From e5db40e4ae16adf9ce5961bff3a5abaf1174beb0 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Fri, 18 Nov 2016 13:07:53 -0500
Subject: [PATCH] Tango: Fixed a bug where gain compensation was done while
 mapping (causing big lags)

---
 app/android/AndroidManifest.xml.in | 2 +-
 app/android/jni/RTABMapApp.cpp     | 7 +++++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/app/android/AndroidManifest.xml.in b/app/android/AndroidManifest.xml.in
index 74bd0bca..3391e350 100644
--- a/app/android/AndroidManifest.xml.in
+++ b/app/android/AndroidManifest.xml.in
@@ -2,7 +2,7 @@
 <!-- BEGIN_INCLUDE(manifest) -->
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
         package="com.introlab.rtabmap"
-        android:versionCode="17"
+        android:versionCode="18"
         android:versionName="@RTABMAP_VERSION@">
 
     <uses-permission android:name="android.permission.CAMERA" />
diff --git a/app/android/jni/RTABMapApp.cpp b/app/android/jni/RTABMapApp.cpp
index 713e0670..bd11f0c1 100644
--- a/app/android/jni/RTABMapApp.cpp
+++ b/app/android/jni/RTABMapApp.cpp
@@ -474,7 +474,8 @@ int RTABMapApp::Render()
 						uInsert(bufferedSensorData, std::make_pair(jter->first, jter->second.sensorData()));
 						uInsert(rawPoses_, std::make_pair(jter->first, jter->second.getPose()));
 					}
-					else if(!jter->second.sensorData().imageCompressed().empty() &&
+					else if(totalPoints_ == 0 &&
+							!jter->second.sensorData().imageCompressed().empty() &&
 							!jter->second.sensorData().depthOrRightCompressed().empty())
 					{
 						// uncompress
@@ -483,6 +484,8 @@ int RTABMapApp::Render()
 						data.uncompressData(&tmpA, &tmpB);
 						uInsert(bufferedSensorData, std::make_pair(jter->first, data));
 						uInsert(rawPoses_, std::make_pair(jter->first, jter->second.getPose()));
+
+						LOGI("Detecting that we are loading a database, so do some post-processing...");
 						notifyDataLoaded = true;
 					}
 				}
@@ -952,7 +955,7 @@ int RTABMapApp::setMappingParameter(const std::string & key, const std::string &
 {
 	if(rtabmap::Parameters::getDefaultParameters().find(key) != rtabmap::Parameters::getDefaultParameters().end())
 	{
-		LOGI(uFormat("Setting param \"%s\"  to \"\"", key.c_str(), value.c_str()).c_str());
+		LOGI(uFormat("Setting param \"%s\"  to \"%s\"", key.c_str(), value.c_str()).c_str());
 		uInsert(mappingParameters_, rtabmap::ParametersPair(key, value));
 		UEventsManager::post(new rtabmap::ParamEvent(mappingParameters_));
 		return 0;