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DBDriver: when an empty database url is provided, an empty database "in memory" is used by default. Tango: fixed second database not recorded in Data Recorder mode (now creating a new one on save). Mapping parameters are saved in database instead of the one used to record data (Data Recorder mode).

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This commit is contained in:
matlabbe
2016-11-23 15:13:09 -05:00
parent 639896b309
commit 23bb5d5147
9 changed files with 77 additions and 47 deletions
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17
app/android/jni/RTABMapApp.cpp
View File

@@ -1020,9 +1020,24 @@ void RTABMapApp::resetMapping()
void RTABMapApp::save(const std::string & databasePath)
{
rtabmapThread_->join(true);
if(dataRecorderMode_)
{
// to save mapping parameters in the database
dataRecorderMode_ = false;
rtabmap::ParametersMap parameters = getRtabmapParameters();
rtabmap_->parseParameters(parameters);
dataRecorderMode_ = true;
}
rtabmap_->close(true, databasePath);
rtabmap_->init(getRtabmapParameters(), databasePath);
rtabmap_->init(getRtabmapParameters(), dataRecorderMode_?"":databasePath);
if(dataRecorderMode_)
{
clearSceneOnNextRender_ = true;
}
rtabmapThread_->start();
}
bool RTABMapApp::exportMesh(const std::string & filePath)

2
app/android/jni/RTABMapApp.h
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@@ -52,7 +52,7 @@ class RTABMapApp : public UEventsHandler {
void onCreate(JNIEnv* env, jobject caller_activity);
void openDatabase(const std::string & databasePath);
void openDatabase(const std::string & databasePath = "");
bool onTangoServiceConnected(JNIEnv* env, jobject iBinder);

7
app/android/jni/jni_interface.cpp
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@@ -55,6 +55,13 @@ Java_com_introlab_rtabmap_RTABMapLib_onCreate(
return app.onCreate(env, activity);
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_openEmptyDatabase(
JNIEnv* env, jobject)
{
return app.openDatabase();
}
JNIEXPORT void JNICALL
Java_com_introlab_rtabmap_RTABMapLib_openDatabase(
JNIEnv* env, jobject, jstring databasePath)