROTATION_180)
{
cv::flip(rgb,rgb,1);
cv::flip(rgb,rgb,0);
cv::flip(depth,depth,1);
cv::flip(depth,depth,0);
cv::Size sizet(model.imageWidth(), model.imageHeight());
model = CameraModel(
model.fx(),
model.fy(),
model.cx()>0?model.imageWidth()-model.cx():0,
model.cy()>0?model.imageHeight()-model.cy():0,
model.localTransform()*rtabmap::Transform(0,0,0,0,0,1.57079632679489661923132169163975144*2.0));
model.setImageSize(sizet);
}
else if(colorCameraToDisplayRotation_ == ROTATION_270)
{
cv::Mat rgbt(rgb.cols, rgb.rows, rgb.type());
cv::transpose(rgb,rgbt);
cv::flip(rgbt,rgbt,1);
rgb = rgbt;
cv::Mat deptht(depth.cols, depth.rows, depth.type());
cv::transpose(depth,deptht);
cv::flip(deptht,deptht,1);
depth = deptht;
cv::Size sizet(model.imageHeight(), model.imageWidth());
model = CameraModel(model.fy(), model.fx(), model.cy()>0?model.imageHeight()-model.cy():0, model.cx(), model.localTransform()*rtabmap::Transform(0,0,0,0,0,-1.57079632679489661923132169163975144));
model.setImageSize(sizet);
}
if(rawScanPublished_)
{
data = SensorData(scan, LaserScanInfo(cloud.total()/scanDownsampling, 0, model.localTransform()), rgb, depth, model, this->getNextSeqID(), rgbStamp);

3
app/android/jni/CameraTango.h
View File

@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UEvent.h>
#include <rtabmap/utilite/UTimer.h>
#include <boost/thread/mutex.hpp>
#include <tango_support_api.h>
class TangoPoseData;
@@ -82,6 +83,7 @@ public:
void setDecimation(int value) {decimation_ = value;}
void setAutoExposure(bool enabled) {autoExposure_ = enabled;}
void setRawScanPublished(bool enabled) {rawScanPublished_ = enabled;}
void setScreenRotation(TangoSupportRotation colorCameraToDisplayRotation) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
void cloudReceived(const cv::Mat & cloud, double timestamp);
void rgbReceived(const cv::Mat & tangoImage, int type, double timestamp);
@@ -114,6 +116,7 @@ private:
USemaphore dataReady_;
CameraModel model_;
Transform deviceTColorCamera_;
TangoSupportRotation colorCameraToDisplayRotation_;
};
} /* namespace rtabmap */

