mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-07 02:07:45 +08:00
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
This commit is contained in:
matlabbe
@@ -12,8 +12,10 @@ 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.ArrayList;
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import java.util.Arrays;
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import java.util.Date;
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import java.util.HashMap;
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import java.util.List;
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import java.util.zip.ZipEntry;
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import java.util.zip.ZipOutputStream;
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@@ -38,6 +40,8 @@ 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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import android.content.res.Configuration;
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import android.database.Cursor;
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import android.database.sqlite.SQLiteDatabase;
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import android.graphics.Bitmap;
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import android.graphics.Canvas;
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import android.graphics.Color;
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@@ -133,7 +137,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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private static enum State {
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STATE_IDLE,
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STATE_PROCESSING,
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STATE_VISUALIZING
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STATE_VISUALIZING,
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STATE_VISUALIZING_WHILE_LOADING
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}
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State mState = State.STATE_IDLE;
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@@ -1264,6 +1269,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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mButtonLighting.setVisibility(mHudVisible && !mItemRenderingPointCloud.isChecked()?View.VISIBLE:View.INVISIBLE);
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mButtonWireframe.setVisibility(mHudVisible && !mItemRenderingPointCloud.isChecked()?View.VISIBLE:View.INVISIBLE);
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mButtonCloseVisualization.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
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mButtonCloseVisualization.setEnabled(true);
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mButtonSaveOnDevice.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
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mButtonShareOnSketchfab.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
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mItemSave.setEnabled(mButtonPause.isChecked());
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@@ -1276,6 +1282,22 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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mButtonPause.setVisibility(View.INVISIBLE);
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mItemDataRecorderMode.setEnabled(mButtonPause.isChecked());
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break;
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case STATE_VISUALIZING_WHILE_LOADING:
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mButtonLighting.setVisibility(mHudVisible && !mItemRenderingPointCloud.isChecked()?View.VISIBLE:View.INVISIBLE);
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mButtonWireframe.setVisibility(mHudVisible && !mItemRenderingPointCloud.isChecked()?View.VISIBLE:View.INVISIBLE);
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mButtonCloseVisualization.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
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mButtonCloseVisualization.setEnabled(false);
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mButtonSaveOnDevice.setVisibility(View.INVISIBLE);
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mButtonShareOnSketchfab.setVisibility(View.INVISIBLE);
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mItemSave.setEnabled(false);
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mItemExport.setEnabled(false);
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mItemOpen.setEnabled(false);
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mItemPostProcessing.setEnabled(false);
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mItemSettings.setEnabled(false);
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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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break;
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default:
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mButtonLighting.setVisibility(View.INVISIBLE);
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mButtonWireframe.setVisibility(View.INVISIBLE);
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@@ -1357,6 +1379,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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}
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public boolean onOptionsItemSelected(MenuItem item) {
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resetNoTouchTimer();
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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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@@ -1775,9 +1798,22 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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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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ArrayList<HashMap<String, String> > arrayList = new ArrayList<HashMap<String, String> >();
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for (int i = 0; i < filesWithSize.length; i++) {
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HashMap<String, String> hashMap = new HashMap<String, String>();//create a hashmap to store the data in key value pair
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hashMap.put("name", filesWithSize[i]);
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hashMap.put("path", mWorkingDirectory + files[i]);
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arrayList.add(hashMap);//add the hashmap into arrayList
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}
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String[] from = {"name", "path"};//string array
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int[] to = {R.id.textView, R.id.imageView};//int array of views id's
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DatabaseListArrayAdapter simpleAdapter = new DatabaseListArrayAdapter(this, arrayList, R.layout.database_list, from, to);//Create object and set the parameters for simpleAdapter
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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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builder.setAdapter(simpleAdapter, new DialogInterface.OnClickListener() {
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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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@@ -1912,7 +1948,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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public void onClick(DialogInterface dialog, int which) {
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mExportedOBJ = isOBJ;
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resetNoTouchTimer();
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mSavedRenderingType = !meshing?0:!isOBJ?1:2;
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mSavedRenderingType = mItemRenderingPointCloud.isChecked()?0:mItemRenderingMesh.isChecked()?1:2;
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if(!meshing)
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{
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mItemRenderingPointCloud.setChecked(true);
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@@ -2206,6 +2242,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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{
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mOpenedDatabasePath = mWorkingDirectory + fileName;
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Log.i(TAG, "Open database " + mOpenedDatabasePath);
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SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
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final boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
