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Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option

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matlabbe
2016-09-02 22:37:12 -04:00
parent 4bd9e4f847
commit e5074afdeb
17 changed files with 350 additions and 121 deletions
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32
app/android/res/menu/optionmenu.xml
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@@ -8,11 +8,15 @@
<group android:id="@+id/group_actions">
<item android:id="@+id/post_processing" android:title="Post-Processing...">
<menu>
<group android:id="@+id/group_post_processing">
<item android:id="@+id/detect_more_loop_closures" android:title="Detect More Loop Closures" />
<item android:id="@+id/global_graph_optimization" android:title="Global Graph Optimization" />
<item android:id="@+id/sba" android:title="Bundle Adjustement" />
</group>
<item android:id="@+id/post_processing_standard" android:title="Standard Optimization" />
<item android:id="@+id/post_processing_advanced" android:title="Advanced..." >
<menu >
<item android:id="@+id/global_graph_optimization" android:title="Global Graph Optimization" />
<item android:id="@+id/detect_more_loop_closures" android:title="Detect More Loop Closures" />
<item android:id="@+id/icp_refining" android:title="ICP Refining" />
<item android:id="@+id/sba" android:title="Bundle Adjustement" />
</menu>
</item>
</menu>
</item>
<item android:id="@+id/open" android:title="Open"/>
@@ -31,14 +35,23 @@
<menu >
<group android:id="@+id/group_rendering_visibility" android:checkableBehavior="all">
<item android:id="@+id/debug" android:checked="false" android:title="Debug" />
<item android:id="@+id/mesh_rendering" android:checked="true" android:title="Mesh Rendering" />
<item android:id="@+id/menu_rendering" android:checkable="false" android:title="Mesh Rendering..." >
<menu>
<group android:checkableBehavior="single">
<item android:id="@+id/point_cloud" android:title="Point Cloud" />
<item android:id="@+id/mesh" android:title="Mesh" />
<item android:id="@+id/texture_mesh" android:checked="true" android:title="Texture Mesh" />
</group>
<item android:id="@+id/mesh_angle_tolerance" android:checkable="false" android:title="Mesh Angle Tolerance..." />
<item android:id="@+id/mesh_triangle_size" android:checkable="false" android:title="Mesh Triangle Size..." />
<item android:id="@+id/max_depth" android:checkable="false" android:title="Max Depth..." />
</menu>
</item>
<item android:id="@+id/map_shown" android:checked="true" android:title="Map Visible" />
<item android:id="@+id/odom_shown" android:checked="true" android:title="Odom Visible" />
<item android:id="@+id/graph_visible" android:checked="true" android:title="Graph Visible" />
<item android:id="@+id/grid_visible" android:checked="true" android:title="Grid Visible" />
<item android:id="@+id/auto_exposure" android:checked="false" android:title="Auto Exposure" />
<item android:id="@+id/max_depth" android:checkable="false" android:title="Cloud/Mesh Max Depth..." />
<item android:id="@+id/mesh_angle_tolerance" android:checkable="false" android:title="Mesh Angle Tolerance..." />
<item android:id="@+id/mesh_triangle_size" android:checkable="false" android:title="Mesh Triangle Size..." />
</group>
</menu>
</item>
@@ -49,6 +62,7 @@
<item android:id="@+id/trajectory_mode" android:checked="false" android:title="Trajectory Mode" />
<item android:id="@+id/graph_optimization" android:checked="true" android:title="Optimized Graph" />
<item android:id="@+id/nodes_filtering" android:checked="false" android:title="Nodes Filtering" />
<item android:id="@+id/drift_correction" android:checked="false" android:title="Drift Correction" />
<item android:id="@+id/resolution" android:checked="false" android:title="720p Mode" />
<item android:id="@+id/menu_param_settings" android:checkable="false" android:title="Parameters...">
<menu >