i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-03 16:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tango: moved Auto-exposure option in Rendering menu, updated pop-up time "Loop closure detected"

Browse Source
This commit is contained in:
matlabbe
2016-04-06 18:07:45 -04:00
parent 9270fc9ca9
commit 0bb82af91c
2 changed files with 51 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app/android/res/menu/optionmenu.xml
+1 -1
View File
@@ -35,6 +35,7 @@
<item android:id="@+id/map_shown" android:checked="true" android:title="Map Visible" /> <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/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/graph_visible" android:checked="true" android:title="Graph 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/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_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/mesh_triangle_size" android:checkable="false" android:title="Mesh Triangle Size..." />
@@ -46,7 +47,6 @@
<group android:id="@+id/group_mapping_visibility" android:checkableBehavior="all"> <group android:id="@+id/group_mapping_visibility" android:checkableBehavior="all">
<item android:id="@+id/localization_mode" android:checked="false" android:title="Localization Mode" /> <item android:id="@+id/localization_mode" android:checked="false" android:title="Localization Mode" />
<item android:id="@+id/trajectory_mode" android:checked="false" android:title="Trajectory Mode" /> <item android:id="@+id/trajectory_mode" android:checked="false" android:title="Trajectory Mode" />
<item android:id="@+id/auto_exposure" android:checked="false" android:title="Auto Exposure" />
<item android:id="@+id/graph_optimization" android:checked="true" android:title="Optimized Graph" /> <item android:id="@+id/graph_optimization" android:checked="true" android:title="Optimized Graph" />
<item android:id="@+id/update_rate" android:checkable="false" android:title="Map Update Rate..." /> <item android:id="@+id/update_rate" android:checkable="false" android:title="Map Update Rate..." />
<item android:id="@+id/time_threshold" android:checkable="false" android:title="Time Threshold..." /> <item android:id="@+id/time_threshold" android:checkable="false" android:title="Time Threshold..." />
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+50 -34
View File
@@ -90,6 +90,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private int mTotalLoopClosures = 0; private int mTotalLoopClosures = 0;
private Toast mToast = null;
@Override @Override
protected void onCreate(Bundle savedInstanceState) { protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState); super.onCreate(savedInstanceState);
@@ -109,6 +111,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
findViewById(R.id.first_person_button).setOnClickListener(this); findViewById(R.id.first_person_button).setOnClickListener(this);
findViewById(R.id.third_person_button).setOnClickListener(this); findViewById(R.id.third_person_button).setOnClickListener(this);
findViewById(R.id.top_down_button).setOnClickListener(this); findViewById(R.id.top_down_button).setOnClickListener(this);
mToast = Toast.makeText(getApplicationContext(), "", Toast.LENGTH_SHORT);
// OpenGL view where all of the graphics are drawn. // OpenGL view where all of the graphics are drawn.
mGLView = (GLSurfaceView) findViewById(R.id.gl_surface_view); mGLView = (GLSurfaceView) findViewById(R.id.gl_surface_view);
@@ -128,7 +132,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
// Check if the Tango Core is out dated. // Check if the Tango Core is out dated.
if (!CheckTangoCoreVersion(MIN_TANGO_CORE_VERSION)) { if (!CheckTangoCoreVersion(MIN_TANGO_CORE_VERSION)) {
Toast.makeText(this, "Tango Core out dated, please update in Play Store", Toast.LENGTH_LONG).show(); mToast.makeText(this, "Tango Core out dated, please update in Play Store", mToast.LENGTH_LONG).show();
finish(); finish();
return; return;
} }
@@ -156,9 +160,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
else else
{ {
// show warning that data cannot be saved! // show warning that data cannot be saved!
