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Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering

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This commit is contained in:
matlabbe
2016-04-04 13:03:43 -04:00
parent ff32f54aa8
commit af405e69b1
22 changed files with 424 additions and 193 deletions
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2
app/android/AndroidManifest.xml → app/android/AndroidManifest.xml.in
View File

@@ -3,7 +3,7 @@
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.introlab.rtabmap"
android:versionCode="1"
android:versionName="0.11.2">
android:versionName="@RTABMAP_VERSION@">
<uses-permission android:name="android.permission.CAMERA" />
<uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />

9
app/android/CMakeLists.txt
View File

@@ -14,10 +14,19 @@ if(NOT ANDROID_EXECUTABLE)
message(FATAL_ERROR "Can not find android command line tool: android")
endif()
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml.in"
"${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml")
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml"
"${CMAKE_CURRENT_BINARY_DIR}/AndroidManifest.xml"
COPYONLY)
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/info.txt.in"
"${CMAKE_CURRENT_SOURCE_DIR}/res/raw/info.txt")
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/ant.properties.in"

2
app/android/res/raw/info.txt → app/android/info.txt.in
View File

@@ -1,5 +1,5 @@
<h3>Real-Time Appearance-Based Mapping</h3>
Version 0.11.2<br>
Version @RTABMAP_VERSION@<br>
Author: Mathieu Labb&eacute;<br>
Copyright 2016<br>
IntRoLab - Universit&eacute; de Sherbrooke<br>

