tango: fixed api19 build with latest master

Update AndroidManifest.xml.in
patch for tango-api19
2026-09-14 23:40:20 +08:00 · 2020-07-10 15:08:27 -04:00 · 2020-07-10 09:48:06 -04:00 · 2020-07-10 09:48:06 -04:00
15 changed files with 80 additions and 785 deletions
@@ -21,7 +21,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 20)
-SET(RTABMAP_PATCH_VERSION 3)
+SET(RTABMAP_PATCH_VERSION 2)
 SET(RTABMAP_VERSION
  ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
@@ -57,7 +57,7 @@
            android:excludeFromRecents="true"
            android:exported="false"
            android:launchMode="singleTop"
-            android:theme="@android:style/Theme.Material.Light.Dialog.Alert" />
+            android:theme="@style/ThemeApp" />
        <provider
            android:name="android.support.v4.content.FileProvider"
@@ -1,588 +0,0 @@
 package com.introlab.rtabmap;
 import java.nio.ByteBuffer;
 import java.nio.FloatBuffer;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.EnumSet;
 import java.util.List;
 import java.util.concurrent.atomic.AtomicBoolean;
 import com.google.ar.core.Camera;
 import com.google.ar.core.CameraIntrinsics;
 import com.google.ar.core.Config;
 import com.google.ar.core.Frame;
 import com.google.ar.core.ImageMetadata;
 import com.google.ar.core.PointCloud;
 import com.google.ar.core.Pose;
 import com.google.ar.core.Session;
 import com.google.ar.core.SharedCamera;
 import com.google.ar.core.TrackingState;
 import com.google.ar.core.exceptions.CameraNotAvailableException;
 import com.google.ar.core.exceptions.NotYetAvailableException;
 import com.google.ar.core.exceptions.UnavailableException;
 import android.content.Context;
 import android.graphics.ImageFormat;
 import android.hardware.camera2.CameraAccessException;
 import android.hardware.camera2.CameraCaptureSession;
 import android.hardware.camera2.CameraCharacteristics;
 import android.hardware.camera2.CameraDevice;
 import android.hardware.camera2.CameraManager;
 import android.hardware.camera2.CaptureFailure;
 import android.hardware.camera2.CaptureRequest;
 import android.hardware.camera2.TotalCaptureResult;
 import android.media.Image;
 import android.opengl.GLES20;
 import android.opengl.GLSurfaceView;
 import android.os.Handler;
 import android.os.HandlerThread;
 import android.support.annotation.NonNull;
 import android.util.Log;
 import android.view.Surface;
 public class ARCoreSharedCamera {
 	public static final String TAG = ARCoreSharedCamera.class.getSimpleName();
 	private static RTABMapActivity mActivity;
 	public ARCoreSharedCamera(RTABMapActivity c) {
 		mActivity = c;
 	}
 	// Depth TOF Image.
 	// Use 240 * 180 for now, hardcoded for Huawei P30 Pro
 	private static final int DEPTH_WIDTH = 240;
 	private static final int DEPTH_HEIGHT = 180;
 	// GL Surface used to draw camera preview image.
 	public GLSurfaceView surfaceView;
 	// ARCore session that supports camera sharing.
 	private Session sharedSession;
 	// Camera capture session. Used by both non-AR and AR modes.
 	private CameraCaptureSession captureSession;
 	// Reference to the camera system service.
 	private CameraManager cameraManager;
 	// Camera device. Used by both non-AR and AR modes.
 	private CameraDevice cameraDevice;
 	// Looper handler thread.
 	private HandlerThread backgroundThread;
 	// Looper handler.
 	private Handler backgroundHandler;
 	// ARCore shared camera instance, obtained from ARCore session that supports sharing.
 	private SharedCamera sharedCamera;
 	// Camera ID for the camera used by ARCore.
 	private String cameraId;
 	private AtomicBoolean mReady = new AtomicBoolean(false);
 	// Camera preview capture request builder
 	private CaptureRequest.Builder previewCaptureRequestBuilder;
 	private int cameraTextureId = -1;
 	// Image reader that continuously processes CPU images.
 	public TOF_ImageReader mTOFImageReader = new TOF_ImageReader();
 	private boolean mTOFAvailable = false;
 	public boolean isDepthSupported() {return mTOFAvailable;}
 	// Camera device state callback.
 	private final CameraDevice.StateCallback cameraDeviceCallback =
 			new CameraDevice.StateCallback() {
 		@Override
 		public void onOpened(@NonNull CameraDevice cameraDevice) {
 			Log.d(TAG, "Camera device ID " + cameraDevice.getId() + " opened.");
 			ARCoreSharedCamera.this.cameraDevice = cameraDevice;
 			createCameraPreviewSession();
 		}
 		@Override
 		public void onClosed(@NonNull CameraDevice cameraDevice) {
 			Log.d(TAG, "Camera device ID " + cameraDevice.getId() + " closed.");
 			ARCoreSharedCamera.this.cameraDevice = null;
 		}
 		@Override
 		public void onDisconnected(@NonNull CameraDevice cameraDevice) {
 			Log.w(TAG, "Camera device ID " + cameraDevice.getId() + " disconnected.");
 			cameraDevice.close();
 			ARCoreSharedCamera.this.cameraDevice = null;
 		}
 		@Override
 		public void onError(@NonNull CameraDevice cameraDevice, int error) {
 			Log.e(TAG, "Camera device ID " + cameraDevice.getId() + " error " + error);
 			cameraDevice.close();
 			ARCoreSharedCamera.this.cameraDevice = null;
 		}
 	};
 	// Repeating camera capture session state callback.
