SENSAndroidARCore Class Reference

#include <SENSAndroidARCore.h>

Inheritance diagram for SENSAndroidARCore:

Public Member Functions
	SENSAndroidARCore (JavaVM *jvm, JNIEnv *env, jobject context, jobject activity, std::string appName, std::string writableDir)
	~SENSAndroidARCore ()
bool	init (unsigned int textureId=0, bool retrieveCpuImg=false, int targetWidth=-1) override
bool	init (JNIEnv *env, void *context, void *activity)
bool	isReady () override
bool	resume () override
void	reset () override
void	pause () override
bool	update (cv::Mat &pose) override
void	lightComponentIntensity (float *components) override
bool	checkAvailability (JNIEnv *env, void *context, void *activity)
bool	isAvailable () override
bool	checkInstalled (JNIEnv *env, void *context, void *activity)
bool	isInstalled () override
bool	askInstall (JNIEnv *env, void *context, void *activity)
bool	install () override
bool	installRefused () override
void	installRefused (bool b) override
const SENSCameraConfig &	start (std::string deviceId, const SENSCameraStreamConfig &streamConfig, bool provideIntrinsics) override
	This function is needed to correctly use arcore as a camera in SENSCVCamera. More...
void	stop () override
	Stop a started camera device. More...
const SENSCaptureProps &	captureProperties () override
	Get SENSCaptureProps which contains necessary information about all available camera devices and their capabilities. More...
Public Member Functions inherited from SENSARBaseCamera
	SENSARBaseCamera ()
virtual	~SENSARBaseCamera ()
bool	isRunning ()
void	fetchPointCloud (bool s)
cv::Mat	pointCloud ()
cv::Size	inputFrameSize ()
cv::Size	cpuFrameSize ()
Public Member Functions inherited from SENSBaseCamera
SENSFrameBasePtr	latestFrame () override
	Get the latest captured frame. If no frame was captured the frame will be empty (null). More...
const SENSCameraConfig &	config () const override
	defines how the camera was configured during start More...
void	registerListener (SENSCameraListener *listener) override
void	unregisterListener (SENSCameraListener *listener) override
bool	started () const override
bool	permissionGranted () const override
void	setPermissionGranted () override
Public Member Functions inherited from SENSCamera
virtual	~SENSCamera ()

Private Member Functions
void	doFetchPointCloud ()
cv::Mat	convertToYuv (ArImage *arImage)
void	updateCamera (cv::Mat &intrinsics)
void	retrieveCaptureProperties ()

Private Attributes
ArSession *	_arSession = nullptr
ArFrame *	_arFrame = nullptr
bool	_waitInit = false
bool	_available = false
bool	_installed = false
bool	_installRefused = false
GLuint	_fbo = 0
GLuint	_pbo = 0
GLuint	_cameraTextureId
float	_envLightI [3]
JavaVM *	_jvm
std::string	_appName
std::string	_writableDir
SENSGLTextureReader *	_texImgReader = nullptr
float	_fx = 0.f
float	_fy = 0.f
float	_cx = 0.f
float	_cy = 0.f

Additional Inherited Members
Protected Member Functions inherited from SENSBaseCamera
void	updateFrame (cv::Mat bgrImg, cv::Mat intrinsics, int width, int height, bool intrinsicsChanged)
void	processStart ()
	call from start function to do startup preprocessing More...
Protected Attributes inherited from SENSARBaseCamera
bool	_running = false
bool	_pause = true
int	_inputFrameW = 0
int	_inputFrameH = 0
bool	_retrieveCpuImg = false
int	_cpuImgTargetWidth = -1
int	_cpuImgTargetHeight = -1
bool	_fetchPointCloud = false
cv::Mat	_pointCloud
Protected Attributes inherited from SENSBaseCamera
SENSCaptureProps	_captureProperties
std::atomic< bool >	_started {false}
	flags if camera was started More...
SENSCameraConfig	_config
	indicates what is currently running More...
std::atomic< bool >	_permissionGranted {false}
std::vector< SENSCameraListener * >	_listeners
std::mutex	_listenerMutex
SENSFrameBasePtr	_frame
	current frame More...
std::mutex	_frameMutex

Detailed Description

Definition at line 23 of file SENSAndroidARCore.h.

