mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-07 18:27:46 +08:00
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
This commit is contained in:
matlabbe
@@ -33,6 +33,7 @@ import android.content.DialogInterface;
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import android.content.Intent;
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import android.content.ServiceConnection;
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import android.content.SharedPreferences;
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import android.content.pm.ApplicationInfo;
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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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@@ -93,6 +94,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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// Tag for debug logging.
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public static final String TAG = RTABMapActivity.class.getSimpleName();
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public static boolean DISABLE_LOG = true;
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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 = 9377;
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@@ -180,12 +182,12 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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private int mTotalLoopClosures = 0;
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private boolean mMapIsEmpty = false;
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private boolean mExportedOBJ = false;
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int mMapNodes = 0;
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private Toast mToast = null;
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private AlertDialog mMemoryWarningDialog = null;
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private Thread mMemStatusUpdateThread = null;
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private String[] mStatusTexts = new String[16];
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//Tango Service connection.
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@@ -347,6 +349,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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public void onDisplayRemoved(int displayId) {}
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}, null);
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}
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DISABLE_LOG = !( 0 != ( getApplicationInfo().flags & ApplicationInfo.FLAG_DEBUGGABLE ) );
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}
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@Override
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@@ -386,7 +390,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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protected void onPause() {
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super.onPause();
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Log.i(TAG, "onPause()");
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if(!DISABLE_LOG) Log.i(TAG, "onPause()");
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mOnPause = true;
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// This deletes OpenGL context!
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@@ -434,7 +438,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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// update preferences
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try
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{
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Log.d(TAG, "update preferences...");
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if(!DISABLE_LOG) Log.d(TAG, "update preferences...");
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SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
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mUpdateRate = sharedPref.getString(getString(R.string.pref_key_update_rate), getString(R.string.pref_default_update_rate));
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mTimeThr = sharedPref.getString(getString(R.string.pref_key_time_thr), getString(R.string.pref_default_time_thr));
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@@ -450,7 +454,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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boolean optimizeFromGraphEnd = sharedPref.getBoolean(getString(R.string.pref_key_optimize_end), Boolean.parseBoolean(getString(R.string.pref_default_optimize_end)));
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String optimizer = sharedPref.getString(getString(R.string.pref_key_optimizer), getString(R.string.pref_default_optimizer));
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Log.d(TAG, "set mapping parameters");
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if(!DISABLE_LOG) Log.d(TAG, "set mapping parameters");
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RTABMapLib.setNodesFiltering(sharedPref.getBoolean(getString(R.string.pref_key_nodes_filtering), Boolean.parseBoolean(getString(R.string.pref_default_nodes_filtering))));
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RTABMapLib.setAutoExposure(sharedPref.getBoolean(getString(R.string.pref_key_auto_exposure), Boolean.parseBoolean(getString(R.string.pref_default_auto_exposure))));
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RTABMapLib.setRawScanSaved(sharedPref.getBoolean(getString(R.string.pref_key_raw_scan_saved), Boolean.parseBoolean(getString(R.string.pref_default_raw_scan_saved))));
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@@ -472,16 +476,17 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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RTABMapLib.setMappingParameter("RGBD/OptimizeFromGraphEnd", String.valueOf(optimizeFromGraphEnd));
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RTABMapLib.setMappingParameter("Optimizer/Strategy", optimizer);
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Log.d(TAG, "set exporting parameters...");
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if(!DISABLE_LOG) Log.d(TAG, "set exporting parameters...");
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RTABMapLib.setMeshDecimation(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_density), getString(R.string.pref_default_density))));
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RTABMapLib.setMaxCloudDepth(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_depth), getString(R.string.pref_default_depth))));
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RTABMapLib.setPointSize(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_point_size), getString(R.string.pref_default_point_size))));
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RTABMapLib.setMeshAngleTolerance(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_angle), getString(R.string.pref_default_angle))));
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RTABMapLib.setMeshTriangleSize(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_triangle), getString(R.string.pref_default_triangle))));
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Log.d(TAG, "set rendering parameters...");
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RTABMapLib.setMinClusterSize(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_min_cluster_size), getString(R.string.pref_default_min_cluster_size))));
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if(!DISABLE_LOG) Log.d(TAG, "set rendering parameters...");
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RTABMapLib.setClusterRatio(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_cluster_ratio), getString(R.string.pref_default_cluster_ratio))));
