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Tango refactoring (#534)

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* 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.
This commit is contained in:
matlabbe
2020-04-22 15:05:07 -04:00
committed by GitHub
parent 931d525874
commit 012439aa0b
62 changed files with 6260 additions and 2194 deletions
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90
app/android/CMakeLists.txt
View File

@@ -1,10 +1,95 @@
option(WITH_TANGO "Include Tango support" ON)
option(WITH_ARCORE "Include ARCore support" ON)
option(WITH_ARENGINE "Include AREngine support" ON)
option(DISABLE_LOG "Disable Android logging (should be true in release)" ON)
option(DEPTH_TEST "Enable depth test on ARCore" OFF)
# Google Tango needs access to system shared
# libraries (e.g. libbinder.so) that are not accessible
# with android >=24
IF(WITH_TANGO AND ${ANDROID_NATIVE_API_LEVEL} LESS 24)
FIND_PACKAGE(Tango QUIET)
IF(Tango_FOUND)
MESSAGE(STATUS "Found Tango: ${Tango_INCLUDE_DIRS}")
ENDIF(Tango_FOUND)
ENDIF(WITH_TANGO AND ${ANDROID_NATIVE_API_LEVEL} LESS 24)
IF(WITH_ARCORE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 22)
FIND_PACKAGE(ARCore QUIET)
IF(ARCore_FOUND)
MESSAGE(STATUS "Found ARCore: ${ARCore_INCLUDE_DIRS}")
ENDIF(ARCore_FOUND)
ENDIF(WITH_ARCORE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 22)
IF(WITH_ARENGINE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 23)
FIND_PACKAGE(AREngine QUIET)
IF(AREngine_FOUND)
MESSAGE(STATUS "Found AREngine: ${AREngine_INCLUDE_DIRS}")
ENDIF(AREngine_FOUND)
ENDIF(WITH_ARENGINE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 23)
IF(NOT Tango_FOUND)
SET(TANGO "//")
ENDIF(NOT Tango_FOUND)
IF(NOT ARCore_FOUND)
SET(ARCORE "//")
ENDIF(NOT ARCore_FOUND)
IF(NOT AREngine_FOUND)
SET(ARENGINE "//")
ENDIF(NOT AREngine_FOUND)
CONFIGURE_FILE(CameraAvailability.h.in ${CMAKE_CURRENT_SOURCE_DIR}/jni/CameraAvailability.h)
IF(DISABLE_LOG)
ADD_DEFINITIONS(-DDISABLE_LOG)
ENDIF(DISABLE_LOG)
IF(DEPTH_TEST)
ADD_DEFINITIONS(-DDEPTH_TEST)
ENDIF(DEPTH_TEST)
MESSAGE(STATUS "--------------------------------------------")
MESSAGE(STATUS "Android build info:")
MESSAGE(STATUS " DISABLE_LOG = ${DISABLE_LOG}")
MESSAGE(STATUS " DEPTH_TEST = ${DEPTH_TEST}")
IF(Tango_FOUND)
MESSAGE(STATUS " With Tango = YES")
ELSEIF(NOT WITH_TANGO)
MESSAGE(STATUS " With Tango = NO (WITH_TANGO=OFF)")
ELSE()
IF(${ANDROID_NATIVE_API_LEVEL} GREATER 23)
MESSAGE(STATUS " With Tango = NO (ANDROID_NATIVE_API_LEVEL should be <= 23)")
ELSE()
MESSAGE(STATUS " With Tango = NO (tango not found)")
ENDIF()
ENDIF()
IF(ARCore_FOUND)
MESSAGE(STATUS " With ARCore = YES")
ELSEIF(NOT WITH_ARCORE)
MESSAGE(STATUS " With ARCore = NO (WITH_ARCORE=OFF)")
ELSE()
IF(${ANDROID_NATIVE_API_LEVEL} LESS 23)
MESSAGE(STATUS " With ARCore = NO (ANDROID_NATIVE_API_LEVEL should be >= 23)")
ELSE()
MESSAGE(STATUS " With ARCore = NO (ARCore not found)")
ENDIF()
ENDIF()
IF(AREngine_FOUND)
MESSAGE(STATUS " With AREngine = YES")
ELSEIF(NOT WITH_ARENGINE)
MESSAGE(STATUS " With AREngine = NO (WITH_ARENGINE=OFF)")
ELSE()
IF(${ANDROID_NATIVE_API_LEVEL} LESS 24)
MESSAGE(STATUS " With AREngine = NO (ANDROID_NATIVE_API_LEVEL should be >= 24)")
ELSE()
MESSAGE(STATUS " With AREngine = NO (AREngine not found)")
ENDIF()
ENDIF()
MESSAGE(STATUS " ANDROID_NATIVE_API_LEVEL = ${ANDROID_NATIVE_API_LEVEL}")
MESSAGE(STATUS " ANDROID_COMPILER_FLAGS_RELEASE = ${ANDROID_COMPILER_FLAGS_RELEASE}")
MESSAGE(STATUS " ANDROID_TOOLCHAIN_PREFIX = ${ANDROID_TOOLCHAIN_PREFIX}")
MESSAGE(STATUS "DISABLE_LOG = ${DISABLE_LOG}")
IF(DISABLE_LOG)
SET(ANDROID_DEBUGGABLE false)
@@ -29,7 +114,8 @@ endif()
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml.in"
"${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml")
"${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml"
@ONLY)
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml"