ARCoreSharedCamera.java

Go to the documentation of this file.

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.Anchor;
import com.google.ar.core.Camera;
import com.google.ar.core.CameraConfig;
import com.google.ar.core.CameraConfigFilter;
import com.google.ar.core.CameraIntrinsics;
import com.google.ar.core.Config;
import com.google.ar.core.Coordinates2d;
import com.google.ar.core.Frame;
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.CameraMetadata;
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;
import android.widget.Toast;

public class ARCoreSharedCamera {

        public static final String TAG = ARCoreSharedCamera.class.getSimpleName();

        private static final float[] QUAD_COORDS =
      new float[] {
        -1.0f, -1.0f, +1.0f, -1.0f, -1.0f, +1.0f, +1.0f, +1.0f,
      };
        
        private static RTABMapActivity mActivity;
        public ARCoreSharedCamera(RTABMapActivity c, float arCoreLocalizationFilteringSpeed) {
                mActivity = c;
                mARCoreLocalizationFilteringSpeed = arCoreLocalizationFilteringSpeed;
        }

        // Depth TOF Image.
        // Use 240 * 180 for now, hardcoded for Huawei P30 Pro
        private int depthWidth = 640;
        private int depthHeight = 480;

        // GL Surface used to draw camera preview image.
        public GLSurfaceView surfaceView;

        // ARCore session that supports camera sharing.
        private Session sharedSession;
        
        private Pose previousAnchorPose = null;
        private long previousAnchorTimeStamp;
        private Pose arCoreCorrection = Pose.IDENTITY;
        private Pose odomPose = Pose.IDENTITY;
        private float mARCoreLocalizationFilteringSpeed = 1.0f;

        // 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;
        
        private Toast mToast = null;

        // Camera ID for the camera used by ARCore.
        private String cameraId;
        private String depthCameraId;
        
        private Pose rgbExtrinsics;
        private Pose depthExtrinsics;
        private float[] depthIntrinsics = null;
        
        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;}

        public void setToast(Toast toast)
        {
                mToast = toast;
        }
        
        // 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 && cameraId.compareTo(depthCameraId) == 0) 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 static boolean contains(int[] modes, int mode) {
        if (modes == null) {
            return false;
        }
        for (int i : modes) {
            if (i == mode) {
                return true;
            }
        }
        return false;
    }
    
        // Perform various checks, then open camera device and create CPU image reader.
        public boolean openCamera() {

                close();
                
                startBackgroundThread();

                if(cameraTextureId == -1)
                {
                        int[] textures = new int[1];
                        GLES20.glGenTextures(1, textures, 0);
                        cameraTextureId = textures[0];
                }

                Log.v(TAG, "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;
                        }
                        
                        // First obtain the session handle before getting the list of various camera configs.
                        // Create filter here with desired fps filters.
                        CameraConfigFilter cameraConfigFilter = new CameraConfigFilter(sharedSession);
                        CameraConfig[] cameraConfigs = sharedSession.getSupportedCameraConfigs(cameraConfigFilter).toArray(new CameraConfig[0]);
                        Log.i(TAG, "Size of supported CameraConfigs list is " + cameraConfigs.length);

                        // Determine the highest and lowest CPU resolutions.
                        int highestResolutionIndex=-1;
                        int highestResolution = 0;
                        for(int i=0; i<cameraConfigs.length; ++i)
                        {
                                Log.i(TAG, "Camera ID: " + cameraConfigs[i].getCameraId());
                                Log.i(TAG, "Resolution: " + cameraConfigs[i].getImageSize().getWidth() + "x" + cameraConfigs[i].getImageSize().getHeight());
                                if(highestResolution == 0 || highestResolution < cameraConfigs[i].getImageSize().getWidth())
                                {
                                        highestResolutionIndex = i;
                                        highestResolution = cameraConfigs[i].getImageSize().getWidth();
                                }
                        }
                        if(highestResolutionIndex>=0)
                        {
                                //Log.i(TAG, "Setting camera resolution to " + cameraConfigs[highestResolutionIndex].getImageSize().getWidth() + "x" + cameraConfigs[highestResolutionIndex].getImageSize().getHeight());
                                //FIXME: Can we make it work to use HD rgb images? To avoid this error "CaptureRequest contains unconfigured Input/Output Surface!"
                                //sharedSession.setCameraConfig(cameraConfigs[highestResolutionIndex]);
                        }

