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Code Issues Packages Projects Releases Wiki Activity

Tango: update to 0.11.14

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This commit is contained in:
matlabbe
2017-02-05 17:24:45 -05:00
parent ce8bd9ac40
commit f7616f6e94
27 changed files with 2284 additions and 1575 deletions
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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+364 -198
View File
@@ -7,6 +7,8 @@ import java.io.FileInputStream;
import java.io.FileOutputStream;
import java.io.FilenameFilter;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.text.SimpleDateFormat;
import java.util.Arrays;
import java.util.Date;
@@ -15,6 +17,8 @@ import java.util.zip.ZipEntry;
import java.util.zip.ZipOutputStream;
import android.app.Activity;
import android.app.ActivityManager;
import android.app.ActivityManager.MemoryInfo;
import android.app.AlertDialog;
import android.app.Dialog;
import android.app.Notification;
@@ -30,8 +34,13 @@ import android.content.SharedPreferences;
import android.content.pm.PackageInfo;
import android.content.pm.PackageManager;
import android.content.pm.PackageManager.NameNotFoundException;
import android.content.res.Configuration;
import android.graphics.Bitmap;
import android.hardware.Camera;
import android.graphics.Point;
import android.hardware.display.DisplayManager;
import android.net.ConnectivityManager;
import android.net.NetworkInfo;
import android.net.Uri;
import android.opengl.GLSurfaceView;
import android.os.AsyncTask;
@@ -49,6 +58,7 @@ import android.view.Menu;
import android.view.MenuItem;
import android.view.MenuInflater;
import android.view.MotionEvent;
import android.view.Surface;
import android.view.View;
import android.view.View.OnClickListener;
import android.view.WindowManager;
@@ -80,6 +90,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
public static final String EXTRA_VALUE_ADF = "ADF_LOAD_SAVE_PERMISSION";
public static final int ZIP_BUFFER_SIZE = 1<<20; // 1MB
public static final String RTABMAP_TMP_DB = "rtabmap.tmp.db";
private static final String AUTHORIZE_PATH = "https://sketchfab.com/oauth2/authorize";
private static final String CLIENT_ID = "RXrIJYAwlTELpySsyM8TrK9r3kOGQ5Qjj9VVDIfV";
@@ -105,6 +117,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
// Screen size for normalizing the touch input for orbiting the render camera.
private Point mScreenSize = new Point();
private long mOnPauseStamp = 0;
private boolean mOnPause = false;
private MenuItem mItemSave;
@@ -145,19 +158,28 @@ public class RTABMapActivity extends Activity implements OnClickListener {
//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 onServiceConnected(ComponentName name, final IBinder service) {
Thread bindThread = new Thread(new Runnable() {
public void run() {
if(!RTABMapLib.onTangoServiceConnected(service))
{
runOnUiThread(new Runnable() {
public void run() {
mToast.makeText(getApplicationContext(),
String.format("Failed to intialize Tango!"), mToast.LENGTH_LONG).show();
}
});
}
}
});
bindThread.start();
}
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();
String.format("Tango disconnected!"), mToast.LENGTH_LONG).show();
}
};
@@ -206,7 +228,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mGLView.setEGLContextClientVersion(2);
// Configure the OpenGL renderer.
mRenderer = new Renderer();
mRenderer = new Renderer(this);
mGLView.setRenderer(mRenderer);
mLayoutDebug = (LinearLayout) findViewById(R.id.debug_layout);
@@ -243,7 +265,31 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
RTABMapLib.onCreate(this);
RTABMapLib.openEmptyDatabase();
String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
(new File(tmpDatabase)).delete();
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
RTABMapLib.openDatabase(tmpDatabase, databaseInMemory, false);
DisplayManager displayManager = (DisplayManager) getSystemService(DISPLAY_SERVICE);
if (displayManager != null) {
displayManager.registerDisplayListener(new DisplayManager.DisplayListener() {
@Override
public void onDisplayAdded(int displayId) {
}
@Override
public void onDisplayChanged(int displayId) {
synchronized (this) {
setAndroidOrientation();
}
}
@Override
public void onDisplayRemoved(int displayId) {}
}, null);
}
}
@Override
@@ -258,78 +304,126 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
}
}
@Override
protected void onPause() {
super.onPause();
Log.i(TAG, "onPause()");
mOnPause = true;
// This deletes OpenGL context!
