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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
Download Patch File Download Diff File Expand all files Collapse all files

29
guilib/src/DatabaseViewer.cpp
View File

@@ -4257,7 +4257,7 @@ void DatabaseViewer::update(int value,
std::stringstream calibrationDetails;
if(data.cameraModels().size())
{
if(!data.depthRaw().empty() && data.depthRaw().cols!=data.imageRaw().cols && data.imageRaw().cols)
if(!data.depthRaw().empty() && data.depthRaw().cols!=data.imageRaw().cols && data.imageRaw().cols)
{
labelCalib->setText(tr("%1 %2x%3 [%8x%9] fx=%4 fy=%5 cx=%6 cy=%7 T=%10 [%11 %12 %13 %14; %15 %16 %17 %18; %19 %20 %21 %22]")
.arg(data.cameraModels().size())
@@ -4267,11 +4267,14 @@ void DatabaseViewer::update(int value,
.arg(data.cameraModels()[0].fy())
.arg(data.cameraModels()[0].cx())
.arg(data.cameraModels()[0].cy())
.arg(data.depthRaw().cols/data.cameraModels().size())
.arg(data.depthRaw().cols/data.cameraModels().size())
.arg(data.depthRaw().rows)
.arg(data.cameraModels()[0].localTransform().prettyPrint().c_str())
.arg(data.cameraModels()[0].localTransform().r11()).arg(data.cameraModels()[0].localTransform().r12()).arg(data.cameraModels()[0].localTransform().r13()).arg(data.cameraModels()[0].localTransform().o14())
.arg(data.cameraModels()[0].localTransform().r21()).arg(data.cameraModels()[0].localTransform().r22()).arg(data.cameraModels()[0].localTransform().r23()).arg(data.cameraModels()[0].localTransform().o24())
.arg(data.cameraModels()[0].localTransform().r31()).arg(data.cameraModels()[0].localTransform().r32()).arg(data.cameraModels()[0].localTransform().r33()).arg(data.cameraModels()[0].localTransform().o34()));
}
else
else
{
labelCalib->setText(tr("%1 %2x%3 fx=%4 fy=%5 cx=%6 cy=%7 T=%8 [%9 %10 %11 %12; %13 %14 %15 %16; %17 %18 %19 %20]")
.arg(data.cameraModels().size())
@@ -4279,13 +4282,16 @@ void DatabaseViewer::update(int value,
.arg(data.cameraModels()[0].imageHeight()>0?data.cameraModels()[0].imageHeight():data.imageRaw().rows)
.arg(data.cameraModels()[0].fx())
.arg(data.cameraModels()[0].fy())
.arg(data.cameraModels()[0].cx())
.arg(data.cameraModels()[0].cx())
.arg(data.cameraModels()[0].cy())
.arg(data.cameraModels()[0].localTransform().prettyPrint().c_str())
.arg(data.cameraModels()[0].localTransform().r11()).arg(data.cameraModels()[0].localTransform().r12()).arg(data.cameraModels()[0].localTransform().r13()).arg(data.cameraModels()[0].localTransform().o14())
.arg(data.cameraModels()[0].localTransform().r21()).arg(data.cameraModels()[0].localTransform().r22()).arg(data.cameraModels()[0].localTransform().r23()).arg(data.cameraModels()[0].localTransform().o24())
.arg(data.cameraModels()[0].localTransform().r31()).arg(data.cameraModels()[0].localTransform().r32()).arg(data.cameraModels()[0].localTransform().r33()).arg(data.cameraModels()[0].localTransform().o34()));
}
for(unsigned int i=0; i<data.cameraModels().size();++i)
{
{
if(i!=0) calibrationDetails << std::endl;
calibrationDetails << "Id: " << i << " Size=" << data.cameraModels()[i].imageWidth() << "x" << data.cameraModels()[i].imageHeight() << std::endl;
if( data.cameraModels()[i].K_raw().total()) calibrationDetails << "K=" << data.cameraModels()[i].K_raw() << std::endl;
