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)

CMakeLists.txt

@@ -20,8 +20,8 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 # VERSION
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
-SET(RTABMAP_MINOR_VERSION 13)
+SET(RTABMAP_MINOR_VERSION 14)
-SET(RTABMAP_PATCH_VERSION 3)
+SET(RTABMAP_PATCH_VERSION 0)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
   

app/android/AndroidManifest.xml.in

@@ -12,6 +12,8 @@
     <uses-permission android:name="android.permission.ACCESS_SURFACE_FLINGER" />
     <uses-permission android:name="android.permission.INTERNET" />
     <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
+    <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
+    <uses-feature android:name="android.hardware.location.gps" />
     <uses-feature android:glEsVersion="0x00020000" />
 
     <!-- This is the platform API where NativeActivity was introduced. -->

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)

app/android/res/layout/activity_settings.xml

@@ -197,6 +197,11 @@
 		            android:title="@string/pref_title_raw_scan_saved"
 		            android:summary="@string/pref_summary_raw_scan_saved"
 		            android:defaultValue="@string/pref_default_raw_scan_saved"/>
+		        <SwitchPreference
+		            android:key="@string/pref_key_gps_saved"
+		            android:title="@string/pref_title_gps_saved"
+		            android:summary="@string/pref_summary_gps_saved"
+		            android:defaultValue="@string/pref_default_gps_saved"/>
 		        <SwitchPreference
 		            android:key="@string/pref_key_db_in_memory"
 		            android:title="@string/pref_title_db_in_memory"

app/android/res/values/strings.xml

@@ -34,6 +34,8 @@
     <string name="memory">"Used Memory (MB): "</string>
     <string name="hypothesis">"Hypothesis (%): "</string>
     <string name="fps">"FPS (rendering): "</string>
+    <string name="gps">"GPS (long,lat,alt,bearing,acc): "</string>
+    <string name="time">"Time: "</string>
     
     <!-- Preference keys: BEGIN -->
     <string name="pref_key_tags">pref_key_tags</string>
@@ -101,6 +103,8 @@
     <string name="pref_default_keep_all_db">true</string>
     <string name="pref_key_raw_scan_saved">pref_key_raw_scan_saved</string>
     <string name="pref_default_raw_scan_saved">false</string>
+    <string name="pref_key_gps_saved">pref_key_gps_saved</string>
+    <string name="pref_default_gps_saved">false</string>
     <string name="pref_key_db_in_memory">pref_key_db_in_memory</string>
     <string name="pref_default_db_in_memory">true</string>
     
@@ -339,6 +343,8 @@
     <string name="pref_summary_keep_all_db">Discarded frames while not moving are still saved in database. Useful to replay exactly the scanning on RTAB-Map Desktop.</string>
     <string name="pref_title_raw_scan_saved">Save Raw Scan</string>
     <string name="pref_summary_raw_scan_saved">Save raw point clouds in database.</string>
+    <string name="pref_title_gps_saved">Save GPS</string>
+    <string name="pref_summary_gps_saved">Save GPS in database.</string>
     <string name="pref_title_db_in_memory">Database In Memory</string>
     <string name="pref_summary_db_in_memory">The database is kept in RAM for fast access. Set to false to reduce RAM used at the cost of slower access. This parameter is applied on reset or when a database is opened.</string>
 

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

@@ -33,6 +33,7 @@ import android.app.ProgressDialog;
 import android.content.ComponentName;
 import android.content.Context;
 import android.content.DialogInterface;
+import android.content.DialogInterface.OnShowListener;
 import android.content.Intent;
 import android.content.ServiceConnection;
 import android.content.SharedPreferences;
@@ -50,8 +51,15 @@ import android.graphics.Paint;
 import android.graphics.Rect;
 import android.graphics.Typeface;
 import android.hardware.Camera;
+import android.hardware.Sensor;
+import android.hardware.SensorEvent;
+import android.hardware.SensorEventListener;
+import android.hardware.SensorManager;
 import android.graphics.Point;
 import android.hardware.display.DisplayManager;
+import android.location.Location;
+import android.location.LocationListener;
+import android.location.LocationManager;
 import android.net.ConnectivityManager;
 import android.net.NetworkInfo;
 import android.net.Uri;
@@ -74,15 +82,19 @@ import android.text.method.LinkMovementMethod;
 import android.text.util.Linkify;
 import android.util.Log;
 import android.util.TypedValue;
+import android.view.ContextMenu;
 import android.view.Display;
 import android.view.GestureDetector;
 import android.view.Menu;
 import android.view.MenuItem;
+import android.view.MenuItem.OnMenuItemClickListener;
 import android.view.MenuInflater;
 import android.view.MotionEvent;
 import android.view.Surface;
 import android.view.View;
+import android.view.ContextMenu.ContextMenuInfo;
 import android.view.View.OnClickListener;
+import android.view.View.OnCreateContextMenuListener;
 import android.view.View.OnTouchListener;
 import android.view.Window;
 import android.view.WindowManager;
@@ -90,11 +102,13 @@ import android.view.inputmethod.EditorInfo;
 import android.webkit.WebView;
 import android.webkit.WebViewClient;
 import android.widget.AdapterView;
+import android.widget.AdapterView.OnItemLongClickListener;
 import android.widget.AdapterView.OnItemSelectedListener;
 import android.widget.ArrayAdapter;
 import android.widget.Button;
 import android.widget.EditText;
 import android.widget.LinearLayout;
+import android.widget.ListView;
 import android.widget.NumberPicker;
 import android.widget.RelativeLayout;
 import android.widget.SeekBar;
@@ -108,7 +122,7 @@ import com.google.atap.tangoservice.Tango;
 