Constructor & Destructor Documentation

SENSAndroidARCore()

SENSAndroidARCore::SENSAndroidARCore	(	JavaVM *	jvm,
		JNIEnv *	env,
		jobject	context,
		jobject	activity,
		std::string	appName,
		std::string	writableDir
	)

Definition at line 19 of file SENSAndroidARCore.cpp.

{
    checkAvailability(env, context, activity);
    _arSession = nullptr;
    _jvm       = jvm;
 
    _appName     = appName;
    _writableDir = writableDir;
}

~SENSAndroidARCore()

SENSAndroidARCore::~SENSAndroidARCore

(

)

Definition at line 117 of file SENSAndroidARCore.cpp.

{
    reset();
}

Member Function Documentation

askInstall()

bool SENSAndroidARCore::askInstall	(	JNIEnv *	env,
		void *	context,
		void *	activity
	)

Definition at line 92 of file SENSAndroidARCore.cpp.

{
    ArInstallStatus install_status;
    ArCoreApk_requestInstall(env, activity, true, &install_status);
    if (install_status == AR_AVAILABILITY_SUPPORTED_INSTALLED)
    {
        _installed = true;
        return true;
    }
 
    _installed = false;
    return false;
}

captureProperties()

const SENSCaptureProps & SENSAndroidARCore::captureProperties ( )

overridevirtual

Get SENSCaptureProps which contains necessary information about all available camera devices and their capabilities.

Implements SENSCamera.

Definition at line 487 of file SENSAndroidARCore.cpp.

{
    if (_captureProperties.size() == 0)
        retrieveCaptureProperties();
 
    return _captureProperties;
}

checkAvailability()

bool SENSAndroidARCore::checkAvailability	(	JNIEnv *	env,
		void *	context,
		void *	activity
	)

Definition at line 34 of file SENSAndroidARCore.cpp.

{
    ArAvailability availability;
    ArCoreApk_checkAvailability(env, context, &availability);
 
    if (availability == AR_AVAILABILITY_UNKNOWN_CHECKING)
    {
        // TODO(dgj1): this could theoretically go on forever (or until the stack-memory is all used up).
        // add a limit to recursion?
        std::this_thread::sleep_for(std::chrono::microseconds((int)(200000)));
        checkAvailability(env, context, activity);
    }
    else if (availability == AR_AVAILABILITY_SUPPORTED_NOT_INSTALLED ||
             availability == AR_AVAILABILITY_SUPPORTED_APK_TOO_OLD ||
             availability == AR_AVAILABILITY_SUPPORTED_INSTALLED)
    {
        return true;
    }
    return false;
}

checkInstalled()

bool SENSAndroidARCore::checkInstalled	(	JNIEnv *	env,
		void *	context,
		void *	activity
	)

Definition at line 69 of file SENSAndroidARCore.cpp.

{
    ArAvailability availability;
    ArCoreApk_checkAvailability(env, context, &availability);
    if (availability == AR_AVAILABILITY_SUPPORTED_INSTALLED)
        return true;
    return false;
}

convertToYuv()

cv::Mat SENSAndroidARCore::convertToYuv ( ArImage *  arImage )

private

Definition at line 385 of file SENSAndroidARCore.cpp.

