Tango: added gain radius and min cluster size parameters

app/android/custom_rules.xml

@@ -4,7 +4,7 @@
 			<fileset dir="${srcdir}/libs" includes="**/*.jar" excludes="**/*sources.jar, **/*javadoc.jar" />
 		</copy>
 		<copy todir="${native.libs.dir}/${android.abi}">
-			<fileset dir="${srcdir}/libs-c" includes="**/*.so"/>
+			<fileset dir="${srcdir}/jni/third-party/lib" includes="**/*.so"/>
 		</copy>
 	</target>
 </project>

app/android/jni/RTABMapApp.cpp

@@ -57,7 +57,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/surface/vtk_smoothing/vtk_mesh_quadric_decimation.h>
 
 
-const int g_minPolygonClusterSize = 200;
 const int g_exportedMeshId = -100;
 
 static JavaVM *jvm;
@@ -140,6 +139,8 @@ RTABMapApp::RTABMapApp() :
 		meshDecimation_(1),
 		meshTrianglePix_(1),
 		meshAngleToleranceDeg_(15.0),
+		minClusterSize_(200),
+		maxGainRadius_(0.02f),
 		paused_(false),
 		dataRecorderMode_(false),
 		clearSceneOnNextRender_(false),
@@ -823,7 +824,8 @@ int RTABMapApp::Render()
 				}
 			}
 
-			rtabmap::GainCompensator compensator;
+			UASSERT(maxGainRadius_>0.0f);
+			rtabmap::GainCompensator compensator(maxGainRadius_);
 			if(clouds.size() > 1 && links.size())
 			{
 				compensator.feed(clouds, indices, links);
@@ -866,7 +868,7 @@ int RTABMapApp::Render()
 			notifyDataLoaded = true;
 		}
 
-		if(filterPolygonsOnNextRender_)
+		if(filterPolygonsOnNextRender_ && minClusterSize_>0)
 		{
 			LOGI("Polygon filtering...");
 			filterPolygonsOnNextRender_ = false;
@@ -885,7 +887,7 @@ int RTABMapApp::Render()
 							vertexToPolygons);
 					std::list<std::list<int> > clusters = rtabmap::util3d::clusterPolygons(
 							neighbors,
-							g_minPolygonClusterSize);
+							minClusterSize_);
 					std::vector<pcl::Vertices> filteredPolygons(iter->second.polygons.size());
 					int oi=0;
 					for(std::list<std::list<int> >::iterator jter=clusters.begin(); jter!=clusters.end(); ++jter)
@@ -1135,6 +1137,16 @@ void RTABMapApp::setMeshTriangleSize(int value)
 	meshTrianglePix_ = value;
 }
 
+void RTABMapApp::setMinClusterSize(int value)
+{
+	minClusterSize_ = value;
+}
+
+void RTABMapApp::setMaxGainRadius(float value)
+{
+	maxGainRadius_ = value;
+}
+
 int RTABMapApp::setMappingParameter(const std::string & key, const std::string & value)
 {
 	std::string compatibleKey = key;
@@ -1588,7 +1600,7 @@ bool RTABMapApp::exportMesh(
 								textureMesh->tex_polygons.pop_back();
 								textureMesh->tex_materials.pop_back();
 
-								if(g_minPolygonClusterSize>0)
+								if(minClusterSize_>0)
 								{
 									LOGI("Filter small polygon clusters...");
 
