mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 08:47:45 +08:00
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
This commit is contained in:
matlabbe
@@ -9,6 +9,8 @@ import java.io.FilenameFilter;
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import java.io.IOException;
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import java.io.InputStream;
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import java.io.OutputStream;
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import java.lang.reflect.InvocationTargetException;
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import java.lang.reflect.Method;
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import java.text.SimpleDateFormat;
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import java.util.Arrays;
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import java.util.Date;
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@@ -77,6 +79,8 @@ import android.webkit.WebViewClient;
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import android.widget.Button;
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import android.widget.EditText;
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import android.widget.LinearLayout;
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import android.widget.NumberPicker;
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import android.widget.RelativeLayout;
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import android.widget.TextView;
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import android.widget.Toast;
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import android.widget.ToggleButton;
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@@ -126,6 +130,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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private GLSurfaceView mGLView;
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ProgressDialog mProgressDialog;
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ProgressDialog mExportProgressDialog;
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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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@@ -273,6 +278,19 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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mProgressDialog.setCanceledOnTouchOutside(false);
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mRenderer.setProgressDialog(mProgressDialog);
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mRenderer.setToast(mToast);
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mExportProgressDialog = new ProgressDialog(this);
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mExportProgressDialog.setCanceledOnTouchOutside(false);
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mExportProgressDialog.setCancelable(false);
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mExportProgressDialog.setProgressStyle(ProgressDialog.STYLE_HORIZONTAL);
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mExportProgressDialog.setProgressNumberFormat(null);
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mExportProgressDialog.setProgressPercentFormat(null);
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mExportProgressDialog.setButton(DialogInterface.BUTTON_NEGATIVE, "Cancel", new DialogInterface.OnClickListener() {
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@Override
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public void onClick(DialogInterface dialog, int which) {
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RTABMapLib.cancelProcessing();
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}
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});
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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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@@ -738,6 +756,12 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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mMemoryWarningDialog = null;
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}
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})
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.setNeutralButton("Save", new DialogInterface.OnClickListener() {
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public void onClick(DialogInterface dialog, int which) {
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saveOnDevice();
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mMemoryWarningDialog = null;
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}
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})
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.create();
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mMemoryWarningDialog.show();
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}
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@@ -903,6 +927,30 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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}
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});
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}
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private void updateProgressionUI(
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int count,
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int max)
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{
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Log.i(TAG, String.format("updateProgressionUI() count=%d max=%s", count, max));
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mExportProgressDialog.setMax(max);
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mExportProgressDialog.setProgress(count);
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}
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//called from jni
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public void updateProgressionCallback(
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final int count,
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final int max)
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{
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Log.i(TAG, String.format("updateProgressionCallback()"));
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runOnUiThread(new Runnable() {
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public void run() {
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updateProgressionUI(count, max);
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}
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});
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}
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private void tangoEventUI(
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int type,
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@@ -1011,24 +1059,35 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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}
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private void standardOptimization() {
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mProgressDialog.setTitle("Post-Processing");
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mProgressDialog.setMessage(String.format("Please wait while optimizing..."));
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mProgressDialog.show();
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mExportProgressDialog.setTitle("Post-Processing");
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mExportProgressDialog.setMessage(String.format("Please wait while optimizing..."));
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mExportProgressDialog.setProgress(0);
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mExportProgressDialog.show();
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updateState(State.STATE_PROCESSING);
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Thread workingThread = new Thread(new Runnable() {
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public void run() {