mGLView.onPause();
RTABMapLib.onPause();
unbindService(mTangoServiceConnection);
if(!mButtonPause.isChecked())
{
mButtonPause.setChecked(true);
pauseMapping();
}
mOnPauseStamp = System.currentTimeMillis()/1000;
}
@Override
protected void onResume() {
super.onResume();
// update preferences
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
mUpdateRate = sharedPref.getString(getString(R.string.pref_key_update_rate), getString(R.string.pref_default_update_rate));
mTimeThr = sharedPref.getString(getString(R.string.pref_key_time_thr), getString(R.string.pref_default_time_thr));
mLoopThr = sharedPref.getString(getString(R.string.pref_key_loop_thr), getString(R.string.pref_default_loop_thr));
String optError = sharedPref.getString(getString(R.string.pref_key_opt_error), getString(R.string.pref_default_opt_error));
mMaxFeatures = sharedPref.getString(getString(R.string.pref_key_features), getString(R.string.pref_default_features));
String featureType = sharedPref.getString(getString(R.string.pref_key_features_type), getString(R.string.pref_default_features_type));
RTABMapLib.setNodesFiltering(sharedPref.getBoolean(getString(R.string.pref_key_nodes_filtering), Boolean.parseBoolean(getString(R.string.pref_default_nodes_filtering))));
RTABMapLib.setDriftCorrection(sharedPref.getBoolean(getString(R.string.pref_key_drift_correction), Boolean.parseBoolean(getString(R.string.pref_default_drift_correction))));
RTABMapLib.setAutoExposure(sharedPref.getBoolean(getString(R.string.pref_key_auto_exposure), Boolean.parseBoolean(getString(R.string.pref_default_auto_exposure))));
RTABMapLib.setFullResolution(sharedPref.getBoolean(getString(R.string.pref_key_resolution), Boolean.parseBoolean(getString(R.string.pref_default_resolution))));
RTABMapLib.setAppendMode(sharedPref.getBoolean(getString(R.string.pref_key_append), Boolean.parseBoolean(getString(R.string.pref_default_append))));
RTABMapLib.setMappingParameter("Rtabmap/DetectionRate", mUpdateRate.compareTo("Max")==0?"0":mUpdateRate);
RTABMapLib.setMappingParameter("Rtabmap/TimeThr", mTimeThr.compareTo("No Limit") == 0?"0":mTimeThr);
RTABMapLib.setMappingParameter("Kp/MaxFeatures", mMaxFeatures.compareTo("Disabled")==0?"-1":mMaxFeatures.compareTo("No Limit")==0?"0":mMaxFeatures);
RTABMapLib.setMappingParameter("Rtabmap/LoopThr", mLoopThr.compareTo("Disabled")==0?"1":mLoopThr);
RTABMapLib.setMappingParameter("RGBD/OptimizeMaxError", optError.compareTo("Disabled")==0?"0":optError);
RTABMapLib.setMappingParameter("Kp/DetectorStrategy", featureType);
RTABMapLib.setMeshDecimation(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_decimation), getString(R.string.pref_default_decimation))));
RTABMapLib.setMaxCloudDepth(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_depth), getString(R.string.pref_default_depth))));
RTABMapLib.setPointSize(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_point_size), getString(R.string.pref_default_point_size))));
RTABMapLib.setMeshAngleTolerance(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_angle), getString(R.string.pref_default_angle))));
RTABMapLib.setMeshTriangleSize(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_triangle), getString(R.string.pref_default_triangle))));
RTABMapLib.setMinClusterSize(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_min_cluster_size), getString(R.string.pref_default_min_cluster_size))));