@@ -4296,7 +4302,7 @@ void DatabaseViewer::update(int value,
}
else
{
{
//stereo
labelCalib->setText(tr("%1x%2 fx=%3 fy=%4 cx=%5 cy=%6 baseline=%7m T=%8 [%9 %10 %11 %12; %13 %14 %15 %16; %17 %18 %19 %20]")
.arg(data.stereoCameraModel().left().imageWidth()>0?data.stereoCameraModel().left().imageWidth():data.imageRaw().cols)
@@ -4304,15 +4310,18 @@ void DatabaseViewer::update(int value,
.arg(data.stereoCameraModel().left().fx())
.arg(data.stereoCameraModel().left().fy())
.arg(data.stereoCameraModel().left().cx())
.arg(data.stereoCameraModel().left().cy())
.arg(data.stereoCameraModel().left().cy())
.arg(data.stereoCameraModel().baseline())
.arg(data.stereoCameraModel().localTransform().prettyPrint().c_str())
.arg(data.stereoCameraModel().localTransform().r11()).arg(data.stereoCameraModel().localTransform().r12()).arg(data.stereoCameraModel().localTransform().r13()).arg(data.stereoCameraModel().localTransform().o14())
.arg(data.stereoCameraModel().localTransform().r21()).arg(data.stereoCameraModel().localTransform().r22()).arg(data.stereoCameraModel().localTransform().r23()).arg(data.stereoCameraModel().localTransform().o24())
.arg(data.stereoCameraModel().localTransform().prettyPrint().c_str()));
.arg(data.stereoCameraModel().localTransform().r31()).arg(data.stereoCameraModel().localTransform().r32()).arg(data.stereoCameraModel().localTransform().r33()).arg(data.stereoCameraModel().localTransform().o34()));
calibrationDetails << "Left:" << " Size=" << data.stereoCameraModel().left().imageWidth() << "x" << data.stereoCameraModel().left().imageHeight() << std::endl;
if( data.stereoCameraModel().left().K_raw().total()) calibrationDetails << "K=" << data.stereoCameraModel().left().K_raw() << std::endl;
if( data.stereoCameraModel().left().D_raw().total()) calibrationDetails << "D=" << data.stereoCameraModel().left().D_raw() << std::endl;
if( data.stereoCameraModel().left().R().total()) calibrationDetails << "R=" << data.stereoCameraModel().left().R() << std::endl;
if( data.stereoCameraModel().left().P().total()) calibrationDetails << "P=" << data.stereoCameraModel().left().P() << std::endl;
if( data.stereoCameraModel().left().P().total()) calibrationDetails << "P=" << data.stereoCameraModel().left().P() << std::endl;
calibrationDetails << std::endl;
calibrationDetails << "Right:" << " Size=" << data.stereoCameraModel().right().imageWidth() << "x" << data.stereoCameraModel().right().imageHeight() << std::endl;
if( data.stereoCameraModel().right().K_raw().total()) calibrationDetails << "K=" << data.stereoCameraModel().right().K_raw() << std::endl;
@@ -4854,7 +4863,7 @@ void DatabaseViewer::update(int value,
ui_->horizontalSlider_neighbors->blockSignals(false);
constraintsViewer_->removeAllClouds();
Link link = this->findActiveLink(from, to);
if(link.isValid() && link.type() != Link::kGravity)
{

4
guilib/src/ImageView.cpp
View File

@@ -1026,9 +1026,7 @@ void ImageView::setImageDepth(const QImage & imageDepth)
if( _image.width() > 0 &&
_image.width() > _imageDepth.width() &&
_image.height() > _imageDepth.height() &&
_image.width() % _imageDepth.width() == 0 &&
_image.height() % _imageDepth.height() == 0)
_image.height() > _imageDepth.height())
{
// scale depth to rgb
_imageDepth = _imageDepth.scaled(_image.size());