 	CameraCaptureSession.StateCallback cameraCaptureCallback =
 			new CameraCaptureSession.StateCallback() {
 		// Called when the camera capture session is first configured after the app
 		// is initialized, and again each time the activity is resumed.
 		@Override
 		public void onConfigured(@NonNull CameraCaptureSession session) {
 			Log.d(TAG, "Camera capture session configured.");
 			captureSession = session;
 			setRepeatingCaptureRequest();
 		}
 		@Override
 		public void onSurfacePrepared(
 				@NonNull CameraCaptureSession session, @NonNull Surface surface) {
 			Log.d(TAG, "Camera capture surface prepared.");
 		}
 		@Override
 		public void onReady(@NonNull CameraCaptureSession session) {
 			Log.d(TAG, "Camera capture session ready.");
 		}
 		@Override
 		public void onActive(@NonNull CameraCaptureSession session) {
 			Log.d(TAG, "Camera capture session active.");
 			resumeARCore();
 		}
 		@Override
 		public void onClosed(@NonNull CameraCaptureSession session) {
 			Log.d(TAG, "Camera capture session closed.");
 		}
 		@Override
 		public void onConfigureFailed(@NonNull CameraCaptureSession session) {
 			Log.e(TAG, "Failed to configure camera capture session.");
 		}
 	};
 	// Repeating camera capture session capture callback.
 	private final CameraCaptureSession.CaptureCallback captureSessionCallback =
 			new CameraCaptureSession.CaptureCallback() {
 		@Override
 		public void onCaptureCompleted(
 				@NonNull CameraCaptureSession session,
 				@NonNull CaptureRequest request,
 				@NonNull TotalCaptureResult result) {
 			Log.i(TAG, "onCaptureCompleted");
 		}
 		//@Override // android 23 
 		public void onCaptureBufferLost(
 				@NonNull CameraCaptureSession session,
 				@NonNull CaptureRequest request,
 				@NonNull Surface target,
 				long frameNumber) {
 			Log.e(TAG, "onCaptureBufferLost: " + frameNumber);
 		}
 		@Override
 		public void onCaptureFailed(
 				@NonNull CameraCaptureSession session,
 				@NonNull CaptureRequest request,
 				@NonNull CaptureFailure failure) {
 			Log.e(TAG, "onCaptureFailed: " + failure.getFrameNumber() + " " + failure.getReason());
 		}
 		@Override
 		public void onCaptureSequenceAborted(
 				@NonNull CameraCaptureSession session, int sequenceId) {
 			Log.e(TAG, "onCaptureSequenceAborted: " + sequenceId + " " + session);
 		}
 	};
 	private void resumeARCore() {
 		// Ensure that session is valid before triggering ARCore resume. Handles the case where the user
 		// manually uninstalls ARCore while the app is paused and then resumes.
 		if (sharedSession == null) {
 			return;
 		}
 		try {
 			Log.i(TAG, "Resume ARCore.");
 			// Resume ARCore.
 			sharedSession.resume();
 			// Set capture session callback while in AR mode.
 			sharedCamera.setCaptureCallback(captureSessionCallback, backgroundHandler);
 		} catch (CameraNotAvailableException e) {
 			Log.e(TAG, "Failed to resume ARCore session", e);
 			return;
 		}
 	}
 	// Called when starting non-AR mode or switching to non-AR mode.
 	// Also called when app starts in AR mode, or resumes in AR mode.
 	private void setRepeatingCaptureRequest() {
 		try {
 			captureSession.setRepeatingRequest(
 					previewCaptureRequestBuilder.build(), captureSessionCallback, backgroundHandler);
 		} catch (CameraAccessException e) {
 			Log.e(TAG, "Failed to set repeating request", e);
 		}
 	}
 	private void createCameraPreviewSession() {
 		Log.e(TAG, "createCameraPreviewSession: " + "starting camera preview session.");
 		try {
 			// Note that isGlAttached will be set to true in AR mode in onDrawFrame().
 			sharedSession.setCameraTextureName(cameraTextureId);
 			// Create an ARCore compatible capture request using `TEMPLATE_RECORD`.
 			previewCaptureRequestBuilder = cameraDevice.createCaptureRequest(CameraDevice.TEMPLATE_RECORD);
 			// Build surfaces list, starting with ARCore provided surfaces.
 			List<Surface> surfaceList = sharedCamera.getArCoreSurfaces();
 			Log.e(TAG, " createCameraPreviewSession: " + "surfaceList: sharedCamera.getArCoreSurfaces(): " + surfaceList.size());
 			// Add a CPU image reader surface. On devices that don't support CPU image access, the image
 			// may arrive significantly later, or not arrive at all.
 			if (mTOFAvailable) surfaceList.add(mTOFImageReader.imageReader.getSurface());
 			// Surface list should now contain three surfacemReadymReadys:
 			// 0. sharedCamera.getSurfaceTexture()
 			// 1. …
 			// 2. depthImageReader.getSurface()
 			// Add ARCore surfaces and CPU image surface targets.
 			for (Surface surface : surfaceList) {
 				previewCaptureRequestBuilder.addTarget(surface);
 			}
 			// Wrap our callback in a shared camera callback.