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RTABMapLib.setMaxGainRadius(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_gain_max_radius), getString(R.string.pref_default_gain_max_radius))));
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RTABMapLib.setRenderingTextureDecimation(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_rendering_texture_decimation), getString(R.string.pref_default_rendering_texture_decimation))));
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if(mItemRenderingPointCloud != null)
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{
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@@ -511,14 +516,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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mToast.makeText(this, String.format("Error parsing preferences: "+e.getMessage()), mToast.LENGTH_LONG).show();
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}
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Log.i(TAG, String.format("onResume()"));
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if(!DISABLE_LOG) Log.i(TAG, String.format("onResume()"));
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if (Tango.hasPermission(this, Tango.PERMISSIONTYPE_MOTION_TRACKING)) {
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mGLView.onResume();
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} else {
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Log.i(TAG, String.format("Asking for motion tracking permission"));
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if(!DISABLE_LOG) Log.i(TAG, String.format("Asking for motion tracking permission"));
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startActivityForResult(
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Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING),
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Tango.TANGO_INTENT_ACTIVITYCODE);
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@@ -528,9 +533,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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}
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private void setCamera(int type)
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{
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{
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// for convenience, for a refresh of the memory used
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stopUpdateStatusThread();
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mStatusTexts[1] = getString(R.string.memory)+String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024));
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mStatusTexts[2] = getString(R.string.free_memory)+String.valueOf(getFreeMemory());
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updateStatusTexts();
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@@ -618,7 +622,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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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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if(!DISABLE_LOG) 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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@@ -734,7 +738,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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long memoryUsed = processMemoryUsed;
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long memoryFree = getFreeMemory();
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if(memoryFree < 100)
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if(memoryFree < 200)
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{
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mButtonPause.setChecked(true);
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pauseMapping();
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@@ -843,33 +847,43 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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final float rehearsalValue,
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final float optimizationMaxError)
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{
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Log.i(TAG, String.format("updateStatsCallback()"));
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if(!DISABLE_LOG) Log.i(TAG, String.format("updateStatsCallback()"));
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final String[] statusTexts = new String[16];
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if(mButtonPause!=null)
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if(mButtonPause!=null && !mButtonPause.isChecked())
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{
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if(mButtonPause.isChecked())
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{
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statusTexts[0] = getString(R.string.status)+"Paused";
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}
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else if(mItemLocalizationMode!=null && mItemDataRecorderMode!=null)
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{
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String updateValue = mUpdateRate.compareTo("0")==0?"Max":mUpdateRate;
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statusTexts[0] = getString(R.string.status)+(mItemLocalizationMode.isChecked()?String.format("Localization (%s Hz)", updateValue):mItemDataRecorderMode.isChecked()?String.format("Recording (%s Hz)", updateValue):String.format("Mapping (%s Hz)", updateValue));
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}
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String updateValue = mUpdateRate.compareTo("0")==0?"Max":mUpdateRate;
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statusTexts[0] = getString(R.string.status)+(mItemDataRecorderMode!=null&&mItemDataRecorderMode.isChecked()?String.format("Recording (%s Hz)", updateValue):mItemLocalizationMode!=null && mItemLocalizationMode.isChecked()?String.format("Localization (%s Hz)", updateValue):String.format("Mapping (%s Hz)", updateValue));
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}
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else
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{
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statusTexts[0] = getString(R.string.status);
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statusTexts[0] = mStatusTexts[0];
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}
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stopUpdateStatusThread();
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// getNativeHeapAllocatedSize() is too slow, so we need to use the estimate.
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// Multiply by 3/2 to match getNativeHeapAllocatedSize()
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final int adjustedMemoryUsed = (processMemoryUsed*3)/2;
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statusTexts[1] = getString(R.string.memory)+adjustedMemoryUsed;
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if(mButtonPause!=null)
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{
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if(!mButtonPause.isChecked())
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{
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statusTexts[1] = getString(R.string.memory)+adjustedMemoryUsed;
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}
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else if(mState == State.STATE_PROCESSING)
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{
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// This request is long to do, only do it when processing.