                        // Enable auto focus mode while ARCore is running.
                        Config config = sharedSession.getConfig();
                        config.setFocusMode(Config.FocusMode.FIXED);
                        config.setUpdateMode(Config.UpdateMode.BLOCKING);
                        config.setPlaneFindingMode(Config.PlaneFindingMode.DISABLED);
                        config.setLightEstimationMode(Config.LightEstimationMode.DISABLED);
                        config.setCloudAnchorMode(Config.CloudAnchorMode.DISABLED);
                        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();

                Log.d(TAG, "Shared camera ID: " + cameraId);

                mTOFAvailable = false;

                // Store a reference to the camera system service.
                cameraManager = (CameraManager) mActivity.getSystemService(Context.CAMERA_SERVICE);
                
                depthCameraId = null;
                // show all cameras
                try {
            // Find a CameraDevice that supports DEPTH16 captures, and configure state.
            for (String tmpCameraId : cameraManager.getCameraIdList()) {
                CameraCharacteristics characteristics = cameraManager.getCameraCharacteristics(tmpCameraId);

                Log.i(TAG, "Camera " + tmpCameraId + " extrinsics:");
                
                float[] translation = characteristics.get(CameraCharacteristics.LENS_POSE_TRANSLATION);
                if(translation != null)
                {
                         Log.i(TAG, String.format("Translation (x,y,z): %f,%f,%f", translation[0], translation[1], translation[2]));
                }
                float[] rotation = characteristics.get(CameraCharacteristics.LENS_POSE_ROTATION);
                if(rotation != null)
                {
                         Log.i(TAG, String.format("Rotation (qx,qy,qz,qw): %f,%f,%f,%f",  rotation[0], rotation[1], rotation[2], rotation[3]));
                }
                
                if(tmpCameraId.compareTo(cameraId)==0 && translation!=null && rotation!=null)
                {
                        rgbExtrinsics = new Pose(translation, rotation);
                        Log.i(TAG,"Set rgb extrinsics!");
                }
                
                if (!contains(characteristics.get(CameraCharacteristics.REQUEST_AVAILABLE_CAPABILITIES), CameraCharacteristics.REQUEST_AVAILABLE_CAPABILITIES_DEPTH_OUTPUT) ||
                                characteristics.get(CameraCharacteristics.LENS_FACING) == CameraMetadata.LENS_FACING_FRONT) {
                    continue;
                }
                Log.i(TAG, "Camera " + tmpCameraId + " has depth output available");
                
                depthCameraId = tmpCameraId;
                if(translation!=null && rotation != null)
                {
                        depthExtrinsics = new Pose(translation, rotation);
                        Log.i(TAG,"Set depth extrinsics!");
                }
                depthIntrinsics = characteristics.get(CameraCharacteristics.LENS_INTRINSIC_CALIBRATION);
                Log.i(TAG, String.format("Intrinsics (fx,fy,cx,cy,s): %f,%f,%f,%f,%f", 
                                depthIntrinsics[0],
                                depthIntrinsics[1],
                                depthIntrinsics[2],
                                depthIntrinsics[3],
                                depthIntrinsics[4]));
            }
        } catch (CameraAccessException e) {
            e.printStackTrace();
        }
                if(rgbExtrinsics == null)
                {
                        float[] translation = {0,0,0};
                        float[] rotation = {0,0,0,1};
                        rgbExtrinsics = new Pose(translation, rotation);
                }
                if(depthExtrinsics == null)
                {
                        depthExtrinsics = rgbExtrinsics;
                }

                if(depthCameraId != null)
                {
                        ArrayList<String> resolutions = getResolutions(mActivity, depthCameraId, ImageFormat.DEPTH16);
                        if (resolutions != null) {
                                float[] newDepthIntrinsics = null;
                                int largestWidth = 0;
                                for( String temp : resolutions) {
                                        Log.i(TAG, "DEPTH16 resolution: " + temp);
                                        depthWidth = Integer.parseInt(temp.split("x")[0]);
                                        depthHeight = Integer.parseInt(temp.split("x")[1]);
                                        if(depthIntrinsics != null)
                                        {
                                                if(depthIntrinsics[0] != 0)
                                                {
                                                        if(largestWidth == 0 && depthWidth>largestWidth)
                                                        {
                                                                largestWidth = depthWidth; // intrinsics should match this resolution
                                                        }
                                                        // Samsung Galaxy Note10+: take smallest resolution and match the intrinsics
                                                        if(depthWidth < largestWidth)
                                                        {
                                                                float scale = (float)depthWidth/(float)largestWidth;
                                                                newDepthIntrinsics = depthIntrinsics.clone();
                                                                newDepthIntrinsics[0] *= scale;
                                                                newDepthIntrinsics[1] *= scale;
                                                                newDepthIntrinsics[2] *= scale;
                                                                newDepthIntrinsics[3] *= scale;
                                                        }
                                                }
                                                else if(depthWidth ==240 && depthHeight==180)
                                                {
                                                        // Huawei P30 Pro: only 240x180 is working
                                                        break;
                                                }
                                        }
                                }
                                if (resolutions.size()>0) {
                                        mTOFAvailable = true;
                                        if(newDepthIntrinsics!=null) {
                                                depthIntrinsics = newDepthIntrinsics;
                                        }
                                }
                        }
                }
                Log.i(TAG, "TOF_available: " + mTOFAvailable);