{
    int32_t height, width, rowStrideY;
    ArImage_getHeight(_arSession, arImage, &height);
    ArImage_getWidth(_arSession, arImage, &width);
    ArImage_getPlaneRowStride(_arSession, arImage, 0, &rowStrideY);
 
    // pointers to yuv data planes and length of yuv data planes in byte
    const uint8_t *yPixel, *vPixel;
    int32_t        yLen, vLen;
    ArImage_getPlaneData(_arSession, arImage, (int32_t)0, &yPixel, &yLen);
    ArImage_getPlaneData(_arSession, arImage, (int32_t)2, &vPixel, &vLen);
 
    cv::Mat yuv(height + (height / 2), rowStrideY, CV_8UC1);
    memcpy(yuv.data, yPixel, yLen);
    memcpy(yuv.data + yLen + (rowStrideY - width), vPixel, vLen + 1);
 
    if (rowStrideY > width)
    {
        cv::Rect roi(0, 0, width, yuv.rows);
        cv::Mat  roiYuv = yuv(roi);
        return roiYuv;
    }
    else
        return yuv;
}

doFetchPointCloud()

void SENSAndroidARCore::doFetchPointCloud ( )

private

Definition at line 536 of file SENSAndroidARCore.cpp.

{
    ArPointCloud* arPointCloud = nullptr;
 
    if (ArFrame_acquirePointCloud(_arSession,
                                  _arFrame,
                                  &arPointCloud) == AR_SUCCESS)
    {
        int    n;
        float* mp;
 
        ArPointCloud_getNumberOfPoints(_arSession, arPointCloud, &n);
        if (n > 0)
        {
            ArPointCloud_getData(_arSession, arPointCloud, &mp);
 
            _pointCloud = cv::Mat(n, 4, CV_32F);
            std::memcpy(_pointCloud.data, mp, n * 4 * sizeof(float));
            /*
            int nbPoints = 0;
            for (int i = 0; i < n; i++)
            {
                int idx = i * 4;
                if (mp[idx + 3] >= confidanceValue)
                {
                    *mapPoints[nbPoints] = mp[idx];
                    *mapPoints[nbPoints + 1] = mp[idx + 1];
                    *mapPoints[nbPoints + 2] = mp[idx + 2];
                    nbPoints++;
                }
            }
            */
        }
        ArPointCloud_release(arPointCloud);
    }
}

init() [1/2]

bool SENSAndroidARCore::init	(	JNIEnv *	env,
		void *	context,
		void *	activity
	)

Definition at line 164 of file SENSAndroidARCore.cpp.

{
    if (!checkAvailability(env, context, activity)) return false;
    if (_arSession != nullptr) return false;
 
    ArInstallStatus install_status;
    ArCoreApk_requestInstall(env, activity, false, &install_status);
 
    if (install_status == AR_AVAILABILITY_SUPPORTED_NOT_INSTALLED) return false;
    if (ArSession_create(env, activity, &_arSession) != AR_SUCCESS) return false;
    if (!_arSession) return false;
 
    // todo: what do we have to set here? the display size? is it needed at all for our case?
    // ArSession_setDisplayGeometry(_arSession, 0, _config.targetWidth, _config.targetHeight);
 
    // ----- config -----
    ArConfig* arConfig = nullptr;
    ArConfig_create(_arSession, &arConfig);
 
    if (!arConfig)
    {
        ArSession_destroy(_arSession);
        _arSession = nullptr;
        return false;
    }
 
    // Depth texture has values between 0 millimeters to 8191 millimeters. 8m is not enough in our case
    // https://developers.google.com/ar/reference/c/group/ar-frame#arframe_acquiredepthimage
    ArConfig_setDepthMode(_arSession, arConfig, AR_DEPTH_MODE_DISABLED);
    ArConfig_setLightEstimationMode(_arSession, arConfig, AR_LIGHT_ESTIMATION_MODE_ENVIRONMENTAL_HDR);
    ArConfig_setInstantPlacementMode(_arSession, arConfig, AR_INSTANT_PLACEMENT_MODE_DISABLED);
 
