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Code Issues Packages Projects Releases Wiki Activity

Added recovery feature to android

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This commit is contained in:
matlabbe
2022-01-02 18:09:57 -05:00
parent 3147b4ab56
commit f3ace6c86a
9 changed files with 125 additions and 37 deletions
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CMakeLists.txt
+1 -1
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@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 20)
SET(RTABMAP_PATCH_VERSION 16)
SET(RTABMAP_PATCH_VERSION 17)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
app/android/jni/jni_interface.cpp
+10 -10
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@@ -89,13 +89,13 @@ Java_com_introlab_rtabmap_RTABMapLib_setScreenRotation(
JNIEXPORT int JNICALL
Java_com_introlab_rtabmap_RTABMapLib_openDatabase(
JNIEnv* env, jclass, jlong native_application, jstring databasePath, bool databaseInMemory, bool optimize)
JNIEnv* env, jclass, jlong native_application, jstring databasePath, bool databaseInMemory, bool optimize, bool clearDatabase)
{
std::string databasePathC;
GetJStringContent(env,databasePath,databasePathC);
if(native_application)
{
return native(native_application)->openDatabase(databasePathC, databaseInMemory, optimize);
return native(native_application)->openDatabase(databasePathC, databaseInMemory, optimize, clearDatabase);
}
else
{
@@ -104,17 +104,17 @@ Java_com_introlab_rtabmap_RTABMapLib_openDatabase(
}
}
JNIEXPORT int JNICALL
Java_com_introlab_rtabmap_RTABMapLib_openDatabase2(
JNIEnv* env, jclass, jlong native_application, jstring databaseSource, jstring databasePath, bool databaseInMemory, bool optimize)
JNIEXPORT bool JNICALL
Java_com_introlab_rtabmap_RTABMapLib_recover(
JNIEnv* env, jclass, jlong native_application, jstring from, jstring to)
{
if(native_application)
{
std::string databasePathC;
GetJStringContent(env,databasePath,databasePathC);
std::string databaseSourceC;
GetJStringContent(env,databaseSource,databaseSourceC);
return native(native_application)->openDatabase(databasePathC, databaseInMemory, optimize, databaseSourceC);
std::string toC;
GetJStringContent(env,to,toC);
std::string fromC;
GetJStringContent(env,from,fromC);
return native(native_application)->recover(fromC, toC);
}
else
{
app/android/res/values/strings.xml
+1 -1
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@@ -108,7 +108,7 @@
<string name="pref_key_features_type">pref_key_features_type</string>
<string name="pref_default_features_type">6</string>
<string name="pref_key_optimizer">pref_key_optimizer</string>
<string name="pref_default_optimizer">1</string>
<string name="pref_default_optimizer">2</string>
<string name="pref_key_optimize_end">pref_key_optimize_end</string>
<string name="pref_default_optimize_end">true</string>
<string name="pref_key_marker_detection">pref_key_marker_detection</string>
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+106 -19
View File
@@ -595,12 +595,6 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
{
Log.i(TAG, "postCreate()");
String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
(new File(tmpDatabase)).delete();
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false);
final String[] files = Util.loadFileList(mWorkingDirectory, true);
if(files.length == 0)
{
@@ -2626,7 +2620,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false);
RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false, true);
mItemLocalizationMode.setEnabled(!mItemDataRecorderMode.isChecked());
@@ -2780,16 +2774,110 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
mOpenedDatabasePath = "";
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false);
if(!(mState == State.STATE_CAMERA || mState ==State.STATE_MAPPING))
final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
File newFile = new File(tmpDatabase);
final int fileSizeMB = (int)newFile.length()/(1024 * 1024);
if(!(mState == State.STATE_CAMERA || mState ==State.STATE_MAPPING) &&
newFile.exists() &&
fileSizeMB>1) // >1MB
{
setCamera(1);
startCamera(String.format("Hold Tight! Initializing Camera Service...\n"
+ "Tip: If the camera is still drifting just after the mapping has started, do \"Reset\"."));
AlertDialog d2 = new AlertDialog.Builder(getActivity())
.setCancelable(false)
.setTitle("Recovery")
.setMessage(String.format("The previous session (%d MB) was not correctly saved, do you want to recover it?", fileSizeMB))
.setNegativeButton("Ignore", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
(new File(tmpDatabase)).delete();
newScan();
}
})
.setNeutralButton("Cancel", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
// do nothing
}
})
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
final String fileName = new SimpleDateFormat("yyMMdd-HHmmss").format(new Date()) + ".db";
final String outputDbPath = mWorkingDirectory + fileName;
mExportProgressDialog.setTitle("Recovering");
mExportProgressDialog.setMessage(String.format("Please wait while recovering data..."));
mExportProgressDialog.setProgress(0);
final State previousState = mState;
mExportProgressDialog.show();
updateState(State.STATE_PROCESSING);
Thread exportThread = new Thread(new Runnable() {
public void run() {
final long startTime = System.currentTimeMillis()/1000;
final boolean success = RTABMapLib.recover(
nativeApplication,
tmpDatabase,
outputDbPath);
runOnUiThread(new Runnable() {
public void run() {
if(mExportProgressDialog.isShowing())
{
if(success)
{
AlertDialog d2 = new AlertDialog.Builder(getActivity())
.setCancelable(false)
.setTitle("Database saved!")
