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Code Issues Packages Projects Releases Wiki Activity

Tango: added multi-texturing support (#189)

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This commit is contained in:
matlabbe
2017-06-10 21:45:51 -04:00
parent 774afe9fdd
commit 9554597948
8 changed files with 215 additions and 60 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+53 -20
View File
@@ -109,7 +109,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
public static final String EXTRA_VALUE_ADF = "ADF_LOAD_SAVE_PERMISSION";
public static final String RTABMAP_TMP_DB = "rtabmap.tmp.db";
public static final String RTABMAP_TMP_DIR = "tmp/";
public static final String RTABMAP_TMP_DIR = "tmp";
public static final String RTABMAP_TMP_FILENAME = "map";
public static final String RTABMAP_SDCARD_PATH = "/sdcard/";
public static final String RTABMAP_EXPORT_DIR = "Export/";
@@ -627,6 +627,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
break;
case R.id.close_visualization_button:
updateState(State.STATE_IDLE);
RTABMapLib.postExportation(false);
break;
case R.id.button_saveOnDevice:
saveOnDevice();
@@ -1094,7 +1095,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private RTABMapActivity getActivity() {return this;}
private String[] loadFileList(String directory) {
private String[] loadFileList(String directory, final boolean databasesOnly) {
File path = new File(directory);
String fileList[];
try {
@@ -1109,7 +1110,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
@Override
public boolean accept(File dir, String filename) {
File sel = new File(dir, filename);
return filename.compareTo(RTABMAP_TMP_DB) != 0 && filename.endsWith(".db");
if(databasesOnly)
{
return filename.compareTo(RTABMAP_TMP_DB) != 0 && filename.endsWith(".db");
}
else
{
return sel.isFile();
}
}
};
@@ -1242,7 +1250,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemModes.setEnabled(true);
mButtonPause.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
mItemDataRecorderMode.setEnabled(mButtonPause.isChecked());
RTABMapLib.postExportation(false);
break;
}
mButtonFirst.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
@@ -1713,7 +1720,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
else if(itemId == R.id.open)
{
final String[] files = loadFileList(mWorkingDirectory);
final String[] files = loadFileList(mWorkingDirectory, true);
if(files.length > 0)
{
String[] filesWithSize = new String[files.length];
@@ -1774,6 +1781,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
final String cloudVoxelSizeStr = sharedPref.getString(getString(R.string.pref_key_cloud_voxel), getString(R.string.pref_default_cloud_voxel));
final float cloudVoxelSize = Float.parseFloat(cloudVoxelSizeStr);
final int textureSize = isOBJ?Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_texture_size), getString(R.string.pref_default_texture_size))):0;
final int textureCount = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_texture_count), getString(R.string.pref_default_texture_count)));
final int normalK = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_normal_k), getString(R.string.pref_default_normal_k)));
final float maxTextureDistance = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_max_texture_distance), getString(R.string.pref_default_max_texture_distance)));
final int minTextureClusterSize = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_min_texture_cluster_size), getString(R.string.pref_default_min_texture_cluster_size)));
@@ -1793,10 +1801,24 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mExportProgressDialog.show();
updateState(State.STATE_PROCESSING);
final String tmpPath = mWorkingDirectory + RTABMAP_TMP_DIR + RTABMAP_TMP_FILENAME + extension;
final String tmpPath = mWorkingDirectory + RTABMAP_TMP_DIR + "/" + RTABMAP_TMP_FILENAME + extension;
File tmpDir = new File(mWorkingDirectory + RTABMAP_TMP_DIR);
tmpDir.mkdirs();
String[] fileNames = loadFileList(mWorkingDirectory + RTABMAP_TMP_DIR, false);
if(!DISABLE_LOG) Log.i(TAG, String.format("Deleting %d files in \"%s\"", fileNames.length, mWorkingDirectory + RTABMAP_TMP_DIR));