97
app/android/jni/RTABMapApp.cpp
View File

@@ -94,18 +94,22 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityPathMaxNeighbors(), std::string("0"))); // disable scan matching to merged nodes
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityBySpace(), std::string("false"))); // just keep loop closure detection
if(parameters.find(rtabmap::Parameters::kKpMaxFeatures())!=parameters.end() &&
parameters.find(rtabmap::Parameters::kVisMaxFeatures())!=parameters.end())
if(parameters.find(rtabmap::Parameters::kOptimizerStrategy()) != parameters.end())
{
int featuresVoc = uStr2Int(parameters.at(rtabmap::Parameters::kKpMaxFeatures()));
int featuresLoop = uStr2Int(parameters.at(rtabmap::Parameters::kVisMaxFeatures()));
if(featuresVoc==0 || featuresLoop < featuresVoc)
if(parameters.at(rtabmap::Parameters::kOptimizerStrategy()).compare("2") == 0) // GTSAM
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDLoopClosureReextractFeatures(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0.00001"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), graphOptimization_?"10":"0"));
}
else
else if(parameters.at(rtabmap::Parameters::kOptimizerStrategy()).compare("1") == 0) // g2o
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDLoopClosureReextractFeatures(), std::string("true")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0.0"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), graphOptimization_?"10":"0"));
}
else // TORO
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0.00001"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), graphOptimization_?"100":"0"));
}
}
@@ -166,7 +170,8 @@ RTABMapApp::RTABMapApp() :
renderingTime_(0.0f),
visualizingMesh_(false),
exportedMeshUpdated_(false),
exportedMesh_(new pcl::TextureMesh)
exportedMesh_(new pcl::TextureMesh),
mapToOdom_(rtabmap::Transform::getIdentity())
{
mappingParameters_.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpDetectorStrategy(), "5")); // GFTT/FREAK
@@ -227,11 +232,14 @@ void RTABMapApp::onCreate(JNIEnv* env, jobject caller_activity)
void RTABMapApp::setScreenRotation(int displayRotation, int cameraRotation)
{
LOGI("Set orientation: display=%d camera=%d", displayRotation, cameraRotation);
main_scene_.setScreenRotation(displayRotation, cameraRotation);
TangoSupportRotation rotation = tango_gl::util::GetAndroidRotationFromColorCameraToDisplay(
displayRotation, cameraRotation);
LOGI("Set orientation: display=%d camera=%d -> %d", displayRotation, cameraRotation, (int)rotation);
main_scene_.setScreenRotation(rotation);
camera_->setScreenRotation(rotation);
}
void RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize)
int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize)
{
this->unregisterFromEventsManager(); // to ignore published init events when closing rtabmap
status_.first = rtabmap::RtabmapEventInit::kInitializing;
@@ -245,6 +253,7 @@ void RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInM
}
//Rtabmap
mapToOdom_.setIdentity();
rtabmap_ = new rtabmap::Rtabmap();
rtabmap::ParametersMap parameters = getRtabmapParameters();
@@ -267,6 +276,13 @@ void RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInM
true,
true);
int status = 0;
if(signatures.size() && poses.empty())
{
LOGE("Failed to optimize the graph!");
status = -1;
}
optimizeOpenedDatabase_ = optimize;
clearSceneOnNextRender_ = true;
rtabmap::Statistics stats;
@@ -289,6 +305,8 @@ void RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInM
status_.first = rtabmap::RtabmapEventInit::kInitialized;
status_.second = "";
rtabmapMutex_.unlock();
return status;
}
bool RTABMapApp::onTangoServiceConnected(JNIEnv* env, jobject iBinder)
@@ -437,6 +455,11 @@ int RTABMapApp::Render()
UTimer fpsTime;
boost::mutex::scoped_lock lock(renderingMutex_);
if(clearSceneOnNextRender_)
{
visualizingMesh_ = false;
}
bool notifyCameraStarted = false;
// process only pose events in vsualization mode
@@ -449,10 +472,19 @@ int RTABMapApp::Render()
poseEvents_.clear();
}
}
rtabmap::Transform mapOdom = rtabmap::Transform::getIdentity();
if(!pose.isNull())
{
// update camera pose?
main_scene_.SetCameraPose(opengl_world_T_tango_world*pose);
if(graphOptimization_ && !visualizingMesh_ && !mapToOdom_.isIdentity())
{
mapOdom = mapToOdom_;
main_scene_.SetCameraPose(opengl_world_T_rtabmap_world*mapOdom*rtabmap_world_T_tango_world*pose);
}
else
{
main_scene_.SetCameraPose(opengl_world_T_tango_world*pose);
}
if(!camera_->isRunning() && cameraJustInitialized_)
{
notifyCameraStarted = true;
@@ -476,11 +508,6 @@ int RTABMapApp::Render()
}
}
if(clearSceneOnNextRender_)
{
visualizingMesh_ = false;
}
if(visualizingMesh_)
{
if(exportedMeshUpdated_)
@@ -675,6 +702,10 @@ int RTABMapApp::Render()
}
std::map<int, rtabmap::Transform> poses = rtabmapEvents.back().poses();
if(!rtabmapEvents.back().mapCorrection().isNull())
{
mapToOdom_ = rtabmapEvents.back().mapCorrection();
}
// Transform pose in OpenGL world
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
@@ -833,7 +864,7 @@ int RTABMapApp::Render()
odomEvent.data().imageRaw().cols, odomEvent.data().imageRaw().rows,
odomEvent.data().depthRaw().cols, odomEvent.data().depthRaw().rows,
(int)cloud->width, (int)cloud->height);
main_scene_.addCloud(-1, cloud, indices, opengl_world_T_rtabmap_world*odomEvent.pose());
main_scene_.addCloud(-1, cloud, indices, opengl_world_T_rtabmap_world*mapOdom*odomEvent.pose());
main_scene_.setCloudVisible(-1, true);
}
else
@@ -1042,6 +1073,10 @@ void RTABMapApp::setLighting(bool enabled)
{
main_scene_.setLighting(enabled);
}
void RTABMapApp::setBackfaceCulling(bool enabled)
{
main_scene_.setBackfaceCulling(enabled);
}
void RTABMapApp::setLocalizationMode(bool enabled)
{
@@ -1286,6 +1321,7 @@ void RTABMapApp::resetMapping()
status_.first = rtabmap::RtabmapEventInit::kInitializing;
status_.second = "";
mapToOdom_.setIdentity();
clearSceneOnNextRender_ = true;
UEventsManager::post(new rtabmap::RtabmapEventCmd(rtabmap::RtabmapEventCmd::kCmdResetMemory));
@@ -1557,13 +1593,6 @@ bool RTABMapApp::exportMesh(
if(mergedClouds->size())
{
int before = mergedClouds->size();
if(optimizedVoxelSize > 0.0f)
{
mergedClouds = rtabmap::util3d::voxelize(mergedClouds, optimizedVoxelSize);
LOGI("Voxelized from %d points to %d points", before, (int)mergedClouds->size());
}
// Mesh reconstruction
LOGI("Mesh reconstruction...");
pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
@@ -2223,15 +2252,7 @@ int RTABMapApp::postProcessing(int approach)
// detect more loop closures
if(approach == -1 || approach == 2)
{
// detect more loop closures, don't re-extract features for this
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDLoopClosureReextractFeatures(), std::string("false")));
rtabmap_->parseParameters(parameters);
returnedValue = rtabmap_->detectMoreLoopClosures(1.0f, M_PI/6.0f, approach == -1?5:1);
// put back re-extraction if it was set
rtabmap_->parseParameters(this->getRtabmapParameters());
}
// graph optimization
@@ -2427,7 +2448,9 @@ void RTABMapApp::handleEvent(UEvent * event)
int highestHypId = (int)uValue(stats.data(), rtabmap::Statistics::kLoopHighest_hypothesis_id(), 0.0f);
int databaseMemoryUsed = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryDatabase_memory_used(), 0.0f);
int inliers = (int)uValue(stats.data(), rtabmap::Statistics::kLoopVisual_inliers(), 0.0f);
int matches = (int)uValue(stats.data(), rtabmap::Statistics::kLoopVisual_matches(), 0.0f);
int rejected = (int)uValue(stats.data(), rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f);
float optimizationMaxError = uValue(stats.data(), rtabmap::Statistics::kLoopOptimization_max_error(), 0.0f);
float rehearsalValue = uValue(stats.data(), rtabmap::Statistics::kMemoryRehearsal_sim(), 0.0f);
int featuresExtracted = stats.getSignatures().size()?stats.getSignatures().rbegin()->second.getWords().size():0;
float hypothesis = uValue(stats.data(), rtabmap::Statistics::kLoopHighest_hypothesis_value(), 0.0f);
@@ -2444,7 +2467,7 @@ void RTABMapApp::handleEvent(UEvent * event)
jclass clazz = env->GetObjectClass(RTABMapActivity);
if(clazz)
{
jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIFIFIF)V" );
jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIIFIFIFF)V" );
if(methodID)
{
env->CallVoidMethod(RTABMapActivity, methodID,
@@ -2457,12 +2480,14 @@ void RTABMapApp::handleEvent(UEvent * event)
highestHypId,
databaseMemoryUsed,
inliers,
matches,
featuresExtracted,
hypothesis,
lastDrawnCloudsCount_,
renderingTime_>0.0f?1.0f/renderingTime_:0.0f,
rejected,
rehearsalValue);
rehearsalValue,
optimizationMaxError);
success = true;
}
}

