mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
0.11.2: First Google Tango release
This commit is contained in:
matlabbe
@@ -0,0 +1,54 @@
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/**
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* Original Author: William J. Francis
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* http://www.techrepublic.com/blog/software-engineer/a-reusable-about-dialog-for-your-android-apps/
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*/
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package com.introlab.rtabmap;
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import java.io.BufferedReader;
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import java.io.IOException;
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import java.io.InputStream;
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import java.io.InputStreamReader;
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import android.app.Dialog;
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import android.content.Context;
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import android.graphics.Color;
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import android.os.Bundle;
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import android.text.Html;
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import android.text.util.Linkify;
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import android.widget.TextView;
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public class AboutDialog extends Dialog{
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private static Context mContext = null;
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public AboutDialog(Context context) {
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super(context);
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mContext = context;
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}
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/**
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* This is the standard Android on create method that gets called when the activity initialized.
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*/
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@Override
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public void onCreate(Bundle savedInstanceState) {
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setContentView(R.layout.about);
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TextView tv = (TextView)findViewById(R.id.info_text);
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tv.setText(Html.fromHtml(readRawTextFile(R.raw.info)));
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tv.setLinkTextColor(Color.WHITE);
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Linkify.addLinks(tv, Linkify.ALL);
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}
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public static String readRawTextFile(int id) {
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InputStream inputStream = mContext.getResources().openRawResource(id);
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InputStreamReader in = new InputStreamReader(inputStream);
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BufferedReader buf = new BufferedReader(in);
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String line;
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StringBuilder text = new StringBuilder();
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try {
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while (( line = buf.readLine()) != null) text.append(line);
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} catch (IOException e) {
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return null;
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}
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return text.toString();
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}
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}
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@@ -0,0 +1,831 @@
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package com.introlab.rtabmap;
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import java.io.File;
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import java.io.FilenameFilter;
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import android.app.Activity;
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import android.app.AlertDialog;
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import android.app.Notification;
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import android.app.NotificationManager;
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import android.app.PendingIntent;
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import android.app.ProgressDialog;
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import android.content.DialogInterface;
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import android.content.Intent;
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import android.content.pm.PackageInfo;
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import android.content.pm.PackageManager;
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import android.content.pm.PackageManager.NameNotFoundException;
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import android.graphics.Point;
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import android.opengl.GLSurfaceView;
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import android.os.Bundle;
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import android.os.Environment;
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import android.os.Handler;
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import android.os.Debug;
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import android.text.Editable;
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import android.text.InputType;
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import android.util.Log;
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import android.view.Display;
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import android.view.Menu;
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import android.view.MenuItem;
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import android.view.MenuInflater;
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import android.view.MotionEvent;
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import android.view.View;
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import android.view.View.OnClickListener;
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import android.widget.EditText;
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import android.widget.LinearLayout;
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import android.widget.TextView;
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import android.widget.Toast;
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// The main activity of the application. This activity shows debug information
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// and a glSurfaceView that renders graphic content.
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public class RTABMapActivity extends Activity implements OnClickListener {
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// Tag for debug logging.
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private static final String TAG = RTABMapActivity.class.getSimpleName();
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// The minimum Tango Core version required from this application.
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private static final int MIN_TANGO_CORE_VERSION = 6804;
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// The package name of Tang Core, used for checking minimum Tango Core version.
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private static final String TANGO_PACKAGE_NAME = "com.projecttango.tango";
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public static final String EXTRA_KEY_PERMISSIONTYPE = "PERMISSIONTYPE";
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public static final String EXTRA_VALUE_ADF = "ADF_LOAD_SAVE_PERMISSION";
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// GLSurfaceView and renderer, all of the graphic content is rendered
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// through OpenGL ES 2.0 in native code.
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private Renderer mRenderer;
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private GLSurfaceView mGLView;
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ProgressDialog mProgressDialog;
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// Screen size for normalizing the touch input for orbiting the render camera.
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private Point mScreenSize = new Point();
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private MenuItem mItemPause;
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private MenuItem mItemSave;
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private MenuItem mItemOpen;
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private MenuItem mItemExport;
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private MenuItem mItemLocalizationMode;
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private MenuItem mItemTrajectoryMode;
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private String mOpenedDatabasePath = "";
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private String mTempDatabasePath = "";
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private String mNewDatabasePath = "";
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private String mWorkingDirectory = "";
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private LinearLayout mLayoutDebug;
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private int mTotalLoopClosures = 0;
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@Override
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protected void onCreate(Bundle savedInstanceState) {
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super.onCreate(savedInstanceState);
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setTitle(R.string.menu_name);
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// Query screen size, the screen size is used for computing the normalized
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// touch point.
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Display display = getWindowManager().getDefaultDisplay();
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display.getSize(mScreenSize);
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// Setting content view of this activity.
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setContentView(R.layout.activity_rtabmap);
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// Buttons for selecting camera view and Set up button click listeners.
