i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 17:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

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.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
app/android/src/com/introlab/rtabmap/DatabaseListArrayAdapter.java
+89
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;
}
}
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+109 -19
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));
}
}
}
});
app/android/src/com/introlab/rtabmap/RTABMapLib.java
+1
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.
app/android/src/com/introlab/rtabmap/Util.java
+33
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);
}
}