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https://github.com/introlab/rtabmap.git
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700704bec9
* Working rtabmap_lidar-mapping example (live and pcap) * finalizing merge, added some deprecated * fixed build * Working deskewing for Lidar + Camera/IMU (no camera pose correction yet) and Lidar + Odom Sensor in main UI. * backward compatibility * fixed some not used variable warnings, fixed qt build for lidar mapping example * Refactored CameraMobile, added AREngine background support, fixed LidarVPL16 build error with PCL 1.8 * ARCoreJava: buffer last depth image in case its stamp i higher than pose stamp. CameraMobile: added pose buffer. SensorCaptureThread: to get pose, odomSensor should be explicitly set, but can be same as lidar or camera inputs. * Working external lidar on iOS * util3d::commonFiltering()/adjustNormalsToViewPoint() added organized cloud support. MainWindow: updated odomSensor setup * fixed winsock include order * reverted camera tool * disable imu filtering when odom sensor is used * Updated package version * fixed windows build * fixing more windows build erros
95 lines
3.4 KiB
C++
95 lines
3.4 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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static LaserScan scanFromPointCloudData(
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const float * pointCloudData,
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int points,
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const Transform & pose,
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const CameraModel & model,
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const cv::Mat & rgb,
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std::vector<cv::KeyPoint> * kpts = 0,
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std::vector<cv::Point3f> * kpts3D = 0);
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public:
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CameraARCore(void* env, void* context, void* activity, bool depthFromMotion = false, bool smoothing = false);
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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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