mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
This commit is contained in:
matlabbe
@@ -0,0 +1,148 @@
|
||||
package com.introlab.rtabmap;
|
||||
|
||||
import java.io.BufferedReader;
|
||||
|
||||
import java.io.File;
|
||||
import java.io.FileInputStream;
|
||||
import java.io.IOException;
|
||||
import java.io.InputStreamReader;
|
||||
import java.io.OutputStream;
|
||||
import java.io.OutputStreamWriter;
|
||||
import java.io.PrintWriter;
|
||||
import java.net.HttpURLConnection;
|
||||
import java.net.URL;
|
||||
import java.net.URLConnection;
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
|
||||
/**
|
||||
* This utility class provides an abstraction layer for sending multipart HTTP
|
||||
* POST requests to a web server.
|
||||
* @author www.codejava.net
|
||||
* http://www.codejava.net/java-se/networking/upload-files-by-sending-multipart-request-programmatically
|
||||
*
|
||||
*/
|
||||
public class MultipartUtility {
|
||||
private final String boundary;
|
||||
private static final String LINE_FEED = "\r\n";
|
||||
private HttpURLConnection httpConn;
|
||||
private String charset;
|
||||
private OutputStream outputStream;
|
||||
private PrintWriter writer;
|
||||
|
||||
/**
|
||||
* This constructor initializes a new HTTP POST request with content type
|
||||
* is set to multipart/form-data
|
||||
* @param requestURL
|
||||
* @param charset
|
||||
* @throws IOException
|
||||
*/
|
||||
public MultipartUtility(String requestURL, String token, String charset)
|
||||
throws IOException {
|
||||
this.charset = charset;
|
||||
|
||||
// creates a unique boundary based on time stamp
|
||||
boundary = "===" + System.currentTimeMillis() + "===";
|
||||
|
||||
URL url = new URL(requestURL);
|
||||
httpConn = (HttpURLConnection) url.openConnection();
|
||||
httpConn.setUseCaches(false);
|
||||
httpConn.setDoOutput(true); // indicates POST method
|
||||
httpConn.setDoInput(true);
|
||||
httpConn.setRequestProperty("Content-Type", "multipart/form-data; boundary=" + boundary);
|
||||
httpConn.setRequestProperty("Authorization", "Bearer " + token);
|
||||
outputStream = httpConn.getOutputStream();
|
||||
writer = new PrintWriter(new OutputStreamWriter(outputStream, charset),
|
||||
true);
|
||||
}
|
||||
|
||||
/**
|
||||
* Adds a form field to the request
|
||||
* @param name field name
|
||||
* @param value field value
|
||||
*/
|
||||
public void addFormField(String name, String value) {
|
||||
writer.append("--" + boundary).append(LINE_FEED);
|
||||
writer.append("Content-Disposition: form-data; name=\"" + name + "\"").append(LINE_FEED);
|
||||
writer.append("Content-Type: text/plain; charset=" + charset).append(LINE_FEED);
|
||||
writer.append(LINE_FEED);
|
||||
writer.append(value).append(LINE_FEED);
|
||||
writer.flush();
|
||||
}
|
||||
|
||||
/**
|
||||
* Adds a upload file section to the request
|
||||
* @param fieldName name attribute in <input type="file" name="..." />
|
||||
* @param uploadFile a File to be uploaded
|
||||
* @throws IOException
|
||||
*/
|
||||
public void addFilePart(String fieldName, File uploadFile)
|
||||
throws IOException {
|
||||
String fileName = uploadFile.getName();
|
||||
writer.append("--" + boundary).append(LINE_FEED);
|
||||
writer.append(
|
||||
"Content-Disposition: form-data; name=\"" + fieldName
|
||||
+ "\"; filename=\"" + fileName + "\"")
|
||||
.append(LINE_FEED);
|
||||
writer.append(
|
||||
"Content-Type: "
|
||||
+ URLConnection.guessContentTypeFromName(fileName))
|
||||
.append(LINE_FEED);
|
||||
writer.append("Content-Transfer-Encoding: binary").append(LINE_FEED);
|
||||
writer.append(LINE_FEED);
|
||||
writer.flush();
|
||||
|
||||
FileInputStream inputStream = new FileInputStream(uploadFile);
|
||||
byte[] buffer = new byte[4096];
|
||||
int bytesRead = -1;
|
||||
while ((bytesRead = inputStream.read(buffer)) != -1) {
|
||||
outputStream.write(buffer, 0, bytesRead);
|
||||
}
|
||||
outputStream.flush();
|
||||
inputStream.close();
|
||||
|
||||
writer.append(LINE_FEED);
|
||||
writer.flush();
|
||||
}
|
||||
|
||||
/**
|
||||
* Adds a header field to the request.