RTABMapLib.setMaxGainRadius(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_gain_max_radius), getString(R.string.pref_default_gain_max_radius))));
if(mItemRenderingPointCloud != null)
mProgressDialog.setTitle("");
if(mOnPause)
{
int renderingType = sharedPref.getInt(getString(R.string.pref_key_rendering), Integer.parseInt(getString(R.string.pref_default_rendering)));
if(renderingType == 0)
if(System.currentTimeMillis()/1000 - mOnPauseStamp < 1)
{
mItemRenderingPointCloud.setChecked(true);
}
else if(renderingType == 1)
{
mItemRenderingMesh.setChecked(true);
mProgressDialog.setMessage(String.format("RTAB-Map has been interrupted by another application, Tango should be re-initialized! Set your phone/tablet in Airplane mode if this happens often."));
}
else
{
mItemRenderingTextureMesh.setChecked(true);
mProgressDialog.setMessage(String.format("Hold Tight! Initializing Tango Service..."));
}
RTABMapLib.setMeshRendering(
mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked(),
mItemRenderingTextureMesh.isChecked());
}
mProgressDialog.setTitle("");
mProgressDialog.setMessage(String.format("Hold Tight! Initializing Tango Service..."));
mProgressDialog.show();
if(mOnPause)
{
mToast.makeText(this, "Mapping is paused!", mToast.LENGTH_LONG).show();
}
else
{
mToast.makeText(this, "Tip: If the camera is still drifting just after the mapping has started, do \"Reset\".", mToast.LENGTH_LONG).show();
mProgressDialog.setMessage(String.format("Hold Tight! Initializing Tango Service...\nTip: If the camera is still drifting just after the mapping has started, do \"Reset\"."));
}
mProgressDialog.show();
mOnPause = false;
setAndroidOrientation();
TangoInitializationHelper.bindTangoService(this, mTangoServiceConnection);
// update preferences
try
{
Log.d(TAG, "update preferences...");
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
mUpdateRate = sharedPref.getString(getString(R.string.pref_key_update_rate), getString(R.string.pref_default_update_rate));
mTimeThr = sharedPref.getString(getString(R.string.pref_key_time_thr), getString(R.string.pref_default_time_thr));
String memThr = sharedPref.getString(getString(R.string.pref_key_mem_thr), getString(R.string.pref_default_mem_thr));
mLoopThr = sharedPref.getString(getString(R.string.pref_key_loop_thr), getString(R.string.pref_default_loop_thr));
String simThr = sharedPref.getString(getString(R.string.pref_key_sim_thr), getString(R.string.pref_default_sim_thr));
String optError = sharedPref.getString(getString(R.string.pref_key_opt_error), getString(R.string.pref_default_opt_error));
mMaxFeatures = sharedPref.getString(getString(R.string.pref_key_features_voc), getString(R.string.pref_default_features_voc));
String maxFeaturesLoop = sharedPref.getString(getString(R.string.pref_key_features), getString(R.string.pref_default_features));
String featureType = sharedPref.getString(getString(R.string.pref_key_features_type), getString(R.string.pref_default_features_type));
boolean keepAllDb = sharedPref.getBoolean(getString(R.string.pref_key_keep_all_db), Boolean.parseBoolean(getString(R.string.pref_default_keep_all_db)));
Log.d(TAG, "set mapping parameters");
RTABMapLib.setNodesFiltering(sharedPref.getBoolean(getString(R.string.pref_key_nodes_filtering), Boolean.parseBoolean(getString(R.string.pref_default_nodes_filtering))));
RTABMapLib.setAutoExposure(sharedPref.getBoolean(getString(R.string.pref_key_auto_exposure), Boolean.parseBoolean(getString(R.string.pref_default_auto_exposure))));