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findViewById(R.id.first_person_button).setOnClickListener(this);
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findViewById(R.id.third_person_button).setOnClickListener(this);
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findViewById(R.id.top_down_button).setOnClickListener(this);
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// OpenGL view where all of the graphics are drawn.
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mGLView = (GLSurfaceView) findViewById(R.id.gl_surface_view);
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// Configure OpenGL renderer
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mGLView.setEGLContextClientVersion(2);
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// Configure the OpenGL renderer.
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mRenderer = new Renderer();
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mGLView.setRenderer(mRenderer);
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mLayoutDebug = (LinearLayout) findViewById(R.id.debug_layout);
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mLayoutDebug.setVisibility(LinearLayout.GONE);
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mProgressDialog = new ProgressDialog(this);
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mRenderer.setProgressDialog(mProgressDialog);
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// Check if the Tango Core is out dated.
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if (!CheckTangoCoreVersion(MIN_TANGO_CORE_VERSION)) {
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Toast.makeText(this, "Tango Core out dated, please update in Play Store", Toast.LENGTH_LONG).show();
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finish();
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return;
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}
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mOpenedDatabasePath = "";
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mTempDatabasePath = "";
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mNewDatabasePath = "";
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mWorkingDirectory = "";
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mTotalLoopClosures = 0;
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if(Environment.getExternalStorageState().compareTo(Environment.MEDIA_MOUNTED)==0)
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{
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File extStore = Environment.getExternalStorageDirectory();
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mWorkingDirectory = extStore.getAbsolutePath() + "/" + getString(R.string.app_name) + "/";
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extStore = new File(mWorkingDirectory);
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extStore.mkdirs();
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mTempDatabasePath = mWorkingDirectory + "rtabmap.tmp.db";
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extStore = new File(mTempDatabasePath);
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if(extStore.exists())
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{
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extStore.delete();
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}
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}
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else
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{
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// show warning that data cannot be saved!
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Toast.makeText(getApplicationContext(),
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String.format("Failed to get external storage path (SD-CARD, state=%s). Saving disabled.",
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Environment.getExternalStorageState()), Toast.LENGTH_LONG).show();
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}
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RTABMapLib.initialize(this);
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RTABMapLib.openDatabase(mTempDatabasePath);
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}
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@Override
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protected void onResume() {
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super.onResume();
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mGLView.onResume();
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mTotalLoopClosures = 0;
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if(mItemOpen != null)
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{
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mItemOpen.setEnabled(false);
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mItemPause.setChecked(false);
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mItemSave.setEnabled(false);
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mItemExport.setEnabled(false);
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}
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RTABMapLib.onResume();
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}
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@Override
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protected void onPause() {
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super.onPause();
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mGLView.onPause();
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// Delete all the non-OpenGl resources.
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RTABMapLib.onPause();
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mOpenedDatabasePath = "";
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RTABMapLib.openDatabase(mTempDatabasePath);
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}
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@Override
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public void onClick(View v) {
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// Handle button clicks.
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switch (v.getId()) {
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case R.id.first_person_button:
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RTABMapLib.setCamera(0);
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break;
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case R.id.third_person_button:
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RTABMapLib.setCamera(1);
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break;
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case R.id.top_down_button:
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RTABMapLib.setCamera(2);
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break;
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default:
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return;
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}
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}
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@Override
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public boolean onTouchEvent(MotionEvent event) {
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// Pass the touch event to the native layer for camera control.
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// Single touch to rotate the camera around the device.
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// Two fingers to zoom in and out.
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int pointCount = event.getPointerCount();
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if (pointCount == 1) {
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float normalizedX = event.getX(0) / mScreenSize.x;
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float normalizedY = event.getY(0) / mScreenSize.y;
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RTABMapLib.onTouchEvent(1,
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event.getActionMasked(), normalizedX, normalizedY, 0.0f, 0.0f);
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}
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if (pointCount == 2) {
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if (event.getActionMasked() == MotionEvent.ACTION_POINTER_UP) {
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int index = event.getActionIndex() == 0 ? 1 : 0;
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float normalizedX = event.getX(index) / mScreenSize.x;
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float normalizedY = event.getY(index) / mScreenSize.y;
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RTABMapLib.onTouchEvent(1,
