Public Member Functions
	ARCoreSharedCamera (RTABMapActivity c, float arCoreLocalizationFilteringSpeed)

void	close ()

ArrayList< String >	getResolutions (Context context, String cameraId, int imageFormat)

boolean	isDepthSupported ()

boolean	openCamera ()

void	setDisplayGeometry (int rotation, int width, int height)

void	setToast (Toast toast)

void	updateGL () throws CameraNotAvailableException

Static Public Member Functions
static void	rotationMatrixToQuaternion (float[] R, float[] q)

Public Attributes
TOF_ImageReader	mTOFImageReader = new TOF_ImageReader()

GLSurfaceView	surfaceView

Static Public Attributes
static final String	TAG = ARCoreSharedCamera.class.getSimpleName()

Private Member Functions
void	createCameraPreviewSession ()

void	resumeARCore ()

void	setRepeatingCaptureRequest ()

void	startBackgroundThread ()

void	stopBackgroundThread ()

Static Private Member Functions
static boolean	contains (int[] modes, int mode)

Private Attributes
Pose	arCoreCorrection = Pose.IDENTITY

Handler	backgroundHandler

HandlerThread	backgroundThread

CameraDevice	cameraDevice

final CameraDevice.StateCallback	cameraDeviceCallback

String	cameraId

CameraManager	cameraManager

int	cameraTextureId = -1

CameraCaptureSession	captureSession

final CameraCaptureSession.CaptureCallback	captureSessionCallback

String	depthCameraId

Pose	depthExtrinsics

int	depthHeight = 480

float[]	depthIntrinsics = null

int	depthWidth = 640

float	mARCoreLocalizationFilteringSpeed = 1.0f

AtomicBoolean	mReady = new AtomicBoolean(false)

Toast	mToast = null

boolean	mTOFAvailable = false

Pose	odomPose = Pose.IDENTITY

CaptureRequest.Builder	previewCaptureRequestBuilder

Pose	previousAnchorPose = null

long	previousAnchorTimeStamp

Pose	rgbExtrinsics

SharedCamera	sharedCamera

Session	sharedSession

Static Private Attributes
static RTABMapActivity	mActivity

static final float[]	QUAD_COORDS

Detailed Description

Definition at line 49 of file ARCoreSharedCamera.java.

Constructor & Destructor Documentation

◆ ARCoreSharedCamera()

com.introlab.rtabmap.ARCoreSharedCamera.ARCoreSharedCamera	(	RTABMapActivity	c,
		float	arCoreLocalizationFilteringSpeed
	)

inline

Definition at line 59 of file ARCoreSharedCamera.java.

Member Function Documentation

◆ close()

void com.introlab.rtabmap.ARCoreSharedCamera.close ( )

inline

Definition at line 618 of file ARCoreSharedCamera.java.

◆ contains()

static boolean com.introlab.rtabmap.ARCoreSharedCamera.contains	(	int[]	modes,
		int	mode
	)

inlinestaticprivate

Return true if the given array contains the given integer.

Parameters

modes	array to check.
mode	integer to get for.

Returns: true if the array contains the given integer, otherwise false.

Definition at line 338 of file ARCoreSharedCamera.java.

◆ createCameraPreviewSession()

void com.introlab.rtabmap.ARCoreSharedCamera.createCameraPreviewSession ( )

inlineprivate

Definition at line 270 of file ARCoreSharedCamera.java.

◆ getResolutions()

ArrayList<String> com.introlab.rtabmap.ARCoreSharedCamera.getResolutions	(	Context	context,
		String	cameraId,
		int	imageFormat
	)

inline

Definition at line 878 of file ARCoreSharedCamera.java.

◆ isDepthSupported()

boolean com.introlab.rtabmap.ARCoreSharedCamera.isDepthSupported ( )

inline

Definition at line 122 of file ARCoreSharedCamera.java.

◆ openCamera()

boolean com.introlab.rtabmap.ARCoreSharedCamera.openCamera ( )

inline

Definition at line 351 of file ARCoreSharedCamera.java.

◆ resumeARCore()

void com.introlab.rtabmap.ARCoreSharedCamera.resumeARCore ( )

inlineprivate

Definition at line 237 of file ARCoreSharedCamera.java.

◆ rotationMatrixToQuaternion()

static void com.introlab.rtabmap.ARCoreSharedCamera.rotationMatrixToQuaternion	(	float[]	R,
		float[]	q
	)

inlinestatic

Definition at line 572 of file ARCoreSharedCamera.java.