 // The main activity of the application. This activity shows debug information
 // and a glSurfaceView that renders graphic content.
-public class RTABMapActivity extends Activity implements OnClickListener, OnItemSelectedListener {
+public class RTABMapActivity extends Activity implements OnClickListener, OnItemSelectedListener, SensorEventListener {
 
 	// Tag for debug logging.
 	public static final String TAG = RTABMapActivity.class.getSimpleName();
@@ -206,6 +220,12 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 	private String mLoopThr;
 	private String mMinInliers;
 	private String mMaxOptimizationError;
+	
+	private LocationManager mLocationManager;
+	private LocationListener mLocationListener;
+	private Location mLastKnownLocation;
+	private SensorManager mSensorManager;
+	private float mCompassDeg = 0.0f;
 
 	private int mTotalLoopClosures = 0;
 	private boolean mMapIsEmpty = false;
@@ -454,30 +474,69 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 		RTABMapLib.openDatabase(tmpDatabase, databaseInMemory, false);
 
 		DisplayManager displayManager = (DisplayManager) getSystemService(DISPLAY_SERVICE);
-        if (displayManager != null) {
+		if (displayManager != null) {
-            displayManager.registerDisplayListener(new DisplayManager.DisplayListener() {
+			displayManager.registerDisplayListener(new DisplayManager.DisplayListener() {
-                @Override
+				@Override
-                public void onDisplayAdded(int displayId) {
+				public void onDisplayAdded(int displayId) {
 
-                }
+				}
 
-                @Override
+				@Override
-                public void onDisplayChanged(int displayId) {
+				public void onDisplayChanged(int displayId) {
-                    synchronized (this) {
+					synchronized (this) {
-                        setAndroidOrientation();
+						setAndroidOrientation();
-                        Display display = getWindowManager().getDefaultDisplay();
+						Display display = getWindowManager().getDefaultDisplay();
-                        display.getSize(mScreenSize);
+						display.getSize(mScreenSize);
-                    }
+					}
-                }
+				}
 
-                @Override
+				@Override
-                public void onDisplayRemoved(int displayId) {}
+				public void onDisplayRemoved(int displayId) {}
-            }, null);
+			}, null);
-        }
+		}
-                
+
-       	DISABLE_LOG =  !( 0 != ( getApplicationInfo().flags & ApplicationInfo.FLAG_DEBUGGABLE ) );
+		// Acquire a reference to the system Location Manager
+		mLocationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
+
+		// Define a listener that responds to location updates
+		mLocationListener = new LocationListener() {
+			public void onLocationChanged(Location location) {
+				mLastKnownLocation = location;
+				double stamp = location.getTime()/1000.0;
+				if(!DISABLE_LOG) Log.d(TAG, String.format("GPS received at %f (%d)", stamp, location.getTime()));
+				RTABMapLib.setGPS(
+						stamp,
+						(double)location.getLongitude(), 
+						(double)location.getLatitude(), 
+						(double)location.getAltitude(),  
+						(double)location.getAccuracy(),
+						(double)mCompassDeg);
+			}
+
+			public void onStatusChanged(String provider, int status, Bundle extras) {}
+
+			public void onProviderEnabled(String provider) {}
+
+			public void onProviderDisabled(String provider) {}
+		};
+
+		mSensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);
+
+		DISABLE_LOG =  !( 0 != ( getApplicationInfo().flags & ApplicationInfo.FLAG_DEBUGGABLE ) );
 	}
 
+	@Override
+	public void onSensorChanged(SensorEvent event) {
+		// get the angle around the z-axis rotated
+		mCompassDeg = event.values[0];
+	}
+
+	@Override
+	public void onAccuracyChanged(Sensor sensor, int accuracy) {
+		// not in use
+	}
+
+
 	public int getStatusBarHeight() {
 		int result = 0;
 		int resourceId = getResources().getIdentifier("status_bar_height", "dimen", "android");
@@ -580,6 +639,10 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 		if(!DISABLE_LOG) Log.i(TAG, "onPause()");
 		mOnPause = true;
 		
+		mLocationManager.removeUpdates(mLocationListener);
+		mSensorManager.unregisterListener(this);
+
+		
 		// This deletes OpenGL context!
 		mGLView.onPause();
 
@@ -619,9 +682,8 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 		}
 		mProgressDialog.show();
 		mOnPause = false;
-		
 		setAndroidOrientation();
-
+		
 		// update preferences
 		try
 		{
@@ -640,6 +702,12 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 			boolean keepAllDb = sharedPref.getBoolean(getString(R.string.pref_key_keep_all_db), Boolean.parseBoolean(getString(R.string.pref_default_keep_all_db)));
 			boolean optimizeFromGraphEnd = sharedPref.getBoolean(getString(R.string.pref_key_optimize_end), Boolean.parseBoolean(getString(R.string.pref_default_optimize_end)));
 			String optimizer = sharedPref.getString(getString(R.string.pref_key_optimizer), getString(R.string.pref_default_optimizer));
+			boolean gpsSaved = sharedPref.getBoolean(getString(R.string.pref_key_gps_saved), Boolean.parseBoolean(getString(R.string.pref_default_gps_saved)));
+			if(gpsSaved)
+			{
+				mLocationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 0, 0, mLocationListener);
+				mSensorManager.registerListener(this, mSensorManager.getDefaultSensor(Sensor.TYPE_ORIENTATION), SensorManager.SENSOR_DELAY_GAME);
+			}
 			
 			if(!DISABLE_LOG) Log.d(TAG, "set mapping parameters");
 			RTABMapLib.setOnlineBlending(sharedPref.getBoolean(getString(R.string.pref_key_blending), Boolean.parseBoolean(getString(R.string.pref_default_blending))));
@@ -1065,7 +1133,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 	{
 		if(!DISABLE_LOG) Log.i(TAG, String.format("updateStatsCallback()"));
 
