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Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.

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This commit is contained in:
matlabbe
2017-06-20 17:29:06 -04:00
parent 539d500528
commit ee8d48a915
25 changed files with 1376 additions and 100 deletions
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319
app/android/jni/RTABMapApp.cpp
View File

@@ -50,6 +50,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/VWDictionary.h>
#include <rtabmap/core/Memory.h>
#include <rtabmap/core/GainCompensator.h>
#include <rtabmap/core/DBDriver.h>
#include <pcl/common/common.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/io/ply_io.h>
@@ -174,6 +175,7 @@ RTABMapApp::RTABMapApp() :
filterPolygonsOnNextRender_(false),
gainCompensationOnNextRender_(0),
bilateralFilteringOnNextRender_(false),
takeScreenshotOnNextRender_(false),
cameraJustInitialized_(false),
meshDecimation_(1),
totalPoints_(0),
@@ -271,14 +273,14 @@ void RTABMapApp::setScreenRotation(int displayRotation, int cameraRotation)
camera_->setScreenRotation(rotation);
}
int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize)
int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, const std::string & databaseSource)
{
LOGI("Opening database %s (inMemory=%d, optimize=%d)", databasePath.c_str(), databaseInMemory?1:0, optimize?1:0);
this->unregisterFromEventsManager(); // to ignore published init events when closing rtabmap
status_.first = rtabmap::RtabmapEventInit::kInitializing;
openingDatabase_ = true;
rtabmapMutex_.lock();
rtabmapEvents_.clear();
openingDatabase_ = true;
if(rtabmapThread_)
{
rtabmapThread_->close(false);
@@ -287,6 +289,165 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
rtabmap_ = 0;
}
int status = 0;
// Open visualization while we load (if there is an optimized mesh saved in database)
exportedMesh_.reset(new pcl::TextureMesh);
exportedTexture_ = cv::Mat();
cv::Mat cloudMat;
std::vector<std::vector<std::vector<unsigned int> > > polygons;
cv::Mat textures;
std::map<int, rtabmap::Transform> optPoses;
if(!databaseSource.empty())
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized mesh..."));
rtabmap::DBDriver * driver = rtabmap::DBDriver::create();
if(driver->openConnection(databaseSource))
{
cloudMat = driver->loadOptimizedMesh(&optPoses, &polygons, &exportedMesh_->tex_coordinates, &textures);
if(!cloudMat.empty())
{
LOGI("Open: Found optimized mesh! Visualizing it.");
if(cloudMat.channels() <= 3)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::laserScanToPointCloud(cloudMat);
pcl::toPCLPointCloud2(*cloud, exportedMesh_->cloud);
}
else if(cloudMat.channels() == 4)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::laserScanToPointCloudRGB(cloudMat);
pcl::toPCLPointCloud2(*cloud, exportedMesh_->cloud);
}
else if(cloudMat.channels() == 6)
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud = rtabmap::util3d::laserScanToPointCloudNormal(cloudMat);
pcl::toPCLPointCloud2(*cloud, exportedMesh_->cloud);
}
else if(cloudMat.channels() == 7)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud = rtabmap::util3d::laserScanToPointCloudRGBNormal(cloudMat);
pcl::toPCLPointCloud2(*cloud, exportedMesh_->cloud);
}
if(exportedMesh_->cloud.data.size())
{
status = 1;
}
if(exportedMesh_->cloud.data.size() && polygons.size())
{
status = 2;
exportedMesh_->tex_polygons.resize(polygons.size());
for(unsigned int t=0; t<polygons.size(); ++t)
{
exportedMesh_->tex_polygons[t].resize(polygons[t].size());
for(unsigned int p=0; p<polygons[t].size(); ++p)
{
exportedMesh_->tex_polygons[t][p].vertices = polygons[t][p];
}
}
if(!exportedMesh_->tex_coordinates.empty())
{
status = 3;
UASSERT(!textures.empty() && textures.cols % textures.rows == 0 && textures.cols/textures.rows == (int)exportedMesh_->tex_coordinates.size());
if(textures.cols/textures.rows == 1)
{
exportedTexture_ = textures;
}
else if(textures.cols/textures.rows > 1)
{
// Visualization doesn't support more than one material, so concatenate to 1
std::vector<bool> materialsKept;
float scale = 0.0f;
cv::Size imageSize(textures.rows, textures.rows);
int imageType = CV_8UC3;
rtabmap::util3d::concatenateTextureMaterials(*exportedMesh_, imageSize, textures.rows, 1, scale, &materialsKept);