 			CameraCaptureSession.StateCallback wrappedCallback = sharedCamera.createARSessionStateCallback(cameraCaptureCallback, backgroundHandler);
 			// Create camera capture session for camera preview using ARCore wrapped callback.
 			cameraDevice.createCaptureSession(surfaceList, wrappedCallback, backgroundHandler);
 			mReady.set(true);
 		} catch (CameraAccessException e) {
 			Log.e(TAG, "CameraAccessException", e);
 		}
 	}
 	// Start background handler thread, used to run callbacks without blocking UI thread.
 	private void startBackgroundThread() {
 		backgroundThread = new HandlerThread("sharedCameraBackground");
 		backgroundThread.start();
 		backgroundHandler = new Handler(backgroundThread.getLooper());
 		mTOFImageReader.startBackgroundThread();
 	}
 	// Stop background handler thread.
 	private void stopBackgroundThread() {
 		if (backgroundThread != null) {
 			backgroundThread.quitSafely();
 			try {
 				backgroundThread.join();
 				backgroundThread = null;
 				backgroundHandler = null;
 			} catch (InterruptedException e) {
 				Log.e(TAG, "Interrupted while trying to join background handler thread", e);
 			}
 		}
 		mTOFImageReader.stopBackgroundThread();
 	}
 	private long mPreviousTime = 0;
 	// Perform various checks, then open camera device and create CPU image reader.
 	public boolean openCamera() {
 		close();
 		startBackgroundThread();
 		mPreviousTime = System.currentTimeMillis();
 		if(cameraTextureId == -1)
 		{
 			int[] textures = new int[1];
 			GLES20.glGenTextures(1, textures, 0);
 			cameraTextureId = textures[0];
 		}
 		Log.v(TAG + " opencamera: ", "Perform various checks, then open camera device and create CPU image reader.");
 		// Don't open camera if already opened.
 		if (cameraDevice != null) {
 			return false;
 		}
 		if (sharedSession == null) {
 			try {
 				// Create ARCore session that supports camera sharing.
 				sharedSession = new Session(mActivity, EnumSet.of(Session.Feature.SHARED_CAMERA));
 			} catch (UnavailableException e) {
 				Log.e(TAG, "Failed to create ARCore session that supports camera sharing", e);
 				return false;
 			}
 			// Enable auto focus mode while ARCore is running.
 			Config config = sharedSession.getConfig();
 			config.setFocusMode(Config.FocusMode.FIXED);
 			config.setUpdateMode(Config.UpdateMode.LATEST_CAMERA_IMAGE);
 			config.setPlaneFindingMode(Config.PlaneFindingMode.DISABLED);
 			config.setLightEstimationMode(Config.LightEstimationMode.DISABLED);
 			//config.setCloudAnchorMode(Config.CloudAnchorMode.ENABLED);
 			sharedSession.configure(config);
 		}
 		// Store the ARCore shared camera reference.
 		sharedCamera = sharedSession.getSharedCamera();
 		// Store the ID of the camera used by ARCore.
 		cameraId = sharedSession.getCameraConfig().getCameraId();
 		initCamera(mActivity, cameraId, 1);
 		ArrayList<String> resolutions;
 		mTOFAvailable = false;
 		resolutions = getResolutions(mActivity, cameraId, ImageFormat.DEPTH16);
 		if (resolutions != null) {
 			for( String temp : resolutions) {
 				Log.e(TAG + "DEPTH16 resolution: ", temp);
 			};
 			if (resolutions.size()>0) mTOFAvailable = true;
 		}
 		// Color CPU Image.
 		// Use the currently configured CPU image size.
 		//Size desiredCPUImageSize = sharedSession.getCameraConfig().getImageSize();
 		if (mTOFAvailable) mTOFImageReader.createImageReader(DEPTH_WIDTH, DEPTH_HEIGHT);
 		// When ARCore is running, make sure it also updates our CPU image surface.
 		if (mTOFAvailable) {
 			sharedCamera.setAppSurfaces(this.cameraId, Arrays.asList(mTOFImageReader.imageReader.getSurface()));
 		}
 		try {
 			// Wrap our callback in a shared camera callback.
 			CameraDevice.StateCallback wrappedCallback = sharedCamera.createARDeviceStateCallback(cameraDeviceCallback, backgroundHandler);
 			// Store a reference to the camera system service.
 			cameraManager = (CameraManager) mActivity.getSystemService(Context.CAMERA_SERVICE);
 			// Get the characteristics for the ARCore camera.
