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Refactored Tango and ARCore texture management. Tango: added support with First-person AR mode. ARCoreJava: Added localization filtering speed option (avoid ARCore jumps), also manage when ARCore is lost (new session is created, relocalization needed to continue mapping).

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matlabbe
2021-06-15 20:45:45 -04:00
parent 696216b35b
commit a9d4fc9291
14 changed files with 619 additions and 418 deletions
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12
app/android/jni/CameraARCore.h
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@@ -67,9 +67,6 @@ public:
const float* uvsTransformed() const {return transformed_uvs_;}
void getVPMatrices(glm::mat4 & view, glm::mat4 & projection) const {view=viewMatrix_; projection=projectionMatrix_;}
void updateOcclusionImage(bool enabled) {updateOcclusionImage_ = enabled;}
const cv::Mat & getOcclusionImage(CameraModel * model=0) const {if(model)*model=occlusionModel_; return occlusionImage_; }
virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height);
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
@@ -97,17 +94,8 @@ private:
ArCameraIntrinsics *arCameraIntrinsics_ = nullptr;
ArPose * arPose_ = nullptr;
bool arInstallRequested_;
GLuint textureId_;
UMutex arSessionMutex_;
float transformed_uvs_[BackgroundRenderer::kNumVertices*2];
bool uvs_initialized_ = false;
glm::mat4 viewMatrix_;
glm::mat4 projectionMatrix_;
bool updateOcclusionImage_;
cv::Mat occlusionImage_;
CameraModel occlusionModel_;
bool depthFromMotion_;
};