if(scale && exportedMesh_->tex_materials.size() == 1)
{
int cols = float(textures.rows)/(scale*imageSize.width);
int rows = float(textures.rows)/(scale*imageSize.height);
exportedTexture_ = cv::Mat(textures.rows, textures.rows, imageType, cv::Scalar::all(255));
// make a blank texture
cv::Size resizedImageSize(int(imageSize.width*scale), int(imageSize.height*scale));
int oi=0;
for(int i=0; i<(int)materialsKept.size(); ++i)
{
if(materialsKept.at(i))
{
int u = oi%cols * resizedImageSize.width;
int v = ((oi/cols) % rows ) * resizedImageSize.height;
UASSERT(u < textures.rows-resizedImageSize.width);
UASSERT(v < textures.rows-resizedImageSize.height);
cv::Mat resizedImage;
cv::resize(textures(cv::Range::all(), cv::Range(i*textures.rows, (i+1)*textures.rows)), resizedImage, resizedImageSize, 0.0f, 0.0f, cv::INTER_AREA);
UASSERT(resizedImage.type() == exportedTexture_.type());
resizedImage.copyTo(exportedTexture_(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
++oi;
}
}
}
}
exportedMesh_->tex_materials.resize (exportedMesh_->tex_coordinates.size () + 1);
for(unsigned int i = 0 ; i <= exportedMesh_->tex_coordinates.size() ; ++i)
{
pcl::TexMaterial mesh_material;
mesh_material.tex_Ka.r = 0.2f;
mesh_material.tex_Ka.g = 0.2f;
mesh_material.tex_Ka.b = 0.2f;
mesh_material.tex_Kd.r = 0.8f;
mesh_material.tex_Kd.g = 0.8f;
mesh_material.tex_Kd.b = 0.8f;
mesh_material.tex_Ks.r = 1.0f;
mesh_material.tex_Ks.g = 1.0f;
mesh_material.tex_Ks.b = 1.0f;
mesh_material.tex_d = 1.0f;
mesh_material.tex_Ns = 75.0f;
mesh_material.tex_illum = 2;
std::stringstream tex_name;
tex_name << "material_" << i;
tex_name >> mesh_material.tex_name;
mesh_material.tex_file = uFormat("%d", i);
exportedMesh_->tex_materials[i] = mesh_material;
}
}
}
}
else
{
LOGI("Open: No optimized mesh found.");
}
delete driver;
}
}
if(status > 0)
{
boost::mutex::scoped_lock lockRender(renderingMutex_);
visualizingMesh_ = true;
exportedMeshUpdated_ = true;
}
LOGI("Erasing database \"%s\"...", databasePath.c_str());
UFile::erase(databasePath);
if(!databaseSource.empty())
{
LOGI("Copying database source \"%s\" to \"%s\"...", databaseSource.c_str(), databasePath.c_str());
UFile::copy(databaseSource, databasePath);
}
this->registerToEventsManager();
//Rtabmap
@@ -316,7 +477,6 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
true,
true);
int status = 0;
if(signatures.size() && poses.empty())
{
LOGE("Failed to optimize the graph!");
@@ -329,7 +489,7 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
createdMeshes_.clear();
int i=0;
UTimer addTime;
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin(); iter!=poses.end() && status==0; ++iter)
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin(); iter!=poses.end() && status>=0; ++iter)
{
try
{
@@ -386,6 +546,14 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
}
LOGI("Created cloud %d (%fs)", id, timer.ticks());
}
else
{
LOGI("Cloud %d not added to created meshes", id);
}
}
else
{
UWARN("Cloud %d is empty", id);
}
}
else
@@ -404,6 +572,14 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
processMemoryUsedBytes +=s.getWordsDescriptors().size()*(4+s.getWordsDescriptors().begin()->second.total());
}
}
else
{
UWARN("Data for node %d not found", id);
}
}
else
{
UWARN("Pose %d is null !?", id);
}
++i;
if(addTime.elapsed() >= 4.0f)
@@ -428,14 +604,19 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
status = -2;
}
}
if(status < 0)
{
createdMeshes_.clear();
}
else
{
LOGI("Created %d meshes...", (int)createdMeshes_.size());
}
}
if(status < 0)
{
createdMeshes_.clear();
}
if(optimize && status==0)
if(optimize && status>=0)
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Visual optimization..."));
gainCompensation();
@@ -477,11 +658,12 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
rtabmapMutex_.unlock();
boost::mutex::scoped_lock lockRender(renderingMutex_);
if(poses.empty())
if(poses.empty() || status>0)
{
openingDatabase_ = false;
}
clearSceneOnNextRender_ = true;
clearSceneOnNextRender_ = status<=0;
return status;
}
@@ -868,7 +1050,7 @@ int RTABMapApp::Render()
std::list<rtabmap::RtabmapEvent*> rtabmapEvents;
try
{
UASSERT(camera_!=0 && rtabmap_!=0);
UASSERT(camera_!=0);
UTimer fpsTime;
#ifdef DEBUG_RENDERING_PERFORMANCE