 			//CameraCharacteristics characteristics = cameraManager.getCameraCharacteristics(this.cameraId);
 			// Open the camera device using the ARCore wrapped callback.
 			cameraManager.openCamera(cameraId, wrappedCallback, backgroundHandler);
 		} catch (CameraAccessException e) {
 			Log.e(TAG, "Failed to open camera", e);
 			return false;
 		} catch (IllegalArgumentException e) {
 			Log.e(TAG, "Failed to open camera", e);
 			return false;
 		} catch (SecurityException e) {
 			Log.e(TAG, "Failed to open camera", e);
 			return false;
 		} 
 		Log.i(TAG, " opencamera: TOF_available: " + mTOFAvailable);
 		return true;
 	}
 	// Close the camera device.
 	public void close() {
 		if (sharedSession != null)  {
 			sharedSession.pause();
 		}
 		if (captureSession != null) {
 			captureSession.close();
 			captureSession = null;
 		}
 		if (cameraDevice != null) {
 			cameraDevice.close();
 		}
 		if (mTOFImageReader.imageReader != null) {
 			mTOFImageReader.imageReader.close();
 			mTOFImageReader.imageReader = null;
 		}
 		if(cameraTextureId>=0)
 		{
 			GLES20.glDeleteTextures(1, new int[] {cameraTextureId}, 0);
 		}
 		stopBackgroundThread();
 	}
 	/*************************************************** ONDRAWFRAME ARCORE ************************************************************* */
 	// Draw frame when in AR mode. Called on the GL thread.
 	public void updateGL() throws CameraNotAvailableException {
 		if(!mReady.get())
 		{
 			return;
 		}
 		if (mTOFAvailable && mTOFImageReader.frameCount == 0) return;
 		// Perform ARCore per-frame update.
 		Frame frame = null;
 		try {
 			frame = sharedSession.update();
 		} catch (Exception e) {
 			e.printStackTrace();
 			return;
 		}
 		Camera camera = null;
 		if (frame != null) {
 			camera = frame.getCamera();
 		}else
 		{
 			return;
 		}
 		if (camera == null) return;
 		// If not tracking, don't draw 3D objects.
 		if (camera.getTrackingState() == TrackingState.PAUSED) return;
 		if (frame.getTimestamp() != 0) {
 			Pose pose = camera.getPose();
 			if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("pose=%f %f %f q=%f %f %f %f", pose.tx(), pose.ty(), pose.tz(), pose.qx(), pose.qy(), pose.qz(), pose.qw()));
 			RTABMapLib.postCameraPoseEvent(RTABMapActivity.nativeApplication, pose.tx(), pose.ty(), pose.tz(), pose.qx(), pose.qy(), pose.qz(), pose.qw());
 			int rateMs = 100; // send images at most 10 Hz
 			if(System. currentTimeMillis() - mPreviousTime < rateMs)
 			{
 				return;
 			}
 			mPreviousTime = System. currentTimeMillis();
 			CameraIntrinsics intrinsics = camera.getImageIntrinsics();
 			try{
 				Image image = frame.acquireCameraImage();
 				PointCloud cloud = frame.acquirePointCloud();
 				FloatBuffer points = cloud.getPoints();
 				if (image.getFormat() != ImageFormat.YUV_420_888) {
 					throw new IllegalArgumentException(
 							"Expected image in YUV_420_888 format, got format " + image.getFormat());
 				}
 				if(!RTABMapActivity.DISABLE_LOG)
 				{
 					for(int i =0;i<image.getPlanes().length;++i)
 					{
 						Log.d(TAG, String.format("Plane[%d] pixel stride = %d,  row stride = %d", i, image.getPlanes()[i].getPixelStride(), image.getPlanes()[i].getRowStride()));
 					}
 				}
 				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 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(), y.limit(), image.getFormat(), stamp));
 				if(mTOFAvailable)
 				{
 					if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("Depth %dx%d len=%dbytes format=%d stamp=%f",
 							mTOFImageReader.WIDTH, mTOFImageReader.HEIGHT, mTOFImageReader.depth16_raw.limit(), ImageFormat.DEPTH16, (double)mTOFImageReader.timestamp/10e9));
 					RTABMapLib.postOdometryEvent(
 							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, 
 							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()/4);
 				}
 				else
 				{
 					ByteBuffer bb = ByteBuffer.allocate(0);
 					RTABMapLib.postOdometryEvent(
 							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, 
 							y, u, v, y.limit(), image.getWidth(), image.getHeight(), image.getFormat(), 
 							bb, 0, 0, 0, ImageFormat.DEPTH16,
 							points, points.limit()/4);
 				}
 				image.close();
 				cloud.close();
 			} catch (NotYetAvailableException e) {
 			}
 		}
 	}
 	/********************************************************************************************************************* */
 	/*************************************************** End ************************************************************* */
 	/********************************************************************************************************************* */
 	public ArrayList<String> getResolutions (Context context, String cameraId,int imageFormat){
 		Log.v(TAG + "getResolutions:", " cameraId:" + cameraId + " imageFormat: " + imageFormat);
 		ArrayList<String> output = new ArrayList<String>();
 		try {
 			CameraManager manager = (CameraManager) context.getSystemService(Context.CAMERA_SERVICE);
 			CameraCharacteristics characteristics = manager.getCameraCharacteristics(cameraId);
 			for (android.util.Size s : characteristics.get(CameraCharacteristics.SCALER_STREAM_CONFIGURATION_MAP).getOutputSizes(imageFormat)) {
 				output.add(s.getWidth() + "x" + s.getHeight());
 			}
 		} catch (Exception e) {
 			e.printStackTrace();
 		}
 		return output;
 	}
 	public void initCamera (Context context, String cameraId,int index){
 		boolean ok = false;
 		try {
 			int current = 0;
 			CameraManager manager = (CameraManager) context.getSystemService(Context.CAMERA_SERVICE);
 			CameraCharacteristics characteristics = manager.getCameraCharacteristics(cameraId);
 			for (android.util.Size s : characteristics.get(CameraCharacteristics.SCALER_STREAM_CONFIGURATION_MAP).getOutputSizes(ImageFormat.DEPTH16)) {
 				ok = true;
 				if (current == index)
 					break;
 				else ;
 				current++;
 			}
 		} catch (Exception e) {
 			e.printStackTrace();
 		}
 		if (!ok) {
 			Log.e(TAG + " initCamera", "Depth sensor not found!");
 		}
 	}
 }
@@ -90,9 +90,9 @@ import android.widget.SeekBar.OnSeekBarChangeListener;
 import android.widget.Toast;
 import android.widget.ToggleButton;
-import com.google.ar.core.ArCoreApk;
+//import com.google.ar.core.ArCoreApk;
 import com.google.atap.tangoservice.Tango;
-import com.huawei.hiar.AREnginesApk;
+//import com.huawei.hiar.AREnginesApk;
 // The main activity of the application. This activity shows debug information
@@ -254,7 +254,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 	GestureDetector mGesDetect = null;
-	ARCoreSharedCamera mArCoreCamera = null;
+	//ARCoreSharedCamera mArCoreCamera = null;
 	int mCameraDriver = 0;
 	//Tango Service connection.
