iOS: Addressing #998 #1001

app/android/jni/CameraMobile.cpp

@@ -432,23 +432,25 @@ LaserScan CameraMobile::scanFromPointCloudData(
             //get color from rgb image
             cv::Point3f org= pt;
             pt = util3d::transformPoint(pt, opticalRotationInv);
-            int u,v;
-            model.reproject(pt.x, pt.y, pt.z, u, v);
-            unsigned char r=255,g=255,b=255;
-            if(model.inFrame(u, v))
+            if(pt.z > 0)
             {
-                b=rgb.at<cv::Vec3b>(v,u).val[0];
-                g=rgb.at<cv::Vec3b>(v,u).val[1];
-                r=rgb.at<cv::Vec3b>(v,u).val[2];
-                if(kpts)
-                    kpts->push_back(cv::KeyPoint(u,v,kptsSize));
-                if(kpts3D)
-                    kpts3D->push_back(org);
-                
-                *(int*)&ptr[oi*4 + 3] = int(b) | (int(g) << 8) | (int(r) << 16);
-                ++oi;
+                int u,v;
+                model.reproject(pt.x, pt.y, pt.z, u, v);
+                unsigned char r=255,g=255,b=255;
+                if(model.inFrame(u, v))
+                {
+                    b=rgb.at<cv::Vec3b>(v,u).val[0];
+                    g=rgb.at<cv::Vec3b>(v,u).val[1];
+                    r=rgb.at<cv::Vec3b>(v,u).val[2];
+                    if(kpts)
+                        kpts->push_back(cv::KeyPoint(u,v,kptsSize));
+                    if(kpts3D)
+                        kpts3D->push_back(org);
+                    
+                    *(int*)&ptr[oi*4 + 3] = int(b) | (int(g) << 8) | (int(r) << 16);
+                    ++oi;
+                }
             }
-
             //confidence
             //*(int*)&ptr[i*4 + 3] = (int(pointCloudData[i*4 + 3] * 255.0f) << 8) | (int(255) << 16);
 

app/ios/RTABMapApp.xcodeproj/project.pbxproj

@@ -1007,7 +1007,7 @@
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
 				);
-				MARKETING_VERSION = 0.20.19;
+				MARKETING_VERSION = 0.21.0;
 				OTHER_CFLAGS = "";
 				PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;
 				PRODUCT_NAME = "$(TARGET_NAME)";
@@ -1020,7 +1020,7 @@
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include/eigen3\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include/pcl-1.11\"",
-					"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.20\"",
+					"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.21\"",
 					"\"$(SRCROOT)/../android/jni/tango-gl/include\"",
 					"\"$(SRCROOT)/../android/jni/third-party/include\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/lib/vtk.framework/Headers\"",
@@ -1064,7 +1064,7 @@
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
 				);
-				MARKETING_VERSION = 0.20.19;
+				MARKETING_VERSION = 0.21.0;
 				ONLY_ACTIVE_ARCH = YES;
 				OTHER_CFLAGS = "";
 				PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;
@@ -1078,7 +1078,7 @@
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include/eigen3\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include/pcl-1.11\"",
-					"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.20\"",
+					"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.21\"",
 					"\"$(SRCROOT)/../android/jni/tango-gl/include\"",
 					"\"$(SRCROOT)/../android/jni/third-party/include\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/lib/vtk.framework/Headers\"",

app/ios/RTABMapApp/NativeWrapper.cpp

@@ -489,13 +489,6 @@ void setGridVisibleNative(const void *object, bool visible)
     else
         UERROR("object is null!");
 }
-void setRawScanSavedNative(const void *object, bool enabled)
-{
-    if(object)
-        native(object)->setRawScanSaved(enabled);
-    else
-        UERROR("object is null!");
-}
 void setFullResolutionNative(const void *object, bool enabled)
 {
     if(object)

app/ios/RTABMapApp/NativeWrapper.hpp

@@ -97,7 +97,6 @@ void setGraphOptimizationNative(const void *object, bool enabled);
 void setNodesFilteringNative(const void *object, bool enabled);
 void setGraphVisibleNative(const void *object, bool visible);
 void setGridVisibleNative(const void *object, bool visible);
-void setRawScanSavedNative(const void *object, bool enabled);
 void setFullResolutionNative(const void *object, bool enabled);
 void setSmoothingNative(const void *object, bool enabled);
 void setAppendModeNative(const void *object, bool enabled);

app/ios/RTABMapApp/RTABMap.swift

@@ -405,9 +405,6 @@ class RTABMap {
     func setGridVisible(visible: Bool) {
         setGridVisibleNative(native_rtabmap, visible)
     }
-    func setRawScanSaved(enabled: Bool) {
-        setRawScanSavedNative(native_rtabmap, enabled)
-    }
     func setFullResolution(enabled: Bool) {
         setFullResolutionNative(native_rtabmap, enabled)
     }