@@ -876,14 +1058,14 @@ int RTABMapApp::Render()
#endif
boost::mutex::scoped_lock lock(renderingMutex_);
bool notifyDataLoaded = false;
bool notifyCameraStarted = false;
if(clearSceneOnNextRender_)
{
visualizingMesh_ = false;
}
bool notifyDataLoaded = false;
bool notifyCameraStarted = false;
// process only pose events in visualization mode
rtabmap::Transform pose;
{
@@ -939,6 +1121,7 @@ int RTABMapApp::Render()
}
if(!main_scene_.hasCloud(g_exportedMeshId))
{
LOGI("Adding optimized mesh to opengl...");
if(exportedMesh_->tex_polygons.size() && exportedMesh_->tex_polygons[0].size())
{
Mesh mesh;
@@ -1020,6 +1203,7 @@ int RTABMapApp::Render()
if(clearSceneOnNextRender_)
{
LOGI("Clearing all rendering data...");
odomMutex_.lock();
odomEvents_.clear();
odomMutex_.unlock();
@@ -1033,6 +1217,7 @@ int RTABMapApp::Render()
if(!openingDatabase_)
{
boost::mutex::scoped_lock lock(meshesMutex_);
LOGI("Clearing meshes...");
createdMeshes_.clear();
}
else
@@ -1061,6 +1246,8 @@ int RTABMapApp::Render()
{
LOGI("added (%d) != meshes (%d)", (int)added.size(), meshes);
processGPUMemoryUsedBytes = 0;
boost::mutex::scoped_lock lockRtabmap(rtabmapMutex_);
UASSERT(rtabmap_!=0);
for(std::map<int, Mesh>::iterator iter=createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
{
if(!main_scene_.hasCloud(iter->first) && !iter->second.pose.isNull())
@@ -1475,7 +1662,34 @@ int RTABMapApp::Render()
}
}
if(openingDatabase_ || exporting_ || postProcessing_)
if(takeScreenshotOnNextRender_)
{
takeScreenshotOnNextRender_ = false;
int w = main_scene_.getViewPortWidth();
int h = main_scene_.getViewPortHeight();
cv::Mat image(h, w, CV_8UC4);
glReadPixels(0, 0, w, h, GL_RGBA, GL_UNSIGNED_BYTE, image.data);
cv::flip(image, image, 0);
cv::cvtColor(image, image, CV_RGBA2BGRA);
cv::Mat roi;
if(w>h)
{
int offset = (w-h)/2;
roi = image(cv::Range::all(), cv::Range(offset,offset+h));
}
else
{
int offset = (h-w)/2;
roi = image(cv::Range(offset,offset+w), cv::Range::all());
}
rtabmapMutex_.lock();
LOGI("Saving screenshot %dx%d...", roi.cols, roi.rows);
rtabmap_->getMemory()->savePreviewImage(roi);
rtabmapMutex_.unlock();
screenshotReady_.release();
}
if((openingDatabase_ && !visualizingMesh_) || exporting_ || postProcessing_)
{
// throttle rendering max 5Hz if we are doing some processing
double renderTime = fpsTime.elapsed();
@@ -1846,10 +2060,17 @@ void RTABMapApp::resetMapping()
void RTABMapApp::save(const std::string & databasePath)
{
LOGI("Saving database to %s", databasePath.c_str());
rtabmapThread_->join(true);
// save mapping parameters in the database
LOGI("Taking screenshot...");
takeScreenshotOnNextRender_ = true;
if(!screenshotReady_.acquire(1, 2000))
{
UERROR("Failed to take a screenshot after 2 sec!");
}
// save mapping parameters in the database
bool appendModeBackup = appendMode_;
if(appendMode_)
{
@@ -1962,7 +2183,7 @@ bool RTABMapApp::exportMesh(
pcl::PolygonMesh::Ptr polygonMesh(new pcl::PolygonMesh);
pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
std::vector<std::map<int, pcl::PointXY> > vertexToPixels;
std::vector<cv::Mat> globalTextures;
cv::Mat globalTextures;
int totalPolygons = 0;
{
if(optimized)
@@ -2420,10 +2641,11 @@ bool RTABMapApp::exportMesh(
return false;
}
LOGD("Saving texture(s) (%d)", (int)globalTextures.size());
LOGD("Saving texture(s) (%d)", globalTextures.empty()?0:globalTextures.cols/globalTextures.rows);
std::string baseName = uSplit(UFile::getName(filePath), '.').front();
std::string textureDirectory = UDirectory::getDir(filePath);
UASSERT(textureMesh->tex_materials.size() == globalTextures.size());
UASSERT(globalTextures.empty() || globalTextures.cols % globalTextures.rows == 0);
UASSERT((int)textureMesh->tex_materials.size() == globalTextures.cols/globalTextures.rows);
for(unsigned int i=0; i<textureMesh->tex_materials.size(); ++i)
{
std::string baseNameNum = baseName;
@@ -2434,13 +2656,13 @@ bool RTABMapApp::exportMesh(
std::string fullPath = textureDirectory+UDirectory::separator()+baseNameNum+".jpg";
textureMesh->tex_materials[i].tex_file = baseNameNum+".jpg";
LOGI("Saving texture to %s.", fullPath.c_str());
if(!cv::imwrite(fullPath, globalTextures[i]))
if(!cv::imwrite(fullPath, globalTextures(cv::Range::all(), cv::Range(i*globalTextures.rows, (i+1)*globalTextures.rows))))
