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rtabmap/app/android/jni/RTABMapApp.cpp

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0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <tango-gl/conversions.h>
#include "RTABMapApp.h"
ios first release
2021-06-08 00:06:49 -04:00
#ifdef __ANDROID__
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
#include "CameraAvailability.h"
ios first release
2021-06-08 00:06:49 -04:00
#endif
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
#ifdef RTABMAP_TANGO
#include "CameraTango.h"
#endif
#ifdef RTABMAP_ARCORE
#include "CameraARCore.h"
#include <media/NdkImage.h>
#endif
#ifdef RTABMAP_ARENGINE
#include "CameraAREngine.h"
#endif
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
#include <rtabmap/core/Rtabmap.h>
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
#include <rtabmap/core/util2d.h>
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/util3d_filtering.h>
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
#include <rtabmap/core/util3d_surface.h>
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
#include <rtabmap/core/Graph.h>
#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UStl.h>
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UFile.h>
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
#include <opencv2/opencv_modules.hpp>
#include <rtabmap/core/util3d_surface.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/ParamEvent.h>
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
#include <rtabmap/core/Compression.h>
Tango #57: Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
#include <rtabmap/core/Optimizer.h>
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
#include <rtabmap/core/VWDictionary.h>
#include <rtabmap/core/Memory.h>
Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.
2016-09-07 17:19:21 -04:00
#include <rtabmap/core/GainCompensator.h>
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
#include <rtabmap/core/DBDriver.h>
ios: added recovery feature
2022-01-02 17:08:44 -05:00
#include <rtabmap/core/Recovery.h>
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
#include <pcl/common/common.h>
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
#include <pcl/filters/extract_indices.h>
#include <pcl/io/ply_io.h>
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
#include <pcl/io/obj_io.h>
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
#include <pcl/surface/poisson.h>
#include <pcl/surface/vtk_smoothing/vtk_mesh_quadric_decimation.h>
Added AR mapping mode (select ARCore ndk driver and set first person view)
2020-06-29 15:24:35 -04:00
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
#define LOW_RES_PIX 2
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
//#define DEBUG_RENDERING_PERFORMANCE
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
const int g_optMeshId = -100;
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
ios first release
2021-06-08 00:06:49 -04:00
#ifdef __ANDROID__
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
static JavaVM *jvm;
static jobject RTABMapActivity = 0;
ios first release
2021-06-08 00:06:49 -04:00
#endif
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
android: fixed g2o seg fault (CACHE_SE3_OFFSET not registered)
2022-01-02 23:30:55 -05:00
#ifdef __ANDROID__
#ifndef DISABLE_LOG
//ref: https://codelab.wordpress.com/2014/11/03/how-to-use-standard-output-streams-for-logging-in-android-apps/
static int pfd[2];
static pthread_t thr;
static void *thread_func(void*)
{
ssize_t rdsz;
char buf[128];
while((rdsz = read(pfd[0], buf, sizeof buf - 1)) > 0) {
if(buf[rdsz - 1] == '\n') --rdsz;
buf[rdsz] = 0; /* add null-terminator */
__android_log_write(ANDROID_LOG_DEBUG, LOG_TAG, buf);
}
return 0;
}
int start_logger()
{
/* make stdout line-buffered and stderr unbuffered */
setvbuf(stdout, 0, _IOLBF, 0);
setvbuf(stderr, 0, _IONBF, 0);
/* create the pipe and redirect stdout and stderr */
pipe(pfd);
dup2(pfd[1], 1);
dup2(pfd[1], 2);
/* spawn the logging thread */
if(pthread_create(&thr, 0, thread_func, 0) == -1)
return -1;
pthread_detach(thr);
return 0;
}
#endif
#endif
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
{
rtabmap::ParametersMap parameters;
Tango #57: Added 720p option, Export PLY or OBJ, Added Rendering and Mapping menus, RtabmapThread: Fixed large covariance (9999) detection
2016-04-02 15:17:40 -04:00
parameters.insert(mappingParameters_.begin(), mappingParameters_.end());
Tango: slight modifications of the default parameters
2016-09-10 18:45:46 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxFeatures(), std::string("200")));
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kGFTTQualityLevel(), std::string("0.0001")));
Tango: added fisheye option
2017-03-13 20:51:59 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemImagePreDecimation(), std::string(cameraColor_&&fullResolution_?"2":"1")));
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kBRIEFBytes(), std::string("64")));
Tango: Fixed auto-exposure config error (now ignoring it), updated log info
2016-04-08 18:58:18 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapTimeThr(), std::string("800")));
Tango: slight modifications of the default parameters
2016-09-10 18:45:46 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapPublishLikelihood(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapPublishPdf(), std::string("false")));
ios first release
2021-06-08 00:06:49 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapStartNewMapOnLoopClosure(), uBool2Str(!localizationMode_ && appendMode_)));
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemBinDataKept(), uBool2Str(!trajectoryMode_)));
ios first release
2021-06-08 00:06:49 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "10"));
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), uBool2Str(!localizationMode_)));
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapMaxRetrieved(), "1"));
Tango: added Noise Filtering post-processing option, set RGBD/MaxLocalRetrieved to 0 (avoiding some high processing time peaks), fill depth holes up to 5 pixels
2016-09-03 20:38:27 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDMaxLocalRetrieved(), "0"));
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemCompressionParallelized(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpParallelized(), std::string("false")));
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeFromGraphEnd(), std::string("true")));
rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded. Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
2016-11-21 17:09:04 -05:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisMinInliers(), std::string("25")));
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityPathMaxNeighbors(), std::string("0"))); // disable scan matching to merged nodes
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityBySpace(), std::string("false"))); // just keep loop closure detection
Tango: some default parameters tuning
2017-10-02 17:44:59 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDLinearUpdate(), std::string("0.05")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDAngularUpdate(), std::string("0.05")));
Added imu to odom bundle adjustment. Added IMUFilter classes. Changed Aruco parameter prefix to Marker. Zed: publishing IMU data.
2019-05-07 18:57:53 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMarkerLength(), std::string("0.0")));
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
Memory: Added parameter Mem/UseOdomGravity, adding kGravity links when creating a node if IMU is present or Mem/UseOdomGravity is set. Fixed OpenCV4 related build errors on stereo fisheye rectification code. Signature: changed links from map to multimap to support having multiple self references (prior, gravity constraints...). DBReader: publish IMU orientation if a gravity link is detected.
2019-05-31 15:36:35 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemUseOdomGravity(), "true"));
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
if(parameters.find(rtabmap::Parameters::kOptimizerStrategy()) != parameters.end())
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
if(parameters.at(rtabmap::Parameters::kOptimizerStrategy()).compare("2") == 0) // GTSAM
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0.00001"));
ios first release
2021-06-08 00:06:49 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "10"));
Added Optimizer/GravitySigma parameter (with GTSAM support).
2019-03-31 15:51:50 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerGravitySigma(), "0.2"));
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
else if(parameters.at(rtabmap::Parameters::kOptimizerStrategy()).compare("1") == 0) // g2o
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0.0"));
ios first release
2021-06-08 00:06:49 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "10"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerGravitySigma(), "0.2"));
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
}
else // TORO
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0.00001"));
ios first release
2021-06-08 00:06:49 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "100"));
Added Optimizer/GravitySigma parameter (with GTSAM support).
2019-03-31 15:51:50 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerGravitySigma(), "0"));
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
}
Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.
2016-09-07 17:19:21 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpPointToPlane(), std::string("true")));
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemLaserScanNormalK(), std::string("0")));
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpIterations(), std::string("10")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpEpsilon(), std::string("0.001")));
Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.
2016-09-07 17:19:21 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxRotation(), std::string("0.17"))); // 10 degrees
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxTranslation(), std::string("0.05")));
New parameter "RGBD/MaxOdomCacheSize" used in localization mode to reject similar locations (default disabled)
2019-04-05 19:37:40 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpCorrespondenceRatio(), std::string("0.49")));
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxCorrespondenceDistance(), std::string("0.05")));
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
Tango: Added Data Recorder mode (See Mapping menu)
2016-10-29 18:14:25 -04:00
parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kKpMaxFeatures()));
parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kMemRehearsalSimilarity()));
parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kMemMapLabelsAdded()));
if(dataRecorderMode_)
{
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxFeatures(), std::string("-1")));
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kMemRehearsalSimilarity(), std::string("1.0"))); // deactivate rehearsal
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kMemMapLabelsAdded(), "false")); // don't create map labels
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kMemNotLinkedNodesKept(), std::string("true")));
Tango: Added Data Recorder mode (See Mapping menu)
2016-10-29 18:14:25 -04:00
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
return parameters;
}
ios first release
2021-06-08 00:06:49 -04:00
#ifdef __ANDROID__
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
RTABMapApp::RTABMapApp(JNIEnv* env, jobject caller_activity) :
ios first release
2021-06-08 00:06:49 -04:00
#else //__APPLE__
RTABMapApp::RTABMapApp() :
#endif
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
cameraDriver_(0),
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
camera_(0),
rtabmapThread_(0),
Tango #57: Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
rtabmap_(0),
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
logHandler_(0),
odomCloudShown_(true),
graphOptimization_(true),
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
nodesFiltering_(false),
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
localizationMode_(false),
trajectoryMode_(false),
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
rawScanSaved_(false),
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
smoothing_(true),
fixed android build
2021-06-09 17:45:01 -04:00
depthFromMotion_(false),
Tango: added fisheye option
2017-03-13 20:51:59 -04:00
cameraColor_(true),
Tango #57: Added 720p option, Export PLY or OBJ, Added Rendering and Mapping menus, RtabmapThread: Fixed large covariance (9999) detection
2016-04-02 15:17:40 -04:00
fullResolution_(false),
rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded. Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
2016-11-21 17:09:04 -05:00
appendMode_(true),
ios first release
2021-06-08 00:06:49 -04:00
maxCloudDepth_(2.5),
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
minCloudDepth_(0.0),
Tango: added comptible fisheye cloud density level
2017-03-15 17:05:19 -04:00
cloudDensityLevel_(1),
ios first release
2021-06-08 00:06:49 -04:00
meshTrianglePix_(2),
meshAngleToleranceDeg_(20.0),
meshDecimationFactor_(0),
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
clusterRatio_(0.1),
Tango: added gain radius and min cluster size parameters
2017-01-26 17:34:15 -05:00
maxGainRadius_(0.02f),
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
renderingTextureDecimation_(4),
Tango: added online blending option, background color option, double tap, fixed meshes jiggering on touch, removed raw mesh option
2017-04-17 21:42:01 -04:00
backgroundColor_(0.2f),
ios first release
2021-06-08 00:06:49 -04:00
depthConfidence_(2),
Tango: Added Data Recorder mode (See Mapping menu)
2016-10-29 18:14:25 -04:00
dataRecorderMode_(false),
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
clearSceneOnNextRender_(false),
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
openingDatabase_(false),
exporting_(false),
postProcessing_(false),
Tango: added Noise Filtering post-processing option, set RGBD/MaxLocalRetrieved to 0 (avoiding some high processing time peaks), fill depth holes up to 5 pixels
2016-09-03 20:38:27 -04:00
filterPolygonsOnNextRender_(false),
Tango: Added full gain compensation option
2016-10-27 15:35:19 -04:00
gainCompensationOnNextRender_(0),
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
bilateralFilteringOnNextRender_(false),
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
takeScreenshotOnNextRender_(false),
Tango: Handling app pause/resume without having to restart mapping (OpenGL context flushed issue).
2016-09-08 11:55:44 -04:00
cameraJustInitialized_(false),
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
totalPoints_(0),
totalPolygons_(0),
Tango: C-API Code Migration to Mira release
2016-05-12 14:34:51 -04:00
lastDrawnCloudsCount_(0),
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
renderingTime_(0.0f),
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
lastPostRenderEventTime_(0.0),
fixed max tango pose radius
2017-10-29 10:48:04 -04:00
lastPoseEventTime_(0.0),
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
visualizingMesh_(false),
exportedMeshUpdated_(false),
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
optMesh_(new pcl::TextureMesh),
Tango: 0.17 fixing broken localization on visualization
2018-04-05 11:00:16 -04:00
optRefId_(0),
optRefPose_(0),
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
mapToOdom_(rtabmap::Transform::getIdentity())
Tango: C-API Code Migration to Mira release
2016-05-12 14:34:51 -04:00
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
RtabmapThread: changed state stack for a queue to process events in FIFO order (instead of FILO). Tango: Added detector type parameter (FREAK is now the default with 400 features).
2017-01-27 11:47:57 -05:00
mappingParameters_.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpDetectorStrategy(), "5")); // GFTT/FREAK
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
ios first release
2021-06-08 00:06:49 -04:00
#ifdef __ANDROID__
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
env->GetJavaVM(&jvm);
RTABMapActivity = env->NewGlobalRef(caller_activity);
ios first release
2021-06-08 00:06:49 -04:00
#endif
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
LOGI("RTABMapApp::RTABMapApp()");
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
createdMeshes_.clear();
rawPoses_.clear();
clearSceneOnNextRender_ = true;
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
openingDatabase_ = false;
exporting_ = false;
postProcessing_=false;
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
totalPoints_ = 0;
totalPolygons_ = 0;
lastDrawnCloudsCount_ = 0;
Tango: Handling app pause/resume without having to restart mapping (OpenGL context flushed issue).
2016-09-08 11:55:44 -04:00
renderingTime_ = 0.0f;
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
lastPostRenderEventTime_ = 0.0;
fixed max tango pose radius
2017-10-29 10:48:04 -04:00
lastPoseEventTime_ = 0.0;
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
bufferedStatsData_.clear();
ios first release
2021-06-08 00:06:49 -04:00
#ifdef __ANDROID__
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
progressionStatus_.setJavaObjects(jvm, RTABMapActivity);
ios first release
2021-06-08 00:06:49 -04:00
#endif
Tango: added online blending option, background color option, double tap, fixed meshes jiggering on touch, removed raw mesh option
2017-04-17 21:42:01 -04:00
main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
logHandler_ = new rtabmap::LogHandler();
this->registerToEventsManager();
LOGI("RTABMapApp::RTABMapApp() end");
android: fixed g2o seg fault (CACHE_SE3_OFFSET not registered)
2022-01-02 23:30:55 -05:00
#ifdef __ANDROID__
#ifndef DISABLE_LOG
start_logger();
#endif
#endif
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
}
ios first release
2021-06-08 00:06:49 -04:00
#ifndef __ANDROID__ // __APPLE__
void RTABMapApp::setupSwiftCallbacks(void * classPtr,
void(*progressCallback)(void *, int, int),
void(*initCallback)(void *, int, const char*),
void(*statsUpdatedCallback)(void *,
int, int, int, int,
float,
int, int, int, int, int ,int,
float,
int,
float,
int,
float, float, float, float,
int, int,
float, float, float, float, float, float))
{
swiftClassPtr_ = classPtr;
progressionStatus_.setSwiftCallback(classPtr, progressCallback);
swiftInitCallback = initCallback;
swiftStatsUpdatedCallback = statsUpdatedCallback;
}
#endif
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
RTABMapApp::~RTABMapApp() {
LOGI("~RTABMapApp() begin");
stopCamera();
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
if(rtabmapThread_)
{
rtabmapThread_->close(false);
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
delete rtabmapThread_;
delete logHandler_;
delete optRefPose_;
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
boost::mutex::scoped_lock lock(rtabmapMutex_);
if(rtabmapEvents_.size())
{
for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents_.begin(); iter!=rtabmapEvents_.end(); ++iter)
{
delete *iter;
}
}
rtabmapEvents_.clear();
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
LOGI("~RTABMapApp() end");
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
void RTABMapApp::setScreenRotation(int displayRotation, int cameraRotation)
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
rtabmap::ScreenRotation rotation = rtabmap::GetAndroidRotationFromColorCameraToDisplay(displayRotation, cameraRotation);
ios first release
2021-06-08 00:06:49 -04:00
//LOGI("Set orientation: display=%d camera=%d -> %d", displayRotation, cameraRotation, (int)rotation);
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
main_scene_.setScreenRotation(rotation);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_)
{
Added AR mapping mode (select ARCore ndk driver and set first person view)
2020-06-29 15:24:35 -04:00
camera_->setScreenRotationAndSize(main_scene_.getScreenRotation(), main_scene_.getViewPortWidth(), main_scene_.getViewPortHeight());
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
ios: added recovery feature
2022-01-02 17:08:44 -05:00
int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, bool clearDatabase)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
ios: added recovery feature
2022-01-02 17:08:44 -05:00
LOGW("Opening database %s (inMemory=%d, optimize=%d, clearDatabase=%d)", databasePath.c_str(), databaseInMemory?1:0, optimize?1:0, clearDatabase?1:0);
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
this->unregisterFromEventsManager(); // to ignore published init events when closing rtabmap
status_.first = rtabmap::RtabmapEventInit::kInitializing;
rtabmapMutex_.lock();
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
if(rtabmapEvents_.size())
{
for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents_.begin(); iter!=rtabmapEvents_.end(); ++iter)
{
delete *iter;
}
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
rtabmapEvents_.clear();
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
openingDatabase_ = true;
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
bool restartThread = false;
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
if(rtabmapThread_)
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
restartThread = rtabmapThread_->isRunning();
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
rtabmapThread_->close(false);
delete rtabmapThread_;
rtabmapThread_ = 0;
Tango #57: Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
rtabmap_ = 0;
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
ios first release
2021-06-08 00:06:49 -04:00
totalPoints_ = 0;
totalPolygons_ = 0;
lastDrawnCloudsCount_ = 0;
renderingTime_ = 0.0f;
lastPostRenderEventTime_ = 0.0;
lastPoseEventTime_ = 0.0;
bufferedStatsData_.clear();
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
this->registerToEventsManager();
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
int status = 0;
// Open visualization while we load (if there is an optimized mesh saved in database)
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
optMesh_.reset(new pcl::TextureMesh);
optTexture_ = cv::Mat();
Tango: 0.17 fixing broken localization on visualization
2018-04-05 11:00:16 -04:00
optRefId_ = 0;
if(optRefPose_)
{
delete optRefPose_;
optRefPose_ = 0;
}
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
cv::Mat cloudMat;
Fixed build with pcl > 1.11.1 (#641)
2020-11-14 16:52:01 -05:00
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons;
Tango: updated UI
2017-06-28 13:59:20 -04:00
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
#else
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
std::vector<std::vector<Eigen::Vector2f> > texCoords;
Tango: updated UI
2017-06-28 13:59:20 -04:00
#endif
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
cv::Mat textures;
ios: added recovery feature
2022-01-02 17:08:44 -05:00
if(!databasePath.empty() && UFile::exists(databasePath) && !clearDatabase)
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
{
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized cloud/mesh..."));
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
rtabmap::DBDriver * driver = rtabmap::DBDriver::create();
ios: added recovery feature
2022-01-02 17:08:44 -05:00
if(driver->openConnection(databasePath))
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
{
0.17.0: saving optimized poses and last localization pose to database (https://github.com/introlab/rtabmap_ros/issues/220). Parameters: fixed Icp default parameters when not built with libpointmatcher, added RGBD/SavedLocalizationIgnored (default false). DbViewer: added Export/Import 2D map (https://github.com/introlab/rtabmap_ros/issues/213).
2018-04-04 19:14:13 -04:00
cloudMat = driver->loadOptimizedMesh(&polygons, &texCoords, &textures);
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
if(!cloudMat.empty())
{
LOGI("Open: Found optimized mesh! Visualizing it.");
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
optMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
optTexture_ = textures;
if(!optTexture_.empty())
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
{
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
LOGI("Open: Texture mesh: %dx%d.", optTexture_.cols, optTexture_.rows);
status=3;
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
}
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
else if(optMesh_->tex_polygons.size())
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
{
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
LOGI("Open: Polygon mesh");
status=2;
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
}
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
else if(!optMesh_->cloud.data.empty())
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
{
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
LOGI("Open: Point cloud");
status=1;
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
}
}
else
{
LOGI("Open: No optimized mesh found.");
}
delete driver;
}
}
if(status > 0)
{
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
if(status==1)
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized cloud...done!"));
}
else if(status==2)
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized mesh...done!"));
}
else
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized texture mesh...done!"));
}
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
boost::mutex::scoped_lock lockRender(renderingMutex_);
visualizingMesh_ = true;
exportedMeshUpdated_ = true;
}
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading database..."));
ios: added recovery feature
2022-01-02 17:08:44 -05:00
if(clearDatabase)
{
LOGI("Erasing database \"%s\"...", databasePath.c_str());
UFile::erase(databasePath);
}
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
//Rtabmap
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
mapToOdom_.setIdentity();
Tango #57: Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
rtabmap_ = new rtabmap::Rtabmap();
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
rtabmap::ParametersMap parameters = getRtabmapParameters();
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), uBool2Str(databaseInMemory)));
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
LOGI("Initializing database...");
Tango #57: Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
rtabmap_->init(parameters, databasePath);
rtabmapThread_ = new rtabmap::RtabmapThread(rtabmap_);
Tango: Added Data Recorder mode (See Mapping menu)
2016-10-29 18:14:25 -04:00
if(parameters.find(rtabmap::Parameters::kRtabmapDetectionRate()) != parameters.end())
{
rtabmapThread_->setDetectorRate(uStr2Float(parameters.at(rtabmap::Parameters::kRtabmapDetectionRate())));
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
// Generate all meshes
std::map<int, rtabmap::Signature> signatures;
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
LOGI("Loading full map from database...");
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading data from database..."));
Deprecated Rtabmap::get3DMap(), use Rtabmap::getGraph() instead with setting to true the data flags. Rtabmap::getGraph() now ignores children nodes.
2020-05-06 08:04:58 -04:00
rtabmap_->getGraph(
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
poses,
links,
true,
Localization: Improved resulting pose in case there are gravity constraints. iOS: clear odom trace when not visible, fixed opt mesh not correctly aligned with graph on loading when switching RGBD/OptimizeFromGraphEnd.
2021-12-18 15:37:49 -05:00
false, // Make sure poses are the same than optimized mesh (in case we switched RGBD/OptimizedFromGraphEnd)
Deprecated Rtabmap::get3DMap(), use Rtabmap::getGraph() instead with setting to true the data flags. Rtabmap::getGraph() now ignores children nodes.
2020-05-06 08:04:58 -04:00
&signatures,
true,
true,
true,
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
true);
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
if(signatures.size() && poses.empty())
{
LOGE("Failed to optimize the graph!");
status = -1;
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
{
Tango: fixed optimized mesh where nans were removed before saving (causing trouble with corresponding polygons)
2018-03-21 16:00:12 -04:00
LOGI("Creating the meshes (%d)....", (int)poses.size());
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
boost::mutex::scoped_lock lock(meshesMutex_);
createdMeshes_.clear();
int i=0;
UTimer addTime;
ios first release
2021-06-08 00:06:49 -04:00
rawPoses_.clear();
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin(); iter!=poses.end() && status>=0; ++iter)
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
{
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
try
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
{
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
int id = iter->first;
if(!iter->second.isNull())
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
{
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
if(uContains(signatures, id))
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
{
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
UTimer timer;
rtabmap::SensorData data = signatures.at(id).sensorData();
ios first release
2021-06-08 00:06:49 -04:00
rawPoses_.insert(std::make_pair(id, signatures.at(id).getPose()));
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
cv::Mat tmpA, depth;
data.uncompressData(&tmpA, &depth);
ios first release
2021-06-08 00:06:49 -04:00
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(!(!data.imageRaw().empty() && !data.depthRaw().empty()) && !data.laserScanCompressed().isEmpty())
{
rtabmap::LaserScan scan;
data.uncompressData(0, 0, &scan);
}
if((!data.imageRaw().empty() && !data.depthRaw().empty()) || !data.laserScanRaw().isEmpty())
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
{
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
// Voxelize and filter depending on the previous cloud?