@@ -1617,7 +1629,7 @@ bool RTABMapApp::exportMesh(
 											vertexToPolygons);
 									std::list<std::list<int> > clusters = rtabmap::util3d::clusterPolygons(
 											neighbors,
-											g_minPolygonClusterSize);
+											minClusterSize_);
 
 									std::set<int> validPolygons;
 									for(std::list<std::list<int> >::iterator kter=clusters.begin(); kter!=clusters.end(); ++kter)

app/android/jni/RTABMapApp.h

@@ -131,6 +131,8 @@ class RTABMapApp : public UEventsHandler {
   void setMeshDecimation(int value);
   void setMeshAngleTolerance(float value);
   void setMeshTriangleSize(int value);
+  void setMinClusterSize(int value);
+  void setMaxGainRadius(float value);
   int setMappingParameter(const std::string & key, const std::string & value);
 
   void resetMapping();
@@ -179,6 +181,8 @@ class RTABMapApp : public UEventsHandler {
   int meshDecimation_;
   int meshTrianglePix_;
   float meshAngleToleranceDeg_;
+  int minClusterSize_;
+  float maxGainRadius_;
 
   rtabmap::ParametersMap mappingParameters_;
 

app/android/jni/jni_interface.cpp

@@ -246,6 +246,18 @@ Java_com_introlab_rtabmap_RTABMapLib_setMeshTriangleSize(
 {
 	return app.setMeshTriangleSize(value);
 }
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMinClusterSize(
+		JNIEnv*, jobject, int value)
+{
+	return app.setMinClusterSize(value);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMaxGainRadius(
+		JNIEnv*, jobject, float value)
+{
+	return app.setMaxGainRadius(value);
+}
 JNIEXPORT jint JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setMappingParameter(
     JNIEnv* env, jobject, jstring key, jstring value)

app/android/res/layout/activity_settings.xml

@@ -189,6 +189,22 @@
  	 	
     <PreferenceCategory
         android:title="@string/pref_title_general">
+        
+        <ListPreference 
+            android:key="@string/pref_key_gain_max_radius"
+    		android:title="@string/pref_title_gain_max_radius"
+    		android:summary="@string/pref_summary_gain_max_radius"
+   			android:entries="@array/pref_gain_max_radius_keys"
+   			android:entryValues="@array/pref_gain_max_radius_values"
+   			android:defaultValue="@string/pref_default_gain_max_radius"/>
+        <ListPreference 
+            android:key="@string/pref_key_min_cluster_size"
+    		android:title="@string/pref_title_min_cluster_size"
+    		android:summary="@string/pref_summary_min_cluster_size"
+   			android:entries="@array/pref_min_cluster_size_values"
+   			android:entryValues="@array/pref_min_cluster_size_values"
+   			android:defaultValue="@string/pref_default_min_cluster_size"/>
+        
 	    <Preference android:title="@string/pref_title_reset_button"
 	                android:key="@string/pref_key_reset_button"/>
     </PreferenceCategory>

app/android/res/values/strings.xml

@@ -57,6 +57,9 @@
     <string name="pref_key_opt_decimation_factor">pref_key_opt_decimation_factor</string><string name="pref_default_opt_decimation_factor">80</string>
     <string name="pref_key_opt_color_radius">pref_key_opt_color_radius</string>			<string name="pref_default_opt_color_radius">0.0</string>
     <string name="pref_key_opt_clean_white">pref_key_opt_clean_white</string>			<string name="pref_default_opt_clean_white">true</string>
+    
+    <string name="pref_key_gain_max_radius">pref_key_gain_max_radius</string>			<string name="pref_default_gain_max_radius">0.02</string>
+    <string name="pref_key_min_cluster_size">pref_key_min_cluster_size</string>			<string name="pref_default_min_cluster_size">200</string>
     <!--  Preference keys: END-->
     
     <string name="pref_title_rendering">Rendering</string>
@@ -413,6 +416,37 @@
 	</string-array>   
 	