111
app/android/jni/RTABMapApp.cpp
View File

@@ -50,8 +50,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/io/obj_io.h>
const int kVersionStringLength = 128;
const float meshAngleTolerance = 0.1745; // 10 degrees
const int meshTrianglePixels = 1;
static JavaVM *jvm;
static jobject RTABMapActivity = 0;
@@ -86,7 +84,6 @@ RTABMapApp::RTABMapApp() :
rtabmapThread_(0),
rtabmap_(0),
logHandler_(0),
mapCloudShown_(true),
odomCloudShown_(true),
graphOptimization_(true),
localizationMode_(false),
@@ -94,6 +91,8 @@ RTABMapApp::RTABMapApp() :
autoExposure_(false),
fullResolution_(false),
maxCloudDepth_(0.0),
meshTrianglePix_(1),
meshAngleToleranceDeg_(10.0),
clearSceneOnNextRender_(false),
totalPoints_(0),
totalPolygons_(0),
@@ -193,21 +192,6 @@ void RTABMapApp::openDatabase(const std::string & databasePath)
true,
true);
if(poses.size() > 1 &&
rtabmap::Optimizer::isAvailable(rtabmap::Optimizer::kTypeG2O))
{
rtabmap::ParametersMap param;
param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "10"));
rtabmap::Optimizer * sba = rtabmap::Optimizer::create(rtabmap::Optimizer::kTypeG2O, param);
poses = sba->optimizeBA(poses.rbegin()->first, poses, links, signatures);
delete sba;
if(poses.size())
{
rtabmap_->setOptimizedPoses(poses);
}
}
clearSceneOnNextRender_ = true;
rtabmap::Statistics stats;
stats.setSignatures(signatures);
@@ -421,7 +405,7 @@ int RTABMapApp::Render()
filter.setInputCloud(cloud);
filter.filter(*output);
std::vector<pcl::Vertices> polygons = rtabmap::util3d::organizedFastMesh(output, meshAngleTolerance, false, meshTrianglePixels);
std::vector<pcl::Vertices> polygons = rtabmap::util3d::organizedFastMesh(output, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr outputCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
std::vector<pcl::Vertices> outputPolygons;
@@ -464,7 +448,7 @@ int RTABMapApp::Render()
iter!=addedClouds.end();
++iter)
{
if(*iter > 0 && (!mapCloudShown_ || poses.find(*iter) == poses.end()))
if(*iter > 0 && poses.find(*iter) == poses.end())
{
main_scene_.setCloudVisible(*iter, false);
}
@@ -485,22 +469,24 @@ int RTABMapApp::Render()
}
}
main_scene_.setCloudVisible(-1, odomCloudShown_ && !trajectoryMode_);
//just process the last one
if(set && !event.pose().isNull())
{
main_scene_.setCloudVisible(-1, false);
if(odomCloudShown_ && !trajectoryMode_)
{
if(!event.data().imageRaw().empty() && !event.data().depthRaw().empty())
{
LOGI("Creating Odom cloud (rgb=%dx%d depth=%dx%d)",
event.data().imageRaw().cols, event.data().imageRaw().rows,
event.data().depthRaw().cols, event.data().depthRaw().rows);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
cloud = rtabmap::util3d::cloudRGBFromSensorData(event.data(), event.data().imageRaw().rows/event.data().depthRaw().rows, maxCloudDepth_);
if(cloud->size())
{
std::vector<pcl::Vertices> polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleTolerance, false, meshTrianglePixels);
LOGI("Created odom cloud (rgb=%dx%d depth=%dx%d cloud=%dx%d)",
event.data().imageRaw().cols, event.data().imageRaw().rows,
event.data().depthRaw().cols, event.data().depthRaw().rows,
(int)cloud->width, (int)cloud->height);
std::vector<pcl::Vertices> polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
