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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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app/android/src/com/introlab/rtabmap/ARCoreSharedCamera.java
+8 -6
View File
@@ -431,7 +431,6 @@ public class ARCoreSharedCamera {
/*************************************************** ONDRAWFRAME ARCORE ************************************************************* */
// Draw frame when in AR mode. Called on the GL thread.
public void updateGL() throws CameraNotAvailableException {
@@ -498,11 +497,14 @@ public class ARCoreSharedCamera {
float[] fl = intrinsics.getFocalLength();
float[] pp = intrinsics.getPrincipalPoint();
if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("fx=%f fy=%f cx=%f cy=%f", fl[0], fl[1], pp[0], pp[1]));
ByteBuffer rgb = image.getPlanes()[0].getBuffer().asReadOnlyBuffer();
ByteBuffer y = image.getPlanes()[0].getBuffer().asReadOnlyBuffer();
ByteBuffer u = image.getPlanes()[1].getBuffer().asReadOnlyBuffer();
ByteBuffer v = image.getPlanes()[2].getBuffer().asReadOnlyBuffer();
double stamp = (double)image.getTimestamp()/10e8;
if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("RGB %dx%d len=%dbytes format=%d =%f",
image.getWidth(), image.getHeight(), rgb.limit(), image.getFormat(), stamp));
image.getWidth(), image.getHeight(), y.limit(), image.getFormat(), stamp));
if(mTOFAvailable)
{
@@ -513,9 +515,9 @@ public class ARCoreSharedCamera {
RTABMapActivity.nativeApplication,
pose.tx(), pose.ty(), pose.tz(), pose.qx(), pose.qy(), pose.qz(), pose.qw(),
fl[0], fl[1], pp[0], pp[1], stamp,
rgb, rgb.limit(), image.getWidth(), image.getHeight(), image.getFormat(),
y, u, v, y.limit(), image.getWidth(), image.getHeight(), image.getFormat(),
mTOFImageReader.depth16_raw, mTOFImageReader.depth16_raw.limit(), mTOFImageReader.WIDTH, mTOFImageReader.HEIGHT, ImageFormat.DEPTH16,
points, points.limit());
points, points.limit()/4);
}
else
{
@@ -524,7 +526,7 @@ public class ARCoreSharedCamera {
RTABMapActivity.nativeApplication,
pose.tx(), pose.ty(), pose.tz(), pose.qx(), pose.qy(), pose.qz(), pose.qw(),
fl[0], fl[1], pp[0], pp[1], stamp,
rgb, rgb.limit(), image.getWidth(), image.getHeight(), image.getFormat(),
y, u, v, y.limit(), image.getWidth(), image.getHeight(), image.getFormat(),
bb, 0, 0, 0, ImageFormat.DEPTH16,
points, points.limit()/4);
}
app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+64 -4
View File
@@ -17,7 +17,6 @@ import java.util.Timer;
import java.util.TimerTask;
import android.Manifest;
import android.app.Activity;
import android.app.ActivityManager;
import android.app.ActivityManager.MemoryInfo;
import android.app.AlertDialog;
@@ -59,9 +58,7 @@ import android.os.Message;
import android.preference.PreferenceManager;
import android.support.v4.app.FragmentActivity;
import android.support.v4.content.FileProvider;
import android.text.Html;
import android.text.InputType;
import android.text.method.LinkMovementMethod;
import android.util.Log;
import android.util.TypedValue;
import android.view.ContextMenu;
@@ -90,7 +87,6 @@ import android.widget.NumberPicker;
import android.widget.RelativeLayout;
import android.widget.SeekBar;
import android.widget.SeekBar.OnSeekBarChangeListener;
import android.widget.TextView;
import android.widget.Toast;
import android.widget.ToggleButton;
@@ -586,6 +582,10 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
postCreate();
}
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
String cameraDriverStr = sharedPref.getString(getString(R.string.pref_key_camera_driver), getString(R.string.pref_default_camera_driver));
mCameraDriver = Integer.parseInt(cameraDriverStr);
isArCoreAvailable();
isArEngineAvailable();
}
@@ -607,6 +607,60 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
mButtonLibrary.setVisibility(View.INVISIBLE);
}
}
private void updateCameraDriverSettings()
{
Log.i(TAG, String.format("updateCameraDriverSettings() mCameraDriver=%d RTABMapLib.isBuiltWith(%d)=%d", mCameraDriver, mCameraDriver, RTABMapLib.isBuiltWith(nativeApplication, mCameraDriver)?1:0));
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
if(mCameraDriver == 0 && (!CheckTangoCoreVersion(MIN_TANGO_CORE_VERSION) || !RTABMapLib.isBuiltWith(nativeApplication, 0)))