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MotionEvent.ACTION_DOWN, normalizedX, normalizedY, 0.0f, 0.0f);
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} else {
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float normalizedX0 = event.getX(0) / mScreenSize.x;
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float normalizedY0 = event.getY(0) / mScreenSize.y;
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float normalizedX1 = event.getX(1) / mScreenSize.x;
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float normalizedY1 = event.getY(1) / mScreenSize.y;
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RTABMapLib.onTouchEvent(2, event.getActionMasked(),
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normalizedX0, normalizedY0, normalizedX1, normalizedY1);
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}
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}
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return true;
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}
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@Override
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public boolean onCreateOptionsMenu(Menu menu) {
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Log.i(TAG, "called onCreateOptionsMenu;");
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MenuInflater inflater = getMenuInflater();
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inflater.inflate(R.menu.optionmenu, menu);
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mItemPause = menu.findItem(R.id.pause);
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mItemSave = menu.findItem(R.id.save);
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mItemOpen = menu.findItem(R.id.open);
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mItemExport = menu.findItem(R.id.export);
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mItemLocalizationMode = menu.findItem(R.id.localization_mode);
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mItemTrajectoryMode = menu.findItem(R.id.trajectory_mode);
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mItemSave.setEnabled(false);
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mItemExport.setEnabled(false);
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mItemOpen.setEnabled(false);
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return true;
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}
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private void updateStatsUI(
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int nodes,
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int words,
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int points,
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int polygons,
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float updateTime,
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int loopClosureId,
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int databaseMemoryUsed,
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int inliers,
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int featuresExtracted,
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float hypothesis,
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int nodesDrawn)
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{
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if(mItemPause!=null)
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{
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((TextView)findViewById(R.id.status)).setText(mItemPause.isChecked()?"Paused":mItemLocalizationMode.isChecked()?"Localization":"Mapping");
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}
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((TextView)findViewById(R.id.points)).setText(String.valueOf(points));
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((TextView)findViewById(R.id.polygons)).setText(String.valueOf(polygons));
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((TextView)findViewById(R.id.nodes)).setText(String.format("%d (%d shown)", nodes, nodesDrawn));
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((TextView)findViewById(R.id.words)).setText(String.valueOf(words));
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((TextView)findViewById(R.id.memory)).setText(String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024)));
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((TextView)findViewById(R.id.db_size)).setText(String.valueOf(databaseMemoryUsed));
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((TextView)findViewById(R.id.inliers)).setText(String.valueOf(inliers));
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((TextView)findViewById(R.id.features)).setText(String.valueOf(featuresExtracted));
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((TextView)findViewById(R.id.update_time)).setText(String.format("%.3f", updateTime));
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((TextView)findViewById(R.id.hypothesis)).setText(String.format("%.3f (%d)", hypothesis, loopClosureId));
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if(loopClosureId > 0)
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{
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++mTotalLoopClosures;
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((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
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Toast.makeText(this, "Loop closure detected!", Toast.LENGTH_SHORT).show();
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}
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}
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// called from jni
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public void updateStatsCallback(
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final int nodes,
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final int words,
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||||
final int points,
|
||||
final int polygons,
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final float updateTime,
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||||
final int loopClosureId,
|
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final int databaseMemoryUsed,
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||||
final int inliers,
|
||||
final int features,
|
||||
final float hypothesis,
|
||||
final int nodesDrawn)
|
||||
{
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Log.i(TAG, String.format("updateStatsCallback()"));
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||||
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runOnUiThread(new Runnable() {
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public void run() {
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updateStatsUI(nodes, words, points, polygons, updateTime, loopClosureId, databaseMemoryUsed, inliers, features, hypothesis, nodesDrawn);
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}
|
||||
});
|
||||
}
|
||||
|
||||
private void rtabmapInitEventUI(
|
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int status,
|
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String msg)
|
||||
{
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||||
Log.i(TAG, String.format("rtabmapInitEventsUI() status=%d msg=%s", status, msg));
|
||||
|
||||
((TextView)findViewById(R.id.status)).setText(
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status == 1 && msg.isEmpty()?mItemPause!=null&&mItemPause.isChecked()?"Paused":mItemLocalizationMode!=null&&mItemLocalizationMode.isChecked()?"Localization":"Mapping":msg);
|
||||
|
||||
/*0=kInitializing,
|
||||
1=kInitialized,
|
||||
2=kClosing,
|
||||
3=kClosed,
|
||||
4=kInfo,
|
||||
5=kError*/
|
||||
|
||||
if(status == 3)
|
||||
{
|
||||
msg = "";
|
||||
if(!mNewDatabasePath.isEmpty())
|
||||
{
|
||||
boolean removed = true;
|
||||
File outputFile = new File(mNewDatabasePath);
|
||||
if(outputFile.exists())
|
||||
{
|
||||
removed = outputFile.delete();
|
||||
}
|
||||
if(removed)
|
||||
{
|
||||
File tempFile = new File(mTempDatabasePath);
|
||||
if(tempFile.renameTo(outputFile))
|
||||
{
|
||||
msg = String.format("Database saved to \"%s\".", mNewDatabasePath);
|
||||
|
||||
Intent intent = new Intent(this, RTABMapActivity.class);
|
||||
// use System.currentTimeMillis() to have a unique ID for the pending intent
|
||||
PendingIntent pIntent = PendingIntent.getActivity(this, (int) System.currentTimeMillis(), intent, 0);
|
||||
|
||||
// build notification
|
||||
// the addAction re-use the same intent to keep the example short
|
||||
Notification n = new Notification.Builder(this)
|
||||
.setContentTitle(getString(R.string.app_name))
|
||||
.setContentText(mNewDatabasePath + " saved!")