main_scene_.addCloud(-1, cloud, polygons, opengl_world_T_rtabmap_world*event.pose(), event.data().imageRaw());
main_scene_.setCloudVisible(-1, true);
}
@@ -551,7 +537,7 @@ void RTABMapApp::setPausedMapping(bool paused)
}
void RTABMapApp::setMapCloudShown(bool shown)
{
mapCloudShown_ = shown;
main_scene_.setMapRendering(shown);
}
void RTABMapApp::setOdomCloudShown(bool shown)
{
@@ -618,6 +604,16 @@ void RTABMapApp::setMaxCloudDepth(float value)
maxCloudDepth_ = value;
}
void RTABMapApp::setMeshAngleTolerance(float value)
{
meshAngleToleranceDeg_ = value;
}
void RTABMapApp::setMeshTriangleSize(int value)
{
meshTrianglePix_ = value;
}
int RTABMapApp::setMappingParameter(const std::string & key, const std::string & value)
{
if(rtabmap::Parameters::getDefaultParameters().find(key) != rtabmap::Parameters::getDefaultParameters().end())
@@ -763,6 +759,14 @@ bool RTABMapApp::exportMesh(const std::string & filePath)
UINFO("Saving obj to %s.", filePath.c_str());
success = pcl::io::saveOBJFile(filePath, textureMesh) == 0;
if(success)
{
UINFO("Saved obj to %s!", filePath.c_str());
}
else
{
UERROR("Failed saving obj to %s!", filePath.c_str());
}
}
}
}
@@ -806,39 +810,64 @@ bool RTABMapApp::exportMesh(const std::string & filePath)
pcl::toPCLPointCloud2(*mergedClouds, mesh.cloud);
mesh.polygons = mergedPolygons;
UINFO("Saving to %s.", filePath.c_str());
UINFO("Saving ply to %s.", filePath.c_str());
success = pcl::io::savePLYFileBinary(filePath, mesh) == 0;
if(success)
{
UINFO("Saved ply to %s!", filePath.c_str());
}
else
{
UERROR("Failed saving ply to %s!", filePath.c_str());
}
}
}
return success;
}
int RTABMapApp::postProcessing(bool graphOptimizationOnly)
int RTABMapApp::postProcessing(int approach)
{
int detectedLoopClosures = 0;
int returnedValue = 0;
if(rtabmap_)
{
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
if(graphOptimizationOnly)
if(approach == 2 || approach == 0)
{
rtabmap_->getGraph(poses, links, true, true);
if(approach == 2)
{
// detect more loop closures
returnedValue = rtabmap_->detectMoreLoopClosures();
}
if(returnedValue >= 0)
{
// simple graph optmimization
rtabmap_->getGraph(poses, links, true, true);
}
}
else
else if (approach == 1)
{
detectedLoopClosures = rtabmap_->detectMoreLoopClosures();
std::map<int, rtabmap::Signature> signatures;
rtabmap_->getGraph(poses, links, false, true, &signatures);
if(rtabmap::Optimizer::isAvailable(rtabmap::Optimizer::kTypeG2O))
{
std::map<int, rtabmap::Signature> signatures;
rtabmap_->getGraph(poses, links, false, true, &signatures);
rtabmap::ParametersMap param;
param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "10"));
param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "30"));
rtabmap::Optimizer * sba = rtabmap::Optimizer::create(rtabmap::Optimizer::kTypeG2O, param);
poses = sba->optimizeBA(poses.rbegin()->first, poses, links, signatures);
delete sba;
}
else
{
LOGE("g2o not available!");
}
}
else
{
LOGE("Invalid approach %d (should be 0 (graph optimization), 1 (sba) or 2 (detect more loop closures))", approach);
returnedValue = -1;
}
if(poses.size())
@@ -851,8 +880,12 @@ int RTABMapApp::postProcessing(bool graphOptimizationOnly)
rtabmap_->setOptimizedPoses(poses);
}
else
{
returnedValue = -1;
}
}
return detectedLoopClosures;
return returnedValue;
}
void RTABMapApp::handleEvent(UEvent * event)

