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Tango: added online blending option, background color option, double tap, fixed meshes jiggering on touch, removed raw mesh option

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This commit is contained in:
matlabbe
2017-04-17 21:42:01 -04:00
parent 6f148c47e2
commit 0ccba3281e
21 changed files with 563 additions and 220 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+58 -35
View File
@@ -66,6 +66,7 @@ import android.text.method.LinkMovementMethod;
import android.text.util.Linkify;
import android.util.Log;
import android.view.Display;
import android.view.GestureDetector;
import android.view.Menu;
import android.view.MenuItem;
import android.view.MenuInflater;
@@ -73,6 +74,7 @@ import android.view.MotionEvent;
import android.view.Surface;
import android.view.View;
import android.view.View.OnClickListener;
import android.view.View.OnTouchListener;
import android.view.WindowManager;
import android.view.inputmethod.EditorInfo;
import android.webkit.WebView;
@@ -189,6 +191,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private AlertDialog mMemoryWarningDialog = null;
private String[] mStatusTexts = new String[16];
GestureDetector mGesDetect = null;
//Tango Service connection.
ServiceConnection mTangoServiceConnection = new ServiceConnection() {
@@ -270,8 +274,45 @@ public class RTABMapActivity extends Activity implements OnClickListener {
// OpenGL view where all of the graphics are drawn.
mGLView = (GLSurfaceView) findViewById(R.id.gl_surface_view);
mGesDetect = new GestureDetector(this, new DoubleTapGestureDetector());
// Configure OpenGL renderer
mGLView.setEGLContextClientVersion(2);
mGLView.setEGLConfigChooser(8, 8, 8, 8, 24, 0);
mGLView.setOnTouchListener(new OnTouchListener() {
@Override
public boolean onTouch(View v, MotionEvent event) {
mGesDetect.onTouchEvent(event);
// Pass the touch event to the native layer for camera control.
// Single touch to rotate the camera around the device.
// Two fingers to zoom in and out.
int pointCount = event.getPointerCount();
if (pointCount == 1) {
float normalizedX = event.getX(0) / mScreenSize.x;
float normalizedY = event.getY(0) / mScreenSize.y;
RTABMapLib.onTouchEvent(1,
event.getActionMasked(), normalizedX, normalizedY, 0.0f, 0.0f);
}
if (pointCount == 2) {
if (event.getActionMasked() == MotionEvent.ACTION_POINTER_UP) {
int index = event.getActionIndex() == 0 ? 1 : 0;
float normalizedX = event.getX(index) / mScreenSize.x;
float normalizedY = event.getY(index) / mScreenSize.y;
RTABMapLib.onTouchEvent(1,
MotionEvent.ACTION_DOWN, normalizedX, normalizedY, 0.0f, 0.0f);
} else {
float normalizedX0 = event.getX(0) / mScreenSize.x;
float normalizedY0 = event.getY(0) / mScreenSize.y;
float normalizedX1 = event.getX(1) / mScreenSize.x;
float normalizedY1 = event.getY(1) / mScreenSize.y;
RTABMapLib.onTouchEvent(2, event.getActionMasked(),
normalizedX0, normalizedY0, normalizedX1, normalizedY1);
}
}
return true;
}
});
// Configure the OpenGL renderer.