for(int i=0; i<fileNames.length; ++i)
{
File f = new File(mWorkingDirectory + RTABMAP_TMP_DIR + "/" + fileNames[i]);
if(f.delete())
{
if(!DISABLE_LOG) Log.i(TAG, String.format("Deleted \"%s\"", f.getPath()));
}
else
{
if(!DISABLE_LOG) Log.i(TAG, String.format("Failed deleting \"%s\"", f.getPath()));
}
}
File exportDir = new File(mWorkingDirectory + RTABMAP_EXPORT_DIR);
exportDir.mkdirs();
@@ -1811,6 +1833,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
regenerateCloud,
meshing,
textureSize,
textureCount,
normalK,
optimized,
optimizedVoxelSize,
@@ -2043,22 +2066,32 @@ public class RTABMapActivity extends Activity implements OnClickListener {
final String zipOutput = mWorkingDirectory+RTABMAP_EXPORT_DIR+fileName+".zip";
pathHuman = mWorkingDirectoryHuman + RTABMAP_EXPORT_DIR + fileName + ".zip";
String[] filesToZip = new String[3];
filesToZip[0] = mWorkingDirectory + RTABMAP_TMP_DIR + RTABMAP_TMP_FILENAME + ".obj";
filesToZip[1] = mWorkingDirectory + RTABMAP_TMP_DIR + RTABMAP_TMP_FILENAME + ".mtl";
filesToZip[2] = mWorkingDirectory + RTABMAP_TMP_DIR + RTABMAP_TMP_FILENAME + ".jpg";
File toZIPFile = new File(zipOutput);
toZIPFile.delete();
try
String[] fileNames = loadFileList(mWorkingDirectory + RTABMAP_TMP_DIR, false);
if(fileNames.length > 0)
{
Util.zip(filesToZip, zipOutput);
mToast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", pathHuman), mToast.LENGTH_LONG).show();
String[] filesToZip = new String[fileNames.length];
for(int i=0; i<fileNames.length; ++i)
{
filesToZip[i] = mWorkingDirectory + RTABMAP_TMP_DIR + "/" + fileNames[i];
}
File toZIPFile = new File(zipOutput);
toZIPFile.delete();
try
{
Util.zip(filesToZip, zipOutput);
mToast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", pathHuman), mToast.LENGTH_LONG).show();
}
catch(IOException e)
{
mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! Error=%s", pathHuman, e.getMessage()), mToast.LENGTH_LONG).show();
success = false;
}
}
catch(IOException e)
else
{
mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! Error=%s", pathHuman, e.getMessage()), mToast.LENGTH_LONG).show();
mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! No files found in tmp directory!?", pathHuman), mToast.LENGTH_LONG).show();
success = false;
}
}
@@ -2069,7 +2102,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
File toPLYFile = new File(path);
toPLYFile.delete();
File fromPLYFile = new File(mWorkingDirectory + RTABMAP_TMP_DIR + RTABMAP_TMP_FILENAME + ".ply");
File fromPLYFile = new File(mWorkingDirectory + RTABMAP_TMP_DIR + "/" + RTABMAP_TMP_FILENAME + ".ply");
try
{
app/android/src/com/introlab/rtabmap/RTABMapLib.java
+1
View File
@@ -97,6 +97,7 @@ public class RTABMapLib
boolean regenerateCloud,
boolean meshing,
int textureSize,
int textureCount,
int normalK,
boolean optimized,
float optimizedVoxelSize,
app/android/src/com/introlab/rtabmap/SettingsActivity.java
+2
View File
@@ -206,6 +206,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
((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_texture_count))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_texture_count))).getEntry() + ") "+getString(R.string.pref_summary_texture_count));
((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_max_texture_distance))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_max_texture_distance))).getEntry() + ") "+getString(R.string.pref_summary_max_texture_distance));
((Preference)findPreference(getString(R.string.pref_key_min_texture_cluster_size))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_min_texture_cluster_size))).getEntry() + ") "+getString(R.string.pref_summary_min_texture_cluster_size));
@@ -262,6 +263,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
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_texture_count))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_texture_count));
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_max_texture_distance))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_max_texture_distance));
if(key.compareTo(getString(R.string.pref_key_min_texture_cluster_size))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_min_texture_cluster_size));