#include <SENSAndroidARCoreJava.h>

Inheritance diagram for SENSAndroidARCoreJava:

Public Member Functions
	SENSAndroidARCoreJava (JavaVM vm, jobject activityContext)

	~SENSAndroidARCoreJava ()

bool	init (int targetWidth, int targetHeight, int manipWidth, int manipHeight, bool convertManipToGray) override

bool	isReady () override

bool	resume () override

void	reset () override

void	pause () override

bool	update (cv::Mat &pose) override

Public Member Functions inherited from SENSARBaseCamera
	SENSARBaseCamera ()

virtual	~SENSARBaseCamera ()

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

virtual void	lightComponentIntensity (float *components)

virtual bool	isInstalled ()

virtual bool	isAvailable ()

virtual bool	install ()

virtual bool	installRefused ()

virtual void	installRefused (bool b)

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 ()

virtual const SENSCameraConfig &	start (std::string deviceId, const SENSCameraStreamConfig &streamConfig, bool provideIntrinsics=true)=0

virtual void	stop ()=0
	Stop a started camera device. More...

virtual const SENSCaptureProps &	captureProperties ()=0
	Get SENSCaptureProps which contains necessary information about all available camera devices and their capabilities. More...

Private Attributes
JavaVM *	_vm = nullptr

jobject	_object = nullptr

bool	_isReady

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 22 of file SENSAndroidARCoreJava.h.

Constructor & Destructor Documentation

◆ SENSAndroidARCoreJava()

SENSAndroidARCoreJava::SENSAndroidARCoreJava	(	JavaVM *	vm,
		jobject *	activityContext
	)

Definition at line 17 of file SENSAndroidARCoreJava.cpp.

   : _vm(vm), _object(*activityContext)
 {
     JNIEnv* env;
     _vm->GetEnv((void**)&env, JNI_VERSION_1_6);
     _vm->AttachCurrentThread(&env, NULL);
  
     jclass    clazz    = env->GetObjectClass(_object);
     jmethodID methodId = env->GetMethodID(clazz,
                                           "ARCoreAvailable",
                                           "()Z");
  
     _available = env->CallBooleanMethod(_object, methodId);
  
     _vm->DetachCurrentThread();
 }

◆ ~SENSAndroidARCoreJava()

SENSAndroidARCoreJava::~SENSAndroidARCoreJava ( )

inline

Definition at line 26 of file SENSAndroidARCoreJava.h.

26 { ; }

Member Function Documentation

◆ init()

bool SENSAndroidARCoreJava::init	(	int	targetWidth,
		int	targetHeight,
		int	manipWidth,
		int	manipHeight,
		bool	convertManipToGray
	)

override

Definition at line 35 of file SENSAndroidARCoreJava.cpp.

 {
     JNIEnv* env;
     _vm->GetEnv((void**)&env, JNI_VERSION_1_6);
     _vm->AttachCurrentThread(&env, NULL);
  
     jclass    clazz    = env->GetObjectClass(_object);
     jmethodID methodId = env->GetMethodID(clazz,
                                           "InitARCore",
                                           "(II)Z");
  
     bool isReady = env->CallBooleanMethod(_object, methodId, targetWidth, targetHeight);
  
     _vm->DetachCurrentThread();
     _running = true;
     return _isReady;
 }

◆ isReady()

bool SENSAndroidARCoreJava::isReady ( )

inlineoverridevirtual

Implements SENSARBaseCamera.

Definition at line 33 of file SENSAndroidARCoreJava.h.

33 { return _isReady; }

◆ pause()

void SENSAndroidARCoreJava::pause ( )

overridevirtual

Implements SENSARBaseCamera.

Definition at line 85 of file SENSAndroidARCoreJava.cpp.

 {
     if (!_running)
         return;
     _running = false;
  
     // stop locations manager
     JNIEnv* env;
     _vm->GetEnv((void**)&env, JNI_VERSION_1_6);
     _vm->AttachCurrentThread(&env, NULL);
  
     jclass    clazz    = env->GetObjectClass(_object);
     jmethodID methodId = env->GetMethodID(clazz,
                                           "PauseARCore",
                                           "()V");
     env->CallVoidMethod(_object, methodId);
  
     _vm->DetachCurrentThread();
 }

◆ reset()

void SENSAndroidARCoreJava::reset ( )

overridevirtual

Implements SENSARBaseCamera.

Definition at line 57 of file SENSAndroidARCoreJava.cpp.

 {
     return;
 }

◆ resume()

bool SENSAndroidARCoreJava::resume ( )

overridevirtual

Implements SENSARBaseCamera.

Definition at line 62 of file SENSAndroidARCoreJava.cpp.

 {
     Utils::log("AAAAAAAAAAAAAAA", "resume");
     if (_running)
         return true;
  
     JNIEnv* env;
     _vm->GetEnv((void**)&env, JNI_VERSION_1_6);
     _vm->AttachCurrentThread(&env, NULL);
  
     jclass    clazz    = env->GetObjectClass(_object);
     jmethodID methodId = env->GetMethodID(clazz,
                                           "ResumeARCore",
                                           "()Z");
     bool      success  = env->CallBooleanMethod(_object, methodId);
  
     _vm->DetachCurrentThread();
  
     _running = success;
     Utils::log("AAAAAAAAAAAAAAA", "resumed");
     return _running;
 }

◆ update()

bool SENSAndroidARCoreJava::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 105 of file SENSAndroidARCoreJava.cpp.

 {
     JNIEnv* env;
     _vm->GetEnv((void**)&env, JNI_VERSION_1_6);
     _vm->AttachCurrentThread(&env, NULL);
     jclass    clazz    = env->GetObjectClass(_object);
     jmethodID methodId = env->GetMethodID(clazz,
                                           "UpdateARCore",
                                           "()Z");
  
     bool tracking = env->CallBooleanMethod(_object, methodId);
  
     _vm->DetachCurrentThread();
  
     return tracking;
 }

Member Data Documentation

◆ _isReady

bool SENSAndroidARCoreJava::_isReady

private

Definition at line 42 of file SENSAndroidARCoreJava.h.

◆ _object

jobject SENSAndroidARCoreJava::_object = nullptr

private

Definition at line 41 of file SENSAndroidARCoreJava.h.

◆ _vm

JavaVM* SENSAndroidARCoreJava::_vm = nullptr

private

Definition at line 40 of file SENSAndroidARCoreJava.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SENSAndroidARCoreJava()

◆ ~SENSAndroidARCoreJava()

Member Function Documentation

◆ init()

◆ isReady()

◆ pause()

◆ reset()

◆ resume()

◆ update()

Member Data Documentation

◆ _isReady

◆ _object

◆ _vm