    ArSession_setCameraTextureName(_arSession, _cameraTextureId);
 
    if (ArSession_configure(_arSession, arConfig) != AR_SUCCESS)
    {
        ArConfig_destroy(arConfig);
        ArSession_destroy(_arSession);
        _arSession = nullptr;
        return false;
    }
    _envLightI[0] = 1.0f;
    _envLightI[1] = 1.0f;
    _envLightI[2] = 1.0f;
 
    ArConfig_destroy(arConfig);
 
    // -- arFrame The world state resulting from an update
    // Create with: ArFrame_create
    // Allocate with: ArSession_update
    // Release with: ArFrame_destroy
 
    ArFrame_create(_arSession, &_arFrame);
    if (!_arFrame)
    {
        ArSession_destroy(_arSession);
        _arSession = nullptr;
        return false;
    }
 
    // retrieve intrinsics and frame size
    ArCamera* arCamera;
    ArFrame_acquireCamera(_arSession, _arFrame, &arCamera);
 
    ArCameraIntrinsics* arIntrinsics = nullptr;
    ArCameraIntrinsics_create(_arSession, &arIntrinsics);
    ArCamera_getTextureIntrinsics(_arSession, arCamera, arIntrinsics);
 
    ArCameraIntrinsics_getFocalLength(_arSession, arIntrinsics, &_fx, &_fy);
    ArCameraIntrinsics_getPrincipalPoint(_arSession, arIntrinsics, &_cx, &_cy);
    ArCameraIntrinsics_getImageDimensions(_arSession,
                                          arIntrinsics,
                                          &_inputFrameW,
                                          &_inputFrameH);
 
    ArCameraIntrinsics_destroy(arIntrinsics);
    ArCamera_release(arCamera);
 
    if (_cpuImgTargetWidth > 0)
    {
        float aspect        = (float)_inputFrameH / (float)_inputFrameW;
        _cpuImgTargetHeight = aspect * _cpuImgTargetWidth;
    }
 
    pause();
    return true;
}

init() [2/2]

bool SENSAndroidARCore::init ( unsigned int  textureId = 0, bool  retrieveCpuImg = false, int  targetWidth = -1  )

overridevirtual

Implements SENSARBaseCamera.

Definition at line 139 of file SENSAndroidARCore.cpp.

{
    if (textureId > 0)
        _cameraTextureId = textureId;
 
    if (_texImgReader)
    {
        delete _texImgReader;
        _texImgReader = nullptr;
    }
 
    _retrieveCpuImg    = retrieveCpuImg;
    _cpuImgTargetWidth = targetWidth;
 
    JNIEnv* env;
    _jvm->GetEnv((void**)&env, JNI_VERSION_1_6);
    std::string className = "ch/cpvr/" + _appName + "/GLES3Lib";
    jclass      clazz     = env->FindClass(className.c_str());
    jmethodID   methodid  = env->GetStaticMethodID(clazz, "initAR", "()Z");
 
    return env->CallStaticBooleanMethod(clazz, methodid);
}

install()

bool SENSAndroidARCore::install ( )

overridevirtual

Reimplemented from SENSARBaseCamera.

Definition at line 106 of file SENSAndroidARCore.cpp.

{
    JNIEnv* env;
    _jvm->GetEnv((void**)&env, JNI_VERSION_1_6);
    std::string className = "ch/cpvr/" + _appName + "/GLES3Lib";
    jclass      clazz     = env->FindClass(className.c_str());
    jmethodID   methodid  = env->GetStaticMethodID(clazz, "askARInstall", "()Z");
 
    return env->CallStaticBooleanMethod(clazz, methodid);
}

installRefused() [1/2]

bool SENSAndroidARCore::installRefused ( )

inlineoverridevirtual

Reimplemented from SENSARBaseCamera.

Definition at line 50 of file SENSAndroidARCore.h.

{ return _installRefused; };

installRefused() [2/2]

void SENSAndroidARCore::installRefused ( bool  b )

inlineoverridevirtual

Reimplemented from SENSARBaseCamera.

