Tango: fixed localization mode not working

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="23"
+        android:versionCode="24"
         android:versionName="@RTABMAP_VERSION@">
 
     <uses-permission android:name="android.permission.CAMERA" />

corelib/include/rtabmap/core/Memory.h

@@ -206,6 +206,7 @@ private:
 	void preUpdate();
 	void addSignatureToStm(Signature * signature, const cv::Mat & covariance);
 	void clear();
+	void loadDataFromDb(bool postInitClosingEvents);
 	void moveToTrash(Signature * s, bool keepLinkedToGraph = true, std::list<int> * deletedWords = 0);
 
 	void moveSignatureToWMFromSTM(int id, int * reducedTo = 0);

corelib/src/Memory.cpp

@@ -119,8 +119,6 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
 
 	UDEBUG("");
 	this->parseParameters(parameters);
-	bool loadAllNodesInWM = Parameters::defaultMemInitWMWithAllNodes();
-	Parameters::parse(parameters, Parameters::kMemInitWMWithAllNodes(), loadAllNodesInWM);
 
 	if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Clearing memory..."));
 	DBDriver * tmpDriver = 0;
@@ -166,6 +164,26 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
 		{
 			success = true;
 			if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Connecting to database \"") + dbUrl + "\", done!"));
+		}
+		else
+		{
+			if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kError, std::string("Connecting to database ") + dbUrl + ", path is invalid!"));
+		}
+	}
+
+	loadDataFromDb(postInitClosingEvents);
+
+	if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kInitialized));
+
+	return success;
+}
+
+void Memory::loadDataFromDb(bool postInitClosingEvents)
+{
+	if(_dbDriver && _dbDriver->isConnected())
+	{
+		bool loadAllNodesInWM = Parameters::defaultMemInitWMWithAllNodes();
+		Parameters::parse(parameters_, Parameters::kMemInitWMWithAllNodes(), loadAllNodesInWM);
 
 		// Load the last working memory...
 		std::list<Signature*> dbSignatures;
@@ -216,27 +234,8 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
 		// Last id
 		_dbDriver->getLastNodeId(_idCount);
 		_idMapCount = _lastSignature?_lastSignature->mapId()+1:kIdStart;
-		}
-		else
-		{
-			if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kError, std::string("Connecting to database ") + dbUrl + ", path is invalid!"));
-		}
-	}
-	else
-	{
-		_idCount = kIdStart;
-		_idMapCount = kIdStart;
-	}
-
-	_workingMem.insert(std::make_pair(kIdVirtual, 0));
-
-	UDEBUG("ids start with %d", _idCount+1);
-	UDEBUG("map ids start with %d", _idMapCount);
-
 
 		// Now load the dictionary if we have a connection
-	if(_dbDriver && _dbDriver->isConnected())
-	{
 		if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Loading dictionary..."));
 		if(loadAllNodesInWM)
 		{
@@ -271,7 +270,6 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
 		UDEBUG("%d words loaded!", _vwd->getUnusedWordsSize());
 		_vwd->update();
 		if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(uFormat("Loading dictionary, done! (%d words)", (int)_vwd->getUnusedWordsSize())));
-	}
 
 		if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Adding word references...")));
 		// Enable loaded signatures
@@ -299,9 +297,17 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
 			UWARN("_vwd->getUnusedWordsSize() must be empty... size=%d", _vwd->getUnusedWordsSize());
 		}
 		UDEBUG("Total word references added = %d", _vwd->getTotalActiveReferences());
+	}
+	else
+	{
+		_idCount = kIdStart;
+		_idMapCount = kIdStart;
+	}
 
-	if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(RtabmapEventInit::kInitialized));
+	_workingMem.insert(std::make_pair(kIdVirtual, 0));
-	return success;
+
+	UDEBUG("ids start with %d", _idCount+1);
+	UDEBUG("map ids start with %d", _idMapCount);
 }
 
 void Memory::close(bool databaseSaved, bool postInitClosingEvents, const std::string & ouputDatabasePath)
@@ -521,7 +527,12 @@ void Memory::parseParameters(const ParametersMap & parameters)
 			if((_memoryChanged || _linksChanged) && _dbDriver)
 			{
 				UWARN("Switching from Mapping to Localization mode, the database will be saved and reloaded.");
-				this->init(_dbDriver->getUrl());
+				bool memoryChanged = _memoryChanged;
+				bool linksChanged = _linksChanged;
+				this->clear();
+				_memoryChanged = memoryChanged;
+				_linksChanged = linksChanged;
+				this->loadDataFromDb(false);
 				UWARN("Switching from Mapping to Localization mode, the database is reloaded!");
 			}
 		}