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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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app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+5 -2
View File
@@ -992,6 +992,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
RTABMapLib.setRawScanSaved(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_raw_scan_saved), Boolean.parseBoolean(getString(R.string.pref_default_raw_scan_saved))));
RTABMapLib.setFullResolution(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_resolution), Boolean.parseBoolean(getString(R.string.pref_default_resolution))));
RTABMapLib.setSmoothing(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_smoothing), Boolean.parseBoolean(getString(R.string.pref_default_smoothing))));
RTABMapLib.setDepthFromMotion(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_depth_from_motion), Boolean.parseBoolean(getString(R.string.pref_default_depth_from_motion))));
RTABMapLib.setCameraColor(nativeApplication, !sharedPref.getBoolean(getString(R.string.pref_key_fisheye), Boolean.parseBoolean(getString(R.string.pref_default_fisheye))));
RTABMapLib.setAppendMode(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_append), Boolean.parseBoolean(getString(R.string.pref_default_append))));
RTABMapLib.setMappingParameter(nativeApplication, "Rtabmap/DetectionRate", mUpdateRate);
@@ -1162,6 +1163,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
String cameraDriverStr = sharedPref.getString(getString(R.string.pref_key_camera_driver), getString(R.string.pref_default_camera_driver));
final boolean depthFromMotion = sharedPref.getBoolean(getString(R.string.pref_key_depth_from_motion), Boolean.parseBoolean(getString(R.string.pref_default_depth_from_motion)));
mCameraDriver = Integer.parseInt(cameraDriverStr);
if(!DISABLE_LOG) Log.i(TAG, String.format("startCamera() driver=%d", mCameraDriver));
@@ -1218,7 +1220,8 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
}
Thread bindThread = new Thread(new Runnable() {
public void run() {
if(mCameraDriver==1)
if(mCameraDriver==1 && !depthFromMotion)
{
RTABMapLib.setMeshRendering(
nativeApplication,
@@ -1263,7 +1266,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
}
else
{
if((mState==State.STATE_IDLE || mState==State.STATE_WELCOME) && mCameraDriver == 1)
if((mState==State.STATE_IDLE || mState==State.STATE_WELCOME) && mCameraDriver == 1 && !depthFromMotion)
{
mToast.makeText(getApplicationContext(), "Currently ARCore NDK driver doesn't support depth, only poses, RGB images and 3d features can be recorded.", mToast.LENGTH_LONG).show();
}
app/android/src/com/introlab/rtabmap/RTABMapLib.java
+1
View File
@@ -72,6 +72,7 @@ public class RTABMapLib
public static native void setRawScanSaved(long nativeApplication, boolean enabled);
public static native void setFullResolution(long nativeApplication, boolean enabled);
public static native void setSmoothing(long nativeApplication, boolean enabled);
public static native void setDepthFromMotion(long nativeApplication, boolean enabled);
public static native void setCameraColor(long nativeApplication, boolean enabled);
public static native void setAppendMode(long nativeApplication, boolean enabled);
public static native void setDataRecorderMode(long nativeApplication, boolean enabled);