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final int loopDetected = RTABMapLib.postProcessing(-1);
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runOnUiThread(new Runnable() {
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public void run() {
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if(loopDetected >= 0)
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if(mExportProgressDialog.isShowing())
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{
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mTotalLoopClosures+=loopDetected;
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mProgressDialog.setMessage(String.format("Optimization done! Increasing visual appeal..."));
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mExportProgressDialog.dismiss();
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if(loopDetected >= 0)
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{
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mTotalLoopClosures+=loopDetected;
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mProgressDialog.setTitle("Post-Processing");
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mProgressDialog.setMessage(String.format("Optimization done! Increasing visual appeal..."));
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mProgressDialog.show();
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}
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else if(loopDetected < 0)
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{
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mToast.makeText(getActivity(), String.format("Optimization failed!"), mToast.LENGTH_LONG).show();
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}
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}
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else if(loopDetected < 0)
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else
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{
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mToast.makeText(getActivity(), String.format("Optimization failed!"), mToast.LENGTH_SHORT).show();
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mToast.makeText(getActivity(), String.format("Optimization canceled"), mToast.LENGTH_LONG).show();
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}
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updateState(State.STATE_IDLE);
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}
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@@ -1521,63 +1580,191 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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else if(itemId == R.id.export_point_cloud ||
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itemId == R.id.export_point_cloud_highrez ||
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itemId == R.id.export_mesh ||
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itemId == R.id.export_mesh_texture ||
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itemId == R.id.export_optimized_mesh ||
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itemId == R.id.export_optimized_mesh_texture)
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itemId == R.id.export_mesh_texture)
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{
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final boolean isOBJ = itemId == R.id.export_mesh_texture || itemId == R.id.export_optimized_mesh_texture;
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final String extension = isOBJ? ".obj" : ".ply";
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final boolean meshing = itemId != R.id.export_point_cloud && itemId != R.id.export_point_cloud_highrez;
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final boolean regenerateCloud = itemId == R.id.export_point_cloud_highrez;
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final boolean optimized = itemId == R.id.export_optimized_mesh || itemId == R.id.export_optimized_mesh_texture;
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// get Export settings
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SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
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final String cloudVoxelSizeStr = sharedPref.getString(getString(R.string.pref_key_cloud_voxel), getString(R.string.pref_default_cloud_voxel));
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final float cloudVoxelSize = Float.parseFloat(cloudVoxelSizeStr);
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final int textureSize = isOBJ?Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_texture_size), getString(R.string.pref_default_texture_size))):0;
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final int normalK = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_normal_k), getString(R.string.pref_default_normal_k)));
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final float maxTextureDistance = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_max_texture_distance), getString(R.string.pref_default_max_texture_distance)));
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final float optimizedVoxelSize = cloudVoxelSize;
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final int optimizedDepth = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_opt_depth), getString(R.string.pref_default_opt_depth)));
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final float optimizedDecimationFactor = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_opt_decimation_factor), getString(R.string.pref_default_opt_decimation_factor)))/100.0f;
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final float optimizedColorRadius = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_opt_color_radius), getString(R.string.pref_default_opt_color_radius)));
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final boolean optimizedCleanWhitePolygons = sharedPref.getBoolean(getString(R.string.pref_key_opt_clean_white), Boolean.parseBoolean(getString(R.string.pref_default_opt_clean_white)));
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final boolean optimizedColorWhitePolygons = false;//sharedPref.getBoolean("pref_key_opt_color_white", false); // not used
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final boolean blockRendering = sharedPref.getBoolean(getString(R.string.pref_key_block_render), Boolean.parseBoolean(getString(R.string.pref_default_block_render)));
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mProgressDialog.setTitle("Exporting");
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mProgressDialog.setMessage(String.format("Please wait while preparing data to export..."));
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mProgressDialog.show();
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updateState(State.STATE_PROCESSING);
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final String tmpPath = mWorkingDirectory + RTABMAP_TMP_DIR + RTABMAP_TMP_FILENAME + extension;
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File tmpDir = new File(mWorkingDirectory + RTABMAP_TMP_DIR);
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tmpDir.mkdirs();
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export(isOBJ, meshing, regenerateCloud, false, 0);
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}
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else if(itemId == R.id.export_optimized_mesh ||
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itemId == R.id.export_optimized_mesh_texture)
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{
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final boolean isOBJ = itemId == R.id.export_optimized_mesh_texture;
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Thread exportThread = new Thread(new Runnable() {
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public void run() {
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RelativeLayout linearLayout = new RelativeLayout(this);
