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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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59
app/android/jni/RTABMapApp.h
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@@ -31,11 +31,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <jni.h>
#include <memory>
#include <tango_client_api.h> // NOLINT
#include <tango-gl/util.h>
#include "scene.h"
#include "CameraTango.h"
#include "CameraMobile.h"
#include "util.h"
#include "ProgressionStatus.h"
@@ -49,39 +48,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
class RTABMapApp : public UEventsHandler {
public:
// Constructor and deconstructor.
RTABMapApp();
RTABMapApp(JNIEnv* env, jobject caller_activity);
~RTABMapApp();
void onCreate(JNIEnv* env, jobject caller_activity);
void setScreenRotation(int displayRotation, int cameraRotation);
int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, const std::string & databaseSource=std::string());
bool onTangoServiceConnected(JNIEnv* env, jobject iBinder);
// Explicitly reset motion tracking and restart the pipeline.
// Note that this will cause motion tracking to re-initialize.
void TangoResetMotionTracking();
// Tango Service point cloud callback function for depth data. Called when new
// new point cloud data is available from the Tango Service.
//
// @param pose: The current point cloud returned by the service,
// caller allocated.
void onPointCloudAvailable(const TangoXYZij* xyz_ij);
// Tango service pose callback function for pose data. Called when new
// information about device pose is available from the Tango Service.
//
// @param pose: The current pose returned by the service, caller allocated.
void onPoseAvailable(const TangoPoseData* pose);
// Tango service event callback function for event data. Called when new events
// are available from the Tango Service.
//
// @param event: Tango event, caller allocated.
void onTangoEventAvailable(const TangoEvent* event);
bool startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver);
// Allocate OpenGL resources for rendering, mainly for initializing the Scene.
void InitializeGLContent();
@@ -92,8 +66,7 @@ class RTABMapApp : public UEventsHandler {
// Main render loop.
int Render();
// Release all non-OpenGL allocated resources.
void onPause();
void stopCamera();
// Set render camera's viewing angle, first person, third person or top down.
//
@@ -150,7 +123,6 @@ class RTABMapApp : public UEventsHandler {
void setGPS(const rtabmap::GPS & gps);
void addEnvSensor(int type, float value);
void resetMapping();
void save(const std::string & databasePath);
void cancelProcessing();
bool exportMesh(
@@ -174,21 +146,32 @@ class RTABMapApp : public UEventsHandler {
bool writeExportedMesh(const std::string & directory, const std::string & name);
int postProcessing(int approach);
void postCameraPoseEvent(
float x, float y, float z, float qx, float qy, float qz, float qw);
void postOdometryEvent(
float x, float y, float z, float qx, float qy, float qz, float qw,
float fx, float fy, float cx, float cy,
double stamp,
void * rgb, int rgbLen, int rgbWidth, int rgbHeight, int rgbFormat,
void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat);
protected:
virtual bool handleEvent(UEvent * event);
private:
rtabmap::ParametersMap getRtabmapParameters();
bool smoothMesh(int id, Mesh & mesh);
bool smoothMesh(int id, rtabmap::Mesh & mesh);
void gainCompensation(bool full = false);
std::vector<pcl::Vertices> filterOrganizedPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
std::vector<pcl::Vertices> filterPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
private:
rtabmap::CameraTango * camera_;
int cameraDriver_;
rtabmap::CameraMobile * camera_;
rtabmap::RtabmapThread * rtabmapThread_;
rtabmap::Rtabmap * rtabmap_;
LogHandler * logHandler_;
rtabmap::LogHandler * logHandler_;
bool odomCloudShown_;
bool graphOptimization_;
@@ -212,7 +195,6 @@ class RTABMapApp : public UEventsHandler {
rtabmap::ParametersMap mappingParameters_;
bool paused_;
bool dataRecorderMode_;
bool clearSceneOnNextRender_;
bool openingDatabase_;
@@ -244,14 +226,13 @@ class RTABMapApp : public UEventsHandler {
Scene main_scene_;
std::list<rtabmap::RtabmapEvent*> rtabmapEvents_;
std::list<rtabmap::RtabmapEvent*> visLocalizationEvents_;
std::list<rtabmap::OdometryEvent> odomEvents_;
std::list<rtabmap::Transform> poseEvents_;
rtabmap::Transform mapToOdom_;
boost::mutex cameraMutex_;
boost::mutex rtabmapMutex_;
boost::mutex visLocalizationMutex_;
boost::mutex meshesMutex_;
boost::mutex odomMutex_;
boost::mutex poseMutex_;
@@ -259,7 +240,7 @@ class RTABMapApp : public UEventsHandler {
USemaphore screenshotReady_;
std::map<int, Mesh> createdMeshes_;
std::map<int, rtabmap::Mesh> createdMeshes_;
std::map<int, rtabmap::Transform> rawPoses_;
std::pair<rtabmap::RtabmapEventInit::Status, std::string> status_;