Static Public Member Functions
static native void	addEnvSensor (long nativeApplication, int type, float value)

static native void	cancelProcessing (long nativeApplication)

static native long	createNativeApplication (RTABMapActivity activity)

static native void	destroyNativeApplication (long nativeApplication)

static native boolean	exportMesh (long nativeApplication, float cloudVoxelSize, boolean regenerateCloud, boolean meshing, int textureSize, int textureCount, int normalK, boolean optimized, float optimizedVoxelSize, int optimizedDepth, int optimizedMaxPolygons, float optimizedColorRadius, boolean optimizedCleanWhitePolygons, int optimizedMinClusterSize, float optimizedMaxTextureDistance, int optimizedMinTextureClusterSize, boolean blockRendering)

static native int	getLoopClosureId (long nativeApplication)

static native String	getStatus (long nativeApplication)

static native int	getTotalNodes (long nativeApplication)

static native int	getTotalPoints (long nativeApplication)

static native int	getTotalWords (long nativeApplication)

static native float	getUpdateTime (long nativeApplication)

static native void	initGlContent (long nativeApplication)

static native boolean	isBuiltWith (long nativeApplication, int cameraDriver)

static native void	onTouchEvent (long nativeApplication, int touchCount, int event0, float x0, float y0, float x1, float y1)

static native int	openDatabase (long nativeApplication, String databasePath, boolean databaseInMemory, boolean optimize, boolean clearDatabase)

static native void	postCameraPoseEvent (long nativeApplication, float x, float y, float z, float qx, float qy, float qz, float qw, double stamp)

static native boolean	postExportation (long nativeApplication, boolean visualize)

static native void	postOdometryEvent (long nativeApplication, float x, float y, float z, float qx, float qy, float qz, float qw, float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy, float rgbFrameX, float rgbFrameY, float rgbFrameZ, float rgbFrameQX, float rgbFrameQY, float rgbFrameQZ, float rgbFrameQW, double stamp, ByteBuffer yPlane, ByteBuffer uPlane, ByteBuffer vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat, FloatBuffer points, int pointsLen, float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw, float p00, float p11, float p02, float p12, float p22, float p32, float p23, float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7)

static native void	postOdometryEventDepth (long nativeApplication, float x, float y, float z, float qx, float qy, float qz, float qw, float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy, float depth_fx, float depth_fy, float depth_cx, float depth_cy, float rgbFrameX, float rgbFrameY, float rgbFrameZ, float rgbFrameQX, float rgbFrameQY, float rgbFrameQZ, float rgbFrameQW, float depthFrameX, float depthFrameY, float depthFrameZ, float depthFrameQX, float depthFrameQY, float depthFrameQZ, float depthFrameQW, double rgbStamp, double depthStamp, ByteBuffer yPlane, ByteBuffer uPlane, ByteBuffer vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat, ByteBuffer depth, int depthLen, int depthWidth, int depthHeight, int depthFormat, FloatBuffer points, int pointsLen, float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw, float p00, float p11, float p02, float p12, float p22, float p32, float p23, float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7)

static native int	postProcessing (long nativeApplication, int approach)

static native boolean	recover (long nativeApplication, String from, String to)

static native int	render (long nativeApplication)

static native void	save (long nativeApplication, String outputDatabasePath)

static native void	setAppendMode (long nativeApplication, boolean enabled)

static native void	setBackfaceCulling (long nativeApplication, boolean enabled)

static native void	setBackgroundColor (long nativeApplication, float gray)

static native void	setCamera (long nativeApplication, int cameraIndex)

static native void	setCameraColor (long nativeApplication, boolean enabled)

static native void	setCloudDensityLevel (long nativeApplication, int value)

static native void	setClusterRatio (long nativeApplication, float value)

static native void	setDataRecorderMode (long nativeApplication, boolean enabled)

static native void	setDepthFromMotion (long nativeApplication, boolean enabled)

static native void	setFOV (long nativeApplication, float value)

static native void	setFullResolution (long nativeApplication, boolean enabled)

static native void	setGPS (long nativeApplication, double stamp, double longitude, double latitude, double altitude, double accuracy, double bearing)

static native void	setGraphOptimization (long nativeApplication, boolean enabled)

static native void	setGraphVisible (long nativeApplication, boolean visible)

static native void	setGridRotation (long nativeApplication, float value)

static native void	setGridVisible (long nativeApplication, boolean visible)

static native void	setLighting (long nativeApplication, boolean enabled)

static native void	setLocalizationMode (long nativeApplication, boolean enabled)

static native void	setMapCloudShown (long nativeApplication, boolean shown)