5
app/android/jni/RTABMapApp.h
View File

@@ -55,7 +55,7 @@ class RTABMapApp : public UEventsHandler {
void setScreenRotation(int displayRotation, int cameraRotation);
void openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize);
int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize);
bool onTangoServiceConnected(JNIEnv* env, jobject iBinder);
@@ -118,6 +118,7 @@ class RTABMapApp : public UEventsHandler {
void setMeshRendering(bool enabled, bool withTexture);
void setPointSize(float value);
void setLighting(bool enabled);
void setBackfaceCulling(bool enabled);
void setLocalizationMode(bool enabled);
void setTrajectoryMode(bool enabled);
void setGraphOptimization(bool enabled);
@@ -215,6 +216,8 @@ class RTABMapApp : public UEventsHandler {
std::list<rtabmap::OdometryEvent> odomEvents_;
std::list<rtabmap::Transform> poseEvents_;
rtabmap::Transform mapToOdom_;
boost::mutex rtabmapMutex_;
boost::mutex meshesMutex_;
boost::mutex odomMutex_;

8
app/android/jni/jni_interface.cpp
View File

@@ -62,7 +62,7 @@ Java_com_introlab_rtabmap_RTABMapLib_setScreenRotation(
return app.setScreenRotation(displayRotation, cameraRotation);
}
JNIEXPORT void JNICALL
JNIEXPORT int JNICALL
Java_com_introlab_rtabmap_RTABMapLib_openDatabase(
JNIEnv* env, jobject, jstring databasePath, bool databaseInMemory, bool optimize)
{
@@ -157,6 +157,12 @@ Java_com_introlab_rtabmap_RTABMapLib_setLighting(
return app.setLighting(enabled);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setBackfaceCulling(
JNIEnv*, jobject, bool enabled)
{
return app.setBackfaceCulling(enabled);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setLocalizationMode(
JNIEnv*, jobject, bool enabled)
{

44
app/android/jni/scene.cpp
View File

@@ -169,6 +169,7 @@ Scene::Scene() :
pointSize_(5.0f),
frustumCulling_(true),
lighting_(true),
backfaceCulling_(true),
r_(0.0f),
g_(0.0f),
b_(0.0f)
@@ -255,14 +256,6 @@ void Scene::DeleteResources() {
clear();
}
void Scene::setScreenRotation(int displayOrientation, int cameraOrientation)
{
color_camera_to_display_rotation_ =
tango_gl::util::GetAndroidRotationFromColorCameraToDisplay(
displayOrientation, cameraOrientation);
LOGI("color_camera_to_display_rotation_=%d", color_camera_to_display_rotation_);
}
//Should only be called in OpenGL thread!
void Scene::clear()
{
@@ -299,32 +292,37 @@ int Scene::Render() {
UASSERT(gesture_camera_ != 0);
glEnable(GL_DEPTH_TEST);
glEnable(GL_CULL_FACE);
if(backfaceCulling_)
{
glEnable(GL_CULL_FACE);
}
else
{
glDisable(GL_CULL_FACE);
}
glClearColor(r_, g_, b_, 1.0f);
glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
glm::mat4 rotateM;
if(gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson)
{
rotateM = glm::rotate<float>(float(color_camera_to_display_rotation_)*1.57079632679489661923132169163975144, glm::vec3(0.0f, 0.0f, 1.0f));
}
if(!currentPose_->isNull())
{
glm::vec3 position(currentPose_->x(), currentPose_->y(), currentPose_->z());
Eigen::Quaternionf quat = currentPose_->getQuaternionf();
glm::quat rotation(quat.w(), quat.x(), quat.y(), quat.z());
glm::mat4 rotateM;
rotateM = glm::rotate<float>(float(color_camera_to_display_rotation_)*-1.57079632679489661923132169163975144, glm::vec3(0.0f, 0.0f, 1.0f));
if (gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson)
{
// In first person mode, we directly control camera's motion.
gesture_camera_->SetPosition(position);
gesture_camera_->SetRotation(rotation);
gesture_camera_->SetRotation(rotation*glm::quat(rotateM));
}
else
{
// In third person or top down mode, we follow the camera movement.
gesture_camera_->SetAnchorPosition(position, rotation);
gesture_camera_->SetAnchorPosition(position, rotation*glm::quat(rotateM));
frustum_->SetPosition(position);
frustum_->SetRotation(rotation);
@@ -332,25 +330,25 @@ int Scene::Render() {
// camera's aspect ratio, this is just for visualization purposes.
frustum_->SetScale(kFrustumScale);
frustum_->Render(gesture_camera_->GetProjectionMatrix(),
rotateM*gesture_camera_->GetViewMatrix());
gesture_camera_->GetViewMatrix());
axis_->SetPosition(position);
axis_->SetRotation(rotation);
axis_->Render(gesture_camera_->GetProjectionMatrix(),
rotateM*gesture_camera_->GetViewMatrix());
gesture_camera_->GetViewMatrix());
}
trace_->UpdateVertexArray(position);
if(traceVisible_)
{
trace_->Render(gesture_camera_->GetProjectionMatrix(),
rotateM*gesture_camera_->GetViewMatrix());
gesture_camera_->GetViewMatrix());
}
if(gridVisible_)
{
grid_->Render(gesture_camera_->GetProjectionMatrix(),
rotateM*gesture_camera_->GetViewMatrix());
gesture_camera_->GetViewMatrix());
}
}
@@ -401,7 +399,7 @@ int Scene::Render() {
for(unsigned int i=0; i<indices->size(); ++i)
{
++cloudDrawn;
pointClouds_.find(ids[indices->at(i)])->second->Render(gesture_camera_->GetProjectionMatrix(), rotateM*gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_, lighting_);
pointClouds_.find(ids[indices->at(i)])->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_, lighting_);
}
}
}
@@ -412,14 +410,14 @@ int Scene::Render() {
if((mapRendering_ || iter->first < 0) && iter->second->isVisible())
{
++cloudDrawn;
iter->second->Render(gesture_camera_->GetProjectionMatrix(), rotateM*gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_, lighting_);
iter->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_, lighting_);
}
}
}
if(graphVisible_ && graph_)
{
graph_->Render(gesture_camera_->GetProjectionMatrix(), rotateM*gesture_camera_->GetViewMatrix());
graph_->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix());
}
return cloudDrawn;