-		final String[] statusTexts = new String[16];
+		final String[] statusTexts = new String[17];
 		if(mButtonPause!=null && !mButtonPause.isChecked())
 		{
 			String updateValue = mUpdateRate.compareTo("0")==0?"Max":mUpdateRate;
@@ -1101,8 +1169,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 			statusTexts[1] = mStatusTexts[1];
 		}
 		statusTexts[2] = getString(R.string.free_memory)+getFreeMemory();
-	
+			
-		
 		if(loopClosureId > 0)
 		{
 			++mTotalLoopClosures;
@@ -1110,7 +1177,29 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 		
 		mMapNodes = nodes;
 		
-		int index = 4;
+		if(mLastKnownLocation != null)
+		{
+			long millisec = System.currentTimeMillis() - mLastKnownLocation.getTime();
+			if(millisec > 2000)
+			{
+				statusTexts[3] = getString(R.string.gps)+String.format("[too old, %d ms]", millisec); 
+			}
+			else
+			{
+				statusTexts[3] = getString(R.string.gps)+
+						String.format("%.2f %.2f %.2fm %.0fdeg %.0fm", 
+								mLastKnownLocation.getLongitude(), 
+								mLastKnownLocation.getLatitude(), 
+								mLastKnownLocation.getAltitude(), 
+								mCompassDeg, 
+								mLastKnownLocation.getAccuracy());
+			}
+		}
+		
+		String formattedDate = new SimpleDateFormat("HH:mm:ss.SSS").format(new Date());
+		statusTexts[4] = getString(R.string.time)+formattedDate;
+		
+		int index = 5;
 		statusTexts[index++] = getString(R.string.nodes)+nodes+" (" + nodesDrawn + " shown)";
 		statusTexts[index++] = getString(R.string.words)+words;
 		statusTexts[index++] = getString(R.string.database_size)+databaseMemoryUsed;
@@ -1123,7 +1212,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 		statusTexts[index++] = getString(R.string.inliers)+inliers;
 		statusTexts[index++] = getString(R.string.hypothesis)+(int)(hypothesis*100.0f) +" / " + (int)(Float.parseFloat(mLoopThr)*100.0f) + " (" + (loopClosureId>0?loopClosureId:highestHypId)+")";
 		statusTexts[index++] = getString(R.string.fps)+(int)fps+" Hz";
-	
+			
 		runOnUiThread(new Runnable() {
 				public void run() {
 					updateStatsUI(adjustedMemoryUsed, loopClosureId, inliers, matches, rejected, optimizationMaxError, statusTexts);
@@ -1489,7 +1578,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 			
 			mMapIsEmpty = false;
 			mDateOnPause = new Date();
-
+			
 			long memoryFree = getFreeMemory();
 			if(!mOnPause && !mItemLocalizationMode.isChecked() && !mItemDataRecorderMode.isChecked() && memoryFree >= 100 && mMapNodes>2)
 			{
@@ -1943,54 +2032,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 		}
 		else if(itemId == R.id.open)
 		{
-			final String[] files = Util.loadFileList(mWorkingDirectory, true);
+			openDatabase();
-			if(files.length > 0)
-			{
-				String[] filesWithSize = new String[files.length];
-				for(int i = 0; i<filesWithSize.length; ++i)
-				{
-					File filePath = new File(mWorkingDirectory+files[i]);
-					long mb = filePath.length()/(1024*1024);
-					filesWithSize[i] = files[i] + " ("+mb+" MB)";
-				}
-				
-				ArrayList<HashMap<String, String> > arrayList = new ArrayList<HashMap<String, String> >();
-		        for (int i = 0; i < filesWithSize.length; i++) {
-		            HashMap<String, String> hashMap = new HashMap<String, String>();//create a hashmap to store the data in key value pair
-		            hashMap.put("name", filesWithSize[i]);
-		            hashMap.put("path", mWorkingDirectory + files[i]);
-		            arrayList.add(hashMap);//add the hashmap into arrayList
-		        }
-		        String[] from = {"name", "path"};//string array
-		        int[] to = {R.id.textView, R.id.imageView};//int array of views id's
-		        DatabaseListArrayAdapter simpleAdapter = new DatabaseListArrayAdapter(this, arrayList, R.layout.database_list, from, to);//Create object and set the parameters for simpleAdapter
-
-				AlertDialog.Builder builder = new AlertDialog.Builder(this);
-				builder.setTitle("Choose Your File (*.db)");
-				builder.setAdapter(simpleAdapter, new DialogInterface.OnClickListener() {
-				//builder.setItems(filesWithSize, new DialogInterface.OnClickListener() {
-					public void onClick(DialogInterface dialog, final int which) {
-												
-						// Adjust color now?
-						new AlertDialog.Builder(getActivity())
-						.setTitle("Opening database...")
-						.setMessage("Do you want to adjust colors now?\nThis can be done later under Optimize menu.")
-						.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
-							public void onClick(DialogInterface dialog, int whichIn) {
-								openDatabase(files[which], true);
-							}
-						})
-						.setNeutralButton("No", new DialogInterface.OnClickListener() {
-							public void onClick(DialogInterface dialog, int whichIn) {
-								openDatabase(files[which], false);
-							}
-						})
-						.show();
-						return;
-					}
-				});
-				builder.show();
-			}   	
 		}
 		else if(itemId == R.id.settings)
 		{
@@ -2008,6 +2050,170 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 		return true;
 	}
 	