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr indices(new std::vector<int>);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(!data.imageRaw().empty() && !data.depthRaw().empty())
{
ios first release
2021-06-08 00:06:49 -04:00
int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
}
else
{
//scan
Fixed occlusion image origin offset (iOS and android). Android: disabled maximum odom image rate for faster feedback in First-Person. Min/Max range parameters also filter scans. Fixed background renderer not showing image (ARCore Java driver).
2021-06-13 22:07:47 -04:00
cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(data.laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), data.laserScanRaw().localTransform(), 255, 255, 255);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
indices->at(i) = i;
}
}
ios first release
2021-06-08 00:06:49 -04:00
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
if(cloud->size() && indices->size())
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
{
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
std::vector<pcl::Vertices> polygons;
std::vector<pcl::Vertices> polygonsLowRes;
ios first release
2021-06-08 00:06:49 -04:00
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > texCoords;
#else
std::vector<Eigen::Vector2f> texCoords;
#endif
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(cloud->isOrganized() && main_scene_.isMeshRendering() && main_scene_.isMapRendering())
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
{
polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
ios first release
2021-06-08 00:06:49 -04:00
#ifndef DISABLE_VTK
if(meshDecimationFactor_ > 0.0f && !polygons.empty())
{
pcl::PolygonMesh::Ptr tmpMesh(new pcl::PolygonMesh);
pcl::toPCLPointCloud2(*cloud, tmpMesh->cloud);
tmpMesh->polygons = polygons;
rtabmap::util3d::denseMeshPostProcessing<pcl::PointXYZRGB>(tmpMesh, meshDecimationFactor_, 0, cloud, 0);
if(!tmpMesh->polygons.empty())
{
if(main_scene_.isMeshTexturing() && main_scene_.isMapRendering())
{
std::map<int, rtabmap::Transform> cameraPoses;
std::map<int, rtabmap::CameraModel> cameraModels;
cameraPoses.insert(std::make_pair(0, rtabmap::Transform::getIdentity()));
cameraModels.insert(std::make_pair(0, data.cameraModels()[0]));
pcl::TextureMesh::Ptr textureMesh = rtabmap::util3d::createTextureMesh(
tmpMesh,
cameraPoses,
cameraModels,
std::map<int, cv::Mat>());
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
polygons = textureMesh->tex_polygons[0];
texCoords = textureMesh->tex_coordinates[0];
}
else
{
pcl::fromPCLPointCloud2(tmpMesh->cloud, *cloud);
polygons = tmpMesh->polygons;
}
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
indices->at(i) = i;
}
}
else
{
LOGE("Mesh decimation factor is too high (%f), returning full mesh (id=%d).", meshDecimationFactor_, data.id());
polygonsLowRes = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
}
#ifdef DEBUG_RENDERING_PERFORMANCE
fixed android build
2021-06-09 17:45:01 -04:00
LOGW("Mesh simplication, %d polygons, %d points (%fs)", (int)polygons.size(), (int)cloud->size(), timer.ticks());
ios first release
2021-06-08 00:06:49 -04:00
#endif
}
else
#endif
{
polygonsLowRes = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
}
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
}
ios first release
2021-06-08 00:06:49 -04:00
std::pair<std::map<int, rtabmap::Mesh>::iterator, bool> inserted = createdMeshes_.insert(std::make_pair(id, rtabmap::Mesh()));
UASSERT(inserted.second);
inserted.first->second.cloud = cloud;
inserted.first->second.indices = indices;
inserted.first->second.polygons = polygons;
inserted.first->second.polygonsLowRes = polygonsLowRes;
inserted.first->second.visible = true;
inserted.first->second.cameraModel = data.cameraModels()[0];
inserted.first->second.gains[0] = 1.0;
inserted.first->second.gains[1] = 1.0;
inserted.first->second.gains[2] = 1.0;
if((cloud->isOrganized() || !texCoords.empty()) && main_scene_.isMeshTexturing() && main_scene_.isMapRendering())
{
inserted.first->second.texCoords = texCoords;
if(renderingTextureDecimation_>1)
{
cv::Size reducedSize(data.imageRaw().cols/renderingTextureDecimation_, data.imageRaw().rows/renderingTextureDecimation_);
android: fixed opencv4 deprecated errors
2022-01-04 19:46:20 +00:00
cv::resize(data.imageRaw(), inserted.first->second.texture, reducedSize, 0, 0, cv::INTER_LINEAR);
ios first release
2021-06-08 00:06:49 -04:00
}
else
{
inserted.first->second.texture = data.imageRaw();
}
}
LOGI("Created cloud %d (%fs, %d points)", id, timer.ticks(), (int)cloud->size());
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
}
else
{
UWARN("Cloud %d is empty", id);
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
}
}
ios/android: fixed database loading failing when one node doesn't have any depth or scan (#1147).
2023-10-21 14:52:29 -07:00
else if(!data.depthOrRightCompressed().empty() || !data.laserScanCompressed().isEmpty())
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
{
ios/android: fixed database loading failing when one node doesn't have any depth or scan (#1147).
2023-10-21 14:52:29 -07:00
UERROR("Failed to uncompress data! (rgb=%d, depth=%d, scan=%d)", data.imageCompressed().cols, data.depthOrRightCompressed().cols, data.laserScanCompressed().size());
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
status=-2;
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
}
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
else
{
UWARN("Data for node %d not found", id);
}
}
else
{
UWARN("Pose %d is null !?", id);
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
}
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
++i;
if(addTime.elapsed() >= 4.0f)
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, uFormat("Created clouds %d/%d", i, (int)poses.size())));
addTime.restart();
}
}
catch(const UException & e)
{
UERROR("Exception! msg=\"%s\"", e.what());
status = -2;
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
}
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
catch (const cv::Exception & e)
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
{
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
UERROR("Exception! msg=\"%s\"", e.what());
status = -2;
}
catch (const std::exception & e)
{
UERROR("Exception! msg=\"%s\"", e.what());
status = -2;
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
}
}
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
if(status < 0)
{
createdMeshes_.clear();
ios first release
2021-06-08 00:06:49 -04:00
rawPoses_.clear();
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
}
else
{
LOGI("Created %d meshes...", (int)createdMeshes_.size());
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
}
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
if(optimize && status>=0)
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
{
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Visual optimization..."));
gainCompensation();
LOGI("Polygon filtering...");
boost::mutex::scoped_lock lock(meshesMutex_);
UTimer time;
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
{
if(iter->second.polygons.size())
{
// filter polygons
iter->second.polygons = filterOrganizedPolygons(iter->second.polygons, iter->second.cloud->size());
}
}
}
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Updating scene..."));
LOGI("Open: add rtabmap event to update the scene");
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
rtabmap::Statistics stats;
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
stats.addStatistic(rtabmap::Statistics::kMemoryWorking_memory_size(), (float)rtabmap_->getWMSize());
stats.addStatistic(rtabmap::Statistics::kKeypointDictionary_size(), (float)rtabmap_->getMemory()->getVWDictionary()->getVisualWords().size());
stats.addStatistic(rtabmap::Statistics::kMemoryDatabase_memory_used(), (float)rtabmap_->getMemory()->getDatabaseMemoryUsed());
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
stats.setPoses(poses);
stats.setConstraints(links);
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
rtabmapEvents_.push_back(new rtabmap::RtabmapEvent(stats));
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
ios first release
2021-06-08 00:06:49 -04:00
rtabmap_->setOptimizedPoses(poses, links);
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
Tango: 0.17 fixing broken localization on visualization
2018-04-05 11:00:16 -04:00
// for optimized mesh
if(poses.size())
{
// just take the last as reference
optRefId_ = poses.rbegin()->first;
optRefPose_ = new rtabmap::Transform(poses.rbegin()->second);
}
Tango: offset odom origin when reset
2017-10-02 13:19:02 -04:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_)
{
camera_->resetOrigin();
}
Tango: offset odom origin when reset
2017-10-02 13:19:02 -04:00
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInitialized, ""));
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(restartThread)
{
rtabmapThread_->registerToEventsManager();
rtabmapThread_->start();
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
rtabmapMutex_.unlock();
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
boost::mutex::scoped_lock lockRender(renderingMutex_);
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
if(poses.empty() || status>0)
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
{
openingDatabase_ = false;
}
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
clearSceneOnNextRender_ = status<=0;
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
return status;
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
ios first release
2021-06-08 00:06:49 -04:00
int RTABMapApp::updateMeshDecimation(int width, int height)
{
int meshDecimation = 1;
if(cloudDensityLevel_ == 3) // very low
{
if((height >= 480 || width >= 480) && width % 20 == 0 && height % 20 == 0)
{
meshDecimation = 20;
}
else if(width % 15 == 0 && height % 15 == 0)
{
meshDecimation = 15;
}
else if(width % 10 == 0 && height % 10 == 0)
{
meshDecimation = 10;
}
else if(width % 8 == 0 && height % 8 == 0)
{
meshDecimation = 8;
}
else
{
UERROR("Could not set decimation to high (size=%dx%d)", width, height);
}
}
else if(cloudDensityLevel_ == 2) // low
{
if((height >= 480 || width >= 480) && width % 10 == 0 && height % 10 == 0)
{
meshDecimation = 10;
}
else if(width % 5 == 0 && height % 5 == 0)
{
meshDecimation = 5;
}
else if(width % 4 == 0 && height % 4 == 0)
{
meshDecimation = 4;
}
else
{
UERROR("Could not set decimation to medium (size=%dx%d)", width, height);
}
}
else if(cloudDensityLevel_ == 1) // high
{
if((height >= 480 || width >= 480) && width % 5 == 0 && height % 5 == 0)
{
meshDecimation = 5;
}
else if(width % 3 == 0 && width % 3 == 0)
{
meshDecimation = 3;
}
else if(width % 2 == 0 && width % 2 == 0)
{
meshDecimation = 2;
}
else
{
UERROR("Could not set decimation to low (size=%dx%d)", width, height);
}
}
// else maximum
LOGI("Set decimation to %d (image=%dx%d, density level=%d)", meshDecimation, width, height, cloudDensityLevel_);
return meshDecimation;
}
android: fixed yuv conversion bug on some devices, updated default driver based on which one is available and built with it.
2020-04-29 12:18:02 -04:00
bool RTABMapApp::isBuiltWith(int cameraDriver) const
{
if(cameraDriver == 0)
{
#ifdef RTABMAP_TANGO
return true;
#else
return false;
#endif
}
if(cameraDriver == 1)
{
#ifdef RTABMAP_ARCORE
return true;
#else
return false;
#endif
}
if(cameraDriver == 2)
{
#ifdef RTABMAP_ARENGINE
return true;
#else
return false;
#endif
}
return false;
}
ios first release
2021-06-08 00:06:49 -04:00
#ifdef __ANDROID__
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
bool RTABMapApp::startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver)
ios first release
2021-06-08 00:06:49 -04:00
#else // __APPLE__
bool RTABMapApp::startCamera()
#endif
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
ios first release
2021-06-08 00:06:49 -04:00
stopCamera();
Added AR mapping mode (select ARCore ndk driver and set first person view)
2020-06-29 15:24:35 -04:00
//ccapp = new computer_vision::ComputerVisionApplication();
//ccapp->OnResume(env, context, activity);
//return true;
ios first release
2021-06-08 00:06:49 -04:00
#ifdef __ANDROID__
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
cameraDriver_ = driver;
ios first release
2021-06-08 00:06:49 -04:00
#else // __APPLE__
cameraDriver_ = 3;
#endif
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
LOGW("startCamera() camera driver=%d", cameraDriver_);
boost::mutex::scoped_lock lock(cameraMutex_);
ios first release
2021-06-08 00:06:49 -04:00
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(cameraDriver_ == 0) // Tango
{
#ifdef RTABMAP_TANGO
camera_ = new rtabmap::CameraTango(cameraColor_, !cameraColor_ || fullResolution_?1:2, rawScanSaved_, smoothing_);
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
Tango: C-API Code Migration to Mira release
2016-05-12 14:34:51 -04:00
if (TangoService_setBinder(env, iBinder) != TANGO_SUCCESS) {
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
UERROR("TangoHandler::ConnectTango, TangoService_setBinder error");
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
delete camera_;
camera_ = 0;
Tango: C-API Code Migration to Mira release
2016-05-12 14:34:51 -04:00
return false;
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
#else
UERROR("RTAB-Map is not built with Tango support!");
#endif
}
else if(cameraDriver_ == 1)
{
#ifdef RTABMAP_ARCORE
android: added occlusion detection using arcore depth api (for FPS view). Added depth from motion option in Mapping options.
2020-06-29 20:25:58 -04:00
camera_ = new rtabmap::CameraARCore(env, context, activity, depthFromMotion_, smoothing_);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
#else
UERROR("RTAB-Map is not built with ARCore support!");
#endif
}
else if(cameraDriver_ == 2)
{
#ifdef RTABMAP_ARENGINE
camera_ = new rtabmap::CameraAREngine(env, context, activity, smoothing_);
#else
UERROR("RTAB-Map is not built with AREngine support!");
#endif
}
else if(cameraDriver_ == 3)
{
camera_ = new rtabmap::CameraMobile(smoothing_);
}
if(camera_ == 0)
{
UERROR("Unknown or not supported camera driver! %d", cameraDriver_);
return false;
}
if(camera_->init())
{
Added AR mapping mode (select ARCore ndk driver and set first person view)
2020-06-29 15:24:35 -04:00
camera_->setScreenRotationAndSize(main_scene_.getScreenRotation(), main_scene_.getViewPortWidth(), main_scene_.getViewPortHeight());
Tango: C-API Code Migration to Mira release
2016-05-12 14:34:51 -04:00
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
//update mesh decimation based on camera calibration
LOGI("Cloud density level %d", cloudDensityLevel_);
LOGI("Start camera thread");
cameraJustInitialized_ = true;
return true;
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
UERROR("Failed camera initialization!");
Tango: C-API Code Migration to Mira release
2016-05-12 14:34:51 -04:00
return false;
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
void RTABMapApp::stopCamera()
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
LOGI("stopCamera()");
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_!=0)
{
camera_->join(true);
camera_->close();
delete camera_;
camera_ = 0;
Added depth/rgb registration option
2021-06-10 11:07:25 -04:00
poseBuffer_.clear();
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
ios first release
2021-06-08 00:06:49 -04:00
{
boost::mutex::scoped_lock lock(renderingMutex_);
delete main_scene_.background_renderer_;
main_scene_.background_renderer_ = 0;
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
std::vector<pcl::Vertices> RTABMapApp::filterOrganizedPolygons(
const std::vector<pcl::Vertices> & polygons,
int cloudSize) const
{
std::vector<int> vertexToCluster(cloudSize, 0);
std::map<int, std::list<int> > clusters;
int lastClusterID = 0;
for(unsigned int i=0; i<polygons.size(); ++i)
{
int clusterID = 0;
for(unsigned int j=0;j<polygons[i].vertices.size(); ++j)
{
if(vertexToCluster[polygons[i].vertices[j]]>0)
{
clusterID = vertexToCluster[polygons[i].vertices[j]];
break;
}
}
if(clusterID>0)
{
clusters.at(clusterID).push_back(i);
}
else
{
clusterID = ++lastClusterID;
std::list<int> polygons;
polygons.push_back(i);
clusters.insert(std::make_pair(clusterID, polygons));
}
for(unsigned int j=0;j<polygons[i].vertices.size(); ++j)
{
vertexToCluster[polygons[i].vertices[j]] = clusterID;
}
}
unsigned int biggestClusterSize = 0;
for(std::map<int, std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
{
ios first release
2021-06-08 00:06:49 -04:00
//LOGD("cluster %d = %d", iter->first, (int)iter->second.size());
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
if(iter->second.size() > biggestClusterSize)
{
biggestClusterSize = iter->second.size();
}
}
unsigned int minClusterSize = (unsigned int)(float(biggestClusterSize)*clusterRatio_);
ios first release
2021-06-08 00:06:49 -04:00
//LOGI("Biggest cluster %d -> minClusterSize(ratio=%f)=%d",
// biggestClusterSize, clusterRatio_, (int)minClusterSize);
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
std::vector<pcl::Vertices> filteredPolygons(polygons.size());
int oi = 0;
for(std::map<int, std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
{
if(iter->second.size() >= minClusterSize)
{
for(std::list<int>::iterator jter=iter->second.begin(); jter!=iter->second.end(); ++jter)
{
filteredPolygons[oi++] = polygons[*jter];
}
}
}
filteredPolygons.resize(oi);
return filteredPolygons;
}
std::vector<pcl::Vertices> RTABMapApp::filterPolygons(
const std::vector<pcl::Vertices> & polygons,
int cloudSize) const
{
// filter polygons
std::vector<std::set<int> > neighbors;
std::vector<std::set<int> > vertexToPolygons;
rtabmap::util3d::createPolygonIndexes(
polygons,
cloudSize,
neighbors,
vertexToPolygons);
std::list<std::list<int> > clusters = rtabmap::util3d::clusterPolygons(neighbors);
unsigned int biggestClusterSize = 0;
for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
{
if(iter->size() > biggestClusterSize)
{
biggestClusterSize = iter->size();
}
}
unsigned int minClusterSize = (unsigned int)(float(biggestClusterSize)*clusterRatio_);
LOGI("Biggest cluster = %d -> minClusterSize(ratio=%f)=%d",
biggestClusterSize, clusterRatio_, (int)minClusterSize);
std::vector<pcl::Vertices> filteredPolygons(polygons.size());
int oi=0;
for(std::list<std::list<int> >::iterator jter=clusters.begin(); jter!=clusters.end(); ++jter)
{
if(jter->size() >= minClusterSize)
{
for(std::list<int>::iterator kter=jter->begin(); kter!=jter->end(); ++kter)
{
filteredPolygons[oi++] = polygons.at(*kter);
}
}
}
filteredPolygons.resize(oi);
return filteredPolygons;
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
// OpenGL thread
void RTABMapApp::InitializeGLContent()
{
UINFO("");
main_scene_.InitGLContent();
Tango: added online blending option, background color option, double tap, fixed meshes jiggering on touch, removed raw mesh option
2017-04-17 21:42:01 -04:00
float v = backgroundColor_ == 0.5f?0.4f:1.0f-backgroundColor_;
main_scene_.setGridColor(v, v, v);
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
// OpenGL thread
void RTABMapApp::SetViewPort(int width, int height)
{
main_scene_.SetupViewPort(width, height);
Added AR mapping mode (select ARCore ndk driver and set first person view)
2020-06-29 15:24:35 -04:00
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_)
{
camera_->setScreenRotationAndSize(main_scene_.getScreenRotation(), main_scene_.getViewPortWidth(), main_scene_.getViewPortHeight());
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
class PostRenderEvent : public UEvent
{
public:
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
PostRenderEvent(rtabmap::RtabmapEvent * event = 0) :
rtabmapEvent_(event)
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
{
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
}
~PostRenderEvent()
{
if(rtabmapEvent_!=0)
{
delete rtabmapEvent_;
}
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
}
virtual std::string getClassName() const {return "PostRenderEvent";}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
const rtabmap::RtabmapEvent * getRtabmapEvent() const {return rtabmapEvent_;}
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
private:
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
rtabmap::RtabmapEvent * rtabmapEvent_;
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
};
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
// OpenGL thread
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
bool RTABMapApp::smoothMesh(int id, rtabmap::Mesh & mesh)
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
{
UTimer t;
// reconstruct depth image
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
UASSERT(mesh.indices.get() && mesh.indices->size());
cv::Mat depth = cv::Mat::zeros(mesh.cloud->height, mesh.cloud->width, CV_32FC1);
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
rtabmap::Transform localTransformInv = mesh.cameraModel.localTransform().inverse();
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
for(unsigned int i=0; i<mesh.indices->size(); ++i)
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
{
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
int index = mesh.indices->at(i);
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
// FastBilateralFilter works in camera frame
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
if(mesh.cloud->at(index).x > 0)
{
pcl::PointXYZRGB pt = rtabmap::util3d::transformPoint(mesh.cloud->at(index), localTransformInv);
depth.at<float>(index) = pt.z;
}
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
}
depth = rtabmap::util2d::fastBilateralFiltering(depth, 2.0f, 0.075f);
LOGI("smoothMesh() Bilateral filtering of %d, time=%fs", id, t.ticks());
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
if(!depth.empty() && mesh.indices->size())
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
{
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
pcl::IndicesPtr newIndices(new std::vector<int>(mesh.indices->size()));
int oi = 0;
for(unsigned int i=0; i<mesh.indices->size(); ++i)
{
int index = mesh.indices->at(i);
pcl::PointXYZRGB & pt = mesh.cloud->at(index);
pcl::PointXYZRGB newPt = rtabmap::util3d::transformPoint(mesh.cloud->at(index), localTransformInv);
if(depth.at<float>(index) > 0)
{
newPt.z = depth.at<float>(index);
newPt = rtabmap::util3d::transformPoint(newPt, mesh.cameraModel.localTransform());
newIndices->at(oi++) = index;
}
else
{
newPt.x = newPt.y = newPt.z = std::numeric_limits<float>::quiet_NaN();
}
pt.x = newPt.x;
pt.y = newPt.y;
pt.z = newPt.z;
}
newIndices->resize(oi);
mesh.indices = newIndices;
//reconstruct the mesh with smoothed surfaces
std::vector<pcl::Vertices> polygons;
if(main_scene_.isMeshRendering())
{
polygons = rtabmap::util3d::organizedFastMesh(mesh.cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
}
LOGI("smoothMesh() Reconstructing the mesh of %d, time=%fs", id, t.ticks());
mesh.polygons = polygons;
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
}
else
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
UERROR("smoothMesh() Failed to smooth surface %d", id);
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
return false;
}
return true;
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
void RTABMapApp::gainCompensation(bool full)
{
UTimer tGainCompensation;
LOGI("Gain compensation...");
boost::mutex::scoped_lock lock(meshesMutex_);
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds;
std::map<int, pcl::IndicesPtr> indices;
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
{
clouds.insert(std::make_pair(iter->first, iter->second.cloud));
indices.insert(std::make_pair(iter->first, iter->second.indices));
}
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
rtabmap_->getGraph(poses, links, true, true);
if(full)
{
// full compensation
links.clear();
for(std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr>::const_iterator iter=clouds.begin(); iter!=clouds.end(); ++iter)
{
int from = iter->first;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr>::const_iterator jter = iter;
++jter;
for(;jter!=clouds.end(); ++jter)
{
int to = jter->first;
links.insert(std::make_pair(from, rtabmap::Link(from, to, rtabmap::Link::kUserClosure, poses.at(from).inverse()*poses.at(to))));
}
}
}
UASSERT(maxGainRadius_>0.0f);
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
rtabmap::GainCompensator compensator(maxGainRadius_, 0.0f, 0.01f, 1.0f);
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
if(clouds.size() > 1 && links.size())
{
compensator.feed(clouds, indices, links);
LOGI("Gain compensation... compute gain: links=%d, time=%fs", (int)links.size(), tGainCompensation.ticks());
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
{
if(!iter->second.cloud->empty())
{
if(clouds.size() > 1 && links.size())
{
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
compensator.getGain(iter->first, &iter->second.gains[0], &iter->second.gains[1], &iter->second.gains[2]);
LOGI("%d mesh has gain %f,%f,%f", iter->first, iter->second.gains[0], iter->second.gains[1], iter->second.gains[2]);
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
}
}
}
LOGI("Gain compensation... applying gain: meshes=%d, time=%fs", (int)createdMeshes_.size(), tGainCompensation.ticks());
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
// OpenGL thread
int RTABMapApp::Render()
{
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
std::list<rtabmap::RtabmapEvent*> rtabmapEvents;
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
try
{
ios: improved significantly rendering performance
2022-01-19 02:11:38 -05:00
if(camera_ == 0)
{
// We are not doing continous drawing, just measure single draw
fpsTime_.restart();
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
#ifdef DEBUG_RENDERING_PERFORMANCE
UTimer time;
#endif
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
boost::mutex::scoped_lock lock(renderingMutex_);
Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.