7
app/android/jni/scene.h
View File

@@ -57,7 +57,7 @@ class Scene {
// Setup GL view port.
void SetupViewPort(int w, int h);
void setScreenRotation(int displayRotation, int cameraRotation);
void setScreenRotation(TangoSupportRotation colorCameraToDisplayRotation) {color_camera_to_display_rotation_ = colorCameraToDisplayRotation;}
void clear(); // removed all point clouds
@@ -125,6 +125,7 @@ class Scene {
void setPointSize(float size) {pointSize_ = size;}
void setFrustumCulling(bool enabled) {frustumCulling_ = enabled;}
void setLighting(bool enabled) {lighting_ = enabled;}
void setBackfaceCulling(bool enabled) {backfaceCulling_ = enabled;}
void setBackgroundColor(float r, float g, float b) {r_=r; g_=g; b_=b;} // 0.0f <> 1.0f
bool isMeshRendering() const {return meshRendering_;}
@@ -132,6 +133,7 @@ class Scene {
float getPointSize() const {return pointSize_;}
bool isFrustumCulling() const {return frustumCulling_;}
bool isLighting() const {return lighting_;}
bool isBackfaceCulling() const {return backfaceCulling_;}
private:
// Camera object that allows user to use touch input to interact with.
@@ -153,7 +155,7 @@ class Scene {
bool gridVisible_;
bool traceVisible_;
TangoSupportDisplayRotation color_camera_to_display_rotation_;
TangoSupportRotation color_camera_to_display_rotation_;
std::map<int, PointCloudDrawable*> pointClouds_;
@@ -170,6 +172,7 @@ class Scene {
float pointSize_;
bool frustumCulling_;
bool lighting_;
bool backfaceCulling_;
float r_;
float g_;
float b_;

6
app/android/jni/tango-gl/include/tango-gl/util.h
View File

@@ -89,7 +89,7 @@ namespace util {
// available are 0, 90, 180, 270. Followed by Android camera orientation
// standard:
// https://developer.android.com/reference/android/hardware/Camera.CameraInfo.html#orientation
TangoSupportDisplayRotation GetAndroidRotationFromColorCameraToDisplay(
TangoSupportRotation GetAndroidRotationFromColorCameraToDisplay(
int display_rotation, int color_camera_rotation);
// Get the Android rotation integer value from color camera to display.
@@ -101,8 +101,8 @@ namespace util {
// available are 0, 90, 180, 270. Followed by Android camera orientation
// standard:
// https://developer.android.com/reference/android/hardware/Camera.CameraInfo.html#orientation
TangoSupportDisplayRotation GetAndroidRotationFromColorCameraToDisplay(
TangoSupportDisplayRotation display_rotation, int color_camera_rotation);
TangoSupportRotation GetAndroidRotationFromColorCameraToDisplay(
TangoSupportRotation display_rotation, int color_camera_rotation);
} // namespace util
} // namespace tango_gl

12
app/android/jni/tango-gl/util.cpp
View File

@@ -238,23 +238,23 @@ glm::vec3 util::ApplyTransform(const glm::mat4& mat, const glm::vec3& vec) {
return glm::vec3(mat * glm::vec4(vec, 1.0f));
}
TangoSupportDisplayRotation util::GetAndroidRotationFromColorCameraToDisplay(
TangoSupportRotation util::GetAndroidRotationFromColorCameraToDisplay(
int display_rotation, int color_camera_rotation) {
TangoSupportDisplayRotation r =
static_cast<TangoSupportDisplayRotation>(display_rotation);
TangoSupportRotation r =
static_cast<TangoSupportRotation>(display_rotation);
return util::GetAndroidRotationFromColorCameraToDisplay(
r, color_camera_rotation);
}
TangoSupportDisplayRotation util::GetAndroidRotationFromColorCameraToDisplay(
TangoSupportDisplayRotation display_rotation, int color_camera_rotation) {
TangoSupportRotation util::GetAndroidRotationFromColorCameraToDisplay(
TangoSupportRotation display_rotation, int color_camera_rotation) {
int color_camera_n = NormalizedColorCameraRotation(color_camera_rotation);
int ret = static_cast<int>(display_rotation) - color_camera_n;
if (ret < 0) {
ret += 4;
}
return static_cast<TangoSupportDisplayRotation>(ret % 4);
return static_cast<TangoSupportRotation>(ret % 4);
}
} // namespace tango_gl

BIN
app/android/libs/TangoSDK_Caporales_Java.jar → app/android/libs/TangoSDK_Eisa_Java.jar
View File

Binary file not shown.

BIN
app/android/libs/httpclient-4.2.1.jar Normal file
View File

Binary file not shown.

40
app/android/res/layout/activity_rtabmap.xml
View File

@@ -280,6 +280,19 @@
</LinearLayout>
<ToggleButton
android:id="@+id/backface_button"
android:layout_width="100dp"
android:layout_height="wrap_content"
android:layout_above="@+id/light_button"
android:layout_alignLeft="@+id/light_button"
android:layout_alignParentRight="true"
android:layout_marginBottom="5dp"
android:layout_marginRight="5dp"
android:paddingRight="5dp"
android:textOff="@string/backface_off"
android:textOn="@string/backface_on" />
<ToggleButton
android:id="@+id/light_button"
android:layout_width="100dp"
@@ -336,18 +349,35 @@
android:layout_alignLeft="@+id/first_person_button"
android:layout_alignParentTop="true"
android:layout_marginTop="61dp"
android:layout_alignParentRight="true"
android:paddingRight="5dp"
android:textOff="@string/pause"
android:textOn="@string/resume" />
<Button
android:id="@+id/button_shareToSketchfab"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_alignParentTop="true"
android:layout_alignRight="@+id/pause_button"
android:text="@string/share_to_sketchfab" />
<Button
android:id="@+id/button_saveOnDevice"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_alignParentTop="true"
android:layout_toLeftOf="@+id/button_shareToSketchfab"
android:text="@string/save_to_file" />
<Button
android:id="@+id/close_visualization_button"
android:layout_width="200dp"
android:layout_height="wrap_content"
android:layout_alignParentLeft="true"
android:layout_alignParentBottom="true"
android:layout_marginLeft="5dp"
android:layout_alignBaseline="@+id/top_down_button"
android:layout_alignBottom="@+id/top_down_button"
android:layout_centerHorizontal="true"
android:paddingLeft="5dp"
android:text="@string/close_visualization"/>
android:text="@string/close_visualization" />
</RelativeLayout>