mRenderer = new Renderer(this);
@@ -342,6 +383,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
public void onDisplayChanged(int displayId) {
synchronized (this) {
setAndroidOrientation();
Display display = getWindowManager().getDefaultDisplay();
display.getSize(mScreenSize);
}
}
@@ -455,6 +498,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
String optimizer = sharedPref.getString(getString(R.string.pref_key_optimizer), getString(R.string.pref_default_optimizer));
if(!DISABLE_LOG) Log.d(TAG, "set mapping parameters");
RTABMapLib.setOnlineBlending(sharedPref.getBoolean(getString(R.string.pref_key_blending), Boolean.parseBoolean(getString(R.string.pref_default_blending))));
RTABMapLib.setNodesFiltering(sharedPref.getBoolean(getString(R.string.pref_key_nodes_filtering), Boolean.parseBoolean(getString(R.string.pref_default_nodes_filtering))));
RTABMapLib.setAutoExposure(sharedPref.getBoolean(getString(R.string.pref_key_auto_exposure), Boolean.parseBoolean(getString(R.string.pref_default_auto_exposure))));
RTABMapLib.setRawScanSaved(sharedPref.getBoolean(getString(R.string.pref_key_raw_scan_saved), Boolean.parseBoolean(getString(R.string.pref_default_raw_scan_saved))));
@@ -484,6 +528,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
RTABMapLib.setPointSize(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_point_size), getString(R.string.pref_default_point_size))));
RTABMapLib.setMeshAngleTolerance(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_angle), getString(R.string.pref_default_angle))));
RTABMapLib.setMeshTriangleSize(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_triangle), getString(R.string.pref_default_triangle))));
float bgColor = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_background_color), getString(R.string.pref_default_background_color)));
RTABMapLib.setBackgroundColor(bgColor);
mRenderer.setTextColor(bgColor==0.5f?0.4f:1.0f-bgColor);
if(!DISABLE_LOG) Log.d(TAG, "set rendering parameters...");
RTABMapLib.setClusterRatio(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_cluster_ratio), getString(R.string.pref_default_cluster_ratio))));
@@ -592,37 +639,17 @@ public class RTABMapActivity extends Activity implements OnClickListener {
Camera.getCameraInfo(fisheye?1:0, colorCameraInfo);
RTABMapLib.setScreenRotation(display.getRotation(), colorCameraInfo.orientation);
}
class DoubleTapGestureDetector extends GestureDetector.SimpleOnGestureListener {
@Override
public boolean onTouchEvent(MotionEvent event) {
// Pass the touch event to the native layer for camera control.
// Single touch to rotate the camera around the device.
// Two fingers to zoom in and out.
int pointCount = event.getPointerCount();
if (pointCount == 1) {
float normalizedX = event.getX(0) / mScreenSize.x;
@Override
public boolean onDoubleTap(MotionEvent event) {
float normalizedX = event.getX(0) / mScreenSize.x;
float normalizedY = event.getY(0) / mScreenSize.y;
RTABMapLib.onTouchEvent(1,
event.getActionMasked(), normalizedX, normalizedY, 0.0f, 0.0f);
}
if (pointCount == 2) {
if (event.getActionMasked() == MotionEvent.ACTION_POINTER_UP) {
int index = event.getActionIndex() == 0 ? 1 : 0;
float normalizedX = event.getX(index) / mScreenSize.x;
float normalizedY = event.getY(index) / mScreenSize.y;
RTABMapLib.onTouchEvent(1,
MotionEvent.ACTION_DOWN, normalizedX, normalizedY, 0.0f, 0.0f);
} else {
float normalizedX0 = event.getX(0) / mScreenSize.x;
float normalizedY0 = event.getY(0) / mScreenSize.y;
float normalizedX1 = event.getX(1) / mScreenSize.x;
float normalizedY1 = event.getY(1) / mScreenSize.y;
RTABMapLib.onTouchEvent(2, event.getActionMasked(),
normalizedX0, normalizedY0, normalizedX1, normalizedY1);
}
}
return true;
}
RTABMapLib.onTouchEvent(3, event.getActionMasked(), normalizedX, normalizedY, 0.0f, 0.0f);
return true;
}
}
@Override
public boolean onCreateOptionsMenu(Menu menu) {
@@ -1568,15 +1595,11 @@ public class RTABMapActivity extends Activity implements OnClickListener {
.show();
}
else if(itemId == R.id.export_point_cloud ||
itemId == R.id.export_point_cloud_highrez ||
itemId == R.id.export_mesh ||
itemId == R.id.export_mesh_texture)
itemId == R.id.export_point_cloud_highrez)
{
final boolean isOBJ = itemId == R.id.export_mesh_texture || itemId == R.id.export_optimized_mesh_texture;
final boolean meshing = itemId != R.id.export_point_cloud && itemId != R.id.export_point_cloud_highrez;
final boolean regenerateCloud = itemId == R.id.export_point_cloud_highrez;
export(isOBJ, meshing, regenerateCloud, false, 0);
export(false, false, regenerateCloud, false, 0);
}
else if(itemId == R.id.export_optimized_mesh ||
itemId == R.id.export_optimized_mesh_texture)