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

@@ -123,12 +123,14 @@ class RTABMapApp : public UEventsHandler {
void setAutoExposure(bool enabled);
void setFullResolution(bool enabled);
void setMaxCloudDepth(float value);
void setMeshAngleTolerance(float value);
void setMeshTriangleSize(int value);
int setMappingParameter(const std::string & key, const std::string & value);
void resetMapping();
void save();
bool exportMesh(const std::string & filePath);
int postProcessing(bool graphOptimizationOnly);
int postProcessing(int approach);
protected:
virtual void handleEvent(UEvent * event);
@@ -142,7 +144,6 @@ class RTABMapApp : public UEventsHandler {
rtabmap::Rtabmap * rtabmap_;
LogHandler * logHandler_;
bool mapCloudShown_;
bool odomCloudShown_;
bool graphOptimization_;
bool localizationMode_;
@@ -150,6 +151,8 @@ class RTABMapApp : public UEventsHandler {
bool autoExposure_;
bool fullResolution_;
float maxCloudDepth_;
int meshTrianglePix_;
float meshAngleToleranceDeg_;
rtabmap::ParametersMap mappingParameters_;

16
app/android/jni/jni_interface.cpp
View File

@@ -179,6 +179,18 @@ Java_com_introlab_rtabmap_RTABMapLib_setMaxCloudDepth(
{
return app.setMaxCloudDepth(value);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setMeshAngleTolerance(
JNIEnv*, jobject, float value)
{
return app.setMeshAngleTolerance(value);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setMeshTriangleSize(
JNIEnv*, jobject, int value)
{
return app.setMeshTriangleSize(value);
}
JNIEXPORT jint JNICALL
Java_com_introlab_rtabmap_RTABMapLib_setMappingParameter(
JNIEnv* env, jobject, jstring key, jstring value)
@@ -214,9 +226,9 @@ Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
JNIEXPORT int JNICALL
Java_com_introlab_rtabmap_RTABMapLib_postProcessing(
JNIEnv* env, jobject, bool graphOptimizationOnly)
JNIEnv* env, jobject, int approach)
{
return app.postProcessing(graphOptimizationOnly);
return app.postProcessing(approach);
}