app/ios/RTABMapApp/ViewController.swift

@@ -1319,7 +1319,6 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
         // update preference
         rtabmap!.setOnlineBlending(enabled: defaults.bool(forKey: "Blending"));
         rtabmap!.setNodesFiltering(enabled: defaults.bool(forKey: "NodesFiltering"));
-        rtabmap!.setRawScanSaved(enabled: defaults.bool(forKey: "SaveRawScan"));
         rtabmap!.setFullResolution(enabled: defaults.bool(forKey: "HDMode"));
         rtabmap!.setSmoothing(enabled: defaults.bool(forKey: "Smoothing"));
         rtabmap!.setAppendMode(enabled: defaults.bool(forKey: "AppendMode"));

app/ios/Settings.bundle/Mapping.plist

@@ -552,50 +552,50 @@
 			<key>DefaultValue</key>
 			<true/>
 		</dict>
-        <dict>
-            <key>Type</key>
-            <string>PSGroupSpecifier</string>
-            <key>FooterText</key>
-            <string>Used only in localization mode (when clicking First-P. View during visualization). This is used to get smoother localizations and to verify localization transforms (when Max Optimization Error is not disabled) to make sure we don't teleport to a location very similar to one we previously localized on.</string>
-        </dict>
-        <dict>
-            <key>Type</key>
-            <string>PSMultiValueSpecifier</string>
-            <key>Title</key>
-            <string>Maximum odometry cache size</string>
-            <key>Key</key>
-            <string>MaximumOdometryCacheSize</string>
-            <key>DefaultValue</key>
-            <string>10</string>
-            <key>Titles</key>
-            <array>
-                <string>500</string>
-                <string>200</string>
-                <string>100</string>
-                <string>75</string>
-                <string>50</string>
-                <string>40</string>
-                <string>30</string>
-                <string>20</string>
-                <string>10</string>
-                <string>5</string>
-                <string>Disabled</string>
-            </array>
-            <key>Values</key>
-            <array>
-                <string>500</string>
-                <string>200</string>
-                <string>100</string>
-                <string>75</string>
-                <string>50</string>
-                <string>40</string>
-                <string>30</string>
-                <string>20</string>
-                <string>10</string>
-                <string>5</string>
-                <string>0</string>
-            </array>
-        </dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Used only in localization mode (when clicking First-P. View during visualization). This is used to get smoother localizations and to verify localization transforms (when Max Optimization Error is not disabled) to make sure we don&apos;t teleport to a location very similar to one we previously localized on.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Maximum odometry cache size</string>
+			<key>Key</key>
+			<string>MaximumOdometryCacheSize</string>
+			<key>DefaultValue</key>
+			<string>10</string>
+			<key>Titles</key>
+			<array>
+				<string>500</string>
+				<string>200</string>
+				<string>100</string>
+				<string>75</string>
+				<string>50</string>
+				<string>40</string>
+				<string>30</string>
+				<string>20</string>
+				<string>10</string>
+				<string>5</string>
+				<string>Disabled</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<string>500</string>
+				<string>200</string>
+				<string>100</string>
+				<string>75</string>
+				<string>50</string>
+				<string>40</string>
+				<string>30</string>
+				<string>20</string>
+				<string>10</string>
+				<string>5</string>
+				<string>0</string>
+			</array>
+		</dict>
 		<dict>
 			<key>Type</key>
 			<string>PSGroupSpecifier</string>
@@ -752,22 +752,6 @@
 			<key>DefaultValue</key>
 			<true/>
 		</dict>
-		<dict>
-			<key>Type</key>
-			<string>PSGroupSpecifier</string>
-			<key>FooterText</key>
-			<string>Save raw point clouds in database.</string>
-		</dict>
-		<dict>
-			<key>Type</key>
-			<string>PSToggleSwitchSpecifier</string>
-			<key>Title</key>
-			<string>Save Raw Scan</string>
-			<key>Key</key>
-			<string>SaveRawScan</string>
-			<key>DefaultValue</key>
-			<true/>
-		</dict>
 		<dict>
 			<key>Type</key>
 			<string>PSGroupSpecifier</string>

app/ios/Settings.bundle/Root.plist

@@ -462,7 +462,7 @@
 		</dict>
 		<dict>
 			<key>DefaultValue</key>
-			<string>0.20.19</string>
+			<string>0.21.0</string>
 			<key>Key</key>
 			<string>Version</string>
 			<key>Title</key>