+	private void openDatabase()
+	{
+		final String[] files = Util.loadFileList(mWorkingDirectory, true);
+		if(files.length > 0)
+		{
+			String[] filesWithSize = new String[files.length];
+			for(int i = 0; i<filesWithSize.length; ++i)
+			{
+				File filePath = new File(mWorkingDirectory+files[i]);
+				long mb = filePath.length()/(1024*1024);
+				filesWithSize[i] = files[i] + " ("+mb+" MB)";
+			}
+			
+			ArrayList<HashMap<String, String> > arrayList = new ArrayList<HashMap<String, String> >();
+	        for (int i = 0; i < filesWithSize.length; i++) {
+	            HashMap<String, String> hashMap = new HashMap<String, String>();//create a hashmap to store the data in key value pair
+	            hashMap.put("name", filesWithSize[i]);
+	            hashMap.put("path", mWorkingDirectory + files[i]);
+	            arrayList.add(hashMap);//add the hashmap into arrayList
+	        }
+	        String[] from = {"name", "path"};//string array
+	        int[] to = {R.id.textView, R.id.imageView};//int array of views id's
+	        DatabaseListArrayAdapter simpleAdapter = new DatabaseListArrayAdapter(this, arrayList, R.layout.database_list, from, to);//Create object and set the parameters for simpleAdapter
+
+			AlertDialog.Builder builder = new AlertDialog.Builder(this);
+			builder.setTitle("Choose Your File (*.db)");
+			builder.setAdapter(simpleAdapter, new DialogInterface.OnClickListener() {
+			//builder.setItems(filesWithSize, new DialogInterface.OnClickListener() {
+				public void onClick(DialogInterface dialog, final int which) {
+											
+					// Adjust color now?
+					new AlertDialog.Builder(getActivity())
+					.setTitle("Opening database...")
+					.setMessage("Do you want to adjust colors now?\nThis can be done later under Optimize menu.")
+					.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
+						public void onClick(DialogInterface dialog, int whichIn) {
+							openDatabase(files[which], true);
+						}
+					})
+					.setNeutralButton("No", new DialogInterface.OnClickListener() {
+						public void onClick(DialogInterface dialog, int whichIn) {
+							openDatabase(files[which], false);
+						}
+					})
+					.show();
+					return;
+				}
+			});
+
+			final AlertDialog ad = builder.create(); //don't show dialog yet
+			ad.setOnShowListener(new OnShowListener() 
+			{   			
+				@Override
+				public void onShow(DialogInterface dialog) 
+				{       
+					ListView lv = ad.getListView(); 
+					ad.registerForContextMenu(lv);
+					lv.setOnCreateContextMenuListener(new OnCreateContextMenuListener() {
+
+						@Override
+						public void onCreateContextMenu(ContextMenu menu, View v, ContextMenuInfo menuInfo) {
+
+							if (v.getId()==ad.getListView().getId()) {
+								AdapterView.AdapterContextMenuInfo info = (AdapterView.AdapterContextMenuInfo)menuInfo;
+								final int position = info.position;
+								menu.setHeaderTitle(files[position]);
+								menu.add(Menu.NONE, 0, 0, "Rename").setOnMenuItemClickListener(new OnMenuItemClickListener() {
+									@Override
+									public boolean onMenuItemClick(MenuItem item) {
+										AlertDialog.Builder builderRename = new AlertDialog.Builder(getActivity());
+										builderRename.setTitle("RTAB-Map Database Name (*.db):");
+										final EditText input = new EditText(getActivity());
+										input.setInputType(InputType.TYPE_CLASS_TEXT); 
+										input.setText("");
+										input.setImeOptions(EditorInfo.IME_FLAG_NO_EXTRACT_UI);
+										input.setSelectAllOnFocus(true);
+										input.selectAll();
+										builderRename.setView(input);
+										builderRename.setPositiveButton("OK", new DialogInterface.OnClickListener() {
+											@Override
+											public void onClick(DialogInterface dialog, int which)
+											{
+												final String fileName = input.getText().toString();  
+												dialog.dismiss();
+												if(!fileName.isEmpty())
+												{
+													File newFile = new File(mWorkingDirectory + fileName + ".db");
+													if(newFile.exists())
+													{
+														new AlertDialog.Builder(getActivity())
+														.setTitle("File Already Exists")
+														.setMessage(String.format("Name %s already used, choose another name.", fileName))
+														.show();
+													}
+													else
+													{
+														File from = new File(mWorkingDirectory, files[position]);
+												        File to   = new File(mWorkingDirectory, fileName + ".db");
+												        from.renameTo(to);
+												        ad.dismiss();
+												        resetNoTouchTimer(true);
+													}
+												}
+											}
+										});
+										AlertDialog alertToShow = builderRename.create();
+										alertToShow.getWindow().setSoftInputMode(WindowManager.LayoutParams.SOFT_INPUT_STATE_VISIBLE);
+										alertToShow.show();
+										return true;
+									}
+								});
+								menu.add(Menu.NONE, 1, 1, "Delete").setOnMenuItemClickListener(new OnMenuItemClickListener() {
+									@Override
+									public boolean onMenuItemClick(MenuItem item) {
+										DialogInterface.OnClickListener dialogClickListener = new DialogInterface.OnClickListener() {
+										    @Override
+										    public void onClick(DialogInterface dialog, int which) {
+										        switch (which){
+										        case DialogInterface.BUTTON_POSITIVE:
+										        	Log.e(TAG, String.format("Yes delete %s!", files[position]));
+										        	(new File(mWorkingDirectory+files[position])).delete();
+										        	ad.dismiss();
+										        	resetNoTouchTimer(true);
+										            break;
+
+										        case DialogInterface.BUTTON_NEGATIVE:
+										            //No button clicked
+										            break;
+										        }
+										    }
+										};
+										AlertDialog.Builder builder = new AlertDialog.Builder(getActivity());
+										builder.setTitle(String.format("Delete %s", files[position]))
+										    .setMessage("Are you sure?")
+										    .setPositiveButton("Yes", dialogClickListener)
+										    .setNegativeButton("No", dialogClickListener).show();
+										return true;
+									}
+								});
+								menu.add(Menu.NONE, 2, 2, "Share").setOnMenuItemClickListener(new OnMenuItemClickListener() {
+									@Override
+									public boolean onMenuItemClick(MenuItem item) {
+										// Send to...
+										File f = new File(mWorkingDirectory+files[position]);
+										final int fileSizeMB = (int)f.length()/(1024 * 1024);
+										Intent shareIntent = new Intent();
+										shareIntent.setAction(Intent.ACTION_SEND);
+										shareIntent.putExtra(Intent.EXTRA_STREAM, Uri.fromFile(f));
+										shareIntent.setType("application/octet-stream");
+										startActivity(Intent.createChooser(shareIntent, String.format("Sharing database \"%s\" (%d MB)...", files[position], fileSizeMB)));
+										ad.dismiss();
+							        	resetNoTouchTimer(true);
+										return true;
+									}
+								});
+							}
+						}							
+					});
+				}
+			});
+			ad.show();
+		}   	
+	}
+	
 	private void export(final boolean isOBJ, final boolean meshing, final boolean regenerateCloud, final boolean optimized, final int optimizedMaxPolygons)
 	{
 		final String extension = isOBJ? ".obj" : ".ply";
@@ -2211,8 +2417,6 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 							msg = String.format("Database saved to \"%s\".", newDatabasePathHuman);	
 						}
 						