69
app/android/jni/point_cloud_drawable.cpp
View File

@@ -46,7 +46,8 @@ PointCloudDrawable::PointCloudDrawable(
nPoints_(0),
pose_(1.0f),
visible_(true),
shader_program_(cloudShaderProgram!=0?cloudShaderProgram:textureShaderProgram)
cloud_shader_program_(cloudShaderProgram),
texture_shader_program_(textureShaderProgram)
{
UASSERT(!cloud->empty());
@@ -57,7 +58,7 @@ PointCloudDrawable::PointCloudDrawable(
return;
}
if(textureShaderProgram)
if(!cloud->is_dense && !image.empty())
{
LOGI("cloud=%dx%d image=%dx%d\n", (int)cloud->width, (int)cloud->height, image.cols, image.rows);
UASSERT(polygons.size() && !cloud->is_dense && !image.empty() && image.type() == CV_8UC3);
@@ -74,16 +75,19 @@ PointCloudDrawable::PointCloudDrawable(
std::vector<float> vertices;
if(textures_)
{
vertices = std::vector<float>(cloud->size()*5);
vertices = std::vector<float>(cloud->size()*6);
for(unsigned int i=0; i<cloud->size(); ++i)
{
vertices[i*5] = cloud->at(i).x;
vertices[i*5+1] = cloud->at(i).y;
vertices[i*5+2] = cloud->at(i).z;
vertices[i*6] = cloud->at(i).x;
vertices[i*6+1] = cloud->at(i).y;
vertices[i*6+2] = cloud->at(i).z;
// rgb
vertices[i*6+3] = cloud->at(i).rgb;
// texture uv
vertices[i*5+3] = float(i % cloud->width)/float(cloud->width); //u
vertices[i*5+4] = float(i/cloud->width)/float(cloud->height); //v
vertices[i*6+4] = float(i % cloud->width)/float(cloud->width); //u
vertices[i*6+5] = float(i/cloud->width)/float(cloud->height); //v
}
}
else
@@ -180,47 +184,60 @@ void PointCloudDrawable::Render(const glm::mat4 & projectionMatrix, const glm::m
if(vertex_buffers_ && nPoints_ && visible_)
{
glUseProgram(shader_program_);
GLuint mvp_handle_ = glGetUniformLocation(shader_program_, "mvp");
glm::mat4 mvp_mat = projectionMatrix * viewMatrix * pose_;
glUniformMatrix4fv(mvp_handle_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
if(textures_)
if(meshRendering && textures_)
{
glUseProgram(texture_shader_program_);
GLuint mvp_handle_ = glGetUniformLocation(texture_shader_program_, "mvp");
glm::mat4 mvp_mat = projectionMatrix * viewMatrix * pose_;
glUniformMatrix4fv(mvp_handle_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
// Texture activate unit 0
glActiveTexture(GL_TEXTURE0);
// Bind the texture to this unit.
glBindTexture(GL_TEXTURE_2D, textures_);
// Tell the texture uniform sampler to use this texture in the shader by binding to texture unit 0.
GLuint texture_handle = glGetUniformLocation(shader_program_, "u_Texture");
GLuint texture_handle = glGetUniformLocation(texture_shader_program_, "u_Texture");
glUniform1i(texture_handle, 0);
GLint attribute_vertex = glGetAttribLocation(shader_program_, "vertex");
GLint attribute_texture = glGetAttribLocation(shader_program_, "a_TexCoordinate");
GLint attribute_vertex = glGetAttribLocation(texture_shader_program_, "vertex");
GLint attribute_texture = glGetAttribLocation(texture_shader_program_, "a_TexCoordinate");
glEnableVertexAttribArray(attribute_vertex);
glEnableVertexAttribArray(attribute_texture);
glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
glVertexAttribPointer(attribute_vertex, 3, GL_FLOAT, GL_FALSE, 5*sizeof(GLfloat), 0);
glVertexAttribPointer(attribute_texture, 2, GL_FLOAT, GL_FALSE, 5*sizeof(GLfloat), (GLvoid*) (3 * sizeof(GLfloat)));
glVertexAttribPointer(attribute_vertex, 3, GL_FLOAT, GL_FALSE, 6*sizeof(GLfloat), 0);
glVertexAttribPointer(attribute_texture, 2, GL_FLOAT, GL_FALSE, 6*sizeof(GLfloat), (GLvoid*) (4 * sizeof(GLfloat)));
glDrawElements(GL_TRIANGLES, polygons_.size(), GL_UNSIGNED_SHORT, polygons_.data());
}
else // point cloud or colored mesh
{
GLuint point_size_handle_ = glGetUniformLocation(shader_program_, "point_size");
glUseProgram(cloud_shader_program_);
GLuint mvp_handle_ = glGetUniformLocation(cloud_shader_program_, "mvp");
glm::mat4 mvp_mat = projectionMatrix * viewMatrix * pose_;
glUniformMatrix4fv(mvp_handle_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
GLuint point_size_handle_ = glGetUniformLocation(cloud_shader_program_, "point_size");
glUniform1f(point_size_handle_, pointSize);
GLint attribute_vertex = glGetAttribLocation(shader_program_, "vertex");
GLint attribute_color = glGetAttribLocation(shader_program_, "color");
GLint attribute_vertex = glGetAttribLocation(cloud_shader_program_, "vertex");
GLint attribute_color = glGetAttribLocation(cloud_shader_program_, "color");
glEnableVertexAttribArray(attribute_vertex);
glEnableVertexAttribArray(attribute_color);
glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
glVertexAttribPointer(attribute_vertex, 3, GL_FLOAT, GL_FALSE, 4*sizeof(GLfloat), 0);
glVertexAttribPointer(attribute_color, 3, GL_UNSIGNED_BYTE, GL_TRUE, 4*sizeof(GLfloat), (GLvoid*) (3 * sizeof(GLfloat)));
if(textures_)
{
glVertexAttribPointer(attribute_vertex, 3, GL_FLOAT, GL_FALSE, 6*sizeof(GLfloat), 0);
glVertexAttribPointer(attribute_color, 3, GL_UNSIGNED_BYTE, GL_TRUE, 6*sizeof(GLfloat), (GLvoid*) (3 * sizeof(GLfloat)));
}
else
{
glVertexAttribPointer(attribute_vertex, 3, GL_FLOAT, GL_FALSE, 4*sizeof(GLfloat), 0);
glVertexAttribPointer(attribute_color, 3, GL_UNSIGNED_BYTE, GL_TRUE, 4*sizeof(GLfloat), (GLvoid*) (3 * sizeof(GLfloat)));
}
if(meshRendering && polygons_.size())
{
glDrawElements(GL_TRIANGLES, polygons_.size(), GL_UNSIGNED_SHORT, polygons_.data());

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

@@ -71,7 +71,8 @@ class PointCloudDrawable {
glm::mat4 pose_;
bool visible_;
GLuint shader_program_;
GLuint cloud_shader_program_;
GLuint texture_shader_program_;
};
#endif // TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_