static native int	setMappingParameter (long nativeApplication, String key, String value)

static native void	setMaxCloudDepth (long nativeApplication, float value)

static native void	setMaxGainRadius (long nativeApplication, float value)

static native void	setMeshAngleTolerance (long nativeApplication, float value)

static native void	setMeshRendering (long nativeApplication, boolean enabled, boolean withTexture)

static native void	setMeshTriangleSize (long nativeApplication, int value)

static native void	setMinCloudDepth (long nativeApplication, float value)

static native void	setNodesFiltering (long nativeApplication, boolean enabled)

static native void	setOdomCloudShown (long nativeApplication, boolean shown)

static native void	setOnlineBlending (long nativeApplication, boolean enabled)

static native void	setOrthoCropFactor (long nativeApplication, float value)

static native void	setPausedMapping (long nativeApplication, boolean paused)

static native void	setPointSize (long nativeApplication, float value)

static native void	setRawScanSaved (long nativeApplication, boolean enabled)

static native void	setRenderingTextureDecimation (long nativeApplication, int value)

static native void	setScreenRotation (long nativeApplication, int displayRotation, int cameraRotation)

static native void	setSmoothing (long nativeApplication, boolean enabled)

static native void	setTrajectoryMode (long nativeApplication, boolean enabled)

static native void	setupGraphic (long nativeApplication, int width, int height)

static native void	setWireframe (long nativeApplication, boolean enabled)

static native boolean	startCamera (long nativeApplication, IBinder binder, Context context, Activity activity, int driver)

static native void	stopCamera (long nativeApplication)

static native boolean	writeExportedMesh (long nativeApplication, String directory, String name)

Detailed Description

Definition at line 15 of file RTABMapLib.java.

Member Function Documentation

◆ addEnvSensor()

static native void com.introlab.rtabmap.RTABMapLib.addEnvSensor	(	long	nativeApplication,
		int	type,
		float	value
	)

static

◆ cancelProcessing()

static native void com.introlab.rtabmap.RTABMapLib.cancelProcessing ( long nativeApplication )

static

◆ createNativeApplication()

static native long com.introlab.rtabmap.RTABMapLib.createNativeApplication ( RTABMapActivity activity )

static

◆ destroyNativeApplication()

static native void com.introlab.rtabmap.RTABMapLib.destroyNativeApplication ( long nativeApplication )

static

◆ exportMesh()

static native boolean com.introlab.rtabmap.RTABMapLib.exportMesh	(	long	nativeApplication,
		float	cloudVoxelSize,
		boolean	regenerateCloud,
		boolean	meshing,
		int	textureSize,
		int	textureCount,
		int	normalK,
		boolean	optimized,
		float	optimizedVoxelSize,
		int	optimizedDepth,
		int	optimizedMaxPolygons,
		float	optimizedColorRadius,
		boolean	optimizedCleanWhitePolygons,
		int	optimizedMinClusterSize,
		float	optimizedMaxTextureDistance,
		int	optimizedMinTextureClusterSize,
		boolean	blockRendering
	)

static

◆ getLoopClosureId()

static native int com.introlab.rtabmap.RTABMapLib.getLoopClosureId ( long nativeApplication )

static

◆ getStatus()

static native String com.introlab.rtabmap.RTABMapLib.getStatus ( long nativeApplication )

static

◆ getTotalNodes()

static native int com.introlab.rtabmap.RTABMapLib.getTotalNodes ( long nativeApplication )

static

◆ getTotalPoints()

static native int com.introlab.rtabmap.RTABMapLib.getTotalPoints ( long nativeApplication )

static

◆ getTotalWords()

static native int com.introlab.rtabmap.RTABMapLib.getTotalWords ( long nativeApplication )

static

◆ getUpdateTime()

static native float com.introlab.rtabmap.RTABMapLib.getUpdateTime ( long nativeApplication )

static

◆ initGlContent()

static native void com.introlab.rtabmap.RTABMapLib.initGlContent ( long nativeApplication )

static

◆ isBuiltWith()

static native boolean com.introlab.rtabmap.RTABMapLib.isBuiltWith	(	long	nativeApplication,
		int	cameraDriver
	)

static

◆ onTouchEvent()

static native void com.introlab.rtabmap.RTABMapLib.onTouchEvent	(	long	nativeApplication,
		int	touchCount,
		int	event0,
		float	x0,
		float	y0,
		float	x1,
		float	y1
	)

static

◆ openDatabase()

