0.20.12: iOS/android sync

app/ios/RTABMapApp.xcodeproj/project.pbxproj

@@ -981,7 +981,7 @@
 				CLANG_CXX_LIBRARY = "libc++";
 				CODE_SIGN_IDENTITY = "Apple Development";
 				CODE_SIGN_STYLE = Automatic;
-				CURRENT_PROJECT_VERSION = 6;
+				CURRENT_PROJECT_VERSION = 7;
 				DEFINES_MODULE = YES;
 				DEVELOPMENT_TEAM = 3RRB6NV8U9;
 				EXCLUDED_ARCHS = "";
@@ -1006,7 +1006,7 @@
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
 				);
-				MARKETING_VERSION = 0.20.11;
+				MARKETING_VERSION = 0.20.12;
 				OTHER_CFLAGS = "";
 				PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;
 				PRODUCT_NAME = "$(TARGET_NAME)";
@@ -1038,7 +1038,7 @@
 				CLANG_USE_OPTIMIZATION_PROFILE = NO;
 				CODE_SIGN_IDENTITY = "Apple Development";
 				CODE_SIGN_STYLE = Automatic;
-				CURRENT_PROJECT_VERSION = 6;
+				CURRENT_PROJECT_VERSION = 7;
 				DEFINES_MODULE = YES;
 				DEVELOPMENT_TEAM = 3RRB6NV8U9;
 				FRAMEWORK_SEARCH_PATHS = (
@@ -1063,7 +1063,7 @@
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
 				);
-				MARKETING_VERSION = 0.20.11;
+				MARKETING_VERSION = 0.20.12;
 				ONLY_ACTIVE_ARCH = YES;
 				OTHER_CFLAGS = "";
 				PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;

app/ios/RTABMapApp/RTABMap.swift

@@ -221,6 +221,11 @@ class RTABMap {
         postCameraPoseEventNative(native_rtabmap, pose[3,0], pose[3,1], pose[3,2], quat.x, quat.y, quat.z, quat.w)
     }
     
+    func notifyLost() {
+        // a null transform will make rtabmap creating a new session
+        postCameraPoseEventNative(native_rtabmap, 0,0,0,0,0,0,0)
+    }
+    
     func postOdometryEvent(frame: ARFrame, orientation: UIInterfaceOrientation, viewport: CGSize) {
         let pose = frame.camera.transform   // ViewMatrix
         let rotation = GLKMatrix3(

app/ios/RTABMapApp/ViewController.swift

@@ -953,7 +953,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
         case .normal:
             accept = true
         case .notAvailable:
-            status = ""
+            status = "Tracking not available"
         case .limited(.excessiveMotion):
             accept = true
             status = "Please Slow Your Movement"
@@ -965,12 +965,12 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
         case .limited(.relocalizing):
             status = "Relocalizing"
         default:
-            status = ""
+            status = "Unknown tracking state"
         }
         
         mLastLightEstimate = frame.lightEstimate?.ambientIntensity
         
-        if mLastLightEstimate != nil && mLastLightEstimate! < 100 && accept {
+        if !status.isEmpty && mLastLightEstimate != nil && mLastLightEstimate! < 100 && accept {
             status = "Camera Is Occluded Or Lighting Is Too Dark"
         }
 
@@ -981,6 +981,10 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
                 rtabmap?.postOdometryEvent(frame: frame, orientation: rotation, viewport: self.view.frame.size)
             }
         }
+        else
+        {
+            rtabmap?.notifyLost();
+        }
         
         if !status.isEmpty {
             DispatchQueue.main.async {

app/ios/Settings.bundle/Root.plist

@@ -462,7 +462,7 @@
 		</dict>
 		<dict>
 			<key>DefaultValue</key>
-			<string>0.20.11</string>
+			<string>0.20.12</string>
 			<key>Key</key>
 			<string>Version</string>
 			<key>Title</key>