14
app/android/jni/scene.cpp
View File

@@ -114,6 +114,7 @@ Scene::Scene() :
cloud_shader_program_(0),
texture_mesh_shader_program_(0),
graph_shader_program_(0),
mapRendering_(true),
meshRendering_(true),
pointSize_(3.0f) {}
@@ -280,7 +281,7 @@ int Scene::Render() {
bool frustumCulling = true;
int cloudDrawn=0;
if(frustumCulling)
if(mapRendering_ && frustumCulling)
{
//Use camera frustum to cull nodes that don't need to be drawn
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
@@ -334,8 +335,11 @@ int Scene::Render() {
{
for(std::map<int, PointCloudDrawable*>::const_iterator iter=pointClouds_.begin(); iter!=pointClouds_.end(); ++iter)
{
++cloudDrawn;
iter->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_);
if(mapRendering_ || iter->first < 0)
{
++cloudDrawn;
iter->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_);
}
}
}
@@ -420,8 +424,8 @@ void Scene::addCloud(
//create
UASSERT(cloud_shader_program_ != 0 && texture_mesh_shader_program_!=0);
PointCloudDrawable * drawable = new PointCloudDrawable(
cloud->is_dense || image.empty()?cloud_shader_program_:0,
cloud->is_dense || image.empty()?0:texture_mesh_shader_program_,
cloud_shader_program_,
texture_mesh_shader_program_,
cloud,
polygons,
image);

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

@@ -108,6 +108,7 @@ class Scene {
bool hasCloud(int id) const;
std::set<int> getAddedClouds() const;
void setMapRendering(bool enabled) {mapRendering_ = enabled;}
void setMeshRendering(bool enabled) {meshRendering_ = enabled;}
void setPointSize(float size) {pointSize_ = size;}
@@ -139,6 +140,7 @@ class Scene {
GLuint texture_mesh_shader_program_;
GLuint graph_shader_program_;
bool mapRendering_;
bool meshRendering_;
float pointSize_;
};

53
app/android/res/menu/optionmenu.xml
View File

@@ -6,6 +6,15 @@
</group>
<group android:id="@+id/group_actions">
<item android:id="@+id/post_processing" android:title="Post-Processing...">
<menu>
<group android:id="@+id/group_post_processing">
<item android:id="@+id/detect_more_loop_closures" android:title="Detect More Loop Closures" />
<item android:id="@+id/global_graph_optimization" android:title="Global Graph Optimization" />
<item android:id="@+id/sba" android:title="Bundle Adjustement" />
</group>
</menu>
</item>
<item android:id="@+id/open" android:title="Open"/>
<item android:id="@+id/save" android:title="Save"/>
<item android:id="@+id/export" android:title="Export...">
@@ -17,10 +26,8 @@
</menu>
</item>
<item android:id="@+id/reset" android:title="Reset"/>
<item android:id="@+id/about" android:title="About"/>
</group>
<item android:id="@+id/menu_rendering_settings" android:title="Rendering Options..." android:orderInCategory="2">
<item android:id="@+id/menu_rendering_settings" android:title="Rendering Options...">
<menu >
<group android:id="@+id/group_rendering_visibility" android:checkableBehavior="all">
<item android:id="@+id/debug" android:checked="false" android:title="Debug" />
@@ -28,22 +35,28 @@
<item android:id="@+id/map_shown" android:checked="true" android:title="Map Visible" />
<item android:id="@+id/odom_shown" android:checked="true" android:title="Odom Visible" />
<item android:id="@+id/graph_visible" android:checked="true" android:title="Graph Visible" />
<item android:id="@+id/max_depth" android:checkable="false" android:title="Max Depth..." />
<item android:id="@+id/max_depth" android:checkable="false" android:title="Cloud/Mesh Max Depth..." />
<item android:id="@+id/mesh_angle_tolerance" android:checkable="false" android:title="Mesh Angle Tolerance..." />
<item android:id="@+id/mesh_triangle_size" android:checkable="false" android:title="Mesh Triangle Size..." />
</group>
</menu>
</item>
<item android:id="@+id/menu_mapping_settings" android:title="Mapping Options..." android:orderInCategory="3">
<menu >
<group android:id="@+id/group_mapping_visibility" android:checkableBehavior="all">
<item android:id="@+id/localization_mode" android:checked="false" android:title="Localization Mode" />
<item android:id="@+id/trajectory_mode" android:checked="false" android:title="Trajectory Mode" />
<item android:id="@+id/auto_exposure" android:checked="false" android:title="Auto Exposure" />
<item android:id="@+id/graph_optimization" android:checked="true" android:title="Optimized Graph" />
<item android:id="@+id/update_rate" android:checkable="false" android:title="Map Update Rate..." />
<item android:id="@+id/time_threshold" android:checkable="false" android:title="Time Threshold..." />
<item android:id="@+id/features" android:checkable="false" android:title="Max Features Extracted..." />
<item android:id="@+id/resolution" android:checked="false" android:title="720p Mode" />
</group>
</menu>
</item>
</item>
<item android:id="@+id/menu_mapping_settings" android:title="Mapping Options...">
<menu >
<group android:id="@+id/group_mapping_visibility" android:checkableBehavior="all">
<item android:id="@+id/localization_mode" android:checked="false" android:title="Localization Mode" />
<item android:id="@+id/trajectory_mode" android:checked="false" android:title="Trajectory Mode" />
<item android:id="@+id/auto_exposure" android:checked="false" android:title="Auto Exposure" />
<item android:id="@+id/graph_optimization" android:checked="true" android:title="Optimized Graph" />
<item android:id="@+id/update_rate" android:checkable="false" android:title="Map Update Rate..." />
<item android:id="@+id/time_threshold" android:checkable="false" android:title="Time Threshold..." />
<item android:id="@+id/loop_threshold" android:checkable="false" android:title="Loop Closure Threshold..." />
<item android:id="@+id/features" android:checkable="false" android:title="Max Features Extracted..." />
<item android:id="@+id/resolution" android:checked="false" android:title="720p Mode" />
</group>
</menu>
</item>
<item android:id="@+id/about" android:title="About"/>
</group>
</menu>