static native int com.introlab.rtabmap.RTABMapLib.openDatabase	(	long	nativeApplication,
		String	databasePath,
		boolean	databaseInMemory,
		boolean	optimize,
		boolean	clearDatabase
	)

static

◆ postCameraPoseEvent()

static native void com.introlab.rtabmap.RTABMapLib.postCameraPoseEvent	(	long	nativeApplication,
		float	x,
		float	y,
		float	z,
		float	qx,
		float	qy,
		float	qz,
		float	qw,
		double	stamp
	)

static

◆ postExportation()

static native boolean com.introlab.rtabmap.RTABMapLib.postExportation	(	long	nativeApplication,
		boolean	visualize
	)

static

◆ postOdometryEvent()

static native void com.introlab.rtabmap.RTABMapLib.postOdometryEvent	(	long	nativeApplication,
		float	x,
		float	y,
		float	z,
		float	qx,
		float	qy,
		float	qz,
		float	qw,
		float	rgb_fx,
		float	rgb_fy,
		float	rgb_cx,
		float	rgb_cy,
		float	rgbFrameX,
		float	rgbFrameY,
		float	rgbFrameZ,
		float	rgbFrameQX,
		float	rgbFrameQY,
		float	rgbFrameQZ,
		float	rgbFrameQW,
		double	stamp,
		ByteBuffer	yPlane,
		ByteBuffer	uPlane,
		ByteBuffer	vPlane,
		int	yPlaneLen,
		int	rgbWidth,
		int	rgbHeight,
		int	rgbFormat,
		FloatBuffer	points,
		int	pointsLen,
		float	vx,
		float	vy,
		float	vz,
		float	vqx,
		float	vqy,
		float	vqz,
		float	vqw,
		float	p00,
		float	p11,
		float	p02,
		float	p12,
		float	p22,
		float	p32,
		float	p23,
		float	t0,
		float	t1,
		float	t2,
		float	t3,
		float	t4,
		float	t5,
		float	t6,
		float	t7
	)

static

◆ postOdometryEventDepth()

static native void com.introlab.rtabmap.RTABMapLib.postOdometryEventDepth	(	long	nativeApplication,
		float	x,
		float	y,
		float	z,
		float	qx,
		float	qy,
		float	qz,
		float	qw,
		float	rgb_fx,
		float	rgb_fy,
		float	rgb_cx,
		float	rgb_cy,
		float	depth_fx,
		float	depth_fy,
		float	depth_cx,
		float	depth_cy,
		float	rgbFrameX,
		float	rgbFrameY,
		float	rgbFrameZ,
		float	rgbFrameQX,
		float	rgbFrameQY,
		float	rgbFrameQZ,
		float	rgbFrameQW,
		float	depthFrameX,
		float	depthFrameY,
		float	depthFrameZ,
		float	depthFrameQX,
		float	depthFrameQY,
		float	depthFrameQZ,
		float	depthFrameQW,
		double	rgbStamp,
		double	depthStamp,
		ByteBuffer	yPlane,
		ByteBuffer	uPlane,
		ByteBuffer	vPlane,
		int	yPlaneLen,
		int	rgbWidth,
		int	rgbHeight,
		int	rgbFormat,
		ByteBuffer	depth,
		int	depthLen,
		int	depthWidth,
		int	depthHeight,
		int	depthFormat,
		FloatBuffer	points,
		int	pointsLen,
		float	vx,
		float	vy,
		float	vz,
		float	vqx,
		float	vqy,
		float	vqz,
		float	vqw,
		float	p00,
		float	p11,
		float	p02,
		float	p12,
		float	p22,
		float	p32,
		float	p23,
		float	t0,
		float	t1,
		float	t2,
		float	t3,
		float	t4,
		float	t5,
		float	t6,
		float	t7
	)

static

◆ postProcessing()

static native int com.introlab.rtabmap.RTABMapLib.postProcessing	(	long	nativeApplication,
		int	approach
	)

static

◆ recover()

static native boolean com.introlab.rtabmap.RTABMapLib.recover	(	long	nativeApplication,
		String	from,
		String	to
	)

static

◆ render()

static native int com.introlab.rtabmap.RTABMapLib.render ( long nativeApplication )

static

◆ save()

static native void com.introlab.rtabmap.RTABMapLib.save	(	long	nativeApplication,
		String	outputDatabasePath
	)

static

◆ setAppendMode()

static native void com.introlab.rtabmap.RTABMapLib.setAppendMode	(	long	nativeApplication,
		boolean	enabled
	)

static

◆ setBackfaceCulling()

static native void com.introlab.rtabmap.RTABMapLib.setBackfaceCulling	(	long	nativeApplication,
		boolean	enabled
	)