19
app/android/res/layout/activity_settings.xml
View File

@@ -106,6 +106,13 @@
android:entries="@array/pref_sim_thr_keys"
android:entryValues="@array/pref_sim_thr_values"
android:defaultValue="@string/pref_default_sim_thr"/>
<ListPreference
android:key="@string/pref_key_min_inliers"
android:title="@string/pref_title_min_inliers"
android:summary="@string/pref_summary_min_inliers"
android:entries="@array/pref_min_inliers_keys"
android:entryValues="@array/pref_min_inliers_values"
android:defaultValue="@string/pref_default_min_inliers"/>
<ListPreference
android:key="@string/pref_key_opt_error"
android:title="@string/pref_title_opt_error"
@@ -134,6 +141,18 @@
android:entries="@array/pref_features_type_keys"
android:entryValues="@array/pref_features_type_values"
android:defaultValue="@string/pref_default_features_type"/>
<ListPreference
android:key="@string/pref_key_optimizer"
android:title="@string/pref_title_optimizer"
android:summary="@string/pref_summary_optimizer"
android:entries="@array/pref_optimizer_keys"
android:entryValues="@array/pref_optimizer_values"
android:defaultValue="@string/pref_default_optimizer"/>
<SwitchPreference
android:key="@string/pref_key_optimize_end"
android:title="@string/pref_title_optimize_end"
android:summary="@string/pref_summary_optimize_end"
android:defaultValue="@string/pref_default_optimize_end"/>
</PreferenceCategory>
<PreferenceCategory
android:title="@string/pref_title_mapping_database">

81
app/android/res/layout/activity_sketchfab.xml Normal file
View File

@@ -0,0 +1,81 @@
<?xml version="1.0" encoding="utf-8"?>
<ScrollView xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="match_parent">
<LinearLayout android:layout_width="match_parent"
android:layout_height="match_parent"
android:orientation="vertical"
android:focusableInTouchMode="true" >
<TextView android:id="@+id/text"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="Model Name*:" />
<EditText
android:id="@+id/editText_filename"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:imeOptions="flagNoExtractUi"
android:ems="10" />
<TextView
android:id="@+id/textView1"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="Description:" />
<EditText
android:id="@+id/editText_description"
android:ems="10"
android:lines="4"
android:minLines="2"
android:gravity="top|left"
android:maxLines="8"
android:layout_weight="1"
android:layout_height="wrap_content"
android:layout_width="fill_parent"
android:scrollbars="vertical"
android:imeOptions="flagNoExtractUi"
android:inputType="textMultiLine" >
<requestFocus />
</EditText>
<TextView
android:id="@+id/textView2"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="Tags:" />
<EditText
android:id="@+id/editText_tags"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:imeOptions="flagNoExtractUi"
android:ems="10" />
<CheckBox
android:id="@+id/checkBox_draft"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:checked="true"
android:text="Draft Mode" />
<LinearLayout
android:layout_width="match_parent"
android:layout_height="0dip"
android:layout_weight="1"
android:gravity="right|bottom"
android:orientation="horizontal" >
<Button
android:id="@+id/button_ok"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_weight="0.06"
android:text="Upload" />
</LinearLayout>
</LinearLayout>
</ScrollView>

40
app/android/res/menu/optionmenu.xml
View File

@@ -8,8 +8,26 @@
<item android:id="@+id/texture_mesh" android:checked="true" android:title="Texture Mesh" />
</group>
<item android:id="@+id/save" android:title="Save" android:showAsAction="ifRoom"/>
<item android:id="@+id/post_processing" android:title="Optimize" android:showAsAction="ifRoom">
<item android:id="@+id/export" android:showAsAction="ifRoom" android:title="Export">
<menu>
<item android:id="@+id/export_point_cloud" android:title="Point Cloud" />
<item android:id="@+id/export_mesh_menu" android:title="Raw Mesh..." >
<menu>
<item android:id="@+id/export_mesh" android:title="Colored Mesh" />
<item android:id="@+id/export_mesh_texture" android:title="Textured Mesh" />
</menu>
</item>
<item android:id="@+id/export_optimized_mesh_menu" android:title="Optimized Mesh..." >
<menu>
<item android:id="@+id/export_optimized_mesh" android:title="Colored Mesh" />
<item android:id="@+id/export_optimized_mesh_texture" android:title="Textured Mesh" />
</menu>
</item>
</menu>
</item>
<item android:id="@+id/post_processing" android:title="Optimize" android:showAsAction="ifRoom">
<menu>
<item android:id="@+id/post_processing_standard" android:title="Standard Optimization" />
<item android:id="@+id/post_processing_advanced" android:title="Advanced..." >
@@ -26,24 +44,6 @@
</menu>
</item>
<item android:id="@+id/export" android:showAsAction="ifRoom" android:title="Export">
<menu>
<item android:id="@+id/export_point_cloud" android:title="Point Cloud (*.ply)" />
<item android:id="@+id/export_mesh_menu" android:title="Raw Mesh..." >
<menu>
<item android:id="@+id/export_mesh" android:title="Colored Mesh (*.ply)" />
<item android:id="@+id/export_mesh_texture" android:title="Textured Mesh (*.obj)" />
</menu>
</item>
<item android:id="@+id/export_optimized_mesh_menu" android:title="Optimized Mesh..." >
<menu>
<item android:id="@+id/export_optimized_mesh" android:title="Colored Mesh (*.ply)" />
<item android:id="@+id/export_optimized_mesh_texture" android:title="Textured Mesh (*.obj)" />
</menu>
</item>
</menu>
</item>
<item android:id="@+id/open" android:title="Open" android:showAsAction="ifRoom"/>
<item android:id="@+id/menu_rendering_settings" android:title="Visibility...">

973
app/android/res/values/strings.xml
View File

File diff suppressed because it is too large Load Diff

927
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
View File

File diff suppressed because it is too large Load Diff

3
app/android/src/com/introlab/rtabmap/RTABMapLib.java
View File

@@ -27,7 +27,7 @@ public class RTABMapLib
public static native void setScreenRotation(int displayRotation, int cameraRotation);
public static native void openDatabase(String databasePath, boolean databaseInMemory, boolean optimize);
public static native int openDatabase(String databasePath, boolean databaseInMemory, boolean optimize);
/*
* Called when the Tango service is connected.
@@ -75,6 +75,7 @@ public class RTABMapLib
public static native void setMaxCloudDepth(float value);
public static native void setPointSize(float value);
public static native void setLighting(boolean enabled);
public static native void setBackfaceCulling(boolean enabled);
public static native void setMeshDecimation(int value);
public static native void setMeshAngleTolerance(float value);
public static native void setMeshTriangleSize(int value);

