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Fixed Android build

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This commit is contained in:
matlabbe
2018-03-18 16:00:03 -04:00
parent f7e007018f
commit 548f0b6130
4 changed files with 7 additions and 6 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="69" android:versionCode="70"
android:versionName="@RTABMAP_VERSION@"> android:versionName="@RTABMAP_VERSION@">
<uses-permission android:name="android.permission.CAMERA" /> <uses-permission android:name="android.permission.CAMERA" />

2
app/android/jni/CameraTango.cpp
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@@ -891,7 +891,7 @@ SensorData CameraTango::captureImage(CameraInfo * info)
if(rawScanPublished_) if(rawScanPublished_)
{ {
data = SensorData(scan, LaserScanInfo(cloud.total()/scanDownsampling, 0, scanLocalTransform), rgb, depth, model, this->getNextSeqID(), rgbStamp); data = SensorData(LaserScan::backwardCompatibility(scan, cloud.total()/scanDownsampling, 0, scanLocalTransform), rgb, depth, model, this->getNextSeqID(), rgbStamp);
} }
else else
{ {

2
app/android/res/values/strings.xml
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@@ -79,7 +79,7 @@
<string name="pref_key_update_rate">pref_key_update_rate</string> <string name="pref_key_update_rate">pref_key_update_rate</string>
<string name="pref_default_update_rate">1</string> <string name="pref_default_update_rate">1</string>
<string name="pref_key_max_speed">pref_key_max_speed</string> <string name="pref_key_max_speed">pref_key_max_speed</string>
<string name="pref_default_max_speed">0.2</string> <string name="pref_default_max_speed">0</string>
<string name="pref_key_time_thr">pref_key_time_thr</string> <string name="pref_key_time_thr">pref_key_time_thr</string>
<string name="pref_default_time_thr">1000</string> <string name="pref_default_time_thr">1000</string>
<string name="pref_key_mem_thr">pref_key_mem_thr</string> <string name="pref_key_mem_thr">pref_key_mem_thr</string>

7
corelib/src/IMUThread.cpp
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@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/IMU.h" #include "rtabmap/core/IMU.h"
#include <rtabmap/utilite/UTimer.h> #include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/ULogger.h> #include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
namespace rtabmap namespace rtabmap
{ {
@@ -123,16 +124,16 @@ void IMUThread::mainLoop()
Eigen::Vector3d gyr; Eigen::Vector3d gyr;
for (int j = 0; j < 3; ++j) { for (int j = 0; j < 3; ++j) {
std::getline(stream, s, ','); std::getline(stream, s, ',');
gyr[j] = std::stof(s); gyr[j] = uStr2Double(s);
} }
Eigen::Vector3d acc; Eigen::Vector3d acc;
for (int j = 0; j < 3; ++j) { for (int j = 0; j < 3; ++j) {
std::getline(stream, s, ','); std::getline(stream, s, ',');
acc[j] = std::stof(s); acc[j] = uStr2Double(s);
} }
double stamp = double(std::stoi(seconds)) + double(std::stoi(nanoseconds))*1e-9; double stamp = double(uStr2Int(seconds)) + double(uStr2Int(nanoseconds))*1e-9;
if(previousStamp_>0 && stamp > previousStamp_) if(previousStamp_>0 && stamp > previousStamp_)
{ {
captureDelay_ = stamp - previousStamp_; captureDelay_ = stamp - previousStamp_;