-						mToast.makeText(getActivity(), msg, mToast.LENGTH_LONG).show();
-						
 						// build notification
 						Intent intent = new Intent(getActivity(), RTABMapActivity.class);
 						// use System.currentTimeMillis() to have a unique ID for the pending intent
@@ -2232,6 +2436,15 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 
 						notificationManager.notify(0, n);
 						
+						// Send to...
+						File f = new File(newDatabasePath);
+						final int fileSizeMB = (int)f.length()/(1024 * 1024);
+						Intent shareIntent = new Intent();
+						shareIntent.setAction(Intent.ACTION_SEND);
+						shareIntent.putExtra(Intent.EXTRA_STREAM, Uri.fromFile(f));
+						shareIntent.setType("application/octet-stream");
+						startActivity(Intent.createChooser(shareIntent, String.format("Database \"%s\" (%d MB) successfully saved on the SD-CARD! Share it?", newDatabasePathHuman, fileSizeMB)));
+						
 						resetNoTouchTimer(true);
 						if(!mItemDataRecorderMode.isChecked())
 						{
@@ -2385,11 +2598,13 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 							mProgressDialog.dismiss();
 							
 							// Send to...
+							File f = new File(zipOutput);
+							final int fileSizeMB = (int)f.length()/(1024 * 1024);
 							Intent shareIntent = new Intent();
 							shareIntent.setAction(Intent.ACTION_SEND);
-							shareIntent.putExtra(Intent.EXTRA_STREAM, Uri.fromFile(new File(zipOutput)));
+							shareIntent.putExtra(Intent.EXTRA_STREAM, Uri.fromFile(f));
 							shareIntent.setType("application/zip");
-							startActivity(Intent.createChooser(shareIntent, String.format("Mesh \"%s\" successfully exported! Share it?", pathHuman)));
+							startActivity(Intent.createChooser(shareIntent, String.format("Mesh \"%s\" (%d MB) successfully exported on the SD-CARD! Share it?", pathHuman, fileSizeMB)));
 														
 							resetNoTouchTimer(true);
 						}

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

@@ -92,6 +92,13 @@ public class RTABMapLib
     public static native void setRenderingTextureDecimation(int value);
     public static native void setBackgroundColor(float gray);
     public static native int setMappingParameter(String key, String value);
+    public static native void setGPS(
+			double stamp,
+			double longitude, 
+			double latitude, 
+			double altitude,  
+			double accuracy,
+			double bearing);
 
     public static native void resetMapping();
     public static native void save(String outputDatabasePath);

corelib/include/rtabmap/core/DBDriver.h

@@ -159,7 +159,7 @@ public:
 	void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
 	bool getCalibration(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const;
 	bool getLaserScanInfo(int signatureId, LaserScanInfo & info) const;
-	bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity) const;
+	bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, std::vector<double> & gps) const;
 	void loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
 	void getWeight(int signatureId, int & weight) const;
 	void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false) const;
@@ -253,7 +253,7 @@ private:
 	virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const = 0;
 	virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const = 0;
 	virtual bool getLaserScanInfoQuery(int signatureId, LaserScanInfo & info) const = 0;
-	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity) const = 0;
+	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, std::vector<double> & gps) const = 0;
 	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const = 0;
 	virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks) const = 0;
 	virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;

corelib/include/rtabmap/core/Memory.h

@@ -177,6 +177,7 @@ public:
 			double & stamp,
 			Transform & groundTruth,
 			std::vector<float> & velocity,
+			std::vector<double> & gps,
 			bool lookInDatabase = false) const;
 	cv::Mat getImageCompressed(int signatureId) const;
 	SensorData getNodeData(int nodeId, bool uncompressedData = false) const;

corelib/include/rtabmap/core/SensorData.h

@@ -225,6 +225,18 @@ public:
 	const Transform & globalPose() const {return globalPose_;}
 	const cv::Mat & globalPoseCovariance() const {return globalPoseCovariance_;}
 