.setMessage(String.format("Database \"%s\" (%d MB) successfully saved!", fileName, fileSizeMB))
.setPositiveButton("OK", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
openDatabase(fileName, false);
}
})
.create();
d2.setCanceledOnTouchOutside(true);
d2.show();
}
else
{
updateState(previousState);
mToast.makeText(getActivity(), String.format("Recovery failed!"), mToast.LENGTH_LONG).show();
}
mExportProgressDialog.dismiss();
}
else
{
mToast.makeText(getActivity(), String.format("Recovery canceled"), mToast.LENGTH_LONG).show();
updateState(previousState);
}
}
});
}
});
exportThread.start();
refreshSystemMediaScanDataBase(getActivity(), outputDbPath);
}
})
.create();
d2.setCanceledOnTouchOutside(false);
d2.show();
}
else
{
RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false, true);
if(!(mState == State.STATE_CAMERA || mState ==State.STATE_MAPPING))
{
setCamera(0);
startCamera(String.format("Hold Tight! Initializing Camera Service...\n"
+ "Tip: If the camera is still drifting just after the mapping has started, do \"Reset\"."));
}
}
}
private void openDatabase()
{
@@ -3280,7 +3368,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
AlertDialog d2 = new AlertDialog.Builder(getActivity())
.setCancelable(false)
.setTitle("Database saved!")
.setMessage(String.format("Database \"%s\" (%d MB) successfully saved on the SD-CARD!", newDatabasePathHuman, fileSizeMB))
.setMessage(String.format("Database \"%s\" (%d MB) successfully saved!", newDatabasePathHuman, fileSizeMB))
.setPositiveButton("OK", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
resetNoTouchTimer(true);
@@ -3371,7 +3459,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
{
Log.i(TAG, String.format("Write exported mesh to \"%s\"", fileName));
mProgressDialog.setTitle("Saving to sd-card");
mProgressDialog.setTitle("Exporting");
mProgressDialog.setMessage(String.format("Compressing the files..."));
mProgressDialog.show();
@@ -3443,7 +3531,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
AlertDialog d = new AlertDialog.Builder(getActivity())
.setCancelable(false)
.setTitle("Mesh Saved!")
.setMessage(String.format("Mesh \"%s\" (%d MB) successfully exported on the SD-CARD! Share it?", pathHuman, fileSizeMB))
.setMessage(String.format("Mesh \"%s\" (%d MB) successfully exported! Share it?", pathHuman, fileSizeMB))
.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
public void onClick(DialogInterface dialog, int which) {
// Send to...
@@ -3498,8 +3586,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
Thread openThread = new Thread(new Runnable() {
public void run() {
final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
final int status = RTABMapLib.openDatabase2(nativeApplication, mOpenedDatabasePath, tmpDatabase, databaseInMemory, optimize);
final int status = RTABMapLib.openDatabase(nativeApplication, mOpenedDatabasePath, databaseInMemory, optimize, false);
runOnUiThread(new Runnable() {
public void run() {
app/android/src/com/introlab/rtabmap/RTABMapLib.java
+3 -2
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@@ -34,9 +34,10 @@ public class RTABMapLib
public static native void setScreenRotation(long nativeApplication, int displayRotation, int cameraRotation);
public static native int openDatabase(long nativeApplication, String databasePath, boolean databaseInMemory, boolean optimize);
public static native int openDatabase2(long nativeApplication, String databaseSource, String databasePath, boolean databaseInMemory, boolean optimize);
public static native int openDatabase(long nativeApplication, String databasePath, boolean databaseInMemory, boolean optimize, boolean clearDatabase);
public static native boolean recover(long nativeApplication, String from, String to);
public static native boolean isBuiltWith(long nativeApplication, int cameraDriver);
public static native boolean startCamera(long nativeApplication, IBinder binder, Context context, Activity activity, int driver);
public static native void stopCamera(long nativeApplication);
app/ios/RTABMapApp.xcodeproj/project.pbxproj
+1 -1
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@@ -1006,7 +1006,7 @@
"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
);
MARKETING_VERSION = "0.20.16-2";
MARKETING_VERSION = "0.20.17";
OTHER_CFLAGS = "";
PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;
PRODUCT_NAME = "$(TARGET_NAME)";
app/ios/Settings.bundle/License.plist
+1 -1
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@@ -13,7 +13,7 @@
<string>
======= RTAB-Map =======
RTAB-Map - https://github.com/introlab/rtabmap
Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Universite de Sherbrooke, all rights reserved.
Copyright (c) 2010-2022, Mathieu Labbe - IntRoLab - Universite de Sherbrooke, all rights reserved.
Copyright (c) XXX, contributors, all rights reserved.
Redistribution and use in source and binary forms, with or without
app/ios/Settings.bundle/Root.plist
+1 -1
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@@ -454,7 +454,7 @@
</dict>
<dict>
<key>FooterText</key>
<string>Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Université de Sherbrooke. All rights reserved.</string>
<string>Copyright (c) 2010-2022, Mathieu Labbe - IntRoLab - Université de Sherbrooke. All rights reserved.</string>
<key>Title</key>
<string>About</string>
<key>Type</key>
package.xml
+1 -1
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package>
<name>rtabmap</name>
<version>0.20.16</version>
<version>0.20.17</version>
<description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>