From 656431a03f1c9156f9b8d29877f9cd188b606d3b Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sat, 9 Apr 2016 12:08:30 -0400
Subject: [PATCH] Tango: Fixed Mem/ImagePreDecimation when changing to/from
 720p mode

---
 app/android/AndroidManifest.xml.in | 2 +-
 app/android/jni/RTABMapApp.cpp     | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/app/android/AndroidManifest.xml.in b/app/android/AndroidManifest.xml.in
index 6c7d5032..21abeadf 100644
--- a/app/android/AndroidManifest.xml.in
+++ b/app/android/AndroidManifest.xml.in
@@ -2,7 +2,7 @@
 <!-- BEGIN_INCLUDE(manifest) -->
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
         package="com.introlab.rtabmap"
-        android:versionCode="4"
+        android:versionCode="5"
         android:versionName="@RTABMAP_VERSION@">
 
     <uses-permission android:name="android.permission.CAMERA" />
diff --git a/app/android/jni/RTABMapApp.cpp b/app/android/jni/RTABMapApp.cpp
index 277588d7..c37b598a 100644
--- a/app/android/jni/RTABMapApp.cpp
+++ b/app/android/jni/RTABMapApp.cpp
@@ -597,6 +597,9 @@ void RTABMapApp::setFullResolution(bool enabled)
 		{
 			camera_->setDecimation(fullResolution_?1:2);
 		}
+		rtabmap::ParametersMap parameters;
+		parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemImagePreDecimation(), std::string(fullResolution_?"2":"1")));
+		this->post(new rtabmap::ParamEvent(parameters));
 	}
 }