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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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62
app/android/jni/CameraTango.h
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@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef CAMERATANGO_H_
#define CAMERATANGO_H_
#include "CameraMobile.h"
#include <rtabmap/core/Camera.h>
#include <rtabmap/core/GeodeticCoords.h>
#include <rtabmap/utilite/UMutex.h>
@@ -37,66 +38,26 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UEvent.h>
#include <rtabmap/utilite/UTimer.h>
#include <boost/thread/mutex.hpp>
#include <tango_client_api.h>
#include <tango_support_api.h>
class TangoPoseData;
namespace rtabmap {
class PoseEvent: public UEvent
{
public:
PoseEvent(const Transform & pose) : pose_(pose) {}
virtual std::string getClassName() const {return "PoseEvent";}
const Transform & pose() const {return pose_;}
private:
Transform pose_;
};
class CameraTangoEvent: public UEvent
{
public:
CameraTangoEvent(int type, const std::string & key, const std::string & value) : type_(type), key_(key), value_(value) {}
virtual std::string getClassName() const {return "CameraTangoEvent";}
int type() const {return type_;}
const std::string & key() const {return key_;}
const std::string & value() const {return value_;}
private:
int type_;
std::string key_;
std::string value_;
};
class CameraTango : public Camera, public UThread, public UEventsSender {
public:
static const float bilateralFilteringSigmaS;
static const float bilateralFilteringSigmaR;
class CameraTango : public CameraMobile {
public:
CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing);
virtual ~CameraTango();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
void close(); // close Tango connection
void resetOrigin();
virtual bool isCalibrated() const;
virtual void close(); // close Tango connection
virtual std::string getSerial() const;
const CameraModel & getCameraModel() const {return model_;}
rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose) const;
void setColorCamera(bool enabled) {if(!this->isRunning()) colorCamera_ = enabled;}
void setDecimation(int value) {decimation_ = value;}
void setSmoothing(bool enabled) {smoothing_ = enabled;}
void setRawScanPublished(bool enabled) {rawScanPublished_ = enabled;}
void setScreenRotation(TangoSupportRotation colorCameraToDisplayRotation) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
void setGPS(const GPS & gps);
void addEnvSensor(int type, float value);
void cloudReceived(const cv::Mat & cloud, double timestamp);
void rgbReceived(const cv::Mat & tangoImage, int type, double timestamp);
void poseReceived(const Transform & pose);
void tangoEventReceived(int type, const char * key, const char * value);
protected:
@@ -105,19 +66,11 @@ protected:
private:
rtabmap::Transform getPoseAtTimestamp(double timestamp);
virtual void mainLoopBegin();
virtual void mainLoop();
private:
void * tango_config_;
Transform previousPose_;
double previousStamp_;
UTimer cameraStartedTime_;
double stampEpochOffset_;
bool colorCamera_;
int decimation_;
bool rawScanPublished_;
bool smoothing_;
cv::Mat cloud_;
double cloudStamp_;
cv::Mat tangoColor_;
@@ -125,15 +78,8 @@ private:
double tangoColorStamp_;
boost::mutex dataMutex_;
USemaphore dataReady_;
CameraModel model_;
Transform deviceTColorCamera_;
TangoSupportRotation colorCameraToDisplayRotation_;
cv::Mat fisheyeRectifyMapX_;
cv::Mat fisheyeRectifyMapY_;
GPS lastKnownGPS_;
EnvSensors lastEnvSensors_;
Transform originOffset_;
bool originUpdate_;
};
} /* namespace rtabmap */