◆ setDisplayGeometry()

void com.introlab.rtabmap.ARCoreSharedCamera.setDisplayGeometry	(	int	rotation,
		int	width,
		int	height
	)

inline

Definition at line 645 of file ARCoreSharedCamera.java.

◆ setRepeatingCaptureRequest()

void com.introlab.rtabmap.ARCoreSharedCamera.setRepeatingCaptureRequest ( )

inlineprivate

Definition at line 260 of file ARCoreSharedCamera.java.

◆ setToast()

void com.introlab.rtabmap.ARCoreSharedCamera.setToast ( Toast toast )

inline

Definition at line 124 of file ARCoreSharedCamera.java.

◆ startBackgroundThread()

void com.introlab.rtabmap.ARCoreSharedCamera.startBackgroundThread ( )

inlineprivate

Definition at line 309 of file ARCoreSharedCamera.java.

◆ stopBackgroundThread()

void com.introlab.rtabmap.ARCoreSharedCamera.stopBackgroundThread ( )

inlineprivate

Definition at line 317 of file ARCoreSharedCamera.java.

◆ updateGL()

void com.introlab.rtabmap.ARCoreSharedCamera.updateGL ( ) throws CameraNotAvailableException

inline

Definition at line 653 of file ARCoreSharedCamera.java.

Member Data Documentation

◆ arCoreCorrection

Pose com.introlab.rtabmap.ARCoreSharedCamera.arCoreCorrection = Pose.IDENTITY

private

Definition at line 77 of file ARCoreSharedCamera.java.

◆ backgroundHandler

Handler com.introlab.rtabmap.ARCoreSharedCamera.backgroundHandler

private

Definition at line 93 of file ARCoreSharedCamera.java.

◆ backgroundThread

HandlerThread com.introlab.rtabmap.ARCoreSharedCamera.backgroundThread

private

Definition at line 91 of file ARCoreSharedCamera.java.

◆ cameraDevice

CameraDevice com.introlab.rtabmap.ARCoreSharedCamera.cameraDevice

private

Definition at line 88 of file ARCoreSharedCamera.java.

◆ cameraDeviceCallback

final CameraDevice.StateCallback com.introlab.rtabmap.ARCoreSharedCamera.cameraDeviceCallback

private

Initial value:

=
                        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;
                }
        }

Definition at line 130 of file ARCoreSharedCamera.java.

◆ cameraId

String com.introlab.rtabmap.ARCoreSharedCamera.cameraId

private

Definition at line 101 of file ARCoreSharedCamera.java.

◆ cameraManager

CameraManager com.introlab.rtabmap.ARCoreSharedCamera.cameraManager

private

Definition at line 85 of file ARCoreSharedCamera.java.

◆ cameraTextureId

int com.introlab.rtabmap.ARCoreSharedCamera.cameraTextureId = -1

private

Definition at line 113 of file ARCoreSharedCamera.java.

◆ captureSession

CameraCaptureSession com.introlab.rtabmap.ARCoreSharedCamera.captureSession

private

Definition at line 82 of file ARCoreSharedCamera.java.

◆ captureSessionCallback

final CameraCaptureSession.CaptureCallback com.introlab.rtabmap.ARCoreSharedCamera.captureSessionCallback

private

Definition at line 202 of file ARCoreSharedCamera.java.

◆ depthCameraId

String com.introlab.rtabmap.ARCoreSharedCamera.depthCameraId

private

Definition at line 102 of file ARCoreSharedCamera.java.

◆ depthExtrinsics

Pose com.introlab.rtabmap.ARCoreSharedCamera.depthExtrinsics

private

Definition at line 105 of file ARCoreSharedCamera.java.

◆ depthHeight

int com.introlab.rtabmap.ARCoreSharedCamera.depthHeight = 480

private

Definition at line 67 of file ARCoreSharedCamera.java.

◆ depthIntrinsics

float [] com.introlab.rtabmap.ARCoreSharedCamera.depthIntrinsics = null

private

Definition at line 106 of file ARCoreSharedCamera.java.

◆ depthWidth

int com.introlab.rtabmap.ARCoreSharedCamera.depthWidth = 640

private

Definition at line 66 of file ARCoreSharedCamera.java.

◆ mActivity

RTABMapActivity com.introlab.rtabmap.ARCoreSharedCamera.mActivity

staticprivate

Definition at line 58 of file ARCoreSharedCamera.java.

