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Code Issues Packages Projects Releases Wiki Activity

Tango: fixed black clouds. Rtabmap: only add latest optimized pose to graph if localized.

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matlabbe
2016-12-05 13:27:29 -05:00
parent 3c17049084
commit e5524ddc1d
6 changed files with 23 additions and 12 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+7 -2
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@@ -79,6 +79,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private MenuItem mItemExport;
private MenuItem mItemLocalizationMode;
private MenuItem mItemTrajectoryMode;
private MenuItem mItemAppendMode;
private MenuItem mItemRenderingPointCloud;
private MenuItem mItemRenderingMesh;
private MenuItem mItemRenderingTextureMesh;
@@ -329,6 +330,7 @@ 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);
mItemAppendMode = menu.findItem(R.id.append);
mItemRenderingPointCloud = menu.findItem(R.id.point_cloud);
mItemRenderingMesh = menu.findItem(R.id.mesh);
mItemRenderingTextureMesh = menu.findItem(R.id.texture_mesh);
@@ -360,7 +362,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
{
if(mItemPause!=null)
{
((TextView)findViewById(R.id.status)).setText(mItemPause.isChecked()?"Paused":mItemLocalizationMode.isChecked()?String.format("Localization (%s Hz)", mUpdateRateValues[mParamUpdateRateHzIndex]):String.format("Mapping (%s Hz)", mUpdateRateValues[mParamUpdateRateHzIndex]));
((TextView)findViewById(R.id.status)).setText(mItemPause.isChecked()?"Paused":mItemLocalizationMode.isChecked()?String.format("Localization (%s Hz)", mUpdateRateValues[mParamUpdateRateHzIndex]):mItemDataRecorderMode.isChecked()?String.format("Recording (%s Hz)", mUpdateRateValues[mParamUpdateRateHzIndex]):String.format("Mapping (%s Hz)", mUpdateRateValues[mParamUpdateRateHzIndex]));
}
((TextView)findViewById(R.id.points)).setText(String.valueOf(points));
@@ -425,7 +427,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
Log.i(TAG, String.format("rtabmapInitEventsUI() status=%d msg=%s", status, msg));
((TextView)findViewById(R.id.status)).setText(
status == 1 && msg.isEmpty()?mItemPause!=null&&mItemPause.isChecked()?"Paused":mItemLocalizationMode!=null&&mItemLocalizationMode.isChecked()?"Localization":"Mapping":msg);
status == 1 && msg.isEmpty()?(mItemPause!=null&&mItemPause.isChecked()?"Paused":mItemLocalizationMode!=null&&mItemLocalizationMode.isChecked()?"Localization":mItemDataRecorderMode!=null&&mItemDataRecorderMode.isChecked()?"Recording":"Mapping"):msg);
}
//called from jni
@@ -1233,6 +1235,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemOpen.setEnabled(!mItemDataRecorderMode.isChecked() && mItemPause.isChecked());
mItemPostProcessing.setEnabled(!mItemDataRecorderMode.isChecked() && mItemPause.isChecked());
mItemExport.setEnabled(!mItemDataRecorderMode.isChecked() && mItemPause.isChecked());
mItemLocalizationMode.setEnabled(!mItemDataRecorderMode.isChecked());
mItemAppendMode.setEnabled(!mItemDataRecorderMode.isChecked());
if(mItemDataRecorderMode.isChecked())
{