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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.
This commit is contained in:
matlabbe
134
app/android/jni/CameraMobile.h
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134
app/android/jni/CameraMobile.h
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef CAMERAMOBILE_H_
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#define CAMERAMOBILE_H_
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#include <rtabmap/core/Camera.h>
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#include <rtabmap/core/GeodeticCoords.h>
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#include <rtabmap/utilite/UMutex.h>
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#include <rtabmap/utilite/USemaphore.h>
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#include <rtabmap/utilite/UEventsSender.h>
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#include <rtabmap/utilite/UThread.h>
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#include <rtabmap/utilite/UEvent.h>
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#include <rtabmap/utilite/UTimer.h>
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#include <boost/thread/mutex.hpp>
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#include "util.h"
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namespace rtabmap {
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class CameraInfoEvent: public UEvent
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{
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public:
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CameraInfoEvent(int type, const std::string & key, const std::string & value) : type_(type), key_(key), value_(value) {}
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virtual std::string getClassName() const {return "CameraInfoEvent";}
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int type() const {return type_;}
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const std::string & key() const {return key_;}
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const std::string & value() const {return value_;}
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private:
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int type_;
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std::string key_;
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std::string value_;
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};
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class PoseEvent: public UEvent
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{
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public:
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PoseEvent(const Transform & pose) : pose_(pose) {}
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virtual std::string getClassName() const {return "PoseEvent";}
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const Transform & pose() const {return pose_;}
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private:
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Transform pose_;
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};
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class CameraMobile : public Camera, public UThread, public UEventsSender {
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public:
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static const float bilateralFilteringSigmaS;
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static const float bilateralFilteringSigmaR;
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static const rtabmap::Transform opticalRotation;
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static const rtabmap::Transform opticalRotationInv;
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public:
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CameraMobile(bool smoothing = false);
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virtual ~CameraMobile();
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// abstract functions
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virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
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virtual void close(); // inherited classes should call its parent in their close().
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virtual std::string getSerial() const {return "CameraMobile";}
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const Transform & getOriginOffset() const {return originOffset_;} // in rtabmap frame
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void resetOrigin();
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virtual bool isCalibrated() const;
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void poseReceived(const Transform & pose); // in rtabmap frame
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const CameraModel & getCameraModel() const {return model_;}
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const Transform & getDeviceTColorCamera() const {return deviceTColorCamera_;}
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void setSmoothing(bool enabled) {smoothing_ = enabled;}
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void setScreenRotation(ScreenRotation colorCameraToDisplayRotation) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
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void setGPS(const GPS & gps);
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void addEnvSensor(int type, float value);
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void setData(const SensorData & data, const Transform & pose);
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void spinOnce(); // Should only be called if not thread is not running, otherwise it does nothing
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protected:
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virtual SensorData captureImage(CameraInfo * info = 0);
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virtual void capturePoseOnly() {}
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virtual void mainLoopBegin();
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virtual void mainLoop();
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protected:
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CameraModel model_; // local transform is the device to camera optical rotation in rtabmap frame
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Transform deviceTColorCamera_; // device to camera optical rotation in rtabmap frame
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UTimer spinOnceFrameRateTimer_;
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double spinOncePreviousStamp_;
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private:
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Transform previousPose_;
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double previousStamp_;
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UTimer cameraStartedTime_;
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double stampEpochOffset_;
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bool smoothing_;
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ScreenRotation colorCameraToDisplayRotation_;
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GPS lastKnownGPS_;
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EnvSensors lastEnvSensors_;
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Transform originOffset_;
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bool originUpdate_;
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SensorData data_;
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Transform pose_;
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};
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} /* namespace rtabmap */
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#endif /* CAMERATANGO_H_ */
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