{
LOGI("Failed saving %s!", fullPath.c_str());
}
else
{
LOGI("Saved %s (%d bytes).", fullPath.c_str(), globalTextures[i].total()*globalTextures[i].channels());
LOGI("Saved %s.", fullPath.c_str());
}
}
}
@@ -2471,6 +2693,22 @@ bool RTABMapApp::exportMesh(
exportedMesh_.reset(new pcl::TextureMesh);
exportedMesh_->cloud = polygonMesh->cloud;
exportedMesh_->tex_polygons.push_back(polygonMesh->polygons);
// save in database
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::fromPCLPointCloud2(polygonMesh->cloud, *cloud);
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud)); // for database
std::vector<std::vector<std::vector<unsigned int> > > polygons(exportedMesh_->tex_polygons.size());
for(unsigned int t=0; t<exportedMesh_->tex_polygons.size(); ++t)
{
polygons[t].resize(exportedMesh_->tex_polygons[t].size());
for(unsigned int p=0; p<exportedMesh_->tex_polygons[t].size(); ++p)
{
polygons[t][p] = exportedMesh_->tex_polygons[t][p].vertices;
}
}
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmap_->getMemory()->saveOptimizedMesh(cloudMat, poses, polygons);
}
else
{
@@ -2483,6 +2721,7 @@ bool RTABMapApp::exportMesh(
// With Sketchfab, the OBJ models are rotated 90 degrees on x axis, so rotate -90 to have model in right position
pcl::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>);
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud)); // for database
pcl::PCLPointCloud2 tmp = textureMesh->cloud;
cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::Transform(1,0,0,0, 0,0,1,0, 0,-1,0,0));
pcl::toPCLPointCloud2(*cloud, textureMesh->cloud);
@@ -2493,16 +2732,32 @@ bool RTABMapApp::exportMesh(
{
LOGI("Saved obj to %s!", filePath.c_str());
exportedMesh_ = textureMesh;
if(globalTextures.size() == 1)
// save in database
{
exportedTexture_ = globalTextures[0];
std::vector<std::vector<std::vector<unsigned int> > > polygons(exportedMesh_->tex_polygons.size());
for(unsigned int t=0; t<exportedMesh_->tex_polygons.size(); ++t)
{
polygons[t].resize(exportedMesh_->tex_polygons[t].size());
for(unsigned int p=0; p<exportedMesh_->tex_polygons[t].size(); ++p)
{
polygons[t][p] = exportedMesh_->tex_polygons[t][p].vertices;
}
}
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmap_->getMemory()->saveOptimizedMesh(cloudMat, poses, polygons, exportedMesh_->tex_coordinates, globalTextures);
}
else if(globalTextures.size() > 1)
if(globalTextures.cols/globalTextures.rows == 1)
{
exportedTexture_ = globalTextures;
}
else if(globalTextures.cols/globalTextures.rows > 1)
{
// Visualization doesn't support more than one material, so concatenate to 1
std::vector<bool> materialsKept;
float scale = 0.0f;
cv::Size imageSize = globalTextures[0].size();
cv::Size imageSize(globalTextures.rows, globalTextures.rows);
int imageType = CV_8UC3;
rtabmap::util3d::concatenateTextureMaterials(*exportedMesh_, imageSize, textureSize, 1, scale, &materialsKept);
if(scale && exportedMesh_->tex_materials.size() == 1)
@@ -2515,7 +2770,7 @@ bool RTABMapApp::exportMesh(
// make a blank texture
cv::Size resizedImageSize(int(imageSize.width*scale), int(imageSize.height*scale));
int oi=0;
for(int i=0; i<(int)globalTextures.size(); ++i)
for(int i=0; i<(int)materialsKept.size(); ++i)
{
if(materialsKept.at(i))
{
@@ -2525,7 +2780,7 @@ bool RTABMapApp::exportMesh(
UASSERT(v < textureSize-resizedImageSize.height);
cv::Mat resizedImage;
cv::resize(globalTextures[i], resizedImage, resizedImageSize, 0.0f, 0.0f, cv::INTER_AREA);
cv::resize(globalTextures(cv::Range::all(), cv::Range(i*globalTextures.rows, (i+1)*globalTextures.rows)), resizedImage, resizedImageSize, 0.0f, 0.0f, cv::INTER_AREA);
UASSERT(resizedImage.type() == exportedTexture_.type());
resizedImage.copyTo(exportedTexture_(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
@@ -2664,6 +2919,14 @@ bool RTABMapApp::exportMesh(
if(success)
{
LOGI("Saved ply to %s!", filePath.c_str());
// save in database
{
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*mergedClouds)); // for database
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmap_->getMemory()->saveOptimizedMesh(cloudMat, poses);
}
mergedClouds->clear();
exportedMesh_.reset(new pcl::TextureMesh);
exportedMesh_->cloud = mesh.cloud;