@@ -586,8 +586,8 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		String cameraDriverStr = sharedPref.getString(getString(R.string.pref_key_camera_driver), getString(R.string.pref_default_camera_driver));
 		mCameraDriver = Integer.parseInt(cameraDriverStr);
-		isArCoreAvailable();
+		//isArCoreAvailable();
-		isArEngineAvailable();
+		//isArEngineAvailable();
 	}
 	// Should be called only if read/write permissions are granted!
@@ -613,7 +613,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		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))
@@ -659,9 +659,9 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 				editor.putString(getString(R.string.pref_key_camera_driver), "3");
 				editor.commit();
 			}
 		}*/
 	}
-	}
+/*
 	private void isArCoreAvailable() {
 		ArCoreApk.Availability availability = ArCoreApk.getInstance().checkAvailability(this);
 		if (availability.isTransient()) {
@@ -713,7 +713,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		}
 	}
-
+*/
 	@Override
 	public void onDestroy() {
 		super.onDestroy();
@@ -1199,7 +1199,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 					mToast.makeText(this, "Current camera driver selected is Tango, but Tango service binding failed. Abort scanning...", mToast.LENGTH_LONG).show();
 				}
 			}
-		}
+		}/*
 		else if(mCameraDriver == 1 || mCameraDriver == 2 || mCameraDriver == 3)
 		{
 			if((mCameraDriver == 1 || mCameraDriver == 3) && !mIsARCoreAvailable)
@@ -1281,7 +1281,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 				}
 			});
 			bindThread.start();
-		}
+		}*/
 		else
 		{
 			mToast.makeText(this, "Supported camera driver not found! Cannot start a new scan.", mToast.LENGTH_LONG).show();
@@ -2274,14 +2274,14 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 			}
 		}
-		if(mArCoreCamera != null)
+/*		if(mArCoreCamera != null)
 		{
 			synchronized (this) {
 				mRenderer.setCamera(null);
 				mArCoreCamera.close();
 				mArCoreCamera = null;
 			}
-		}
+		}*/
 		Thread stopThread = new Thread(new Runnable() {
 			public void run() {
@@ -2314,14 +2314,14 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		updateState(State.STATE_IDLE);
-		if(mArCoreCamera != null)
+		/*if(mArCoreCamera != null)
 		{
 			synchronized (this) {
 				mRenderer.setCamera(null);
 				mArCoreCamera.close();
 				mArCoreCamera = null;
 			}
-		}
+		}*/
 		Thread stopThread = new Thread(new Runnable() {
 			public void run() {
@@ -43,7 +43,7 @@ public class Renderer implements GLSurfaceView.Renderer {
 	private float mSurfaceHeight = 0.0f;
 	private float mTextColor = 1.0f;
 	private int mOffset = 0;
-	private ARCoreSharedCamera mCamera = null;
+	//private ARCoreSharedCamera mCamera = null;
 	private Vector<TextObject> mTexts;
@@ -73,10 +73,10 @@ public class Renderer implements GLSurfaceView.Renderer {
 		mOffset = offset;
 	}
-	public void setCamera(ARCoreSharedCamera camera)
+	//public void setCamera(ARCoreSharedCamera camera)
-	{
+	//{
-		mCamera = camera;
+	//	mCamera = camera;
-	}
+	//}
 	// Render loop of the Gl context.
 	public void onDrawFrame(GL10 useGLES20instead) {
@@ -86,10 +86,10 @@ public class Renderer implements GLSurfaceView.Renderer {
 			{
 				try
 				{
-					if(mCamera!=null)
+				//	if(mCamera!=null)
-					{
+				//	{
-						mCamera.updateGL();
+				//		mCamera.updateGL();
-					}
+				//	}
 					final int value = RTABMapLib.render(mActivity.nativeApplication);
@@ -361,7 +361,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
 		ed.commit(); //save it.