239
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
View File

@@ -30,6 +30,7 @@ import android.view.MenuInflater;
import android.view.MotionEvent;
import android.view.View;
import android.view.View.OnClickListener;
import android.view.WindowManager;
import android.widget.EditText;
import android.widget.LinearLayout;
import android.widget.TextView;
@@ -66,6 +67,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private MenuItem mItemPause;
private MenuItem mItemSave;
private MenuItem mItemOpen;
private MenuItem mItemPostProcessing;
private MenuItem mItemExport;
private MenuItem mItemLocalizationMode;
private MenuItem mItemTrajectoryMode;
@@ -76,10 +78,13 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private String mWorkingDirectory = "";
private int mMaxDepthIndex = 5;
private int mMeshAngleToleranceIndex = 1;
private int mMeshTriangleSizeIndex = 0;
private int mParamUpdateRateHzIndex = 1;
private int mParamTimeThrMsIndex = 1;
private int mParamMaxFeaturesIndex = 2;
private int mParamMaxFeaturesIndex = 4;
private int mParamLoopThrMsIndex = 1;
private LinearLayout mLayoutDebug;
@@ -94,6 +99,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
// touch point.
Display display = getWindowManager().getDefaultDisplay();
display.getSize(mScreenSize);
getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
// Setting content view of this activity.
setContentView(R.layout.activity_rtabmap);
@@ -188,6 +195,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemPause.setChecked(false);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
mItemPostProcessing.setEnabled(false);
}
if(RTABMapLib.onResume()!=0)
@@ -274,12 +282,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemPause = menu.findItem(R.id.pause);
mItemSave = menu.findItem(R.id.save);
mItemOpen = menu.findItem(R.id.open);
mItemPostProcessing = menu.findItem(R.id.post_processing);
mItemExport = menu.findItem(R.id.export);
mItemLocalizationMode = menu.findItem(R.id.localization_mode);
mItemTrajectoryMode = menu.findItem(R.id.trajectory_mode);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
return true;
}
@@ -315,9 +325,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
if(loopClosureId > 0)
{
++mTotalLoopClosures;
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
Toast.makeText(this, "Loop closure detected!", Toast.LENGTH_SHORT).show();
}
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
}
// called from jni
@@ -443,6 +453,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
mItemPause.setChecked(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
RTABMapLib.setPausedMapping(false); // resume mapping
@@ -570,62 +581,12 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemSave.setEnabled(item.isChecked());
mItemExport.setEnabled(item.isChecked());
mItemOpen.setEnabled(item.isChecked());
mItemPostProcessing.setEnabled(item.isChecked());
// mItemSave.setEnabled(item.isChecked() && !mWorkingDirectory.isEmpty());
if(item.isChecked())
{
RTABMapLib.setPausedMapping(true);
((TextView)findViewById(R.id.status)).setText("Paused");
// Post-processing
new AlertDialog.Builder(getActivity())
.setTitle("Post-Processing")
.setMessage("Do you want to detect more loop closures and do a bundle adjustement? Otherwise, a simple global graph optimization is done.")
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
mProgressDialog.setTitle("Post-Processing");
mProgressDialog.setMessage(String.format("Please wait while optimizing..."));
mProgressDialog.show();
Thread workingThread = new Thread(new Runnable() {
public void run() {
final int loopDetected = RTABMapLib.postProcessing(false);
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
if(loopDetected > 0)
{
Toast.makeText(getActivity(), String.format("%d new loop closure(s) added.", loopDetected), Toast.LENGTH_SHORT).show();
}
}
});
}
});
workingThread.start();
}
})
.setNegativeButton("No", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
mProgressDialog.setTitle("Post-Processing");
mProgressDialog.setMessage(String.format("Please wait while optimizing..."));
mProgressDialog.show();
Thread workingThread = new Thread(new Runnable() {
public void run() {
RTABMapLib.postProcessing(true);
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
}
});
}
});
workingThread.start();
}
})
.show();
}
else
{
@@ -633,6 +594,84 @@ public class RTABMapActivity extends Activity implements OnClickListener {
((TextView)findViewById(R.id.status)).setText(mItemLocalizationMode.isChecked()?"Localization":"Mapping");
}
}
else if (itemId == R.id.detect_more_loop_closures)
{
mProgressDialog.setTitle("Post-Processing");
mProgressDialog.setMessage(String.format("Please wait while detecting more loop closures..."));
mProgressDialog.show();
Thread workingThread = new Thread(new Runnable() {
public void run() {
final int loopDetected = RTABMapLib.postProcessing(2);
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
if(loopDetected >= 0)
{
Toast.makeText(getActivity(), String.format("Detection done! %d new loop closure(s) added.", loopDetected), Toast.LENGTH_SHORT).show();
}
else if(loopDetected < 0)
{
Toast.makeText(getActivity(), String.format("Detection failed!"), Toast.LENGTH_SHORT).show();
}
}
});
}
});
workingThread.start();
}
else if (itemId == R.id.global_graph_optimization)
{
mProgressDialog.setTitle("Post-Processing");
mProgressDialog.setMessage(String.format("Global graph optimization..."));
mProgressDialog.show();
Thread workingThread = new Thread(new Runnable() {
public void run() {
final int value = RTABMapLib.postProcessing(0);
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
if(value >= 0)
{
Toast.makeText(getActivity(), String.format("Optimization done!"), Toast.LENGTH_SHORT).show();
}
else if(value < 0)
{
Toast.makeText(getActivity(), String.format("Optimization failed!"), Toast.LENGTH_SHORT).show();
}
}
});
}
});
workingThread.start();
}
else if (itemId == R.id.sba)
{
mProgressDialog.setTitle("Post-Processing");
mProgressDialog.setMessage(String.format("Bundle adjustement..."));
mProgressDialog.show();
Thread workingThread = new Thread(new Runnable() {
public void run() {
final int value = RTABMapLib.postProcessing(1);
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
if(value >= 0)
{
Toast.makeText(getActivity(), String.format("Optimization done!"), Toast.LENGTH_SHORT).show();
}
else if(value < 0)
{