6
app/android/jni/RTABMapApp.h
View File

@@ -56,7 +56,7 @@ class RTABMapApp : public UEventsHandler {
void setScreenRotation(int displayRotation, int cameraRotation);
int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize);
int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, const std::string & databaseSource=std::string());
bool onTangoServiceConnected(JNIEnv* env, jobject iBinder);
@@ -218,6 +218,7 @@ class RTABMapApp : public UEventsHandler {
bool filterPolygonsOnNextRender_;
int gainCompensationOnNextRender_;
bool bilateralFilteringOnNextRender_;
bool takeScreenshotOnNextRender_;
bool cameraJustInitialized_;
int meshDecimation_;
int totalPoints_;
@@ -233,6 +234,7 @@ class RTABMapApp : public UEventsHandler {
bool exportedMeshUpdated_;
pcl::TextureMesh::Ptr exportedMesh_;
cv::Mat exportedTexture_;
std::map<int, rtabmap::Transform> exportedPoses_;
// main_scene_ includes all drawable object for visualizing Tango device's
// movement and point cloud.
@@ -250,6 +252,8 @@ class RTABMapApp : public UEventsHandler {
boost::mutex poseMutex_;
boost::mutex renderingMutex_;
USemaphore screenshotReady_;
std::map<int, Mesh> createdMeshes_;
std::map<int, rtabmap::Transform> rawPoses_;

11
app/android/jni/jni_interface.cpp
View File

@@ -71,6 +71,17 @@ Java_com_introlab_rtabmap_RTABMapLib_openDatabase(
return app.openDatabase(databasePathC, databaseInMemory, optimize);
}
JNIEXPORT int JNICALL
Java_com_introlab_rtabmap_RTABMapLib_openDatabase2(
JNIEnv* env, jobject, jstring databaseSource, jstring databasePath, bool databaseInMemory, bool optimize)
{
std::string databasePathC;
GetJStringContent(env,databasePath,databasePathC);
std::string databaseSourceC;
GetJStringContent(env,databaseSource,databaseSourceC);
return app.openDatabase(databasePathC, databaseInMemory, optimize, databaseSourceC);
}
JNIEXPORT bool JNICALL
Java_com_introlab_rtabmap_RTABMapLib_onTangoServiceConnected(
JNIEnv* env, jobject, jobject iBinder) {

2
app/android/jni/scene.h
View File

@@ -57,6 +57,8 @@ class Scene {
// Setup GL view port.
void SetupViewPort(int w, int h);
int getViewPortWidth() const {return screenWidth_;}
int getViewPortHeight() const {return screenHeight_;}
void setScreenRotation(TangoSupportRotation colorCameraToDisplayRotation) {color_camera_to_display_rotation_ = colorCameraToDisplayRotation;}