|
||||
.setSmallIcon(R.drawable.ic_launcher)
|
||||
.setContentIntent(pIntent)
|
||||
.setAutoCancel(true).build();
|
||||
|
||||
|
||||
NotificationManager notificationManager =
|
||||
(NotificationManager) getSystemService(NOTIFICATION_SERVICE);
|
||||
|
||||
notificationManager.notify(0, n);
|
||||
}
|
||||
else
|
||||
{
|
||||
msg = String.format("Failed to rename temporary database from \"%s\" to \"%s\".",
|
||||
mTempDatabasePath, mNewDatabasePath);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
msg = String.format("Failed to overwrite the database \"%s\". The temporary database is still correctly saved at \"%s\".",
|
||||
mNewDatabasePath, mTempDatabasePath);
|
||||
}
|
||||
}
|
||||
else if(!mOpenedDatabasePath.isEmpty())
|
||||
{
|
||||
msg = String.format("Database \"%s\" updated.", mOpenedDatabasePath);
|
||||
}
|
||||
|
||||
if(!msg.isEmpty())
|
||||
{
|
||||
Toast.makeText(this, msg, Toast.LENGTH_LONG).show();
|
||||
}
|
||||
|
||||
mOpenedDatabasePath = "";
|
||||
mNewDatabasePath = "";
|
||||
|
||||
//restart a new scan by default
|
||||
RTABMapLib.openDatabase(mTempDatabasePath);
|
||||
|
||||
((TextView)findViewById(R.id.points)).setText(String.valueOf(0));
|
||||
((TextView)findViewById(R.id.polygons)).setText(String.valueOf(0));
|
||||
((TextView)findViewById(R.id.nodes)).setText(String.valueOf(0));
|
||||
((TextView)findViewById(R.id.words)).setText(String.valueOf(0));
|
||||
((TextView)findViewById(R.id.memory)).setText(String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024)));
|
||||
((TextView)findViewById(R.id.db_size)).setText(String.valueOf(0));
|
||||
((TextView)findViewById(R.id.inliers)).setText(String.valueOf(0));
|
||||
((TextView)findViewById(R.id.features)).setText(String.valueOf(0));
|
||||
((TextView)findViewById(R.id.update_time)).setText(String.valueOf(0));
|
||||
((TextView)findViewById(R.id.hypothesis)).setText(String.valueOf(0));
|
||||
mTotalLoopClosures = 0;
|
||||
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
|
||||
|
||||
if(mItemSave!=null)
|
||||
{
|
||||
if(mItemPause.isChecked())
|
||||
{
|
||||
mItemPause.setChecked(false);
|
||||
mItemOpen.setEnabled(false);
|
||||
mItemSave.setEnabled(false);
|
||||
mItemExport.setEnabled(false);
|
||||
RTABMapLib.setPausedMapping(false); // resume mapping
|
||||
}
|
||||
}
|
||||
mProgressDialog.dismiss();
|
||||
}
|
||||
}
|
||||
|
||||
//called from jni
|
||||
public void rtabmapInitEventCallback(
|
||||
final int status,
|
||||
final String msg)
|
||||
{
|
||||
Log.i(TAG, String.format("rtabmapInitEventCallback()"));
|
||||
|
||||
runOnUiThread(new Runnable() {
|
||||
public void run() {
|
||||
rtabmapInitEventUI(status, msg);
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
private void tangoEventUI(
|
||||
int type,
|
||||
String key,
|
||||
String value)
|
||||
{
|
||||
/**
|
||||
*
|
||||
* "TangoServiceException:X" - The service has encountered an exception, and a text description is given in X.
|
||||
* "FisheyeOverExposed:X" - the fisheye image is over exposed with average pixel value X px.
|
||||
* "FisheyeUnderExposed:X" - the fisheye image is under exposed with average pixel value X px.
|
||||
* "ColorOverExposed:X" - the color image is over exposed with average pixel value X px.
|
||||
* "ColorUnderExposed:X" - the color image is under exposed with average pixel value X px.
|
||||
* "TooFewFeaturesTracked:X" - too few features were tracked in the fisheye image. The number of features tracked is X.
|
||||
* "AreaDescriptionSaveProgress:X" - ADF saving is X * 100 percent complete.
