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Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering

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This commit is contained in:
matlabbe
2016-04-04 13:03:43 -04:00
parent ff32f54aa8
commit af405e69b1
22 changed files with 424 additions and 193 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+178 -61
View File
@@ -30,6 +30,7 @@ import android.view.MenuInflater;
import android.view.MotionEvent;
import android.view.View;
import android.view.View.OnClickListener;
import android.view.WindowManager;
import android.widget.EditText;
import android.widget.LinearLayout;
import android.widget.TextView;
@@ -66,6 +67,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private MenuItem mItemPause;
private MenuItem mItemSave;
private MenuItem mItemOpen;
private MenuItem mItemPostProcessing;
private MenuItem mItemExport;
private MenuItem mItemLocalizationMode;
private MenuItem mItemTrajectoryMode;
@@ -76,10 +78,13 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private String mWorkingDirectory = "";
private int mMaxDepthIndex = 5;
private int mMeshAngleToleranceIndex = 1;
private int mMeshTriangleSizeIndex = 0;
private int mParamUpdateRateHzIndex = 1;
private int mParamTimeThrMsIndex = 1;
private int mParamMaxFeaturesIndex = 2;
private int mParamMaxFeaturesIndex = 4;
private int mParamLoopThrMsIndex = 1;
private LinearLayout mLayoutDebug;
@@ -94,6 +99,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
// touch point.
Display display = getWindowManager().getDefaultDisplay();
display.getSize(mScreenSize);
getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
// Setting content view of this activity.
setContentView(R.layout.activity_rtabmap);
@@ -188,6 +195,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemPause.setChecked(false);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
mItemPostProcessing.setEnabled(false);
}
if(RTABMapLib.onResume()!=0)
@@ -274,12 +282,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemPause = menu.findItem(R.id.pause);
mItemSave = menu.findItem(R.id.save);
mItemOpen = menu.findItem(R.id.open);
mItemPostProcessing = menu.findItem(R.id.post_processing);
mItemExport = menu.findItem(R.id.export);
mItemLocalizationMode = menu.findItem(R.id.localization_mode);
mItemTrajectoryMode = menu.findItem(R.id.trajectory_mode);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
return true;
}
@@ -315,9 +325,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
if(loopClosureId > 0)
{
++mTotalLoopClosures;
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
Toast.makeText(this, "Loop closure detected!", Toast.LENGTH_SHORT).show();
}
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
}
// called from jni
@@ -443,6 +453,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
mItemPause.setChecked(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
RTABMapLib.setPausedMapping(false); // resume mapping
@@ -570,62 +581,12 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemSave.setEnabled(item.isChecked());
mItemExport.setEnabled(item.isChecked());
mItemOpen.setEnabled(item.isChecked());
mItemPostProcessing.setEnabled(item.isChecked());
// mItemSave.setEnabled(item.isChecked() && !mWorkingDirectory.isEmpty());
if(item.isChecked())
{
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
{
@@ -633,6 +594,84 @@ public class RTABMapActivity extends Activity implements OnClickListener {
((TextView)findViewById(R.id.status)).setText(mItemLocalizationMode.isChecked()?"Localization":"Mapping");
}
}
else if (itemId == R.id.detect_more_loop_closures)
{
mProgressDialog.setTitle("Post-Processing");
mProgressDialog.setMessage(String.format("Please wait while detecting more loop closures..."));
mProgressDialog.show();
Thread workingThread = new Thread(new Runnable() {
public void run() {
final int loopDetected = RTABMapLib.postProcessing(2);
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
if(loopDetected >= 0)
{
Toast.makeText(getActivity(), String.format("Detection done! %d new loop closure(s) added.", loopDetected), Toast.LENGTH_SHORT).show();
}
else if(loopDetected < 0)
{
Toast.makeText(getActivity(), String.format("Detection failed!"), Toast.LENGTH_SHORT).show();
}
}
});
}
});
workingThread.start();
}
else if (itemId == R.id.global_graph_optimization)
{
mProgressDialog.setTitle("Post-Processing");
mProgressDialog.setMessage(String.format("Global graph optimization..."));
mProgressDialog.show();
Thread workingThread = new Thread(new Runnable() {
public void run() {
final int value = RTABMapLib.postProcessing(0);
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
if(value >= 0)
{
Toast.makeText(getActivity(), String.format("Optimization done!"), Toast.LENGTH_SHORT).show();
}
else if(value < 0)
{
Toast.makeText(getActivity(), String.format("Optimization failed!"), Toast.LENGTH_SHORT).show();
}
}
});
}
});
workingThread.start();
}
else if (itemId == R.id.sba)
{
mProgressDialog.setTitle("Post-Processing");
mProgressDialog.setMessage(String.format("Bundle adjustement..."));
mProgressDialog.show();
Thread workingThread = new Thread(new Runnable() {
public void run() {
final int value = RTABMapLib.postProcessing(1);
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
if(value >= 0)
{
Toast.makeText(getActivity(), String.format("Optimization done!"), Toast.LENGTH_SHORT).show();
}
else if(value < 0)
{
Toast.makeText(getActivity(), String.format("Optimization failed!"), Toast.LENGTH_SHORT).show();
}
}
});
}
});
workingThread.start();
}
else if(itemId == R.id.debug)
{
item.setChecked(!item.isChecked());
@@ -703,7 +742,45 @@ public class RTABMapActivity extends Activity implements OnClickListener {
if(which >=0 && which < 6)
{
mMaxDepthIndex = which;
RTABMapLib.setMaxCloudDepth(which < 5?Integer.parseInt(values[which]):0);
RTABMapLib.setMaxCloudDepth(which < 5?Float.parseFloat(values[which]):0);