2016-09-07 17:19:21 -04:00
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
bool notifyDataLoaded = false;
bool notifyCameraStarted = false;
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
if(clearSceneOnNextRender_)
{
visualizingMesh_ = false;
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
// ARCore and AREngine capture should be done in opengl thread!
Added AR mapping mode (select ARCore ndk driver and set first person view)
2020-06-29 15:24:35 -04:00
const float* uvsTransformed = 0;
glm::mat4 arProjectionMatrix(0);
glm::mat4 arViewMatrix(0);
android: added occlusion detection using arcore depth api (for FPS view). Added depth from motion option in Mapping options.
2020-06-29 20:25:58 -04:00
rtabmap::Mesh occlusionMesh;
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
{
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_!=0)
{
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
if(cameraDriver_ <= 2)
Added AR mapping mode (select ARCore ndk driver and set first person view)
2020-06-29 15:24:35 -04:00
{
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
camera_->spinOnce();
android: added occlusion detection using arcore depth api (for FPS view). Added depth from motion option in Mapping options.
2020-06-29 20:25:58 -04:00
}
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Camera spinOnce %fs", time.ticks());
android: added occlusion detection using arcore depth api (for FPS view). Added depth from motion option in Mapping options.
2020-06-29 20:25:58 -04:00
#endif
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
if(cameraDriver_ != 2)
android: added occlusion detection using arcore depth api (for FPS view). Added depth from motion option in Mapping options.
2020-06-29 20:25:58 -04:00
{
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
if(main_scene_.background_renderer_ == 0 && camera_->getTextureId() != 0)
Added AR mapping mode (select ARCore ndk driver and set first person view)
2020-06-29 15:24:35 -04:00
{
main_scene_.background_renderer_ = new BackgroundRenderer();
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
main_scene_.background_renderer_->InitializeGlContent(((rtabmap::CameraMobile*)camera_)->getTextureId(), cameraDriver_ == 0 || cameraDriver_ == 1);
Added AR mapping mode (select ARCore ndk driver and set first person view)
2020-06-29 15:24:35 -04:00
}
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
if(camera_->uvsInitialized())
Added AR mapping mode (select ARCore ndk driver and set first person view)
2020-06-29 15:24:35 -04:00
{
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
uvsTransformed = ((rtabmap::CameraMobile*)camera_)->uvsTransformed();
((rtabmap::CameraMobile*)camera_)->getVPMatrices(arViewMatrix, arProjectionMatrix);
Fixed occlusion image origin offset (iOS and android). Android: disabled maximum odom image rate for faster feedback in First-Person. Min/Max range parameters also filter scans. Fixed background renderer not showing image (ARCore Java driver).
2021-06-13 22:07:47 -04:00
if(graphOptimization_ && !mapToOdom_.isIdentity())
{
rtabmap::Transform mapCorrection = rtabmap::opengl_world_T_rtabmap_world * mapToOdom_ *rtabmap::rtabmap_world_T_opengl_world;
arViewMatrix = glm::inverse(rtabmap::glmFromTransform(mapCorrection)*glm::inverse(arViewMatrix));
}
Added AR mapping mode (select ARCore ndk driver and set first person view)
2020-06-29 15:24:35 -04:00
}
android: added occlusion detection using arcore depth api (for FPS view). Added depth from motion option in Mapping options.
2020-06-29 20:25:58 -04:00
if(!visualizingMesh_ && main_scene_.GetCameraType() == tango_gl::GestureCamera::kFirstPerson)
{
rtabmap::CameraModel occlusionModel;
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
cv::Mat occlusionImage = ((rtabmap::CameraMobile*)camera_)->getOcclusionImage(&occlusionModel);
android: added occlusion detection using arcore depth api (for FPS view). Added depth from motion option in Mapping options.
2020-06-29 20:25:58 -04:00
if(occlusionModel.isValidForProjection())
{
pcl::IndicesPtr indices(new std::vector<int>);
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
int meshDecimation = updateMeshDecimation(occlusionImage.cols, occlusionImage.rows);
iOS: fixed origin when we do New Scan while we were already mapping, improved FPV feedback in point cloud mode, showing camera overlay in visualization mode (pinch out to disable). Localization mode: Updated how marker detection transform are modified by gravity constraints.
2021-06-12 12:42:56 -04:00
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(occlusionImage, occlusionModel, meshDecimation, 0, 0, indices.get());
Fixed occlusion image origin offset (iOS and android). Android: disabled maximum odom image rate for faster feedback in First-Person. Min/Max range parameters also filter scans. Fixed background renderer not showing image (ARCore Java driver).
2021-06-13 22:07:47 -04:00
cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::opengl_world_T_rtabmap_world*mapToOdom_*occlusionModel.localTransform());
android: added occlusion detection using arcore depth api (for FPS view). Added depth from motion option in Mapping options.
2020-06-29 20:25:58 -04:00
occlusionMesh.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>());
pcl::copyPointCloud(*cloud, *occlusionMesh.cloud);
occlusionMesh.indices = indices;
occlusionMesh.polygons = rtabmap::util3d::organizedFastMesh(cloud, 1.0*M_PI/180.0, false, meshTrianglePix_);
}
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
else if(!occlusionImage.empty())
android: added occlusion detection using arcore depth api (for FPS view). Added depth from motion option in Mapping options.
2020-06-29 20:25:58 -04:00
{
UERROR("invalid occlusionModel: %f %f %f %f %dx%d", occlusionModel.fx(), occlusionModel.fy(), occlusionModel.cx(), occlusionModel.cy(), occlusionModel.imageWidth(), occlusionModel.imageHeight());
}
}
Added AR mapping mode (select ARCore ndk driver and set first person view)
2020-06-29 15:24:35 -04:00
}
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Update background and occlusion mesh %fs", time.ticks());
android: added occlusion detection using arcore depth api (for FPS view). Added depth from motion option in Mapping options.
2020-06-29 20:25:58 -04:00
#endif
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
}
}
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
// process only pose events in visualization mode
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
rtabmap::Transform pose;
Tango: Handling app pause/resume without having to restart mapping (OpenGL context flushed issue).
2016-09-08 11:55:44 -04:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
boost::mutex::scoped_lock lock(poseMutex_);
if(poseEvents_.size())
{
pose = poseEvents_.back();
poseEvents_.clear();
}
Tango: Handling app pause/resume without having to restart mapping (OpenGL context flushed issue).
2016-09-08 11:55:44 -04:00
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
rtabmap::OdometryEvent odomEvent;
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
boost::mutex::scoped_lock lock(odomMutex_);
if(odomEvents_.size())
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
LOGI("Process odom events");
odomEvent = odomEvents_.back();
odomEvents_.clear();
if(cameraJustInitialized_)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
notifyCameraStarted = true;
cameraJustInitialized_ = false;
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(!pose.isNull())
{
// update camera pose?
if(graphOptimization_ && !mapToOdom_.isIdentity())
{
main_scene_.SetCameraPose(rtabmap::opengl_world_T_rtabmap_world*mapToOdom_*pose*rtabmap::optical_T_opengl);
}
else
{
main_scene_.SetCameraPose(rtabmap::opengl_world_T_rtabmap_world*pose*rtabmap::optical_T_opengl);
}
if(camera_!=0 && cameraJustInitialized_)
{
notifyCameraStarted = true;
cameraJustInitialized_ = false;
}
lastPoseEventTime_ = UTimer::now();
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(visualizingMesh_)
{
if(exportedMeshUpdated_)
{
main_scene_.clear();
exportedMeshUpdated_ = false;
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
if(!main_scene_.hasCloud(g_optMeshId))
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
LOGI("Adding optimized mesh to opengl (%d points, %d polygons, %d tex_coords, materials=%d texture=%dx%d)...",
optMesh_->cloud.point_step==0?0:(int)optMesh_->cloud.data.size()/optMesh_->cloud.point_step,
optMesh_->tex_polygons.size()!=1?0:(int)optMesh_->tex_polygons[0].size(),
optMesh_->tex_coordinates.size()!=1?0:(int)optMesh_->tex_coordinates[0].size(),
(int)optMesh_->tex_materials.size(),
optTexture_.cols, optTexture_.rows);
if(optMesh_->tex_polygons.size() && optMesh_->tex_polygons[0].size())
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
rtabmap::Mesh mesh;
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
mesh.gains[0] = mesh.gains[1] = mesh.gains[2] = 1.0;
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
mesh.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);
mesh.normals.reset(new pcl::PointCloud<pcl::Normal>);
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
pcl::fromPCLPointCloud2(optMesh_->cloud, *mesh.cloud);
pcl::fromPCLPointCloud2(optMesh_->cloud, *mesh.normals);
mesh.polygons = optMesh_->tex_polygons[0];
Tango: updated UI
2017-06-28 13:59:20 -04:00
mesh.pose.setIdentity();
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
if(optMesh_->tex_coordinates.size())
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
mesh.texCoords = optMesh_->tex_coordinates[0];
mesh.texture = optTexture_;
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
main_scene_.addMesh(g_optMeshId, mesh, rtabmap::opengl_world_T_rtabmap_world, true);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
else
{
pcl::IndicesPtr indices(new std::vector<int>); // null
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
pcl::fromPCLPointCloud2(optMesh_->cloud, *cloud);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
main_scene_.addCloud(g_optMeshId, cloud, indices, rtabmap::opengl_world_T_rtabmap_world);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(!openingDatabase_)
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
rtabmapMutex_.lock();
rtabmapEvents = rtabmapEvents_;
rtabmapEvents_.clear();
rtabmapMutex_.unlock();
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(rtabmapEvents.size())
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
const rtabmap::Statistics & stats = rtabmapEvents.back()->getStats();
if(!stats.mapCorrection().isNull())
{
mapToOdom_ = stats.mapCorrection();
}
std::map<int, rtabmap::Transform>::const_iterator iter = stats.poses().find(optRefId_);
if(iter != stats.poses().end() && !iter->second.isNull() && optRefPose_)
{
// adjust opt mesh pose
main_scene_.setCloudPose(g_optMeshId, rtabmap::opengl_world_T_rtabmap_world * iter->second * (*optRefPose_).inverse());
}
int fastMovement = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryFast_movement(), 0.0f);
int loopClosure = (int)uValue(stats.data(), rtabmap::Statistics::kLoopAccepted_hypothesis_id(), 0.0f);
ios first release
2021-06-08 00:06:49 -04:00
int proximityClosureId = int(uValue(stats.data(), rtabmap::Statistics::kProximitySpace_last_detection_id(), 0.0f));
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
int rejected = (int)uValue(stats.data(), rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f);
int landmark = (int)uValue(stats.data(), rtabmap::Statistics::kLoopLandmark_detected(), 0.0f);
ios first release
2021-06-08 00:06:49 -04:00
if(rtabmapThread_ && rtabmapThread_->isRunning() && loopClosure>0)
{
main_scene_.setBackgroundColor(0, 0.5f, 0); // green
}
else if(rtabmapThread_ && rtabmapThread_->isRunning() && proximityClosureId>0)
{
main_scene_.setBackgroundColor(0.5f, 0.5f, 0); // yellow
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
else if(rtabmapThread_ && rtabmapThread_->isRunning() && landmark!=0)
{
Localization: Improved resulting pose in case there are gravity constraints. iOS: clear odom trace when not visible, fixed opt mesh not correctly aligned with graph on loading when switching RGBD/OptimizeFromGraphEnd.
2021-12-18 15:37:49 -05:00
if(rejected)
{
main_scene_.setBackgroundColor(0.5, 0.325f, 0); // dark orange
}
else
{
main_scene_.setBackgroundColor(1, 0.65f, 0); // orange
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
}
else if(rtabmapThread_ && rtabmapThread_->isRunning() && rejected>0)
{
main_scene_.setBackgroundColor(0, 0.2f, 0); // dark green
}
else if(rtabmapThread_ && rtabmapThread_->isRunning() && fastMovement)
{
main_scene_.setBackgroundColor(0.2f, 0, 0.2f); // dark magenta
}
else
{
main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
}
iOS: fixed origin when we do New Scan while we were already mapping, improved FPV feedback in point cloud mode, showing camera overlay in visualization mode (pinch out to disable). Localization mode: Updated how marker detection transform are modified by gravity constraints.
2021-06-12 12:42:56 -04:00
// Update markers
for(std::map<int, rtabmap::Transform>::const_iterator iter=stats.poses().begin();
iter!=stats.poses().end() && iter->first<0;
++iter)
{
int id = iter->first;
if(main_scene_.hasMarker(id))
{
//just update pose
main_scene_.setMarkerPose(id, rtabmap::opengl_world_T_rtabmap_world*iter->second);
}
else
{
main_scene_.addMarker(id, rtabmap::opengl_world_T_rtabmap_world*iter->second);
}
}
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
//backup state
bool isMeshRendering = main_scene_.isMeshRendering();
bool isTextureRendering = main_scene_.isMeshTexturing();
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
main_scene_.setMeshRendering(main_scene_.hasMesh(g_optMeshId), main_scene_.hasTexture(g_optMeshId));
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
main_scene_.setFrustumVisible(camera_!=0);
ios first release
2021-06-08 00:06:49 -04:00
lastDrawnCloudsCount_ = main_scene_.Render(uvsTransformed, arViewMatrix, arProjectionMatrix);
ios: improved significantly rendering performance
2022-01-19 02:11:38 -05:00
double fpsTime = fpsTime_.ticks();
if(renderingTime_ < fpsTime)
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
ios: improved significantly rendering performance
2022-01-19 02:11:38 -05:00
renderingTime_ = fpsTime;
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango: added online blending option, background color option, double tap, fixed meshes jiggering on touch, removed raw mesh option
2017-04-17 21:42:01 -04:00
// revert state
main_scene_.setMeshRendering(isMeshRendering, isTextureRendering);
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(rtabmapEvents.size())
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
{
// send statistics to GUI
ios first release
2021-06-08 00:06:49 -04:00
if(rtabmapEvents.back()->getStats().refImageId()>0 ||
!rtabmapEvents.back()->getStats().data().empty())
{
UEventsManager::post(new PostRenderEvent(rtabmapEvents.back()));
rtabmapEvents.pop_back();
}
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
{
delete *iter;
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
rtabmapEvents.clear();
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
lastPostRenderEventTime_ = UTimer::now();
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
else
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
if(main_scene_.hasCloud(g_optMeshId))
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
main_scene_.clear();
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
optMesh_.reset(new pcl::TextureMesh);
optTexture_ = cv::Mat();
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
// should be before clearSceneOnNextRender_ in case database is reset
if(!openingDatabase_)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
rtabmapMutex_.lock();
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
rtabmapEvents = rtabmapEvents_;
rtabmapEvents_.clear();
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
rtabmapMutex_.unlock();
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
if(!clearSceneOnNextRender_ && rtabmapEvents.size())
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
boost::mutex::scoped_lock lockMesh(meshesMutex_);
if(createdMeshes_.size())
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
if(rtabmapEvents.front()->getStats().refImageId()>0 && rtabmapEvents.front()->getStats().refImageId() < createdMeshes_.rbegin()->first)
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
{
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
LOGI("Detected new database! new=%d old=%d", rtabmapEvents.front()->getStats().refImageId(), createdMeshes_.rbegin()->first);
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
clearSceneOnNextRender_ = true;
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
#ifdef DEBUG_RENDERING_PERFORMANCE
if(rtabmapEvents.size())
{
LOGW("begin and getting rtabmap events %fs", time.ticks());
}
#endif
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(clearSceneOnNextRender_)
{
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
LOGI("Clearing all rendering data...");
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
odomMutex_.lock();
odomEvents_.clear();
odomMutex_.unlock();
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
poseMutex_.lock();
poseEvents_.clear();
poseMutex_.unlock();
main_scene_.clear();
clearSceneOnNextRender_ = false;
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
if(!openingDatabase_)
{
boost::mutex::scoped_lock lock(meshesMutex_);
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
LOGI("Clearing meshes...");
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
createdMeshes_.clear();
ios first release
2021-06-08 00:06:49 -04:00
rawPoses_.clear();
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
}
else
{
notifyDataLoaded = true;
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
totalPoints_ = 0;
totalPolygons_ = 0;
lastDrawnCloudsCount_ = 0;
renderingTime_ = 0.0f;
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
lastPostRenderEventTime_ = 0.0;
fixed max tango pose radius
2017-10-29 10:48:04 -04:00
lastPoseEventTime_ = 0.0;
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
bufferedStatsData_.clear();
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
// Did we lose OpenGL context? If so, recreate the context;
std::set<int> added = main_scene_.getAddedClouds();
added.erase(-1);
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
if(!openingDatabase_)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
boost::mutex::scoped_lock lock(meshesMutex_);
ios first release
2021-06-08 00:06:49 -04:00
unsigned int meshes = (unsigned int)createdMeshes_.size();
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
if(added.size() != meshes)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
LOGI("added (%d) != meshes (%d)", (int)added.size(), meshes);
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
boost::mutex::scoped_lock lockRtabmap(rtabmapMutex_);
UASSERT(rtabmap_!=0);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
for(std::map<int, rtabmap::Mesh>::iterator iter=createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: Added Level of detail rendering depending on the distance from the camera
2017-03-05 21:48:18 -05:00
if(!main_scene_.hasCloud(iter->first) && !iter->second.pose.isNull())
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
LOGI("Re-add mesh %d to OpenGL context", iter->first);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(iter->second.cloud->isOrganized() && main_scene_.isMeshRendering() && iter->second.polygons.size() == 0)
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
iter->second.polygons = rtabmap::util3d::organizedFastMesh(iter->second.cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
Tango: Added Level of detail rendering depending on the distance from the camera
2017-03-05 21:48:18 -05:00
iter->second.polygonsLowRes = rtabmap::util3d::organizedFastMesh(iter->second.cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(iter->second.cloud->isOrganized() && main_scene_.isMeshTexturing())
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
cv::Mat textureRaw;
textureRaw = rtabmap::uncompressImage(rtabmap_->getMemory()->getImageCompressed(iter->first));
if(!textureRaw.empty())
{
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
if(renderingTextureDecimation_ > 1)
{
cv::Size reducedSize(textureRaw.cols/renderingTextureDecimation_, textureRaw.rows/renderingTextureDecimation_);
LOGD("resize image from %dx%d to %dx%d", textureRaw.cols, textureRaw.rows, reducedSize.width, reducedSize.height);
android: fixed opencv4 deprecated errors
2022-01-04 19:46:20 +00:00
cv::resize(textureRaw, iter->second.texture, reducedSize, 0, 0, cv::INTER_LINEAR);
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
}
else
{
iter->second.texture = textureRaw;
}
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
ios first release
2021-06-08 00:06:49 -04:00
main_scene_.addMesh(iter->first, iter->second, rtabmap::opengl_world_T_rtabmap_world*iter->second.pose, true);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
main_scene_.setCloudVisible(iter->first, iter->second.visible);
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
iter->second.texture = cv::Mat(); // don't keep textures in memory
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
}
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
else if(notifyDataLoaded)
{
rtabmapMutex_.lock();
rtabmapEvents = rtabmapEvents_;
rtabmapEvents_.clear();
rtabmapMutex_.unlock();
openingDatabase_ = false;
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(rtabmapEvents.size())
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Process rtabmap events %fs", time.ticks());
#else
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
LOGI("Process rtabmap events");
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
#endif
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
// update buffered signatures
std::map<int, rtabmap::SensorData> bufferedSensorData;
Tango: fixed database saved in memory option when disabled (now disabled by default)
2017-10-08 21:55:27 -04:00
if(!dataRecorderMode_)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
const rtabmap::Statistics & stats = (*iter)->getStats();
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
// Don't create mesh for the last node added if rehearsal happened or if discarded (small movement)
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
int smallMovement = (int)uValue(stats.data(), rtabmap::Statistics::kMemorySmall_movement(), 0.0f);
Tango: add Maximum Motion Speed option (default low) to avoid blurry images
2017-09-28 17:15:53 -04:00
int fastMovement = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryFast_movement(), 0.0f);
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
int rehearsalMerged = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryRehearsal_merged(), 0.0f);
Fixed Tango build
2019-02-12 16:48:37 -05:00
if(!localizationMode_ && stats.getLastSignatureData().id() > 0 &&
Tango: updated how memory used and database size are computed
2017-10-09 18:04:54 -04:00
smallMovement == 0 && rehearsalMerged == 0 && fastMovement == 0)
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
Fixed Tango build
2019-02-12 16:48:37 -05:00
int id = stats.getLastSignatureData().id();
const rtabmap::Signature & s = stats.getLastSignatureData();
Tango: fixed database saved in memory option when disabled (now disabled by default)
2017-10-08 21:55:27 -04:00
Tango: updated how memory used and database size are computed
2017-10-09 18:04:54 -04:00
if(!trajectoryMode_ &&
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
((!s.sensorData().imageRaw().empty() && !s.sensorData().depthRaw().empty()) ||
!s.sensorData().laserScanRaw().isEmpty()))
Tango: updated how memory used and database size are computed
2017-10-09 18:04:54 -04:00
{
uInsert(bufferedSensorData, std::make_pair(id, s.sensorData()));
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango: updated how memory used and database size are computed
2017-10-09 18:04:54 -04:00
uInsert(rawPoses_, std::make_pair(id, s.getPose()));
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
int loopClosure = (int)uValue(stats.data(), rtabmap::Statistics::kLoopAccepted_hypothesis_id(), 0.0f);
ios first release
2021-06-08 00:06:49 -04:00
int proximityClosureId = int(uValue(stats.data(), rtabmap::Statistics::kProximitySpace_last_detection_id(), 0.0f));
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
int rejected = (int)uValue(stats.data(), rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f);
Tango: added marker's max depth error setting
2019-03-18 10:37:02 -04:00
int landmark = (int)uValue(stats.data(), rtabmap::Statistics::kLoopLandmark_detected(), 0.0f);
ios first release
2021-06-08 00:06:49 -04:00
if(rtabmapThread_ && rtabmapThread_->isRunning() && loopClosure>0)
{
main_scene_.setBackgroundColor(0, 0.5f, 0); // green
}
else if(rtabmapThread_ && rtabmapThread_->isRunning() && proximityClosureId>0)
{
main_scene_.setBackgroundColor(0.5f, 0.5f, 0); // yellow
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
else if(rtabmapThread_ && rtabmapThread_->isRunning() && landmark!=0)
Tango: added marker's max depth error setting
2019-03-18 10:37:02 -04:00
{
main_scene_.setBackgroundColor(1, 0.65f, 0); // orange
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
else if(rtabmapThread_ && rtabmapThread_->isRunning() && rejected>0)
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
Tango: added online blending option, background color option, double tap, fixed meshes jiggering on touch, removed raw mesh option
2017-04-17 21:42:01 -04:00
main_scene_.setBackgroundColor(0, 0.2f, 0); // dark green
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
else if(rtabmapThread_ && rtabmapThread_->isRunning() && rehearsalMerged>0)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
main_scene_.setBackgroundColor(0, 0, 0.2f); // blue
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
else if(rtabmapThread_ && rtabmapThread_->isRunning() && fastMovement)
Tango: add Maximum Motion Speed option (default low) to avoid blurry images
2017-09-28 17:15:53 -04:00
{
main_scene_.setBackgroundColor(0.2f, 0, 0.2f); // dark magenta
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
else
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: added online blending option, background color option, double tap, fixed meshes jiggering on touch, removed raw mesh option
2017-04-17 21:42:01 -04:00
main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
}
}
Tango: fixed database saved in memory option when disabled (now disabled by default)
2017-10-08 21:55:27 -04:00
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
#ifdef DEBUG_RENDERING_PERFORMANCE
ARCore: when tof camera is not available, use arcore point cloud as keypoints
2020-04-26 14:48:48 -04:00
LOGW("Looking for data to load (%d) %fs", (int)bufferedSensorData.size(), time.ticks());
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
#endif
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: added "Settings->Mapping->ArUco Marker Detection" option
2019-02-23 03:02:42 +00:00
std::map<int, rtabmap::Transform> posesWithMarkers = rtabmapEvents.back()->getStats().poses();
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
if(!rtabmapEvents.back()->getStats().mapCorrection().isNull())
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
{
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
mapToOdom_ = rtabmapEvents.back()->getStats().mapCorrection();
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
// Transform pose in OpenGL world
Tango: added "Settings->Mapping->ArUco Marker Detection" option
2019-02-23 03:02:42 +00:00
for(std::map<int, rtabmap::Transform>::iterator iter=posesWithMarkers.begin(); iter!=posesWithMarkers.end(); ++iter)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(!graphOptimization_)
{
std::map<int, rtabmap::Transform>::iterator jter = rawPoses_.find(iter->first);
if(jter != rawPoses_.end())
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
iter->second = rtabmap::opengl_world_T_rtabmap_world*jter->second;
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
}
else
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
iter->second = rtabmap::opengl_world_T_rtabmap_world*iter->second;
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: added "Settings->Mapping->ArUco Marker Detection" option
2019-02-23 03:02:42 +00:00
std::map<int, rtabmap::Transform> poses(posesWithMarkers.lower_bound(0), posesWithMarkers.end());
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
const std::multimap<int, rtabmap::Link> & links = rtabmapEvents.back()->getStats().constraints();
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(poses.size())
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
//update graph
main_scene_.updateGraph(poses, links);
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Update graph: %fs", time.ticks());
#endif
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
// update clouds
boost::mutex::scoped_lock lock(meshesMutex_);
std::set<std::string> strIds;
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
int id = iter->first;
if(!iter->second.isNull())
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(main_scene_.hasCloud(id))
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
//just update pose
main_scene_.setCloudPose(id, iter->second);
main_scene_.setCloudVisible(id, true);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
std::map<int, rtabmap::Mesh>::iterator meshIter = createdMeshes_.find(id);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
UASSERT(meshIter!=createdMeshes_.end());
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
meshIter->second.pose = rtabmap::opengl_world_T_rtabmap_world.inverse()*iter->second;
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
meshIter->second.visible = true;
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
else
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
if(createdMeshes_.find(id) == createdMeshes_.end() &&
bufferedSensorData.find(id) != bufferedSensorData.end())
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
rtabmap::SensorData data = bufferedSensorData.at(id);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
cv::Mat tmpA, depth;
data.uncompressData(&tmpA, &depth);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(!(!data.imageRaw().empty() && !data.depthRaw().empty()) && !data.laserScanCompressed().isEmpty())
{
rtabmap::LaserScan scan;
data.uncompressData(0, 0, &scan);
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Decompressing data: %fs", time.ticks());
#endif
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if((!data.imageRaw().empty() && !data.depthRaw().empty()) || !data.laserScanRaw().isEmpty())
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
// Voxelize and filter depending on the previous cloud?
