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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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13
app/android/jni/tango-gl/frustum.cpp
View File

@@ -18,11 +18,14 @@
namespace tango_gl {
static const float float_vertices[] = {
0.0f, 0.0f, 0.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 1.0f,
1.0f, -1.0f, 0.0f, 0.0f, 0.0f, -1.0f, -1.0f, -1.0f, 0.0f, 0.0f,
0.0f, 1.0f, -1.0f, -1.0f, -1.0f, 1.0f, -1.0f, 1.0f, 1.0f, -1.0f,
1.0f, 1.0f, -1.0f, 1.0f, -1.0f, -1.0f, 1.0f, -1.0f, -1.0f, -1.0f,
-1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f, -1.0f};
0.0f, 0.0f, 0.0f, -1.0f, 1.0f, -1.0f,
0.0f, 0.0f, 0.0f, 1.0f, 1.0f, -1.0f,
0.0f, 0.0f, 0.0f, -1.0f, -1.0f, -1.0f,
0.0f, 0.0f, 0.0f, 1.0f, -1.0f, -1.0f,
-1.0f, 1.0f, -1.0f, 1.0f, 1.0f, -1.0f,
1.0f, 1.0f, -1.0f, 1.0f, -1.0f, -1.0f,
1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f,
-1.0f, -1.0f, -1.0f, -1.0f, 1.0f, -1.0f};
Frustum::Frustum() : Line(3.0f, GL_LINES) {
SetShader();

12
app/android/jni/tango-gl/grid.cpp
View File

@@ -31,13 +31,17 @@ Grid::Grid(float density, int qx, int qy) : Line(1.0f, GL_LINES) {
// Horizontal line.
for (int i = 0; i < (qy + 1); i++) {
vec_vertices_.push_back(glm::vec3(-width, 0.0f, -height + i * density));
vec_vertices_.push_back(glm::vec3(width, 0.0f, -height + i * density));
for (int j = 0; j < (qx + 1); j++) {
vec_vertices_.push_back(glm::vec3(-width + j*density, 0.0f, -height + i * density));
vec_vertices_.push_back(glm::vec3(-width+ + (j+1)*density, 0.0f, -height + i * density));
}
}
for (int i = 0; i < (qx + 1); i++) {
vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, -height));
vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, height));
for (int j = 0; j < (qy + 1); j++) {
vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, -height + j*density));
vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, -height + (j+1)*density));
}
}
}
} // namespace tango_gl

28
app/android/jni/tango-gl/include/tango-gl/util.h
View File

@@ -25,7 +25,6 @@
#include <android/log.h>
#include <GLES2/gl2.h>
#include <GLES2/gl2ext.h>
#include <tango_support_api.h>
#include "glm/glm.hpp"
#include "glm/gtc/matrix_transform.hpp"
@@ -44,6 +43,7 @@
#define LOGW(...) __android_log_print(ANDROID_LOG_WARN,LOG_TAG,__VA_ARGS__)
#endif
#define LOGE(...) __android_log_print(ANDROID_LOG_ERROR,LOG_TAG,__VA_ARGS__)
#define LOGF(...) __android_log_print(ANDROID_LOG_FATAL,LOG_TAG,__VA_ARGS__)
#ifndef M_PI
#define M_PI 3.1415926f
@@ -84,32 +84,6 @@ namespace util {
glm::vec3 ApplyTransform(const glm::mat4& mat, const glm::vec3& vec);
// Get the Android rotation integer value from color camera to display.
// This function is used to compute the orientation difference to handle
// the portrait and landscape mode for color camera display.
//
// @param display: integer value of display orientation, values available
// are 0, 1, 2 ,3. Followed by Android display orientation standard:
// https://developer.android.com/reference/android/view/Display.html#getRotation()
// @param color_camera: integer value of color camera oreintation, values
// available are 0, 90, 180, 270. Followed by Android camera orientation
// standard:
// https://developer.android.com/reference/android/hardware/Camera.CameraInfo.html#orientation
TangoSupportRotation GetAndroidRotationFromColorCameraToDisplay(
int display_rotation, int color_camera_rotation);
// Get the Android rotation integer value from color camera to display.
// This function is used to compute the orientation difference to handle
// the portrait and landscape mode for color camera display.
//
// @param display: the device display orientation.
// @param color_camera: integer value of color camera oreintation, values
// available are 0, 90, 180, 270. Followed by Android camera orientation
// standard:
// https://developer.android.com/reference/android/hardware/Camera.CameraInfo.html#orientation
TangoSupportRotation GetAndroidRotationFromColorCameraToDisplay(
TangoSupportRotation display_rotation, int color_camera_rotation);
} // namespace util
} // namespace tango_gl
#endif // TANGO_GL_RENDERER_GL_UTIL

19
app/android/jni/tango-gl/util.cpp
View File

@@ -238,23 +238,4 @@ glm::vec3 util::ApplyTransform(const glm::mat4& mat, const glm::vec3& vec) {
return glm::vec3(mat * glm::vec4(vec, 1.0f));
}
TangoSupportRotation util::GetAndroidRotationFromColorCameraToDisplay(
int display_rotation, int color_camera_rotation) {
TangoSupportRotation r =
static_cast<TangoSupportRotation>(display_rotation);
return util::GetAndroidRotationFromColorCameraToDisplay(
r, color_camera_rotation);
}
TangoSupportRotation util::GetAndroidRotationFromColorCameraToDisplay(
TangoSupportRotation display_rotation, int color_camera_rotation) {
int color_camera_n = NormalizedColorCameraRotation(color_camera_rotation);
int ret = static_cast<int>(display_rotation) - color_camera_n;
if (ret < 0) {
ret += 4;
}
return static_cast<TangoSupportRotation>(ret % 4);
}
} // namespace tango_gl