}
}
});
builder.show();
}
else if(itemId == R.id.mesh_angle_tolerance)
{
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Mesh Angle Tolerance (deg)");
final String[] values = {"5", "10", "15", "20", "25", "30"};
builder.setSingleChoiceItems(values, mMeshAngleToleranceIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < 6)
{
mMeshAngleToleranceIndex = which;
RTABMapLib.setMeshAngleTolerance(Float.parseFloat(values[which]));
}
}
});
builder.show();
}
else if(itemId == R.id.mesh_triangle_size)
{
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Mesh Triangle Size (pixels)");
final String[] values = {"2", "3", "4", "5", "6"};
builder.setSingleChoiceItems(values, mMeshTriangleSizeIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < 5)
{
mMeshTriangleSizeIndex = which;
RTABMapLib.setMeshTriangleSize(Integer.parseInt(values[which]));
}
}
});
@@ -735,7 +812,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Time Threshold (ms, 0 means no limit)");
builder.setTitle("Time Threshold (ms)");
final String[] values = {"400", "700", "1400", "No Limit"};
builder.setSingleChoiceItems(values, mParamTimeThrMsIndex, new DialogInterface.OnClickListener() {
@Override
@@ -758,15 +835,15 @@ public class RTABMapActivity extends Activity implements OnClickListener {
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Max Features");
final String[] values = {"Disabled", "100", "200", "300", "400", "No Limit"};
final String[] values = {"Disabled", "100", "200", "300", "400", "500", "600", "700", "800", "900", "1000", "No Limit"};
builder.setSingleChoiceItems(values, mParamMaxFeaturesIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < 6)
if(which >=0 && which < 12)
{
mParamMaxFeaturesIndex = which;
if(RTABMapLib.setMappingParameter("Kp/MaxFeatures", which==0?"-1":which==5?"0":values[which]) != 0)
if(RTABMapLib.setMappingParameter("Kp/MaxFeatures", which==0?"-1":which==11?"0":values[which]) != 0)
{
Toast.makeText(getActivity(),"Failed to set parameter \"Kp/MaxFeatures\"!", Toast.LENGTH_LONG).show();
}
@@ -775,6 +852,28 @@ public class RTABMapActivity extends Activity implements OnClickListener {
});
builder.show();
}
else if(itemId == R.id.loop_threshold)
{
// get double
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Loop Closure Threshold");
final String[] values = {"Disabled", "0.11", "0.20", "0.30", "0.40", "0.50", "0.60", "0.70", "0.80", "0.90"};
builder.setSingleChoiceItems(values, mParamTimeThrMsIndex, new DialogInterface.OnClickListener() {
@Override
public void onClick(DialogInterface dialog, int which) {
dialog.dismiss();
if(which >=0 && which < 10)
{
mParamLoopThrMsIndex = which;
if(RTABMapLib.setMappingParameter("Rtabmap/LoopThr", which==0?"1":values[which]) != 0)
{
Toast.makeText(getActivity(), "Failed to set parameter \"Rtabmap/LoopThr\"!", Toast.LENGTH_LONG).show();
}
}
}
});
builder.show();
}
else if (itemId == R.id.save)
{
if(mOpenedDatabasePath.isEmpty())
@@ -810,6 +909,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
//disable gui actions
mItemSave.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
}
})
@@ -832,6 +932,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
//disable gui actions
mItemSave.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
}
}
@@ -849,6 +950,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
//disable gui actions
mItemSave.setEnabled(false);
mItemOpen.setEnabled(false);
mItemPostProcessing.setEnabled(false);
mItemExport.setEnabled(false);
}
}
@@ -880,6 +982,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
else if(itemId == R.id.export_obj || itemId == R.id.export_ply)
{
final String extension = itemId == R.id.export_ply ? ".ply" : ".obj";
final boolean isOBJ = itemId == R.id.export_obj;
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle(String.format("File Name (*%s):", extension));
@@ -917,7 +1020,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
public void run() {
if(success)
{
Toast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), Toast.LENGTH_LONG).show();
if(isOBJ)
{
Toast.makeText(getActivity(), String.format("Mesh \"%s\" (with textures \"%s/\" and \"%s\") successfully exported!", path, fileName, fileName + ".mtl"), Toast.LENGTH_LONG).show();
}
else
{
Toast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), Toast.LENGTH_LONG).show();
}
}
else
{
@@ -953,7 +1063,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
public void run() {
if(success)
{
Toast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), Toast.LENGTH_LONG).show();
if(isOBJ)
{
Toast.makeText(getActivity(), String.format("Mesh \"%s\" (with textures \"%s/\" and \"%s\") successfully exported!", path, fileName, fileName + ".mtl"), Toast.LENGTH_LONG).show();
}
else
{
Toast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), Toast.LENGTH_LONG).show();
}
}
else
{
@@ -986,7 +1103,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
if(!mItemTrajectoryMode.isChecked())
{
mProgressDialog.setTitle("Loading");
mProgressDialog.setMessage(String.format("Please wait while loading \"%s\"...", files[which]));
mProgressDialog.setMessage(String.format("Database \"%s\" loaded. Please wait while creating point clouds and meshes...", files[which]));
mProgressDialog.show();
}
app/android/src/com/introlab/rtabmap/RTABMapLib.java
+3 -1
View File
@@ -54,12 +54,14 @@ public class RTABMapLib
public static native void setAutoExposure(boolean enabled);
public static native void setFullResolution(boolean enabled);
public static native void setMaxCloudDepth(float value);
public static native void setMeshAngleTolerance(float value);
public static native void setMeshTriangleSize(int value);
public static native int setMappingParameter(String key, String value);
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 int postProcessing(int approach);
public static native String getStatus();
public static native int getTotalNodes();