+	void setGPS(double stamp, double longitude, double latitude, double altitude, double accuracy, double bearing)
+	{
+		gps_ = std::vector<double>(6,0.0);
+		gps_[0]=stamp;
+		gps_[1]=longitude;
+		gps_[2]=latitude;
+		gps_[3]=altitude;
+		gps_[4]=accuracy;
+		gps_[5]=bearing;
+	}
+	const std::vector<double> & gps() const {return gps_;}
+
 	long getMemoryUsed() const; // Return memory usage in Bytes
 
 private:
@@ -265,6 +277,8 @@ private:
 
 	Transform globalPose_;
 	cv::Mat globalPoseCovariance_; // 6x6 double
+
+	std::vector<double> gps_;
 };
 
 }

corelib/src/DBDriver.cpp

@@ -712,7 +712,8 @@ bool DBDriver::getNodeInfo(
 		std::string & label,
 		double & stamp,
 		Transform & groundTruthPose,
-		std::vector<float> & velocity) const
+		std::vector<float> & velocity,
+		std::vector<double> & gps) const
 {
 	bool found = false;
 	// look in the trash
@@ -725,6 +726,7 @@ bool DBDriver::getNodeInfo(
 		label = _trashSignatures.at(signatureId)->getLabel();
 		stamp = _trashSignatures.at(signatureId)->getStamp();
 		groundTruthPose = _trashSignatures.at(signatureId)->getGroundTruthPose();
+		gps = _trashSignatures.at(signatureId)->sensorData().gps();
 		found = true;
 	}
 	_trashesMutex.unlock();
@@ -732,7 +734,7 @@ bool DBDriver::getNodeInfo(
 	if(!found)
 	{
 		_dbSafeAccessMutex.lock();
-		found = this->getNodeInfoQuery(signatureId, pose, mapId, weight, label, stamp, groundTruthPose, velocity);
+		found = this->getNodeInfoQuery(signatureId, pose, mapId, weight, label, stamp, groundTruthPose, velocity, gps);
 		_dbSafeAccessMutex.unlock();
 	}
 	return found;

corelib/src/DBDriverSqlite3.cpp

@@ -497,7 +497,11 @@ long DBDriverSqlite3::getNodesMemoryUsedQuery() const
 	if(_ppDb)
 	{
 		std::string query;
-		if(uStrNumCmp(_version, "0.13.0") >= 0)
+		if(uStrNumCmp(_version, "0.14.0") >= 0)
+		{
+			query = "SELECT sum(length(id) + length(map_id) + length(weight) + length(pose) + length(stamp) + ifnull(length(label),0) + length(ground_truth_pose) + ifnull(length(velocity),0) + ifnull(length(gps),0) + length(time_enter)) from Node;";
+		}
+		else if(uStrNumCmp(_version, "0.13.0") >= 0)
 		{
 			query = "SELECT sum(length(id) + length(map_id) + length(weight) + length(pose) + length(stamp) + ifnull(length(label),0) + length(ground_truth_pose) + ifnull(length(velocity),0) + length(time_enter)) from Node;";
 		}
@@ -1751,7 +1755,8 @@ bool DBDriverSqlite3::getNodeInfoQuery(int signatureId,
 		std::string & label,
 		double & stamp,
 		Transform & groundTruthPose,
-		std::vector<float> & velocity) const
+		std::vector<float> & velocity,
+		std::vector<double> & gps) const
 {
 	bool found = false;
 	if(_ppDb && signatureId)
@@ -1760,7 +1765,14 @@ bool DBDriverSqlite3::getNodeInfoQuery(int signatureId,
 		sqlite3_stmt * ppStmt = 0;
 		std::stringstream query;
 
-		if(uStrNumCmp(_version, "0.13.0") >= 0)
+		if(uStrNumCmp(_version, "0.14.0") >= 0)
+		{
+			query << "SELECT pose, map_id, weight, label, stamp, ground_truth_pose, velocity, gps "
+					 "FROM Node "
+					 "WHERE id = " << signatureId <<
+					 ";";
+		}
+		else if(uStrNumCmp(_version, "0.13.0") >= 0)
 		{
 			query << "SELECT pose, map_id, weight, label, stamp, ground_truth_pose, velocity "
 					 "FROM Node "
@@ -1839,6 +1851,17 @@ bool DBDriverSqlite3::getNodeInfoQuery(int signatureId,
 							memcpy(velocity.data(), data, dataSize);
 						}
 					}
+
+					if(uStrNumCmp(_version, "0.14.0") >= 0)
+					{
+						gps.resize(6,0);
+						data = sqlite3_column_blob(ppStmt, index); // velocity
+						dataSize = sqlite3_column_bytes(ppStmt, index++);
+						if((unsigned int)dataSize == gps.size()*sizeof(double) && data)
+						{
+							memcpy(gps.data(), data, dataSize);
+						}
+					}
 				}
 			}
 
@@ -2239,7 +2262,13 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 		unsigned int loaded = 0;
 