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

@@ -44,8 +44,8 @@ class LogHandler : public UEventsHandler
public:
LogHandler()
{
ULogger::setLevel(ULogger::kWarning);
ULogger::setEventLevel(ULogger::kWarning);
ULogger::setLevel(ULogger::kDebug);
ULogger::setEventLevel(ULogger::kDebug);
ULogger::setPrintThreadId(true);
registerToEventsManager();

22
app/android/res/layout/database_list.xml Normal file
View File

@@ -0,0 +1,22 @@
<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="wrap_content"
android:background="#fff">
<ImageView
android:id="@+id/imageView"
android:layout_width="150dp"
android:layout_height="150dp"
android:layout_marginLeft="10dp"
android:padding="5dp"
android:src="@drawable/ic_launcher" />
<TextView
android:id="@+id/textView"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_gravity="center"
android:text="Demo"
android:textColor="#000" />
</LinearLayout>

89
app/android/src/com/introlab/rtabmap/DatabaseListArrayAdapter.java Normal file
View File

@@ -0,0 +1,89 @@
package com.introlab.rtabmap;
import android.content.Context;
import android.database.Cursor;
import android.database.sqlite.SQLiteDatabase;
import android.graphics.Bitmap;
import android.graphics.BitmapFactory;
import android.util.Log;
import android.view.LayoutInflater;
import android.view.View;
import android.view.ViewGroup;
import android.widget.BaseAdapter;
import android.widget.ImageView;
import android.widget.SimpleAdapter;
import java.io.ByteArrayInputStream;
import java.io.InputStream;
import java.util.ArrayList;
import java.util.HashMap;
public class DatabaseListArrayAdapter extends SimpleAdapter {
LayoutInflater inflater;
Context context;
ArrayList<HashMap<String, String>> arrayList;
public DatabaseListArrayAdapter(Context context, ArrayList<HashMap<String, String>> data, int resource, String[] from, int[] to) {
super(context, data, resource, from, to);
this.context = context;
this.arrayList = data;
inflater.from(context);
}
@Override
public View getView(final int position, View convertView, ViewGroup parent) {
View view = super.getView(position, convertView, parent);
ImageView imageView = (ImageView) view.findViewById(R.id.imageView);
String path = this.arrayList.get(position).get("path");
if(!path.isEmpty())
{
SQLiteDatabase db = null;
try {
db = SQLiteDatabase.openDatabase(path, null, SQLiteDatabase.OPEN_READONLY);
// get version
Cursor c1 = db.rawQuery("SELECT version FROM Admin", null);
if(c1.moveToFirst()) {
String version = c1.getString(c1.getColumnIndex("version"));
Log.i(RTABMapActivity.TAG, "Version="+version);
if(Util.versionCompare(version, "0.12.0") >= 0) {
Cursor c2 = db.rawQuery("SELECT preview_image FROM Admin WHERE preview_image is not null", null);
if(c2.moveToFirst()) {
Log.i(RTABMapActivity.TAG, "Found image preview for db " + path);
byte[] bytes = c2.getBlob(c2.getColumnIndex("preview_image"));
ByteArrayInputStream inputStream = new ByteArrayInputStream(bytes);
Bitmap bitmap = BitmapFactory.decodeStream(inputStream);
imageView.setImageBitmap(bitmap);
}
else {
Log.i(RTABMapActivity.TAG, "Not found image preview for db " + path);
}
}
else {
Log.i(RTABMapActivity.TAG, "Too old database for preview image, path = " + path);
}
}
else {
Log.e(RTABMapActivity.TAG, "Failed getting version from database");
}
} catch (Exception e) {
Log.e(RTABMapActivity.TAG, e.getMessage());
}
finally {
if(db != null && db.isOpen()) {
db.close();
}
}
}
else
{
Log.e(RTABMapActivity.TAG, "Database path empty for item " + position);
}
return view;
}
}

