android: fixed backward compatibility target folder for android <30. Open: files are sorted by last modified date.

app/android/AndroidManifest.xml.in

@@ -8,7 +8,6 @@
     <uses-permission android:name="android.permission.CAMERA" />
     <uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />
     <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
-    <uses-permission android:name="android.permission.ACCESS_MEDIA_LOCATION" />
     <uses-permission android:name="android.permission.INTERNET" />
     <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
     <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />

app/android/src/com/introlab/rtabmap/RTABMapActivity.java

@@ -303,7 +303,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		}
 
 		public void onServiceDisconnected(ComponentName name) {
-			// Handle this if you need to gracefully shutsaveDatabasedown/retry
+			// Handle this if you need to gracefully shutdown/retry
 			// in the event that Tango itself crashes/gets upgraded while running.
 			mToast.makeText(getApplicationContext(), 
 					String.format("Tango disconnected!"), mToast.LENGTH_LONG).show();
@@ -504,10 +504,28 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		mTotalLoopClosures = 0;
 		mLastFastMovementNotificationStamp = System.currentTimeMillis()/1000;
 		
+		
+		int targetSdkVersion= 0;
+		try {
+	        ApplicationInfo app = this.getPackageManager().getApplicationInfo("com.introlab.rtabmap", 0);        
+	        targetSdkVersion = app.targetSdkVersion;
+	    } catch (NameNotFoundException e) {
+	        e.printStackTrace();
+	    }
+	
 		if(Environment.getExternalStorageState().compareTo(Environment.MEDIA_MOUNTED)==0 && 
-				getActivity().getExternalFilesDirs(null).length >=1)
+			(targetSdkVersion < 30 || getActivity().getExternalFilesDirs(null).length >=1))
 		{
-			File extStore = getActivity().getExternalFilesDirs(null)[0];
+			File extStore;
+			if(targetSdkVersion < 30)
+			{
+				extStore = Environment.getExternalStorageDirectory();
+			}
+			else // >= android30
+			{
+				extStore = getActivity().getExternalFilesDirs(null)[0];
+			}
+			
 			mWorkingDirectory = extStore.getAbsolutePath() + "/" + getString(R.string.app_name) + "/";
 			extStore = new File(mWorkingDirectory);
 			extStore.mkdirs();
@@ -3660,32 +3678,6 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 							final File f = new File(zipOutput);
 							final int fileSizeMB = (int)f.length()/(1024 * 1024);
 
-							// Save to public Documents/RTAB-Map folder
-							/*ContentValues values = new ContentValues();
-				            values.put(MediaStore.MediaColumns.DISPLAY_NAME, fileName); //file name                     
-				            values.put(MediaStore.MediaColumns.MIME_TYPE, "application/zip");        //file extension, will automatically add to file
-				            values.put(MediaStore.MediaColumns.RELATIVE_PATH, Environment.DIRECTORY_DOCUMENTS + "/RTAB-Map");     //end "/" is not mandatory
-				            Uri uri = getContentResolver().insert(MediaStore.Files.getContentUri("external"),values);
-				            if (uri != null) {
-				            	OutputStream out;
-								try {
-									out = getApplicationContext().getContentResolver().openOutputStream(uri);
-									
-									InputStream in = new FileInputStream(zipOutput);
-					        		byte[] buf = new byte[1024];
-					        		int len;
-					        		while ((len = in.read(buf)) > 0) {
-					        			out.write(buf, 0, len);
-					        		}
-					        		in.close();
-					        		out.close();
-					        		
-					        		f.delete(); // remove private file
-								} catch (IOException e) {
-									Log.e(TAG, e.getMessage());
-								}
-				            } */
-
 							// Send to...
 							Intent shareIntent = new Intent();
 							shareIntent.setAction(Intent.ACTION_SEND);

app/android/src/com/introlab/rtabmap/Util.java

@@ -7,7 +7,11 @@ import java.io.FileInputStream;
 import java.io.FileOutputStream;
 import java.io.FilenameFilter;
 import java.io.IOException;
+import java.util.ArrayList;
 import java.util.Arrays;
+import java.util.Collections;
+import java.util.Comparator;
+import java.util.List;
 import java.util.zip.ZipEntry;
 import java.util.zip.ZipOutputStream;
 
@@ -55,7 +59,7 @@ public class Util {
 		}
 	}
 
-	public static String[] loadFileList(String directory, final boolean databasesOnly) {
+	public static String[] loadFileList(final String directory, final boolean databasesOnly) {
 		File path = new File(directory); 
 		String fileList[];
 		try {
@@ -83,6 +87,25 @@ public class Util {
 			};
 			fileList = path.list(filter);
 			Arrays.sort(fileList);
+			List<String> fileListt = new ArrayList<String>(Arrays.asList(fileList));
+			Collections.sort(fileListt, new Comparator<String>() {
+
+		        @Override
+		        public int compare(String filename1, String filename2) {
+		        	File file1 = new File(directory+"/"+filename1);
+		        	File file2 = new File(directory+"/"+filename2);
+		            long k = file1.lastModified() - file2.lastModified();
+		            if(k > 0){
+		               return -1;
+		            }else if(k == 0){
+		               return 0;
+		            }else{
+		              return 1;
+		           }
+		        }
+		    });
+			fileListt.toArray(fileList);
+			
 		}
 		else {
 			fileList = new String[0];

corelib/src/util3d.cpp

@@ -2858,7 +2858,7 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > projectCloudToCamera
 	UINFO("maxDistance=%f", maxDistance);
 	UINFO("maxAngle=%f", maxAngle);
 	UINFO("distanceToCamPolicy=%s", distanceToCamPolicy?"true":"false");
-	UINFO("roiRatios=%s", roiRatios.size() == 4?uFormat("%f %f %f %f", roiRatios[0], roiRatios[1], roiRatios[2], roiRatios[3]):"");
+	UINFO("roiRatios=%s", roiRatios.size() == 4?uFormat("%f %f %f %f", roiRatios[0], roiRatios[1], roiRatios[2], roiRatios[3]).c_str():"");
 	UINFO("projMask=%dx%d", projMask.cols, projMask.rows);
 	std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > pointToPixel;