i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 16:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database

Browse Source
This commit is contained in:
matlabbe
2017-04-01 14:14:36 -04:00
parent d68eeada0e
commit aa37ac6038
19 changed files with 271 additions and 113 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+3 -2
View File
@@ -480,6 +480,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
if(!DISABLE_LOG) Log.d(TAG, "set exporting parameters...");
RTABMapLib.setCloudDensityLevel(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_density), getString(R.string.pref_default_density))));
RTABMapLib.setMaxCloudDepth(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_depth), getString(R.string.pref_default_depth))));
RTABMapLib.setMinCloudDepth(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_min_depth), getString(R.string.pref_default_min_depth))));
RTABMapLib.setPointSize(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_point_size), getString(R.string.pref_default_point_size))));
RTABMapLib.setMeshAngleTolerance(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_angle), getString(R.string.pref_default_angle))));
RTABMapLib.setMeshTriangleSize(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_triangle), getString(R.string.pref_default_triangle))));
@@ -1309,14 +1310,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
else if (itemId == R.id.gain_compensation_fast)
{
mProgressDialog.setTitle("Post-Processing");
mProgressDialog.setMessage(String.format("Fast gain compensation..."));
mProgressDialog.setMessage(String.format("Adjusting Colors (Fast)..."));
mProgressDialog.show();
RTABMapLib.postProcessing(5);
}
else if (itemId == R.id.gain_compensation_full)
{
mProgressDialog.setTitle("Post-Processing");
mProgressDialog.setMessage(String.format("Full gain compensation..."));
mProgressDialog.setMessage(String.format("Adjusting Colors (Full)..."));
mProgressDialog.show();
RTABMapLib.postProcessing(6);
}
app/android/src/com/introlab/rtabmap/RTABMapLib.java
+1
View File
@@ -75,6 +75,7 @@ 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 setMinCloudDepth(float value);
public static native void setPointSize(float value);
public static native void setLighting(boolean enabled);
public static native void setBackfaceCulling(boolean enabled);
app/android/src/com/introlab/rtabmap/SettingsActivity.java
+21 -1
View File
@@ -30,6 +30,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
((Preference)findPreference(getString(R.string.pref_key_density))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_density))).getEntry() + ") "+getString(R.string.pref_summary_density));
((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_min_depth))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_min_depth))).getEntry() + ") "+getString(R.string.pref_summary_min_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));
@@ -65,7 +66,26 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
if (pref instanceof ListPreference) {
if(key.compareTo(getString(R.string.pref_key_density))==0) pref.setSummary("("+ ((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_density));
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_depth))==0)
{
pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_depth));
float maxDepth = Float.parseFloat(((ListPreference)pref).getValue());
float minDepth = Float.parseFloat(((ListPreference)findPreference(getString(R.string.pref_key_min_depth))).getValue());
if(maxDepth > 0.0f && maxDepth <= minDepth)
{
((ListPreference)findPreference(getString(R.string.pref_key_min_depth))).setValueIndex(0);
}
}
if(key.compareTo(getString(R.string.pref_key_min_depth))==0)
{
pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_min_depth));
float maxDepth = Float.parseFloat(((ListPreference)findPreference(getString(R.string.pref_key_depth))).getValue());
float minDepth = Float.parseFloat(((ListPreference)pref).getValue());
if(minDepth >= maxDepth)
{
((ListPreference)findPreference(getString(R.string.pref_key_depth))).setValueIndex(0);
}
}
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));