Definition at line 51 of file SENSAndroidARCore.h.

{ _installRefused = b; };

isAvailable()

bool SENSAndroidARCore::isAvailable ( )

overridevirtual

Reimplemented from SENSARBaseCamera.

Definition at line 57 of file SENSAndroidARCore.cpp.

{
    JNIEnv* env;
    _jvm->GetEnv((void**)&env, JNI_VERSION_1_6);
    std::string className = "ch/cpvr/" + _appName + "/GLES3Lib";
    jclass      clazz     = env->FindClass(className.c_str());
    jmethodID   methodid  = env->GetStaticMethodID(clazz, "checkARAvailability", "()Z");
 
    _available = env->CallStaticBooleanMethod(clazz, methodid);
    return _available;
}

isInstalled()

bool SENSAndroidARCore::isInstalled ( )

overridevirtual

Reimplemented from SENSARBaseCamera.

Definition at line 80 of file SENSAndroidARCore.cpp.

{
    JNIEnv* env;
    _jvm->GetEnv((void**)&env, JNI_VERSION_1_6);
    std::string className = "ch/cpvr/" + _appName + "/GLES3Lib";
    jclass      clazz     = env->FindClass(className.c_str());
    jmethodID   methodid  = env->GetStaticMethodID(clazz, "checkARInstalled", "()Z");
 
    _installed = env->CallStaticBooleanMethod(clazz, methodid);
    return _installed;
}

isReady()

bool SENSAndroidARCore::isReady ( )

inlineoverridevirtual

Implements SENSARBaseCamera.

Definition at line 38 of file SENSAndroidARCore.h.

{ return _arSession != nullptr; }

lightComponentIntensity()

void SENSAndroidARCore::lightComponentIntensity ( float *  components )

overridevirtual

Reimplemented from SENSARBaseCamera.

Definition at line 378 of file SENSAndroidARCore.cpp.

{
    component[0] = _envLightI[0];
    component[1] = _envLightI[1];
    component[2] = _envLightI[2];
}

pause()

void SENSAndroidARCore::pause ( )

overridevirtual

Implements SENSARBaseCamera.

Definition at line 428 of file SENSAndroidARCore.cpp.

{
    _started = false; // for SENSBaseCamera
    if (!_arSession) return;
 
    if (AR_SUCCESS == ArSession_pause(_arSession))
        _pause = true;
    else
        Utils::log("ErlebAR", "SENSAndroidARCore pause failed!!!");
}

reset()

void SENSAndroidARCore::reset ( )

overridevirtual

Implements SENSARBaseCamera.

Definition at line 122 of file SENSAndroidARCore.cpp.

{
    if (_arSession != nullptr)
    {
        pause();
        ArSession_destroy(_arSession);
        ArFrame_destroy(_arFrame);
        _arSession = nullptr;
        if (_texImgReader)
        {
            delete _texImgReader;
            _texImgReader = nullptr;
        }
    }
}

resume()

bool SENSAndroidARCore::resume ( )

overridevirtual

Implements SENSARBaseCamera.

Definition at line 412 of file SENSAndroidARCore.cpp.

{
    if (_pause && _arSession != nullptr)
    {
        const ArStatus status = ArSession_resume(_arSession);
        if (status == AR_SUCCESS)
        {
            _pause   = false;
            _started = true; // for SENSBaseCamera
        }
        else
            Utils::log("ErlebAR", "SENSAndroidARCore resume failed!!!");
    }
    return !_pause;
}

retrieveCaptureProperties()

void SENSAndroidARCore::retrieveCaptureProperties ( )

private

Definition at line 439 of file SENSAndroidARCore.cpp.