static

◆ setBackgroundColor()

static native void com.introlab.rtabmap.RTABMapLib.setBackgroundColor	(	long	nativeApplication,
		float	gray
	)

static

◆ setCamera()

static native void com.introlab.rtabmap.RTABMapLib.setCamera	(	long	nativeApplication,
		int	cameraIndex
	)

static

◆ setCameraColor()

static native void com.introlab.rtabmap.RTABMapLib.setCameraColor	(	long	nativeApplication,
		boolean	enabled
	)

static

◆ setCloudDensityLevel()

static native void com.introlab.rtabmap.RTABMapLib.setCloudDensityLevel	(	long	nativeApplication,
		int	value
	)

static

◆ setClusterRatio()

static native void com.introlab.rtabmap.RTABMapLib.setClusterRatio	(	long	nativeApplication,
		float	value
	)

static

◆ setDataRecorderMode()

static native void com.introlab.rtabmap.RTABMapLib.setDataRecorderMode	(	long	nativeApplication,
		boolean	enabled
	)

static

◆ setDepthFromMotion()

static native void com.introlab.rtabmap.RTABMapLib.setDepthFromMotion	(	long	nativeApplication,
		boolean	enabled
	)

static

◆ setFOV()

static native void com.introlab.rtabmap.RTABMapLib.setFOV	(	long	nativeApplication,
		float	value
	)

static

◆ setFullResolution()

static native void com.introlab.rtabmap.RTABMapLib.setFullResolution	(	long	nativeApplication,
		boolean	enabled
	)

static

◆ setGPS()

static native void com.introlab.rtabmap.RTABMapLib.setGPS	(	long	nativeApplication,
		double	stamp,
		double	longitude,
		double	latitude,
		double	altitude,
		double	accuracy,
		double	bearing
	)

static

◆ setGraphOptimization()

static native void com.introlab.rtabmap.RTABMapLib.setGraphOptimization	(	long	nativeApplication,
		boolean	enabled
	)

static

◆ setGraphVisible()

static native void com.introlab.rtabmap.RTABMapLib.setGraphVisible	(	long	nativeApplication,
		boolean	visible
	)

static

◆ setGridRotation()

static native void com.introlab.rtabmap.RTABMapLib.setGridRotation	(	long	nativeApplication,
		float	value
	)

static

◆ setGridVisible()

static native void com.introlab.rtabmap.RTABMapLib.setGridVisible	(	long	nativeApplication,
		boolean	visible
	)

static

◆ setLighting()

static native void com.introlab.rtabmap.RTABMapLib.setLighting	(	long	nativeApplication,
		boolean	enabled
	)

static

◆ setLocalizationMode()

static native void com.introlab.rtabmap.RTABMapLib.setLocalizationMode	(	long	nativeApplication,
		boolean	enabled
	)

static

◆ setMapCloudShown()

static native void com.introlab.rtabmap.RTABMapLib.setMapCloudShown	(	long	nativeApplication,
		boolean	shown
	)

static

◆ setMappingParameter()

static native int com.introlab.rtabmap.RTABMapLib.setMappingParameter	(	long	nativeApplication,
		String	key,
		String	value
	)

static

◆ setMaxCloudDepth()

static native void com.introlab.rtabmap.RTABMapLib.setMaxCloudDepth	(	long	nativeApplication,
		float	value
	)

static

◆ setMaxGainRadius()

static native void com.introlab.rtabmap.RTABMapLib.setMaxGainRadius	(	long	nativeApplication,
		float	value
	)

static

◆ setMeshAngleTolerance()

static native void com.introlab.rtabmap.RTABMapLib.setMeshAngleTolerance	(	long	nativeApplication,
		float	value
	)

static

◆ setMeshRendering()

static native void com.introlab.rtabmap.RTABMapLib.setMeshRendering	(	long	nativeApplication,
		boolean	enabled,
		boolean	withTexture
	)

static

◆ setMeshTriangleSize()

static native void com.introlab.rtabmap.RTABMapLib.setMeshTriangleSize	(	long	nativeApplication,
		int	value
	)

static

◆ setMinCloudDepth()

static native void com.introlab.rtabmap.RTABMapLib.setMinCloudDepth	(	long	nativeApplication,
		float	value
	)

static

◆ setNodesFiltering()

static native void com.introlab.rtabmap.RTABMapLib.setNodesFiltering	(	long	nativeApplication,
		boolean	enabled
	)

static

◆ setOdomCloudShown()