RTABMapLib.setRawScanSaved(sharedPref.getBoolean(getString(R.string.pref_key_raw_scan_saved), Boolean.parseBoolean(getString(R.string.pref_default_raw_scan_saved))));
RTABMapLib.setFullResolution(sharedPref.getBoolean(getString(R.string.pref_key_resolution), Boolean.parseBoolean(getString(R.string.pref_default_resolution))));
RTABMapLib.setAppendMode(sharedPref.getBoolean(getString(R.string.pref_key_append), Boolean.parseBoolean(getString(R.string.pref_default_append))));
RTABMapLib.setMappingParameter("Rtabmap/DetectionRate", mUpdateRate);
RTABMapLib.setMappingParameter("Rtabmap/TimeThr", mTimeThr);
RTABMapLib.setMappingParameter("Rtabmap/MemoryThr", memThr);
RTABMapLib.setMappingParameter("Mem/RehearsalSimilarity", simThr);
RTABMapLib.setMappingParameter("Kp/MaxFeatures", mMaxFeatures);
RTABMapLib.setMappingParameter("Vis/MaxFeatures", maxFeaturesLoop);
RTABMapLib.setMappingParameter("Rtabmap/LoopThr", mLoopThr);
RTABMapLib.setMappingParameter("RGBD/OptimizeMaxError", optError);
RTABMapLib.setMappingParameter("Kp/DetectorStrategy", featureType);
RTABMapLib.setMappingParameter("Vis/FeatureType", featureType);
RTABMapLib.setMappingParameter("Mem/NotLinkedNodesKept", String.valueOf(keepAllDb));
Log.d(TAG, "set exporting parameters...");
RTABMapLib.setMeshDecimation(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_density), getString(R.string.pref_default_density))));
RTABMapLib.setMaxCloudDepth(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_depth), getString(R.string.pref_default_depth))));
RTABMapLib.setPointSize(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_point_size), getString(R.string.pref_default_point_size))));
RTABMapLib.setMeshAngleTolerance(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_angle), getString(R.string.pref_default_angle))));
RTABMapLib.setMeshTriangleSize(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_triangle), getString(R.string.pref_default_triangle))));
Log.d(TAG, "set rendering parameters...");
RTABMapLib.setMinClusterSize(Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_min_cluster_size), getString(R.string.pref_default_min_cluster_size))));
RTABMapLib.setMaxGainRadius(Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_gain_max_radius), getString(R.string.pref_default_gain_max_radius))));
if(mItemRenderingPointCloud != null)
{
int renderingType = sharedPref.getInt(getString(R.string.pref_key_rendering), Integer.parseInt(getString(R.string.pref_default_rendering)));
if(renderingType == 0)
{
mItemRenderingPointCloud.setChecked(true);
}
else if(renderingType == 1)
{
mItemRenderingMesh.setChecked(true);
}
else
{
mItemRenderingTextureMesh.setChecked(true);
}
RTABMapLib.setMeshRendering(
mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked(),
mItemRenderingTextureMesh.isChecked());
}
}
catch(Exception e)
{
Log.e(TAG, "Error parsing preferences: " + e.getMessage());
mToast.makeText(this, String.format("Error parsing preferences: "+e.getMessage()), mToast.LENGTH_LONG).show();
}
Log.i(TAG, String.format("onResume()"));
@@ -343,28 +437,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING),
Tango.TANGO_INTENT_ACTIVITYCODE);
}
TangoInitializationHelper.bindTangoService(getActivity(), mTangoServiceConnection);
}
@Override
protected void onPause() {
super.onPause();
// This deletes OpenGL context!
