android pointcloud:

- missing pointcloud filter API added. - 3D view added to the camera app.
maxbbraun · Aug 20, 2019 · 0fb06ac · 0fb06ac
1 parent 07bc6d9
commit 0fb06ac
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Showing 19 changed files with 705 additions and 116 deletions.
diff --git a/src/android/jni/frame.cpp b/src/android/jni/frame.cpp
@@ -46,6 +46,29 @@ Java_com_intel_realsense_librealsense_Frame_nGetData(JNIEnv *env, jclass type, j
     handle_error(env, e);
 }
 
+extern "C"
+JNIEXPORT void JNICALL
+Java_com_intel_realsense_librealsense_Points_nGetData(JNIEnv *env, jclass type, jlong handle,
+                                                      jfloatArray data_) {
+    jsize length = env->GetArrayLength(data_);
+    rs2_error *e = NULL;
+    env->SetFloatArrayRegion(data_, 0, length, static_cast<const jfloat *>(rs2_get_frame_data(
+            reinterpret_cast<const rs2_frame *>(handle), &e)));
+    handle_error(env, e);
+}
+
+extern "C"
+JNIEXPORT void JNICALL
+Java_com_intel_realsense_librealsense_Points_nGetTextureCoordinates(JNIEnv *env, jclass type,
+                                                                    jlong handle,
+                                                                    jfloatArray data_) {
+    jsize length = env->GetArrayLength(data_);
+    rs2_error *e = NULL;
+    env->SetFloatArrayRegion(data_, 0, length, reinterpret_cast<const jfloat *>(rs2_get_frame_texture_coordinates(
+            reinterpret_cast<const rs2_frame *>(handle), &e)));
+    handle_error(env, e);
+}
+
 extern "C" JNIEXPORT jboolean JNICALL
 Java_com_intel_realsense_librealsense_Frame_nIsFrameExtendableTo(JNIEnv *env, jclass type,
                                                                  jlong handle, jint extension) {

diff --git a/wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/GLFrame.java b/wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/GLFrame.java
@@ -23,4 +23,12 @@ protected static void setViewport(Rect r) {
         GLES10.glMatrixMode(GLES10.GL_PROJECTION);
         GLES10.glOrthof(0, r.width(), r.height(), 0, -1, +1);
     }
+
+    public String getLabel() {
+        if(mFrame == null)
+            return "";
+        try(StreamProfile sp = mFrame.getProfile()){
+            return sp.getType() + " - " + sp.getFormat();
+        }
+    }
 }
diff --git a/...rs/android/librealsense/src/main/java/com/intel/realsense/librealsense/GLMotionFrame.java b/...rs/android/librealsense/src/main/java/com/intel/realsense/librealsense/GLMotionFrame.java
@@ -188,6 +188,18 @@ public synchronized void draw(Rect rect)
         GLES10.glPopMatrix();
     }
 
+    @Override
+    public synchronized String getLabel() {
+        MotionFrame mf = mFrame.as(Extension.MOTION_FRAME);
+        Float3 d = mf.getMotionData();
+        try(StreamProfile sp = mFrame.getProfile()){
+            return sp.getType().name() +
+                    " [ X: " + String.format("%+.2f", d.x) +
+                    ", Y: " + String.format("%+.2f", d.y) +
+                    ", Z: " + String.format("%+.2f", d.z) + " ]";
+        }
+    }
+
     @Override
     public synchronized void close() {
         if(mFrame != null)