                // Color CPU Image.
                // Use the currently configured CPU image size.
                //Size desiredCPUImageSize = sharedSession.getCameraConfig().getImageSize();

                if (mTOFAvailable) mTOFImageReader.createImageReader(depthWidth, depthHeight);

                // When ARCore is running, make sure it also updates our CPU image surface.
                if (mTOFAvailable && cameraId.compareTo(depthCameraId) == 0) {
                        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);

                        // Open the camera device using the ARCore wrapped callback.
                        cameraManager.openCamera(cameraId, wrappedCallback, backgroundHandler);
                        
                        if(mTOFAvailable && cameraId.compareTo(depthCameraId) != 0)
                        {
                                cameraManager.openCamera(depthCameraId, mTOFImageReader.cameraDeviceCallback, mTOFImageReader.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;
                } 
                
                return true;
        }
        
        public static void rotationMatrixToQuaternion(float[] R, float[] q) {
        final float m00 = R[0];
        final float m10 = R[1];
        final float m20 = R[2];
        final float m01 = R[4];
        final float m11 = R[5];
        final float m21 = R[6];
        final float m02 = R[8];
        final float m12 = R[9];
        final float m22 = R[10];

        float tr = m00 + m11 + m22;

        if (tr > 0) {
            float S = (float) Math.sqrt(tr + 1.0) * 2; // S=4*qw 
            q[0] = 0.25f * S;/* w  w  w.j ava  2s.co m*/
            q[1] = (m21 - m12) / S;
            q[2] = (m02 - m20) / S;
            q[3] = (m10 - m01) / S;
        } else if ((m00 > m11) & (m00 > m22)) {
            float S = (float) Math.sqrt(1.0 + m00 - m11 - m22) * 2; //
            // S=4*q[1]
            q[0] = (m21 - m12) / S;
            q[1] = 0.25f * S;
            q[2] = (m01 + m10) / S;
            q[3] = (m02 + m20) / S;
        } else if (m11 > m22) {
            float S = (float) Math.sqrt(1.0 + m11 - m00 - m22) * 2; //
            // S=4*q[2]
            q[0] = (m02 - m20) / S;
            q[1] = (m01 + m10) / S;
            q[2] = 0.25f * S;
            q[3] = (m12 + m21) / S;
        } else {
            float S = (float) Math.sqrt(1.0 + m22 - m00 - m11) * 2; //
            // S=4*q[3]
            q[0] = (m10 - m01) / S;
            q[1] = (m02 + m20) / S;
            q[2] = (m12 + m21) / S;
            q[3] = 0.25f * S;
        }

    }


        // Close the camera device.
        public void close() {
                Log.w(TAG, "close()");
                
                if (sharedSession != null)  {
                        sharedSession.close();
                        sharedSession = null;
                }

                if (captureSession != null) {
                        captureSession.close();
                        captureSession = null;
                }
                if (cameraDevice != null) {
                        cameraDevice.close();
                        cameraDevice = null;
                }
                
                mTOFImageReader.close();

                if(cameraTextureId>=0)
                {
                        GLES20.glDeleteTextures(1, new int[] {cameraTextureId}, 0);
                }
                
                stopBackgroundThread();
        }

        public void setDisplayGeometry(int rotation, int width, int height)
        {
                if(sharedSession!=null)
                        sharedSession.setDisplayGeometry(rotation, width, height);
        }
        