{
    // the SENSBaseCamera needs to have a valid frame, otherwise we cannot estimate the fov correctly
    /*
    if(!_frame)
    {
        resume();
        HighResTimer t;
        cv::Mat pose;
        do {
            update(pose);
            std::this_thread::sleep_for(200ms);
        }
        while(!_frame && t.elapsedTimeInSec() < 10.f);
 
        Utils::log("SENSAndroidARCore", "retrieveCaptureProperties update for %fs", t.elapsedTimeInSec());
        pause();
    }
 
    if(_frame)
    {
        std::string      deviceId = "ARKit";
        SENSCameraFacing facing = SENSCameraFacing::BACK;
 
        float focalLengthPix = -1.f;
        if(!_frame->intrinsics.empty())
        {
            focalLengthPix = 0.5 * (_frame->intrinsics.at<double>(0, 0) + _frame->intrinsics.at<double>(1, 1));
        }
        SENSCameraDeviceProps devProp(deviceId, facing);
        //here we have to use the cpu image size (which is not the same as the gpu image size)
        devProp.add(_inputFrameW, _inputFrameH, focalLengthPix);
        _captureProperties.push_back(devProp);
    }
    else
        Utils::warnMsg("SENSAndroidARCore", "retrieveCaptureProperties: Could not retrieve a valid frame!", __LINE__, __FILE__);
    */
    std::string      deviceId = "ARKit";
    SENSCameraFacing facing   = SENSCameraFacing::BACK;
 
    float                 focalLengthPix = 0.5 * (_fx + _fy);
    SENSCameraDeviceProps devProp(deviceId, facing);
 
    // here we have to use the cpu image size (which is not the same as the gpu image size)
    devProp.add(_inputFrameW, _inputFrameH, focalLengthPix);
    _captureProperties.push_back(devProp);
}

start()

const SENSCameraConfig & SENSAndroidARCore::start ( std::string  deviceId, const SENSCameraStreamConfig &  streamConfig, bool  provideIntrinsics  )

overridevirtual

This function is needed to correctly use arcore as a camera in SENSCVCamera.

This function does not really start the camera as for the arcore implementation, the frame gets only updated with a call to arcore::update.

Implements SENSCamera.

Definition at line 499 of file SENSAndroidARCore.cpp.

{
    // define capture properties
    if (_captureProperties.size() == 0)
        retrieveCaptureProperties();
 
    if (_captureProperties.size() == 0)
        throw SENSException(SENSType::CAM,
                            "Could not retrieve camera properties!",
                            __LINE__,
                            __FILE__);
 
    if (!_captureProperties.containsDeviceId(deviceId))
        throw SENSException(SENSType::CAM,
                            "DeviceId does not exist!",
                            __LINE__,
                            __FILE__);
 
    SENSCameraFacing             facing = SENSCameraFacing::UNKNOWN;
    const SENSCameraDeviceProps* props  = _captureProperties.camPropsForDeviceId(deviceId);
    if (props)
        facing = props->facing();
 
    // init config here before processStart
    _config = SENSCameraConfig(deviceId,
                               streamConfig,
                               facing,
                               SENSCameraFocusMode::CONTINIOUS_AUTO_FOCUS);
    // inform camera listeners
    processStart();
 
    _started = true;
    return _config;
}

stop()

void SENSAndroidARCore::stop ( )

inlineoverridevirtual

Stop a started camera device.

Implements SENSCamera.

Definition at line 58 of file SENSAndroidARCore.h.

{ _started = false; };

update()

bool SENSAndroidARCore::update ( cv::Mat &  view )

overridevirtual

Returns true if in tracking state. If correctly initialized, it will update the camera frame that may be retrieved with latestFrame()

Reimplemented from SENSARBaseCamera.

Definition at line 252 of file SENSAndroidARCore.cpp.