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr indices(new std::vector<int>);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(!data.imageRaw().empty() && !data.depthRaw().empty())
{
ios first release
2021-06-08 00:06:49 -04:00
int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
}
else
{
//scan
Fixed occlusion image origin offset (iOS and android). Android: disabled maximum odom image rate for faster feedback in First-Person. Min/Max range parameters also filter scans. Fixed background renderer not showing image (ARCore Java driver).
2021-06-13 22:07:47 -04:00
cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(data.laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), data.laserScanRaw().localTransform(), 255, 255, 255);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
indices->at(i) = i;
}
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Creating node cloud %d (depth=%dx%d rgb=%dx%d, %fs)", id, data.depthRaw().cols, data.depthRaw().rows, data.imageRaw().cols, data.imageRaw().rows, time.ticks());
#endif
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
if(cloud->size() && indices->size())
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
std::vector<pcl::Vertices> polygons;
Tango: Added Level of detail rendering depending on the distance from the camera
2017-03-05 21:48:18 -05:00
std::vector<pcl::Vertices> polygonsLowRes;
ios first release
2021-06-08 00:06:49 -04:00
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > texCoords;
#else
std::vector<Eigen::Vector2f> texCoords;
#endif
pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(cloud->isOrganized() && main_scene_.isMeshRendering() && main_scene_.isMapRendering())
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
{
ios first release
2021-06-08 00:06:49 -04:00
polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Creating mesh, %d polygons (%fs)", (int)polygons.size(), time.ticks());
#endif
#ifndef DISABLE_VTK
if(meshDecimationFactor_ > 0.0f && !polygons.empty())
{
pcl::PolygonMesh::Ptr tmpMesh(new pcl::PolygonMesh);
pcl::toPCLPointCloud2(*cloud, tmpMesh->cloud);
tmpMesh->polygons = polygons;
rtabmap::util3d::denseMeshPostProcessing<pcl::PointXYZRGB>(tmpMesh, meshDecimationFactor_, 0, cloud, 0);
if(!tmpMesh->polygons.empty())
{
if(main_scene_.isMeshTexturing() && main_scene_.isMapRendering())
{
std::map<int, rtabmap::Transform> cameraPoses;
std::map<int, rtabmap::CameraModel> cameraModels;
cameraPoses.insert(std::make_pair(0, rtabmap::Transform::getIdentity()));
cameraModels.insert(std::make_pair(0, data.cameraModels()[0]));
pcl::TextureMesh::Ptr textureMesh = rtabmap::util3d::createTextureMesh(
tmpMesh,
cameraPoses,
cameraModels,
std::map<int, cv::Mat>());
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
polygons = textureMesh->tex_polygons[0];
texCoords = textureMesh->tex_coordinates[0];
}
else
{
pcl::fromPCLPointCloud2(tmpMesh->cloud, *cloud);
polygons = tmpMesh->polygons;
}
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
indices->at(i) = i;
}
}
else
{
LOGE("Mesh decimation factor is too high (%f), returning full mesh (id=%d).", meshDecimationFactor_, data.id());
polygonsLowRes = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
#ifdef DEBUG_RENDERING_PERFORMANCE
ios first release
2021-06-08 00:06:49 -04:00
LOGW("Creating mesh, %d polygons (%fs)", (int)polygons.size(), time.ticks());
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
#endif
ios first release
2021-06-08 00:06:49 -04:00
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
#ifdef DEBUG_RENDERING_PERFORMANCE
ios first release
2021-06-08 00:06:49 -04:00
LOGW("Mesh simplication, %d polygons, %d points (%fs)", (int)polygons.size(), (int)cloud->size(), time.ticks());
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
#endif
ios first release
2021-06-08 00:06:49 -04:00
}
else
#endif
{
polygonsLowRes = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Creating mesh, %d polygons (%fs)", (int)polygons.size(), time.ticks());
#endif
}
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
}
ios first release
2021-06-08 00:06:49 -04:00
std::pair<std::map<int, rtabmap::Mesh>::iterator, bool> inserted = createdMeshes_.insert(std::make_pair(id, rtabmap::Mesh()));
UASSERT(inserted.second);
inserted.first->second.cloud = cloud;
inserted.first->second.indices = indices;
inserted.first->second.polygons = polygons;
inserted.first->second.polygonsLowRes = polygonsLowRes;
inserted.first->second.visible = true;
inserted.first->second.cameraModel = data.cameraModels()[0];
inserted.first->second.gains[0] = 1.0;
inserted.first->second.gains[1] = 1.0;
inserted.first->second.gains[2] = 1.0;
if((cloud->isOrganized() || !texCoords.empty()) && main_scene_.isMeshTexturing() && main_scene_.isMapRendering())
{
inserted.first->second.texCoords = texCoords;
if(renderingTextureDecimation_ > 1)
{
cv::Size reducedSize(data.imageRaw().cols/renderingTextureDecimation_, data.imageRaw().rows/renderingTextureDecimation_);
android: fixed opencv4 deprecated errors
2022-01-04 19:46:20 +00:00
cv::resize(data.imageRaw(), inserted.first->second.texture, reducedSize, 0, 0, cv::INTER_LINEAR);
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
#ifdef DEBUG_RENDERING_PERFORMANCE
ios first release
2021-06-08 00:06:49 -04:00
LOGW("resize image from %dx%d to %dx%d (%fs)", data.imageRaw().cols, data.imageRaw().rows, reducedSize.width, reducedSize.height, time.ticks());
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
#endif
ios first release
2021-06-08 00:06:49 -04:00
}
else
{
inserted.first->second.texture = data.imageRaw();
}
}
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
}
if(createdMeshes_.find(id) != createdMeshes_.end())
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
rtabmap::Mesh & mesh = createdMeshes_.at(id);
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
totalPoints_+=mesh.indices->size();
totalPolygons_ += mesh.polygons.size();
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
mesh.pose = rtabmap::opengl_world_T_rtabmap_world.inverse()*iter->second;
ios first release
2021-06-08 00:06:49 -04:00
main_scene_.addMesh(id, mesh, iter->second, true);
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
#ifdef DEBUG_RENDERING_PERFORMANCE
LOGW("Adding mesh to scene: %fs", time.ticks());
#endif
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
mesh.texture = cv::Mat(); // don't keep textures in memory
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
}
}
}
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
//filter poses?
if(poses.size() > 2)
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(nodesFiltering_)
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
for(std::multimap<int, rtabmap::Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(iter->second.type() != rtabmap::Link::kNeighbor)
{
int oldId = iter->second.to()>iter->second.from()?iter->second.from():iter->second.to();
poses.erase(oldId);
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
}
}
Tango: added "Settings->Mapping->ArUco Marker Detection" option
2019-02-23 03:02:42 +00:00
if(!poses.empty())
rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded. Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
2016-11-21 17:09:04 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
//update cloud visibility
boost::mutex::scoped_lock lock(meshesMutex_);
std::set<int> addedClouds = main_scene_.getAddedClouds();
for(std::set<int>::const_iterator iter=addedClouds.begin();
iter!=addedClouds.end();
++iter)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(*iter > 0 && poses.find(*iter) == poses.end())
{
main_scene_.setCloudVisible(*iter, false);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
std::map<int, rtabmap::Mesh>::iterator meshIter = createdMeshes_.find(*iter);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
UASSERT(meshIter!=createdMeshes_.end());
meshIter->second.visible = false;
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded. Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
2016-11-21 17:09:04 -05:00
}
Tango: added "Settings->Mapping->ArUco Marker Detection" option
2019-02-23 03:02:42 +00:00
// Update markers
std::set<int> addedMarkers = main_scene_.getAddedMarkers();
for(std::set<int>::const_iterator iter=addedMarkers.begin();
iter!=addedMarkers.end();
++iter)
{
if(posesWithMarkers.find(*iter) == posesWithMarkers.end())
{
main_scene_.removeMarker(*iter);
}
}
for(std::map<int, rtabmap::Transform>::const_iterator iter=posesWithMarkers.begin();
iter!=posesWithMarkers.end() && iter->first<0;
++iter)
{
int id = iter->first;
if(main_scene_.hasMarker(id))
{
//just update pose
main_scene_.setMarkerPose(id, iter->second);
}
else
{
main_scene_.addMarker(id, iter->second);
}
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
else
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
main_scene_.setCloudVisible(-1, odomCloudShown_ && !trajectoryMode_ && camera_!=0);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
//just process the last one
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
if(!odomEvent.pose().isNull())
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(odomCloudShown_ && !trajectoryMode_)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if((!odomEvent.data().imageRaw().empty() && !odomEvent.data().depthRaw().empty()) || !odomEvent.data().laserScanRaw().isEmpty())
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::IndicesPtr indices(new std::vector<int>);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if((!odomEvent.data().imageRaw().empty() && !odomEvent.data().depthRaw().empty()))
{
ios first release
2021-06-08 00:06:49 -04:00
int meshDecimation = updateMeshDecimation(odomEvent.data().depthRaw().cols, odomEvent.data().depthRaw().rows);
cloud = rtabmap::util3d::cloudRGBFromSensorData(odomEvent.data(), meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
}
else
{
//scan
Fixed occlusion image origin offset (iOS and android). Android: disabled maximum odom image rate for faster feedback in First-Person. Min/Max range parameters also filter scans. Fixed background renderer not showing image (ARCore Java driver).
2021-06-13 22:07:47 -04:00
cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(odomEvent.data().laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), odomEvent.data().laserScanRaw().localTransform(), 255, 255, 255);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
indices->at(i) = i;
}
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(cloud->size() && indices->size())
{
LOGI("Created odom cloud (rgb=%dx%d depth=%dx%d cloud=%dx%d)",
odomEvent.data().imageRaw().cols, odomEvent.data().imageRaw().rows,
odomEvent.data().depthRaw().cols, odomEvent.data().depthRaw().rows,
(int)cloud->width, (int)cloud->height);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
main_scene_.addCloud(-1, cloud, indices, rtabmap::opengl_world_T_rtabmap_world*mapToOdom_*odomEvent.pose());
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
main_scene_.setCloudVisible(-1, true);
}
else
{
UERROR("Generated cloud is empty!");
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
else
{
ios first release
2021-06-08 00:06:49 -04:00
UWARN("Odom data images/scans are empty!");
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
}
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
if(gainCompensationOnNextRender_>0)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
gainCompensation(gainCompensationOnNextRender_==2);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.
2016-09-07 17:19:21 -04:00
{
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
main_scene_.updateGains(iter->first, iter->second.gains[0], iter->second.gains[1], iter->second.gains[2]);
Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.
2016-09-07 17:19:21 -04:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
gainCompensationOnNextRender_ = 0;
notifyDataLoaded = true;
rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded. Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
2016-11-21 17:09:04 -05:00
}
Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.
2016-09-07 17:19:21 -04:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(bilateralFilteringOnNextRender_)
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
LOGI("Bilateral filtering...");
bilateralFilteringOnNextRender_ = false;
boost::mutex::scoped_lock lock(meshesMutex_);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(iter->second.cloud->size() && iter->second.indices->size())
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(smoothMesh(iter->first, iter->second))
{
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
main_scene_.updateMesh(iter->first, iter->second);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
notifyDataLoaded = true;
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
if(filterPolygonsOnNextRender_ && clusterRatio_>0.0f)
Tango: added Noise Filtering post-processing option, set RGBD/MaxLocalRetrieved to 0 (avoiding some high processing time peaks), fill depth holes up to 5 pixels
2016-09-03 20:38:27 -04:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
LOGI("Polygon filtering...");
filterPolygonsOnNextRender_ = false;
boost::mutex::scoped_lock lock(meshesMutex_);
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
UTimer time;
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
Tango: added Noise Filtering post-processing option, set RGBD/MaxLocalRetrieved to 0 (avoiding some high processing time peaks), fill depth holes up to 5 pixels
2016-09-03 20:38:27 -04:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(iter->second.polygons.size())
Tango: added Noise Filtering post-processing option, set RGBD/MaxLocalRetrieved to 0 (avoiding some high processing time peaks), fill depth holes up to 5 pixels
2016-09-03 20:38:27 -04:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
// filter polygons
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
iter->second.polygons = filterOrganizedPolygons(iter->second.polygons, iter->second.cloud->size());
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
main_scene_.updateCloudPolygons(iter->first, iter->second.polygons);
Tango: added Noise Filtering post-processing option, set RGBD/MaxLocalRetrieved to 0 (avoiding some high processing time peaks), fill depth holes up to 5 pixels
2016-09-03 20:38:27 -04:00
}
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
notifyDataLoaded = true;
Tango: added Noise Filtering post-processing option, set RGBD/MaxLocalRetrieved to 0 (avoiding some high processing time peaks), fill depth holes up to 5 pixels
2016-09-03 20:38:27 -04:00
}
ios: improved significantly rendering performance
2022-01-19 02:11:38 -05:00
main_scene_.setFrustumVisible(camera_!=0);
iOS: improved feedback in first-person mapping mode (red background), fixed not matching camera overlay with 3D model, updated how memory usage is computed.
2021-06-11 21:41:59 -04:00
lastDrawnCloudsCount_ = main_scene_.Render(uvsTransformed, arViewMatrix, arProjectionMatrix, occlusionMesh, true);
ios: improved significantly rendering performance
2022-01-19 02:11:38 -05:00
double fpsTime = fpsTime_.ticks();
if(renderingTime_ < fpsTime)
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
ios: improved significantly rendering performance
2022-01-19 02:11:38 -05:00
renderingTime_ = fpsTime;
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(rtabmapEvents.size())
{
// send statistics to GUI
Tango: updated UI
2017-06-28 13:59:20 -04:00
LOGI("New data added to map, rendering time: %fs", renderingTime_);
ios first release
2021-06-08 00:06:49 -04:00
if(rtabmapEvents.back()->getStats().refImageId()>0 ||
!rtabmapEvents.back()->getStats().data().empty())
{
UEventsManager::post(new PostRenderEvent(rtabmapEvents.back()));
rtabmapEvents.pop_back();
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
{
delete *iter;
}
rtabmapEvents.clear();
lastPostRenderEventTime_ = UTimer::now();
fixed max tango pose radius
2017-10-29 10:48:04 -04:00
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(camera_!=0 && lastPoseEventTime_>0.0 && UTimer::now()-lastPoseEventTime_ > 1.0)
fixed max tango pose radius
2017-10-29 10:48:04 -04:00
{
UERROR("TangoPoseEventNotReceived");
ios: Moved install_deps.sh in upper directory to easy cleanup Libraries. Fixed uNumber2Str(double) link error.
