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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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This commit is contained in:
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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46
app/android/jni/RTABMapApp.cpp
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@@ -690,7 +690,7 @@ bool RTABMapApp::startCamera(JNIEnv* env, jobject iBinder, jobject context, jobj
else if(cameraDriver_ == 1)
{
#ifdef RTABMAP_ARCORE
camera_ = new rtabmap::CameraARCore(env, context, activity, smoothing_);
camera_ = new rtabmap::CameraARCore(env, context, activity, depthFromMotion_, smoothing_);
#else
UERROR("RTAB-Map is not built with ARCore support!");
#endif
@@ -1113,15 +1113,24 @@ int RTABMapApp::Render()
const float* uvsTransformed = 0;
glm::mat4 arProjectionMatrix(0);
glm::mat4 arViewMatrix(0);
rtabmap::Mesh occlusionMesh;
if((cameraDriver_ == 1 || cameraDriver_ == 2) && camera_!=0)
{
boost::mutex::scoped_lock lock(cameraMutex_);
if(camera_!=0)
{
camera_->spinOnce();
#ifdef RTABMAP_ARCORE
if(cameraDriver_ == 1)
{
((rtabmap::CameraARCore*)camera_)->updateOcclusionImage(!visualizingMesh_ && main_scene_.GetCameraType() == tango_gl::GestureCamera::kFirstPerson);
}
#endif
camera_->spinOnce();
#ifdef RTABMAP_ARCORE
if(cameraDriver_ == 1)
{
if(main_scene_.background_renderer_ == 0)
{
main_scene_.background_renderer_ = new BackgroundRenderer();
@@ -1131,10 +1140,29 @@ int RTABMapApp::Render()
{
uvsTransformed = ((rtabmap::CameraARCore*)camera_)->uvsTransformed();
((rtabmap::CameraARCore*)camera_)->getVPMatrices(arViewMatrix, arProjectionMatrix);
//main_scene_.background_renderer_->Draw(uvsTransformed);
}
#endif
if(!visualizingMesh_ && main_scene_.GetCameraType() == tango_gl::GestureCamera::kFirstPerson)
{
rtabmap::CameraModel occlusionModel;
cv::Mat occlusionImage = ((rtabmap::CameraARCore*)camera_)->getOcclusionImage(&occlusionModel);
if(occlusionModel.isValidForProjection())
{
pcl::IndicesPtr indices(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(occlusionImage, occlusionModel, 1, 0, 0, indices.get());
cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::opengl_world_T_rtabmap_world*occlusionModel.localTransform());
occlusionMesh.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>());
pcl::copyPointCloud(*cloud, *occlusionMesh.cloud);
occlusionMesh.indices = indices;
occlusionMesh.polygons = rtabmap::util3d::organizedFastMesh(cloud, 1.0*M_PI/180.0, false, meshTrianglePix_);
}
else
{
UERROR("invalid occlusionModel: %f %f %f %f %dx%d", occlusionModel.fx(), occlusionModel.fy(), occlusionModel.cx(), occlusionModel.cy(), occlusionModel.imageWidth(), occlusionModel.imageHeight());
}
}
}
#endif
}
}
@@ -1820,7 +1848,7 @@ int RTABMapApp::Render()
fpsTime.restart();
main_scene_.setFrustumVisible(camera_!=0);
lastDrawnCloudsCount_ = main_scene_.Render(uvsTransformed, arViewMatrix, arProjectionMatrix);
lastDrawnCloudsCount_ = main_scene_.Render(uvsTransformed, arViewMatrix, arProjectionMatrix, occlusionMesh);
if(renderingTime_ < fpsTime.elapsed())
{
renderingTime_ = fpsTime.elapsed();
@@ -2106,6 +2134,14 @@ void RTABMapApp::setSmoothing(bool enabled)
}
}
void RTABMapApp::setDepthFromMotion(bool enabled)
{
if(depthFromMotion_ != enabled)
{
depthFromMotion_ = enabled;
}
}
void RTABMapApp::setAppendMode(bool enabled)
{
if(appendMode_ != enabled)