i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tango: C-API Code Migration to Mira release

Browse Source
This commit is contained in:
matlabbe
2016-05-12 14:34:51 -04:00
parent 1fbcc2319a
commit dde0e26110
9 changed files with 241 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+36 -8
View File
@@ -9,8 +9,10 @@ import android.app.Notification;
import android.app.NotificationManager;
import android.app.PendingIntent;
import android.app.ProgressDialog;
import android.content.ComponentName;
import android.content.DialogInterface;
import android.content.Intent;
import android.content.ServiceConnection;
import android.content.pm.PackageInfo;
import android.content.pm.PackageManager;
import android.content.pm.PackageManager.NameNotFoundException;
@@ -20,6 +22,7 @@ import android.os.Bundle;
import android.os.Environment;
import android.os.Handler;
import android.os.Debug;
import android.os.IBinder;
import android.text.Editable;
import android.text.InputType;
import android.util.Log;
@@ -99,6 +102,24 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private Toast mToast = null;
//Tango Service connection.
ServiceConnection mTangoServiceConnection = new ServiceConnection() {
public void onServiceConnected(ComponentName name, IBinder service) {
if(!RTABMapLib.onTangoServiceConnected(service))
{
mToast.makeText(getApplicationContext(),
String.format("Failed to intialize Tango!"), mToast.LENGTH_SHORT).show();
}
}
public void onServiceDisconnected(ComponentName name) {
// Handle this if you need to gracefully shutdown/retry
// in the event that Tango itself crashes/gets upgraded while running.
mToast.makeText(getApplicationContext(),
String.format("Tango disconnected!"), mToast.LENGTH_SHORT).show();
}
};
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
@@ -172,7 +193,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
Environment.getExternalStorageState()), mToast.LENGTH_LONG).show();
}
RTABMapLib.initialize(this);
RTABMapLib.onCreate(this);
RTABMapLib.openDatabase(mTempDatabasePath);
}
@@ -193,6 +214,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
protected void onResume() {
super.onResume();
TangoInitializationHelper.bindTangoService(this, mTangoServiceConnection);
Log.i(TAG, String.format("onResume()"));
if (Tango.hasPermission(this, Tango.PERMISSIONTYPE_MOTION_TRACKING)) {
@@ -209,12 +232,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemPostProcessing.setEnabled(false);
}
if(RTABMapLib.onResume()!=0)
{
mToast.makeText(getApplicationContext(),
String.format("Failed to connect with Tango!"), mToast.LENGTH_SHORT).show();
}
} else {
Log.i(TAG, String.format("Asking for motion tracking permission"));
startActivityForResult(
@@ -232,6 +249,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
RTABMapLib.onPause();
mOpenedDatabasePath = "";
RTABMapLib.openDatabase(mTempDatabasePath);
unbindService(mTangoServiceConnection);
}
@Override
@@ -318,6 +337,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
int featuresExtracted,
float hypothesis,
int nodesDrawn,
float fps,
int rejected)
{
if(mItemPause!=null)
@@ -335,6 +355,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
((TextView)findViewById(R.id.features)).setText(String.format("%d / %s", featuresExtracted, mMaxFeaturesValues[mParamMaxFeaturesIndex]));
((TextView)findViewById(R.id.update_time)).setText(String.format("%.3f / %s", updateTime, mTimeThrValues[mParamTimeThrMsIndex]));
((TextView)findViewById(R.id.hypothesis)).setText(String.format("%.3f / %s (%d)", hypothesis, mLoopThrValues[mParamLoopThrMsIndex], loopClosureId>0?loopClosureId:highestHypId));
((TextView)findViewById(R.id.fps)).setText(String.format("%.3f Hz", fps));
if(mItemPause!=null && !mItemPause.isChecked())
{
if(loopClosureId > 0)
@@ -367,13 +388,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
final int features,
final float hypothesis,
final int nodesDrawn,
final float fps,
final int rejected)
{
Log.i(TAG, String.format("updateStatsCallback()"));
runOnUiThread(new Runnable() {
public void run() {
updateStatsUI(nodes, words, points, polygons, updateTime, loopClosureId, highestHypId, databaseMemoryUsed, inliers, features, hypothesis, nodesDrawn, rejected);
updateStatsUI(nodes, words, points, polygons, updateTime, loopClosureId, highestHypId, databaseMemoryUsed, inliers, features, hypothesis, nodesDrawn, fps, rejected);
}
});
}
@@ -469,6 +491,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
((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));
((TextView)findViewById(R.id.fps)).setText(String.valueOf(0));
mTotalLoopClosures = 0;
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
@@ -764,6 +787,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
item.setChecked(!item.isChecked());
RTABMapLib.setAutoExposure(item.isChecked());
// restart Tango service
onPause();
onResume();
}
else if(itemId == R.id.resolution)
{
@@ -1024,6 +1051,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
((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));
((TextView)findViewById(R.id.fps)).setText(String.valueOf(0));
mTotalLoopClosures = 0;
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));