|
||||
* @param name - name of the header field
|
||||
* @param value - value of the header field
|
||||
*/
|
||||
public void addHeaderField(String name, String value) {
|
||||
writer.append(name + ": " + value).append(LINE_FEED);
|
||||
writer.flush();
|
||||
}
|
||||
|
||||
/**
|
||||
* Completes the request and receives response from the server.
|
||||
* @return a list of Strings as response in case the server returned
|
||||
* status OK, otherwise an exception is thrown.
|
||||
* @throws IOException
|
||||
*/
|
||||
public List<String> finish() throws IOException {
|
||||
List<String> response = new ArrayList<String>();
|
||||
|
||||
writer.append(LINE_FEED).flush();
|
||||
writer.append("--" + boundary + "--").append(LINE_FEED);
|
||||
writer.close();
|
||||
|
||||
// checks server's status code first
|
||||
int status = httpConn.getResponseCode();
|
||||
if (status == 201) {
|
||||
BufferedReader reader = new BufferedReader(new InputStreamReader(
|
||||
httpConn.getInputStream()));
|
||||
String line = null;
|
||||
while ((line = reader.readLine()) != null) {
|
||||
response.add(line);
|
||||
}
|
||||
reader.close();
|
||||
httpConn.disconnect();
|
||||
} else {
|
||||
throw new IOException("Server returned non-OK status: " + status + ", msg: " + httpConn.getResponseMessage());
|
||||
}
|
||||
|
||||
return response;
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -72,6 +72,8 @@ public class RTABMapLib
|
||||
public static native void setAppendMode(boolean enabled);
|
||||
public static native void setDataRecorderMode(boolean enabled);
|
||||
public static native void setMaxCloudDepth(float value);
|
||||
public static native void setPointSize(float value);
|
||||
public static native void setLighting(boolean enabled);
|
||||
public static native void setMeshDecimation(int value);
|
||||
public static native void setMeshAngleTolerance(float value);
|
||||
public static native void setMeshTriangleSize(int value);
|
||||
@@ -79,7 +81,21 @@ public class RTABMapLib
|
||||
|
||||
public static native void resetMapping();
|
||||
public static native void save(String outputDatabasePath);
|
||||
public static native boolean exportMesh(String filePath);
|
||||
public static native boolean exportMesh(
|
||||
String filePath,
|
||||
float cloudVoxelSize,
|
||||
boolean meshing,
|
||||
int textureSize,
|
||||
int normalK,
|
||||
boolean optimized,
|
||||
float optimizedVoxelSize,
|
||||
int optimizedDepth,
|
||||
float optimizedDecimationFactor,
|
||||
float optimizedColorRadius,
|
||||
boolean optimizedCleanWhitePolygons,
|
||||
boolean optimizedColorWhitePolygons,
|
||||
boolean blockRendering);
|
||||
public static native boolean postExportation(boolean visualize);
|
||||
public static native int postProcessing(int approach);
|
||||
|
||||
public static native String getStatus();
|
||||
|
||||
@@ -0,0 +1,95 @@
|
||||
package com.introlab.rtabmap;
|
||||
|
||||
import android.app.Activity;
|
||||
import android.content.SharedPreferences;
|
||||
import android.content.SharedPreferences.OnSharedPreferenceChangeListener;
|
||||
import android.os.Bundle;
|
||||
import android.preference.ListPreference;
|
||||
import android.preference.Preference;
|
||||
import android.preference.PreferenceActivity;
|
||||
import android.preference.PreferenceManager;
|
||||
|
||||
public class SettingsActivity extends PreferenceActivity implements OnSharedPreferenceChangeListener {
|
||||
|
||||
@Override
|
||||
public void onCreate(Bundle savedInstanceState) {
|
||||
super.onCreate(savedInstanceState);
|
||||
addPreferencesFromResource(R.layout.activity_settings);
|
||||
|
||||
Preference button = findPreference(getString(R.string.pref_key_reset_button));
|
||||
button.setOnPreferenceClickListener(new Preference.OnPreferenceClickListener() {
|
||||
@Override
|
||||
public boolean onPreferenceClick(Preference preference) {
|
||||
getPreferenceScreen().getSharedPreferences().edit().clear().commit();
|
||||
|
||||
recreate();
|
||||
|
||||
return true;
|
||||
}
|
||||
});
|
||||
|
||||
((Preference)findPreference(getString(R.string.pref_key_decimation))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_decimation))).getEntry() + ") "+getString(R.string.pref_summary_decimation));
|
||||
((Preference)findPreference(getString(R.string.pref_key_depth))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_depth))).getEntry() + ") "+getString(R.string.pref_summary_depth));
|
||||
((Preference)findPreference(getString(R.string.pref_key_point_size))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_point_size))).getEntry() + ") "+getString(R.string.pref_summary_point_size));
|
||||
((Preference)findPreference(getString(R.string.pref_key_angle))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_angle))).getEntry() + ") "+getString(R.string.pref_summary_angle));
|
||||
((Preference)findPreference(getString(R.string.pref_key_triangle))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_triangle))).getEntry() + ") "+getString(R.string.pref_summary_triangle));
|
||||
|
||||
((Preference)findPreference(getString(R.string.pref_key_update_rate))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_update_rate))).getEntry() + ") "+getString(R.string.pref_summary_update_rate));