Toast.makeText(getApplicationContext(), mToast.makeText(getApplicationContext(),
String.format("Failed to get external storage path (SD-CARD, state=%s). Saving disabled.", String.format("Failed to get external storage path (SD-CARD, state=%s). Saving disabled.",
Environment.getExternalStorageState()), Toast.LENGTH_LONG).show(); Environment.getExternalStorageState()), mToast.LENGTH_LONG).show();
} }
RTABMapLib.initialize(this); RTABMapLib.initialize(this);
@@ -171,8 +175,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
if (requestCode == Tango.TANGO_INTENT_ACTIVITYCODE) { if (requestCode == Tango.TANGO_INTENT_ACTIVITYCODE) {
// Make sure the request was successful // Make sure the request was successful
if (resultCode == RESULT_CANCELED) { if (resultCode == RESULT_CANCELED) {
Toast.makeText(this, "Motion Tracking Permissions Required!", mToast.makeText(this, "Motion Tracking Permissions Required!",
Toast.LENGTH_SHORT).show(); mToast.LENGTH_SHORT).show();
finish(); finish();
} }
} }
@@ -200,8 +204,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
if(RTABMapLib.onResume()!=0) if(RTABMapLib.onResume()!=0)
{ {
Toast.makeText(getApplicationContext(), mToast.makeText(getApplicationContext(),
String.format("Failed to connect with Tango!"), Toast.LENGTH_SHORT).show(); String.format("Failed to connect with Tango!"), mToast.LENGTH_SHORT).show();
} }
} else { } else {
@@ -325,7 +329,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
if(loopClosureId > 0) if(loopClosureId > 0)
{ {
++mTotalLoopClosures; ++mTotalLoopClosures;
Toast.makeText(this, "Loop closure detected!", Toast.LENGTH_SHORT).show();
mToast.setText("Loop closure detected!");
mToast.show();
} }
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures)); ((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
} }
@@ -425,7 +431,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
if(!msg.isEmpty()) if(!msg.isEmpty())
{ {
Toast.makeText(this, msg, Toast.LENGTH_LONG).show(); mToast.makeText(this, msg, mToast.LENGTH_LONG).show();
} }
mOpenedDatabasePath = ""; mOpenedDatabasePath = "";
@@ -493,25 +499,35 @@ public class RTABMapActivity extends Activity implements OnClickListener {
* "AreaDescriptionSaveProgress:X" - ADF saving is X * 100 percent complete. * "AreaDescriptionSaveProgress:X" - ADF saving is X * 100 percent complete.
* "Unknown" * "Unknown"
*/ */
String str = null;
if(key.equals("TangoServiceException")) if(key.equals("TangoServiceException"))
Toast.makeText(this, String.format("Tango service exception: %s", value), Toast.LENGTH_SHORT).show(); str = String.format("Tango service exception: %s", value);
else if(key.equals("FisheyeOverExposed")) else if(key.equals("FisheyeOverExposed"))
;//Toast.makeText(this, String.format("The fisheye image is over exposed with average pixel value %s px.", value), Toast.LENGTH_SHORT).show(); ;//str = String.format("The fisheye image is over exposed with average pixel value %s px.", value);
else if(key.equals("FisheyeUnderExposed")) else if(key.equals("FisheyeUnderExposed"))
;//Toast.makeText(this, String.format("The fisheye image is under exposed with average pixel value %s px.", value), Toast.LENGTH_SHORT).show(); ;//str = String.format("The fisheye image is under exposed with average pixel value %s px.", value);
else if(key.equals("ColorOverExposed")) else if(key.equals("ColorOverExposed"))
;//Toast.makeText(this, String.format("The color image is over exposed with average pixel value %s px.", value), Toast.LENGTH_SHORT).show(); ;//str = String.format("The color image is over exposed with average pixel value %s px.", value);
else if(key.equals("ColorUnderExposed")) else if(key.equals("ColorUnderExposed"))