mGLView.onPause();
mOnPause = true;
RTABMapLib.onPause();
unbindService(mTangoServiceConnection);
if(!mButtonPause.isChecked())
{
mButtonPause.setChecked(true);
pauseMapping();
}
}
private void setCamera(int type)
{
RTABMapLib.setCamera(type);
@@ -400,6 +476,13 @@ public class RTABMapActivity extends Activity implements OnClickListener {
return;
}
}
private void setAndroidOrientation() {
Display display = getWindowManager().getDefaultDisplay();
Camera.CameraInfo colorCameraInfo = new Camera.CameraInfo();
Camera.getCameraInfo(0, colorCameraInfo);
RTABMapLib.setScreenRotation(display.getRotation(), colorCameraInfo.orientation);
}
@Override
public boolean onTouchEvent(MotionEvent event) {
@@ -438,6 +521,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
MenuInflater inflater = getMenuInflater();
inflater.inflate(R.menu.optionmenu, menu);
getActionBar().setDisplayShowHomeEnabled(true);
getActionBar().setIcon(R.drawable.ic_launcher);
mItemSave = menu.findItem(R.id.save);
mItemOpen = menu.findItem(R.id.open);
@@ -458,28 +544,44 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mItemPostProcessing.setEnabled(false);
mItemDataRecorderMode.setEnabled(false);
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
int renderingType = sharedPref.getInt(getString(R.string.pref_key_rendering), Integer.parseInt(getString(R.string.pref_default_rendering)));
if(renderingType == 0)
try
{
mItemRenderingPointCloud.setChecked(true);
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
int renderingType = sharedPref.getInt(getString(R.string.pref_key_rendering), Integer.parseInt(getString(R.string.pref_default_rendering)));
if(renderingType == 0)
{
mItemRenderingPointCloud.setChecked(true);
}
else if(renderingType == 1)
{
mItemRenderingMesh.setChecked(true);
}
else
{
mItemRenderingTextureMesh.setChecked(true);
}
RTABMapLib.setMeshRendering(
mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked(),
mItemRenderingTextureMesh.isChecked());
}
else if(renderingType == 1)
catch(Exception e)
{
mItemRenderingMesh.setChecked(true);
Log.e(TAG, "Error parsing rendering preferences: " + e.getMessage());
mToast.makeText(this, String.format("Error parsing rendering preferences: "+e.getMessage()), mToast.LENGTH_LONG).show();
}
else
{
mItemRenderingTextureMesh.setChecked(true);
}
RTABMapLib.setMeshRendering(
mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked(),
mItemRenderingTextureMesh.isChecked());
updateState(mState);
return true;
}
private long getFreeMemory()
{
MemoryInfo mi = new MemoryInfo();
ActivityManager activityManager = (ActivityManager) getSystemService(ACTIVITY_SERVICE);
activityManager.getMemoryInfo(mi);
return mi.availMem / 0x100000L; // MB
}
private void updateStatsUI(
int nodes,
@@ -495,7 +597,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
float hypothesis,
int nodesDrawn,
float fps,
int rejected)
int rejected,
float rehearsalValue)
{
if(mButtonPause!=null)
{
@@ -505,7 +608,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
}
else
{
((TextView)findViewById(R.id.status)).setText(mItemLocalizationMode.isChecked()?String.format("Localization (%s Hz)", mUpdateRate):mItemDataRecorderMode.isChecked()?String.format("Recording (%s Hz)", mUpdateRate):String.format("Mapping (%s Hz)", mUpdateRate));
String updateValue = mUpdateRate.compareTo("0")==0?"Max":mUpdateRate;
((TextView)findViewById(R.id.status)).setText(mItemLocalizationMode.isChecked()?String.format("Localization (%s Hz)", updateValue):mItemDataRecorderMode.isChecked()?String.format("Recording (%s Hz)", updateValue):String.format("Mapping (%s Hz)", updateValue));
}
}
@@ -514,10 +618,12 @@ public class RTABMapActivity extends Activity implements OnClickListener {
((TextView)findViewById(R.id.nodes)).setText(String.format("%d (%d shown)", nodes, nodesDrawn));
((TextView)findViewById(R.id.words)).setText(String.valueOf(words));
((TextView)findViewById(R.id.memory)).setText(String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024)));
((TextView)findViewById(R.id.db_size)).setText(String.valueOf(databaseMemoryUsed));
((TextView)findViewById(R.id.free_memory)).setText(String.valueOf(getFreeMemory()));
((TextView)findViewById(R.id.database_size)).setText(String.valueOf(databaseMemoryUsed));
((TextView)findViewById(R.id.inliers)).setText(String.valueOf(inliers));
((TextView)findViewById(R.id.features)).setText(String.format("%d / %s", featuresExtracted, mMaxFeatures));
((TextView)findViewById(R.id.update_time)).setText(String.format("%.3f / %s", updateTime, mTimeThr));
