Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture

app/android/jni/ProgressionStatus.h

@@ -0,0 +1,134 @@
+/*
+ * ProgressionStatus.h
+ *
+ *  Created on: Feb 28, 2017
+ *      Author: mathieu
+ */
+
+#ifndef APP_ANDROID_JNI_PROGRESSIONSTATUS_H_
+#define APP_ANDROID_JNI_PROGRESSIONSTATUS_H_
+
+#include <rtabmap/core/ProgressState.h>
+#include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/utilite/UEventsManager.h>
+#include <jni.h>
+
+namespace rtabmap {
+
+class ProgressEvent : public UEvent
+{
+public:
+	ProgressEvent(int count = 1) : count_(count){}
+	virtual std::string getClassName() const {return "ProgressEvent";}
+
+	int count_;
+};
+
+class ProgressionStatus: public ProgressState, public UEventsHandler
+{
+public:
+	ProgressionStatus() : count_(0), max_(100), canceled_(false), jvm_(0), rtabmap_(0)
+	{
+		registerToEventsManager();
+	}
+
+	void setJavaObjects(JavaVM * jvm, jobject rtabmap)
+	{
+		jvm_ = jvm;
+		rtabmap_ = rtabmap;
+	}
+
+	void reset(int max)
+	{
+		count_=-1;
+		max_ = max;
+		canceled_ = false;
+
+		increment();
+	}
+
+	void setMax(int max)
+	{
+		max_ = max;
+	}
+	int getMax() const {return max_;}
+
+	void increment(int count = 1) const
+	{
+		UEventsManager::post(new ProgressEvent(count));
+	}
+
+	void finish()
+	{
+
+	}
+
+	virtual bool callback(const std::string & msg) const
+	{
+		if(!canceled_)
+		{
+			increment();
+		}
+
+		return !canceled_;
+	}
+	virtual ~ProgressionStatus(){}
+
+	void cancel()
+	{
+		canceled_ = true;
+	}
+
+	bool isCanceled() const
+	{
+		return canceled_;
+	}
+
+protected:
+	virtual void handleEvent(UEvent * event)
+	{
+		if(event->getClassName().compare("ProgressEvent") == 0)
+		{
+			count_ += ((ProgressEvent*)event)->count_;
+			// Call JAVA callback
+			bool success = false;
+			if(jvm_ && rtabmap_)
+			{
+				JNIEnv *env = 0;
+				jint rs = jvm_->AttachCurrentThread(&env, NULL);
+				if(rs == JNI_OK && env)
+				{
+					jclass clazz = env->GetObjectClass(rtabmap_);
+					if(clazz)
+					{
+						jmethodID methodID = env->GetMethodID(clazz, "updateProgressionCallback", "(II)V" );
+						if(methodID)
+						{
+							env->CallVoidMethod(rtabmap_, methodID,
+									count_,
+									max_);
+							success = true;
+						}
+					}
+				}
+				jvm_->DetachCurrentThread();
+			}
+			if(!success)
+			{
+				UERROR("Failed to call rtabmap::updateProgressionCallback");
+			}
+		}
+	}
+
+private:
+	int count_;
+	int max_;
+	bool canceled_;
+	JavaVM *jvm_;
+	jobject rtabmap_;
+};
+
+}
+
+
+#endif /* APP_ANDROID_JNI_PROGRESSIONSTATUS_H_ */