 		// Load nodes information
-		if(uStrNumCmp(_version, "0.13.0") >= 0)
+		if(uStrNumCmp(_version, "0.14.0") >= 0)
+		{
+			query << "SELECT id, map_id, weight, pose, stamp, label, ground_truth_pose, velocity, gps "
+				  << "FROM Node "
+				  << "WHERE id=?;";
+		}
+		else if(uStrNumCmp(_version, "0.13.0") >= 0)
 		{
 			query << "SELECT id, map_id, weight, pose, stamp, label, ground_truth_pose, velocity "
 				  << "FROM Node "
@@ -2281,6 +2310,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 			Transform pose;
 			Transform groundTruthPose;
 			std::vector<float> velocity;
+			std::vector<double> gps;
 			const void * data = 0;
 			int dataSize = 0;
 			std::string label;
@@ -2329,6 +2359,17 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 								memcpy(velocity.data(), data, dataSize);
 							}
 						}
+
+						if(uStrNumCmp(_version, "0.14.0") >= 0)
+						{
+							gps.resize(6,0);
+							data = sqlite3_column_blob(ppStmt, index); // gps
+							dataSize = sqlite3_column_bytes(ppStmt, index++);
+							if((unsigned int)dataSize == gps.size()*sizeof(double) && data)
+							{
+								memcpy(gps.data(), data, dataSize);
+							}
+						}
 					}
 				}
 
@@ -2352,6 +2393,10 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 				{
 					s->setVelocity(velocity[0], velocity[1], velocity[2], velocity[3], velocity[4], velocity[5]);
 				}
+				if(gps.size() == 6)
+				{
+					s->sensorData().setGPS(gps[0], gps[1], gps[2], gps[3], gps[4], gps[5]);
+				}
 				s->setSaved(true);
 				nodes.push_back(s);
 				++loaded;
@@ -4213,7 +4258,11 @@ cv::Mat DBDriverSqlite3::loadOptimizedMeshQuery(
 
 std::string DBDriverSqlite3::queryStepNode() const
 {
-	if(uStrNumCmp(_version, "0.13.0") >= 0)
+	if(uStrNumCmp(_version, "0.14.0") >= 0)
+	{
+		return "INSERT INTO Node(id, map_id, weight, pose, stamp, label, ground_truth_pose, velocity, gps) VALUES(?,?,?,?,?,?,?,?,?);";
+	}
+	else if(uStrNumCmp(_version, "0.13.0") >= 0)
 	{
 		return "INSERT INTO Node(id, map_id, weight, pose, stamp, label, ground_truth_pose, velocity) VALUES(?,?,?,?,?,?,?,?);";
 	}
@@ -4293,6 +4342,20 @@ void DBDriverSqlite3::stepNode(sqlite3_stmt * ppStmt, const Signature * s) const
 					UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
 				}
 			}
+
+			if(uStrNumCmp(_version, "0.14.0") >= 0)
+			{
+				if(s->sensorData().gps().empty())
+				{
+					rc = sqlite3_bind_null(ppStmt, index++);
+					UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+				}
+				else
+				{
+					rc = sqlite3_bind_blob(ppStmt, index++, s->sensorData().gps().data(), s->sensorData().gps().size()*sizeof(double), SQLITE_STATIC);
+					UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+				}
+			}
 		}
 	}
 	else if(uStrNumCmp(_version, "0.8.8") >= 0)

corelib/src/DBDriverSqlite3.h

@@ -127,7 +127,7 @@ private:
 	virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const;
 	virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const;
 	virtual bool getLaserScanInfoQuery(int signatureId, LaserScanInfo & info) const;
-	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity) const;
+	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, std::vector<double> & gps) const;
 	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const;
 	virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks) const;
 	virtual void getLastIdQuery(const std::string & tableName, int & id) const;

corelib/src/DBReader.cpp

@@ -268,7 +268,8 @@ SensorData DBReader::captureImage(CameraInfo * info)
 						int mapId;
 						Transform localTransform, pose, groundTruth;
 						std::vector<float> velocity;
-						_dbDriver->getNodeInfo(*_currentId, pose, mapId, weight, label, stamp, groundTruth, velocity);
+						std::vector<double> gps;
+						_dbDriver->getNodeInfo(*_currentId, pose, mapId, weight, label, stamp, groundTruth, velocity, gps);
 						if(previousStamp && stamp && stamp > previousStamp)
 						{
 							delay = stamp - previousStamp;
@@ -322,7 +323,8 @@ SensorData DBReader::getNextData(CameraInfo * info)
 			double stamp;
 			Transform groundTruth;
 			std::vector<float> velocity;
-			_dbDriver->getNodeInfo(*_currentId, pose, mapId, weight, label, stamp, groundTruth, velocity);
+			std::vector<double> gps;
+			_dbDriver->getNodeInfo(*_currentId, pose, mapId, weight, label, stamp, groundTruth, velocity, gps);
 
 			cv::Mat infMatrix = cv::Mat::eye(6,6,CV_64FC1);
 			if(!_odometryIgnored)

corelib/src/Memory.cpp

@@ -3051,7 +3051,8 @@ Transform Memory::getOdomPose(int signatureId, bool lookInDatabase) const
 	std::string label;
 	double stamp;
 	std::vector<float> velocity;
-	getNodeInfo(signatureId, pose, mapId, weight, label, stamp, groundTruth, velocity, lookInDatabase);
+	std::vector<double> gps;
+	getNodeInfo(signatureId, pose, mapId, weight, label, stamp, groundTruth, velocity, gps, lookInDatabase);
 	return pose;
 }
 
@@ -3062,7 +3063,8 @@ Transform Memory::getGroundTruthPose(int signatureId, bool lookInDatabase) const
 	std::string label;
 	double stamp;
 	std::vector<float> velocity;
-	getNodeInfo(signatureId, pose, mapId, weight, label, stamp, groundTruth, velocity, lookInDatabase);
+	std::vector<double> gps;
+	getNodeInfo(signatureId, pose, mapId, weight, label, stamp, groundTruth, velocity, gps, lookInDatabase);
 	return groundTruth;
 }
 