2022-11-19 12:41:01 -08:00
UEventsManager::post(new rtabmap::CameraInfoEvent(10, "TangoPoseEventNotReceived", uNumber2Str(UTimer::now()-lastPoseEventTime_, 6)));
fixed max tango pose radius
2017-10-29 10:48:04 -04:00
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
}
}
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
if(takeScreenshotOnNextRender_)
{
takeScreenshotOnNextRender_ = false;
int w = main_scene_.getViewPortWidth();
int h = main_scene_.getViewPortHeight();
cv::Mat image(h, w, CV_8UC4);
glReadPixels(0, 0, w, h, GL_RGBA, GL_UNSIGNED_BYTE, image.data);
cv::flip(image, image, 0);
android: fixed opencv4 deprecated errors
2022-01-04 19:46:20 +00:00
cv::cvtColor(image, image, cv::COLOR_RGBA2BGRA);
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
cv::Mat roi;
if(w>h)
{
int offset = (w-h)/2;
roi = image(cv::Range::all(), cv::Range(offset,offset+h));
}
else
{
int offset = (h-w)/2;
roi = image(cv::Range(offset,offset+w), cv::Range::all());
}
rtabmapMutex_.lock();
LOGI("Saving screenshot %dx%d...", roi.cols, roi.rows);
rtabmap_->getMemory()->savePreviewImage(roi);
rtabmapMutex_.unlock();
screenshotReady_.release();
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if((rtabmapThread_==0 || !rtabmapThread_->isRunning()) && lastPostRenderEventTime_ > 0.0)
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
{
double interval = UTimer::now() - lastPostRenderEventTime_;
double updateInterval = 1.0;
if(!openingDatabase_ && rtabmapThread_)
{
boost::mutex::scoped_lock lock(rtabmapMutex_);
if(rtabmapThread_ && rtabmapThread_->getDetectorRate()>0.0f)
{
updateInterval = 1.0f/rtabmapThread_->getDetectorRate();
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
if(interval >= updateInterval)
{
if(!openingDatabase_)
{
// don't send event when we are opening the database (init events already sent)
UEventsManager::post(new PostRenderEvent());
}
lastPostRenderEventTime_ = UTimer::now();
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
return notifyDataLoaded||notifyCameraStarted?1:0;
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango: Added Level of detail rendering depending on the distance from the camera
2017-03-05 21:48:18 -05:00
catch(const UException & e)
{
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
{
delete *iter;
}
rtabmapEvents.clear();
Tango: Added Level of detail rendering depending on the distance from the camera
2017-03-05 21:48:18 -05:00
UERROR("Exception! msg=\"%s\"", e.what());
return -2;
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
catch(const cv::Exception & e)
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
{
delete *iter;
}
rtabmapEvents.clear();
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
UERROR("Exception! msg=\"%s\"", e.what());
return -1;
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
catch(const std::exception & e)
{
for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
{
delete *iter;
}
rtabmapEvents.clear();
UERROR("Exception! msg=\"%s\"", e.what());
return -2;
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
void RTABMapApp::SetCameraType(
tango_gl::GestureCamera::CameraType camera_type) {
main_scene_.SetCameraType(camera_type);
}
void RTABMapApp::OnTouchEvent(int touch_count,
tango_gl::GestureCamera::TouchEvent event,
float x0, float y0, float x1, float y1) {
main_scene_.OnTouchEvent(touch_count, event, x0, y0, x1, y1);
}
void RTABMapApp::setPausedMapping(bool paused)
{
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
boost::mutex::scoped_lock lock(renderingMutex_);
Tango: added online blending option, background color option, double tap, fixed meshes jiggering on touch, removed raw mesh option
2017-04-17 21:42:01 -04:00
main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(rtabmapThread_)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(rtabmapThread_->isRunning() && paused)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
LOGW("Pause!");
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
rtabmapThread_->unregisterFromEventsManager();
rtabmapThread_->join(true);
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
else if(!rtabmapThread_->isRunning() && !paused)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
LOGW("Resume!");
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
rtabmap_->triggerNewMap();
rtabmap_->parseParameters(getRtabmapParameters());
rtabmapThread_->registerToEventsManager();
rtabmapThread_->start();
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
}
}
Tango: added online blending option, background color option, double tap, fixed meshes jiggering on touch, removed raw mesh option
2017-04-17 21:42:01 -04:00
void RTABMapApp::setOnlineBlending(bool enabled)
{
main_scene_.setBlending(enabled);
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
void RTABMapApp::setMapCloudShown(bool shown)
{
Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering
2016-04-04 13:03:43 -04:00
main_scene_.setMapRendering(shown);
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
void RTABMapApp::setOdomCloudShown(bool shown)
{
odomCloudShown_ = shown;
main_scene_.setTraceVisible(shown);
}
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
void RTABMapApp::setMeshRendering(bool enabled, bool withTexture)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
main_scene_.setMeshRendering(enabled, withTexture);
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
void RTABMapApp::setPointSize(float value)
{
main_scene_.setPointSize(value);
}
Tango: Added Ortho mode (#193)
2017-06-12 15:36:33 -04:00
void RTABMapApp::setFOV(float angle)
{
main_scene_.setFOV(angle);
}
void RTABMapApp::setOrthoCropFactor(float value)
{
main_scene_.setOrthoCropFactor(value);
}
Tango: updated UI
2017-06-28 13:59:20 -04:00
void RTABMapApp::setGridRotation(float value)
{
main_scene_.setGridRotation(value);
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
void RTABMapApp::setLighting(bool enabled)
{
main_scene_.setLighting(enabled);
}
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
void RTABMapApp::setBackfaceCulling(bool enabled)
{
main_scene_.setBackfaceCulling(enabled);
}
Tango: added wireframe button (#191)
2017-06-12 19:08:51 -04:00
void RTABMapApp::setWireframe(bool enabled)
{
main_scene_.setWireframe(enabled);
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
void RTABMapApp::setLocalizationMode(bool enabled)
{
localizationMode_ = enabled;
ios first release
2021-06-08 00:06:49 -04:00
rtabmap::ParametersMap parameters;
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapStartNewMapOnLoopClosure(), uBool2Str(!localizationMode_ && appendMode_)));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), uBool2Str(!localizationMode_)));
this->post(new rtabmap::ParamEvent(parameters));
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
void RTABMapApp::setTrajectoryMode(bool enabled)
{
trajectoryMode_ = enabled;
this->post(new rtabmap::ParamEvent(rtabmap::Parameters::kMemBinDataKept(), uBool2Str(!trajectoryMode_)));
}
void RTABMapApp::setGraphOptimization(bool enabled)
{
graphOptimization_ = enabled;
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if((camera_ == 0) && rtabmap_ && rtabmap_->getMemory()->getLastWorkingSignature()!=0)
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
{
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
rtabmap_->getGraph(poses, links, true, true);
if(poses.size())
{
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmap::Statistics stats = rtabmap_->getStatistics();
stats.setPoses(poses);
stats.setConstraints(links);
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
LOGI("Send rtabmap event to update graph...");
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
rtabmapEvents_.push_back(new rtabmap::RtabmapEvent(stats));
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
ios first release
2021-06-08 00:06:49 -04:00
rtabmap_->setOptimizedPoses(poses, links);
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
}
}
}
void RTABMapApp::setNodesFiltering(bool enabled)
{
nodesFiltering_ = enabled;
setGraphOptimization(graphOptimization_); // this will resend the graph if paused
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
void RTABMapApp::setGraphVisible(bool visible)
{
main_scene_.setGraphVisible(visible);
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
main_scene_.setTraceVisible(visible);
ios first release
2021-06-08 00:06:49 -04:00
setGraphOptimization(graphOptimization_); // this will republish the graph
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
}
void RTABMapApp::setGridVisible(bool visible)
{
main_scene_.setGridVisible(visible);
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
void RTABMapApp::setRawScanSaved(bool enabled)
{
if(rawScanSaved_ != enabled)
{
rawScanSaved_ = enabled;
}
}
Tango: added fisheye option
2017-03-13 20:51:59 -04:00
void RTABMapApp::setCameraColor(bool enabled)
{
if(cameraColor_ != enabled)
{
cameraColor_ = enabled;
}
}
Tango #57: Added 720p option, Export PLY or OBJ, Added Rendering and Mapping menus, RtabmapThread: Fixed large covariance (9999) detection
2016-04-02 15:17:40 -04:00
void RTABMapApp::setFullResolution(bool enabled)
{
if(fullResolution_ != enabled)
{
fullResolution_ = enabled;
}
}
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
void RTABMapApp::setSmoothing(bool enabled)
{
if(smoothing_ != enabled)
{
smoothing_ = enabled;
}
}
android: added occlusion detection using arcore depth api (for FPS view). Added depth from motion option in Mapping options.
2020-06-29 20:25:58 -04:00
void RTABMapApp::setDepthFromMotion(bool enabled)
{
if(depthFromMotion_ != enabled)
{
depthFromMotion_ = enabled;
}
}
rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded. Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
2016-11-21 17:09:04 -05:00
void RTABMapApp::setAppendMode(bool enabled)
{
if(appendMode_ != enabled)
{
appendMode_ = enabled;
rtabmap::ParametersMap parameters;
ios first release
2021-06-08 00:06:49 -04:00
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapStartNewMapOnLoopClosure(), uBool2Str(!localizationMode_ && appendMode_)));
rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded. Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
2016-11-21 17:09:04 -05:00
this->post(new rtabmap::ParamEvent(parameters));
}
}
Tango: Added Data Recorder mode (See Mapping menu)
2016-10-29 18:14:25 -04:00
void RTABMapApp::setDataRecorderMode(bool enabled)
{
if(dataRecorderMode_ != enabled)
{
dataRecorderMode_ = enabled; // parameters will be set when resuming (we assume we are paused)
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(localizationMode_ && enabled)
{
localizationMode_ = false;
}
Tango: Added Data Recorder mode (See Mapping menu)
2016-10-29 18:14:25 -04:00
}
}
Tango #57: Added 720p option, Export PLY or OBJ, Added Rendering and Mapping menus, RtabmapThread: Fixed large covariance (9999) detection
2016-04-02 15:17:40 -04:00
void RTABMapApp::setMaxCloudDepth(float value)
{
maxCloudDepth_ = value;
}
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
void RTABMapApp::setMinCloudDepth(float value)
{
minCloudDepth_ = value;
}
Tango: added comptible fisheye cloud density level
2017-03-15 17:05:19 -04:00
void RTABMapApp::setCloudDensityLevel(int value)
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
{
Tango: added comptible fisheye cloud density level
2017-03-15 17:05:19 -04:00
cloudDensityLevel_ = value;
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
}
Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering
2016-04-04 13:03:43 -04:00
void RTABMapApp::setMeshAngleTolerance(float value)
{
meshAngleToleranceDeg_ = value;
}
ios first release
2021-06-08 00:06:49 -04:00
void RTABMapApp::setMeshDecimationFactor(float value)
{
meshDecimationFactor_ = value;
}
Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering
2016-04-04 13:03:43 -04:00
void RTABMapApp::setMeshTriangleSize(int value)
{
Tango: added gain radius and min cluster size parameters
2017-01-26 17:34:15 -05:00
meshTrianglePix_ = value;
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
void RTABMapApp::setClusterRatio(float value)
Tango: added gain radius and min cluster size parameters
2017-01-26 17:34:15 -05:00
{
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
clusterRatio_ = value;
Tango: added gain radius and min cluster size parameters
2017-01-26 17:34:15 -05:00
}
void RTABMapApp::setMaxGainRadius(float value)
{
maxGainRadius_ = value;
Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering
2016-04-04 13:03:43 -04:00
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
void RTABMapApp::setRenderingTextureDecimation(int value)
{
UASSERT(value>=1);
renderingTextureDecimation_ = value;
}
Tango: added online blending option, background color option, double tap, fixed meshes jiggering on touch, removed raw mesh option
2017-04-17 21:42:01 -04:00
void RTABMapApp::setBackgroundColor(float gray)
{
backgroundColor_ = gray;
float v = backgroundColor_ == 0.5f?0.4f:1.0f-backgroundColor_;
main_scene_.setGridColor(v, v, v);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
Tango: added online blending option, background color option, double tap, fixed meshes jiggering on touch, removed raw mesh option
2017-04-17 21:42:01 -04:00
}
ios first release
2021-06-08 00:06:49 -04:00
void RTABMapApp::setDepthConfidence(int value)
{
depthConfidence_ = value;
if(depthConfidence_>2)
{
depthConfidence_ = 2;
}
}
Tango #57: Added 720p option, Export PLY or OBJ, Added Rendering and Mapping menus, RtabmapThread: Fixed large covariance (9999) detection
2016-04-02 15:17:40 -04:00
int RTABMapApp::setMappingParameter(const std::string & key, const std::string & value)
{
DbViewer: do the max optimization error test when adding a new loop closure (rejecting it if it fails)
2016-11-24 15:09:16 -05:00
std::string compatibleKey = key;
// Backward compatibility
std::map<std::string, std::pair<bool, std::string> >::const_iterator iter=rtabmap::Parameters::getRemovedParameters().find(key);
if(iter != rtabmap::Parameters::getRemovedParameters().end())
{
if(iter->second.first)
{
// can be migrated
compatibleKey = iter->second.second;
LOGW("Parameter name changed: \"%s\" -> \"%s\". Please update the code accordingly. Value \"%s\" is still set to the new parameter name.",
iter->first.c_str(), iter->second.second.c_str(), value.c_str());
}
else
{
if(iter->second.second.empty())
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
UERROR("Parameter \"%s\" doesn't exist anymore!",
DbViewer: do the max optimization error test when adding a new loop closure (rejecting it if it fails)
2016-11-24 15:09:16 -05:00
iter->first.c_str());
}
else
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
UERROR("Parameter \"%s\" doesn't exist anymore! You may look at this similar parameter: \"%s\"",
DbViewer: do the max optimization error test when adding a new loop closure (rejecting it if it fails)
2016-11-24 15:09:16 -05:00
iter->first.c_str(), iter->second.second.c_str());
}
}
}
if(rtabmap::Parameters::getDefaultParameters().find(compatibleKey) != rtabmap::Parameters::getDefaultParameters().end())
Tango #57: Added 720p option, Export PLY or OBJ, Added Rendering and Mapping menus, RtabmapThread: Fixed large covariance (9999) detection
2016-04-02 15:17:40 -04:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
LOGI("%s", uFormat("Setting param \"%s\" to \"%s\"", compatibleKey.c_str(), value.c_str()).c_str());
RtabmapThread: changed state stack for a queue to process events in FIFO order (instead of FILO). Tango: Added detector type parameter (FREAK is now the default with 400 features).
2017-01-27 11:47:57 -05:00
uInsert(mappingParameters_, rtabmap::ParametersPair(compatibleKey, value));
Tango: Added Level of detail rendering depending on the distance from the camera
2017-03-05 21:48:18 -05:00
UEventsManager::post(new rtabmap::ParamEvent(this->getRtabmapParameters()));
Tango #57: Added 720p option, Export PLY or OBJ, Added Rendering and Mapping menus, RtabmapThread: Fixed large covariance (9999) detection
2016-04-02 15:17:40 -04:00
return 0;
}
else
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
UERROR(uFormat("Key \"%s\" doesn't exist!", compatibleKey.c_str()).c_str());
Tango #57: Added 720p option, Export PLY or OBJ, Added Rendering and Mapping menus, RtabmapThread: Fixed large covariance (9999) detection
2016-04-02 15:17:40 -04:00
return -1;
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
}
Added GPS class for convenience, database viewer can view GPS values and export to KML format
2017-09-26 14:13:06 -04:00
void RTABMapApp::setGPS(const rtabmap::GPS & gps)
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)
2017-09-21 20:59:45 -04:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_!=0)
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)
2017-09-21 20:59:45 -04:00
{
Added GPS class for convenience, database viewer can view GPS values and export to KML format
2017-09-26 14:13:06 -04:00
camera_->setGPS(gps);
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)
2017-09-21 20:59:45 -04:00
}
}
0.18: Camera calibration and LaserScan Info refactoring (#324) * Saving full camera calibration in database, added angle min/max/inc to LaserScan. * Updated laserscan info save/load in db * Database: added Tag table, added env_sensors field to Node * fixed serialization/deserialization of stereo camera model * fixed multi-calibration db saving * fixed rebase errors * Tango: Added saving environmental sensors option * Memory: Save env sensors * Tango: fixed env sensor ids * DBViewer: show env sensors values * DBViewer: added calibration details on tooltip * increased package version to 0.18.0 * Fixed LaserScan copies when angleIncrement is valid * fixed build error without OctoMap dependency
2018-10-23 14:35:14 -04:00
void RTABMapApp::addEnvSensor(int type, float value)
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_!=0)
0.18: Camera calibration and LaserScan Info refactoring (#324) * Saving full camera calibration in database, added angle min/max/inc to LaserScan. * Updated laserscan info save/load in db * Database: added Tag table, added env_sensors field to Node * fixed serialization/deserialization of stereo camera model * fixed multi-calibration db saving * fixed rebase errors * Tango: Added saving environmental sensors option * Memory: Save env sensors * Tango: fixed env sensor ids * DBViewer: show env sensors values * DBViewer: added calibration details on tooltip * increased package version to 0.18.0 * Fixed LaserScan copies when angleIncrement is valid * fixed build error without OctoMap dependency
2018-10-23 14:35:14 -04:00
{
camera_->addEnvSensor(type, value);
}
}
rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded. Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
2016-11-21 17:09:04 -05:00
void RTABMapApp::save(const std::string & databasePath)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
LOGI("Saving database to %s", databasePath.c_str());
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
rtabmapThread_->unregisterFromEventsManager();
rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded. Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
2016-11-21 17:09:04 -05:00
rtabmapThread_->join(true);
DBDriver: when an empty database url is provided, an empty database "in memory" is used by default. Tango: fixed second database not recorded in Data Recorder mode (now creating a new one on save). Mapping parameters are saved in database instead of the one used to record data (Data Recorder mode).
2016-11-23 15:13:09 -05:00
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
LOGI("Taking screenshot...");
takeScreenshotOnNextRender_ = true;
if(!screenshotReady_.acquire(1, 2000))
{
UERROR("Failed to take a screenshot after 2 sec!");
}
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
// save mapping parameters in the database
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
bool appendModeBackup = appendMode_;
if(appendMode_)
{
appendMode_ = false;
}
bool dataRecorderModeBackup = dataRecorderMode_;
DBDriver: when an empty database url is provided, an empty database "in memory" is used by default. Tango: fixed second database not recorded in Data Recorder mode (now creating a new one on save). Mapping parameters are saved in database instead of the one used to record data (Data Recorder mode).
2016-11-23 15:13:09 -05:00
if(dataRecorderMode_)
{
dataRecorderMode_ = false;
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
}
Tango: add Maximum Motion Speed option (default low) to avoid blurry images
2017-09-28 17:15:53 -04:00
bool localizationModeBackup = localizationMode_;
if(localizationMode_)
{
localizationMode_ = false;
}
if(appendModeBackup || dataRecorderModeBackup || localizationModeBackup)
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
{
DBDriver: when an empty database url is provided, an empty database "in memory" is used by default. Tango: fixed second database not recorded in Data Recorder mode (now creating a new one on save). Mapping parameters are saved in database instead of the one used to record data (Data Recorder mode).
2016-11-23 15:13:09 -05:00
rtabmap::ParametersMap parameters = getRtabmapParameters();
rtabmap_->parseParameters(parameters);
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
appendMode_ = appendModeBackup;
dataRecorderMode_ = dataRecorderModeBackup;
Tango: add Maximum Motion Speed option (default low) to avoid blurry images
2017-09-28 17:15:53 -04:00
localizationMode_ = localizationModeBackup;
DBDriver: when an empty database url is provided, an empty database "in memory" is used by default. Tango: fixed second database not recorded in Data Recorder mode (now creating a new one on save). Mapping parameters are saved in database instead of the one used to record data (Data Recorder mode).
2016-11-23 15:13:09 -05:00
}
Tango: fixed export failing after saving the database
2017-06-29 10:31:59 -04:00
std::map<int, rtabmap::Transform> poses = rtabmap_->getLocalOptimizedPoses();
ios first release
2021-06-08 00:06:49 -04:00
std::multimap<int, rtabmap::Link> links = rtabmap_->getLocalConstraints();
rtabmap: refining neighbor links uses computeIcpTransform() instead of computeTransform() (to ignore Visual registration, which adds more errors most of the time). When database is in RAM, we can close under a different name than the one used when the database was loaded. Tango: Added Append Mode option (only start a new map after being localized, default true) and the old map is still shown for convenience until localization. Increased minInliers to 25. Increased ICP correspondenceRatio to 0.5. Decreased time to open a database. Saving doesn't close the database anymore and overwrite only if we save with the same name. Removed ICP refining from standard optimization.
2016-11-21 17:09:04 -05:00
rtabmap_->close(true, databasePath);
DBDriver: when an empty database url is provided, an empty database "in memory" is used by default. Tango: fixed second database not recorded in Data Recorder mode (now creating a new one on save). Mapping parameters are saved in database instead of the one used to record data (Data Recorder mode).
2016-11-23 15:13:09 -05:00
rtabmap_->init(getRtabmapParameters(), dataRecorderMode_?"":databasePath);
ios first release
2021-06-08 00:06:49 -04:00
rtabmap_->setOptimizedPoses(poses, links);
DBDriver: when an empty database url is provided, an empty database "in memory" is used by default. Tango: fixed second database not recorded in Data Recorder mode (now creating a new one on save). Mapping parameters are saved in database instead of the one used to record data (Data Recorder mode).
2016-11-23 15:13:09 -05:00
if(dataRecorderMode_)
{
clearSceneOnNextRender_ = true;
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
ios: added recovery feature
2022-01-02 17:08:44 -05:00
bool RTABMapApp::recover(const std::string & from, const std::string & to)
{
std::string errorMsg;
if(!databaseRecovery(from, false, &errorMsg, &progressionStatus_))
{
LOGE("Recovery Error: %s", errorMsg.c_str());
return false;
}
else
{
LOGI("Renaming %s to %s", from.c_str(), to.c_str());
if(UFile::rename(from, to) != 0)
{
LOGE("Failed renaming %s to %s", from.c_str(), to.c_str());
return false;
}
return true;
}
}
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
void RTABMapApp::cancelProcessing()
{
UWARN("Processing canceled!");
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
progressionStatus_.setCanceled(true);
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
bool RTABMapApp::exportMesh(
float cloudVoxelSize,
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
bool regenerateCloud,
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
bool meshing,
int textureSize,
Tango: added multi-texturing support (#189)
2017-06-10 21:45:51 -04:00
int textureCount,
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
int normalK,
bool optimized,
float optimizedVoxelSize,
int optimizedDepth,
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
int optimizedMaxPolygons,
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
float optimizedColorRadius,
bool optimizedCleanWhitePolygons,
Tango: swipe down to show hud, added notification sound after saving or exporting, added polygon cluster filtering export option, action and status bars are transparent
2017-07-24 20:24:16 -04:00
int optimizedMinClusterSize,
Tango: added min texture cluster size option
2017-03-04 19:34:40 -05:00
float optimizedMaxTextureDistance,
int optimizedMinTextureClusterSize,
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
bool blockRendering)
{
// make sure createdMeshes_ is not modified while exporting! We don't
// lock the meshesMutex_ because we want to continue rendering.
