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android: fixed g2o seg fault (CACHE_SE3_OFFSET not registered)

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matlabbe
2022-01-02 23:30:55 -05:00
parent f3ace6c86a
commit b2f13c2772
6 changed files with 110 additions and 36 deletions
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43
app/android/jni/RTABMapApp.cpp
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@@ -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__