;//Toast.makeText(this, String.format("The color image is under exposed with average pixel value %s px.", value), Toast.LENGTH_SHORT).show(); ;//str = String.format("The color image is under exposed with average pixel value %s px.", value);
else if(key.equals("CameraTango")) else if(key.equals("CameraTango"))
Toast.makeText(this, value, Toast.LENGTH_SHORT).show(); str = value;
else if(key.equals("TooFewFeaturesTracked")) else if(key.equals("TooFewFeaturesTracked"))
{ {
if(!value.equals("0")) if(!value.equals("0"))
Toast.makeText(this, String.format("Too few features (%s) were tracked in the fisheye image. This may result in poor odometry!", value), Toast.LENGTH_SHORT).show(); {
str = String.format("Too few features (%s) were tracked in the fisheye image. This may result in poor odometry!", value);
}
}
else
{
str = String.format("Unknown Tango event detected!? (type=%d)", type);
}
if(str!=null)
{
mToast.setText(str);
mToast.show();
} }
else
Toast.makeText(this, String.format("Unknown Tango event detected!? (type=%d)", type), Toast.LENGTH_SHORT).show();
} }
//called from jni //called from jni
@@ -608,11 +624,11 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mProgressDialog.dismiss(); mProgressDialog.dismiss();
if(loopDetected >= 0) if(loopDetected >= 0)
{ {
Toast.makeText(getActivity(), String.format("Detection done! %d new loop closure(s) added.", loopDetected), Toast.LENGTH_SHORT).show(); mToast.makeText(getActivity(), String.format("Detection done! %d new loop closure(s) added.", loopDetected), mToast.LENGTH_SHORT).show();
} }
else if(loopDetected < 0) else if(loopDetected < 0)
{ {
Toast.makeText(getActivity(), String.format("Detection failed!"), Toast.LENGTH_SHORT).show(); mToast.makeText(getActivity(), String.format("Detection failed!"), mToast.LENGTH_SHORT).show();
} }
} }
}); });
@@ -634,11 +650,11 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mProgressDialog.dismiss(); mProgressDialog.dismiss();
if(value >= 0) if(value >= 0)
{ {
Toast.makeText(getActivity(), String.format("Optimization done!"), Toast.LENGTH_SHORT).show(); mToast.makeText(getActivity(), String.format("Optimization done!"), mToast.LENGTH_SHORT).show();
} }
else if(value < 0) else if(value < 0)
{ {
Toast.makeText(getActivity(), String.format("Optimization failed!"), Toast.LENGTH_SHORT).show(); mToast.makeText(getActivity(), String.format("Optimization failed!"), mToast.LENGTH_SHORT).show();
} }
} }
}); });
@@ -660,11 +676,11 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mProgressDialog.dismiss(); mProgressDialog.dismiss();
if(value >= 0) if(value >= 0)
{ {
Toast.makeText(getActivity(), String.format("Optimization done!"), Toast.LENGTH_SHORT).show(); mToast.makeText(getActivity(), String.format("Optimization done!"), mToast.LENGTH_SHORT).show();
} }
else if(value < 0) else if(value < 0)
{ {
Toast.makeText(getActivity(), String.format("Optimization failed!"), Toast.LENGTH_SHORT).show(); mToast.makeText(getActivity(), String.format("Optimization failed!"), mToast.LENGTH_SHORT).show();
} }
} }
}); });
@@ -801,7 +817,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mParamUpdateRateHzIndex = which; mParamUpdateRateHzIndex = which;
if(RTABMapLib.setMappingParameter("Rtabmap/DetectionRate", values[which]) != 0) if(RTABMapLib.setMappingParameter("Rtabmap/DetectionRate", values[which]) != 0)
{ {
Toast.makeText(getActivity(), "Failed to set parameter \"Rtabmap/DetectionRate\"!", Toast.LENGTH_LONG).show(); mToast.makeText(getActivity(), "Failed to set parameter \"Rtabmap/DetectionRate\"!", mToast.LENGTH_LONG).show();
} }
} }
} }