|
||||
* "Unknown"
|
||||
*/
|
||||
if(key.equals("TangoServiceException"))
|
||||
Toast.makeText(this, String.format("Tango service exception: %s", value), Toast.LENGTH_SHORT).show();
|
||||
else if(key.equals("FisheyeOverExposed"))
|
||||
;//Toast.makeText(this, String.format("The fisheye image is over exposed with average pixel value %s px.", value), Toast.LENGTH_SHORT).show();
|
||||
else if(key.equals("FisheyeUnderExposed"))
|
||||
;//Toast.makeText(this, String.format("The fisheye image is under exposed with average pixel value %s px.", value), Toast.LENGTH_SHORT).show();
|
||||
else if(key.equals("ColorOverExposed"))
|
||||
;//Toast.makeText(this, String.format("The color image is over exposed with average pixel value %s px.", value), Toast.LENGTH_SHORT).show();
|
||||
else if(key.equals("ColorUnderExposed"))
|
||||
;//Toast.makeText(this, String.format("The color image is under exposed with average pixel value %s px.", value), Toast.LENGTH_SHORT).show();
|
||||
else if(key.equals("CameraTango"))
|
||||
Toast.makeText(this, value, Toast.LENGTH_SHORT).show();
|
||||
else if(key.equals("TooFewFeaturesTracked"))
|
||||
{
|
||||
if(!value.equals("0"))
|
||||
Toast.makeText(this, String.format("Too few features (%s) were tracked in the fisheye image. This may result in poor odometry!", value), Toast.LENGTH_SHORT).show();
|
||||
}
|
||||
else
|
||||
Toast.makeText(this, String.format("Unknown Tango event detected!? (type=%d)", type), Toast.LENGTH_SHORT).show();
|
||||
}
|
||||
|
||||
//called from jni
|
||||
public void tangoEventCallback(
|
||||
final int type,
|
||||
final String key,
|
||||
final String value)
|
||||
{
|
||||
Log.i(TAG, String.format("tangoEventCallback()"));
|
||||
|
||||
runOnUiThread(new Runnable() {
|
||||
public void run() {
|
||||
tangoEventUI(type, key, value);
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
private boolean CheckTangoCoreVersion(int minVersion) {
|
||||
int versionNumber = 0;
|
||||
String packageName = TANGO_PACKAGE_NAME;
|
||||
try {
|
||||
PackageInfo pi = getApplicationContext().getPackageManager().getPackageInfo(packageName,
|
||||
PackageManager.GET_META_DATA);
|
||||
versionNumber = pi.versionCode;
|
||||
} catch (NameNotFoundException e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
return (minVersion <= versionNumber);
|
||||
}
|
||||
|
||||
private RTABMapActivity getActivity() {return this;}
|
||||
|
||||
private String[] loadFileList(String directory) {
|
||||
File path = new File(directory);
|
||||
String fileList[];
|
||||
try {
|
||||
path.mkdirs();
|
||||
}
|
||||
catch(SecurityException e) {
|
||||
Log.e(TAG, "unable to write on the sd card " + e.toString());
|
||||
}
|
||||
if(path.exists()) {
|
||||
FilenameFilter filter = new FilenameFilter() {
|
||||
|
||||
@Override
|
||||
public boolean accept(File dir, String filename) {
|
||||
File sel = new File(dir, filename);
|
||||
return filename.endsWith(".db") || sel.isDirectory();
|
||||
}
|
||||
|
||||
};
|
||||
fileList = path.list(filter);
|
||||
}
|
||||
else {
|
||||
fileList = new String[0];
|
||||
}
|
||||
return fileList;
|
||||
}
|
||||
|
||||
public boolean onOptionsItemSelected(MenuItem item) {
|
||||
Log.i(TAG, "called onOptionsItemSelected; selected item: " + item);
|
||||
int itemId = item.getItemId();
|
||||
if (itemId == R.id.pause)
|
||||
{
|
||||
item.setChecked(!item.isChecked());
|
||||
mItemSave.setEnabled(item.isChecked());
|
||||
mItemExport.setEnabled(item.isChecked());
|
||||
mItemOpen.setEnabled(item.isChecked());
|
||||
// mItemSave.setEnabled(item.isChecked() && !mWorkingDirectory.isEmpty());
|
||||
if(item.isChecked())
|
||||
{
|
||||
RTABMapLib.setPausedMapping(true);
|
||||
((TextView)findViewById(R.id.status)).setText("Paused");
|
||||
}
|
||||
else
|
||||
{
|
||||
RTABMapLib.setPausedMapping(false);
|
||||
((TextView)findViewById(R.id.status)).setText(mItemLocalizationMode.isChecked()?"Localization":"Mapping");
|
||||
}
|
||||
}
|
||||
else if(itemId == R.id.debug)
|
||||
{
|
||||
item.setChecked(!item.isChecked());
|
||||
if(!item.isChecked())
|
||||
{
|
||||
mLayoutDebug.setVisibility(LinearLayout.GONE);
|
||||
}
|
||||
else
|
||||
{
|
||||
mLayoutDebug.setVisibility(LinearLayout.VISIBLE);
|
||||
}
|
||||
}
|
||||
else if(itemId == R.id.mesh_rendering)
|
||||
{
|
||||
item.setChecked(!item.isChecked());
|
||||
RTABMapLib.setMeshRendering(item.isChecked());
|
||||
}
|
||||
else if(itemId == R.id.map_shown)
|
||||
{
|
||||
item.setChecked(!item.isChecked());
|
||||
RTABMapLib.setMapCloudShown(item.isChecked());
|
||||
}
|
||||
else if(itemId == R.id.odom_shown)
|
||||
{
|
||||
item.setChecked(!item.isChecked());
|
||||
RTABMapLib.setOdomCloudShown(item.isChecked());
|
||||
}
|
||||
else if(itemId == R.id.localization_mode)
|
||||
{
|
||||
item.setChecked(!item.isChecked());
|
||||
RTABMapLib.setLocalizationMode(item.isChecked());
|
||||
}
|
||||
else if(itemId == R.id.trajectory_mode)
|
||||
{
|
||||
item.setChecked(!item.isChecked());
|
||||
RTABMapLib.setTrajectoryMode(item.isChecked());
|
||||
}
|
||||