diff --git a/...rs/android/librealsense/src/main/java/com/intel/realsense/librealsense/GLPointsFrame.java b/...rs/android/librealsense/src/main/java/com/intel/realsense/librealsense/GLPointsFrame.java
@@ -0,0 +1,133 @@
+package com.intel.realsense.librealsense;
+
+import android.graphics.Rect;
+import android.opengl.GLES10;
+
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.IntBuffer;
+
+public class GLPointsFrame extends GLFrame {
+    private Frame mTexture;
+    private IntBuffer mGlTexture;
+    private float mDeltaX = 0;
+    private float mDeltaY = 0;
+    private float mRotationFactor = 0.1f;
+
+    public synchronized void setTextureFrame(Frame frame) {
+        if(mTexture != null)
+            mTexture.close();
+        mTexture = frame.clone();
+    }
+    public int getTexture() { return mGlTexture.array()[0]; }
+
+    private void drawPoints(float[] verArray, byte[] colorArray)
+    {
+        if(colorArray != null){
+            ByteBuffer tex = ByteBuffer.allocateDirect(colorArray.length);
+            tex.order(ByteOrder.nativeOrder());
+            tex.put(colorArray);
+            tex.position(0);
+
+            GLES10.glEnableClientState(GLES10.GL_COLOR_ARRAY);
+            GLES10.glColorPointer(4, GLES10.GL_UNSIGNED_BYTE, 0, tex);
+        }
+
+        ByteBuffer ver = ByteBuffer.allocateDirect(verArray.length * 4);
+        ver.order(ByteOrder.nativeOrder());
+        ver.asFloatBuffer().put(verArray);
+
+        GLES10.glEnableClientState(GLES10.GL_VERTEX_ARRAY);
+        GLES10.glVertexPointer(3, GLES10.GL_FLOAT, 0, ver);
+        GLES10.glDrawArrays(GLES10.GL_POINTS,0,verArray.length / 3);
+
+        GLES10.glDisableClientState(GLES10.GL_VERTEX_ARRAY);
+        if(colorArray != null)
+            GLES10.glDisableClientState(GLES10.GL_COLOR_ARRAY);
+    }
+
+    @Override
+    public synchronized void draw(Rect rect)
+    {
+        if (mFrame == null || !(mFrame.is(Extension.POINTS)))
+            return;
+
+        setViewport(rect);
+
+        GLES10.glMatrixMode(GLES10.GL_PROJECTION);
+        GLES10.glPushMatrix();
+        GLES10.glLoadIdentity();
+
+        GLES10.glOrthof(-1f, 1f, -1f, 1f, -7f, 0f);
+
+        GLES10.glRotatef(180, 0.0f, 0.0f, 1.0f);
+        GLES10.glRotatef(-mDeltaY * mRotationFactor, 1.0f, 0.0f, 0.0f);
+        GLES10.glRotatef(-mDeltaX * mRotationFactor, 0.0f, 1.0f, 0.0f);
+
+        Points points = mFrame.as(Extension.POINTS);
+        float[] data = points.getVertices();
+        byte[] tex = mTexture == null ? createTexture(data, 1.2f) : createTexture(points);
+        drawPoints(data, tex);
+
+        GLES10.glMatrixMode(GLES10.GL_PROJECTION);
+        GLES10.glPopMatrix();
+    }
+
+    //fallback to gray scale if no texture is available
+    private byte[] createTexture(float[] data, float maxRange){
+        int size = data.length / 3;
+        byte[] texture = new byte[size * 4];
+        for(int i = 0; i < size; i++){
+            float z = data[i * 3 + 2];
+            byte val = (byte) (z / maxRange * 255);
+            for(int j = 0; j < 3; j++)
+                texture[i*4+j] = val;
+            texture[i*4+3] = (byte) 255;
+        }
+        return texture;
+    }
+
+    public byte[] createTexture(Points points){
+        if(mTexture == null)
+            return null;
+
+        VideoFrame vf = mTexture.as(Extension.VIDEO_FRAME);
+        int textureSize = vf.getWidth() * vf.getHeight();
+        int pointCount = points.getCount();
+        float[] pointsData = points.getVertices();
+        byte[] textureData = new byte[textureSize * 3];
+        byte[] texture = new byte[pointCount * 4];
+        float[] textureCoordinates = points.getTextureCoordinates();
+
+        vf.getData(textureData);
+        int w = vf.getWidth();
+        int h = vf.getHeight();
+        for(int i = 0; i < pointCount; i++){
+            if(pointsData[i * 3 + 2] == 0)
+                continue;
+            float x = (float) Math.round(textureCoordinates[2 * i] * w);
+            float y = (float) Math.round(textureCoordinates[2 * i + 1] * h);
+            if(x <= 0 || y <= 0 || x >= w || y >= h)
+                continue;
+            long texIndex = (long) (x + y * w);
+            for(int j = 0; j < 3; j++)
+                texture[i*4+j] = textureData[(int) (texIndex * 3 + j)];
+            texture[i*4+3] = (byte) 255;
+        }
+        return texture;
+    }
+
+    @Override
+    public synchronized void close() {
+        if(mFrame != null)
+            mFrame.close();
+        if(mGlTexture != null)
+            GLES10.glDeleteTextures(1, mGlTexture);
+        mGlTexture = null;
+    }
+
+    public synchronized void rotate(float deltaX, float deltaY) {
+        mDeltaX += deltaX;
+        mDeltaY += deltaY;
+    }
+}