@@ -823,7 +839,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mParamTimeThrMsIndex = which; mParamTimeThrMsIndex = which;
if(RTABMapLib.setMappingParameter("Rtabmap/TimeThr", which==3?"0":values[which]) != 0) if(RTABMapLib.setMappingParameter("Rtabmap/TimeThr", which==3?"0":values[which]) != 0)
{ {
Toast.makeText(getActivity(), "Failed to set parameter \"Rtabmap/TimeThr\"!", Toast.LENGTH_LONG).show(); mToast.makeText(getActivity(), "Failed to set parameter \"Rtabmap/TimeThr\"!", mToast.LENGTH_LONG).show();
} }
} }
} }
@@ -845,7 +861,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mParamMaxFeaturesIndex = which; mParamMaxFeaturesIndex = which;
if(RTABMapLib.setMappingParameter("Kp/MaxFeatures", which==0?"-1":which==11?"0":values[which]) != 0) if(RTABMapLib.setMappingParameter("Kp/MaxFeatures", which==0?"-1":which==11?"0":values[which]) != 0)
{ {
Toast.makeText(getActivity(),"Failed to set parameter \"Kp/MaxFeatures\"!", Toast.LENGTH_LONG).show(); mToast.makeText(getActivity(),"Failed to set parameter \"Kp/MaxFeatures\"!", mToast.LENGTH_LONG).show();
} }
} }
} }
@@ -867,7 +883,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mParamLoopThrMsIndex = which; mParamLoopThrMsIndex = which;
if(RTABMapLib.setMappingParameter("Rtabmap/LoopThr", which==0?"1":values[which]) != 0) if(RTABMapLib.setMappingParameter("Rtabmap/LoopThr", which==0?"1":values[which]) != 0)
{ {
Toast.makeText(getActivity(), "Failed to set parameter \"Rtabmap/LoopThr\"!", Toast.LENGTH_LONG).show(); mToast.makeText(getActivity(), "Failed to set parameter \"Rtabmap/LoopThr\"!", mToast.LENGTH_LONG).show();
} }
} }
} }
@@ -1022,16 +1038,16 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{ {
if(isOBJ) if(isOBJ)
{ {
Toast.makeText(getActivity(), String.format("Mesh \"%s\" (with textures \"%s/\" and \"%s\") successfully exported!", path, fileName, fileName + ".mtl"), Toast.LENGTH_LONG).show(); mToast.makeText(getActivity(), String.format("Mesh \"%s\" (with textures \"%s/\" and \"%s\") successfully exported!", path, fileName, fileName + ".mtl"), mToast.LENGTH_LONG).show();
} }
else else
{ {
Toast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), Toast.LENGTH_LONG).show(); mToast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), mToast.LENGTH_LONG).show();
} }
} }
else else
{ {
Toast.makeText(getActivity(), String.format("Exporting mesh to \"%s\" failed!", path), Toast.LENGTH_LONG).show(); mToast.makeText(getActivity(), String.format("Exporting mesh to \"%s\" failed!", path), mToast.LENGTH_LONG).show();
} }
mItemExport.setEnabled(true); mItemExport.setEnabled(true);
mProgressDialog.dismiss(); mProgressDialog.dismiss();
@@ -1065,16 +1081,16 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{ {
if(isOBJ) if(isOBJ)
{ {
Toast.makeText(getActivity(), String.format("Mesh \"%s\" (with textures \"%s/\" and \"%s\") successfully exported!", path, fileName, fileName + ".mtl"), Toast.LENGTH_LONG).show(); mToast.makeText(getActivity(), String.format("Mesh \"%s\" (with textures \"%s/\" and \"%s\") successfully exported!", path, fileName, fileName + ".mtl"), mToast.LENGTH_LONG).show();
} }
else else
{ {
Toast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), Toast.LENGTH_LONG).show(); mToast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), mToast.LENGTH_LONG).show();
} }
} }
else else
{ {
Toast.makeText(getActivity(), String.format("Exporting mesh to \"%s\" failed!", path), Toast.LENGTH_LONG).show(); mToast.makeText(getActivity(), String.format("Exporting mesh to \"%s\" failed!", path), mToast.LENGTH_LONG).show();
} }
mItemExport.setEnabled(true); mItemExport.setEnabled(true);
mProgressDialog.dismiss(); mProgressDialog.dismiss();