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android: fixed yuv conversion bug on some devices, updated default driver based on which one is available and built with it.

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This commit is contained in:
matlabbe
2020-04-29 12:18:02 -04:00
parent 37e0860b0c
commit b3eee0d7bf
7 changed files with 166 additions and 26 deletions
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58
app/android/jni/RTABMapApp.cpp
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@@ -620,6 +620,37 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
return status;
}
bool RTABMapApp::isBuiltWith(int cameraDriver) const
{
if(cameraDriver == 0)
{
#ifdef RTABMAP_TANGO
return true;
#else
return false;
#endif
}
if(cameraDriver == 1)
{
#ifdef RTABMAP_ARCORE
return true;
#else
return false;
#endif
}
if(cameraDriver == 2)
{
#ifdef RTABMAP_ARENGINE
return true;
#else
return false;
#endif
}
return false;
}
bool RTABMapApp::startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver)
{
cameraDriver_ = driver;
@@ -3269,6 +3300,7 @@ int RTABMapApp::postProcessing(int approach)
void RTABMapApp::postCameraPoseEvent(
float x, float y, float z, float qx, float qy, float qz, float qw)
{
boost::mutex::scoped_lock lock(cameraMutex_);
if(cameraDriver_ == 3 && camera_)
{
rtabmap::Transform pose(x,y,z,qx,qy,qz,qw);
@@ -3281,20 +3313,36 @@ void RTABMapApp::postOdometryEvent(
float x, float y, float z, float qx, float qy, float qz, float qw,
float fx, float fy, float cx, float cy,
double stamp,
void * rgb, int rgbLen, int rgbWidth, int rgbHeight, int rgbFormat,
void * yPlane, void * uPlane, void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
float * points, int pointsLen)
{
#ifdef RTABMAP_ARCORE
boost::mutex::scoped_lock lock(cameraMutex_);
if(cameraDriver_ == 3 && camera_)
{
if(fx > 0.0f && fy > 0.0f && cx > 0.0f && cy > 0.0f && stamp > 0.0f && rgb)
if(fx > 0.0f && fy > 0.0f && cx > 0.0f && cy > 0.0f && stamp > 0.0f && yPlane && vPlane && yPlaneLen == rgbWidth*rgbHeight)
{
if(rgbFormat == AR_IMAGE_FORMAT_YUV_420_888 &&
depthFormat == AIMAGE_FORMAT_DEPTH16)
{
cv::Mat outputRGB;
cv::cvtColor(cv::Mat(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1, rgb), outputRGB, CV_YUV2BGR_NV21);
#ifndef DISABLE_LOG
LOGD("y=%p u=%p v=%p yLen=%d y->v=%ld", yPlane, uPlane, vPlane, yPlaneLen, (long)vPlane-(long)yPlane);
#endif
if((long)vPlane-(long)yPlane != yPlaneLen)
{
// The uv-plane is not concatenated to y plane in memory, so concatenate them
cv::Mat yuv(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1);
memcpy(yuv.data, yPlane, yPlaneLen);
memcpy(yuv.data+yPlaneLen, vPlane, rgbHeight/2*rgbWidth);
cv::cvtColor(yuv, outputRGB, CV_YUV2BGR_NV21);
}
else
{
cv::cvtColor(cv::Mat(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1, yPlane), outputRGB, CV_YUV2BGR_NV21);
}
cv::Mat outputDepth;
if(depthHeight>0 && depthWidth>0)
@@ -3344,6 +3392,10 @@ void RTABMapApp::postOdometryEvent(
}
}
}
else
{
UERROR("Missing image information!");
}
}
#else
UERROR("Not built with ARCore!");