 	<string name="pref_title_general">General</string>
+	    
+	<string name="pref_title_gain_max_radius">Color Correction Radius</string>
+    <string name="pref_summary_gain_max_radius">Radius used to find pixel correspondences for color correction.</string>
+    <string name="pref_title_min_cluster_size">Min Cluster Size</string>
+    <string name="pref_summary_min_cluster_size">Minimum number of polygons for a cluster to be kept after Noise Filtering optimization.</string>
+    
+    <string-array name="pref_gain_max_radius_keys">
+	    <item>"0.3 m"</item>
+    	<item>"0.2 m"</item>
+    	<item>"0.1 m"</item>
+    	<item>"0.05 m"</item>
+    	<item>"0.02 m"</item>
+    	<item>"0.01 m"</item>
+	</string-array>
+	<string-array name="pref_gain_max_radius_values">
+	    <item>"0.3"</item>
+    	<item>"0.2"</item>
+    	<item>"0.1"</item>
+    	<item>"0.05"</item>
+    	<item>"0.02"</item>
+    	<item>"0.01"</item>
+	</string-array> 
+	
+	<string-array name="pref_min_cluster_size_values">
+	    <item>"500"</item>
+    	<item>"200"</item>
+    	<item>"100"</item>
+    	<item>"50"</item>
+    	<item>"10"</item>
+	</string-array> 
+
 	<string name="pref_title_reset_button">Restore All Default Settings</string>
 
 </resources>

app/android/src/com/introlab/rtabmap/RTABMapActivity.java

@@ -284,6 +284,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		RTABMapLib.setMeshAngleTolerance(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_angle), getString(R.string.pref_default_angle))));
 		RTABMapLib.setMeshTriangleSize(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_triangle), getString(R.string.pref_default_triangle))));
 		
+		RTABMapLib.setMinClusterSize(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_min_cluster_size), getString(R.string.pref_default_min_cluster_size))));
+		RTABMapLib.setMaxGainRadius(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_gain_max_radius), getString(R.string.pref_default_gain_max_radius))));
+
 		if(mItemRenderingPointCloud != null)
 		{
 			int renderingType =  sharedPref.getInt(getString(R.string.pref_key_rendering), Integer.parseInt(getString(R.string.pref_default_rendering)));

app/android/src/com/introlab/rtabmap/RTABMapLib.java

@@ -77,6 +77,8 @@ public class RTABMapLib
     public static native void setMeshDecimation(int value);
     public static native void setMeshAngleTolerance(float value);
     public static native void setMeshTriangleSize(int value);
+    public static native void setMinClusterSize(int value);
+    public static native void setMaxGainRadius(float value);
     public static native int setMappingParameter(String key, String value);
 
     public static native void resetMapping();

app/android/src/com/introlab/rtabmap/SettingsActivity.java

@@ -48,6 +48,8 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
         ((Preference)findPreference(getString(R.string.pref_key_opt_decimation_factor))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_decimation_factor))).getValue() + "%%) "+getString(R.string.pref_summary_opt_decimation_factor));
         ((Preference)findPreference(getString(R.string.pref_key_opt_color_radius))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_color_radius))).getEntry() + ") "+getString(R.string.pref_summary_opt_color_radius));
     
+        ((Preference)findPreference(getString(R.string.pref_key_min_cluster_size))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_min_cluster_size))).getEntry() + ") "+getString(R.string.pref_summary_min_cluster_size));
+        ((Preference)findPreference(getString(R.string.pref_key_gain_max_radius))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_gain_max_radius))).getEntry() + ") "+getString(R.string.pref_summary_gain_max_radius));
     }
     
     public void onSharedPreferenceChanged(SharedPreferences sharedPreferences, String key) {
@@ -74,6 +76,9 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
         	if(key.compareTo(getString(R.string.pref_key_opt_decimation_factor))==0) pref.setSummary("("+((ListPreference)pref).getValue() + "%%) "+getString(R.string.pref_summary_opt_decimation_factor));
         	if(key.compareTo(getString(R.string.pref_key_opt_color_radius))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_color_radius));
         	
+        	if(key.compareTo(getString(R.string.pref_key_min_cluster_size))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_min_cluster_size));
+        	if(key.compareTo(getString(R.string.pref_key_gain_max_radius))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_gain_max_radius));
+        
         }
     }