128
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
View File

@@ -12,8 +12,10 @@ import java.io.OutputStream;
import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
import java.text.SimpleDateFormat;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Date;
import java.util.HashMap;
import java.util.List;
import java.util.zip.ZipEntry;
import java.util.zip.ZipOutputStream;
@@ -38,6 +40,8 @@ import android.content.pm.PackageInfo;
import android.content.pm.PackageManager;
import android.content.pm.PackageManager.NameNotFoundException;
import android.content.res.Configuration;
import android.database.Cursor;
import android.database.sqlite.SQLiteDatabase;
import android.graphics.Bitmap;
import android.graphics.Canvas;
import android.graphics.Color;
@@ -133,7 +137,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private static enum State {
STATE_IDLE,
STATE_PROCESSING,
STATE_VISUALIZING
STATE_VISUALIZING,
STATE_VISUALIZING_WHILE_LOADING
}
State mState = State.STATE_IDLE;
@@ -1264,6 +1269,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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.setEnabled(true);
mButtonSaveOnDevice.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
mButtonShareOnSketchfab.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
mItemSave.setEnabled(mButtonPause.isChecked());
@@ -1276,6 +1282,22 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mButtonPause.setVisibility(View.INVISIBLE);
mItemDataRecorderMode.setEnabled(mButtonPause.isChecked());
break;
case STATE_VISUALIZING_WHILE_LOADING:
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.setEnabled(false);
mButtonSaveOnDevice.setVisibility(View.INVISIBLE);
mButtonShareOnSketchfab.setVisibility(View.INVISIBLE);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemSettings.setEnabled(false);
mItemReset.setEnabled(false);
mItemModes.setEnabled(false);
mButtonPause.setVisibility(View.INVISIBLE);
break;
default:
mButtonLighting.setVisibility(View.INVISIBLE);
mButtonWireframe.setVisibility(View.INVISIBLE);
@@ -1357,6 +1379,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
public boolean onOptionsItemSelected(MenuItem item) {
resetNoTouchTimer();
if(!DISABLE_LOG) Log.i(TAG, "called onOptionsItemSelected; selected item: " + item);
int itemId = item.getItemId();
if (itemId == R.id.post_processing_standard)
@@ -1775,9 +1798,22 @@ public class RTABMapActivity extends Activity implements OnClickListener {
long mb = filePath.length()/(1024*1024);
filesWithSize[i] = files[i] + " ("+mb+" MB)";
}
ArrayList<HashMap<String, String> > arrayList = new ArrayList<HashMap<String, String> >();
for (int i = 0; i < filesWithSize.length; i++) {
HashMap<String, String> hashMap = new HashMap<String, String>();//create a hashmap to store the data in key value pair
hashMap.put("name", filesWithSize[i]);
hashMap.put("path", mWorkingDirectory + files[i]);
arrayList.add(hashMap);//add the hashmap into arrayList
}
String[] from = {"name", "path"};//string array
int[] to = {R.id.textView, R.id.imageView};//int array of views id's
DatabaseListArrayAdapter simpleAdapter = new DatabaseListArrayAdapter(this, arrayList, R.layout.database_list, from, to);//Create object and set the parameters for simpleAdapter
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Choose Your File (*.db)");
builder.setItems(filesWithSize, new DialogInterface.OnClickListener() {
builder.setAdapter(simpleAdapter, new DialogInterface.OnClickListener() {
//builder.setItems(filesWithSize, new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, final int which) {
// Adjust color now?
@@ -1912,7 +1948,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
public void onClick(DialogInterface dialog, int which) {
mExportedOBJ = isOBJ;
resetNoTouchTimer();
mSavedRenderingType = !meshing?0:!isOBJ?1:2;
mSavedRenderingType = mItemRenderingPointCloud.isChecked()?0:mItemRenderingMesh.isChecked()?1:2;
if(!meshing)
{
mItemRenderingPointCloud.setChecked(true);
@@ -2206,6 +2242,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
mOpenedDatabasePath = mWorkingDirectory + fileName;
Log.i(TAG, "Open database " + mOpenedDatabasePath);
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
final boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
@@ -2218,27 +2256,55 @@ public class RTABMapActivity extends Activity implements OnClickListener {
Thread openThread = new Thread(new Runnable() {
public void run() {
final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
(new File(tmpDatabase)).delete();
try{
copy(new File(mOpenedDatabasePath), new File(tmpDatabase));
}
catch(IOException e)
{
mToast.makeText(getActivity(), String.format("Failed to create temp database from %s!", mOpenedDatabasePath), mToast.LENGTH_LONG).show();
updateState(State.STATE_IDLE);
mProgressDialog.dismiss();
return;
SQLiteDatabase db = null;
try {
db = SQLiteDatabase.openDatabase(mOpenedDatabasePath, null, SQLiteDatabase.OPEN_READONLY);
// get version
Cursor c1 = db.rawQuery("SELECT version FROM Admin", null);
if(c1.moveToFirst()) {
String version = c1.getString(c1.getColumnIndex("version"));
Log.i(TAG, "Version="+version);
if(Util.versionCompare(version, "0.13.0") >= 0) {
Cursor c2 = db.rawQuery("SELECT version FROM Admin WHERE opt_cloud is not null", null);
if(c2.moveToFirst()) {
Log.i(TAG, "Found optimized mesh");
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
updateState(State.STATE_VISUALIZING_WHILE_LOADING);
mToast.makeText(getActivity(), String.format("Optimized mesh detected in the database. It will be shown while the database is loading..."), mToast.LENGTH_LONG).show();
}
});
}
else
{
Log.i(TAG, "Not found optimized mesh");
}
}
}
else
{
Log.e(TAG, "Failed getting version from database");
}
} catch (Exception e) {
Log.e(TAG, e.getMessage());
}
finally {
if(db != null && db.isOpen()) {
db.close();
}
}
final int status = RTABMapLib.openDatabase(tmpDatabase, databaseInMemory, optimize);
final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
final int status = RTABMapLib.openDatabase2(mOpenedDatabasePath, tmpDatabase, databaseInMemory, optimize);
runOnUiThread(new Runnable() {
public void run() {
setCamera(1);
updateState(State.STATE_IDLE);
if(status == -1)
{
updateState(State.STATE_IDLE);
mProgressDialog.dismiss();
new AlertDialog.Builder(getActivity())
.setCancelable(false)
@@ -2262,6 +2328,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
else if(status == -2)
{
updateState(State.STATE_IDLE);
mProgressDialog.dismiss();
new AlertDialog.Builder(getActivity())
.setCancelable(false)
@@ -2283,12 +2350,35 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
else
{
// creating meshes...
if(!mItemTrajectoryMode.isChecked())
if(status >= 1 && status<=3)
{
mProgressDialog.dismiss();
resetNoTouchTimer();
mSavedRenderingType = mItemRenderingPointCloud.isChecked()?0:mItemRenderingMesh.isChecked()?1:2;
if(status==1)
{
mItemRenderingPointCloud.setChecked(true);
}
else if(status==2)
{
mItemRenderingMesh.setChecked(true);
}
else // isOBJ
{
mItemRenderingTextureMesh.setChecked(true);
}
updateState(State.STATE_VISUALIZING);
mToast.makeText(getActivity(), String.format("Database loaded!"), mToast.LENGTH_LONG).show();
}
else if(!mItemTrajectoryMode.isChecked())
{
setCamera(1);
// creating meshes...
updateState(State.STATE_IDLE);
mProgressDialog.setTitle("Loading");
mProgressDialog.setMessage(String.format("Database \"%s\" loaded. Please wait while rendering point clouds and meshes...", fileName));
}
}
}
});

