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Code Issues Packages Projects Releases Wiki Activity

Tango #57: Global optimization / Post-processing on pause

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matlabbe
2016-04-03 21:35:30 -04:00
parent 30e52b785a
commit 5d9522c901
15 changed files with 621 additions and 166 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+59 -7
View File
@@ -509,13 +509,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
final String key,
final String value)
{
Log.i(TAG, String.format("tangoEventCallback()"));
runOnUiThread(new Runnable() {
public void run() {
tangoEventUI(type, key, value);
}
});
if(mItemPause != null && !mItemPause.isChecked())
{
runOnUiThread(new Runnable() {
public void run() {
tangoEventUI(type, key, value);
}
});
}
}
private boolean CheckTangoCoreVersion(int minVersion) {
@@ -574,6 +575,57 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
RTABMapLib.setPausedMapping(true);
((TextView)findViewById(R.id.status)).setText("Paused");
// Post-processing
new AlertDialog.Builder(getActivity())
.setTitle("Post-Processing")
.setMessage("Do you want to detect more loop closures and do a bundle adjustement? Otherwise, a simple global graph optimization is done.")
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
mProgressDialog.setTitle("Post-Processing");
mProgressDialog.setMessage(String.format("Please wait while optimizing..."));
mProgressDialog.show();
Thread workingThread = new Thread(new Runnable() {
public void run() {
final int loopDetected = RTABMapLib.postProcessing(false);
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
if(loopDetected > 0)
{
Toast.makeText(getActivity(), String.format("%d new loop closure(s) added.", loopDetected), Toast.LENGTH_SHORT).show();
}
}
});
}
});
workingThread.start();
}
})
.setNegativeButton("No", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
mProgressDialog.setTitle("Post-Processing");
mProgressDialog.setMessage(String.format("Please wait while optimizing..."));
mProgressDialog.show();
Thread workingThread = new Thread(new Runnable() {
public void run() {
RTABMapLib.postProcessing(true);
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
}
});
}
});
workingThread.start();
}
})
.show();
}
else
{
app/android/src/com/introlab/rtabmap/RTABMapLib.java
+1
View File
@@ -59,6 +59,7 @@ public class RTABMapLib
public static native void resetMapping();
public static native void save();
public static native boolean exportMesh(String filePath);
public static native int postProcessing(boolean graphOptimizationOnly);
public static native String getStatus();
public static native int getTotalNodes();