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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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2
app/android/AndroidManifest.xml.in
View File

@@ -2,7 +2,7 @@
<!-- BEGIN_INCLUDE(manifest) --> <!-- BEGIN_INCLUDE(manifest) -->
<manifest xmlns:android="http://schemas.android.com/apk/res/android" <manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.introlab.rtabmap" package="com.introlab.rtabmap"
android:versionCode="22" android:versionCode="23"
android:versionName="@RTABMAP_VERSION@"> android:versionName="@RTABMAP_VERSION@">
<uses-permission android:name="android.permission.CAMERA" /> <uses-permission android:name="android.permission.CAMERA" />

17
app/android/jni/RTABMapApp.cpp
View File

@@ -1020,9 +1020,24 @@ void RTABMapApp::resetMapping()
void RTABMapApp::save(const std::string & databasePath) void RTABMapApp::save(const std::string & databasePath)
{ {
rtabmapThread_->join(true); 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_->close(true, databasePath);
rtabmap_->init(getRtabmapParameters(), databasePath); rtabmap_->init(getRtabmapParameters(), dataRecorderMode_?"":databasePath);
if(dataRecorderMode_)
{
clearSceneOnNextRender_ = true;
}
rtabmapThread_->start(); rtabmapThread_->start();
} }
bool RTABMapApp::exportMesh(const std::string & filePath) bool RTABMapApp::exportMesh(const std::string & filePath)

2
app/android/jni/RTABMapApp.h
View File

@@ -52,7 +52,7 @@ class RTABMapApp : public UEventsHandler {
void onCreate(JNIEnv* env, jobject caller_activity); 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); bool onTangoServiceConnected(JNIEnv* env, jobject iBinder);