((TextView)findViewById(R.id.features)).setText(String.format("%d / %s", featuresExtracted, mMaxFeatures.compareTo("0")==0?"No Limit":mMaxFeatures.compareTo("-1")==0?"Disabled":mMaxFeatures));
((TextView)findViewById(R.id.rehearsal)).setText(String.format("%.3f", rehearsalValue));
((TextView)findViewById(R.id.update_time)).setText(String.format("%.3f / %s", updateTime, mTimeThr.compareTo("0")==0?"No Limit":mTimeThr));
((TextView)findViewById(R.id.hypothesis)).setText(String.format("%.3f / %s (%d)", hypothesis, mLoopThr, loopClosureId>0?loopClosureId:highestHypId));
((TextView)findViewById(R.id.fps)).setText(String.format("%.3f Hz", fps));
if(mButtonPause!=null && !mButtonPause.isChecked())
@@ -553,13 +659,14 @@ public class RTABMapActivity extends Activity implements OnClickListener {
final float hypothesis,
final int nodesDrawn,
final float fps,
final int rejected)
final int rejected,
final float rehearsalValue)
{
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, fps, rejected);
updateStatsUI(nodes, words, points, polygons, updateTime, loopClosureId, highestHypId, databaseMemoryUsed, inliers, features, hypothesis, nodesDrawn, fps, rejected, rehearsalValue);
}
});
}
@@ -692,7 +799,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
@Override
public boolean accept(File dir, String filename) {
File sel = new File(dir, filename);
return filename.endsWith(".db");
return filename.compareTo(RTABMAP_TMP_DB) != 0 && filename.endsWith(".db");
}
};
@@ -859,33 +966,6 @@ 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();
updateState(State.STATE_PROCESSING);
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();
}
updateState(State.STATE_IDLE);
}
});
}
});
workingThread.start();
}
else if (itemId == R.id.global_graph_optimization)
{
mProgressDialog.setTitle("Post-Processing");
@@ -1201,7 +1281,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
((TextView)findViewById(R.id.nodes)).setText(String.valueOf(0));
((TextView)findViewById(R.id.words)).setText(String.valueOf(0));
((TextView)findViewById(R.id.memory)).setText(String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024)));
((TextView)findViewById(R.id.db_size)).setText(String.valueOf(0));
((TextView)findViewById(R.id.free_memory)).setText(String.valueOf(getFreeMemory()));
((TextView)findViewById(R.id.inliers)).setText(String.valueOf(0));
((TextView)findViewById(R.id.features)).setText(String.valueOf(0));
((TextView)findViewById(R.id.update_time)).setText(String.valueOf(0));
@@ -1210,19 +1290,18 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mTotalLoopClosures = 0;
((TextView)findViewById(R.id.total_loop)).setText(String.valueOf(mTotalLoopClosures));
if(mOpenedDatabasePath.isEmpty())
{
RTABMapLib.resetMapping();
}
else
{
mOpenedDatabasePath = "";
RTABMapLib.openEmptyDatabase();
}
mOpenedDatabasePath = "";
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
(new File(tmpDatabase)).delete();
RTABMapLib.openDatabase(tmpDatabase, databaseInMemory, false);
mMapIsEmpty = true;
mItemSave.setEnabled(false);
mItemExport.setEnabled(false);
mItemPostProcessing.setEnabled(false);
updateState(State.STATE_IDLE);
}
else if(itemId == R.id.data_recorder)
{
@@ -1238,7 +1317,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
((TextView)findViewById(R.id.nodes)).setText(String.valueOf(0));
((TextView)findViewById(R.id.words)).setText(String.valueOf(0));
((TextView)findViewById(R.id.memory)).setText(String.valueOf(Debug.getNativeHeapAllocatedSize()/(1024*1024)));
((TextView)findViewById(R.id.db_size)).setText(String.valueOf(0));
((TextView)findViewById(R.id.free_memory)).setText(String.valueOf(getFreeMemory()));
((TextView)findViewById(R.id.inliers)).setText(String.valueOf(0));
((TextView)findViewById(R.id.features)).setText(String.valueOf(0));
((TextView)findViewById(R.id.update_time)).setText(String.valueOf(0));
@@ -1251,7 +1330,11 @@ public class RTABMapActivity extends Activity implements OnClickListener {
RTABMapLib.setDataRecorderMode(mItemDataRecorderMode.isChecked());
mOpenedDatabasePath = "";
RTABMapLib.openEmptyDatabase();
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
(new File(tmpDatabase)).delete();
RTABMapLib.openDatabase(tmpDatabase, databaseInMemory, false);
mItemOpen.setEnabled(!mItemDataRecorderMode.isChecked() && mButtonPause.isChecked());
mItemPostProcessing.setEnabled(!mItemDataRecorderMode.isChecked() && mButtonPause.isChecked());
@@ -1295,6 +1378,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