static native void com.introlab.rtabmap.RTABMapLib.setOdomCloudShown	(	long	nativeApplication,
		boolean	shown
	)

static

◆ setOnlineBlending()

static native void com.introlab.rtabmap.RTABMapLib.setOnlineBlending	(	long	nativeApplication,
		boolean	enabled
	)

static

◆ setOrthoCropFactor()

static native void com.introlab.rtabmap.RTABMapLib.setOrthoCropFactor	(	long	nativeApplication,
		float	value
	)

static

◆ setPausedMapping()

static native void com.introlab.rtabmap.RTABMapLib.setPausedMapping	(	long	nativeApplication,
		boolean	paused
	)

static

◆ setPointSize()

static native void com.introlab.rtabmap.RTABMapLib.setPointSize	(	long	nativeApplication,
		float	value
	)

static

◆ setRawScanSaved()

static native void com.introlab.rtabmap.RTABMapLib.setRawScanSaved	(	long	nativeApplication,
		boolean	enabled
	)

static

◆ setRenderingTextureDecimation()

static native void com.introlab.rtabmap.RTABMapLib.setRenderingTextureDecimation	(	long	nativeApplication,
		int	value
	)

static

◆ setScreenRotation()

static native void com.introlab.rtabmap.RTABMapLib.setScreenRotation	(	long	nativeApplication,
		int	displayRotation,
		int	cameraRotation
	)

static

◆ setSmoothing()

static native void com.introlab.rtabmap.RTABMapLib.setSmoothing	(	long	nativeApplication,
		boolean	enabled
	)

static

◆ setTrajectoryMode()

static native void com.introlab.rtabmap.RTABMapLib.setTrajectoryMode	(	long	nativeApplication,
		boolean	enabled
	)

static

◆ setupGraphic()

static native void com.introlab.rtabmap.RTABMapLib.setupGraphic	(	long	nativeApplication,
		int	width,
		int	height
	)

static

◆ setWireframe()

static native void com.introlab.rtabmap.RTABMapLib.setWireframe	(	long	nativeApplication,
		boolean	enabled
	)

static

◆ startCamera()

static native boolean com.introlab.rtabmap.RTABMapLib.startCamera	(	long	nativeApplication,
		IBinder	binder,
		Context	context,
		Activity	activity,
		int	driver
	)

static

◆ stopCamera()

static native void com.introlab.rtabmap.RTABMapLib.stopCamera ( long nativeApplication )

static

◆ writeExportedMesh()

static native boolean com.introlab.rtabmap.RTABMapLib.writeExportedMesh	(	long	nativeApplication,
		String	directory,
		String	name
	)

static

The documentation for this class was generated from the following file:

RTABMapLib.java

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ addEnvSensor()

◆ cancelProcessing()

◆ createNativeApplication()

◆ destroyNativeApplication()

◆ exportMesh()

◆ getLoopClosureId()

◆ getStatus()

◆ getTotalNodes()

◆ getTotalPoints()

◆ getTotalWords()

◆ getUpdateTime()

◆ initGlContent()

◆ isBuiltWith()

◆ onTouchEvent()

◆ openDatabase()

◆ postCameraPoseEvent()

◆ postExportation()

◆ postOdometryEvent()

◆ postOdometryEventDepth()

◆ postProcessing()

◆ recover()

◆ render()

◆ save()

◆ setAppendMode()

◆ setBackfaceCulling()

◆ setBackgroundColor()

◆ setCamera()

◆ setCameraColor()

◆ setCloudDensityLevel()

◆ setClusterRatio()

◆ setDataRecorderMode()

◆ setDepthFromMotion()

◆ setFOV()

◆ setFullResolution()

◆ setGPS()

◆ setGraphOptimization()

◆ setGraphVisible()

◆ setGridRotation()

◆ setGridVisible()

◆ setLighting()

◆ setLocalizationMode()

◆ setMapCloudShown()

◆ setMappingParameter()

◆ setMaxCloudDepth()

◆ setMaxGainRadius()

◆ setMeshAngleTolerance()

◆ setMeshRendering()

◆ setMeshTriangleSize()

◆ setMinCloudDepth()

◆ setNodesFiltering()

◆ setOdomCloudShown()

◆ setOnlineBlending()

◆ setOrthoCropFactor()

◆ setPausedMapping()

◆ setPointSize()

◆ setRawScanSaved()

◆ setRenderingTextureDecimation()

◆ setScreenRotation()

◆ setSmoothing()

◆ setTrajectoryMode()

◆ setupGraphic()

◆ setWireframe()

◆ startCamera()

◆ stopCamera()

◆ writeExportedMesh()