        /*************************************************** ONDRAWFRAME ARCORE ************************************************************* */        
        // Draw frame when in AR mode. Called on the GL thread.
        public void updateGL() throws CameraNotAvailableException {

                if(!mReady.get() || sharedSession == null)
                {
                        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
                {
                        Log.e(TAG, String.format("frame.getCamera() null!"));
                        return;
                }

                if (camera == null) { 
                        Log.e(TAG, String.format("camera is null!"));
                        return;
                }
                if (camera.getTrackingState() != TrackingState.TRACKING) {
                        final String trackingState = camera.getTrackingState().toString();
                        Log.e(TAG, String.format("Tracking lost! state=%s", trackingState));
                        // This will force a new session on the next frame received
                        RTABMapLib.postCameraPoseEvent(RTABMapActivity.nativeApplication, 0,0,0,0,0,0,0,0);
                        mActivity.runOnUiThread(new Runnable() {
                                public void run() {
                                        if(mToast!=null && previousAnchorPose != null)
                                        {
                                                String msg = "Tracking lost! If you are mapping, you will need to relocalize before continuing.";
                                                if(mToast.getView() == null || !mToast.getView().isShown())
                                                {
                                                        mToast.makeText(mActivity.getApplicationContext(), 
                                                                        msg, Toast.LENGTH_LONG).show();
                                                }
                                                else
                                                {
                                                        mToast.setText(msg);
                                                }
                                                previousAnchorPose = null;
                                        }
                                }
                        });
                        return;
                }

                if (frame.getTimestamp() != 0) {
                        Pose pose = camera.getPose();
                        
                        // Remove ARCore SLAM corrections by integrating pose from previous frame anchor
                        if(previousAnchorPose == null || mARCoreLocalizationFilteringSpeed==0)
                        {
                                odomPose = pose;
                        }
                        else
                        {
                                float[] t = previousAnchorPose.inverse().compose(pose).getTranslation();
                                final double speed = Math.sqrt(t[0]*t[0]+t[1]*t[1]+t[2]*t[2])/((double)(frame.getTimestamp()-previousAnchorTimeStamp)/10e8);
                                if(speed>=mARCoreLocalizationFilteringSpeed)
                                {
                                        arCoreCorrection = arCoreCorrection.compose(previousAnchorPose).compose(pose.inverse());
                                        t = arCoreCorrection.getTranslation();
                                        Log.e(TAG, String.format("POTENTIAL TELEPORTATION!!!!!!!!!!!!!! previous anchor moved (speed=%f), new arcorrection: %f %f %f", speed, t[0], t[1], t[2]));
                                        
                                        t = odomPose.getTranslation();
                                        float[] t2 = (arCoreCorrection.compose(pose)).getTranslation();
                                        float[] t3 = previousAnchorPose.getTranslation();
                                        float[] t4 = pose.getTranslation();
                                        Log.e(TAG, String.format("Odom = %f %f %f -> %f %f %f ArCore= %f %f %f -> %f %f %f", t[0], t[1], t[2], t2[0], t2[1], t2[2], t3[0], t3[1], t3[2], t4[0], t4[1], t4[2]));
                                
                                        mActivity.runOnUiThread(new Runnable() {
                                                public void run() {
                                                        if(mToast!=null)
                                                        {
                                                                String msg = String.format("ARCore localization has been suppressed "
                                                                                + "because of high speed detected (%f m/s) causing a jump! You can change "
                                                                                + "ARCore localization filtering speed in Settings->Mapping if you are "
                                                                                + "indeed moving as fast.", speed);
                                                                if(mToast.getView() == null || !mToast.getView().isShown())
                                                                {
                                                                        mToast.makeText(mActivity.getApplicationContext(), msg, Toast.LENGTH_LONG).show();
                                                                }
                                                                else
                                                                {
                                                                        mToast.setText(msg);
                                                                }
                                                                previousAnchorPose = null;
                                                        }
                                                }
                                        });
                                }
                                odomPose = arCoreCorrection.compose(pose);
                        }
                        previousAnchorPose = pose;
                        previousAnchorTimeStamp = frame.getTimestamp();
                        
                        double stamp = (double)frame.getTimestamp()/10e8;
                        if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("pose=%f %f %f q=%f %f %f %f stamp=%f", odomPose.tx(), odomPose.ty(), odomPose.tz(), odomPose.qx(), odomPose.qy(), odomPose.qz(), odomPose.qw(), stamp));
                        RTABMapLib.postCameraPoseEvent(RTABMapActivity.nativeApplication, odomPose.tx(), odomPose.ty(), odomPose.tz(), odomPose.qx(), odomPose.qy(), odomPose.qz(), odomPose.qw(), stamp);
                        
