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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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12
app/android/jni/tango-gl/grid.cpp
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@@ -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