final float cloudVoxelSize = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_cloud_voxel), getString(R.string.pref_default_cloud_voxel)));
final int textureSize = isOBJ?Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_texture_size), getString(R.string.pref_default_texture_size))):0;
final int normalK = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_normal_k), getString(R.string.pref_default_normal_k)));
final float maxTextureDistance = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_max_texture_distance), getString(R.string.pref_default_max_texture_distance)));
final float optimizedVoxelSize = cloudVoxelSize;
final int optimizedDepth = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_opt_depth), getString(R.string.pref_default_opt_depth)));
final float optimizedDecimationFactor = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_opt_decimation_factor), getString(R.string.pref_default_opt_decimation_factor)))/100.0f;
@@ -1353,6 +1437,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
meshing,
textureSize,
normalK,
maxTextureDistance,
optimized,
optimizedVoxelSize,
optimizedDepth,
@@ -1454,6 +1539,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
meshing,
textureSize,
normalK,
maxTextureDistance,
optimized,
optimizedVoxelSize,
optimizedDepth,
@@ -1553,18 +1639,24 @@ public class RTABMapActivity extends Activity implements OnClickListener {
AlertDialog.Builder builder = new AlertDialog.Builder(this);
builder.setTitle("Choose Your File (*.db)");
builder.setItems(filesWithSize, new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
mOpenedDatabasePath = mWorkingDirectory + files[which];
if(!mItemTrajectoryMode.isChecked())
{
mProgressDialog.setTitle("Loading");
mProgressDialog.setMessage(String.format("Database \"%s\" loaded. Please wait while creating point clouds and meshes...", files[which]));
mProgressDialog.show();
}
RTABMapLib.openDatabase(mOpenedDatabasePath);
setCamera(1);
public void onClick(DialogInterface dialog, final int which) {
// Smooth and adjust color now?
new AlertDialog.Builder(getActivity())
.setTitle("Opening database...")
.setMessage("Do you want to smooth and adjust colors now?\nThis can be done later under Optimize menu.")
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int whichIn) {
openDatabase(files[which], true);
}
})
.setNeutralButton("No", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int whichIn) {
openDatabase(files[which], false);
}
})
.show();
return;
}
});
builder.show();
@@ -1584,6 +1676,56 @@ public class RTABMapActivity extends Activity implements OnClickListener {
return true;
}
private void openDatabase(String fileName, boolean optimize)
{
mOpenedDatabasePath = mWorkingDirectory + fileName;
if(!mItemTrajectoryMode.isChecked())
{
mProgressDialog.setTitle("Loading");
mProgressDialog.setMessage(String.format("Database \"%s\" loaded. Please wait while creating point clouds and meshes...", fileName));
mProgressDialog.show();
updateState(State.STATE_PROCESSING);
}
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());
boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
RTABMapLib.openDatabase(tmpDatabase, databaseInMemory, optimize);
setCamera(1);
updateState(State.STATE_IDLE);
}
public void copy(File src, File dst) throws IOException {
InputStream in = new FileInputStream(src);
OutputStream out = new FileOutputStream(dst);
// Transfer bytes from in to out
byte[] buf = new byte[1024];
int len;
while ((len = in.read(buf)) > 0) {
out.write(buf, 0, len);
}
in.close();
out.close();
}
private boolean isNetworkAvailable() {
ConnectivityManager connectivityManager
= (ConnectivityManager) getSystemService(Context.CONNECTIVITY_SERVICE);
NetworkInfo activeNetworkInfo = connectivityManager.getActiveNetworkInfo();
return activeNetworkInfo != null && activeNetworkInfo.isConnected();
}
public static void zip(String file, String zipFile) throws IOException {
Log.i(TAG, "Zipping " + file +" to " + zipFile);
@@ -1662,54 +1804,78 @@ public class RTABMapActivity extends Activity implements OnClickListener {
if(files.length > 0)
{
final String[] filesToZip = files;
// get token the first time
if(mAuthToken == null)
{
Log.i(TAG,"We don't have the token, get it!");
authorizeAndPublish(filesToZip, fileName);
}
}
private void authorizeAndPublish(final String[] filesToZip, final String fileName)
{
if(!isNetworkAvailable())
{
// Visualize the result?
new AlertDialog.Builder(getActivity())
.setTitle("Sharing to Sketchfab...")
