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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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104
app/android/jni/CameraARCore.h Normal file
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/*
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.
*/
#ifndef CAMERAARCORE_H_
#define CAMERAARCORE_H_
#include "CameraMobile.h"
#include <rtabmap/core/Camera.h>
#include <rtabmap/core/GeodeticCoords.h>
#include <rtabmap/utilite/UMutex.h>
#include <rtabmap/utilite/USemaphore.h>
#include <rtabmap/utilite/UEventsSender.h>
#include <rtabmap/utilite/UThread.h>
#include <rtabmap/utilite/UEvent.h>
#include <rtabmap/utilite/UTimer.h>
#include <boost/thread/mutex.hpp>
#include <arcore_c_api.h>
#ifdef DEPTH_TEST
#include <camera/NdkCameraDevice.h>
#include <camera/NdkCameraManager.h>
#include <media/NdkImageReader.h>
#include <android/native_window.h>
#endif
namespace rtabmap {
class CameraARCore : public CameraMobile {
public:
CameraARCore(void* env, void* context, void* activity, bool smoothing = false);
virtual ~CameraARCore();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual void close(); // close Tango connection
virtual std::string getSerial() const;
#ifdef DEPTH_TEST
void imageCallback(AImageReader *reader);
#endif // DEPTH_TEST
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
virtual void capturePoseOnly();
private:
rtabmap::Transform getPoseAtTimestamp(double timestamp);
private:
void * env_;
void * context_;
void * activity_;
ArSession* arSession_ = nullptr;
ArConfig* arConfig_ = nullptr;
ArFrame* arFrame_ = nullptr;
ArCameraIntrinsics *arCameraIntrinsics_ = nullptr;
ArPose * arPose_ = nullptr;
bool arInstallRequested_;
GLuint textureId_;
UMutex arSessionMutex_;
#ifdef DEPTH_TEST
// Camera variables
ACameraDevice* cameraDevice_ = nullptr;
ACaptureRequest* captureRequest_ = nullptr;
ACameraOutputTarget* cameraOutputTarget_ = nullptr;
ACaptureSessionOutput* sessionOutput_ = nullptr;
ACaptureSessionOutputContainer* captureSessionOutputContainer_ = nullptr;
ACameraCaptureSession* captureSession_ = nullptr;
ANativeWindow *outputNativeWindow_ = nullptr;
ACameraDevice_StateCallbacks deviceStateCallbacks_;
ACameraCaptureSession_stateCallbacks captureSessionStateCallbacks_;
ACameraManager* cameraManager_ = nullptr;
AImageReader* imageReader_ = nullptr;
#endif // DEPTH_TEST
};
} /* namespace rtabmap */
#endif /* CAMERAARCORE_H_ */