mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-07 18:27:46 +08:00
75 lines
2.8 KiB
Java
75 lines
2.8 KiB
Java
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package com.introlab.rtabmap;
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import android.view.KeyEvent;
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// Wrapper for native library
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public class RTABMapLib
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{
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static
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{
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System.loadLibrary("NativeRTABMap");
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}
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// Initialize the Tango Service, this function starts the communication
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// between the application and Tango Service.
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// The activity object is used for checking if the API version is outdated.
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public static native int initialize(RTABMapActivity activity);
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public static native void openDatabase(String databasePath);
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public static native int onResume();
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// Release all non OpenGl resources that are allocated from the program.
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public static native void onPause();
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// Allocate OpenGL resources for rendering.
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public static native void initGlContent();
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// Setup the view port width and height.
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public static native void setupGraphic(int width, int height);
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// Main render loop.
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public static native int render();
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// Set the render camera's viewing angle:
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// first person, third person, or top down.
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public static native void setCamera(int cameraIndex);
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// Pass touch events to the native layer.
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public static native void onTouchEvent(int touchCount, int event0,
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float x0, float y0, float x1, float y1);
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public static native void setPausedMapping(boolean paused);
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public static native void setMapCloudShown(boolean shown);
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public static native void setOdomCloudShown(boolean shown);
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public static native void setMeshRendering(boolean enabled);
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public static native void setLocalizationMode(boolean enabled);
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public static native void setTrajectoryMode(boolean enabled);
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public static native void setGraphOptimization(boolean enabled);
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public static native void setNodesFiltering(boolean enabled);
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public static native void setGraphVisible(boolean visible);
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public static native void setAutoExposure(boolean enabled);
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public static native void setFullResolution(boolean enabled);
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public static native void setMaxCloudDepth(float value);
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public static native void setMeshAngleTolerance(float value);
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public static native void setMeshTriangleSize(int value);
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public static native int setMappingParameter(String key, String value);
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public static native void resetMapping();
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public static native void save();
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public static native boolean exportMesh(String filePath);
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public static native int postProcessing(int approach);
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public static native String getStatus();
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public static native int getTotalNodes();
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public static native int getTotalWords();
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public static native int getTotalPoints();
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public static native float getUpdateTime();
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public static native int getLoopClosureId();
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}
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