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final NumberPicker aNumberPicker = new NumberPicker(this);
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aNumberPicker.setMaxValue(9);
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aNumberPicker.setMinValue(0);
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aNumberPicker.setWrapSelectorWheel(false);
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aNumberPicker.setDescendantFocusability(NumberPicker.FOCUS_BLOCK_DESCENDANTS);
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aNumberPicker.setFormatter(new NumberPicker.Formatter() {
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@Override
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public String format(int i) {
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if(i==0)
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{
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return "No Limit";
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}
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return String.format("%d00 000", i);
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}
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});
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aNumberPicker.setValue(1);
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final boolean success = RTABMapLib.exportMesh(
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tmpPath,
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cloudVoxelSize,
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regenerateCloud,
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meshing,
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textureSize,
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normalK,
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maxTextureDistance,
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optimized,
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optimizedVoxelSize,
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optimizedDepth,
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optimizedDecimationFactor,
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optimizedColorRadius,
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optimizedCleanWhitePolygons,
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optimizedColorWhitePolygons,
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blockRendering);
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runOnUiThread(new Runnable() {
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public void run() {
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// Fix to correctly show value on first render
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try {
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Method method = aNumberPicker.getClass().getDeclaredMethod("changeValueByOne", boolean.class);
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method.setAccessible(true);
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method.invoke(aNumberPicker, true);
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} catch (NoSuchMethodException e) {
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e.printStackTrace();
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} catch (IllegalArgumentException e) {
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e.printStackTrace();
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} catch (IllegalAccessException e) {
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e.printStackTrace();
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} catch (InvocationTargetException e) {
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e.printStackTrace();
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}
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RelativeLayout.LayoutParams params = new RelativeLayout.LayoutParams(50, 50);
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RelativeLayout.LayoutParams numPicerParams = new RelativeLayout.LayoutParams(RelativeLayout.LayoutParams.WRAP_CONTENT, RelativeLayout.LayoutParams.WRAP_CONTENT);
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numPicerParams.addRule(RelativeLayout.CENTER_HORIZONTAL);
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linearLayout.setLayoutParams(params);
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linearLayout.addView(aNumberPicker,numPicerParams);
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AlertDialog.Builder alertDialogBuilder = new AlertDialog.Builder(this);
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alertDialogBuilder.setTitle("Maximum polygons");
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alertDialogBuilder.setView(linearLayout);
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alertDialogBuilder
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.setCancelable(false)
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.setPositiveButton("Ok",
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new DialogInterface.OnClickListener() {
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public void onClick(DialogInterface dialog,
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int id) {
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export(isOBJ, true, false, true, aNumberPicker.getValue()*100000);
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}
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})
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.setNegativeButton("Cancel",
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new DialogInterface.OnClickListener() {
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public void onClick(DialogInterface dialog,
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int id) {
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dialog.cancel();
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}
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});
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AlertDialog alertDialog = alertDialogBuilder.create();
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alertDialog.show();
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}
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else if(itemId == R.id.open)
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{
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final String[] files = loadFileList(mWorkingDirectory);
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if(files.length > 0)
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{
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String[] filesWithSize = new String[files.length];
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for(int i = 0; i<filesWithSize.length; ++i)
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{
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File filePath = new File(mWorkingDirectory+files[i]);
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long mb = filePath.length()/(1024*1024);
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filesWithSize[i] = files[i] + " ("+mb+" MB)";
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}
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AlertDialog.Builder builder = new AlertDialog.Builder(this);
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builder.setTitle("Choose Your File (*.db)");
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builder.setItems(filesWithSize, new DialogInterface.OnClickListener() {
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public void onClick(DialogInterface dialog, final int which) {
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// Adjust color now?
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new AlertDialog.Builder(getActivity())
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.setTitle("Opening database...")
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.setMessage("Do you want to adjust colors now?\nThis can be done later under Optimize menu.")