{
    if (!_arSession) return false;
    ArStatus status = ArSession_update(_arSession, _arFrame);
    if (status != AR_SUCCESS) return false;
 
    ArCamera* arCamera;
    ArFrame_acquireCamera(_arSession, _arFrame, &arCamera);
 
    cv::Mat view = cv::Mat::eye(4, 4, CV_32F);
    ArCamera_getViewMatrix(_arSession, arCamera, view.ptr<float>(0));
 
    // conversions to sl camera pose:
    // from row- to column-major
    view = view.t();
    // inversion
    cv::Mat wRc = (view.rowRange(0, 3).colRange(0, 3)).t();
    cv::Mat wtc = -wRc * view.rowRange(0, 3).col(3);
    cv::Mat wTc = cv::Mat::eye(4, 4, CV_32F);
    wRc.copyTo(wTc.colRange(0, 3).rowRange(0, 3));
    wtc.copyTo(wTc.rowRange(0, 3).col(3));
    // axis direction adaption (x = -y, y = x, z = z, t = t)
    pose = cv::Mat::eye(4, 4, CV_32F);
    wTc.col(1) *= -1;
    wTc.col(1).copyTo(pose.col(0));
    wTc.col(0).copyTo(pose.col(1));
    wTc.col(2).copyTo(pose.col(2));
    wTc.col(3).copyTo(pose.col(3));
 
    cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_64F);
    {
        ArCameraIntrinsics* arIntrinsics = nullptr;
        ArCameraIntrinsics_create(_arSession, &arIntrinsics);
        ArCamera_getTextureIntrinsics(_arSession, arCamera, arIntrinsics);
 
        float fx, fy, cx, cy;
        ArCameraIntrinsics_getFocalLength(_arSession, arIntrinsics, &fx, &fy);
        ArCameraIntrinsics_getPrincipalPoint(_arSession, arIntrinsics, &cx, &cy);
 
        ArCameraIntrinsics_getImageDimensions(_arSession,
                                              arIntrinsics,
                                              &_inputFrameW,
                                              &_inputFrameH);
 
        ArCameraIntrinsics_destroy(arIntrinsics);
 
        intrinsics.at<double>(0, 0) = fx;
        intrinsics.at<double>(1, 1) = fy;
        intrinsics.at<double>(0, 2) = cx;
        intrinsics.at<double>(1, 2) = cy;
        /*
        std::stringstream ss;
        ss << intrinsics;
        Utils::log("SENSAndroidARCore", "intrinsics %s", ss.str().c_str());
         */
    }
 
    updateCamera(intrinsics);
 
    //---- LIGHT ESTIMATE ----//
    // Get light estimation value.
    /*
    ArLightEstimate*     arLightEstimate;
    ArLightEstimateState arLightEstimateState;
    ArLightEstimate_create(_arSession, &arLightEstimate);
 
    ArFrame_getLightEstimate(_arSession, _arFrame, arLightEstimate);
    ArLightEstimate_getState(_arSession, arLightEstimate, &arLightEstimateState);
 
    // Set light intensity to default. Intensity value ranges from 0.0f to 1.0f.
    // The first three components are color scaling factors.
    // The last one is the average pixel intensity in gamma space.
    if (arLightEstimateState == AR_LIGHT_ESTIMATE_STATE_VALID)
    {
        //ArLightEstimate_getColorCorrection(_arSession, arLightEstimate, _lightColor);
        ArLightEstimate_getEnvironmentalHdrMainLightIntensity(_arSession, arLightEstimate, _envLightI);
    }
 
    ArLightEstimate_destroy(arLightEstimate);
    arLightEstimate = nullptr;
     */
    //---------------------
 
    ArTrackingState camera_tracking_state;
    ArCamera_getTrackingState(_arSession, arCamera, &camera_tracking_state);
 
    if (_fetchPointCloud)
        doFetchPointCloud();
 
    ArCamera_release(arCamera);
    // If the camera isn't tracking don't bother rendering other objects.
    if (camera_tracking_state != AR_TRACKING_STATE_TRACKING)
        return false;
 
    return true;
}

updateCamera()

void SENSAndroidARCore::updateCamera ( cv::Mat &  intrinsics )

private

Definition at line 349 of file SENSAndroidARCore.cpp.