.setMessage("Network is not available. Make sure you have internet before continuing.")
.setPositiveButton("Try Again", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
authorizeAndPublish(filesToZip, fileName);
}
})
.setNeutralButton("Abort", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
}
})
.show();
return;
}
WebView web;
mAuthDialog = new Dialog(this);
mAuthDialog.setContentView(R.layout.auth_dialog);
web = (WebView)mAuthDialog.findViewById(R.id.webv);
web.getSettings().setJavaScriptEnabled(true);
String auth_url = AUTHORIZE_PATH+"?redirect_uri="+REDIRECT_URI+"&response_type=token&client_id="+CLIENT_ID;
Log.i(TAG, "Auhorize url="+auth_url);
web.setWebViewClient(new WebViewClient() {
// get token the first time
if(mAuthToken == null)
{
Log.i(TAG,"We don't have the token, get it!");
boolean authComplete = false;
WebView web;
mAuthDialog = new Dialog(this);
mAuthDialog.setContentView(R.layout.auth_dialog);
web = (WebView)mAuthDialog.findViewById(R.id.webv);
web.getSettings().setJavaScriptEnabled(true);
String auth_url = AUTHORIZE_PATH+"?redirect_uri="+REDIRECT_URI+"&response_type=token&client_id="+CLIENT_ID;
Log.i(TAG, "Auhorize url="+auth_url);
web.setWebViewClient(new WebViewClient() {
@Override
public void onPageFinished(WebView view, String url) {
super.onPageFinished(view, url);
boolean authComplete = false;
//Log.i(TAG,"onPageFinished url="+url);
if(url.contains("error=access_denied")){
Log.e(TAG, "ACCESS_DENIED_HERE");
authComplete = true;
Toast.makeText(getApplicationContext(), "Error Occured", Toast.LENGTH_SHORT).show();
mAuthDialog.dismiss();
}
else if (url.startsWith(REDIRECT_URI) && url.contains("access_token") && authComplete != true) {
//Log.i(TAG,"onPageFinished received token="+url);
String[] sArray = url.split("access_token=");
mAuthToken = (sArray[1].split("&token_type=Bearer"))[0];
authComplete = true;
@Override
public void onPageFinished(WebView view, String url) {
super.onPageFinished(view, url);
mAuthDialog.dismiss();
zipAndPublish(filesToZip, fileName);
}
//Log.i(TAG,"onPageFinished url="+url);
if(url.contains("error=access_denied")){
Log.e(TAG, "ACCESS_DENIED_HERE");
authComplete = true;
Toast.makeText(getApplicationContext(), "Error Occured", Toast.LENGTH_SHORT).show();
mAuthDialog.dismiss();
}
});
mAuthDialog.show();
mAuthDialog.setTitle("Authorize RTAB-Map");
mAuthDialog.setCancelable(true);
web.loadUrl(auth_url);
}
else
{
zipAndPublish(filesToZip, fileName);
}
else if (url.startsWith(REDIRECT_URI) && url.contains("access_token") && authComplete != true) {
//Log.i(TAG,"onPageFinished received token="+url);
String[] sArray = url.split("access_token=");
mAuthToken = (sArray[1].split("&token_type=Bearer"))[0];
authComplete = true;
mAuthDialog.dismiss();
zipAndPublish(filesToZip, fileName);
}
}
});
mAuthDialog.show();
mAuthDialog.setTitle("Authorize RTAB-Map");
mAuthDialog.setCancelable(true);
web.loadUrl(auth_url);
}
else
{
zipAndPublish(filesToZip, fileName);
}
}