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ios: added recovery feature

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This commit is contained in:
matlabbe
2022-01-02 17:08:44 -05:00
parent fcde52c6bf
commit 3147b4ab56
7 changed files with 205 additions and 52 deletions
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41
app/android/jni/RTABMapApp.cpp
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@@ -64,6 +64,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/Memory.h>
#include <rtabmap/core/GainCompensator.h>
#include <rtabmap/core/DBDriver.h>
#include <rtabmap/core/Recovery.h>
#include <pcl/common/common.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/io/ply_io.h>
@@ -305,9 +306,9 @@ void RTABMapApp::setScreenRotation(int displayRotation, int cameraRotation)
}
}
int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, const std::string & databaseSource)
int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, bool clearDatabase)
{
LOGW("Opening database %s (inMemory=%d, optimize=%d)", databasePath.c_str(), databaseInMemory?1:0, optimize?1:0);
LOGW("Opening database %s (inMemory=%d, optimize=%d, clearDatabase=%d)", databasePath.c_str(), databaseInMemory?1:0, optimize?1:0, clearDatabase?1:0);
this->unregisterFromEventsManager(); // to ignore published init events when closing rtabmap
status_.first = rtabmap::RtabmapEventInit::kInitializing;
rtabmapMutex_.lock();
@@ -360,11 +361,11 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
std::vector<std::vector<Eigen::Vector2f> > texCoords;
#endif
cv::Mat textures;
if(!databaseSource.empty())
if(!databasePath.empty() && UFile::exists(databasePath) && !clearDatabase)
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized cloud/mesh..."));
rtabmap::DBDriver * driver = rtabmap::DBDriver::create();
if(driver->openConnection(databaseSource))
if(driver->openConnection(databasePath))
{
cloudMat = driver->loadOptimizedMesh(&polygons, &texCoords, &textures);
if(!cloudMat.empty())
@@ -416,13 +417,11 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
}
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading database..."));
LOGI("Erasing database \"%s\"...", databasePath.c_str());
UFile::erase(databasePath);
if(!databaseSource.empty())
{
LOGI("Copying database source \"%s\" to \"%s\"...", databaseSource.c_str(), databasePath.c_str());
UFile::copy(databaseSource, databasePath);
}
if(clearDatabase)
{
LOGI("Erasing database \"%s\"...", databasePath.c_str());
UFile::erase(databasePath);
}
//Rtabmap
mapToOdom_.setIdentity();
@@ -2557,6 +2556,26 @@ void RTABMapApp::save(const std::string & databasePath)
}
}
bool RTABMapApp::recover(const std::string & from, const std::string & to)
{
std::string errorMsg;
if(!databaseRecovery(from, false, &errorMsg, &progressionStatus_))
{
LOGE("Recovery Error: %s", errorMsg.c_str());
return false;
}
else
{
LOGI("Renaming %s to %s", from.c_str(), to.c_str());
if(UFile::rename(from, to) != 0)
{
LOGE("Failed renaming %s to %s", from.c_str(), to.c_str());
return false;
}
return true;
}
}
void RTABMapApp::cancelProcessing()
{
UWARN("Processing canceled!");

3
app/android/jni/RTABMapApp.h
View File

@@ -75,7 +75,7 @@ class RTABMapApp : public UEventsHandler {
void setScreenRotation(int displayRotation, int cameraRotation);
int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, const std::string & databaseSource=std::string());
int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, bool clearDatabase);
bool isBuiltWith(int cameraDriver) const;
#ifdef __ANDROID__
@@ -153,6 +153,7 @@ class RTABMapApp : public UEventsHandler {
void addEnvSensor(int type, float value);
void save(const std::string & databasePath);
bool recover(const std::string & from, const std::string & to);
void cancelProcessing();
bool exportMesh(
float cloudVoxelSize,