mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
6d4e8a4173
* New feature: Depth confidence * iOS app updated to save depth confidence, added util2d::depthBleedingFiltering function * Updated tools to show/extract depth confidence * Android: moved smoothing in post-processing, fixed confidence registration, added depth bleeding error option. * Fixed warning * removed debug log * Added new feature types, fixed rendering when exporting texture >4096 (#1469), added depth bleeding filter option to iOS * fixed some warnings, android: added bleeding error option * CI: try updating ros2 key * added sudo * antoher test * bump ios app version
85 lines
3.2 KiB
C++
85 lines
3.2 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef CAMERAARCORE_H_
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#define CAMERAARCORE_H_
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#include "CameraMobile.h"
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#include <rtabmap/core/Camera.h>
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#include <rtabmap/core/GeodeticCoords.h>
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#include <rtabmap/utilite/UMutex.h>
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#include <rtabmap/utilite/USemaphore.h>
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#include <rtabmap/utilite/UEventsSender.h>
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#include <rtabmap/utilite/UThread.h>
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#include <rtabmap/utilite/UEvent.h>
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#include <rtabmap/utilite/UTimer.h>
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#include <boost/thread/mutex.hpp>
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#include <background_renderer.h>
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#include <arcore_c_api.h>
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#include <camera/NdkCameraDevice.h>
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#include <camera/NdkCameraManager.h>
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#include <media/NdkImageReader.h>
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#include <android/native_window.h>
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namespace rtabmap {
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class CameraARCore : public CameraMobile {
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public:
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CameraARCore(void* env, void* context, void* activity, bool depthFromMotion = false, float upstreamRelocalizationAccThr = 0.0f);
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virtual ~CameraARCore();
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virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height);
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virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
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virtual void close(); // close ARCore connection
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virtual std::string getSerial() const;
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protected:
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virtual SensorData updateDataOnRender(Transform & pose); // should be called in opengl thread
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private:
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rtabmap::Transform getPoseAtTimestamp(double timestamp);
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private:
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void * env_;
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void * context_;
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void * activity_;
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ArSession* arSession_ = nullptr;
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ArConfig* arConfig_ = nullptr;
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ArFrame* arFrame_ = nullptr;
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ArCameraIntrinsics *arCameraIntrinsics_ = nullptr;
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ArPose * arPose_ = nullptr;
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bool arInstallRequested_;
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UMutex arSessionMutex_;
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bool depthFromMotion_;
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};
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} /* namespace rtabmap */
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#endif /* CAMERAARCORE_H_ */
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