Tango: fixed export failing after saving the database
2017-06-29 10:31:59 -04:00
std::map<int, rtabmap::Transform> poses = rtabmap_->getLocalOptimizedPoses();
if(poses.empty())
{
Tango: moved export to file button under share to sketchfab (fixing overlap of button on opengl status text), fixed export empty poses after resuming without relocalizing (append mode)
2017-07-03 14:42:48 -04:00
// look if we just triggered new map without localizing afterward (pause/resume in append Mode)
std::multimap<int, rtabmap::Link> links;
rtabmap_->getGraph(
poses,
links,
true,
false);
if(poses.empty())
{
UERROR("Empty optimized poses!");
return false;
}
ios first release
2021-06-08 00:06:49 -04:00
rtabmap_->setOptimizedPoses(poses, links);
Tango: fixed export failing after saving the database
2017-06-29 10:31:59 -04:00
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
if(blockRendering)
{
renderingMutex_.lock();
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
main_scene_.clear();
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
exporting_ = true;
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
bool success = false;
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
try
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
int totalSteps = 0;
totalSteps+=poses.size(); // assemble
if(meshing)
{
if(optimized)
{
totalSteps += poses.size(); // meshing
Tango: improved optimized texture colors
2017-04-09 20:00:23 -04:00
if(textureSize > 0)
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
{
Tango: improved optimized texture colors
2017-04-09 20:00:23 -04:00
totalSteps += 1; // gain
totalSteps += 1; // blending
if(optimizedMaxPolygons > 0)
{
totalSteps += 1; // decimation
}
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
}
totalSteps += 1; // texture/coloring
if(textureSize > 0)
{
totalSteps+=poses.size()+1; // texture cameras + apply polygons
}
}
if(textureSize>0)
{
totalSteps += poses.size()+1; // uncompress and merge textures
}
}
totalSteps += 1; // save file
progressionStatus_.reset(totalSteps);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
//Assemble the meshes
if(meshing) // Mesh or Texture Mesh
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
pcl::PolygonMesh::Ptr polygonMesh(new pcl::PolygonMesh);
pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
Tango: improved optimized texture colors
2017-04-09 20:00:23 -04:00
std::vector<std::map<int, pcl::PointXY> > vertexToPixels;
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
cv::Mat globalTextures;
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
int totalPolygons = 0;
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(optimized)
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
std::map<int, rtabmap::Transform> cameraPoses;
std::map<int, rtabmap::CameraModel> cameraModels;
Merged master to devel
2017-06-10 10:34:52 -04:00
std::map<int, cv::Mat> cameraDepths;
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
UTimer timer;
LOGI("Assemble clouds (%d)...", (int)poses.size());
Tango: added fisheye option
2017-03-13 20:51:59 -04:00
#ifndef DISABLE_LOG
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
int cloudCount=0;
Tango: added fisheye option
2017-03-13 20:51:59 -04:00
#endif
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mergedClouds(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin();
iter!= poses.end();
++iter)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
std::map<int, rtabmap::Mesh>::iterator jter = createdMeshes_.find(iter->first);
Tango: fixed optimized mesh where nans were removed before saving (causing trouble with corresponding polygons)
2018-03-21 16:00:12 -04:00
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
pcl::IndicesPtr indices(new std::vector<int>);
rtabmap::CameraModel model;
Merged master to devel
2017-06-10 10:34:52 -04:00
cv::Mat depth;
Tango: fixed optimized mesh where nans were removed before saving (causing trouble with corresponding polygons)
2018-03-21 16:00:12 -04:00
float gains[3];
gains[0] = gains[1] = gains[2] = 1.0f;
ios first release
2021-06-08 00:06:49 -04:00
if(jter != createdMeshes_.end() && (jter->second.polygons.empty() || meshDecimationFactor_ == 0.0f))
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
cloud = jter->second.cloud;
indices = jter->second.indices;
model = jter->second.cameraModel;
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
gains[0] = jter->second.gains[0];
gains[1] = jter->second.gains[1];
gains[2] = jter->second.gains[2];
Merged master to devel
2017-06-10 10:34:52 -04:00
Fixed android build
2020-05-12 22:04:03 -04:00
rtabmap::SensorData data = rtabmap_->getMemory()->getNodeData(iter->first, true, false, false, false);
Merged master to devel
2017-06-10 10:34:52 -04:00
data.uncompressData(0, &depth);
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
else
{
Fixed android build
2020-05-12 22:04:03 -04:00
rtabmap::SensorData data = rtabmap_->getMemory()->getNodeData(iter->first, true, false, false, false);
data.uncompressData();
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(!data.imageRaw().empty() && !data.depthRaw().empty() && data.cameraModels().size() == 1)
{
ios first release
2021-06-08 00:06:49 -04:00
int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
model = data.cameraModels()[0];
Merged master to devel
2017-06-10 10:34:52 -04:00
depth = data.depthRaw();
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
}
if(cloud->size() && indices->size() && model.isValidForProjection())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformedCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
if(optimizedVoxelSize > 0.0f)
{
transformedCloud = rtabmap::util3d::voxelize(cloud, indices, optimizedVoxelSize);
transformedCloud = rtabmap::util3d::transformPointCloud(transformedCloud, iter->second);
}
else
{
// it looks like that using only transformPointCloud with indices
// flushes the colors, so we should extract points before... maybe a too old PCL version
pcl::copyPointCloud(*cloud, *indices, *transformedCloud);
transformedCloud = rtabmap::util3d::transformPointCloud(transformedCloud, iter->second);
}
Tango: Fixed computeNormals() type conversion build error #90
2016-08-01 16:00:58 -04:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
Eigen::Vector3f viewpoint( iter->second.x(), iter->second.y(), iter->second.z());
Fixed Tango build errors
2017-09-20 15:03:10 +00:00
pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(transformedCloud, normalK, 0.0f, viewpoint);
Tango #57: Added 720p option, Export PLY or OBJ, Added Rendering and Mapping menus, RtabmapThread: Fixed large covariance (9999) detection
2016-04-02 15:17:40 -04:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::concatenateFields(*transformedCloud, *normals, *cloudWithNormals);
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
if(textureSize == 0 && (gains[0] != 1.0 || gains[1] != 1.0 || gains[2] != 1.0))
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
for(unsigned int i=0; i<cloudWithNormals->size(); ++i)
{
pcl::PointXYZRGBNormal & pt = cloudWithNormals->at(i);
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
pt.r = uchar(std::max(0.0, std::min(255.0, double(pt.r) * gains[0])));
pt.g = uchar(std::max(0.0, std::min(255.0, double(pt.g) * gains[1])));
pt.b = uchar(std::max(0.0, std::min(255.0, double(pt.b) * gains[2])));
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
}
if(mergedClouds->size() == 0)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
*mergedClouds = *cloudWithNormals;
}
else
{
*mergedClouds += *cloudWithNormals;
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
cameraPoses.insert(std::make_pair(iter->first, iter->second));
cameraModels.insert(std::make_pair(iter->first, model));
Merged master to devel
2017-06-10 10:34:52 -04:00
if(!depth.empty())
{
cameraDepths.insert(std::make_pair(iter->first, depth));
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
LOGI("Assembled %d points (%d/%d total=%d)", (int)cloudWithNormals->size(), ++cloudCount, (int)poses.size(), (int)mergedClouds->size());
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
else
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
UERROR("Cloud %d not found or empty", iter->first);
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
if(progressionStatus_.isCanceled())
{
if(blockRendering)
{
renderingMutex_.unlock();
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
exporting_ = false;
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
return false;
}
progressionStatus_.increment();
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
LOGI("Assembled clouds (%d)... done! %fs (total points=%d)", (int)cameraPoses.size(), timer.ticks(), (int)mergedClouds->size());
ios first release
2021-06-08 00:06:49 -04:00
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
if(mergedClouds->size()>=3)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: refactored shaders (to remove most "if" in them), added "Auto" to reconstruction depth option
2017-04-18 17:30:14 -04:00
if(optimizedDepth == 0)
{
Eigen::Vector4f min,max;
pcl::getMinMax3D(*mergedClouds, min, max);
float mapLength = uMax3(max[0]-min[0], max[1]-min[1], max[2]-min[2]);
optimizedDepth = 12;
for(int i=6; i<12; ++i)
{
if(mapLength/float(1<<i) < 0.03f)
{
optimizedDepth = i;
break;
}
}
LOGI("optimizedDepth=%d (map length=%f)", optimizedDepth, mapLength);
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
// Mesh reconstruction
LOGI("Mesh reconstruction...");
pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
pcl::Poisson<pcl::PointXYZRGBNormal> poisson;
poisson.setDepth(optimizedDepth);
poisson.setInputCloud(mergedClouds);
poisson.reconstruct(*mesh);
Tango: fixed optimized mesh where nans were removed before saving (causing trouble with corresponding polygons)
2018-03-21 16:00:12 -04:00
LOGI("Mesh reconstruction... done! %fs (%d polygons)", timer.ticks(), (int)mesh->polygons.size());
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
if(progressionStatus_.isCanceled())
{
if(blockRendering)
{
renderingMutex_.unlock();
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
exporting_ = false;
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
return false;
}
progressionStatus_.increment(poses.size());
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(mesh->polygons.size())
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
{
Tango: refactored mesh creation
2017-06-16 14:44:48 -04:00
totalPolygons=(int)mesh->polygons.size();
if(optimizedMaxPolygons > 0 && optimizedMaxPolygons < (int)mesh->polygons.size())
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: refactored mesh creation
2017-06-16 14:44:48 -04:00
#ifndef DISABLE_VTK
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
unsigned int count = mesh->polygons.size();
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
float factor = 1.0f-float(optimizedMaxPolygons)/float(count);
LOGI("Mesh decimation (max polygons %d/%d -> factor=%f)...", optimizedMaxPolygons, (int)count, factor);
progressionStatus_.setMax(progressionStatus_.getMax() + optimizedMaxPolygons/10000);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
pcl::PolygonMesh::Ptr output(new pcl::PolygonMesh);
pcl::MeshQuadricDecimationVTK mqd;
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
mqd.setTargetReductionFactor(factor);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
mqd.setInputMesh(mesh);
mqd.process (*output);
mesh = output;
//mesh = rtabmap::util3d::meshDecimation(mesh, decimationFactor);
// use direct instantiation above to this fix some linker errors on android like:
// pcl::MeshQuadricDecimationVTK::performProcessing(pcl::PolygonMesh&): error: undefined reference to 'vtkQuadricDecimation::New()'
// pcl::VTKUtils::mesh2vtk(pcl::PolygonMesh const&, vtkSmartPointer<vtkPolyData>&): error: undefined reference to 'vtkFloatArray::New()'
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
LOGI("Mesh decimated (factor=%f) from %d to %d polygons (%fs)", factor, count, (int)mesh->polygons.size(), timer.ticks());
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(count < mesh->polygons.size())
{
UWARN("Decimated mesh has more polygons than before!");
}
Tango: refactored mesh creation
2017-06-16 14:44:48 -04:00
#else
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
UWARN("RTAB-Map is not built with PCL-VTK module so mesh decimation cannot be used!");
Tango: refactored mesh creation
2017-06-16 14:44:48 -04:00
#endif
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
if(progressionStatus_.isCanceled())
{
if(blockRendering)
{
renderingMutex_.unlock();
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
exporting_ = false;
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
return false;
}
progressionStatus_.increment();
Tango: refactored mesh creation
2017-06-16 14:44:48 -04:00
rtabmap::util3d::denseMeshPostProcessing<pcl::PointXYZRGBNormal>(
mesh,
0.0f,
0,
mergedClouds,
optimizedColorRadius,
textureSize == 0,
optimizedCleanWhitePolygons,
Tango: swipe down to show hud, added notification sound after saving or exporting, added polygon cluster filtering export option, action and status bars are transparent
2017-07-24 20:24:16 -04:00
optimizedMinClusterSize);
Tango: refactored mesh creation
2017-06-16 14:44:48 -04:00
if(textureSize>0)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
LOGI("Texturing... cameraPoses=%d, cameraDepths=%d", (int)cameraPoses.size(), (int)cameraDepths.size());
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
textureMesh = rtabmap::util3d::createTextureMesh(
mesh,
cameraPoses,
cameraModels,
Merged master to devel
2017-06-10 10:34:52 -04:00
cameraDepths,
Tango: added min texture cluster size option
2017-03-04 19:34:40 -05:00
optimizedMaxTextureDistance,
Merged master to devel
2017-06-10 10:34:52 -04:00
0.0f,
0.0f,
Tango: added min texture cluster size option
2017-03-04 19:34:40 -05:00
optimizedMinTextureClusterSize,
Export Added RoiRatios parameter to texturing (#171)
2017-04-20 11:51:23 -04:00
std::vector<float>(),
Tango: improved optimized texture colors
2017-04-09 20:00:23 -04:00
&progressionStatus_,
&vertexToPixels);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
LOGI("Texturing... done! %fs", timer.ticks());
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
if(progressionStatus_.isCanceled())
{
if(blockRendering)
{
renderingMutex_.unlock();
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
exporting_ = false;
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
return false;
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
// Remove occluded polygons (polygons with no texture)
if(textureMesh->tex_coordinates.size() && optimizedCleanWhitePolygons)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
LOGI("Cleanup mesh...");
Tango: refactored mesh creation
2017-06-16 14:44:48 -04:00
rtabmap::util3d::cleanTextureMesh(*textureMesh, 0);
LOGI("Cleanup mesh... done! %fs", timer.ticks());
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: refactored mesh creation
2017-06-16 14:44:48 -04:00
totalPolygons = 0;
for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: refactored mesh creation
2017-06-16 14:44:48 -04:00
totalPolygons+=textureMesh->tex_polygons[t].size();
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
}
Tango: refactored mesh creation
2017-06-16 14:44:48 -04:00
else
{
totalPolygons = (int)mesh->polygons.size();
polygonMesh = mesh;
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
}
Tango: fixed export failing after saving the database
2017-06-29 10:31:59 -04:00
else
{
UERROR("Merged cloud too small (%d points) to create polygons!", (int)mergedClouds->size());
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
else // organized meshes
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mergedClouds(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(textureSize > 0)
{
textureMesh->tex_materials.resize(poses.size());
textureMesh->tex_polygons.resize(poses.size());
textureMesh->tex_coordinates.resize(poses.size());
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
int polygonsStep = 0;
int oi = 0;
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin();
iter!= poses.end();
++iter)
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
LOGI("Assembling cloud %d (total=%d)...", iter->first, (int)poses.size());
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
std::map<int, rtabmap::Mesh>::iterator jter = createdMeshes_.find(iter->first);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
std::vector<pcl::Vertices> polygons;
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
float gains[3] = {1.0f};
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(jter != createdMeshes_.end())
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
cloud = jter->second.cloud;
polygons= jter->second.polygons;
if(cloud->size() && polygons.size() == 0)
{
polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
}
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
gains[0] = jter->second.gains[0];
gains[1] = jter->second.gains[1];
gains[2] = jter->second.gains[2];
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
else
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Fixed android build
2020-05-12 22:04:03 -04:00
rtabmap::SensorData data = rtabmap_->getMemory()->getNodeData(iter->first, true, false, false, false);
data.uncompressData();
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(!data.imageRaw().empty() && !data.depthRaw().empty() && data.cameraModels().size() == 1)
{
ios first release
2021-06-08 00:06:49 -04:00
int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(cloud->size() && polygons.size())
{
// Convert organized to dense cloud
pcl::PointCloud<pcl::PointXYZRGB>::Ptr outputCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
std::vector<pcl::Vertices> outputPolygons;
std::vector<int> denseToOrganizedIndices = rtabmap::util3d::filterNaNPointsFromMesh(*cloud, polygons, *outputCloud, outputPolygons);
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(outputCloud, normalK);
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::concatenateFields(*outputCloud, *normals, *cloudWithNormals);
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
UASSERT(outputPolygons.size());
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
totalPolygons+=outputPolygons.size();
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(textureSize == 0)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
// colored mesh
cloudWithNormals = rtabmap::util3d::transformPointCloud(cloudWithNormals, iter->second);
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
if(gains[0] != 1.0f || gains[1] != 1.0f || gains[2] != 1.0f)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
for(unsigned int i=0; i<cloudWithNormals->size(); ++i)
{
pcl::PointXYZRGBNormal & pt = cloudWithNormals->at(i);
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
pt.r = uchar(std::max(0.0, std::min(255.0, double(pt.r) * gains[0])));
pt.g = uchar(std::max(0.0, std::min(255.0, double(pt.g) * gains[1])));
pt.b = uchar(std::max(0.0, std::min(255.0, double(pt.b) * gains[2])));
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(mergedClouds->size() == 0)
{
*mergedClouds = *cloudWithNormals;
polygonMesh->polygons = outputPolygons;
}
else
{
rtabmap::util3d::appendMesh(*mergedClouds, polygonMesh->polygons, *cloudWithNormals, outputPolygons);
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
else
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
// texture mesh
ios first release
2021-06-08 00:06:49 -04:00
size_t polygonSize = outputPolygons.front().vertices.size();
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
textureMesh->tex_polygons[oi].resize(outputPolygons.size());
textureMesh->tex_coordinates[oi].resize(outputPolygons.size() * polygonSize);
for(unsigned int j=0; j<outputPolygons.size(); ++j)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
pcl::Vertices vertices = outputPolygons[j];
UASSERT(polygonSize == vertices.vertices.size());
for(unsigned int k=0; k<vertices.vertices.size(); ++k)
{
//uv
UASSERT(vertices.vertices[k] < denseToOrganizedIndices.size());
int originalVertex = denseToOrganizedIndices[vertices.vertices[k]];
textureMesh->tex_coordinates[oi][j*vertices.vertices.size()+k] = Eigen::Vector2f(
float(originalVertex % cloud->width) / float(cloud->width), // u
float(cloud->height - originalVertex / cloud->width) / float(cloud->height)); // v
vertices.vertices[k] += polygonsStep;
}
textureMesh->tex_polygons[oi][j] = vertices;
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
polygonsStep += outputCloud->size();
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformedCloud = rtabmap::util3d::transformPointCloud(cloudWithNormals, iter->second);
if(mergedClouds->size() == 0)
{
*mergedClouds = *transformedCloud;
}
else
{
*mergedClouds += *transformedCloud;
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
textureMesh->tex_materials[oi].tex_illum = 1;
textureMesh->tex_materials[oi].tex_name = uFormat("material_%d", iter->first);
textureMesh->tex_materials[oi].tex_file = uNumber2Str(iter->first);
++oi;
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
else
{
UERROR("Mesh not found for mesh %d", iter->first);
}
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
if(progressionStatus_.isCanceled())
{
if(blockRendering)
{
renderingMutex_.unlock();
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
exporting_ = false;
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
return false;
}
progressionStatus_.increment();
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
if(textureSize == 0)
{
if(mergedClouds->size())
{
pcl::toPCLPointCloud2(*mergedClouds, polygonMesh->cloud);
}
else
{
polygonMesh->polygons.clear();
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
}
else
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
textureMesh->tex_materials.resize(oi);
textureMesh->tex_polygons.resize(oi);
if(mergedClouds->size())
{
pcl::toPCLPointCloud2(*mergedClouds, textureMesh->cloud);
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
// end optimized or organized
if(textureSize>0 && totalPolygons && textureMesh->tex_materials.size())
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
LOGI("Merging %d textures...", (int)textureMesh->tex_materials.size());
Tango: replaced RTABMapApp::mergeTextures() by util3d::mergeTextures()
2017-06-14 10:33:26 -04:00
globalTextures = rtabmap::util3d::mergeTextures(
*textureMesh,
std::map<int, cv::Mat>(),
std::map<int, std::vector<rtabmap::CameraModel> >(),
rtabmap_->getMemory(),
0,
textureSize,
textureCount,
vertexToPixels,
true, 10.0f, true ,true, 0, 0, 0, false,
&progressionStatus_);
ios first release
2021-06-08 00:06:49 -04:00
LOGI("Merging %d textures... globalTextures=%dx%d", (int)textureMesh->tex_materials.size(),
globalTextures.cols, globalTextures.rows);
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
}
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
if(progressionStatus_.isCanceled())
{
if(blockRendering)
{
renderingMutex_.unlock();
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
exporting_ = false;
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
return false;
}
progressionStatus_.increment();
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(totalPolygons)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(textureSize == 0)
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
UASSERT((int)polygonMesh->polygons.size() == totalPolygons);
if(polygonMesh->polygons.size())
{
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
// save in database
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::fromPCLPointCloud2(polygonMesh->cloud, *cloud);
Fixed android build with latest laserScanFromPointCloud changes
2021-02-19 14:25:34 +00:00
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false).data()); // for database
Fixed build with pcl > 1.11.1 (#641)
2020-11-14 16:52:01 -05:00
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons(1);
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
polygons[0].resize(polygonMesh->polygons.size());
for(unsigned int p=0; p<polygonMesh->polygons.size(); ++p)
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
polygons[0][p] = polygonMesh->polygons[p].vertices;
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
boost::mutex::scoped_lock lock(rtabmapMutex_);
Tango: fixed optimized mesh where nans were removed before saving (causing trouble with corresponding polygons)
2018-03-21 16:00:12 -04:00
0.17.0: saving optimized poses and last localization pose to database (https://github.com/introlab/rtabmap_ros/issues/220). Parameters: fixed Icp default parameters when not built with libpointmatcher, added RGBD/SavedLocalizationIgnored (default false). DbViewer: added Export/Import 2D map (https://github.com/introlab/rtabmap_ros/issues/213).
2018-04-04 19:14:13 -04:00
rtabmap_->getMemory()->saveOptimizedMesh(cloudMat, polygons);
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
success = true;
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
else if(textureMesh->tex_materials.size())
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: fixed sketchfab export ply error, exported objs are now rotated -90deg x-axis by default for sketchfab
2017-06-16 16:24:38 -04:00
pcl::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>);
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
Fixed android build with latest laserScanFromPointCloud changes
2021-02-19 14:25:34 +00:00
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false).data()); // for database
Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.
2017-06-20 17:29:06 -04:00
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
// save in database
Fixed build with pcl > 1.11.1 (#641)
2020-11-14 16:52:01 -05:00
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons(textureMesh->tex_polygons.size());
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
{
polygons[t].resize(textureMesh->tex_polygons[t].size());
for(unsigned int p=0; p<textureMesh->tex_polygons[t].size(); ++p)
Tango: added multi-texturing support (#189)
2017-06-10 21:45:51 -04:00
{
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
polygons[t][p] = textureMesh->tex_polygons[t][p].vertices;
Tango: added multi-texturing support (#189)
2017-06-10 21:45:51 -04:00
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
boost::mutex::scoped_lock lock(rtabmapMutex_);
0.17.0: saving optimized poses and last localization pose to database (https://github.com/introlab/rtabmap_ros/issues/220). Parameters: fixed Icp default parameters when not built with libpointmatcher, added RGBD/SavedLocalizationIgnored (default false). DbViewer: added Export/Import 2D map (https://github.com/introlab/rtabmap_ros/issues/213).
2018-04-04 19:14:13 -04:00
rtabmap_->getMemory()->saveOptimizedMesh(cloudMat, polygons, textureMesh->tex_coordinates, globalTextures);
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
success = true;
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
}
Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering
2016-04-04 13:03:43 -04:00
else
{
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
UERROR("Failed exporting texture mesh! There are no textures!");
Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering
2016-04-04 13:03:43 -04:00
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
else
{
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
UERROR("Failed exporting mesh! There are no polygons!");
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
else // Point cloud
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
pcl::PointCloud<pcl::PointXYZRGB>::Ptr mergedClouds(new pcl::PointCloud<pcl::PointXYZRGB>);
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin();
iter!= poses.end();
++iter)
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
std::map<int, rtabmap::Mesh>::iterator jter=createdMeshes_.find(iter->first);
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::IndicesPtr indices(new std::vector<int>);
Tango: fixed optimized mesh where nans were removed before saving (causing trouble with corresponding polygons)
2018-03-21 16:00:12 -04:00
float gains[3];
gains[0] = gains[1] = gains[2] = 1.0f;
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
if(regenerateCloud)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
if(jter != createdMeshes_.end())
{
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
gains[0] = jter->second.gains[0];
gains[1] = jter->second.gains[1];
gains[2] = jter->second.gains[2];
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
}
ios first release
2021-06-08 00:06:49 -04:00
rtabmap::SensorData data = rtabmap_->getMemory()->getNodeData(iter->first, true, true, false, false);
Fixed android build
2020-05-12 22:04:03 -04:00
data.uncompressData();
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
if(!data.imageRaw().empty() && !data.depthRaw().empty())
{
// full resolution
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
cloud = rtabmap::util3d::cloudRGBFromSensorData(data, 1, maxCloudDepth_, minCloudDepth_, indices.get());
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
}
ios first release
2021-06-08 00:06:49 -04:00
else if(!data.laserScanRaw().empty())
{
//scan
Fixed occlusion image origin offset (iOS and android). Android: disabled maximum odom image rate for faster feedback in First-Person. Min/Max range parameters also filter scans. Fixed background renderer not showing image (ARCore Java driver).
2021-06-13 22:07:47 -04:00
cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(data.laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), data.laserScanRaw().localTransform(), 255, 255, 255);
ios first release
2021-06-08 00:06:49 -04:00
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
indices->at(i) = i;
}
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
else
{
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
if(jter != createdMeshes_.end())
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
cloud = jter->second.cloud;
indices = jter->second.indices;
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
gains[0] = jter->second.gains[0];
gains[1] = jter->second.gains[1];
gains[2] = jter->second.gains[2];
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
}
else
{
ios first release
2021-06-08 00:06:49 -04:00
rtabmap::SensorData data = rtabmap_->getMemory()->getNodeData(iter->first, true, true, false, false);
Fixed android build
2020-05-12 22:04:03 -04:00
data.uncompressData();
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
if(!data.imageRaw().empty() && !data.depthRaw().empty())
{
ios first release
2021-06-08 00:06:49 -04:00
int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
}
ios first release
2021-06-08 00:06:49 -04:00
else if(!data.laserScanRaw().empty())
{
//scan
Fixed occlusion image origin offset (iOS and android). Android: disabled maximum odom image rate for faster feedback in First-Person. Min/Max range parameters also filter scans. Fixed background renderer not showing image (ARCore Java driver).
