i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-10 05:20:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
app/android/jni/jni_interface.cpp
+19 -3
View File
@@ -123,6 +123,20 @@ Java_com_introlab_rtabmap_RTABMapLib_openDatabase2(
}
}
JNIEXPORT bool JNICALL
Java_com_introlab_rtabmap_RTABMapLib_isBuiltWith(
JNIEnv* env, jclass, jlong native_application, int cameraDriver) {
if(native_application)
{
return native(native_application)->isBuiltWith(cameraDriver);
}
else
{
UERROR("native_application is null!");
return false;
}
}
JNIEXPORT bool JNICALL
Java_com_introlab_rtabmap_RTABMapLib_startCamera(
JNIEnv* env, jclass, jlong native_application, jobject iBinder, jobject context, jobject activity, int driver) {
@@ -861,20 +875,22 @@ Java_com_introlab_rtabmap_RTABMapLib_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,
jobject rgb, int rgbLen, int rgbWidth, int rgbHeight, int rgbFormat,
jobject yPlane, jobject uPlane, jobject vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
jobject depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
jobject points, int pointsLen)
{
if(native_application)
{
void *rgbPtr = env->GetDirectBufferAddress(rgb);
void *yPtr = env->GetDirectBufferAddress(yPlane);
void *uPtr = env->GetDirectBufferAddress(uPlane);
void *vPtr = env->GetDirectBufferAddress(vPlane);
void *depthPtr = env->GetDirectBufferAddress(depth);
float *pointsPtr = (float *)env->GetDirectBufferAddress(points);
native(native_application)->postOdometryEvent(
x,y,z,qx,qy,qz,qw,
fx,fy,cx,cy,
stamp,
rgbPtr, rgbLen, rgbWidth, rgbHeight, rgbFormat,
yPtr, uPtr, vPtr, yPlaneLen, rgbWidth, rgbHeight, rgbFormat,
depthPtr, depthLen, depthWidth, depthHeight, depthFormat,
pointsPtr, pointsLen);
}