1
app/android/src/com/introlab/rtabmap/RTABMapLib.java
View File

@@ -28,6 +28,7 @@ public class RTABMapLib
public static native void setScreenRotation(int displayRotation, int cameraRotation);
public static native int openDatabase(String databasePath, boolean databaseInMemory, boolean optimize);
public static native int openDatabase2(String databaseSource, String databasePath, boolean databaseInMemory, boolean optimize);
/*
* Called when the Tango service is connected.

33
app/android/src/com/introlab/rtabmap/Util.java
View File

@@ -90,4 +90,37 @@ public class Util {
return fileList;
}
/**
* https://stackoverflow.com/questions/6701948/efficient-way-to-compare-version-strings-in-java
* Compares two version strings.
*
* Use this instead of String.compareTo() for a non-lexicographical
* comparison that works for version strings. e.g. "1.10".compareTo("1.6").
*
* @note It does not work if "1.10" is supposed to be equal to "1.10.0".
*
* @param str1 a string of ordinal numbers separated by decimal points.
* @param str2 a string of ordinal numbers separated by decimal points.
* @return The result is a negative integer if str1 is _numerically_ less than str2.
* The result is a positive integer if str1 is _numerically_ greater than str2.
* The result is zero if the strings are _numerically_ equal.
*/
public static int versionCompare(String str1, String str2) {
String[] vals1 = str1.split("\\.");
String[] vals2 = str2.split("\\.");
int i = 0;
// set index to first non-equal ordinal or length of shortest version string
while (i < vals1.length && i < vals2.length && vals1[i].equals(vals2[i])) {
i++;
}
// compare first non-equal ordinal number
if (i < vals1.length && i < vals2.length) {
int diff = Integer.valueOf(vals1[i]).compareTo(Integer.valueOf(vals2[i]));
return Integer.signum(diff);
}
// the strings are equal or one string is a substring of the other
// e.g. "1.2.3" = "1.2.3" or "1.2.3" < "1.2.3.4"
return Integer.signum(vals1.length - vals2.length);
}
}