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.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
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public void onClick(DialogInterface dialog, int whichIn) {
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openDatabase(files[which], true);
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}
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})
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.setNeutralButton("No", new DialogInterface.OnClickListener() {
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public void onClick(DialogInterface dialog, int whichIn) {
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openDatabase(files[which], false);
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}
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})
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.show();
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return;
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}
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});
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builder.show();
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}
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}
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else if(itemId == R.id.settings)
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{
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Intent intent = new Intent(getActivity(), SettingsActivity.class);
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startActivity(intent);
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mBlockBack = true;
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}
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else if(itemId == R.id.about)
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{
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AboutDialog about = new AboutDialog(this);
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about.setTitle("About RTAB-Map");
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about.show();
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}
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return true;
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}
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private void export(final boolean isOBJ, final boolean meshing, final boolean regenerateCloud, final boolean optimized, final int optimizedMaxPolygons)
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{
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final String extension = isOBJ? ".obj" : ".ply";
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// get Export settings
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SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
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final String cloudVoxelSizeStr = sharedPref.getString(getString(R.string.pref_key_cloud_voxel), getString(R.string.pref_default_cloud_voxel));
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final float cloudVoxelSize = Float.parseFloat(cloudVoxelSizeStr);
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final int textureSize = isOBJ?Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_texture_size), getString(R.string.pref_default_texture_size))):0;
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final int normalK = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_normal_k), getString(R.string.pref_default_normal_k)));
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final float maxTextureDistance = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_max_texture_distance), getString(R.string.pref_default_max_texture_distance)));
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final float optimizedVoxelSize = cloudVoxelSize;
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final int optimizedDepth = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_opt_depth), getString(R.string.pref_default_opt_depth)));
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final float optimizedColorRadius = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_opt_color_radius), getString(R.string.pref_default_opt_color_radius)));
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final boolean optimizedCleanWhitePolygons = sharedPref.getBoolean(getString(R.string.pref_key_opt_clean_white), Boolean.parseBoolean(getString(R.string.pref_default_opt_clean_white)));
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final boolean optimizedColorWhitePolygons = false;//sharedPref.getBoolean("pref_key_opt_color_white", false); // not used
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final boolean blockRendering = sharedPref.getBoolean(getString(R.string.pref_key_block_render), Boolean.parseBoolean(getString(R.string.pref_default_block_render)));
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mExportProgressDialog.setTitle("Exporting");
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mExportProgressDialog.setMessage(String.format("Please wait while preparing data to export..."));
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mExportProgressDialog.setProgress(0);
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final State previousState = mState;
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mExportProgressDialog.show();
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updateState(State.STATE_PROCESSING);
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final String tmpPath = mWorkingDirectory + RTABMAP_TMP_DIR + RTABMAP_TMP_FILENAME + extension;
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File tmpDir = new File(mWorkingDirectory + RTABMAP_TMP_DIR);
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tmpDir.mkdirs();
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Thread exportThread = new Thread(new Runnable() {
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public void run() {
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final boolean success = RTABMapLib.exportMesh(
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tmpPath,
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cloudVoxelSize,
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regenerateCloud,
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meshing,
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textureSize,
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normalK,
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maxTextureDistance,
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optimized,
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optimizedVoxelSize,
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optimizedDepth,
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optimizedMaxPolygons,
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optimizedColorRadius,
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optimizedCleanWhitePolygons,
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optimizedColorWhitePolygons,
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blockRendering);
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runOnUiThread(new Runnable() {
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public void run() {
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if(mExportProgressDialog.isShowing())
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{
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if(success)
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{
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if(!meshing && cloudVoxelSize>0.0f)
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@@ -1641,65 +1828,18 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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updateState(State.STATE_IDLE);
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mToast.makeText(getActivity(), String.format("Exporting map failed!"), mToast.LENGTH_LONG).show();
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}
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mProgressDialog.dismiss();
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mExportProgressDialog.dismiss();
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}
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else
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{
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mToast.makeText(getActivity(), String.format("Export canceled"), mToast.LENGTH_LONG).show();
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updateState(previousState);
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}
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});
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}
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});
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exportThread.start();
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}
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else if(itemId == R.id.open)
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{
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final String[] files = loadFileList(mWorkingDirectory);
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if(files.length > 0)
|
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{
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String[] filesWithSize = new String[files.length];
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for(int i = 0; i<filesWithSize.length; ++i)
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{
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File filePath = new File(mWorkingDirectory+files[i]);
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long mb = filePath.length()/(1024*1024);
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filesWithSize[i] = files[i] + " ("+mb+" MB)";
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}
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AlertDialog.Builder builder = new AlertDialog.Builder(this);
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builder.setTitle("Choose Your File (*.db)");
|
||||
builder.setItems(filesWithSize, new DialogInterface.OnClickListener() {
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||||
public void onClick(DialogInterface dialog, final int which) {
|
||||
|
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// Adjust color now?
|
||||
new AlertDialog.Builder(getActivity())
|
||||
.setTitle("Opening database...")
|
||||
.setMessage("Do you want to adjust colors now?\nThis can be done later under Optimize menu.")
