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Added AR mapping mode (select ARCore ndk driver and set first person view)

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This commit is contained in:
matlabbe
2020-06-29 15:24:35 -04:00
parent 542f06ec24
commit 4142ff003c
12 changed files with 376 additions and 225 deletions
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35
app/android/jni/CameraARCore.h
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@@ -38,14 +38,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UEvent.h>
#include <rtabmap/utilite/UTimer.h>
#include <boost/thread/mutex.hpp>
#include <background_renderer.h>
#include <arcore_c_api.h>
#ifdef DEPTH_TEST
#include <camera/NdkCameraDevice.h>
#include <camera/NdkCameraManager.h>
#include <media/NdkImageReader.h>
#include <android/native_window.h>
#endif
namespace rtabmap {
@@ -64,16 +63,22 @@ public:
CameraARCore(void* env, void* context, void* activity, bool smoothing = false);
virtual ~CameraARCore();
bool uvsInitialized() const {return uvs_initialized_;}
const float* uvsTransformed() const {return transformed_uvs_;}
void getVPMatrices(glm::mat4 & view, glm::mat4 & projection) const {view=viewMatrix_; projection=projectionMatrix_;}
virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height);
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
void setupGL();
virtual void close(); // close Tango connection
virtual std::string getSerial() const;
GLuint getTextureId() const {return textureId_;}
#ifdef DEPTH_TEST
void imageCallback(AImageReader *reader);
#endif // DEPTH_TEST
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
virtual SensorData captureImage(CameraInfo * info = 0); // should be called in opengl thread
virtual void capturePoseOnly();
private:
@@ -92,22 +97,10 @@ private:
GLuint textureId_;
UMutex arSessionMutex_;
#ifdef DEPTH_TEST
// Camera variables
ACameraDevice* cameraDevice_ = nullptr;
ACaptureRequest* captureRequest_ = nullptr;
ACameraOutputTarget* cameraOutputTarget_ = nullptr;
ACaptureSessionOutput* sessionOutput_ = nullptr;
ACaptureSessionOutputContainer* captureSessionOutputContainer_ = nullptr;
ACameraCaptureSession* captureSession_ = nullptr;
ANativeWindow *outputNativeWindow_ = nullptr;
ACameraDevice_StateCallbacks deviceStateCallbacks_;
ACameraCaptureSession_stateCallbacks captureSessionStateCallbacks_;
ACameraManager* cameraManager_ = nullptr;
AImageReader* imageReader_ = nullptr;
#endif // DEPTH_TEST
float transformed_uvs_[BackgroundRenderer::kNumVertices*2];
bool uvs_initialized_ = false;
glm::mat4 viewMatrix_;
glm::mat4 projectionMatrix_;
};
} /* namespace rtabmap */