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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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3
corelib/src/Memory.cpp
View File

@@ -4005,8 +4005,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
data.depthOrRightRaw().type() == CV_8UC1)
&&
( (data.imageRaw().empty() && data.depthOrRightRaw().type() != CV_8UC1) ||
(data.imageRaw().rows % data.depthOrRightRaw().rows == 0 && data.imageRaw().cols % data.depthOrRightRaw().cols == 0 &&
data.depthOrRightRaw().rows <= data.imageRaw().rows && data.depthOrRightRaw().cols <= data.imageRaw().cols))),
(data.depthOrRightRaw().rows <= data.imageRaw().rows && data.depthOrRightRaw().cols <= data.imageRaw().cols))),
uFormat("image=(%d/%d, type=%d, [accepted=%d,%d]) depth=(%d/%d, type=%d [accepted=%d(depth mm),%d(depth m),%d(stereo)]). "
"For stereo, left and right images should be same size. "
"For RGB-D, depth can be X times smaller than RGB (where X is an integer).",

8
corelib/src/util3d.cpp
View File

@@ -444,8 +444,8 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDepthRGB(
UASSERT_MSG((model.imageHeight() == 0 && model.imageWidth() == 0) ||
(model.imageHeight() == imageRgb.rows && model.imageWidth() == imageRgb.cols),
uFormat("model=%dx%d rgb=%dx%d", model.imageWidth(), model.imageHeight(), imageRgb.cols, imageRgb.rows).c_str());
UASSERT_MSG(imageRgb.rows % imageDepthIn.rows == 0 && imageRgb.cols % imageDepthIn.cols == 0,
uFormat("rgb=%dx%d depth=%dx%d", imageRgb.cols, imageRgb.rows, imageDepthIn.cols, imageDepthIn.rows).c_str());
//UASSERT_MSG(imageRgb.rows % imageDepthIn.rows == 0 && imageRgb.cols % imageDepthIn.cols == 0,
// uFormat("rgb=%dx%d depth=%dx%d", imageRgb.cols, imageRgb.rows, imageDepthIn.cols, imageDepthIn.rows).c_str());
UASSERT(!imageDepthIn.empty() && (imageDepthIn.type() == CV_16UC1 || imageDepthIn.type() == CV_32FC1));
if(decimation < 0)
{
@@ -1050,8 +1050,8 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
UDEBUG("");
UASSERT(int((sensorData.imageRaw().cols/sensorData.cameraModels().size())*sensorData.cameraModels().size()) == sensorData.imageRaw().cols);
UASSERT(int((sensorData.depthRaw().cols/sensorData.cameraModels().size())*sensorData.cameraModels().size()) == sensorData.depthRaw().cols);
UASSERT_MSG(sensorData.imageRaw().cols % sensorData.depthRaw().cols == 0, uFormat("rgb=%d depth=%d", sensorData.imageRaw().cols, sensorData.depthRaw().cols).c_str());
UASSERT_MSG(sensorData.imageRaw().rows % sensorData.depthRaw().rows == 0, uFormat("rgb=%d depth=%d", sensorData.imageRaw().rows, sensorData.depthRaw().rows).c_str());
//UASSERT_MSG(sensorData.imageRaw().cols % sensorData.depthRaw().cols == 0, uFormat("rgb=%d depth=%d", sensorData.imageRaw().cols, sensorData.depthRaw().cols).c_str());
//UASSERT_MSG(sensorData.imageRaw().rows % sensorData.depthRaw().rows == 0, uFormat("rgb=%d depth=%d", sensorData.imageRaw().rows, sensorData.depthRaw().rows).c_str());
int subRGBWidth = sensorData.imageRaw().cols/sensorData.cameraModels().size();
int subDepthWidth = sensorData.depthRaw().cols/sensorData.cameraModels().size();

4
corelib/src/util3d_features.cpp
View File

@@ -76,8 +76,8 @@ std::vector<cv::Point3f> generateKeypoints3DDepth(
UASSERT(int((depth.cols/cameraModels.size())*cameraModels.size()) == depth.cols);
float subImageWidth = depth.cols/cameraModels.size();
keypoints3d.resize(keypoints.size());
float rgbToDepthFactorX = 1.0f/(cameraModels[0].imageWidth()>0?cameraModels[0].imageWidth()/subImageWidth:1);
float rgbToDepthFactorY = 1.0f/(cameraModels[0].imageHeight()>0?cameraModels[0].imageHeight()/depth.rows:1);
float rgbToDepthFactorX = 1.0f/(cameraModels[0].imageWidth()>0?float(cameraModels[0].imageWidth())/subImageWidth:1.0f);
float rgbToDepthFactorY = 1.0f/(cameraModels[0].imageHeight()>0?float(cameraModels[0].imageHeight())/float(depth.rows):1.0f);
float bad_point = std::numeric_limits<float>::quiet_NaN ();
for(unsigned int i=0; i<keypoints.size(); ++i)
{