4
app/android/src/com/introlab/rtabmap/SettingsActivity.java
View File

@@ -39,10 +39,12 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
((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));
((Preference)findPreference(getString(R.string.pref_key_sim_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_sim_thr))).getEntry() + ") "+getString(R.string.pref_summary_sim_thr));
((Preference)findPreference(getString(R.string.pref_key_min_inliers))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_min_inliers))).getEntry() + ") "+getString(R.string.pref_summary_min_inliers));
((Preference)findPreference(getString(R.string.pref_key_opt_error))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_error))).getEntry() + ") "+getString(R.string.pref_summary_opt_error));
((Preference)findPreference(getString(R.string.pref_key_features_voc))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_features_voc))).getEntry() + ") "+getString(R.string.pref_summary_features_voc));
((Preference)findPreference(getString(R.string.pref_key_features))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_features))).getEntry() + ") "+getString(R.string.pref_summary_features));
((Preference)findPreference(getString(R.string.pref_key_features_type))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_features_type))).getEntry() + ") "+getString(R.string.pref_summary_features_type));
((Preference)findPreference(getString(R.string.pref_key_optimizer))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_optimizer))).getEntry() + ") "+getString(R.string.pref_summary_optimizer));
((Preference)findPreference(getString(R.string.pref_key_cloud_voxel))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_cloud_voxel))).getEntry() + ") "+getString(R.string.pref_summary_cloud_voxel));
((Preference)findPreference(getString(R.string.pref_key_texture_size))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_texture_size))).getEntry() + ") "+getString(R.string.pref_summary_texture_size));
@@ -72,10 +74,12 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
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));
if(key.compareTo(getString(R.string.pref_key_sim_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_sim_thr));
if(key.compareTo(getString(R.string.pref_key_min_inliers))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_min_inliers));
if(key.compareTo(getString(R.string.pref_key_opt_error))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_error));
if(key.compareTo(getString(R.string.pref_key_features_voc))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_features_voc));
if(key.compareTo(getString(R.string.pref_key_features))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_features));
if(key.compareTo(getString(R.string.pref_key_features_type))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_features_type));
if(key.compareTo(getString(R.string.pref_key_optimizer))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_optimizer));
if(key.compareTo(getString(R.string.pref_key_cloud_voxel))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_cloud_voxel));
if(key.compareTo(getString(R.string.pref_key_texture_size))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_texture_size));

505
app/android/src/com/introlab/rtabmap/SketchfabActivity.java Normal file
View File

