CameraMobile: Fixed origin not updated if updateOnRender() is used

introlab · Oct 6, 2024 · a14f064 · a14f064
1 parent c6f783c
commit a14f064
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Showing 2 changed files with 17 additions and 15 deletions.
diff --git a/app/android/jni/CameraMobile.cpp b/app/android/jni/CameraMobile.cpp
@@ -183,9 +183,21 @@ void CameraMobile::poseReceived(const Transform & pose, double deviceStamp)
 		{
 			stampEpochOffset_ = UTimer::now() - deviceStamp;
 		}
+
+		if(originUpdate_)
+		{
+			firstFrame_ = true;
+			lastKnownGPS_ = GPS();
+			lastEnvSensors_.clear();
+			dataGoodTracking_ = true;
+			previousAnchorPose_.setNull();
+			previousAnchorLinearVelocity_.clear();
+			previousAnchorStamp_ = 0.0;
+			originOffset_ = pose.translation().inverse();
+			originUpdate_ = false;
+		}
 
 		double epochStamp = stampEpochOffset_ + deviceStamp;
-
 		if(!originOffset_.isNull())
 		{
 			// Filter re-localizations from poses received
@@ -297,20 +309,6 @@ void CameraMobile::update(const SensorData & data, const Transform & pose, const
     LOGD("CameraMobile::update pose=%s stamp=%f", pose.prettyPrint().c_str(), data.stamp());
 
 	bool notify = !data_.isValid();
-
-	if(originUpdate_)
-	{
-		firstFrame_ = true;
-		lastKnownGPS_ = GPS();
-		lastEnvSensors_.clear();
-		dataGoodTracking_ = true;
-		previousAnchorPose_.setNull();
-		previousAnchorLinearVelocity_.clear();
-		previousAnchorStamp_ = 0.0;
-		originOffset_ = pose.translation().inverse();
-		originUpdate_ = false;
-		poseReceived(pose, data.stamp());
-	}
 
 	data_ = data;
     dataPose_ = pose;

diff --git a/app/android/src/com/introlab/rtabmap/RTABMapActivity.java b/app/android/src/com/introlab/rtabmap/RTABMapActivity.java
@@ -1775,16 +1775,19 @@ public void onClick(DialogInterface dialog, int which) {
 			long currentTime = System.currentTimeMillis()/1000;
 			if(loopClosureId > 0)
 			{
+				if (mToast != null  && mToast.getView().isShown()) mToast.cancel();
 				mToast.setText(String.format("Loop closure detected! (%d/%d inliers)", inliers, matches));
 				mToast.show();
 			}
 			else if(landmarkDetected != 0)
 			{
+				if (mToast != null  && mToast.getView().isShown()) mToast.cancel();
 				mToast.setText(String.format("Marker %d detected!", landmarkDetected));
 				mToast.show();
 			}
 			else if(rejected > 0)
 			{
+				if (mToast != null  && mToast.getView().isShown()) mToast.cancel();
 				if(inliers >= Integer.parseInt(mMinInliers))
 				{
 					if(optimizationMaxError > 0.0f)
@@ -1806,6 +1809,7 @@ else if(fastMovement)
 			{
 				if(currentTime - mLastFastMovementNotificationStamp > 3)
 				{
+					if (mToast != null  && mToast.getView().isShown()) mToast.cancel();
 					mToast.setText("Move slower... blurry images are not added to map (\"Settings->Mapping...->Maximum Motion Speed\" is enabled).");
 					mToast.show();
 				}