android: fixed g2o seg fault (CACHE_SE3_OFFSET not registered)

app/android/jni/RTABMapApp.cpp

@@ -83,6 +83,43 @@ static JavaVM *jvm;
 static jobject RTABMapActivity = 0;
 #endif
 
+#ifdef __ANDROID__
+#ifndef DISABLE_LOG
+//ref: https://codelab.wordpress.com/2014/11/03/how-to-use-standard-output-streams-for-logging-in-android-apps/
+static int pfd[2];
+static pthread_t thr;
+static void *thread_func(void*)
+{
+    ssize_t rdsz;
+    char buf[128];
+    while((rdsz = read(pfd[0], buf, sizeof buf - 1)) > 0) {
+        if(buf[rdsz - 1] == '\n') --rdsz;
+        buf[rdsz] = 0;  /* add null-terminator */
+        __android_log_write(ANDROID_LOG_DEBUG, LOG_TAG, buf);
+    }
+    return 0;
+}
+
+int start_logger()
+{
+    /* make stdout line-buffered and stderr unbuffered */
+    setvbuf(stdout, 0, _IOLBF, 0);
+    setvbuf(stderr, 0, _IONBF, 0);
+
+    /* create the pipe and redirect stdout and stderr */
+    pipe(pfd);
+    dup2(pfd[1], 1);
+    dup2(pfd[1], 2);
+
+    /* spawn the logging thread */
+    if(pthread_create(&thr, 0, thread_func, 0) == -1)
+        return -1;
+    pthread_detach(thr);
+    return 0;
+}
+#endif
+#endif
+
 rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
 {
 	rtabmap::ParametersMap parameters;
@@ -244,6 +281,12 @@ RTABMapApp::RTABMapApp() :
 
 	this->registerToEventsManager();
 	LOGI("RTABMapApp::RTABMapApp() end");
+
+#ifdef __ANDROID__
+#ifndef DISABLE_LOG
+	start_logger();
+#endif
+#endif
 }
 
 #ifndef __ANDROID__ // __APPLE__

app/android/src/com/introlab/rtabmap/RTABMapActivity.java

@@ -1986,6 +1986,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 				final int loopDetected = RTABMapLib.postProcessing(nativeApplication, -1);
 				runOnUiThread(new Runnable() {
 					public void run() {
+						updateState(State.STATE_IDLE);
 						if(mExportProgressDialog.isShowing())
 						{
 							mExportProgressDialog.dismiss();
@@ -2018,8 +2019,6 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 							mProgressDialog.dismiss();
 							mToast.makeText(getActivity(), String.format("Optimization canceled"), mToast.LENGTH_LONG).show();
 						}
-
-						updateState(State.STATE_IDLE);
 					}
 				});
 			}