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statusTexts[1] = getString(R.string.memory)+String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024));
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}
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else
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{
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statusTexts[1] = mStatusTexts[1];
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}
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}
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else
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{
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statusTexts[1] = mStatusTexts[1];
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}
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statusTexts[2] = getString(R.string.free_memory)+getFreeMemory();
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@@ -878,6 +892,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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++mTotalLoopClosures;
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}
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mMapNodes = nodes;
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int index = 4;
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statusTexts[index++] = getString(R.string.nodes)+nodes+" (" + nodesDrawn + " shown)";
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statusTexts[index++] = getString(R.string.words)+words;
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@@ -903,7 +919,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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int status,
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String msg)
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{
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Log.i(TAG, String.format("rtabmapInitEventsUI() status=%d msg=%s", status, msg));
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if(!DISABLE_LOG) Log.i(TAG, String.format("rtabmapInitEventsUI() status=%d msg=%s", status, msg));
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if(mButtonPause!=null)
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{
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@@ -911,9 +927,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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{
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mStatusTexts[0] = getString(R.string.status)+(status == 1 && msg.isEmpty()?"Paused":msg);
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}
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else
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else if(mItemLocalizationMode!=null && mItemDataRecorderMode!=null)
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{
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mStatusTexts[0] = getString(R.string.status)+(status == 1 && msg.isEmpty()?(mItemLocalizationMode!=null&&mItemLocalizationMode.isChecked()?"Localization":mItemDataRecorderMode!=null&&mItemDataRecorderMode.isChecked()?"Recording":"Mapping"):msg);
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mStatusTexts[0] = getString(R.string.status)+(status == 1 && msg.isEmpty()?(mItemDataRecorderMode!=null&&mItemDataRecorderMode.isChecked()?"Recording":mItemLocalizationMode!=null&&mItemLocalizationMode.isChecked()?"Localization":"Mapping"):msg);
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}
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mStatusTexts[1] = getString(R.string.memory)+String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024));
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@@ -927,7 +943,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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final int status,
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final String msg)
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{
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Log.i(TAG, String.format("rtabmapInitEventCallback()"));
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if(!DISABLE_LOG) Log.i(TAG, String.format("rtabmapInitEventCallback()"));
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runOnUiThread(new Runnable() {
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public void run() {
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@@ -940,7 +956,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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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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if(!DISABLE_LOG) 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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@@ -951,7 +967,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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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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if(!DISABLE_LOG) Log.i(TAG, String.format("updateProgressionCallback()"));
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runOnUiThread(new Runnable() {
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public void run() {
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@@ -1104,50 +1120,13 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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});
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workingThread.start();
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}
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public void startUpdateStatusThread()
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{
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if(mMemStatusUpdateThread == null)
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{
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mMemStatusUpdateThread = new Thread() {
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@Override
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public void run() {
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try {
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while (!isInterrupted()) {
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Thread.sleep(1000);
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if(mState != RTABMapActivity.State.STATE_VISUALIZING)
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{
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runOnUiThread(new Runnable() {
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@Override
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public void run() {
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mStatusTexts[1] = getString(R.string.memory)+String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024));
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mStatusTexts[2] = getString(R.string.free_memory)+String.valueOf(getFreeMemory());
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updateStatusTexts();
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}
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});
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}
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}
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} catch (InterruptedException e) {
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}
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}
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};
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mMemStatusUpdateThread.start();
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}
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}
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public void stopUpdateStatusThread()
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{
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if(mMemStatusUpdateThread != null)
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{
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Thread tmp = mMemStatusUpdateThread;
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mMemStatusUpdateThread = null;
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tmp.interrupt();
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}
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}
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private void updateState(State state)
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{
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if(mState == State.STATE_VISUALIZING && state == State.STATE_IDLE && mMapNodes > 100)
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{
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mToast.makeText(getActivity(), String.format("Re-adding %d online clouds, this may take some time...", mMapNodes), mToast.LENGTH_LONG).show();
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}
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mState = state;
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switch(state)
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{
