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ROS-Mobile / ROS-Mobile-Android

Visualization and controlling application for Android
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GridMapView stride issue #58

Closed zjn0505 closed 3 years ago

zjn0505 commented 3 years ago

Hey, thanks for this good app, it helps me understand ROS messages as a beginner.

I'm working on drawing OccupancyGrid on Android, and taking your GridMapView as reference.

A small issue I saw in the GridMapView is that tile.setStride()on current master branch is not correct.

https://github.com/ROS-Mobile/ROS-Mobile-Android/blob/757c04a7bce269bf399efcf29dc3acec114a0d96/app/src/main/java/com/schneewittchen/rosandroid/widgets/gridmap/GridMapView.java#L106

The stride should be the width of data in that tile, not the width of the entire grid.

I changed it into something like

val isLastColumn =  x == numTilesWide - 1
val stride = if (isLastColumn) {
    width.mod(TextureBitmap.STRIDE)
} else {
    TextureBitmap.STRIDE
}
tiles[tileIndex].setStride(stride)

Also in this class, all the TextureBitmap.STRIDE should be TextureBitmap.HEIGHT when used with y.

nicostudt commented 3 years ago

Thank you for your feedback. I will take a look on this :)

zjn0505 commented 3 years ago

Another small issue in CameraControl class. If I init it with cameraControl.init(translate = true, rotate = false, scale = true), it won't do translate and scale either. The onTouchEvent currently is asking for all 3 gestureDetectors.

nicostudt commented 3 years ago

The camera control bug is fixed and the stride thingy seems not to change anything as the variable is static anyway. I will close this issue, but if you find any new infos, please feel free to reopen it.

nicostudt commented 3 years ago

I think it really depends, how you expect the map to look like. As long as nothing breaks, it should be fine.

zjn0505 commented 3 years ago

Thanks for the update.

The GridMap will look distorted if TextureBitmap.STRIDE is used for y, and its value got changed differently from TextureBitmap.HEIGHT, I did this this change locally and found the distort issue. If TextureBitmap.STRIDE is same as TextureBitmap.HEIGHT, then all good.

tiles.get(tileIndex).setStride(width) with width of entire map will also render a distorted map on the last column when the map's width is larger than TextureBitmap.STRIDE.