    }
-    @Override
+    
 	public void onRequestPermissionsResult(int requestCode, String[] permissions, int[] results) {
 		switch (requestCode) {
@@ -1,87 +0,0 @@
 package com.introlab.rtabmap;
 import android.graphics.ImageFormat;
 import android.media.Image;
 import android.media.ImageReader;
 import android.os.Handler;
 import android.os.HandlerThread;
 import android.util.Log;
 import java.nio.ByteBuffer;
 public class TOF_ImageReader implements ImageReader.OnImageAvailableListener {
    public int WIDTH;
    public int HEIGHT;
    public ImageReader imageReader;
    public int frameCount = 0;
    public long timestamp;
    // Looper handler thread.
    private HandlerThread backgroundThread;
    // Looper handler.
    private Handler backgroundHandler;
    public ByteBuffer depth16_raw;
    TOF_ImageReader(){
    }
    public void createImageReader(int width, int height){
        this.WIDTH = width;
        this.HEIGHT = height;
        this.imageReader =
                ImageReader.newInstance(
                        width,
                        height,
                        ImageFormat.DEPTH16,
                        2);
        this.imageReader.setOnImageAvailableListener(this, this.backgroundHandler);
    }
    // CPU image reader callback.
    @Override
    public void onImageAvailable(ImageReader imageReader) {
        Image image  = imageReader.acquireLatestImage();
        if (image == null) {
            Log.w("RTABMapActivity", "onImageAvailable: Skipping null image.");
            return;
        }
        else{
            if(image.getFormat() == ImageFormat.DEPTH16){
                this.timestamp = image.getTimestamp();
                depth16_raw = image.getPlanes()[0].getBuffer().asReadOnlyBuffer();
                // copy raw undecoded DEPTH16 format depth data to NativeBuffer
                frameCount++;
            }
            else{
                Log.w("RTABMapActivity", "onImageAvailable: depth image not in DEPTH16 format, skipping image");
            }
        }
        image.close();
    }
 // Start background handler thread, used to run callbacks without blocking UI thread.
    public void startBackgroundThread() {
        this.backgroundThread = new HandlerThread("DepthDecoderThread");
        this.backgroundThread.start();
        this.backgroundHandler = new Handler(backgroundThread.getLooper());
    }
    // Stop background handler thread.
    public void stopBackgroundThread() {
        if (this.backgroundThread != null) {
            this.backgroundThread.quitSafely();
            try {
                this.backgroundThread.join();
                this.backgroundThread = null;
                this.backgroundHandler = null;
            } catch (InterruptedException e) {
                Log.e("RTABMapActivity", "Interrupted while trying to join depth background handler thread", e);
            }
        }
    }
 }
@@ -5221,13 +5221,6 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
 		}
 	}
 	else if(data.gps().stamp() > 0.0)
 	{
 		if(uIsFinite(data.gps().altitude()) &&
 		   uIsFinite(data.gps().latitude()) &&
 		   uIsFinite(data.gps().longitude()) &&
 		   uIsFinite(data.gps().bearing()) &&
 		   uIsFinite(data.gps().error()) &&
 		   data.gps().error() > 0.0)
 	{
 		if(_gpsOrigin.stamp() <= 0.0)
 		{
@@ -5237,7 +5230,8 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
 		cv::Point3f pt = data.gps().toGeodeticCoords().toENU_WGS84(_gpsOrigin.toGeodeticCoords());
 		Transform gpsPose(pt.x, pt.y, pose.z(), 0, 0, -(data.gps().bearing()-90.0)*180.0/M_PI);
 		cv::Mat gpsInfMatrix = cv::Mat::eye(6,6,CV_64FC1)/9999.0; // variance not used >= 9999
-
+		if(data.gps().error() > 0.0)
 		{
 			UDEBUG("Added GPS prior: x=%f y=%f z=%f yaw=%f", gpsPose.x(), gpsPose.y(), gpsPose.z(), gpsPose.theta());
 			// only set x, y as we don't know variance for other degrees of freedom.