7
app/android/jni/jni_interface.cpp
View File

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

33
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
View File

@@ -86,7 +86,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
private String mOpenedDatabasePath = ""; private String mOpenedDatabasePath = "";
private String mTempDatabasePath = "";
private String mWorkingDirectory = ""; private String mWorkingDirectory = "";
private int mMaxDepthIndex = 5; private int mMaxDepthIndex = 5;
@@ -177,7 +176,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
} }
mOpenedDatabasePath = ""; mOpenedDatabasePath = "";
mTempDatabasePath = "";
mWorkingDirectory = ""; mWorkingDirectory = "";
mTotalLoopClosures = 0; mTotalLoopClosures = 0;
@@ -187,13 +185,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
mWorkingDirectory = extStore.getAbsolutePath() + "/" + getString(R.string.app_name) + "/"; mWorkingDirectory = extStore.getAbsolutePath() + "/" + getString(R.string.app_name) + "/";
extStore = new File(mWorkingDirectory); extStore = new File(mWorkingDirectory);
extStore.mkdirs(); extStore.mkdirs();
mTempDatabasePath = mWorkingDirectory + "rtabmap.tmp.db";
extStore = new File(mTempDatabasePath);
if(extStore.exists())
{
extStore.delete();
}
} }
else else
{ {
@@ -204,7 +195,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
} }
RTABMapLib.onCreate(this); RTABMapLib.onCreate(this);
RTABMapLib.openDatabase(mTempDatabasePath); RTABMapLib.openEmptyDatabase();
} }
@Override @Override
@@ -908,7 +899,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
if(which >=0 && which < mUpdateRateValues.length) if(which >=0 && which < mUpdateRateValues.length)
{ {
mParamUpdateRateHzIndex = which; mParamUpdateRateHzIndex = which;
if(RTABMapLib.setMappingParameter("Rtabmap/DetectionRate", mUpdateRateValues[which]) != 0) if(RTABMapLib.setMappingParameter("Rtabmap/DetectionRate", which == mUpdateRateValues.length-1?"0":mUpdateRateValues[which]) != 0)
{ {
mToast.makeText(getActivity(), "Failed to set parameter \"Rtabmap/DetectionRate\"!", mToast.LENGTH_LONG).show(); mToast.makeText(getActivity(), "Failed to set parameter \"Rtabmap/DetectionRate\"!", mToast.LENGTH_LONG).show();
} }
@@ -1082,7 +1073,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
notificationManager.notify(0, n); notificationManager.notify(0, n);
} }
mOpenedDatabasePath = newDatabasePath; if(!mItemDataRecorderMode.isChecked())
{
mOpenedDatabasePath = newDatabasePath;
}
mProgressDialog.dismiss(); mProgressDialog.dismiss();
} }
}); });
@@ -1144,7 +1138,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
notificationManager.notify(0, n); notificationManager.notify(0, n);
} }
mOpenedDatabasePath = newDatabasePath; if(!mItemDataRecorderMode.isChecked())
{
mOpenedDatabasePath = newDatabasePath;
}
mProgressDialog.dismiss(); mProgressDialog.dismiss();
} }
}); });
@@ -1180,7 +1177,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
else else
{ {
mOpenedDatabasePath = ""; mOpenedDatabasePath = "";
RTABMapLib.openDatabase(mTempDatabasePath); RTABMapLib.openEmptyDatabase();
} }
mMapIsEmpty = true; mMapIsEmpty = true;
} }
@@ -1211,7 +1208,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
RTABMapLib.setDataRecorderMode(mItemDataRecorderMode.isChecked()); RTABMapLib.setDataRecorderMode(mItemDataRecorderMode.isChecked());
mOpenedDatabasePath = ""; mOpenedDatabasePath = "";
RTABMapLib.openDatabase(mTempDatabasePath); RTABMapLib.openEmptyDatabase();
mItemOpen.setEnabled(!mItemDataRecorderMode.isChecked() && mItemPause.isChecked()); mItemOpen.setEnabled(!mItemDataRecorderMode.isChecked() && mItemPause.isChecked());
mItemPostProcessing.setEnabled(!mItemDataRecorderMode.isChecked() && mItemPause.isChecked()); mItemPostProcessing.setEnabled(!mItemDataRecorderMode.isChecked() && mItemPause.isChecked());
@@ -1437,12 +1434,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
RTABMapLib.openDatabase(mOpenedDatabasePath); RTABMapLib.openDatabase(mOpenedDatabasePath);
RTABMapLib.setCamera(1); RTABMapLib.setCamera(1);
File extStore = new File(mTempDatabasePath);
if(extStore.exists())
{
extStore.delete();
}
} }
}); });
builder.show(); builder.show();

1
app/android/src/com/introlab/rtabmap/RTABMapLib.java
View File

@@ -25,6 +25,7 @@ public class RTABMapLib
// The activity object is used for checking if the API version is outdated. // The activity object is used for checking if the API version is outdated.
public static native void onCreate(RTABMapActivity activity); public static native void onCreate(RTABMapActivity activity);
public static native void openEmptyDatabase();
public static native void openDatabase(String databasePath); public static native void openDatabase(String databasePath);
/* /*

