Added recovery feature to android

CMakeLists.txt

@@ -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

@@ -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
+JNIEXPORT bool JNICALL
-Java_com_introlab_rtabmap_RTABMapLib_openDatabase2(
+Java_com_introlab_rtabmap_RTABMapLib_recover(
-    JNIEnv* env, jclass, jlong native_application, jstring databaseSource, jstring databasePath, bool databaseInMemory, bool optimize)
+    JNIEnv* env, jclass, jlong native_application, jstring from, jstring to)
 {
 	if(native_application)
 	{
-		std::string databasePathC;
+		std::string toC;
-		GetJStringContent(env,databasePath,databasePathC);
+		GetJStringContent(env,to,toC);
-		std::string databaseSourceC;
+		std::string fromC;
-		GetJStringContent(env,databaseSource,databaseSourceC);
+		GetJStringContent(env,from,fromC);
-		return native(native_application)->openDatabase(databasePathC, databaseInMemory, optimize, databaseSourceC);
+		return native(native_application)->recover(fromC, toC);
 	}
 	else
 	{

app/android/res/values/strings.xml

@@ -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

@@ -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;
+		final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
-		RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false);
+		
-
+		File newFile = new File(tmpDatabase);
-		if(!(mState == State.STATE_CAMERA || mState ==State.STATE_MAPPING))
+		final int fileSizeMB = (int)newFile.length()/(1024 * 1024);
+		if(!(mState == State.STATE_CAMERA || mState ==State.STATE_MAPPING) &&
+			newFile.exists() && 
+			fileSizeMB>1) // >1MB
 		{
-			setCamera(1);
+			AlertDialog d2 = new AlertDialog.Builder(getActivity())
-			startCamera(String.format("Hold Tight! Initializing Camera Service...\n"
+					.setCancelable(false)
-					+ "Tip: If the camera is still drifting just after the mapping has started, do \"Reset\"."));
+					.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.openDatabase(nativeApplication, mOpenedDatabasePath, databaseInMemory, optimize, false);
-				final int status = RTABMapLib.openDatabase2(nativeApplication, mOpenedDatabasePath, tmpDatabase, databaseInMemory, optimize);
 
 				runOnUiThread(new Runnable() {
 					public void run() {

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

@@ -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 openDatabase(long nativeApplication, String databasePath, boolean databaseInMemory, boolean optimize, boolean clearDatabase);
-    public static native int openDatabase2(long nativeApplication, String databaseSource, String databasePath, boolean databaseInMemory, boolean optimize);
     
+    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

@@ -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

@@ -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

@@ -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

@@ -1,7 +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>