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Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option

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This commit is contained in:
matlabbe
2016-09-02 22:37:12 -04:00
parent 4bd9e4f847
commit e5074afdeb
17 changed files with 350 additions and 121 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+76 -4
View File
@@ -74,6 +74,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private MenuItem mItemExport;
private MenuItem mItemLocalizationMode;
private MenuItem mItemTrajectoryMode;
private MenuItem mItemRenderingPointCloud;
private MenuItem mItemRenderingMesh;
private MenuItem mItemRenderingTextureMesh;
private String mOpenedDatabasePath = "";
private String mTempDatabasePath = "";
@@ -81,7 +85,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private String mWorkingDirectory = "";
private int mMaxDepthIndex = 5;
private int mMeshAngleToleranceIndex = 1;
private int mMeshAngleToleranceIndex = 2;
private int mMeshTriangleSizeIndex = 0;
private int mParamUpdateRateHzIndex = 1;
@@ -316,6 +320,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemExport = menu.findItem(R.id.export);
mItemLocalizationMode = menu.findItem(R.id.localization_mode);
mItemTrajectoryMode = menu.findItem(R.id.trajectory_mode);
mItemRenderingPointCloud = menu.findItem(R.id.point_cloud);
mItemRenderingMesh = menu.findItem(R.id.mesh);
mItemRenderingTextureMesh = menu.findItem(R.id.texture_mesh);
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
mItemOpen.setEnabled(false);
@@ -652,6 +659,33 @@ public class RTABMapActivity extends Activity implements OnClickListener {
((TextView)findViewById(R.id.status)).setText(mItemLocalizationMode.isChecked()?"Localization":"Mapping");
}
}
else if (itemId == R.id.post_processing_standard)
{
mProgressDialog.setTitle("Post-Processing");
mProgressDialog.setMessage(String.format("Please wait while optimizing..."));
mProgressDialog.show();
Thread workingThread = new Thread(new Runnable() {
public void run() {
final int loopDetected = RTABMapLib.postProcessing(-1);
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
if(loopDetected >= 0)
{
mTotalLoopClosures+=loopDetected;
mToast.makeText(getActivity(), String.format("Optimization done!"), mToast.LENGTH_SHORT).show();
}
else if(loopDetected < 0)
{
mToast.makeText(getActivity(), String.format("Optimization failed!"), mToast.LENGTH_SHORT).show();
}
}
});
}
});
workingThread.start();
}
else if (itemId == R.id.detect_more_loop_closures)
{
mProgressDialog.setTitle("Post-Processing");
@@ -679,6 +713,32 @@ public class RTABMapActivity extends Activity implements OnClickListener {
});
workingThread.start();
}
else if (itemId == R.id.icp_refining)
{
mProgressDialog.setTitle("Post-Processing");
mProgressDialog.setMessage(String.format("Please wait while refining links..."));
mProgressDialog.show();
Thread workingThread = new Thread(new Runnable() {
public void run() {
final int linksRefined = RTABMapLib.postProcessing(3);
runOnUiThread(new Runnable() {
public void run() {
mProgressDialog.dismiss();
if(linksRefined >= 0)
{
mToast.makeText(getActivity(), String.format("Refining done! %d link(s) refined.", linksRefined), mToast.LENGTH_SHORT).show();
}
else if(linksRefined < 0)
{
mToast.makeText(getActivity(), String.format("Refining failed!"), mToast.LENGTH_SHORT).show();
}
}
});
}
});
workingThread.start();
}
else if (itemId == R.id.global_graph_optimization)
{
mProgressDialog.setTitle("Post-Processing");
@@ -743,10 +803,12 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mLayoutDebug.setVisibility(LinearLayout.VISIBLE);
}
}
else if(itemId == R.id.mesh_rendering)
else if(itemId == R.id.mesh || itemId == R.id.texture_mesh || itemId == R.id.point_cloud)
{
item.setChecked(!item.isChecked());
RTABMapLib.setMeshRendering(item.isChecked());
item.setChecked(true);
RTABMapLib.setMeshRendering(
mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked(),
mItemRenderingTextureMesh.isChecked());
}
else if(itemId == R.id.map_shown)
{
@@ -778,11 +840,21 @@ public class RTABMapActivity extends Activity implements OnClickListener {
item.setChecked(!item.isChecked());
RTABMapLib.setNodesFiltering(item.isChecked());
}
else if(itemId == R.id.drift_correction)
{
item.setChecked(!item.isChecked());
RTABMapLib.setDriftCorrection(item.isChecked());
}
else if(itemId == R.id.graph_visible)
{
item.setChecked(!item.isChecked());
RTABMapLib.setGraphVisible(item.isChecked());
}
else if(itemId == R.id.grid_visible)
{
item.setChecked(!item.isChecked());
RTABMapLib.setGridVisible(item.isChecked());
}
else if(itemId == R.id.auto_exposure)
{
item.setChecked(!item.isChecked());
app/android/src/com/introlab/rtabmap/RTABMapLib.java
+3 -1
View File
@@ -58,12 +58,14 @@ public class RTABMapLib
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 setMeshRendering(boolean enabled, boolean withTexture);
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 setNodesFiltering(boolean enabled);
public static native void setDriftCorrection(boolean enabled);
public static native void setGraphVisible(boolean visible);
public static native void setGridVisible(boolean visible);
public static native void setAutoExposure(boolean enabled);
public static native void setFullResolution(boolean enabled);
public static native void setMaxCloudDepth(float value);