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||||
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
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public void onClick(DialogInterface dialog, int whichIn) {
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openDatabase(files[which], true);
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}
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})
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.setNeutralButton("No", new DialogInterface.OnClickListener() {
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||||
public void onClick(DialogInterface dialog, int whichIn) {
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openDatabase(files[which], false);
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}
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})
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.show();
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return;
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}
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});
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builder.show();
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}
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||||
}
|
||||
else if(itemId == R.id.settings)
|
||||
{
|
||||
Intent intent = new Intent(getActivity(), SettingsActivity.class);
|
||||
startActivity(intent);
|
||||
mBlockBack = true;
|
||||
}
|
||||
else if(itemId == R.id.about)
|
||||
{
|
||||
AboutDialog about = new AboutDialog(this);
|
||||
about.setTitle("About RTAB-Map");
|
||||
about.show();
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
});
|
||||
exportThread.start();
|
||||
}
|
||||
|
||||
private void saveDatabase(String fileName)
|
||||
|
||||
@@ -86,6 +86,7 @@ public class RTABMapLib
|
||||
|
||||
public static native void resetMapping();
|
||||
public static native void save(String outputDatabasePath);
|
||||
public static native void cancelProcessing();
|
||||
public static native boolean exportMesh(
|
||||
String filePath,
|
||||
float cloudVoxelSize,
|
||||
@@ -97,7 +98,7 @@ public class RTABMapLib
|
||||
boolean optimized,
|
||||
float optimizedVoxelSize,
|
||||
int optimizedDepth,
|
||||
float optimizedDecimationFactor,
|
||||
int optimizedMaxPolygons,
|
||||
float optimizedColorRadius,
|
||||
boolean optimizedCleanWhitePolygons,
|
||||
boolean optimizedColorWhitePolygons,
|
||||
|
||||
@@ -106,7 +106,7 @@ public class Renderer implements GLSurfaceView.Renderer {
|
||||
}
|
||||
if(value==-1 && mToast!=null)
|
||||
{
|
||||
mToast.makeText(mActivity, String.format("Out of Memory!"), Toast.LENGTH_LONG).show();
|
||||
mToast.makeText(mActivity, String.format("Out of Memory!"), Toast.LENGTH_SHORT).show();
|
||||
}
|
||||
}
|
||||
});
|
||||
@@ -117,7 +117,7 @@ public class Renderer implements GLSurfaceView.Renderer {
|
||||
{
|
||||
mActivity.runOnUiThread(new Runnable() {
|
||||
public void run() {
|
||||
mToast.makeText(mActivity, String.format("Rendering error! %s", e.getMessage()), Toast.LENGTH_LONG).show();
|
||||
mToast.makeText(mActivity, String.format("Rendering error! %s", e.getMessage()), Toast.LENGTH_SHORT).show();
|
||||
}
|
||||
|
||||
});
|
||||
|
||||
@@ -52,7 +52,6 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
|
||||
((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_opt_depth))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_depth))).getEntry() + ") "+getString(R.string.pref_summary_opt_depth));
|
||||
((Preference)findPreference(getString(R.string.pref_key_opt_decimation_factor))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_decimation_factor))).getValue() + "%%) "+getString(R.string.pref_summary_opt_decimation_factor));
|
||||
((Preference)findPreference(getString(R.string.pref_key_opt_color_radius))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_color_radius))).getEntry() + ") "+getString(R.string.pref_summary_opt_color_radius));
|
||||
|
||||
((Preference)findPreference(getString(R.string.pref_key_min_cluster_size))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_min_cluster_size))).getEntry() + ") "+getString(R.string.pref_summary_min_cluster_size));
|
||||
@@ -87,7 +86,6 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
|
||||
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_opt_depth))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_depth));
|
||||
if(key.compareTo(getString(R.string.pref_key_opt_decimation_factor))==0) pref.setSummary("("+((ListPreference)pref).getValue() + "%%) "+getString(R.string.pref_summary_opt_decimation_factor));
|
||||
if(key.compareTo(getString(R.string.pref_key_opt_color_radius))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_color_radius));
|
||||
|
||||
if(key.compareTo(getString(R.string.pref_key_min_cluster_size))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_min_cluster_size));
|
||||
|
||||
Reference in New Issue
Block a user