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Tango: C-API Code Migration to Mira release

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This commit is contained in:
matlabbe
2016-05-12 14:34:51 -04:00
parent 1fbcc2319a
commit dde0e26110
9 changed files with 241 additions and 45 deletions
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42
app/android/jni/RTABMapApp.cpp
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@@ -56,6 +56,10 @@ const int kVersionStringLength = 128;
static JavaVM *jvm;
static jobject RTABMapActivity = 0;
namespace {
constexpr int kTangoCoreMinimumVersion = 9377;
} // anonymous namespace.
rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
{
rtabmap::ParametersMap parameters;
@@ -101,7 +105,9 @@ RTABMapApp::RTABMapApp() :
clearSceneOnNextRender_(false),
totalPoints_(0),
totalPolygons_(0),
lastDrawnCloudsCount_(0)
lastDrawnCloudsCount_(0),
renderingFPS_(0.0f)
{
}
@@ -122,19 +128,19 @@ RTABMapApp::~RTABMapApp() {
}
}
int RTABMapApp::TangoInitialize(JNIEnv* env, jobject caller_activity)
void RTABMapApp::onCreate(JNIEnv* env, jobject caller_activity)
{
env->GetJavaVM(&jvm);
RTABMapActivity = env->NewGlobalRef(caller_activity);
LOGI("RTABMapApp::TangoInitialize()");
LOGI("RTABMapApp::onCreate()");
createdMeshes_.clear();
rawPoses_.clear();
clearSceneOnNextRender_ = true;
totalPoints_ = 0;
totalPolygons_ = 0;
lastDrawnCloudsCount_ = 0;
renderingFPS_ = 0.0f;
if(camera_)
{
@@ -158,12 +164,6 @@ int RTABMapApp::TangoInitialize(JNIEnv* env, jobject caller_activity)
this->registerToEventsManager();
camera_ = new rtabmap::CameraTango(fullResolution_?1:2, autoExposure_);
// The first thing we need to do for any Tango enabled application is to
// initialize the service. We'll do that here, passing on the JNI environment
// and jobject corresponding to the Android activity that is calling us.
return TangoService_initialize(env, caller_activity);
}
void RTABMapApp::openDatabase(const std::string & databasePath)
@@ -218,22 +218,27 @@ void RTABMapApp::openDatabase(const std::string & databasePath)
rtabmapMutex_.unlock();
}
int RTABMapApp::onResume()
bool RTABMapApp::onTangoServiceConnected(JNIEnv* env, jobject iBinder)
{
LOGW("onResume()");
LOGW("onTangoServiceConnected()");
if(camera_)
{
camera_->join(true);
if (TangoService_setBinder(env, iBinder) != TANGO_SUCCESS) {
LOGE("TangoHandler::ConnectTango, TangoService_setBinder error");
return false;
}
if(camera_->init())
{
LOGI("Start camera thread");
camera_->start();
return TANGO_SUCCESS;
return true;
}
LOGE("Failed camera initialization!");
}
return TANGO_ERROR;
return false;
}
void RTABMapApp::onPause()
@@ -307,6 +312,7 @@ int RTABMapApp::Render()
totalPoints_ = 0;
totalPolygons_ = 0;
lastDrawnCloudsCount_ = 0;
renderingFPS_ = 0.0f;
}
// Process events
@@ -543,7 +549,9 @@ int RTABMapApp::Render()
}
}
UTimer fpsTime;
lastDrawnCloudsCount_ = main_scene_.Render();
renderingFPS_ = 1.0/fpsTime.elapsed();
if(rtabmapEvents.size())
{
@@ -647,10 +655,7 @@ void RTABMapApp::setAutoExposure(bool enabled)
autoExposure_ = enabled;
if(camera_)
{
camera_->join(true);
camera_->close();
camera_->setAutoExposure(autoExposure_);
onResume();
}
}
}
@@ -1104,7 +1109,7 @@ void RTABMapApp::handleEvent(UEvent * event)
jclass clazz = env->GetObjectClass(RTABMapActivity);
if(clazz)
{
jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIFII)V" );
jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIFIFI)V" );
if(methodID)
{
env->CallVoidMethod(RTABMapActivity, methodID,
@@ -1120,6 +1125,7 @@ void RTABMapApp::handleEvent(UEvent * event)
featuresExtracted,
hypothesis,
lastDrawnCloudsCount_,
renderingFPS_,
rejected);
success = true;
}