else if(itemId == R.id.graph_optimization)
|
||||
{
|
||||
item.setChecked(!item.isChecked());
|
||||
RTABMapLib.setGraphOptimization(item.isChecked());
|
||||
}
|
||||
else if(itemId == R.id.graph_visible)
|
||||
{
|
||||
item.setChecked(!item.isChecked());
|
||||
RTABMapLib.setGraphVisible(item.isChecked());
|
||||
}
|
||||
else if(itemId == R.id.auto_exposure)
|
||||
{
|
||||
item.setChecked(!item.isChecked());
|
||||
RTABMapLib.setAutoExposure(item.isChecked());
|
||||
}
|
||||
else if (itemId == R.id.save)
|
||||
{
|
||||
if(mOpenedDatabasePath.isEmpty())
|
||||
{
|
||||
AlertDialog.Builder builder = new AlertDialog.Builder(this);
|
||||
builder.setTitle("RTAB-Map Database Name (*.db):");
|
||||
final EditText input = new EditText(this);
|
||||
input.setInputType(InputType.TYPE_CLASS_TEXT);
|
||||
builder.setView(input);
|
||||
builder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
|
||||
@Override
|
||||
public void onClick(DialogInterface dialog, int which)
|
||||
{
|
||||
final String fileName = input.getText().toString();
|
||||
if(!fileName.isEmpty())
|
||||
{
|
||||
File newFile = new File(mWorkingDirectory + fileName + ".db");
|
||||
if(newFile.exists())
|
||||
{
|
||||
new AlertDialog.Builder(getActivity())
|
||||
.setTitle("File Already Exists")
|
||||
.setMessage("Do you want to overwrite the existing file?")
|
||||
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
|
||||
public void onClick(DialogInterface dialog, int which) {
|
||||
mNewDatabasePath = mWorkingDirectory + fileName + ".db";
|
||||
|
||||
mProgressDialog.setTitle("Saving");
|
||||
mProgressDialog.setMessage(String.format("Please wait while saving \"%s\"...", mNewDatabasePath));
|
||||
mProgressDialog.show();
|
||||
|
||||
RTABMapLib.save(); // send save event
|
||||
//disable gui actions
|
||||
mItemSave.setEnabled(false);
|
||||
mItemOpen.setEnabled(false);
|
||||
mItemExport.setEnabled(false);
|
||||
}
|
||||
})
|
||||
.setNegativeButton("No", new DialogInterface.OnClickListener() {
|
||||
public void onClick(DialogInterface dialog, int which) {
|
||||
dialog.dismiss();
|
||||
}
|
||||
})
|
||||
.show();
|
||||
}
|
||||
else
|
||||
{
|
||||
mNewDatabasePath = mWorkingDirectory + fileName + ".db";
|
||||
|
||||
mProgressDialog.setTitle("Saving");
|
||||
mProgressDialog.setMessage(String.format("Please wait while saving \"%s\"...", mNewDatabasePath));
|
||||
mProgressDialog.show();
|
||||
|
||||
RTABMapLib.save(); // send save event
|
||||
//disable gui actions
|
||||
mItemSave.setEnabled(false);
|
||||
mItemOpen.setEnabled(false);
|
||||
mItemExport.setEnabled(false);
|
||||
}
|
||||
}
|
||||
}
|
||||
});
|
||||
builder.show();
|
||||
}
|
||||
else
|
||||
{
|
||||
mProgressDialog.setTitle("Saving");
|
||||
mProgressDialog.setMessage(String.format("Please wait while updating \"%s\"...", mOpenedDatabasePath));
|
||||
mProgressDialog.show();
|
||||
|
||||
RTABMapLib.save(); // send save event
|
||||
//disable gui actions
|
||||
mItemSave.setEnabled(false);
|
||||
mItemOpen.setEnabled(false);
|
||||
mItemExport.setEnabled(false);
|
||||
}
|
||||
}
|
||||
else if(itemId == R.id.reset)
|
||||
{
|
||||
((TextView)findViewById(R.id.points)).setText(String.valueOf(0));
|
||||
((TextView)findViewById(R.id.polygons)).setText(String.valueOf(0));
|
||||
((TextView)findViewById(R.id.nodes)).setText(String.valueOf(0));
|
||||
((TextView)findViewById(R.id.words)).setText(String.valueOf(0));
|
||||
((TextView)findViewById(R.id.memory)).setText(String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024)));
|
||||
((TextView)findViewById(R.id.db_size)).setText(String.valueOf(0));
|
||||
((TextView)findViewById(R.id.inliers)).setText(String.valueOf(0));
|
||||
((TextView)findViewById(R.id.features)).setText(String.valueOf(0));
|
||||
((TextView)findViewById(R.id.update_time)).setText(String.valueOf(0));
|
||||
((TextView)findViewById(R.id.hypothesis)).setText(String.valueOf(0));
|
||||
mTotalLoopClosures = 0;
|
||||
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
|
||||
|
||||
if(mOpenedDatabasePath.isEmpty())
|
||||
{
|
||||
RTABMapLib.resetMapping();
|
||||
}
|
||||
else
|
||||
{
|
||||
mOpenedDatabasePath = "";
|
||||
RTABMapLib.openDatabase(mTempDatabasePath);
|
||||
}
|
||||
}
|
||||
else if(itemId == R.id.export)
|
||||
{
|
||||
AlertDialog.Builder builder = new AlertDialog.Builder(this);
|
||||
builder.setTitle("File Name (*.ply):");
|
||||
final EditText input = new EditText(this);
|
||||
input.setInputType(InputType.TYPE_CLASS_TEXT);
|
||||
builder.setView(input);
|
||||
builder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
|
||||
@Override
|
||||
public void onClick(DialogInterface dialog, int which)
|
||||
{
|
||||
final String fileName = input.getText().toString();
|
||||
if(!fileName.isEmpty())
|
||||
{
|
||||
File newFile = new File(mWorkingDirectory + fileName + ".ply");
|
||||
if(newFile.exists())
|
||||
{
|
||||
new AlertDialog.Builder(getActivity())
|
||||
.setTitle("File Already Exists")
|
||||
.setMessage("Do you want to overwrite the existing file?")