◆ mARCoreLocalizationFilteringSpeed

float com.introlab.rtabmap.ARCoreSharedCamera.mARCoreLocalizationFilteringSpeed = 1.0f

private

Definition at line 79 of file ARCoreSharedCamera.java.

◆ mReady

AtomicBoolean com.introlab.rtabmap.ARCoreSharedCamera.mReady = new AtomicBoolean(false)

private

Definition at line 108 of file ARCoreSharedCamera.java.

◆ mToast

Toast com.introlab.rtabmap.ARCoreSharedCamera.mToast = null

private

Definition at line 98 of file ARCoreSharedCamera.java.

◆ mTOFAvailable

boolean com.introlab.rtabmap.ARCoreSharedCamera.mTOFAvailable = false

private

Definition at line 117 of file ARCoreSharedCamera.java.

◆ mTOFImageReader

TOF_ImageReader com.introlab.rtabmap.ARCoreSharedCamera.mTOFImageReader = new TOF_ImageReader()

Definition at line 116 of file ARCoreSharedCamera.java.

◆ odomPose

Pose com.introlab.rtabmap.ARCoreSharedCamera.odomPose = Pose.IDENTITY

private

Definition at line 78 of file ARCoreSharedCamera.java.

◆ previewCaptureRequestBuilder

CaptureRequest.Builder com.introlab.rtabmap.ARCoreSharedCamera.previewCaptureRequestBuilder

private

Definition at line 111 of file ARCoreSharedCamera.java.

◆ previousAnchorPose

Pose com.introlab.rtabmap.ARCoreSharedCamera.previousAnchorPose = null

private

Definition at line 75 of file ARCoreSharedCamera.java.

◆ previousAnchorTimeStamp

long com.introlab.rtabmap.ARCoreSharedCamera.previousAnchorTimeStamp

private

Definition at line 76 of file ARCoreSharedCamera.java.

◆ QUAD_COORDS

final float [] com.introlab.rtabmap.ARCoreSharedCamera.QUAD_COORDS

staticprivate

Initial value:

=
      new float[] {
        -1.0f, -1.0f, +1.0f, -1.0f, -1.0f, +1.0f, +1.0f, +1.0f,
      }

Definition at line 53 of file ARCoreSharedCamera.java.

◆ rgbExtrinsics

Pose com.introlab.rtabmap.ARCoreSharedCamera.rgbExtrinsics

private

Definition at line 104 of file ARCoreSharedCamera.java.

◆ sharedCamera

SharedCamera com.introlab.rtabmap.ARCoreSharedCamera.sharedCamera

private

Definition at line 96 of file ARCoreSharedCamera.java.

◆ sharedSession

Session com.introlab.rtabmap.ARCoreSharedCamera.sharedSession

private

Definition at line 73 of file ARCoreSharedCamera.java.

◆ surfaceView

GLSurfaceView com.introlab.rtabmap.ARCoreSharedCamera.surfaceView

Definition at line 70 of file ARCoreSharedCamera.java.

◆ TAG

final String com.introlab.rtabmap.ARCoreSharedCamera.TAG = ARCoreSharedCamera.class.getSimpleName()

static

Definition at line 51 of file ARCoreSharedCamera.java.

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

ARCoreSharedCamera.java

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ARCoreSharedCamera()

Member Function Documentation

◆ close()

◆ contains()

◆ createCameraPreviewSession()

◆ getResolutions()

◆ isDepthSupported()

◆ openCamera()

◆ resumeARCore()

◆ rotationMatrixToQuaternion()

◆ setDisplayGeometry()

◆ setRepeatingCaptureRequest()

◆ setToast()

◆ startBackgroundThread()

◆ stopBackgroundThread()

◆ updateGL()

Member Data Documentation

◆ arCoreCorrection

◆ backgroundHandler

◆ backgroundThread

◆ cameraDevice

◆ cameraDeviceCallback

◆ cameraId

◆ cameraManager

◆ cameraTextureId

◆ captureSession

◆ captureSessionCallback

◆ depthCameraId

◆ depthExtrinsics

◆ depthHeight

◆ depthIntrinsics

◆ depthWidth

◆ mActivity

◆ mARCoreLocalizationFilteringSpeed

◆ mReady

◆ mToast

◆ mTOFAvailable

◆ mTOFImageReader

◆ odomPose

◆ previewCaptureRequestBuilder

◆ previousAnchorPose

◆ previousAnchorTimeStamp

◆ QUAD_COORDS

◆ rgbExtrinsics

◆ sharedCamera

◆ sharedSession

◆ surfaceView

◆ TAG