0.14: added gps field to Node table in database (#226). Tango: saving gps if enabled, added Rename/Remove/Share on long click in Open dialog (fixed #233)

app/android/jni/CameraTango.cpp

@@ -116,7 +116,8 @@ CameraTango::CameraTango(bool colorCamera, int decimation, bool publishRawScan,
 		cloudStamp_(0),
 		tangoColorType_(0),
 		tangoColorStamp_(0),
-		colorCameraToDisplayRotation_(ROTATION_0)
+		colorCameraToDisplayRotation_(ROTATION_0),
+		lastKnownGPS_(std::vector<double>(6,0))
 {
 	UASSERT(decimation >= 1);
 }
@@ -189,6 +190,8 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
 {
 	close();
 
+	lastKnownGPS_ = std::vector<double>(6,0);
+
 	TangoSupport_initialize(TangoService_getPoseAtTime, TangoService_getCameraIntrinsics);
 
 	// Connect to Tango
@@ -513,6 +516,21 @@ std::string CameraTango::getSerial() const
 	return "Tango";
 }
 
+void CameraTango::setGPS(double stamp,
+	  		double longitude,
+	  		double latitude,
+	  		double altitude,
+	  		double accuracy,
+	  		double bearing)
+{
+	lastKnownGPS_[0] = stamp;
+	lastKnownGPS_[1] = longitude;
+	lastKnownGPS_[2] = latitude;
+	lastKnownGPS_[3] = altitude;
+	lastKnownGPS_[4] = accuracy;
+	lastKnownGPS_[5] = bearing;
+}
+
 rtabmap::Transform CameraTango::tangoPoseToTransform(const TangoPoseData * tangoPose) const
 {
 	UASSERT(tangoPose);
@@ -837,6 +855,15 @@ SensorData CameraTango::captureImage(CameraInfo * info)
 				data = SensorData(rgb, depth, model, this->getNextSeqID(), rgbStamp);
 			}
 			data.setGroundTruth(odom);
+
+			if(lastKnownGPS_[0] > 0.0 && rgbStamp-lastKnownGPS_[0]<2.0)
+			{
+				data.setGPS(lastKnownGPS_[0], lastKnownGPS_[1], lastKnownGPS_[2], lastKnownGPS_[3], lastKnownGPS_[4], lastKnownGPS_[5]);
+			}
+			else if(lastKnownGPS_[0]>0.0)
+			{
+				LOGD("GPS too old (current time=%f, gps time = %f)", rgbStamp, lastKnownGPS_[0]);
+			}
 		}
 		else
 		{

app/android/jni/CameraTango.h

@@ -89,6 +89,12 @@ public:
 	void setSmoothing(bool enabled) {smoothing_ = enabled;}
 	void setRawScanPublished(bool enabled) {rawScanPublished_ = enabled;}
 	void setScreenRotation(TangoSupportRotation colorCameraToDisplayRotation) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
+	void setGPS(double stamp,
+	  		double longitude,
+	  		double latitude,
+	  		double altitude,
+	  		double accuracy,
+	  		double bearing);
 
 	void cloudReceived(const cv::Mat & cloud, double timestamp);
 	void rgbReceived(const cv::Mat & tangoImage, int type, double timestamp);
@@ -126,6 +132,7 @@ private:
 	TangoSupportRotation colorCameraToDisplayRotation_;
 	cv::Mat fisheyeRectifyMapX_;
 	cv::Mat fisheyeRectifyMapY_;
+	std::vector<double> lastKnownGPS_;
 };
 
 } /* namespace rtabmap */

app/android/jni/RTABMapApp.cpp

@@ -1975,6 +1975,19 @@ int RTABMapApp::setMappingParameter(const std::string & key, const std::string &
 	}
 }
 
+void RTABMapApp::setGPS(double stamp,
+  		double longitude,
+  		double latitude,
+  		double altitude,
+  		double accuracy,
+  		double bearing)
+{
+	if(camera_)
+	{
+		camera_->setGPS(stamp, longitude, latitude, altitude, accuracy, bearing);
+	}
+}
+
 void RTABMapApp::resetMapping()
 {
 	LOGW("Reset!");

app/android/jni/RTABMapApp.h

@@ -147,6 +147,12 @@ class RTABMapApp : public UEventsHandler {
   void setRenderingTextureDecimation(int value);
   void setBackgroundColor(float gray);
   int setMappingParameter(const std::string & key, const std::string & value);
+  void setGPS(double stamp,
+  		double longitude,
+  		double latitude,
+  		double altitude,
+  		double accuracy,
+  		double bearing);
 
   void resetMapping();
   void save(const std::string & databasePath);

app/android/jni/jni_interface.cpp

@@ -339,6 +339,24 @@ Java_com_introlab_rtabmap_RTABMapLib_setMappingParameter(
 	return app.setMappingParameter(keyC, valueC);
 }
 
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setGPS(
+		JNIEnv*, jobject,
+		double stamp,
+		double longitude,
+		double latitude,
+		double altitude,
+		double accuracy,
+		double bearing)
+{
+	return app.setGPS(stamp,
+			longitude,
+			latitude,
+			altitude,
+			accuracy,
+			bearing);
+}
+
 JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_resetMapping(
 		JNIEnv*, jobject)