54
corelib/src/DBDriverSqlite3.cpp
View File

@@ -314,24 +314,29 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
// Open a database connection // Open a database connection
_ppDb = 0; _ppDb = 0;
if(url.empty())
{
UERROR("url is empty...");
return false;
}
int rc = SQLITE_OK; int rc = SQLITE_OK;
bool dbFileExist = UFile::exists(url.c_str()); bool dbFileExist = false;
if(dbFileExist && overwritten) if(!url.empty())
{ {
UINFO("Deleting database %s...", url.c_str()); dbFileExist = UFile::exists(url.c_str());
UASSERT(UFile::erase(url.c_str()) == 0); if(dbFileExist && overwritten)
dbFileExist = false; {
UINFO("Deleting database %s...", url.c_str());
UASSERT(UFile::erase(url.c_str()) == 0);
dbFileExist = false;
}
} }
if(_dbInMemory) if(_dbInMemory || url.empty())
{ {
ULOGGER_INFO("Using database \"%s\" in the memory.", url.c_str()); if(!url.empty())
{
ULOGGER_INFO("Using database \"%s\" in the memory.", url.c_str());
}
else
{
ULOGGER_INFO("Using empty database in the memory.");
}
rc = sqlite3_open_v2(":memory:", &_ppDb, SQLITE_OPEN_READWRITE | SQLITE_OPEN_CREATE, 0); rc = sqlite3_open_v2(":memory:", &_ppDb, SQLITE_OPEN_READWRITE | SQLITE_OPEN_CREATE, 0);
} }
else else
@@ -364,7 +369,10 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
if(!dbFileExist) if(!dbFileExist)
{ {
ULOGGER_INFO("Database \"%s\" doesn't exist, creating a new one...", url.c_str()); if(!url.empty())
{
ULOGGER_INFO("Database \"%s\" doesn't exist, creating a new one...", url.c_str());
}
// Create the database // Create the database
std::string schema = DATABASESCHEMA_SQL; std::string schema = DATABASESCHEMA_SQL;
schema = uHex2Str(schema); schema = uHex2Str(schema);
@@ -407,7 +415,7 @@ void DBDriverSqlite3::disconnectDatabaseQuery(bool save, const std::string & out
} }
} }
if(save && _dbInMemory) if(save && (_dbInMemory || this->getUrl().empty()))
{ {
UTimer timer; UTimer timer;
timer.start(); timer.start();
@@ -416,10 +424,18 @@ void DBDriverSqlite3::disconnectDatabaseQuery(bool save, const std::string & out
{ {
outputFile = outputUrl; outputFile = outputUrl;
} }
UINFO("Saving database to %s ...", outputFile.c_str()); if(outputFile.empty())
rc = loadOrSaveDb(_ppDb, outputFile, 1); // Save memory to file {
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str()); UERROR("Database was initialized with an empty url (in memory). To save it "
ULOGGER_DEBUG("Saving DB time = %fs", timer.ticks()); "the output url should not be empty. The database is thus closed without being saved!");
}
else
{
UINFO("Saving database to %s ...", outputFile.c_str());
rc = loadOrSaveDb(_ppDb, outputFile, 1); // Save memory to file
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
ULOGGER_DEBUG("Saving DB time = %fs", timer.ticks());
}
} }
else if(save && !outputUrl.empty() && outputUrl.compare(this->getUrl()) != 0) else if(save && !outputUrl.empty() && outputUrl.compare(this->getUrl()) != 0)
{ {

6
corelib/src/Memory.cpp
View File

@@ -151,7 +151,7 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Closing database connection, done!")); if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Closing database connection, done!"));
} }
if(_dbDriver == 0 && !dbUrl.empty()) if(_dbDriver == 0)
{ {
_dbDriver = DBDriver::create(parameters); _dbDriver = DBDriver::create(parameters);
} }
@@ -161,11 +161,11 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
{ {
_dbDriver->setTimestampUpdateEnabled(true); // make sure that timestamp update is enabled (may be disabled above) _dbDriver->setTimestampUpdateEnabled(true); // make sure that timestamp update is enabled (may be disabled above)
success = false; success = false;
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Connecting to database ") + dbUrl + "...")); if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Connecting to database \"") + dbUrl + "\"..."));
if(_dbDriver->openConnection(dbUrl, dbOverwritten)) if(_dbDriver->openConnection(dbUrl, dbOverwritten))
{ {
success = true; success = true;
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Connecting to database ") + dbUrl + ", done!")); if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Connecting to database \"") + dbUrl + "\", done!"));
// Load the last working memory... // Load the last working memory...
std::list<Signature*> dbSignatures; std::list<Signature*> dbSignatures;

2
corelib/src/Rtabmap.cpp
View File

@@ -284,7 +284,7 @@ void Rtabmap::init(const ParametersMap & parameters, const std::string & databas
} }
else else
{ {
UWARN("Using empty database. Mapping session will not be saved."); UWARN("Using empty database. Mapping session will not be saved unless it is closed with an output database path.");
} }
bool newDatabase = _databasePath.empty() || !UFile::exists(_databasePath); bool newDatabase = _databasePath.empty() || !UFile::exists(_databasePath);