 			gpsInfMatrix.at<double>(0,0) = gpsInfMatrix.at<double>(1,1) = 1.0/data.gps().error();
@@ -5246,7 +5240,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
 		}
 		else
 		{
-			UERROR("Invalid GPS value: long=%f lat=%f alt=%f bearing=%f error=%f", data.gps().longitude(), data.gps().latitude(), data.gps().altitude(), data.gps().bearing(), data.gps().error());
+			UERROR("Invalid GPS error value (%f m), must be > 0 m.", data.gps().error());
 		}
 	}
@@ -633,14 +633,12 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 			for (auto& profile : profiles)
 			{
 				auto video_profile = profile.as<rs2::video_stream_profile>();
-				UINFO("%s %d %d %d %d %s type=%d", rs2_format_to_string(
+				UINFO("%s %d %d %d %d", rs2_format_to_string(
 						video_profile.format()),
 						video_profile.width(),
 						video_profile.height(),
 						video_profile.fps(),
-						video_profile.stream_index(),
+						video_profile.stream_index());
 						video_profile.stream_name().c_str(),
 						video_profile.stream_type());
 			}
 		}
 		int pi = 0;
@@ -657,7 +655,7 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 					auto intrinsic = video_profile.get_intrinsics();
 					// rgb or ir left
-					if((!ir_ && video_profile.format() == RS2_FORMAT_RGB8 && video_profile.stream_type() == RS2_STREAM_COLOR) ||
+					if((!ir_ && video_profile.format() == RS2_FORMAT_RGB8) ||
 					  (ir_ && video_profile.format() == RS2_FORMAT_Y8 && video_profile.stream_index() == 1))
 					{
 						if(!profilesPerSensor[i].empty())
@@ -698,34 +696,14 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 				else if(video_profile.format() == RS2_FORMAT_MOTION_XYZ32F || video_profile.format() == RS2_FORMAT_6DOF)
 				{
 					//D435i:
-					//MOTION_XYZ32F 0 0 200 (gyro)
+					//MOTION_XYZ32F 0 0 200
-					//MOTION_XYZ32F 0 0 400 (gyro)
+					//MOTION_XYZ32F 0 0 400
-					//MOTION_XYZ32F 0 0 63 6 (accel)
+					//MOTION_XYZ32F 0 0 63
-					//MOTION_XYZ32F 0 0 250 6 (accel)
+					//MOTION_XYZ32F 0 0 250
 					// or dualMode_ T265:
-					//MOTION_XYZ32F 0 0 200 5 (gyro)
+					//MOTION_XYZ32F 0 0 200
-					//MOTION_XYZ32F 0 0 62 6 (accel)
+					//MOTION_XYZ32F 0 0 62
-					//6DOF 0 0 200 4 (pose)
+					//6DOF 0 0 200
 					bool modified = false;
 					for (size_t j= 0; j < profilesPerSensor[i].size(); ++j)
 					{
 						if (profilesPerSensor[i][j].stream_type() == profile.stream_type())
 						{
 							if (profile.stream_type() == RS2_STREAM_ACCEL)
 							{
 								if(profile.fps() > profilesPerSensor[i][j].fps())
 									profilesPerSensor[i][j] = profile;
 								modified = true;
 							}
 							else if (profile.stream_type() == RS2_STREAM_GYRO)
 							{
 								if(profile.fps() < profilesPerSensor[i][j].fps())
 									profilesPerSensor[i][j] = profile;
 								modified = true;
 							}
 						}
 					}
 					if(!modified)
 					profilesPerSensor[i].push_back(profile);
 					added = true;
 				}
@@ -777,14 +755,12 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 			for (auto& profile : profiles)
 			{
 				auto video_profile = profile.as<rs2::video_stream_profile>();
-				UERROR("%s %d %d %d %d %s type=%d", rs2_format_to_string(
+				UERROR("%s %d %d %d %d", rs2_format_to_string(
 						video_profile.format()),
 						video_profile.width(),
 						video_profile.height(),
 						video_profile.fps(),
-						video_profile.stream_index(),
+						video_profile.stream_index());
 						video_profile.stream_name().c_str(),
 						video_profile.stream_type());
 			}
 			return false;
 		}
@@ -960,18 +936,6 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 		 if(profilesPerSensor[i].size())
 		 {
 			 UINFO("Starting sensor %d with %d profiles", (int)i, (int)profilesPerSensor[i].size());
 			 for (size_t j = 0; j < profilesPerSensor[i].size(); ++j)
 			 {
 				 auto video_profile = profilesPerSensor[i][j].as<rs2::video_stream_profile>();
 				 UINFO("Opening: %s %d %d %d %d %s type=%d", rs2_format_to_string(
 					 video_profile.format()),
 					 video_profile.width(),
 					 video_profile.height(),
 					 video_profile.fps(),
 					 video_profile.stream_index(),
 					 video_profile.stream_name().c_str(),
 					 video_profile.stream_type());
 			 }
 			 sensors[i].open(profilesPerSensor[i]);
 			 if(sensors[i].is<rs2::depth_sensor>())
 			 {
@@ -1248,13 +1212,13 @@ SensorData CameraRealSense2::captureImage(CameraInfo * info)
 			IMU imu;
 			unsigned int confidence = 0;
 			double imuStamp = stamp*1000.0;
-			Transform pose;
+			UASSERT(info!=0);