                        CameraIntrinsics intrinsics = camera.getImageIntrinsics();
                        try{
                                Image image = frame.acquireCameraImage();
                                if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("frame=%d vs image=%d", frame.getTimestamp(), image.getTimestamp()));
                                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();

                                if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("RGB %dx%d len=%dbytes format=%d stamp=%f", 
                                                image.getWidth(), image.getHeight(), y.limit(), image.getFormat(), stamp));
                                
                                float[] texCoord = new float[8];
                                frame.transformCoordinates2d(
                                        Coordinates2d.OPENGL_NORMALIZED_DEVICE_COORDINATES,
                                        QUAD_COORDS,
                                        Coordinates2d.IMAGE_NORMALIZED,
                                        texCoord);
                                
                                float[] p = new float[16];
                        camera.getProjectionMatrix(p, 0, 0.1f, 100.0f);
   
                        float[] viewMatrix = new float[16];
                        arCoreCorrection.compose(camera.getDisplayOrientedPose()).inverse().toMatrix(viewMatrix, 0);
                        float[] quat = new float[4];
                        rotationMatrixToQuaternion(viewMatrix, quat);

                        
                                if(mTOFAvailable)
                                {
                                        ByteBuffer depth;
                                        double depthStamp;
                                        synchronized (mTOFImageReader) {
                                                depth = mTOFImageReader.depth16_raw;
                                                depthStamp = (double)mTOFImageReader.timestamp/10e8;
                                        }
                                        
                                        if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("Depth %dx%d len=%dbytes format=%d stamp=%f",
                                                        mTOFImageReader.WIDTH, mTOFImageReader.HEIGHT, depth.limit(), ImageFormat.DEPTH16, depthStamp));

                                        RTABMapLib.postOdometryEventDepth(
                                                        RTABMapActivity.nativeApplication,
                                                        odomPose.tx(), odomPose.ty(), odomPose.tz(), odomPose.qx(), odomPose.qy(), odomPose.qz(), odomPose.qw(), 
                                                        fl[0], fl[1], pp[0], pp[1], 
                                                        depthIntrinsics[0], depthIntrinsics[1], depthIntrinsics[2], depthIntrinsics[3],
                                                        rgbExtrinsics.tx(), rgbExtrinsics.ty(), rgbExtrinsics.tz(), rgbExtrinsics.qx(), rgbExtrinsics.qy(), rgbExtrinsics.qz(), rgbExtrinsics.qw(),
                                                        depthExtrinsics.tx(), depthExtrinsics.ty(), depthExtrinsics.tz(), depthExtrinsics.qx(), depthExtrinsics.qy(), depthExtrinsics.qz(), depthExtrinsics.qw(),
                                                        stamp,
                                                        depthStamp,
                                                        y, u, v, y.limit(), image.getWidth(), image.getHeight(), image.getFormat(), 
                                                        depth, depth.limit(), mTOFImageReader.WIDTH, mTOFImageReader.HEIGHT, ImageFormat.DEPTH16,
                                                        points, points.limit()/4,
                                                        viewMatrix[12], viewMatrix[13], viewMatrix[14], quat[1], quat[2], quat[3], quat[0],
                                                        p[0], p[5], p[8], p[9], p[10], p[11], p[14],
                            texCoord[0],texCoord[1],texCoord[2],texCoord[3],texCoord[4],texCoord[5],texCoord[6],texCoord[7]);
                                }
                                else
                                {
                                        RTABMapLib.postOdometryEvent(
                                                        RTABMapActivity.nativeApplication,
                                                        odomPose.tx(), odomPose.ty(), odomPose.tz(), odomPose.qx(), odomPose.qy(), odomPose.qz(), odomPose.qw(), 
                                                        fl[0], fl[1], pp[0], pp[1], 
                                                        rgbExtrinsics.tx(), rgbExtrinsics.ty(), rgbExtrinsics.tz(), rgbExtrinsics.qx(), rgbExtrinsics.qy(), rgbExtrinsics.qz(), rgbExtrinsics.qw(),
                                                        stamp, 
                                                        y, u, v, y.limit(), image.getWidth(), image.getHeight(), image.getFormat(), 
                                                        points, points.limit()/4,
                                                        viewMatrix[12], viewMatrix[13], viewMatrix[14], quat[1], quat[2], quat[3], quat[0],
                                                        p[0], p[5], p[8], p[9], p[10], p[11], p[14],
                            texCoord[0],texCoord[1],texCoord[2],texCoord[3],texCoord[4],texCoord[5],texCoord[6],texCoord[7]);
                                }
                                
                                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;
        }

}