Toast.makeText(getActivity(), String.format("Optimization failed!"), Toast.LENGTH_SHORT).show();
}
}
});
}
});
workingThread.start();
}
else if(itemId == R.id.debug)
{
item.setChecked(!item.isChecked());
@@ -703,7 +742,45 @@ public class RTABMapActivity extends Activity implements OnClickListener {
if(which >=0 && which < 6)
{
mMaxDepthIndex = which;
RTABMapLib.setMaxCloudDepth(which < 5?Integer.parseInt(values[which]):0);
RTABMapLib.setMaxCloudDepth(which < 5?Float.parseFloat(values[which]):0);
}
}
});
builder.show();
}
else if(itemId == R.id.mesh_angle_tolerance)
{
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Mesh Angle Tolerance (deg)");
final String[] values = {"5", "10", "15", "20", "25", "30"};
builder.setSingleChoiceItems(values, mMeshAngleToleranceIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < 6)
{
mMeshAngleToleranceIndex = which;
RTABMapLib.setMeshAngleTolerance(Float.parseFloat(values[which]));
}
}
});
builder.show();
}
else if(itemId == R.id.mesh_triangle_size)
{
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Mesh Triangle Size (pixels)");
final String[] values = {"2", "3", "4", "5", "6"};
builder.setSingleChoiceItems(values, mMeshTriangleSizeIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < 5)
{
mMeshTriangleSizeIndex = which;
RTABMapLib.setMeshTriangleSize(Integer.parseInt(values[which]));
}
}
});
@@ -735,7 +812,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Time Threshold (ms, 0 means no limit)");
builder.setTitle("Time Threshold (ms)");
final String[] values = {"400", "700", "1400", "No Limit"};
builder.setSingleChoiceItems(values, mParamTimeThrMsIndex, new DialogInterface.OnClickListener() {
@Override
@@ -758,15 +835,15 @@ public class RTABMapActivity extends Activity implements OnClickListener {
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Max Features");
final String[] values = {"Disabled", "100", "200", "300", "400", "No Limit"};
final String[] values = {"Disabled", "100", "200", "300", "400", "500", "600", "700", "800", "900", "1000", "No Limit"};
builder.setSingleChoiceItems(values, mParamMaxFeaturesIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < 6)
if(which >=0 && which < 12)
{
mParamMaxFeaturesIndex = which;
if(RTABMapLib.setMappingParameter("Kp/MaxFeatures", which==0?"-1":which==5?"0":values[which]) != 0)
if(RTABMapLib.setMappingParameter("Kp/MaxFeatures", which==0?"-1":which==11?"0":values[which]) != 0)
{
Toast.makeText(getActivity(),"Failed to set parameter \"Kp/MaxFeatures\"!", Toast.LENGTH_LONG).show();
}
@@ -775,6 +852,28 @@ public class RTABMapActivity extends Activity implements OnClickListener {
});
builder.show();
}
else if(itemId == R.id.loop_threshold)
{
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Loop Closure Threshold");
final String[] values = {"Disabled", "0.11", "0.20", "0.30", "0.40", "0.50", "0.60", "0.70", "0.80", "0.90"};
builder.setSingleChoiceItems(values, mParamTimeThrMsIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < 10)
{
mParamLoopThrMsIndex = which;
if(RTABMapLib.setMappingParameter("Rtabmap/LoopThr", which==0?"1":values[which]) != 0)
{
Toast.makeText(getActivity(), "Failed to set parameter \"Rtabmap/LoopThr\"!", Toast.LENGTH_LONG).show();
}
}
}
});
builder.show();
}
else if (itemId == R.id.save)
{
if(mOpenedDatabasePath.isEmpty())
@@ -810,6 +909,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
//disable gui actions
mItemSave.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
}
})
@@ -832,6 +932,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
//disable gui actions
mItemSave.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
}
}
@@ -849,6 +950,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
//disable gui actions
mItemSave.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
}
}
@@ -880,6 +982,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
else if(itemId == R.id.export_obj || itemId == R.id.export_ply)
{
final String extension = itemId == R.id.export_ply ? ".ply" : ".obj";
final boolean isOBJ = itemId == R.id.export_obj;
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle(String.format("File Name (*%s):", extension));
@@ -917,7 +1020,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
public void run() {
if(success)
{
Toast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), Toast.LENGTH_LONG).show();
if(isOBJ)
{
Toast.makeText(getActivity(), String.format("Mesh \"%s\" (with textures \"%s/\" and \"%s\") successfully exported!", path, fileName, fileName + ".mtl"), Toast.LENGTH_LONG).show();
}
else
{
Toast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), Toast.LENGTH_LONG).show();
}
}
else
{
@@ -953,7 +1063,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
public void run() {
if(success)
{
Toast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), Toast.LENGTH_LONG).show();
if(isOBJ)
{
Toast.makeText(getActivity(), String.format("Mesh \"%s\" (with textures \"%s/\" and \"%s\") successfully exported!", path, fileName, fileName + ".mtl"), Toast.LENGTH_LONG).show();
}
else
{
Toast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), Toast.LENGTH_LONG).show();
}
}
else
{
@@ -986,7 +1103,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
if(!mItemTrajectoryMode.isChecked())
{
mProgressDialog.setTitle("Loading");
mProgressDialog.setMessage(String.format("Please wait while loading \"%s\"...", files[which]));
mProgressDialog.setMessage(String.format("Database \"%s\" loaded. Please wait while creating point clouds and meshes...", files[which]));
mProgressDialog.show();
}

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

@@ -54,12 +54,14 @@ public class RTABMapLib
public static native void setAutoExposure(boolean enabled);
public static native void setFullResolution(boolean enabled);
public static native void setMaxCloudDepth(float value);
public static native void setMeshAngleTolerance(float value);
public static native void setMeshTriangleSize(int value);
public static native int setMappingParameter(String key, String value);
public static native void resetMapping();
public static native void save();
public static native boolean exportMesh(String filePath);
public static native int postProcessing(boolean graphOptimizationOnly);
public static native int postProcessing(int approach);
public static native String getStatus();
public static native int getTotalNodes();