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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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36
app/android/jni/RTABMapApp.cpp
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@@ -69,6 +69,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/surface/poisson.h>
#include <pcl/surface/vtk_smoothing/vtk_mesh_quadric_decimation.h>
#define LOW_RES_PIX 2
//#define DEBUG_RENDERING_PERFORMANCE
@@ -263,7 +264,7 @@ void RTABMapApp::setScreenRotation(int displayRotation, int cameraRotation)
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_)
{
camera_->setScreenRotation(rotation);
camera_->setScreenRotationAndSize(main_scene_.getScreenRotation(), main_scene_.getViewPortWidth(), main_scene_.getViewPortHeight());
}
}
@@ -657,6 +658,10 @@ bool RTABMapApp::isBuiltWith(int cameraDriver) const
bool RTABMapApp::startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver)
{
//ccapp = new computer_vision::ComputerVisionApplication();
//ccapp->OnResume(env, context, activity);
//return true;
cameraDriver_ = driver;
LOGW("startCamera() camera driver=%d", cameraDriver_);
boost::mutex::scoped_lock lock(cameraMutex_);
@@ -686,7 +691,6 @@ bool RTABMapApp::startCamera(JNIEnv* env, jobject iBinder, jobject context, jobj
{
#ifdef RTABMAP_ARCORE
camera_ = new rtabmap::CameraARCore(env, context, activity, smoothing_);
#else
UERROR("RTAB-Map is not built with ARCore support!");
#endif
@@ -712,7 +716,7 @@ bool RTABMapApp::startCamera(JNIEnv* env, jobject iBinder, jobject context, jobj
if(camera_->init())
{
camera_->setScreenRotation(main_scene_.getScreenRotation());
camera_->setScreenRotationAndSize(main_scene_.getScreenRotation(), main_scene_.getViewPortWidth(), main_scene_.getViewPortHeight());
//update mesh decimation based on camera calibration
LOGI("Cloud density level %d", cloudDensityLevel_);
@@ -937,6 +941,11 @@ void RTABMapApp::SetViewPort(int width, int height)
{
UINFO("");
main_scene_.SetupViewPort(width, height);
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_)
{
camera_->setScreenRotationAndSize(main_scene_.getScreenRotation(), main_scene_.getViewPortWidth(), main_scene_.getViewPortHeight());
}
}
class PostRenderEvent : public UEvent
@@ -1101,12 +1110,31 @@ int RTABMapApp::Render()
}
// ARCore and AREngine capture should be done in opengl thread!
const float* uvsTransformed = 0;
glm::mat4 arProjectionMatrix(0);
glm::mat4 arViewMatrix(0);
if((cameraDriver_ == 1 || cameraDriver_ == 2) && camera_!=0)
{
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_!=0)
{
camera_->spinOnce();
if(cameraDriver_ == 1)
{
#ifdef RTABMAP_ARCORE
if(main_scene_.background_renderer_ == 0)
{
main_scene_.background_renderer_ = new BackgroundRenderer();
main_scene_.background_renderer_->InitializeGlContent(((rtabmap::CameraARCore*)camera_)->getTextureId());
}
if(((rtabmap::CameraARCore*)camera_)->uvsInitialized())
{
uvsTransformed = ((rtabmap::CameraARCore*)camera_)->uvsTransformed();
((rtabmap::CameraARCore*)camera_)->getVPMatrices(arViewMatrix, arProjectionMatrix);
//main_scene_.background_renderer_->Draw(uvsTransformed);
}
#endif
}
}
}
@@ -1792,7 +1820,7 @@ int RTABMapApp::Render()
fpsTime.restart();
main_scene_.setFrustumVisible(camera_!=0);
lastDrawnCloudsCount_ = main_scene_.Render();
lastDrawnCloudsCount_ = main_scene_.Render(uvsTransformed, arViewMatrix, arProjectionMatrix);
if(renderingTime_ < fpsTime.elapsed())
{
renderingTime_ = fpsTime.elapsed();