2021-06-13 22:07:47 -04:00
cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(data.laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), data.laserScanRaw().localTransform(), 255, 255, 255);
ios first release
2021-06-08 00:06:49 -04:00
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
{
indices->at(i) = i;
}
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(cloud->size() && indices->size())
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
// Convert organized to dense cloud
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformedCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
if(cloudVoxelSize > 0.0f)
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
transformedCloud = rtabmap::util3d::voxelize(cloud, indices, cloudVoxelSize);
transformedCloud = rtabmap::util3d::transformPointCloud(transformedCloud, iter->second);
}
else
{
// it looks like that using only transformPointCloud with indices
// flushes the colors, so we should extract points before... maybe a too old PCL version
pcl::copyPointCloud(*cloud, *indices, *transformedCloud);
transformedCloud = rtabmap::util3d::transformPointCloud(transformedCloud, iter->second);
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
if(gains[0] != 1.0f || gains[1] != 1.0f || gains[2] != 1.0f)
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
{
//LOGD("cloud %d, gain=%f", iter->first, gain);
for(unsigned int i=0; i<transformedCloud->size(); ++i)
{
pcl::PointXYZRGB & pt = transformedCloud->at(i);
//LOGI("color %d = %d %d %d", i, (int)pt.r, (int)pt.g, (int)pt.b);
Increased version to 0.12.4, Tango: gain compensation on each channel, added min depth parameter, fixed exporting failing when doing export just after opening a database
2017-04-01 14:14:36 -04:00
pt.r = uchar(std::max(0.0, std::min(255.0, double(pt.r) * gains[0])));
pt.g = uchar(std::max(0.0, std::min(255.0, double(pt.g) * gains[1])));
pt.b = uchar(std::max(0.0, std::min(255.0, double(pt.b) * gains[2])));
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(mergedClouds->size() == 0)
{
*mergedClouds = *transformedCloud;
}
else
{
*mergedClouds += *transformedCloud;
}
}
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
if(progressionStatus_.isCanceled())
{
if(blockRendering)
{
renderingMutex_.unlock();
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
exporting_ = false;
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
return false;
}
progressionStatus_.increment();
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
}
if(mergedClouds->size())
{
if(cloudVoxelSize > 0.0f)
{
mergedClouds = rtabmap::util3d::voxelize(mergedClouds, cloudVoxelSize);
Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation
2016-12-03 21:49:40 -05:00
}
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
// save in database
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
{
Fixed android build with latest laserScanFromPointCloud changes
2021-02-19 14:25:34 +00:00
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*mergedClouds).data()); // for database
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
boost::mutex::scoped_lock lock(rtabmapMutex_);
0.17.0: saving optimized poses and last localization pose to database (https://github.com/introlab/rtabmap_ros/issues/220). Parameters: fixed Icp default parameters when not built with libpointmatcher, added RGBD/SavedLocalizationIgnored (default false). DbViewer: added Export/Import 2D map (https://github.com/introlab/rtabmap_ros/issues/213).
2018-04-04 19:14:13 -04:00
rtabmap_->getMemory()->saveOptimizedMesh(cloudMat);
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
success = true;
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
}
}
Tango: fixed export failing after saving the database
2017-06-29 10:31:59 -04:00
else
{
UERROR("Merged cloud is empty!");
}
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
}
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
progressionStatus_.finish();
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
if(blockRendering)
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
renderingMutex_.unlock();
Tango: Added OBJ export (with texture)
2016-03-21 20:03:03 -04:00
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
catch (std::exception & e)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
UERROR("Out of memory! %s", e.what());
if(blockRendering)
{
renderingMutex_.unlock();
}
success = false;
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
exporting_ = false;
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
Tango: 0.17 fixing broken localization on visualization
2018-04-05 11:00:16 -04:00
optRefId_ = 0;
if(optRefPose_)
{
delete optRefPose_;
optRefPose_ = 0;
}
if(success && poses.size())
{
// for optimized mesh
// just take the last as reference
optRefId_ = poses.rbegin()->first;
optRefPose_ = new rtabmap::Transform(poses.rbegin()->second);
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
return success;
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
bool RTABMapApp::postExportation(bool visualize)
{
LOGI("postExportation(visualize=%d)", visualize?1:0);
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
optMesh_.reset(new pcl::TextureMesh);
optTexture_ = cv::Mat();
exportedMeshUpdated_ = false;
if(visualize)
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
visualizingMesh_ = false;
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
cv::Mat cloudMat;
Fixed build with pcl > 1.11.1 (#641)
2020-11-14 16:52:01 -05:00
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons;
Tango: updated UI
2017-06-28 13:59:20 -04:00
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
#else
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
std::vector<std::vector<Eigen::Vector2f> > texCoords;
Tango: updated UI
2017-06-28 13:59:20 -04:00
#endif
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
cv::Mat textures;
if(rtabmap_ && rtabmap_->getMemory())
{
0.17.0: saving optimized poses and last localization pose to database (https://github.com/introlab/rtabmap_ros/issues/220). Parameters: fixed Icp default parameters when not built with libpointmatcher, added RGBD/SavedLocalizationIgnored (default false). DbViewer: added Export/Import 2D map (https://github.com/introlab/rtabmap_ros/issues/213).
2018-04-04 19:14:13 -04:00
cloudMat = rtabmap_->getMemory()->loadOptimizedMesh(&polygons, &texCoords, &textures);
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
if(!cloudMat.empty())
{
LOGI("postExportation: Found optimized mesh! Visualizing it.");
optMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
optTexture_ = textures;
boost::mutex::scoped_lock lock(renderingMutex_);
visualizingMesh_ = true;
exportedMeshUpdated_ = true;
}
else
{
LOGI("postExportation: No optimized mesh found.");
}
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
else if(visualizingMesh_)
{
rtabmapMutex_.lock();
ios first release
2021-06-08 00:06:49 -04:00
std::map<int, rtabmap::Transform> poses = rtabmap_->getLocalOptimizedPoses();
std::multimap<int, rtabmap::Link> links = rtabmap_->getLocalConstraints();
if(poses.empty())
{
rtabmap_->getGraph(
poses,
links,
true,
true,
0,
false,
false,
false,
false,
false,
false);
}
if(!poses.empty())
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
{
rtabmap::Statistics stats;
android: fixed Resume disabled when returning from Visualization
2020-04-24 08:23:17 -04:00
for(std::map<std::string, float>::iterator iter=bufferedStatsData_.begin(); iter!=bufferedStatsData_.end(); ++iter)
{
stats.addStatistic(iter->first, iter->second);
}
ios first release
2021-06-08 00:06:49 -04:00
stats.setPoses(poses);
stats.setConstraints(links);
Tango: Localization mode can be used in visualization
2017-10-12 15:54:16 -04:00
rtabmapEvents_.push_back(new rtabmap::RtabmapEvent(stats));
}
rtabmapMutex_.unlock();
visualizingMesh_ = false;
}
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
return visualizingMesh_;
}
bool RTABMapApp::writeExportedMesh(const std::string & directory, const std::string & name)
{
LOGI("writeExportedMesh: dir=%s name=%s", directory.c_str(), name.c_str());
exporting_ = true;
bool success = false;
pcl::PolygonMesh::Ptr polygonMesh(new pcl::PolygonMesh);
pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
cv::Mat cloudMat;
Fixed build with pcl > 1.11.1 (#641)
2020-11-14 16:52:01 -05:00
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons;
Tango: updated UI
2017-06-28 13:59:20 -04:00
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
#else
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
std::vector<std::vector<Eigen::Vector2f> > texCoords;
Tango: updated UI
2017-06-28 13:59:20 -04:00
#endif
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
cv::Mat textures;
if(rtabmap_ && rtabmap_->getMemory())
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
{
Tango: fixed build
2018-04-05 09:44:14 -04:00
cloudMat = rtabmap_->getMemory()->loadOptimizedMesh(&polygons, &texCoords, &textures);
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
if(!cloudMat.empty())
{
LOGI("writeExportedMesh: Found optimized mesh!");
if(textures.empty())
{
Fixed build with pcl > 1.11.1 (#641)
2020-11-14 16:52:01 -05:00
polygonMesh = rtabmap::util3d::assemblePolygonMesh(cloudMat, polygons.size() == 1?polygons[0]:std::vector<std::vector<RTABMAP_PCL_INDEX> >());
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
}
else
{
textureMesh = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, false);
}
}
else
{
LOGI("writeExportedMesh: No optimized mesh found.");
}
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
if(polygonMesh->cloud.data.size())
{
// Point cloud PLY
std::string filePath = directory + UDirectory::separator() + name + ".ply";
LOGI("Saving ply (%d vertices, %d polygons) to %s.", (int)polygonMesh->cloud.data.size()/polygonMesh->cloud.point_step, (int)polygonMesh->polygons.size(), filePath.c_str());
success = pcl::io::savePLYFileBinary(filePath, *polygonMesh) == 0;
if(success)
{
LOGI("Saved ply to %s!", filePath.c_str());
}
else
{
UERROR("Failed saving ply to %s!", filePath.c_str());
}
}
else if(textureMesh->cloud.data.size())
{
// TextureMesh OBJ
LOGD("Saving texture(s) (%d)", textures.empty()?0:textures.cols/textures.rows);
UASSERT(textures.empty() || textures.cols % textures.rows == 0);
UASSERT((int)textureMesh->tex_materials.size() == textures.cols/textures.rows);
for(unsigned int i=0; i<textureMesh->tex_materials.size(); ++i)
{
std::string baseNameNum = name;
if(textureMesh->tex_materials.size()>1)
{
baseNameNum+=uNumber2Str(i);
}
std::string fullPath = directory+UDirectory::separator()+baseNameNum+".jpg";
textureMesh->tex_materials[i].tex_file = baseNameNum+".jpg";
LOGI("Saving texture to %s.", fullPath.c_str());
success = cv::imwrite(fullPath, textures(cv::Range::all(), cv::Range(i*textures.rows, (i+1)*textures.rows)));
if(!success)
{
LOGI("Failed saving %s!", fullPath.c_str());
}
else
{
LOGI("Saved %s.", fullPath.c_str());
}
}
if(success)
{
// With Sketchfab, the OBJ models are rotated 90 degrees on x axis, so rotate -90 to have model in right position
ios first release
2021-06-08 00:06:49 -04:00
//pcl::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>);
//pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
//cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::Transform(1,0,0,0, 0,0,1,0, 0,-1,0,0));
//pcl::toPCLPointCloud2(*cloud, textureMesh->cloud);
Tango: fixed saveOnDevice and shareSketchfab actions when visualizing optimized mesh of a just opened database
2017-06-21 17:14:40 -04:00
std::string filePath = directory + UDirectory::separator() + name + ".obj";
int totalPolygons = 0;
for(unsigned int i=0;i<textureMesh->tex_polygons.size(); ++i)
{
totalPolygons += textureMesh->tex_polygons[i].size();
}
LOGI("Saving obj (%d vertices, %d polygons) to %s.", (int)textureMesh->cloud.data.size()/textureMesh->cloud.point_step, totalPolygons, filePath.c_str());
success = pcl::io::saveOBJFile(filePath, *textureMesh) == 0;
if(success)
{
LOGI("Saved obj to %s!", filePath.c_str());
}
else
{
UERROR("Failed saving obj to %s!", filePath.c_str());
}
}
}
exporting_ = false;
return success;
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
}
Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering
2016-04-04 13:03:43 -04:00
int RTABMapApp::postProcessing(int approach)
Tango #57: Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
{
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
postProcessing_ = true;
ios first release
2021-06-08 00:06:49 -04:00
LOGI("postProcessing begin(%d)", approach);
Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering
2016-04-04 13:03:43 -04:00
int returnedValue = 0;
Tango #57: Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
if(rtabmap_)
{
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
// detect more loop closures
if(approach == -1 || approach == 2)
Tango #57: Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
{
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
if(approach == -1)
{
progressionStatus_.reset(6);
}
Rtabmap::detectorMoreLoopClosures() added intraSession and interSession parameters
2018-11-05 18:40:08 -05:00
returnedValue = rtabmap_->detectMoreLoopClosures(1.0f, M_PI/6.0f, approach == -1?5:1, true, true, approach==-1?&progressionStatus_:0);
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
if(approach == -1 && progressionStatus_.isCanceled())
{
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
postProcessing_ = false;
Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture
2017-02-28 21:50:50 -05:00
return -1;
}
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
}
Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering
2016-04-04 13:03:43 -04:00
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
// graph optimization
if(returnedValue >=0)
Tango #57: Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
{
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
if (approach == 1)
Tango #57: Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
{
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
if(rtabmap::Optimizer::isAvailable(rtabmap::Optimizer::kTypeG2O))
{
std::map<int, rtabmap::Signature> signatures;
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
rtabmap_->getGraph(poses, links, true, true, &signatures);
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
rtabmap::ParametersMap param;
param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "30"));
param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0"));
rtabmap::Optimizer * sba = rtabmap::Optimizer::create(rtabmap::Optimizer::kTypeG2O, param);
poses = sba->optimizeBA(poses.rbegin()->first, poses, links, signatures);
delete sba;
}
else
{
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
UERROR("g2o not available!");
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
}
Tango #57: Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
}
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
else if(approach!=4 && approach!=5 && approach != 7)
Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering
2016-04-04 13:03:43 -04:00
{
Tango: Added ICP refining option, mesh vs texture vs point cloud options, show/hide grid option, drift correction option
2016-09-02 22:37:12 -04:00
// simple graph optmimization
rtabmap_->getGraph(poses, links, true, true);
Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering
2016-04-04 13:03:43 -04:00
}
}
Tango #57: Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
if(poses.size())
{
boost::mutex::scoped_lock lock(rtabmapMutex_);
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
rtabmap::Statistics stats = rtabmap_->getStatistics();
Tango #57: Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
stats.setPoses(poses);
stats.setConstraints(links);
Tango: Added Settings/Optimized Mesh/Sketchfab Upload
2017-01-26 16:46:24 -05:00
LOGI("PostProcessing, sending rtabmap event to update graph...");
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
rtabmapEvents_.push_back(new rtabmap::RtabmapEvent(stats));
Tango #57: Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
ios first release
2021-06-08 00:06:49 -04:00
rtabmap_->setOptimizedPoses(poses, links);
Tango #57: Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
}
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
else if(approach!=4 && approach!=5 && approach != 7)
Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering
2016-04-04 13:03:43 -04:00
{
returnedValue = -1;
}
Tango: added Noise Filtering post-processing option, set RGBD/MaxLocalRetrieved to 0 (avoiding some high processing time peaks), fill depth holes up to 5 pixels
2016-09-03 20:38:27 -04:00
Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.
2016-09-07 17:19:21 -04:00
if(returnedValue >=0)
{
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
boost::mutex::scoped_lock lock(renderingMutex_);
Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.
2016-09-07 17:19:21 -04:00
// filter polygons
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
if(approach == -1 || approach == 4)
Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.
2016-09-07 17:19:21 -04:00
{
filterPolygonsOnNextRender_ = true;
}
// gain compensation
Tango: Added full gain compensation option
2016-10-27 15:35:19 -04:00
if(approach == -1 || approach == 5 || approach == 6)
Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.
2016-09-07 17:19:21 -04:00
{
Tango: Added full gain compensation option
2016-10-27 15:35:19 -04:00
gainCompensationOnNextRender_ = approach == 6 ? 2 : 1; // 2 = full, 1 = fast
Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.
2016-09-07 17:19:21 -04:00
}
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
// bilateral filtering
Tango: 0.12.0 (performance optimization, time and memory)
2017-02-22 09:48:45 -05:00
if(approach == 7)
Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export
2016-11-04 16:39:52 -04:00
{
bilateralFilteringOnNextRender_ = true;
}
Tango: Added "Adjust colors" post-processing option. Updated ICP parameters. Added "Mem/LaserScanNormalK" parameter for convenience.
2016-09-07 17:19:21 -04:00
}
Tango: added Noise Filtering post-processing option, set RGBD/MaxLocalRetrieved to 0 (avoiding some high processing time peaks), fill depth holes up to 5 pixels
2016-09-03 20:38:27 -04:00
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
postProcessing_ = false;
ios first release
2021-06-08 00:06:49 -04:00
LOGI("postProcessing end(%d) -> %d", approach, returnedValue);
Tango #57: Increased version to 0.11.3, updated Post-Processing actions, added mesh rendering actions, fixed point cloud rendering
2016-04-04 13:03:43 -04:00
return returnedValue;
Tango #57: Global optimization / Post-processing on pause
2016-04-03 21:35:30 -04:00
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
void RTABMapApp::postCameraPoseEvent(
Added depth/rgb registration option
2021-06-10 11:07:25 -04:00
float x, float y, float z, float qx, float qy, float qz, float qw, double stamp)
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
{
android: fixed yuv conversion bug on some devices, updated default driver based on which one is available and built with it.
2020-04-29 12:18:02 -04:00
boost::mutex::scoped_lock lock(cameraMutex_);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(cameraDriver_ == 3 && camera_)
{
Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).
2021-06-15 20:45:45 -04:00
if(qx==0 && qy==0 && qz==0 && qw==0)
{
// Lost! clear buffer
poseBuffer_.clear();
camera_->resetOrigin(); // we are lost, create new session on next valid frame
return;
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
rtabmap::Transform pose(x,y,z,qx,qy,qz,qw);
pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
camera_->poseReceived(pose);
Added depth/rgb registration option
2021-06-10 11:07:25 -04:00
poseBuffer_.insert(std::make_pair(stamp, pose));
if(poseBuffer_.size() > 1000)
{
poseBuffer_.erase(poseBuffer_.begin());
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
}
}
void RTABMapApp::postOdometryEvent(
Added depth/rgb registration option
2021-06-10 11:07:25 -04:00
rtabmap::Transform pose,
float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
float depth_fx, float depth_fy, float depth_cx, float depth_cy,
const rtabmap::Transform & rgbFrame,
const rtabmap::Transform & depthFrame,
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
double stamp,
Added depth/rgb registration option
2021-06-10 11:07:25 -04:00
double depthStamp,
ios first release
2021-06-08 00:06:49 -04:00
const void * yPlane, const void * uPlane, const void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
const void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
const void * conf, int confLen, int confWidth, int confHeight, int confFormat,
const float * points, int pointsLen, int pointsChannels,
Added depth/rgb registration option
2021-06-10 11:07:25 -04:00
const rtabmap::Transform & viewMatrix,
ios first release
2021-06-08 00:06:49 -04:00
float p00, float p11, float p02, float p12, float p22, float p32, float p23,
float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7)
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
{
ios first release
2021-06-08 00:06:49 -04:00
#if defined(RTABMAP_ARCORE) || defined(__APPLE__)
android: fixed yuv conversion bug on some devices, updated default driver based on which one is available and built with it.
2020-04-29 12:18:02 -04:00
boost::mutex::scoped_lock lock(cameraMutex_);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(cameraDriver_ == 3 && camera_)
{
Added depth/rgb registration option
2021-06-10 11:07:25 -04:00
if(rgb_fx > 0.0f && rgb_fy > 0.0f && rgb_cx > 0.0f && rgb_cy > 0.0f && stamp > 0.0f && yPlane && vPlane && yPlaneLen == rgbWidth*rgbHeight)
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
{
ios first release
2021-06-08 00:06:49 -04:00
#ifndef DISABLE_LOG
//LOGD("rgb format = %d depth format =%d ", rgbFormat, depthFormat);
#endif
#if defined(RTABMAP_ARCORE)
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(rgbFormat == AR_IMAGE_FORMAT_YUV_420_888 &&
ios first release
2021-06-08 00:06:49 -04:00
(depth==0 || depthFormat == AIMAGE_FORMAT_DEPTH16))
#else //__APPLE__
if(rgbFormat == 875704422 &&
(depth==0 || depthFormat == 1717855600))
#endif
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
{
cv::Mat outputRGB;
android: fixed yuv conversion bug on some devices, updated default driver based on which one is available and built with it.
2020-04-29 12:18:02 -04:00
#ifndef DISABLE_LOG
ios first release
2021-06-08 00:06:49 -04:00
//LOGD("y=%p u=%p v=%p yLen=%d y->v=%ld", yPlane, uPlane, vPlane, yPlaneLen, (long)vPlane-(long)yPlane);
android: fixed yuv conversion bug on some devices, updated default driver based on which one is available and built with it.
2020-04-29 12:18:02 -04:00
#endif
if((long)vPlane-(long)yPlane != yPlaneLen)
{
// The uv-plane is not concatenated to y plane in memory, so concatenate them
cv::Mat yuv(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1);
memcpy(yuv.data, yPlane, yPlaneLen);
memcpy(yuv.data+yPlaneLen, vPlane, rgbHeight/2*rgbWidth);
android: fixed opencv4 deprecated errors
2022-01-04 19:46:20 +00:00
cv::cvtColor(yuv, outputRGB, cv::COLOR_YUV2BGR_NV21);
android: fixed yuv conversion bug on some devices, updated default driver based on which one is available and built with it.
2020-04-29 12:18:02 -04:00
}
else
{
ios first release
2021-06-08 00:06:49 -04:00
#ifdef __ANDROID__
android: fixed opencv4 deprecated errors
2022-01-04 19:46:20 +00:00
cv::cvtColor(cv::Mat(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1, (void*)yPlane), outputRGB, cv::COLOR_YUV2BGR_NV21);
ios first release
2021-06-08 00:06:49 -04:00
#else // __APPLE__
android: fixed opencv4 deprecated errors
2022-01-04 19:46:20 +00:00
cv::cvtColor(cv::Mat(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1, (void*)yPlane), outputRGB, cv::COLOR_YUV2RGB_NV21);
ios first release
2021-06-08 00:06:49 -04:00
#endif
android: fixed yuv conversion bug on some devices, updated default driver based on which one is available and built with it.