@@ -0,0 +1,505 @@
package com.introlab.rtabmap;
import java.io.BufferedInputStream;
import java.io.BufferedOutputStream;
import java.io.BufferedReader;
import java.io.File;
import java.io.FileInputStream;
import java.io.FileOutputStream;
import java.io.IOException;
import java.io.InputStream;
import java.io.InputStreamReader;
import java.net.SocketTimeoutException;
import java.text.SimpleDateFormat;
import java.util.Date;
import java.util.List;
import java.util.zip.ZipEntry;
import java.util.zip.ZipOutputStream;
import org.apache.http.HttpEntity;
import org.apache.http.HttpResponse;
import org.apache.http.client.HttpClient;
import org.apache.http.client.methods.HttpPatch;
import org.apache.http.entity.StringEntity;
import org.apache.http.impl.client.DefaultHttpClient;
import android.app.Activity;
import android.app.AlertDialog;
import android.app.Dialog;
import android.app.ProgressDialog;
import android.content.Context;
import android.content.DialogInterface;
import android.content.Intent;
import android.content.SharedPreferences;
import android.net.ConnectivityManager;
import android.net.NetworkInfo;
import android.os.AsyncTask;
import android.os.Bundle;
import android.preference.PreferenceManager;
import android.text.Editable;
import android.text.InputType;
import android.text.SpannableString;
import android.text.TextWatcher;
import android.text.method.LinkMovementMethod;
import android.text.util.Linkify;
import android.util.Log;
import android.view.View;
import android.view.View.OnClickListener;
import android.webkit.WebView;
import android.webkit.WebViewClient;
import android.widget.Button;
import android.widget.CheckBox;
import android.widget.EditText;
import android.widget.TextView;
import android.widget.Toast;
import android.widget.ToggleButton;
public class SketchfabActivity extends Activity implements OnClickListener {
private static final String AUTHORIZE_PATH = "https://sketchfab.com/oauth2/authorize";
private static final String CLIENT_ID = "RXrIJYAwlTELpySsyM8TrK9r3kOGQ5Qjj9VVDIfV";
private static final String REDIRECT_URI = "https://introlab.github.io/rtabmap/oauth2_redirect";
public static final int ZIP_BUFFER_SIZE = 1<<20; // 1MB
ProgressDialog mProgressDialog;
private Dialog mAuthDialog;
private String mAuthToken;
private boolean mExportedOBJ;
private String mWorkingDirectory;
EditText mFilename;
EditText mDescription;
EditText mTags;
CheckBox mDraft;
Button mButtonOk;
private SketchfabActivity getActivity() {return this;}
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_sketchfab);
mFilename = (EditText)findViewById(R.id.editText_filename);
mDescription = (EditText)findViewById(R.id.editText_description);
mTags = (EditText)findViewById(R.id.editText_tags);
mDraft = (CheckBox)findViewById(R.id.checkBox_draft);
mButtonOk = (Button)findViewById(R.id.button_ok);
mProgressDialog = new ProgressDialog(this);
mProgressDialog.setCanceledOnTouchOutside(false);
mAuthToken = getIntent().getExtras().getString(RTABMapActivity.RTABMAP_AUTH_TOKEN_KEY);
mExportedOBJ = getIntent().getExtras().getBoolean(RTABMapActivity.RTABMAP_EXPORTED_OBJ_KEY);
mFilename.setText(getIntent().getExtras().getString(RTABMapActivity.RTABMAP_FILENAME_KEY));
mWorkingDirectory = getIntent().getExtras().getString(RTABMapActivity.RTABMAP_WORKING_DIR_KEY);
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
String tags = sharedPref.getString(getString(R.string.pref_key_tags), getString(R.string.pref_default_tags));
if(tags.isEmpty())
{
tags = getString(R.string.pref_default_tags);
}
mTags.setText(tags);
mButtonOk.setEnabled(mFilename.getText().toString().length()>0);
mButtonOk.setOnClickListener(this);
mFilename.addTextChangedListener(new TextWatcher() {
@Override
public void afterTextChanged(Editable s) {}
@Override
public void beforeTextChanged(CharSequence s, int start,
int count, int after) {
}
@Override
public void onTextChanged(CharSequence s, int start,
int before, int count) {
mButtonOk.setEnabled(s.length() != 0);
}
});
mFilename.setSelectAllOnFocus(true);
mFilename.requestFocus();
}
@Override
public void onClick(View v) {
// Handle button clicks.
switch (v.getId()) {
case R.id.button_ok:
shareToSketchfab();
break;
default:
return;
}
}
private void shareToSketchfab()
{
if(!mTags.getText().toString().isEmpty())
{
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
SharedPreferences.Editor editor = sharedPref.edit();
editor.putString(getString(R.string.pref_key_tags), mTags.getText().toString());
// Commit the edits!
editor.commit();
}
final String extension = mExportedOBJ?".obj":".ply";
String[] files = new String[0];
// verify if we have all files
if(extension.compareTo(".obj") == 0)
{
File objFile = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + RTABMapActivity.RTABMAP_TMP_FILENAME + ".obj");
File mltFile = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + RTABMapActivity.RTABMAP_TMP_FILENAME + ".mtl");
File jpgFile = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + RTABMapActivity.RTABMAP_TMP_FILENAME + ".jpg");
if(objFile.exists() && mltFile.exists() && jpgFile.exists())
{
files = new String[3];
files[0] = objFile.getAbsolutePath();
files[1] = mltFile.getAbsolutePath();
files[2] = jpgFile.getAbsolutePath();
}
else
{
Toast.makeText(getActivity(), String.format("Missing OBJ files!"), Toast.LENGTH_LONG).show();
}
}
else if(extension.compareTo(".ply") == 0)
{
File plyFile = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + RTABMapActivity.RTABMAP_TMP_FILENAME + extension);
if(plyFile.exists())
{
files = new String[1];
files[0] = plyFile.getAbsolutePath();
}
else
{
Toast.makeText(getActivity(), String.format("Missing PLY file!"), Toast.LENGTH_LONG).show();
}
}
else
{
Toast.makeText(getActivity(), String.format("Unknown file extension \"%s\"!", extension), Toast.LENGTH_LONG).show();
}
if(files.length > 0)
{
final String[] filesToZip = files;
authorizeAndPublish(filesToZip, mFilename.getText().toString());
}
}
private void authorizeAndPublish(final String[] filesToZip, final String fileName)
{
if(!isNetworkAvailable())
{
// Visualize the result?
new AlertDialog.Builder(this)
.setTitle("Sharing to Sketchfab...")
.setMessage("Network is not available. Make sure you have internet before continuing.")
.setPositiveButton("Try Again", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
authorizeAndPublish(filesToZip, fileName);
}
})
.setNeutralButton("Abort", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
}
})
.show();
return;
}
// get token the first time
if(mAuthToken == null)
{
Log.i(RTABMapActivity.TAG,"We don't have the token, get it!");
WebView web;
mAuthDialog = new Dialog(this);
mAuthDialog.setContentView(R.layout.auth_dialog);
web = (WebView)mAuthDialog.findViewById(R.id.webv);
web.getSettings().setJavaScriptEnabled(true);
String auth_url = AUTHORIZE_PATH+"?redirect_uri="+REDIRECT_URI+"&response_type=token&client_id="+CLIENT_ID;
Log.i(RTABMapActivity.TAG, "Auhorize url="+auth_url);
web.setWebViewClient(new WebViewClient() {
boolean authComplete = false;
@Override
public void onPageFinished(WebView view, String url) {
super.onPageFinished(view, url);
//Log.i(TAG,"onPageFinished url="+url);
if(url.contains("error=access_denied")){