-			getPoseAndIMU(imuStamp, pose, confidence, imu);
+			getPoseAndIMU(imuStamp, info->odomPose, confidence, imu);
-			if(info && odometryProvided_ && !pose.isNull())
+			if(odometryProvided_ && !info->odomPose.isNull())
 			{
 				// Transform in base frame (local transform should contain base to pose transform)
-				info->odomPose = this->getLocalTransform() * pose * this->getLocalTransform().inverse();
+				info->odomPose = this->getLocalTransform() * info->odomPose * this->getLocalTransform().inverse();
 				info->odomCovariance = cv::Mat::eye(6,6,CV_64FC1) * 0.0001;
 				info->odomCovariance.rowRange(0,3) *= pow(10, 3-(int)confidence);
@@ -185,7 +185,7 @@ public:
 	        mBuf.unlock();
 	        TicToc processTime;
 	        processMeasurements();
-	        UDEBUG("VINS process time: %f", processTime.toc());
+	        printf("process time: %f\n", processTime.toc());
 	    }
 	}
@@ -29,7 +29,7 @@ then
    STRATEGY=$2
    DISP=$3
 else
-echo "Usage: run_euroc_datasets.sh \"output name\" \"odom strategy: 0=f2m 1=f2f 11=f2f_optflow 2=fovis 3=viso2 4=dvo 5=orbslam2 6=okvis(rect) 66=okvis(raw) 8=msckf_vio(rect) 88=msckf_vio(raw) 9=vins_vio(rect) 99=vins_vio(raw) 10=vins_stereo(rect) 100=vins_stereo(raw)\" \"Disparity: 0 or 1\" [sequence]"
+echo "Usage: run_euroc_datasets.sh \"output name\" \"odom strategy: 0=f2m 1=f2f 11=f2f_optflow 2=fovis 3=viso2 4=dvo 5=orbslam2 6=okvis(rect) 66=okvis(raw) 8=msckf_vio(rect) 88=msckf_vio(raw)\" \"Disparity: 0 or 1\" [sequence]"
 exit
 fi
@@ -1,4 +1,4 @@
-# Image: introlab3it/rtabmap:android-deps-api19
+# Image: introlab3it/rtabmap:android-deps
 FROM ubuntu:16.04
@@ -1,6 +1,6 @@
-# Image: introlab3it/rtabmap:tango-api19
+# Image: introlab3it/rtabmap:tango
-FROM introlab3it/rtabmap:android-deps-api19
+FROM introlab3it/rtabmap:android-deps
 WORKDIR /root/
@@ -31,24 +31,38 @@ rm -r lib_tango_support_api
 wget 'https://docs.google.com/uc?authuser=0&id=1s5iPJ7xiridj9Jj--gCy2XiQFniheVm6&export=download' -O TangoSDK_Ikariotikos_Java.jar
 mv TangoSDK_Ikariotikos_Java.jar rtabmap-tango/app/android/libs/.
-# Patch to remove not supported arcore and arengine stuff on API19
+# ARCore
-git config --global user.email "you@example.com"
+wget 'https://docs.google.com/uc?authuser=0&id=1A4gMviyxHCnA19MTMbitOWoSOyoZcCef&export=download' -O arcore.zip
-git config --global user.name "Your Name"
+unzip -qq arcore.zip
-cd rtabmap-tango
+rm arcore.zip
-git pull origin tango-api19
+cp arcore/*.jar rtabmap-tango/app/android/libs/.
 rm -r arcore
 # AREngine
 wget 'https://docs.google.com/uc?authuser=0&id=1rdaD2Z1QBv-SUeUy0oBmg3C2odfxTHgR&export=download' -O arengine.zip
 unzip -qq arengine.zip
 rm arengine.zip
 cp arengine/*.jar rtabmap-tango/app/android/libs/.
 rm -r arengine
 # resource tool
-cd build
+cd rtabmap-tango/build
 cmake -DANDROID_PREBUILD=ON ..
 make
 cd ../..
-# rtabmap (do only 32 bits for api19)
+# rtabmap
 mkdir rtabmap-tango/build/armeabi-v7a
 cd rtabmap-tango/build/armeabi-v7a
 cmake -DCMAKE_TOOLCHAIN_FILE=../../cmake_modules/android.toolchain.cmake -DANDROID_ABI=armeabi-v7a -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=$prefix/armeabi-v7a/sdk/native/jni -DCMAKE_INSTALL_PREFIX=$prefix/armeabi-v7a ../..
 make
 cd ../../..
 mkdir rtabmap-tango/build/arm64-v8a
 cd rtabmap-tango/build/arm64-v8a
 cmake -DCMAKE_TOOLCHAIN_FILE=../../cmake_modules/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=$prefix/arm64-v8a/sdk/native/jni -DCMAKE_INSTALL_PREFIX=$prefix/arm64-v8a ../..
 make
 # package with binaries of both architectures
 cp -r ../armeabi-v7a/app/android/libs/armeabi-v7a app/android/libs/.
 make
@@ -12,7 +12,6 @@
  <buildtool_depend>cmake</buildtool_depend>
  <build_depend>libvtk-qt</build_depend>
  <build_depend>qt_gui_cpp</build_depend> <!-- libqt4-dev or libqt5-dev -->
  <build_depend>libpcl-all-dev</build_depend>
  <build_depend>libsqlite3-dev</build_depend>
@@ -26,7 +25,6 @@
  <build_depend>octomap</build_depend>
  <build_depend>libg2o</build_depend>
  <run_depend>libvtk-qt</run_depend>
  <run_depend>qt_gui_cpp</run_depend>
  <run_depend>libpcl-all-dev</run_depend>
  <run_depend>libsqlite3-dev</run_depend>
Author	SHA1	Message	Date
matlabbe	e4873e770a	tango: fixed api19 build with latest master	2020-07-10 15:08:27 -04:00
matlabbe	3148ae2d76	Update AndroidManifest.xml.in	2020-07-10 09:48:06 -04:00
matlabbe	8819b42f24	patch for tango-api19	2020-07-10 09:48:06 -04:00
`@@ -1,4 +1,4 @@`
	`# Image: introlab3it/rtabmap:android-deps-api19`	`# Image: introlab3it/rtabmap:android-deps`

	`FROM ubuntu:16.04`	`FROM ubuntu:16.04`