2020-04-29 12:18:02 -04:00
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
ARCore: when tof camera is not available, use arcore point cloud as keypoints
2020-04-26 14:48:48 -04:00
cv::Mat outputDepth;
ios first release
2021-06-08 00:06:49 -04:00
if(depth && depthHeight>0 && depthWidth>0)
ARCore: when tof camera is not available, use arcore point cloud as keypoints
2020-04-26 14:48:48 -04:00
{
ios first release
2021-06-08 00:06:49 -04:00
#ifndef DISABLE_LOG
//LOGD("depth %dx%d len=%d", depthWidth, depthHeight, depthLen);
#endif
if(depthLen == 4*depthWidth*depthHeight)
{
// IOS
outputDepth = cv::Mat(depthHeight, depthWidth, CV_32FC1, (void*)depth).clone();
if(conf && confWidth == depthWidth && confHeight == depthHeight && confFormat == 1278226488 && depthConfidence_>0)
{
const unsigned char * confPtr = (const unsigned char *)conf;
float * depthPtr = outputDepth.ptr<float>();
int i=0;
for (int y = 0; y < outputDepth.rows; ++y)
{
for (int x = 0; x < outputDepth.cols; ++x)
{
// https://developer.apple.com/documentation/arkit/arconfidencelevel
// 0 = low
// 1 = medium
// 2 = high
if(confPtr[y*outputDepth.cols + x] < depthConfidence_)
{
depthPtr[y*outputDepth.cols + x] = 0.0f;
++i;
}
}
}
}
}
else if(depthLen == 2*depthWidth*depthHeight)
{
// ANDROID
outputDepth = cv::Mat(depthHeight, depthWidth, CV_16UC1);
uint16_t *dataShort = (uint16_t *)depth;
for (int y = 0; y < outputDepth.rows; ++y)
{
for (int x = 0; x < outputDepth.cols; ++x)
{
uint16_t depthSample = dataShort[y*outputDepth.cols + x];
uint16_t depthRange = (depthSample & 0x1FFF); // first 3 bits are confidence
outputDepth.at<uint16_t>(y,x) = depthRange;
}
}
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
}
ARCore: when tof camera is not available, use arcore point cloud as keypoints
2020-04-26 14:48:48 -04:00
if(!outputRGB.empty())
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
{
pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
ARCore: when tof camera is not available, use arcore point cloud as keypoints
2020-04-26 14:48:48 -04:00
Added depth/rgb registration option
2021-06-10 11:07:25 -04:00
// Registration depth to rgb
if(!outputDepth.empty() && !depthFrame.isNull() && depth_fx!=0 && (rgbFrame != depthFrame || depthStamp!=stamp))
{
UTimer time;
rtabmap::Transform motion = rtabmap::Transform::getIdentity();
if(depthStamp != stamp && !poseBuffer_.empty())
{
// Interpolate pose
if(!poseBuffer_.empty())
{
if(poseBuffer_.rbegin()->first < depthStamp)
{
UWARN("Could not find poses to interpolate at time %f (last is %f)...", depthStamp, poseBuffer_.rbegin()->first);
}
else
{
std::map<double, rtabmap::Transform >::const_iterator iterB = poseBuffer_.lower_bound(depthStamp);
std::map<double, rtabmap::Transform >::const_iterator iterA = iterB;
rtabmap::Transform poseDepth;
if(iterA != poseBuffer_.begin())
{
iterA = --iterA;
}
if(iterB == poseBuffer_.end())
{
iterB = --iterB;
}
if(iterA == iterB && depthStamp == iterA->first)
{
poseDepth = iterA->second;
}
else if(depthStamp >= iterA->first && depthStamp <= iterB->first)
{
poseDepth = iterA->second.interpolate((depthStamp-iterA->first) / (iterB->first-iterA->first), iterB->second);
}
else if(depthStamp < iterA->first)
{
UERROR("Could not find poses to interpolate at image time %f (earliest is %f). Are sensors synchronized?", depthStamp, iterA->first);
}
else
{
UERROR("Could not find poses to interpolate at image time %f (between %f and %f), Are sensors synchronized?", depthStamp, iterA->first, iterB->first);
}
if(!poseDepth.isNull())
{
#ifndef DISABLE_LOG
UDEBUG("poseRGB =%s (stamp=%f)", pose.prettyPrint().c_str(), depthStamp);
UDEBUG("poseDepth=%s (stamp=%f)", poseDepth.prettyPrint().c_str(), depthStamp);
#endif
motion = pose.inverse()*poseDepth;
// transform in camera frame
#ifndef DISABLE_LOG
UDEBUG("motion=%s", motion.prettyPrint().c_str());
#endif
motion = rtabmap::CameraModel::opticalRotation().inverse() * motion * rtabmap::CameraModel::opticalRotation();
#ifndef DISABLE_LOG
UDEBUG("motion=%s", motion.prettyPrint().c_str());
#endif
}
}
}
}
rtabmap::Transform rgbToDepth = motion*rgbFrame.inverse()*depthFrame;
float scale = (float)outputDepth.cols/(float)outputRGB.cols;
cv::Mat colorK = (cv::Mat_<double>(3,3) <<
rgb_fx*scale, 0, rgb_cx*scale,
0, rgb_fy*scale, rgb_cy*scale,
0, 0, 1);
cv::Mat depthK = (cv::Mat_<double>(3,3) <<
depth_fx, 0, depth_cx,
0, depth_fy, depth_cy,
0, 0, 1);
outputDepth = rtabmap::util2d::registerDepth(outputDepth, depthK, outputDepth.size(), colorK, rgbToDepth);
#ifndef DISABLE_LOG
UDEBUG("Depth registration time: %fs", time.elapsed());
#endif
}
rtabmap::CameraModel model = rtabmap::CameraModel(rgb_fx, rgb_fy, rgb_cx, rgb_cy, camera_->getDeviceTColorCamera(), 0, cv::Size(rgbWidth, rgbHeight));
ARCore: when tof camera is not available, use arcore point cloud as keypoints
2020-04-26 14:48:48 -04:00
#ifndef DISABLE_LOG
ios first release
2021-06-08 00:06:49 -04:00
//LOGI("pointCloudData size=%d", pointsLen);
ARCore: when tof camera is not available, use arcore point cloud as keypoints
2020-04-26 14:48:48 -04:00
#endif
ios first release
2021-06-08 00:06:49 -04:00
if(!fullResolution_)
{
outputRGB = rtabmap::util2d::decimate(outputRGB, 2);
model = model.scaled(1.0/double(2));
}
ARCore: when tof camera is not available, use arcore point cloud as keypoints
2020-04-26 14:48:48 -04:00
std::vector<cv::KeyPoint> kpts;
std::vector<cv::Point3f> kpts3;
rtabmap::LaserScan scan;
if(points && pointsLen>0)
{
ios first release
2021-06-08 00:06:49 -04:00
cv::Mat pointsMat(1, pointsLen, CV_32FC(pointsChannels), (void*)points);
ARCore: when tof camera is not available, use arcore point cloud as keypoints
2020-04-26 14:48:48 -04:00
if(outputDepth.empty())
{
ios first release
2021-06-08 00:06:49 -04:00
int kptsSize = fullResolution_ ? 12 : 6;
scan = rtabmap::CameraMobile::scanFromPointCloudData(pointsMat, pointsLen, pose, model, outputRGB, &kpts, &kpts3, kptsSize);
ARCore: when tof camera is not available, use arcore point cloud as keypoints
2020-04-26 14:48:48 -04:00
}
else
{
// We will recompute features if depth is available
ios first release
2021-06-08 00:06:49 -04:00
scan = rtabmap::CameraMobile::scanFromPointCloudData(pointsMat, pointsLen, pose, model, outputRGB);
ARCore: when tof camera is not available, use arcore point cloud as keypoints
2020-04-26 14:48:48 -04:00
}
}
ios first release
2021-06-08 00:06:49 -04:00
if(!outputDepth.empty())
{
Fixed occlusion image origin offset (iOS and android). Android: disabled maximum odom image rate for faster feedback in First-Person. Min/Max range parameters also filter scans. Fixed background renderer not showing image (ARCore Java driver).
2021-06-13 22:07:47 -04:00
rtabmap::Transform poseWithOriginOffset = pose;
if(!camera_->getOriginOffset().isNull())
{
poseWithOriginOffset = camera_->getOriginOffset() * pose;
}
ios first release
2021-06-08 00:06:49 -04:00
rtabmap::CameraModel depthModel = model.scaled(float(outputDepth.cols) / float(model.imageWidth()));
Fixed occlusion image origin offset (iOS and android). Android: disabled maximum odom image rate for faster feedback in First-Person. Min/Max range parameters also filter scans. Fixed background renderer not showing image (ARCore Java driver).
2021-06-13 22:07:47 -04:00
depthModel.setLocalTransform(poseWithOriginOffset*model.localTransform());
ios first release
2021-06-08 00:06:49 -04:00
camera_->setOcclusionImage(outputDepth, depthModel);
}
ARCore: when tof camera is not available, use arcore point cloud as keypoints
2020-04-26 14:48:48 -04:00
rtabmap::SensorData data(scan, outputRGB, outputDepth, model, 0, stamp);
data.setFeatures(kpts, kpts3, cv::Mat());
ios first release
2021-06-08 00:06:49 -04:00
glm::mat4 projectionMatrix(0);
projectionMatrix[0][0] = p00;
projectionMatrix[1][1] = p11;
projectionMatrix[2][0] = p02;
projectionMatrix[2][1] = p12;
projectionMatrix[2][2] = p22;
projectionMatrix[2][3] = p32;
projectionMatrix[3][2] = p23;
Added depth/rgb registration option
2021-06-10 11:07:25 -04:00
glm::mat4 viewMatrixMat = rtabmap::glmFromTransform(viewMatrix);
ios first release
2021-06-08 00:06:49 -04:00
float texCoords[8];
texCoords[0] = t0;
texCoords[1] = t1;
texCoords[2] = t2;
texCoords[3] = t3;
texCoords[4] = t4;
texCoords[5] = t5;
texCoords[6] = t6;
texCoords[7] = t7;
Added depth/rgb registration option
2021-06-10 11:07:25 -04:00
camera_->setData(data, pose, viewMatrixMat, projectionMatrix, main_scene_.GetCameraType() == tango_gl::GestureCamera::kFirstPerson?texCoords:0);
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
camera_->spinOnce();
}
}
}
android: fixed yuv conversion bug on some devices, updated default driver based on which one is available and built with it.
2020-04-29 12:18:02 -04:00
else
{
ios first release
2021-06-08 00:06:49 -04:00
UERROR("Missing image information! fx=%f fy=%f cx=%f cy=%f stamp=%f yPlane=%d vPlane=%d yPlaneLen=%d rgbWidth=%d rgbHeight=%d",
Added depth/rgb registration option
2021-06-10 11:07:25 -04:00
rgb_fx, rgb_fy, rgb_cx, rgb_cy, stamp, yPlane?1:0, vPlane?1:0, yPlaneLen, rgbWidth, rgbHeight);
android: fixed yuv conversion bug on some devices, updated default driver based on which one is available and built with it.
2020-04-29 12:18:02 -04:00
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
}
#else
ios first release
2021-06-08 00:06:49 -04:00
UERROR("Not built with ARCore or iOS!");
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
#endif
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
bool RTABMapApp::handleEvent(UEvent * event)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(camera_!=0)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
// called from events manager thread, so protect the data
if(event->getClassName().compare("OdometryEvent") == 0)
{
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
LOGI("Received OdometryEvent!");
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
if(odomMutex_.try_lock())
{
odomEvents_.clear();
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
odomEvents_.push_back(*((rtabmap::OdometryEvent*)(event)));
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
odomMutex_.unlock();
}
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(event->getClassName().compare("RtabmapEvent") == 0)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
LOGI("Received RtabmapEvent event! status=%d", status_.first);
if(status_.first == rtabmap::RtabmapEventInit::kInitialized)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmapEvents_.push_back((rtabmap::RtabmapEvent*)event);
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
return true;
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
else
{
LOGW("Received RtabmapEvent event but ignoring it while we are initializing...status=%d", status_.first);
}
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
}
if(event->getClassName().compare("PoseEvent") == 0)
{
if(poseMutex_.try_lock())
{
poseEvents_.clear();
poseEvents_.push_back(((rtabmap::PoseEvent*)event)->pose());
poseMutex_.unlock();
}
}
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
if(event->getClassName().compare("CameraInfoEvent") == 0)
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
rtabmap::CameraInfoEvent * tangoEvent = (rtabmap::CameraInfoEvent*)event;
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
// Call JAVA callback with tango event msg
bool success = false;
ios first release
2021-06-08 00:06:49 -04:00
#ifdef __ANDROID__
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
if(jvm && RTABMapActivity)
{
JNIEnv *env = 0;
jint rs = jvm->AttachCurrentThread(&env, NULL);
if(rs == JNI_OK && env)
{
jclass clazz = env->GetObjectClass(RTABMapActivity);
if(clazz)
{
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
jmethodID methodID = env->GetMethodID(clazz, "cameraEventCallback", "(ILjava/lang/String;Ljava/lang/String;)V" );
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
if(methodID)
{
env->CallVoidMethod(RTABMapActivity, methodID,
tangoEvent->type(),
env->NewStringUTF(tangoEvent->key().c_str()),
env->NewStringUTF(tangoEvent->value().c_str()));
success = true;
}
}
}
jvm->DetachCurrentThread();
}
ios first release
2021-06-08 00:06:49 -04:00
#endif
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
if(!success)
{
UERROR("Failed to call RTABMapActivity::tangoEventCallback");
}
}
if(event->getClassName().compare("RtabmapEventInit") == 0)
{
status_.first = ((rtabmap::RtabmapEventInit*)event)->getStatus();
status_.second = ((rtabmap::RtabmapEventInit*)event)->getInfo();
Tango refactoring (#534) * Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
2020-04-22 15:05:07 -04:00
LOGI("Received RtabmapEventInit! Status=%d info=%s", (int)status_.first, status_.second.c_str());
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
// Call JAVA callback with init msg
bool success = false;
ios first release
2021-06-08 00:06:49 -04:00
#ifdef __ANDROID__
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
if(jvm && RTABMapActivity)
{
JNIEnv *env = 0;
jint rs = jvm->AttachCurrentThread(&env, NULL);
if(rs == JNI_OK && env)
{
jclass clazz = env->GetObjectClass(RTABMapActivity);
if(clazz)
{
jmethodID methodID = env->GetMethodID(clazz, "rtabmapInitEventCallback", "(ILjava/lang/String;)V" );
if(methodID)
{
env->CallVoidMethod(RTABMapActivity, methodID,
status_.first,
env->NewStringUTF(status_.second.c_str()));
success = true;
}
}
}
jvm->DetachCurrentThread();
}
ios first release
2021-06-08 00:06:49 -04:00
#else
if(swiftClassPtr_)
{
std::function<void()> actualCallback = [&](){
swiftInitCallback(swiftClassPtr_, status_.first, status_.second.c_str());
};
actualCallback();
success = true;
}
#endif
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
if(!success)
{
UERROR("Failed to call RTABMapActivity::rtabmapInitEventsCallback");
}
}
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
if(event->getClassName().compare("PostRenderEvent") == 0)
{
LOGI("Received PostRenderEvent!");
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
int loopClosureId = 0;
int featuresExtracted = 0;
if(((PostRenderEvent*)event)->getRtabmapEvent())
{
ios first release
2021-06-08 00:06:49 -04:00
LOGI("Received PostRenderEvent! has getRtabmapEvent");
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
const rtabmap::Statistics & stats = ((PostRenderEvent*)event)->getRtabmapEvent()->getStats();
loopClosureId = stats.loopClosureId()>0?stats.loopClosureId():stats.proximityDetectionId()>0?stats.proximityDetectionId():0;
Fixed Tango build
2019-02-12 16:48:37 -05:00
featuresExtracted = stats.getLastSignatureData().getWords().size();
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryWorking_memory_size(), uValue(stats.data(), rtabmap::Statistics::kMemoryWorking_memory_size(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryShort_time_memory_size(), uValue(stats.data(), rtabmap::Statistics::kMemoryShort_time_memory_size(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kKeypointDictionary_size(), uValue(stats.data(), rtabmap::Statistics::kKeypointDictionary_size(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kTimingTotal(), uValue(stats.data(), rtabmap::Statistics::kTimingTotal(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopHighest_hypothesis_id(), uValue(stats.data(), rtabmap::Statistics::kLoopHighest_hypothesis_id(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryDatabase_memory_used(), uValue(stats.data(), rtabmap::Statistics::kMemoryDatabase_memory_used(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopVisual_inliers(), uValue(stats.data(), rtabmap::Statistics::kLoopVisual_inliers(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopVisual_matches(), uValue(stats.data(), rtabmap::Statistics::kLoopVisual_matches(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopRejectedHypothesis(), uValue(stats.data(), rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopOptimization_max_error(), uValue(stats.data(), rtabmap::Statistics::kLoopOptimization_max_error(), 0.0f)));
Tango: fixed MaxOptimizeError value that now is a factor. Docker: updated tango download links
2018-03-18 18:47:13 -04:00
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopOptimization_max_error_ratio(), uValue(stats.data(), rtabmap::Statistics::kLoopOptimization_max_error_ratio(), 0.0f)));
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryRehearsal_sim(), uValue(stats.data(), rtabmap::Statistics::kMemoryRehearsal_sim(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopHighest_hypothesis_value(), uValue(stats.data(), rtabmap::Statistics::kLoopHighest_hypothesis_value(), 0.0f)));
Tango: add Maximum Motion Speed option (default low) to avoid blurry images
2017-09-28 17:15:53 -04:00
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryDistance_travelled(), uValue(stats.data(), rtabmap::Statistics::kMemoryDistance_travelled(), 0.0f)));
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryFast_movement(), uValue(stats.data(), rtabmap::Statistics::kMemoryFast_movement(), 0.0f)));
Tango: added "Settings->Mapping->ArUco Marker Detection" option
2019-02-23 03:02:42 +00:00
uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopLandmark_detected(), uValue(stats.data(), rtabmap::Statistics::kLoopLandmark_detected(), 0.0f)));
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
}
// else use last data
int nodes = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryWorking_memory_size(), 0.0f) +
uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryShort_time_memory_size(), 0.0f);
int words = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kKeypointDictionary_size(), 0.0f);
float updateTime = uValue(bufferedStatsData_, rtabmap::Statistics::kTimingTotal(), 0.0f);
int highestHypId = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopHighest_hypothesis_id(), 0.0f);
int databaseMemoryUsed = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryDatabase_memory_used(), 0.0f);
int inliers = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopVisual_inliers(), 0.0f);
int matches = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopVisual_matches(), 0.0f);
int rejected = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f);
float optimizationMaxError = uValue(bufferedStatsData_, rtabmap::Statistics::kLoopOptimization_max_error(), 0.0f);
Tango: fixed MaxOptimizeError value that now is a factor. Docker: updated tango download links
2018-03-18 18:47:13 -04:00
float optimizationMaxErrorRatio = uValue(bufferedStatsData_, rtabmap::Statistics::kLoopOptimization_max_error_ratio(), 0.0f);
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
float rehearsalValue = uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryRehearsal_sim(), 0.0f);
float hypothesis = uValue(bufferedStatsData_, rtabmap::Statistics::kLoopHighest_hypothesis_value(), 0.0f);
Tango: add Maximum Motion Speed option (default low) to avoid blurry images
2017-09-28 17:15:53 -04:00
float distanceTravelled = uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryDistance_travelled(), 0.0f);
int fastMovement = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryFast_movement(), 0.0f);
Tango: added "Settings->Mapping->ArUco Marker Detection" option
2019-02-23 03:02:42 +00:00
int landmarkDetected = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopLandmark_detected(), 0.0f);
Tango: added "Pose (x,y,z)" in debug view
2017-10-06 13:42:12 -04:00
rtabmap::Transform currentPose = main_scene_.GetCameraPose();
float x=0.0f,y=0.0f,z=0.0f,roll=0.0f,pitch=0.0f,yaw=0.0f;
if(!currentPose.isNull())
{
currentPose.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
}
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
// Call JAVA callback with some stats
UINFO("Send statistics to GUI");
bool success = false;
ios first release
2021-06-08 00:06:49 -04:00
#ifdef __ANDROID__
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
if(jvm && RTABMapActivity)
{
JNIEnv *env = 0;
jint rs = jvm->AttachCurrentThread(&env, NULL);
if(rs == JNI_OK && env)
{
jclass clazz = env->GetObjectClass(RTABMapActivity);
if(clazz)
{
Tango: added "Settings->Mapping->ArUco Marker Detection" option
2019-02-23 03:02:42 +00:00
jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIIFIFIFFFFIIFFFFFF)V" );
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
if(methodID)
{
env->CallVoidMethod(RTABMapActivity, methodID,
nodes,
words,
totalPoints_,
totalPolygons_,
updateTime,
loopClosureId,
Updated default RGBD/OptimizeMaxError to 0.05 m for Tango app
2016-04-11 10:43:28 -04:00
highestHypId,
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
databaseMemoryUsed,
inliers,
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
matches,
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
featuresExtracted,
hypothesis,
Updated default RGBD/OptimizeMaxError to 0.05 m for Tango app
2016-04-11 10:43:28 -04:00
lastDrawnCloudsCount_,
Tango: Handling app pause/resume without having to restart mapping (OpenGL context flushed issue).
2016-09-08 11:55:44 -04:00
renderingTime_>0.0f?1.0f/renderingTime_:0.0f,
Tango: update to 0.11.14
2017-02-05 17:24:45 -05:00
rejected,
Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.
2017-02-15 19:07:10 -05:00
rehearsalValue,
Tango: add Maximum Motion Speed option (default low) to avoid blurry images
2017-09-28 17:15:53 -04:00
optimizationMaxError,
Tango: fixed MaxOptimizeError value that now is a factor. Docker: updated tango download links
2018-03-18 18:47:13 -04:00
optimizationMaxErrorRatio,
Tango: add Maximum Motion Speed option (default low) to avoid blurry images
2017-09-28 17:15:53 -04:00
distanceTravelled,
Tango: added "Pose (x,y,z)" in debug view
2017-10-06 13:42:12 -04:00
fastMovement,
Tango: added "Settings->Mapping->ArUco Marker Detection" option
2019-02-23 03:02:42 +00:00
landmarkDetected,
Tango: added "Pose (x,y,z)" in debug view
2017-10-06 13:42:12 -04:00
x,
y,
z,
roll,
pitch,
yaw);
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
success = true;
}
}
}
jvm->DetachCurrentThread();
}
ios first release
2021-06-08 00:06:49 -04:00
#else // __APPLE__
if(swiftClassPtr_)
{
std::function<void()> actualCallback = [&](){
swiftStatsUpdatedCallback(swiftClassPtr_,
nodes,
words,
totalPoints_,
totalPolygons_,
updateTime,
loopClosureId,
highestHypId,
databaseMemoryUsed,
inliers,
matches,
featuresExtracted,
hypothesis,
lastDrawnCloudsCount_,
renderingTime_>0.0f?1.0f/renderingTime_:0.0f,
rejected,
rehearsalValue,
optimizationMaxError,
optimizationMaxErrorRatio,
distanceTravelled,
fastMovement,
landmarkDetected,
x,
y,
z,
roll,
pitch,
yaw);
};
actualCallback();
success = true;
}
#endif
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
if(!success)
{
UERROR("Failed to call RTABMapActivity::updateStatsCallback");
}
Tango: Handling app pause/resume without having to restart mapping (OpenGL context flushed issue).
2016-09-08 11:55:44 -04:00
renderingTime_ = 0.0f;
Tango: fixed export with optimization, added "Nodes Filtering" option
2016-04-09 18:57:49 -04:00
}
0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)
2017-03-12 21:21:09 -04:00
return false;
0.11.2: First Google Tango release
2016-02-15 19:35:24 -05:00
}
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