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@@ -1164,7 +1143,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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mItemReset.setEnabled(false);
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mItemModes.setEnabled(false);
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mButtonPause.setVisibility(View.INVISIBLE);
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startUpdateStatusThread();
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break;
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case STATE_VISUALIZING:
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mButtonLighting.setVisibility(View.VISIBLE);
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@@ -1180,7 +1158,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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mItemModes.setEnabled(true);
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mButtonPause.setVisibility(View.INVISIBLE);
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mItemDataRecorderMode.setEnabled(mButtonPause.isChecked());
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stopUpdateStatusThread();
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break;
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default:
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mButtonLighting.setVisibility(View.INVISIBLE);
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@@ -1197,7 +1174,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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mButtonPause.setVisibility(View.VISIBLE);
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mItemDataRecorderMode.setEnabled(mButtonPause.isChecked());
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RTABMapLib.postExportation(false);
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stopUpdateStatusThread();
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break;
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}
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}
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@@ -1259,7 +1235,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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}
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public boolean onOptionsItemSelected(MenuItem item) {
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Log.i(TAG, "called onOptionsItemSelected; selected item: " + item);
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if(!DISABLE_LOG) Log.i(TAG, "called onOptionsItemSelected; selected item: " + item);
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int itemId = item.getItemId();
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if (itemId == R.id.post_processing_standard)
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{
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@@ -1500,6 +1476,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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mTotalLoopClosures = 0;
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int index = 4;
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mMapNodes = 0;
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mStatusTexts[index++] = getString(R.string.nodes)+0;
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mStatusTexts[index++] = getString(R.string.words)+0;
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mStatusTexts[index++] = getString(R.string.database_size)+0;
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@@ -1538,6 +1515,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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// reset
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mTotalLoopClosures = 0;
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int index = 4;
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mMapNodes = 0;
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mStatusTexts[index++] = getString(R.string.nodes)+0;
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mStatusTexts[index++] = getString(R.string.words)+0;
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mStatusTexts[index++] = getString(R.string.database_size)+0;
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@@ -1756,6 +1734,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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Thread exportThread = new Thread(new Runnable() {
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public void run() {
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final long startTime = System.currentTimeMillis()/1000;
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final boolean success = RTABMapLib.exportMesh(
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tmpPath,
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cloudVoxelSize,
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@@ -1783,11 +1763,13 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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{
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mToast.makeText(getActivity(), String.format("Cloud assembled and voxelized at %s m.", cloudVoxelSizeStr), mToast.LENGTH_LONG).show();
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}
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final long endTime = System.currentTimeMillis()/1000;
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// Visualize the result?
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AlertDialog d = new AlertDialog.Builder(getActivity())
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.setCancelable(false)
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.setTitle("Export Successful!")
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.setTitle("Export Successful! (" + (endTime-startTime) + " sec)")
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.setMessage(Html.fromHtml("Do you want visualize the result before saving to file or sharing to <a href=\"https://sketchfab.com/about\">Sketchfab</a>?"))
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.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
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public void onClick(DialogInterface dialog, int which) {
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@@ -1869,7 +1851,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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}
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mProgressDialog.show();
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updateState(State.STATE_PROCESSING);
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startUpdateStatusThread();
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Thread saveThread = new Thread(new Runnable() {
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public void run() {
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RTABMapLib.save(newDatabasePath); // save
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@@ -2059,16 +2040,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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||||
{
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||||
mOpenedDatabasePath = mWorkingDirectory + fileName;
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final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
|
||||
(new File(tmpDatabase)).delete();
|
||||
try{
|
||||
copy(new File(mOpenedDatabasePath), new File(tmpDatabase));
|
||||
}
|
||||
catch(IOException e)
|
||||
{
|
||||
mToast.makeText(getActivity(), String.format("Failed to create temp database from %s!", mOpenedDatabasePath), mToast.LENGTH_LONG).show();
|
||||
}
|
||||
|
||||
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
|
||||
final boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
|
||||
|
||||
@@ -2081,6 +2052,19 @@ public class RTABMapActivity extends Activity implements OnClickListener {
|
||||
Thread openThread = new Thread(new Runnable() {
|
||||
public void run() {
|
||||
|
||||
final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
|
||||
(new File(tmpDatabase)).delete();
|
||||
try{
|
||||
copy(new File(mOpenedDatabasePath), new File(tmpDatabase));
|
||||
}
|
||||
catch(IOException e)
|
||||
{
|
||||
mToast.makeText(getActivity(), String.format("Failed to create temp database from %s!", mOpenedDatabasePath), mToast.LENGTH_LONG).show();
|
||||
updateState(State.STATE_IDLE);
|
||||
mProgressDialog.dismiss();
|
||||
return;
|
||||
}
|
||||
|
||||
final int status = RTABMapLib.openDatabase(tmpDatabase, databaseInMemory, optimize);
|
||||
|
||||
runOnUiThread(new Runnable() {
|
||||
@@ -2113,12 +2097,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
|
||||
else
|
||||
{
|
||||
// creating meshes...
|
||||
startUpdateStatusThread();
|
||||
|
||||
if(!mItemTrajectoryMode.isChecked())
|
||||
{
|
||||
mProgressDialog.setTitle("Loading");
|
||||
mProgressDialog.setMessage(String.format("Database \"%s\" loaded. Please wait while creating point clouds and meshes...", fileName));
|
||||
mProgressDialog.setMessage(String.format("Database \"%s\" loaded. Please wait while rendering point clouds and meshes...", fileName));
|
||||
mProgressDialog.show();
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user