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Code Issues Packages Projects Releases Wiki Activity

Tango: Localization mode can be used in visualization

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This commit is contained in:
matlabbe
2017-10-12 15:54:16 -04:00
parent d4248385f0
commit bfbabc62c4
5 changed files with 219 additions and 39 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+25 -6
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@@ -1539,10 +1539,10 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
case STATE_VISUALIZING:
mButtonLighting.setVisibility(mHudVisible && !mItemRenderingPointCloud.isChecked()?View.VISIBLE:View.INVISIBLE);
mButtonWireframe.setVisibility(mHudVisible && !mItemRenderingPointCloud.isChecked()?View.VISIBLE:View.INVISIBLE);
mButtonCloseVisualization.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
mButtonCloseVisualization.setVisibility(mHudVisible && mButtonPause.isChecked()?View.VISIBLE:View.INVISIBLE);
mButtonCloseVisualization.setEnabled(true);
mButtonSaveOnDevice.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
mButtonShareOnSketchfab.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
mButtonSaveOnDevice.setVisibility(mHudVisible && mButtonPause.isChecked()?View.VISIBLE:View.INVISIBLE);
mButtonShareOnSketchfab.setVisibility(mHudVisible && mButtonPause.isChecked()?View.VISIBLE:View.INVISIBLE);
mItemSave.setEnabled(mButtonPause.isChecked());
mItemExport.setEnabled(mButtonPause.isChecked() && !mItemDataRecorderMode.isChecked());
mItemOpen.setEnabled(false);
@@ -1550,7 +1550,8 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
mItemSettings.setEnabled(true);
mItemReset.setEnabled(true);
mItemModes.setEnabled(true);
mButtonPause.setVisibility(View.INVISIBLE);
mButtonPause.setVisibility(mHudVisible && mItemLocalizationMode.isChecked()?View.VISIBLE:View.GONE);
mItemLocalizationMode.setEnabled(mButtonPause.isChecked());
mItemDataRecorderMode.setEnabled(mButtonPause.isChecked());
break;
case STATE_VISUALIZING_WHILE_LOADING:
@@ -1594,7 +1595,14 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
private void pauseMapping() {
updateState(State.STATE_IDLE);
if(mState != State.STATE_VISUALIZING)
{
updateState(State.STATE_IDLE);
}
else
{
updateState(State.STATE_VISUALIZING);
}
if(mButtonPause.isChecked())
{
@@ -1645,7 +1653,14 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
}
else if(!mMapIsEmpty)
{
mToast.makeText(getActivity(), String.format("On resume, a new map is created. Tip: Try relocalizing in the previous area."), mToast.LENGTH_LONG).show();
if(mItemLocalizationMode!=null && mItemLocalizationMode.isChecked())
{
mToast.makeText(getActivity(), String.format("Localization mode"), mToast.LENGTH_LONG).show();
}
else
{
mToast.makeText(getActivity(), String.format("On resume, a new map is created. Tip: Try relocalizing in the previous area."), mToast.LENGTH_LONG).show();
}
}
else if(mMapIsEmpty && mItemLocalizationMode!=null && mItemLocalizationMode.isChecked())
{
@@ -1817,6 +1832,10 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
{
item.setChecked(!item.isChecked());
RTABMapLib.setLocalizationMode(item.isChecked());
if(mState == State.STATE_VISUALIZING)
{
mButtonPause.setVisibility(mItemLocalizationMode.isChecked()?View.VISIBLE:View.GONE);
}
}
else if(itemId == R.id.trajectory_mode)
{