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Tango: added gain radius and min cluster size parameters

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This commit is contained in:
matlabbe
2017-01-26 17:34:15 -05:00
parent 3a73414972
commit b4a0fe54cd
9 changed files with 97 additions and 9 deletions
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2
app/android/custom_rules.xml
View File

@@ -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>

26
app/android/jni/RTABMapApp.cpp
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@@ -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)
@@ -1132,7 +1134,17 @@ void RTABMapApp::setMeshAngleTolerance(float value)
void RTABMapApp::setMeshTriangleSize(int value)
{
meshTrianglePix_ = 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)
@@ -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)

4
app/android/jni/RTABMapApp.h
View File

@@ -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_;

12
app/android/jni/jni_interface.cpp
View File

@@ -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)

18
app/android/res/layout/activity_settings.xml
View File

@@ -186,9 +186,25 @@
</PreferenceCategory>
</PreferenceScreen>
</PreferenceCategory>
<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>

34
app/android/res/values/strings.xml
View File

@@ -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>

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

@@ -283,6 +283,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
RTABMapLib.setPointSize(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_point_size), getString(R.string.pref_default_point_size))));
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)
{

2
app/android/src/com/introlab/rtabmap/RTABMapLib.java
View File

@@ -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();

5
app/android/src/com/introlab/rtabmap/SettingsActivity.java
View File

@@ -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) {
@@ -73,6 +75,9 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
if(key.compareTo(getString(R.string.pref_key_opt_depth))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_depth));
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));
}
}