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Code Issues Packages Projects Releases Wiki Activity

Tango: Added Ortho mode (#193)

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This commit is contained in:
matlabbe
2017-06-12 15:36:33 -04:00
parent bbaac8b2b1
commit c00119989e
12 changed files with 213 additions and 69 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+58 -5
View File
@@ -85,6 +85,8 @@ import android.widget.EditText;
import android.widget.LinearLayout;
import android.widget.NumberPicker;
import android.widget.RelativeLayout;
import android.widget.SeekBar;
import android.widget.SeekBar.OnSeekBarChangeListener;
import android.widget.TextView;
import android.widget.Toast;
import android.widget.ToggleButton;
@@ -124,6 +126,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
public static final long NOTOUCH_TIMEOUT = 5000; // 5 sec
private boolean mHudVisible = true;
private boolean mTipOrthoShown_ = false;
// UI states
private static enum State {
@@ -173,6 +176,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private Button mButtonCloseVisualization;
private Button mButtonSaveOnDevice;
private Button mButtonShareOnSketchfab;
private SeekBar mSeekBarFov;
private String mOpenedDatabasePath = "";
private String mWorkingDirectory = "";
@@ -272,6 +276,32 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
mButtonBackfaceShown.setVisibility(mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked()?View.VISIBLE:View.INVISIBLE);
}
mSeekBarFov = (SeekBar)findViewById(R.id.seekBar_fov);
mSeekBarFov.setMax(45);
mSeekBarFov.setProgress(20);
mSeekBarFov.setOnSeekBarChangeListener(new OnSeekBarChangeListener() {
@Override
public void onProgressChanged(SeekBar seekBar, int progressValue, boolean fromUser) {
if(mButtonFirst.isChecked())
{
RTABMapLib.setFOV((float)progressValue+45.0f);
}
else if(mButtonTop.isChecked())
{
RTABMapLib.setOrthoCropFactor((float)progressValue/20.0f - 3.0f);
}
resetNoTouchTimer();
}
@Override
public void onStartTrackingTouch(SeekBar seekBar) {
}
@Override
public void onStopTrackingTouch(SeekBar seekBar) {
}
});
mToast = Toast.makeText(getApplicationContext(), "", Toast.LENGTH_SHORT);
@@ -590,16 +620,38 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
private void setCamera(int type)
{
{
if(!DISABLE_LOG) Log.i(TAG, String.format("called setCamera(type=%d);", type));
// for convenience, for a refresh of the memory used
mStatusTexts[1] = getString(R.string.memory)+String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024));
mStatusTexts[2] = getString(R.string.free_memory)+String.valueOf(getFreeMemory());
updateStatusTexts();
RTABMapLib.setCamera(type);
mButtonFirst.setChecked(type==0);
mButtonThird.setChecked(type==1);
mButtonTop.setChecked(type==2);
mButtonTop.setChecked(type==2 || type==3);
mButtonTop.setText(type==3?"Ortho":"Top");
mButtonTop.setTextOn(type==3?"Ortho":"Top");
mButtonTop.setTextOff(type==3?"Ortho":"Top");
mSeekBarFov.setVisibility(type!=0 && type!=3?View.INVISIBLE:View.VISIBLE);
if(type==0)
{
mSeekBarFov.setMax(45);
mSeekBarFov.setProgress(20);
}
if(type==3)
{
mSeekBarFov.setMax(120);
mSeekBarFov.setProgress(40);
}
if(type==2 && !mTipOrthoShown_)
{
mToast.makeText(this, "Tip: Click again on Top to set Ortho mode.", mToast.LENGTH_LONG).show();
mTipOrthoShown_ = true;
}
}
@Override
@@ -614,7 +666,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
setCamera(1);
break;
case R.id.top_down_button:
setCamera(2);
setCamera(mButtonFirst.isChecked() || mButtonThird.isChecked() || mButtonTop.getTextOn().equals("Ortho")?2:3);
break;
case R.id.pause_button:
pauseMapping();
@@ -1256,6 +1308,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mButtonThird.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
mButtonTop.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
mButtonBackfaceShown.setVisibility(mHudVisible && (mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked())?View.VISIBLE:View.INVISIBLE);
mSeekBarFov.setVisibility(mHudVisible && (mButtonFirst.isChecked() || (mButtonTop.isChecked() && mButtonTop.getTextOn().equals("Ortho")))?View.VISIBLE:View.INVISIBLE);
}
private void pauseMapping() {
@@ -2091,7 +2144,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
else
{
mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! No files found in tmp directory!?", pathHuman), mToast.LENGTH_LONG).show();
mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! No files found in tmp directory!? Last export may have failed or have been canceled.", pathHuman), mToast.LENGTH_LONG).show();
success = false;
}
}
app/android/src/com/introlab/rtabmap/RTABMapLib.java
+2
View File
@@ -77,6 +77,8 @@ public class RTABMapLib
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 setFOV(float value);
public static native void setOrthoCropFactor(float value);
public static native void setLighting(boolean enabled);
public static native void setBackfaceCulling(boolean enabled);
public static native void setCloudDensityLevel(int value);