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RtabmapThread: changed state stack for a queue to process events in FIFO order (instead of FILO). Tango: Added detector type parameter (FREAK is now the default with 400 features).

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This commit is contained in:
matlabbe
2017-01-27 11:47:57 -05:00
parent b4a0fe54cd
commit 79a211ad02
9 changed files with 65 additions and 14 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+14 -1
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@@ -126,6 +126,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private ToggleButton mButtonTop;
private ToggleButton mButtonPause;
private ToggleButton mButtonLighting;
private Button mButtonCloseVisualization;
private String mOpenedDatabasePath = "";
private String mWorkingDirectory = "";
@@ -184,14 +185,17 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mButtonTop = (ToggleButton)findViewById(R.id.top_down_button);
mButtonPause = (ToggleButton)findViewById(R.id.pause_button);
mButtonLighting = (ToggleButton)findViewById(R.id.light_button);
mButtonCloseVisualization = (Button)findViewById(R.id.close_visualization_button);
mButtonFirst.setOnClickListener(this);
mButtonThird.setOnClickListener(this);
mButtonTop.setOnClickListener(this);
mButtonPause.setOnClickListener(this);
mButtonLighting.setOnClickListener(this);
mButtonCloseVisualization.setOnClickListener(this);
mButtonFirst.setChecked(true);
mButtonLighting.setChecked(true);
mButtonLighting.setVisibility(View.INVISIBLE);
mButtonCloseVisualization.setVisibility(View.INVISIBLE);
mToast = Toast.makeText(getApplicationContext(), "", Toast.LENGTH_SHORT);
@@ -266,6 +270,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mLoopThr = sharedPref.getString(getString(R.string.pref_key_loop_thr), getString(R.string.pref_default_loop_thr));
String optError = sharedPref.getString(getString(R.string.pref_key_opt_error), getString(R.string.pref_default_opt_error));
mMaxFeatures = sharedPref.getString(getString(R.string.pref_key_features), getString(R.string.pref_default_features));
String featureType = sharedPref.getString(getString(R.string.pref_key_features_type), getString(R.string.pref_default_features_type));
RTABMapLib.setNodesFiltering(sharedPref.getBoolean(getString(R.string.pref_key_nodes_filtering), Boolean.parseBoolean(getString(R.string.pref_default_nodes_filtering))));
RTABMapLib.setDriftCorrection(sharedPref.getBoolean(getString(R.string.pref_key_drift_correction), Boolean.parseBoolean(getString(R.string.pref_default_drift_correction))));
@@ -277,6 +282,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
RTABMapLib.setMappingParameter("Kp/MaxFeatures", mMaxFeatures.compareTo("Disabled")==0?"-1":mMaxFeatures.compareTo("No Limit")==0?"0":mMaxFeatures);
RTABMapLib.setMappingParameter("Rtabmap/LoopThr", mLoopThr.compareTo("Disabled")==0?"1":mLoopThr);
RTABMapLib.setMappingParameter("RGBD/OptimizeMaxError", optError.compareTo("Disabled")==0?"0":optError);
RTABMapLib.setMappingParameter("Kp/DetectorStrategy", featureType);
RTABMapLib.setMeshDecimation(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_decimation), getString(R.string.pref_default_decimation))));
RTABMapLib.setMaxCloudDepth(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_depth), getString(R.string.pref_default_depth))));
@@ -387,6 +393,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
case R.id.light_button:
RTABMapLib.setLighting(mButtonLighting.isChecked());
break;
case R.id.close_visualization_button:
updateState(State.STATE_IDLE);
break;
default:
return;
}
@@ -731,6 +740,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
case STATE_PROCESSING:
mButtonLighting.setVisibility(View.INVISIBLE);
mButtonCloseVisualization.setVisibility(View.INVISIBLE);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
mItemOpen.setEnabled(false);
@@ -742,6 +752,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
break;
case STATE_VISUALIZING:
mButtonLighting.setVisibility(View.VISIBLE);
mButtonCloseVisualization.setVisibility(View.VISIBLE);
mItemSave.setEnabled(mButtonPause.isChecked());
mItemExport.setEnabled(mButtonPause.isChecked() && !mItemDataRecorderMode.isChecked());
mItemOpen.setEnabled(mButtonPause.isChecked() && !mItemDataRecorderMode.isChecked());
@@ -754,6 +765,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
break;
default:
mButtonLighting.setVisibility(View.INVISIBLE);
mButtonCloseVisualization.setVisibility(View.INVISIBLE);
mItemSave.setEnabled(mButtonPause.isChecked());
mItemExport.setEnabled(mButtonPause.isChecked() && !mItemDataRecorderMode.isChecked());
mItemOpen.setEnabled(mButtonPause.isChecked() && !mItemDataRecorderMode.isChecked());
@@ -762,7 +774,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemReset.setEnabled(true);
mItemModes.setEnabled(true);
mButtonPause.setEnabled(true);
mItemDataRecorderMode.setEnabled(mButtonPause.isChecked());
mItemDataRecorderMode.setEnabled(mButtonPause.isChecked());
RTABMapLib.postExportation(false);
break;
}
}