From 4b7d558026706d6ab61af559c6b00b7c871ffa83 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 3 Jul 2017 14:42:48 -0400
Subject: [PATCH] Tango: moved export to file button under share to sketchfab
 (fixing overlap of button on opengl status text), fixed export empty poses
 after resuming without relocalizing (append mode)

---
 app/android/jni/RTABMapApp.cpp              | 15 +++++++++++++--
 app/android/res/layout/activity_rtabmap.xml |  9 ++++-----
 app/android/res/values/strings.xml          |  2 +-
 corelib/src/Rtabmap.cpp                     |  1 +
 4 files changed, 19 insertions(+), 8 deletions(-)

diff --git a/app/android/jni/RTABMapApp.cpp b/app/android/jni/RTABMapApp.cpp
index 686d12a5..0844e1b7 100644
--- a/app/android/jni/RTABMapApp.cpp
+++ b/app/android/jni/RTABMapApp.cpp
@@ -2062,8 +2062,19 @@ bool RTABMapApp::exportMesh(
 	std::map<int, rtabmap::Transform> poses = rtabmap_->getLocalOptimizedPoses();
 	if(poses.empty())
 	{
-		UERROR("Empty optimized poses!");
-		return false;
+		// look if we just triggered new map without localizing afterward (pause/resume in append Mode)
+		std::multimap<int, rtabmap::Link> links;
+		rtabmap_->getGraph(
+				poses,
+				links,
+				true,
+				false);
+		if(poses.empty())
+		{
+			UERROR("Empty optimized poses!");
+			return false;
+		}
+		rtabmap_->setOptimizedPoses(poses);
 	}
 
 	if(blockRendering)
diff --git a/app/android/res/layout/activity_rtabmap.xml b/app/android/res/layout/activity_rtabmap.xml
index 7d6c94a2..09c5e70e 100644
--- a/app/android/res/layout/activity_rtabmap.xml
+++ b/app/android/res/layout/activity_rtabmap.xml
@@ -86,9 +86,8 @@
         android:layout_height="wrap_content"
 		android:layout_marginRight="5dp"
         android:layout_alignParentTop="true"
-        android:layout_marginTop="61dp"
+        android:layout_marginTop="10dp"
         android:layout_alignParentRight="true"
-        android:paddingRight="5dp"
         android:textOff="@string/pause"
         android:textOn="@string/resume" />
 
@@ -96,7 +95,7 @@
         android:id="@+id/button_shareToSketchfab"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:layout_alignParentTop="true"
+        android:layout_below="@+id/pause_button"
         android:layout_alignRight="@+id/pause_button"
         android:text="@string/share_to_sketchfab" />
 
@@ -104,8 +103,8 @@
         android:id="@+id/button_saveOnDevice"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:layout_alignParentTop="true"
-        android:layout_toLeftOf="@+id/button_shareToSketchfab"
+        android:layout_alignRight="@+id/button_shareToSketchfab"
+        android:layout_below="@+id/button_shareToSketchfab"
         android:text="@string/save_to_file" />
 
     <Button
diff --git a/app/android/res/values/strings.xml b/app/android/res/values/strings.xml
index 6ed9e09b..ba8432ec 100644
--- a/app/android/res/values/strings.xml
+++ b/app/android/res/values/strings.xml
@@ -306,7 +306,7 @@
     <string name="pref_title_smoothing">Smoothing</string>
     <string name="pref_summary_smoothing">Smooth the point clouds.</string>
     <string name="pref_title_fisheye">Fish Eye Camera</string>
-    <string name="pref_summary_fisheye">Use fish eye camera instead of the color camera. Cannot be used on Yellowstone tablet.</string>
+    <string name="pref_summary_fisheye">Use fish eye camera instead of the color camera. May not work on some devices.</string>
     <string name="pref_title_update_rate">Update Rate</string>
     <string name="pref_summary_update_rate">Rate at which a new node is added to map.</string>
     <string name="pref_title_time_thr">Time Limit</string>
diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp
index 73e1408d..0b451a00 100644
--- a/corelib/src/Rtabmap.cpp
+++ b/corelib/src/Rtabmap.cpp
@@ -2550,6 +2550,7 @@ bool Rtabmap::process(
 			id = _memory->getLastWorkingSignature()->id();
 			UDEBUG("Refresh local map from %d", id);
 		}
+		UDEBUG("id=%d _optimizedPoses=%d", id, (int)_optimizedPoses.size());
 		if(id > 0)
 		{
 			if(_lastLocalizationNodeId != 0)