{
    cv::Mat image;
 
    if (_retrieveCpuImg)
    {
        if (!_texImgReader)
        {
            // ATTENTION: for the current implementation the gpu texture (preview image) has to have the same aspect ratio as the cpu image
            // check aspect ratio
            _texImgReader = new SENSGLTextureReader(_cameraTextureId, true, _cpuImgTargetWidth, _cpuImgTargetHeight);
        }
 
        HighResTimer t;
        image = _texImgReader->readImageFromGpu();
 
        Utils::log("SENSAndroidARCore", "readImageFromGPU: %fms", t.elapsedTimeInMilliSec());
        /*
        Utils::log("imagesize", "orig w:%d h:%d", image.size().width, image.size().height);
        Utils::log("imagesize", "orig imageSize w:%d h:%d", _inputFrameW, _inputFrameH);
        Utils::log("imagesize", "orig calib cx:%f cy:%f", intrinsics.at<double>(0, 2),
                   intrinsics.at<double>(1, 2));
        */
        // adapt intrinsics to cpu image size
    }
 
    updateFrame(image, intrinsics, _inputFrameW, _inputFrameH, true);
}

Member Data Documentation

_appName

std::string SENSAndroidARCore::_appName

private

Definition at line 81 of file SENSAndroidARCore.h.

_arFrame

ArFrame* SENSAndroidARCore::_arFrame = nullptr

private

Definition at line 66 of file SENSAndroidARCore.h.

_arSession

ArSession* SENSAndroidARCore::_arSession = nullptr

private

Definition at line 65 of file SENSAndroidARCore.h.

_available

bool SENSAndroidARCore::_available = false

private

Definition at line 68 of file SENSAndroidARCore.h.

_cameraTextureId

GLuint SENSAndroidARCore::_cameraTextureId

private

Definition at line 75 of file SENSAndroidARCore.h.

_cx

float SENSAndroidARCore::_cx = 0.f

private

Definition at line 91 of file SENSAndroidARCore.h.

_cy

float SENSAndroidARCore::_cy = 0.f

private

Definition at line 91 of file SENSAndroidARCore.h.

_envLightI

float SENSAndroidARCore::_envLightI[3]

private

Definition at line 77 of file SENSAndroidARCore.h.

_fbo

GLuint SENSAndroidARCore::_fbo = 0

private

Definition at line 72 of file SENSAndroidARCore.h.

_fx

float SENSAndroidARCore::_fx = 0.f

private

Definition at line 91 of file SENSAndroidARCore.h.

_fy

float SENSAndroidARCore::_fy = 0.f

private

Definition at line 91 of file SENSAndroidARCore.h.

_installed

bool SENSAndroidARCore::_installed = false

private

Definition at line 69 of file SENSAndroidARCore.h.

_installRefused

bool SENSAndroidARCore::_installRefused = false

private

Definition at line 70 of file SENSAndroidARCore.h.

_jvm

JavaVM* SENSAndroidARCore::_jvm

private

Definition at line 78 of file SENSAndroidARCore.h.

_pbo

GLuint SENSAndroidARCore::_pbo = 0

private

Definition at line 73 of file SENSAndroidARCore.h.

_texImgReader

SENSGLTextureReader* SENSAndroidARCore::_texImgReader = nullptr

private

Definition at line 84 of file SENSAndroidARCore.h.

_waitInit

bool SENSAndroidARCore::_waitInit = false

private

Definition at line 67 of file SENSAndroidARCore.h.

_writableDir

std::string SENSAndroidARCore::_writableDir

private

Definition at line 82 of file SENSAndroidARCore.h.

---

The documentation for this class was generated from the following files:

• SENSAndroidARCore.h
• SENSAndroidARCore.cpp