Log.e(RTABMapActivity.TAG, "ACCESS_DENIED_HERE");
authComplete = true;
Toast.makeText(getApplicationContext(), "Error Occured", Toast.LENGTH_SHORT).show();
mAuthDialog.dismiss();
}
else if (url.startsWith(REDIRECT_URI) && url.contains("access_token") && authComplete != true) {
//Log.i(TAG,"onPageFinished received token="+url);
String[] sArray = url.split("access_token=");
mAuthToken = (sArray[1].split("&token_type=Bearer"))[0];
authComplete = true;
mAuthDialog.dismiss();
zipAndPublish(filesToZip, fileName);
}
}
});
mAuthDialog.show();
mAuthDialog.setTitle("Authorize RTAB-Map");
mAuthDialog.setCancelable(true);
web.loadUrl(auth_url);
}
else
{
zipAndPublish(filesToZip, fileName);
}
}
private void zipAndPublish(final String[] filesToZip, final String fileName)
{
final String zipOutput = mWorkingDirectory+fileName+".zip";
mProgressDialog.setTitle("Upload to Sketchfab");
mProgressDialog.setMessage(String.format("Compressing the files..."));
mProgressDialog.show();
Thread workingThread = new Thread(new Runnable() {
public void run() {
try{
zip(filesToZip, zipOutput);
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
File f = new File(zipOutput);
// Continue?
AlertDialog.Builder builder = new AlertDialog.Builder(getActivity());
builder.setTitle("File(s) compressed and ready to upload!");
final int fileSizeMB = (int)f.length()/(1024 * 1024);
final int fileSizeKB = (int)f.length()/(1024);
if(fileSizeMB == 0)
{
Log.i(RTABMapActivity.TAG, String.format("Zipped files = %d KB", fileSizeKB));
builder.setMessage(String.format("Total size to upload = %d KB. Do you want to continue?\n\n", fileSizeKB));
}
else
{
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,
fileSizeMB>=50?"Note that for size over 50 MB, a Sketchfab PRO account is required, otherwise the upload may fail. ":""));
}
builder.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
mProgressDialog.setTitle("Upload to Sketchfab");
if(fileSizeMB == 0)
{
mProgressDialog.setMessage(String.format("Uploading model \"%s\" (%d KB) to Sketchfab...", fileName, fileSizeKB));
}
else
{
mProgressDialog.setMessage(String.format("Uploading model \"%s\" (%d MB) to Sketchfab...", fileName, fileSizeMB));
}
mProgressDialog.show();
new uploadToSketchfabTask().execute(zipOutput, fileName);
}
});
builder.setNegativeButton("No", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
// do nothing...
}
});
builder.show();
}
});
}
catch(IOException ex) {
Log.e(RTABMapActivity.TAG, "Failed to zip", ex);
}
}
});
workingThread.start();
}
private boolean isNetworkAvailable() {
ConnectivityManager connectivityManager
= (ConnectivityManager) getSystemService(Context.CONNECTIVITY_SERVICE);
NetworkInfo activeNetworkInfo = connectivityManager.getActiveNetworkInfo();
return activeNetworkInfo != null && activeNetworkInfo.isConnected();
}
public static void zip(String file, String zipFile) throws IOException {
Log.i(RTABMapActivity.TAG, "Zipping " + file +" to " + zipFile);
String[] files = new String[1];
files[0] = file;
zip(files, zipFile);
}
public static void zip(String[] files, String zipFile) throws IOException {
Log.i(RTABMapActivity.TAG, "Zipping " + String.valueOf(files.length) +" files to " + zipFile);
BufferedInputStream origin = null;
ZipOutputStream out = new ZipOutputStream(new BufferedOutputStream(new FileOutputStream(zipFile)));
try {
byte data[] = new byte[ZIP_BUFFER_SIZE];
for (int i = 0; i < files.length; i++) {
FileInputStream fi = new FileInputStream(files[i]);
origin = new BufferedInputStream(fi, ZIP_BUFFER_SIZE);
try {
ZipEntry entry = new ZipEntry(files[i].substring(files[i].lastIndexOf("/") + 1));
out.putNextEntry(entry);
int count;
while ((count = origin.read(data, 0, ZIP_BUFFER_SIZE)) != -1) {
out.write(data, 0, count);
}
}
finally {
origin.close();
}
}
}
finally {
out.close();
}
}
private class uploadToSketchfabTask extends AsyncTask<String, Void, Void>
{
String mModelUri;
String mModelFilePath;
String error = "";
String mFileName;
protected void onPreExecute() {
//display progress dialog.
}
@Override
protected void onPostExecute(Void result) {
mProgressDialog.dismiss();
//Task you want to do on UIThread after completing Network operation
//onPostExecute is called after doInBackground finishes its task.
if(mModelFilePath!= null)
{
File f = new File(mModelFilePath);
f.delete(); // cleanup
// See on sketchfab?
final SpannableString s = new SpannableString(
"Model \"" + mFileName + "\" is now processing on Sketchfab! You can click "
+ "on the link below to see it on Sketchfab.\n\nhttps://sketchfab.com/models/"+mModelUri);
Linkify.addLinks(s, Linkify.WEB_URLS);
final AlertDialog d = new AlertDialog.Builder(getActivity())
.setTitle("Upload finished!")
.setCancelable(false)
.setMessage(s)
.setPositiveButton("Close", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
Intent resultIntent = new Intent();
resultIntent.putExtra(RTABMapActivity.RTABMAP_AUTH_TOKEN_KEY, mAuthToken);
setResult(Activity.RESULT_OK, resultIntent);
finish();
}
}).create();
d.show();
((TextView)d.findViewById(android.R.id.message)).setMovementMethod(LinkMovementMethod.getInstance());
}
else
{
Toast.makeText(getApplicationContext(), String.format("Upload failed! Error=\"%s\"", error), Toast.LENGTH_SHORT).show();
}
}
@Override
protected Void doInBackground(String... files) {
String charset = "UTF-8";
File uploadFile = new File(files[0]);
mFileName = files[1];
String requestURL = "https://api.sketchfab.com/v3/models";
Log.i(RTABMapActivity.TAG, "Uploading " + files[0]);
try {
MultipartUtility multipart = new MultipartUtility(requestURL, mAuthToken, charset);
multipart.addFormField("name", mFileName);
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.addFilePart("modelFile", uploadFile);
Log.i(RTABMapActivity.TAG, "Starting multipart request");
List<String> response = multipart.finish();
Log.i(RTABMapActivity.TAG, "SERVER REPLIED:");
for (String line : response) {
Log.i(RTABMapActivity.TAG, line);
//{"uri":"https:\/\/api.sketchfab.com\/v3\/models\/XXXXXXXXX","uid":"XXXXXXXXXX"}
if(line.contains("\"uid\":\""))
{
String[] sArray = line.split("\"uid\":\"");
mModelUri = (sArray[1].split("\""))[0];
mModelFilePath = files[0];
//patch model for orientation
/*HttpClient httpClient = new DefaultHttpClient();
try {
String patchURL = "https://api.sketchfab.com/v3/models/"+ mModelUri +"/options";
HttpPatch request = new HttpPatch(patchURL);
String json =
"{\n"+
"uid: "+ mModelUri + "\n" +
"shading: shadeless\n"+
//"orientation:\n"+
//"{\n"+
// "axis : [1, 0, 0]\n"+
// "angle : 0\n"+
//"}\n"+
"}";
request.setHeader("Authorization", "Bearer " + mAuthToken);
StringEntity params =new StringEntity(json, "UTF-8");
params.setContentType("application/json");
request.setEntity(params);
HttpResponse responsePatch = httpClient.execute(request);
int responseStatus = responsePatch.getStatusLine().getStatusCode();
Log.i(RTABMapActivity.TAG, "get data responseStatus: " + responseStatus);
}catch (Exception e) {
Log.e(RTABMapActivity.TAG, "Error while patching model", e);
error = e.getMessage();
}*/
}
}
} catch (IOException ex) {
Log.e(RTABMapActivity.TAG, "Error while uploading", ex);
error = ex.getMessage();
}
return null;
}
}
}