|
||||
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
|
||||
public void onClick(DialogInterface dialog, int which) {
|
||||
final String path = mWorkingDirectory + fileName + ".ply";
|
||||
|
||||
mItemExport.setEnabled(false);
|
||||
|
||||
mProgressDialog.setTitle("Exporting");
|
||||
mProgressDialog.setMessage(String.format("Please wait while exporting \"%s\"...", fileName+".ply"));
|
||||
mProgressDialog.show();
|
||||
|
||||
Thread exportThread = new Thread(new Runnable() {
|
||||
public void run() {
|
||||
final boolean success = RTABMapLib.exportMesh(path);
|
||||
runOnUiThread(new Runnable() {
|
||||
public void run() {
|
||||
if(success)
|
||||
{
|
||||
Toast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), Toast.LENGTH_LONG).show();
|
||||
}
|
||||
else
|
||||
{
|
||||
Toast.makeText(getActivity(), String.format("Exporting mesh to \"%s\" failed!", path), Toast.LENGTH_LONG).show();
|
||||
}
|
||||
mItemExport.setEnabled(true);
|
||||
mProgressDialog.dismiss();
|
||||
}
|
||||
});
|
||||
}
|
||||
});
|
||||
exportThread.start();
|
||||
}
|
||||
})
|
||||
.setNegativeButton("No", new DialogInterface.OnClickListener() {
|
||||
public void onClick(DialogInterface dialog, int which) {
|
||||
dialog.dismiss();
|
||||
}
|
||||
})
|
||||
.show();
|
||||
}
|
||||
else
|
||||
{
|
||||
final String path = mWorkingDirectory + fileName + ".ply";
|
||||
mItemExport.setEnabled(false);
|
||||
mProgressDialog.setTitle("Exporting");
|
||||
mProgressDialog.setMessage(String.format("Please wait while exporting \"%s\"...", fileName+".ply"));
|
||||
mProgressDialog.show();
|
||||
Thread exportThread = new Thread(new Runnable() {
|
||||
public void run() {
|
||||
final boolean success = RTABMapLib.exportMesh(path);
|
||||
runOnUiThread(new Runnable() {
|
||||
public void run() {
|
||||
if(success)
|
||||
{
|
||||
Toast.makeText(getActivity(), String.format("Mesh \"%s\" successfully exported!", path), Toast.LENGTH_LONG).show();
|
||||
}
|
||||
else
|
||||
{
|
||||
Toast.makeText(getActivity(), String.format("Exporting mesh to \"%s\" failed!", path), Toast.LENGTH_LONG).show();
|
||||
}
|
||||
mItemExport.setEnabled(true);
|
||||
mProgressDialog.dismiss();
|
||||
}
|
||||
});
|
||||
}
|
||||
});
|
||||
exportThread.start();
|
||||
}
|
||||
}
|
||||
}
|
||||
});
|
||||
builder.show();
|
||||
}
|
||||
else if(itemId == R.id.open)
|
||||
{
|
||||
final String[] files = loadFileList(mWorkingDirectory);
|
||||
if(files.length > 0)
|
||||
{
|
||||
AlertDialog.Builder builder = new AlertDialog.Builder(this);
|
||||
builder.setTitle("Choose your file");
|
||||
builder.setItems(files, new DialogInterface.OnClickListener() {
|
||||
public void onClick(DialogInterface dialog, int which) {
|
||||
mOpenedDatabasePath = mWorkingDirectory + files[which];
|
||||
|
||||
if(!mItemTrajectoryMode.isChecked())
|
||||
{
|
||||
mProgressDialog.setTitle("Loading");
|
||||
mProgressDialog.setMessage(String.format("Please wait while loading \"%s\"...", files[which]));
|
||||
mProgressDialog.show();
|
||||
}
|
||||
|
||||
RTABMapLib.openDatabase(mOpenedDatabasePath);
|
||||
RTABMapLib.setCamera(1);
|
||||
|
||||
File extStore = new File(mTempDatabasePath);
|
||||
if(extStore.exists())
|
||||
{
|
||||
extStore.delete();
|
||||
}
|
||||
}
|
||||
});
|
||||
builder.show();
|
||||
}
|
||||
}
|
||||
else if(itemId == R.id.about)
|
||||
{
|
||||
AboutDialog about = new AboutDialog(this);
|
||||
about.setTitle("About RTAB-Map");
|
||||
about.show();
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,67 @@
|
||||
|
||||
package com.introlab.rtabmap;
|
||||
import android.view.KeyEvent;
|
||||
|
||||
|
||||
// Wrapper for native library
|
||||
|
||||
public class RTABMapLib
|
||||
{
|
||||
|
||||
static
|
||||
{
|
||||
System.loadLibrary("NativeRTABMap");
|
||||
}
|
||||
|
||||
// Initialize the Tango Service, this function starts the communication
|
||||
// between the application and Tango Service.