|
||||
((Preference)findPreference(getString(R.string.pref_key_time_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_time_thr))).getEntry() + ") "+getString(R.string.pref_summary_time_thr));
|
||||
((Preference)findPreference(getString(R.string.pref_key_loop_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_loop_thr))).getEntry() + ") "+getString(R.string.pref_summary_loop_thr));
|
||||
((Preference)findPreference(getString(R.string.pref_key_opt_error))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_error))).getEntry() + ") "+getString(R.string.pref_summary_opt_error));
|
||||
((Preference)findPreference(getString(R.string.pref_key_features))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_features))).getEntry() + ") "+getString(R.string.pref_summary_features));
|
||||
|
||||
((Preference)findPreference(getString(R.string.pref_key_cloud_voxel))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_cloud_voxel))).getEntry() + ") "+getString(R.string.pref_summary_cloud_voxel));
|
||||
((Preference)findPreference(getString(R.string.pref_key_texture_size))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_texture_size))).getEntry() + ") "+getString(R.string.pref_summary_texture_size));
|
||||
((Preference)findPreference(getString(R.string.pref_key_normal_k))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_normal_k))).getEntry() + ") "+getString(R.string.pref_summary_normal_k));
|
||||
|
||||
((Preference)findPreference(getString(R.string.pref_key_opt_depth))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_depth))).getEntry() + ") "+getString(R.string.pref_summary_opt_depth));
|
||||
((Preference)findPreference(getString(R.string.pref_key_opt_decimation_factor))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_decimation_factor))).getValue() + "%%) "+getString(R.string.pref_summary_opt_decimation_factor));
|
||||
((Preference)findPreference(getString(R.string.pref_key_opt_color_radius))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_color_radius))).getEntry() + ") "+getString(R.string.pref_summary_opt_color_radius));
|
||||
|
||||
}
|
||||
|
||||
public void onSharedPreferenceChanged(SharedPreferences sharedPreferences, String key) {
|
||||
Preference pref = findPreference(key);
|
||||
|
||||
if (pref instanceof ListPreference) {
|
||||
if(key.compareTo(getString(R.string.pref_key_decimation))==0) pref.setSummary("("+ ((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_decimation));
|
||||
if(key.compareTo(getString(R.string.pref_key_depth))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_depth));
|
||||
if(key.compareTo(getString(R.string.pref_key_point_size))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_point_size));
|
||||
if(key.compareTo(getString(R.string.pref_key_angle))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_angle));
|
||||
if(key.compareTo(getString(R.string.pref_key_triangle))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_triangle));
|
||||
|
||||
if(key.compareTo(getString(R.string.pref_key_update_rate))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_update_rate));
|
||||
if(key.compareTo(getString(R.string.pref_key_time_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_time_thr));
|
||||
if(key.compareTo(getString(R.string.pref_key_loop_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_loop_thr));
|
||||
if(key.compareTo(getString(R.string.pref_key_opt_error))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_error));
|
||||
if(key.compareTo(getString(R.string.pref_key_features))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_features));
|
||||
|
||||
if(key.compareTo(getString(R.string.pref_key_cloud_voxel))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_cloud_voxel));
|
||||
if(key.compareTo(getString(R.string.pref_key_texture_size))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_texture_size));
|
||||
if(key.compareTo(getString(R.string.pref_key_normal_k))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_normal_k));
|
||||
|
||||
if(key.compareTo(getString(R.string.pref_key_opt_depth))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_depth));
|
||||
if(key.compareTo(getString(R.string.pref_key_opt_decimation_factor))==0) pref.setSummary("("+((ListPreference)pref).getValue() + "%%) "+getString(R.string.pref_summary_opt_decimation_factor));
|
||||
if(key.compareTo(getString(R.string.pref_key_opt_color_radius))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_color_radius));
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
protected void onResume() {
|
||||
super.onResume();
|
||||
// Set up a listener whenever a key changes
|
||||
getPreferenceScreen().getSharedPreferences()
|
||||
.registerOnSharedPreferenceChangeListener(this);
|
||||
}
|
||||
|
||||
@Override
|
||||
protected void onPause() {
|
||||
super.onPause();
|
||||
// Unregister the listener whenever a key changes
|
||||
getPreferenceScreen().getSharedPreferences()
|
||||
.unregisterOnSharedPreferenceChangeListener(this);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user