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@@ -2218,27 +2256,55 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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Thread openThread = new Thread(new Runnable() {
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public void run() {
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final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
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(new File(tmpDatabase)).delete();
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try{
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copy(new File(mOpenedDatabasePath), new File(tmpDatabase));
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}
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catch(IOException e)
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{
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mToast.makeText(getActivity(), String.format("Failed to create temp database from %s!", mOpenedDatabasePath), mToast.LENGTH_LONG).show();
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updateState(State.STATE_IDLE);
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mProgressDialog.dismiss();
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return;
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SQLiteDatabase db = null;
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try {
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db = SQLiteDatabase.openDatabase(mOpenedDatabasePath, null, SQLiteDatabase.OPEN_READONLY);
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// get version
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Cursor c1 = db.rawQuery("SELECT version FROM Admin", null);
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if(c1.moveToFirst()) {
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String version = c1.getString(c1.getColumnIndex("version"));
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Log.i(TAG, "Version="+version);
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if(Util.versionCompare(version, "0.13.0") >= 0) {
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Cursor c2 = db.rawQuery("SELECT version FROM Admin WHERE opt_cloud is not null", null);
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if(c2.moveToFirst()) {
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Log.i(TAG, "Found optimized mesh");
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runOnUiThread(new Runnable() {
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public void run() {
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mProgressDialog.dismiss();
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updateState(State.STATE_VISUALIZING_WHILE_LOADING);
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mToast.makeText(getActivity(), String.format("Optimized mesh detected in the database. It will be shown while the database is loading..."), mToast.LENGTH_LONG).show();
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}
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});
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}
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else
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{
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Log.i(TAG, "Not found optimized mesh");
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}
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}
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}
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else
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{
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Log.e(TAG, "Failed getting version from database");
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}
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} catch (Exception e) {
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Log.e(TAG, e.getMessage());
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}
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finally {
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if(db != null && db.isOpen()) {
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db.close();
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}
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}
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final int status = RTABMapLib.openDatabase(tmpDatabase, databaseInMemory, optimize);
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final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
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final int status = RTABMapLib.openDatabase2(mOpenedDatabasePath, tmpDatabase, databaseInMemory, optimize);
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runOnUiThread(new Runnable() {
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public void run() {
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setCamera(1);
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updateState(State.STATE_IDLE);
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if(status == -1)
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{
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updateState(State.STATE_IDLE);
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mProgressDialog.dismiss();
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new AlertDialog.Builder(getActivity())
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.setCancelable(false)
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@@ -2262,6 +2328,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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}
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else if(status == -2)
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{
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updateState(State.STATE_IDLE);
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mProgressDialog.dismiss();
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new AlertDialog.Builder(getActivity())
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.setCancelable(false)
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@@ -2283,12 +2350,35 @@ public class RTABMapActivity extends Activity implements OnClickListener {
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}
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else
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{
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// creating meshes...
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if(!mItemTrajectoryMode.isChecked())
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if(status >= 1 && status<=3)
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{
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mProgressDialog.dismiss();
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resetNoTouchTimer();
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mSavedRenderingType = mItemRenderingPointCloud.isChecked()?0:mItemRenderingMesh.isChecked()?1:2;
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if(status==1)
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{
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mItemRenderingPointCloud.setChecked(true);
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}
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else if(status==2)
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{
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mItemRenderingMesh.setChecked(true);
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}
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else // isOBJ
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{
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mItemRenderingTextureMesh.setChecked(true);
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}
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updateState(State.STATE_VISUALIZING);
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mToast.makeText(getActivity(), String.format("Database loaded!"), mToast.LENGTH_LONG).show();
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}
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else if(!mItemTrajectoryMode.isChecked())
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{
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setCamera(1);
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// creating meshes...
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updateState(State.STATE_IDLE);
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mProgressDialog.setTitle("Loading");
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mProgressDialog.setMessage(String.format("Database \"%s\" loaded. Please wait while rendering point clouds and meshes...", fileName));
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}
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}
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}
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});
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