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feat(slam): add rtabmap_ros

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X-lanni
2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
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rtabmap/app/android/res/layout/activity_rtabmap.xml
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<!--
Copyright (C) 2014 Google Inc.
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="wrap_content"
android:layout_height="wrap_content">
<android.opengl.GLSurfaceView
android:id="@+id/gl_surface_view"
android:layout_width="fill_parent"
android:layout_height="fill_parent"
android:layout_gravity="top"/>
<RelativeLayout
android:layout_width="wrap_content"
android:layout_height="match_parent"
android:fitsSystemWindows="true">
<ImageButton
android:id="@+id/start_button"
android:layout_width="100dp"
android:layout_height="wrap_content"
android:layout_alignParentBottom="true"
android:layout_centerHorizontal="true"
android:src="@drawable/start96"
android:background="@null"
android:layout_marginBottom="10dp" />
<ImageButton
android:id="@+id/stop_button"
android:layout_width="100dp"
android:layout_height="wrap_content"
android:layout_alignParentBottom="true"
android:layout_centerHorizontal="true"
android:src="@drawable/stop96"
android:background="@null"
android:layout_marginBottom="10dp" />
<ToggleButton
android:id="@+id/wireframe_button"
android:layout_width="100dp"
android:layout_height="wrap_content"
android:layout_above="@+id/light_button"
android:layout_alignLeft="@+id/light_button"
android:layout_alignParentRight="true"
android:layout_marginBottom="5dp"
android:layout_marginRight="5dp"
android:paddingRight="5dp"
android:textOff="@string/wireframe"
android:textOn="@string/wireframe" />
<ToggleButton
android:id="@+id/light_button"
android:layout_width="100dp"
android:layout_height="wrap_content"
android:layout_above="@+id/backface_button"
android:layout_alignLeft="@+id/backface_button"
android:layout_alignParentRight="true"
android:layout_marginBottom="5dp"
android:layout_marginRight="5dp"
android:paddingRight="5dp"
android:textOff="@string/light_off"
android:textOn="@string/light_on" />
<ToggleButton
android:id="@+id/backface_button"
android:layout_width="100dp"
android:layout_height="wrap_content"
android:layout_above="@+id/camera_button"
android:layout_alignRight="@+id/camera_button"
android:layout_alignParentRight="true"
android:layout_marginBottom="15dp"
android:layout_marginRight="5dp"
android:paddingRight="5dp"
android:textOff="@string/backface_off"
android:textOn="@string/backface_on" />
<com.introlab.rtabmap.NDSpinner
android:id="@+id/camera_button"
android:layout_width="140dp"
android:layout_height="40dp"
android:layout_alignParentBottom="true"
android:layout_alignParentRight="true"
android:layout_marginRight="5dp"
android:layout_marginBottom="10dp"
android:paddingRight="5dp"
android:paddingBottom="10dp"
android:text="@string/camera_button"
android:spinnerMode="dropdown"/>
<Button
android:id="@+id/button_shareToSketchfab"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginRight="5dp"
android:layout_marginTop="10dp"
android:layout_alignParentRight="true"
android:layout_below="@+id/pause_button"
android:text="@string/share_to_sketchfab" />
<Button
android:id="@+id/button_saveOnDevice"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_alignRight="@+id/button_shareToSketchfab"
android:layout_below="@+id/button_shareToSketchfab"
android:text="@string/save_to_file" />
<Button
android:id="@+id/close_visualization_button"
android:layout_width="200dp"
android:layout_height="wrap_content"
android:layout_above="@+id/camera_button"
android:layout_centerHorizontal="true"
android:text="@string/close_visualization" />
<SeekBar
android:id="@+id/seekBar_ortho_cut"
android:layout_width="200dp"
android:layout_height="wrap_content"
android:rotation="270"
android:layout_above="@+id/light_button"
android:layout_alignParentLeft="true"
android:layout_gravity="center"
android:layout_marginLeft="-50dp"
android:progressDrawable="@drawable/custom_seekbar" />
<SeekBar
android:id="@+id/seekBar_grid"
android:layout_width="200dp"
android:layout_height="wrap_content"
android:layout_alignParentLeft="true"
android:layout_alignBottom="@+id/camera_button"
android:layout_marginLeft="35dp"
android:paddingBottom="10dp"
android:progressDrawable="@drawable/custom_seekbar" />
<Button
android:id="@+id/button_library"
android:layout_width="match_parent"
android:layout_height="100dp"
android:layout_centerHorizontal="true"
android:layout_gravity="top"
android:layout_marginTop="100dp"
android:text="@string/library" />
<Button
android:id="@+id/button_new_scan"
android:layout_width="match_parent"
android:layout_height="100dp"
android:layout_alignLeft="@+id/button_library"
android:layout_below="@+id/button_library"
android:layout_marginTop="20dp"
android:text="@string/new_scan" />
</RelativeLayout>
</RelativeLayout>