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android: added occlusion detection using arcore depth api (for FPS view). Added depth from motion option in Mapping options.

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matlabbe
2020-06-29 20:25:58 -04:00
parent 2ee3445728
commit b7ada1992e
11 changed files with 167 additions and 51 deletions
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10
app/android/jni/CameraARCore.h
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@@ -60,13 +60,16 @@ public:
std::vector<cv::Point3f> * kpts3D = 0);
public:
CameraARCore(void* env, void* context, void* activity, bool smoothing = false);
CameraARCore(void* env, void* context, void* activity, bool depthFromMotion = false, bool smoothing = false);
virtual ~CameraARCore();
bool uvsInitialized() const {return uvs_initialized_;}
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 = "");
@@ -101,6 +104,11 @@ private:
bool uvs_initialized_ = false;
glm::mat4 viewMatrix_;
glm::mat4 projectionMatrix_;
bool updateOcclusionImage_;
cv::Mat occlusionImage_;
CameraModel occlusionModel_;
bool depthFromMotion_;
};
} /* namespace rtabmap */