|
||||
// The activity object is used for checking if the API version is outdated.
|
||||
public static native int initialize(RTABMapActivity activity);
|
||||
|
||||
public static native void openDatabase(String databasePath);
|
||||
|
||||
public static native int onResume();
|
||||
|
||||
// Release all non OpenGl resources that are allocated from the program.
|
||||
public static native void onPause();
|
||||
|
||||
// Allocate OpenGL resources for rendering.
|
||||
public static native void initGlContent();
|
||||
|
||||
// Setup the view port width and height.
|
||||
public static native void setupGraphic(int width, int height);
|
||||
|
||||
// Main render loop.
|
||||
public static native int render();
|
||||
|
||||
// Set the render camera's viewing angle:
|
||||
// first person, third person, or top down.
|
||||
public static native void setCamera(int cameraIndex);
|
||||
|
||||
// Pass touch events to the native layer.
|
||||
public static native void onTouchEvent(int touchCount, int event0,
|
||||
float x0, float y0, float x1, float y1);
|
||||
|
||||
|
||||
public static native void setPausedMapping(boolean paused);
|
||||
public static native void setMapCloudShown(boolean shown);
|
||||
public static native void setOdomCloudShown(boolean shown);
|
||||
public static native void setMeshRendering(boolean enabled);
|
||||
public static native void setLocalizationMode(boolean enabled);
|
||||
public static native void setTrajectoryMode(boolean enabled);
|
||||
public static native void setGraphOptimization(boolean enabled);
|
||||
public static native void setGraphVisible(boolean visible);
|
||||
public static native void setAutoExposure(boolean enabled);
|
||||
|
||||
public static native void resetMapping();
|
||||
public static native void save();
|
||||
public static native boolean exportMesh(String filePath);
|
||||
|
||||
public static native String getStatus();
|
||||
public static native int getTotalNodes();
|
||||
public static native int getTotalWords();
|
||||
public static native int getTotalPoints();
|
||||
public static native float getUpdateTime();
|
||||
public static native int getLoopClosureId();
|
||||
|
||||
}
|
||||
@@ -0,0 +1,55 @@
|
||||
/*
|
||||
* Copyright 2014 Google Inc. All Rights Reserved.
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the "License");
|
||||
* you may not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS,
|
||||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
package com.introlab.rtabmap;
|
||||
|
||||
import android.app.ProgressDialog;
|
||||
import android.opengl.GLSurfaceView;
|
||||
|
||||
import javax.microedition.khronos.egl.EGLConfig;
|
||||
import javax.microedition.khronos.opengles.GL10;
|
||||
|
||||
// Renderer renders graphic content. This includes the point cloud,
|
||||
// ground grid, camera frustum, camera axis, and trajectory based on the Tango
|
||||
// device's pose.
|
||||
public class Renderer implements GLSurfaceView.Renderer {
|
||||
|
||||
private ProgressDialog mProgressDialog;
|
||||
|
||||
public void setProgressDialog(ProgressDialog progressDialog)
|
||||
{
|
||||
mProgressDialog = progressDialog;
|
||||
}
|
||||
|
||||
// Render loop of the Gl context.
|
||||
public void onDrawFrame(GL10 gl) {
|
||||
int value = RTABMapLib.render();
|
||||
if(value == 1 && mProgressDialog != null)
|
||||
{
|
||||
mProgressDialog.dismiss();
|
||||
}
|
||||
}
|
||||
|
||||
// Called when the surface size changes.
|
||||
public void onSurfaceChanged(GL10 gl, int width, int height) {
|
||||
RTABMapLib.setupGraphic(width, height);
|
||||
}
|
||||
|
||||
// Called when the surface is created or recreated.
|
||||
public void onSurfaceCreated(GL10 gl, EGLConfig config) {
|
||||
RTABMapLib.initGlContent();
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user