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ARCore: features from arcore are used directly for keypoints

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matlabbe
2020-06-29 15:08:24 -04:00
parent dacf724ea6
commit 542f06ec24
3 changed files with 82 additions and 21 deletions
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27
app/android/jni/CameraMobile.cpp
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@@ -207,6 +207,7 @@ void CameraMobile::mainLoop()
// Rotate image depending on the camera orientation
if(colorCameraToDisplayRotation_ == ROTATION_90)
{
UDEBUG("ROTATION_90");
cv::Mat rgb, depth;
cv::Mat rgbt(data.imageRaw().cols, data.imageRaw().rows, data.imageRaw().type());
cv::flip(data.imageRaw(),rgb,1);
@@ -226,9 +227,18 @@ void CameraMobile::mainLoop()
model.localTransform()*rtabmap::Transform(0,-1,0,0, 1,0,0,0, 0,0,1,0));
model.setImageSize(sizet);
data.setRGBDImage(rgb, depth, model);
std::vector<cv::KeyPoint> keypoints = data.keypoints();
for(size_t i=0; i<keypoints.size(); ++i)
{
keypoints[i].pt.x = data.keypoints()[i].pt.y;
keypoints[i].pt.y = rgb.rows - data.keypoints()[i].pt.x;
}
data.setFeatures(keypoints, data.keypoints3D(), cv::Mat());
}
else if(colorCameraToDisplayRotation_ == ROTATION_180)
{
UDEBUG("ROTATION_180");
cv::Mat rgb, depth;
cv::flip(data.imageRaw(),rgb,1);
cv::flip(rgb,rgb,0);
@@ -244,9 +254,18 @@ void CameraMobile::mainLoop()
model.localTransform()*rtabmap::Transform(0,0,0,0,0,1,0));
model.setImageSize(sizet);
data.setRGBDImage(rgb, depth, model);
std::vector<cv::KeyPoint> keypoints = data.keypoints();
for(size_t i=0; i<keypoints.size(); ++i)
{
keypoints[i].pt.x = rgb.cols - data.keypoints()[i].pt.x;
keypoints[i].pt.y = rgb.rows - data.keypoints()[i].pt.y;
}
data.setFeatures(keypoints, data.keypoints3D(), cv::Mat());
}
else if(colorCameraToDisplayRotation_ == ROTATION_270)
{
UDEBUG("ROTATION_270");
cv::Mat rgb(data.imageRaw().cols, data.imageRaw().rows, data.imageRaw().type());
cv::transpose(data.imageRaw(),rgb);
cv::flip(rgb,rgb,1);
@@ -263,6 +282,14 @@ void CameraMobile::mainLoop()
model.localTransform()*rtabmap::Transform(0,1,0,0, -1,0,0,0, 0,0,1,0));
model.setImageSize(sizet);
data.setRGBDImage(rgb, depth, model);
std::vector<cv::KeyPoint> keypoints = data.keypoints();
for(size_t i=0; i<keypoints.size(); ++i)
{
keypoints[i].pt.x = rgb.cols - data.keypoints()[i].pt.y;
keypoints[i].pt.y = data.keypoints()[i].pt.x;
}
data.setFeatures(keypoints, data.keypoints3D(), cv::Mat());
}
rtabmap::Transform pose = info.odomPose;

2
app/android/jni/CameraMobile.h
View File

@@ -94,7 +94,7 @@ public:
const CameraModel & getCameraModel() const {return model_;}
const Transform & getDeviceTColorCamera() const {return deviceTColorCamera_;}
void setSmoothing(bool enabled) {smoothing_ = enabled;}
void setScreenRotation(ScreenRotation colorCameraToDisplayRotation) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
virtual void setScreenRotation(ScreenRotation colorCameraToDisplayRotation) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
void setGPS(const GPS & gps);
void addEnvSensor(int type, float value);
void setData(const SensorData & data, const Transform & pose);