{
if(mIsAREngineAvailable && RTABMapLib.isBuiltWith(nativeApplication, 2))
{
SharedPreferences.Editor editor = sharedPref.edit();
editor.putString(getString(R.string.pref_key_camera_driver), "2");
editor.commit();
}
else if(mIsARCoreAvailable)
{
SharedPreferences.Editor editor = sharedPref.edit();
editor.putString(getString(R.string.pref_key_camera_driver), "3");
editor.commit();
}
}
else if(((mCameraDriver == 1 && (!RTABMapLib.isBuiltWith(nativeApplication, 0) || !mIsARCoreAvailable)) ||
(mCameraDriver == 3 && !mIsARCoreAvailable)))
{
if(CheckTangoCoreVersion(MIN_TANGO_CORE_VERSION) && RTABMapLib.isBuiltWith(nativeApplication, 0))
{
SharedPreferences.Editor editor = sharedPref.edit();
editor.putString(getString(R.string.pref_key_camera_driver), "0");
editor.commit();
}
else if(mIsAREngineAvailable && RTABMapLib.isBuiltWith(nativeApplication, 2))
{
SharedPreferences.Editor editor = sharedPref.edit();
editor.putString(getString(R.string.pref_key_camera_driver), "2");
editor.commit();
}
}
else if(mCameraDriver == 2 && (!mIsAREngineAvailable || !RTABMapLib.isBuiltWith(nativeApplication, 2)))
{
if(CheckTangoCoreVersion(MIN_TANGO_CORE_VERSION) && RTABMapLib.isBuiltWith(nativeApplication, 0))
{
SharedPreferences.Editor editor = sharedPref.edit();
editor.putString(getString(R.string.pref_key_camera_driver), "0");
editor.commit();
}
else if(mIsARCoreAvailable)
{
SharedPreferences.Editor editor = sharedPref.edit();
editor.putString(getString(R.string.pref_key_camera_driver), "3");
editor.commit();
}
}
}
private void isArCoreAvailable() {
ArCoreApk.Availability availability = ArCoreApk.getInstance().checkAvailability(this);
@@ -622,9 +676,11 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
if (availability.isSupported()) {
Log.i(TAG, "ARCore supported");
mIsARCoreAvailable = true;
updateCameraDriverSettings();
} else { // Unsupported or unknown.
Log.i(TAG, "ARCore supported");
mIsARCoreAvailable = false;
updateCameraDriverSettings();
}
}
@@ -643,9 +699,11 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
if (availability.isSupported()) {
Log.i(TAG, "AREngine supported");
mIsAREngineAvailable = true;
updateCameraDriverSettings();
} else { // Unsupported or unknown.
Log.i(TAG, "AREngine not supported");
mIsAREngineAvailable = false;
updateCameraDriverSettings();
}
}
catch(UnsatisfiedLinkError e)
@@ -1069,6 +1127,8 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
case PermissionHelper.CAMERA_CODE: {
if (results.length > 0 && results[0] == PackageManager.PERMISSION_GRANTED) {
// permission was granted, yay!
startCamera(String.format("Hold Tight! Initializing Camera Service...\n"
+ "Tip: If the camera is still drifting just after the mapping has started, do \"Reset\"."));
} else {
Toast.makeText(this, "Camera permission is needed for scanning and motion tracking.", Toast.LENGTH_LONG).show();
if (!PermissionHelper.shouldShowRequestPermissionRationale(this, Manifest.permission.CAMERA)) {
app/android/src/com/introlab/rtabmap/RTABMapLib.java
+2 -7
View File
@@ -37,13 +37,8 @@ public class RTABMapLib
public static native int openDatabase(long nativeApplication, String databasePath, boolean databaseInMemory, boolean optimize);
public static native int openDatabase2(long nativeApplication, String databaseSource, String databasePath, boolean databaseInMemory, boolean optimize);
/*
* Called when the camera service is connected.
*
* @param binder The native binder object.
*/
public static native boolean isBuiltWith(long nativeApplication, int cameraDriver);
public static native boolean startCamera(long nativeApplication, IBinder binder, Context context, Activity activity, int driver);
public static native void stopCamera(long nativeApplication);
// Allocate OpenGL resources for rendering.
@@ -143,7 +138,7 @@ public class RTABMapLib
float x, float y, float z, float qx, float qy, float qz, float qw,
float fx, float fy, float cx, float cy,
double stamp,
ByteBuffer rgb, int rgbLen, int rgbWidth, int rgbHeight, int rgbFormat,
ByteBuffer yPlane, ByteBuffer uPlane, ByteBuffer vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
ByteBuffer depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
FloatBuffer points, int pointsLen);