@@ -3074,6 +3076,7 @@ bool Memory::getNodeInfo(int signatureId,
 		double & stamp,
 		Transform & groundTruth,
 		std::vector<float> & velocity,
+		std::vector<double> & gps,
 		bool lookInDatabase) const
 {
 	const Signature * s = this->getSignature(signatureId);
@@ -3086,11 +3089,12 @@ bool Memory::getNodeInfo(int signatureId,
 		stamp = s->getStamp();
 		groundTruth = s->getGroundTruthPose();
 		velocity = s->getVelocity();
+		gps = s->sensorData().gps();
 		return true;
 	}
 	else if(lookInDatabase && _dbDriver)
 	{
-		return _dbDriver->getNodeInfo(signatureId, odomPose, mapId, weight, label, stamp, groundTruth, velocity);
+		return _dbDriver->getNodeInfo(signatureId, odomPose, mapId, weight, label, stamp, groundTruth, velocity, gps);
 	}
 	return false;
 }
@@ -3963,6 +3967,10 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
 	s->sensorData().setUserDataRaw(data.userDataRaw());
 
 	s->sensorData().setGroundTruth(data.groundTruth());
+	if(!data.gps().empty())
+	{
+		s->sensorData().setGPS(data.gps()[0], data.gps()[1], data.gps()[2], data.gps()[3], data.gps()[4], data.gps()[5]);
+	}
 
 	t = timer.ticks();
 	if(stats) stats->addStatistic(Statistics::kTimingMemCompressing_data(), t*1000.0f);

corelib/src/Rtabmap.cpp

@@ -761,7 +761,8 @@ void Rtabmap::exportPoses(const std::string & path, bool optimized, bool global,
 				std::string l;
 				double stamp = 0.0;
 				std::vector<float> v;
-				_memory->getNodeInfo(iter->first, o, m, w, l, stamp, g, v, true);
+				std::vector<double> gps;
+				_memory->getNodeInfo(iter->first, o, m, w, l, stamp, g, v, gps, true);
 				stamps.insert(std::make_pair(iter->first, stamp));
 			}
 		}
@@ -2650,7 +2651,8 @@ bool Rtabmap::process(
 			double stamp = 0;
 			Transform groundTruth;
 			std::vector<float> velocity;
-			_memory->getNodeInfo(iter->first, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, false);
+			std::vector<double> gps;
+			_memory->getNodeInfo(iter->first, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, gps, false);
 			signatures.insert(std::make_pair(iter->first,
 					Signature(iter->first,
 							mapId,
@@ -2663,6 +2665,10 @@ bool Rtabmap::process(
 			{
 				signatures.at(iter->first).setVelocity(velocity[0], velocity[1], velocity[2], velocity[3], velocity[4], velocity[5]);
 			}
+			if(!gps.empty())
+			{
+				signatures.at(iter->first).sensorData().setGPS(gps[0], gps[1], gps[2], gps[3], gps[4], gps[5]);
+			}
 		}
 		localGraphSize = (int)poses.size();
 		if(!lastSignatureLocalizedPose.isNull())
@@ -3340,7 +3346,8 @@ void Rtabmap::get3DMap(
 			double stamp = 0;
 			Transform groundTruth;
 			std::vector<float> velocity;
-			_memory->getNodeInfo(*iter, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, true);
+			std::vector<double> gps;
+			_memory->getNodeInfo(*iter, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, gps, true);
 			SensorData data = _memory->getNodeData(*iter);
 			data.setId(*iter);
 			std::multimap<int, cv::KeyPoint> words;
@@ -3363,6 +3370,10 @@ void Rtabmap::get3DMap(
 			{
 				signatures.at(*iter).setVelocity(velocity[0], velocity[1], velocity[2], velocity[3], velocity[4], velocity[5]);
 			}
+			if(!gps.empty())
+			{
+				signatures.at(*iter).sensorData().setGPS(gps[0], gps[1], gps[2], gps[3], gps[4], gps[5]);
+			}
 		}
 	}
 	else if(_memory && (_memory->getStMem().size() || _memory->getWorkingMem().size() > 1))
@@ -3415,7 +3426,8 @@ void Rtabmap::getGraph(
 				double stamp = 0;
 				Transform groundTruth;
 				std::vector<float> velocity;
-				_memory->getNodeInfo(iter->first, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, global);
+				std::vector<double> gps;
+				_memory->getNodeInfo(iter->first, odomPoseLocal, mapId, weight, label, stamp, groundTruth, velocity, gps, global);
 				signatures->insert(std::make_pair(iter->first,
 						Signature(iter->first,
 							mapId,
@@ -3443,6 +3455,10 @@ void Rtabmap::getGraph(
 				{
 					signatures->at(iter->first).setVelocity(velocity[0], velocity[1], velocity[2], velocity[3], velocity[4], velocity[5]);
 				}
+				if(!gps.empty())
+				{
+					signatures->at(iter->first).sensorData().setGPS(gps[0], gps[1], gps[2], gps[3], gps[4], gps[5]);
+				}
 			}
 		}
 	}

corelib/src/resources/DatabaseSchema.sql.in

@@ -22,6 +22,7 @@ CREATE TABLE Node (
 	ground_truth_pose BLOB,   -- 3x4 float
 	velocity BLOB,            -- 6 float (vx,vy,vz,vroll,vpitch,vyaw) m/s and rad/s
 	label TEXT,
+	gps BLOB,                 -- 1x6 double: stamp, longitude (DD), latitude (DD), altitude (m), accuracy (m), bearing (North 0->360 deg clockwise)
 	
 	time_enter DATE,
 	PRIMARY KEY (id)

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rtabmap</name>
-  <version>0.13.3</version>
+  <version>0.14.0</version>
   <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>