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Code Issues Packages Projects Releases Wiki Activity

Tango #57: Added 720p option, Export PLY or OBJ, Added Rendering and Mapping menus, RtabmapThread: Fixed large covariance (9999) detection

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matlabbe
2016-04-02 15:17:40 -04:00
parent d489cd48e9
commit 30e52b785a
15 changed files with 339 additions and 333 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+105 -7
View File
@@ -75,6 +75,12 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private String mNewDatabasePath = "";
private String mWorkingDirectory = "";
private int mMaxDepthIndex = 5;
private int mParamUpdateRateHzIndex = 1;
private int mParamTimeThrMsIndex = 1;
private int mParamMaxFeaturesIndex = 2;
private LinearLayout mLayoutDebug;
private int mTotalLoopClosures = 0;
@@ -627,6 +633,96 @@ public class RTABMapActivity extends Activity implements OnClickListener {
item.setChecked(!item.isChecked());
RTABMapLib.setAutoExposure(item.isChecked());
}
else if(itemId == R.id.resolution)
{
item.setChecked(!item.isChecked());
RTABMapLib.setFullResolution(item.isChecked());
}
else if(itemId == R.id.max_depth)
{
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Max Depth (m)");
final String[] values = {"1", "2", "3", "4", "5", "No Limit"};
builder.setSingleChoiceItems(values, mMaxDepthIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < 6)
{
mMaxDepthIndex = which;
RTABMapLib.setMaxCloudDepth(which < 5?Integer.parseInt(values[which]):0);
}
}
});
builder.show();
}
else if(itemId == R.id.update_rate)
{
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Update Rate (Hz)");
final String[] values = {"0.5", "1", "2", "Max"};
builder.setSingleChoiceItems(values, mParamUpdateRateHzIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < 4)
{
mParamUpdateRateHzIndex = which;
if(RTABMapLib.setMappingParameter("Rtabmap/DetectionRate", values[which]) != 0)
{
Toast.makeText(getActivity(), "Failed to set parameter \"Rtabmap/DetectionRate\"!", Toast.LENGTH_LONG).show();
}
}
}
});
builder.show();
}
else if(itemId == R.id.time_threshold)
{
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Time Threshold (ms, 0 means no limit)");
final String[] values = {"400", "700", "1400", "No Limit"};
builder.setSingleChoiceItems(values, mParamTimeThrMsIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < 4)
{
mParamTimeThrMsIndex = which;
if(RTABMapLib.setMappingParameter("Rtabmap/TimeThr", which==3?"0":values[which]) != 0)
{
Toast.makeText(getActivity(), "Failed to set parameter \"Rtabmap/TimeThr\"!", Toast.LENGTH_LONG).show();
}
}
}
});
builder.show();
}
else if(itemId == R.id.features)
{
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Max Features");
final String[] values = {"Disabled", "100", "200", "300", "400", "No Limit"};
builder.setSingleChoiceItems(values, mParamMaxFeaturesIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < 6)
{
mParamMaxFeaturesIndex = which;
if(RTABMapLib.setMappingParameter("Kp/MaxFeatures", which==0?"-1":which==5?"0":values[which]) != 0)
{
Toast.makeText(getActivity(),"Failed to set parameter \"Kp/MaxFeatures\"!", Toast.LENGTH_LONG).show();
}
}
}
});
builder.show();
}
else if (itemId == R.id.save)
{
if(mOpenedDatabasePath.isEmpty())
@@ -729,10 +825,12 @@ public class RTABMapActivity extends Activity implements OnClickListener {
RTABMapLib.openDatabase(mTempDatabasePath);
}
}
else if(itemId == R.id.export)
else if(itemId == R.id.export_obj || itemId == R.id.export_ply)
{
final String extension = itemId == R.id.export_ply ? ".ply" : ".obj";
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("File Name (*.obj):");
builder.setTitle(String.format("File Name (*%s):", extension));
final EditText input = new EditText(this);
input.setInputType(InputType.TYPE_CLASS_TEXT);
builder.setView(input);
@@ -744,7 +842,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
dialog.dismiss();
if(!fileName.isEmpty())
{
File newFile = new File(mWorkingDirectory + fileName + ".obj");
File newFile = new File(mWorkingDirectory + fileName + extension);
if(newFile.exists())
{
new AlertDialog.Builder(getActivity())
@@ -752,12 +850,12 @@ public class RTABMapActivity extends Activity implements OnClickListener {
.setMessage("Do you want to overwrite the existing file?")
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
final String path = mWorkingDirectory + fileName + ".obj";
final String path = mWorkingDirectory + fileName + extension;
mItemExport.setEnabled(false);
mProgressDialog.setTitle("Exporting");
mProgressDialog.setMessage(String.format("Please wait while exporting \"%s\"...", fileName+".obj"));
mProgressDialog.setMessage(String.format("Please wait while exporting \"%s\"...", fileName+extension));
mProgressDialog.show();
Thread exportThread = new Thread(new Runnable() {
@@ -791,10 +889,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
else
{
final String path = mWorkingDirectory + fileName + ".obj";
final String path = mWorkingDirectory + fileName + extension;
mItemExport.setEnabled(false);
mProgressDialog.setTitle("Exporting");
mProgressDialog.setMessage(String.format("Please wait while exporting \"%s\"...", fileName+".obj"));
mProgressDialog.setMessage(String.format("Please wait while exporting \"%s\"...", fileName+extension));
mProgressDialog.show();
Thread exportThread = new Thread(new Runnable() {
public void run() {