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android-examples-recording-plus #11920

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11 changes: 5 additions & 6 deletions wrappers/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -9,10 +9,13 @@ if (BUILD_PYTHON_BINDINGS OR BUILD_PYTHON_DOCS)
if (NOT INTERNET_CONNECTION)
message(WARNING "No internet connection. Cloning Python bindings may fail")
endif()
add_subdirectory(python)

add_subdirectory(python)
endif()

if (BUILD_NODEJS_BINDINGS)
add_subdirectory(nodejs)
endif()

if (BUILD_CV_EXAMPLES)
add_subdirectory(opencv)
Expand Down Expand Up @@ -62,7 +65,3 @@ endif()
if(BUILD_OPENNI2_BINDINGS)
add_subdirectory(openni2)
endif()

if(BUILD_PC_STITCHING)
add_subdirectory(pointcloud/pointcloud-stitching)
endif()
13 changes: 10 additions & 3 deletions wrappers/android/examples/capture/build.gradle
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@@ -1,11 +1,11 @@
apply plugin: 'com.android.application'

android {
compileSdkVersion 30
compileSdkVersion 28
defaultConfig {
applicationId "com.intel.realsense.capture"
minSdkVersion 19
targetSdkVersion 30
minSdkVersion 26
targetSdkVersion 27
versionCode 1
versionName "1.0"
testInstrumentationRunner 'androidx.test.runner.AndroidJUnitRunner'
Expand All @@ -16,12 +16,19 @@ android {
proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
}
}
compileOptions {
sourceCompatibility JavaVersion.VERSION_1_8
targetCompatibility JavaVersion.VERSION_1_8
}
buildToolsVersion '27.0.3'
ndkVersion '21.0.6113669'
}

dependencies {
implementation fileTree(include: ['*.jar'], dir: 'libs')
implementation 'androidx.appcompat:appcompat:1.2.0'
implementation 'androidx.constraintlayout:constraintlayout:2.0.4'
implementation project(path: ':openCVLibrary')
testImplementation 'junit:junit:4.12'
androidTestImplementation 'androidx.test.ext:junit:1.1.2'
androidTestImplementation 'androidx.test.espresso:espresso-core:3.3.0'
Expand Down
151 changes: 141 additions & 10 deletions ...pers/android/examples/capture/src/main/java/com/intel/realsense/capture/MainActivity.java
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Expand Up @@ -3,29 +3,59 @@
import android.Manifest;
import android.content.Context;
import android.content.pm.PackageManager;
import android.graphics.Bitmap;
import android.os.Bundle;
import android.os.Handler;
import androidx.core.app.ActivityCompat;
import androidx.core.content.ContextCompat;
import androidx.appcompat.app.AppCompatActivity;
import android.util.Log;
import android.view.View;
import android.widget.Button;
import android.widget.TextView;

import com.intel.realsense.librealsense.Align;
import com.intel.realsense.librealsense.Colorizer;
import com.intel.realsense.librealsense.Config;
import com.intel.realsense.librealsense.DepthFrame;
import com.intel.realsense.librealsense.DeviceList;
import com.intel.realsense.librealsense.DeviceListener;
import com.intel.realsense.librealsense.Extension;
import com.intel.realsense.librealsense.Frame;
import com.intel.realsense.librealsense.FrameReleaser;
import com.intel.realsense.librealsense.FrameSet;
import com.intel.realsense.librealsense.GLRsSurfaceView;
import com.intel.realsense.librealsense.Pipeline;
import com.intel.realsense.librealsense.PipelineProfile;
import com.intel.realsense.librealsense.RsContext;
import com.intel.realsense.librealsense.StreamType;
import com.intel.realsense.librealsense.VideoFrame;

import org.opencv.android.OpenCVLoader;
import org.opencv.core.CvType;
import org.opencv.core.Mat;

import java.io.File;
import java.io.FileOutputStream;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.text.SimpleDateFormat;
import java.util.Date;

public class MainActivity extends AppCompatActivity {

static {
if(!OpenCVLoader.initDebug())
{
Log.d("opencv","初始化失败");
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Log in Chinese??

}
}

private static final String TAG = "librs capture example";
private static final int PERMISSIONS_REQUEST_CAMERA = 0;
private static final int PERMISSIONS_REQUEST_WRITE = 1;

private boolean mPermissionsGranted = false;

Expand All @@ -47,12 +77,22 @@ protected void onCreate(Bundle savedInstanceState) {
mAppContext = getApplicationContext();
mBackGroundText = findViewById(R.id.connectCameraText);
mGLSurfaceView = findViewById(R.id.glSurfaceView);

Button button1 = (Button) findViewById(R.id.startRecordFab);
button1.setOnClickListener(new View.OnClickListener() {
@Override
public void onClick(View v) {
toggleRecording();
}
});

mGLSurfaceView.setSystemUiVisibility(View.SYSTEM_UI_FLAG_LOW_PROFILE
| View.SYSTEM_UI_FLAG_FULLSCREEN
| View.SYSTEM_UI_FLAG_LAYOUT_STABLE
| View.SYSTEM_UI_FLAG_IMMERSIVE_STICKY
| View.SYSTEM_UI_FLAG_LAYOUT_HIDE_NAVIGATION
| View.SYSTEM_UI_FLAG_HIDE_NAVIGATION);
| View.SYSTEM_UI_FLAG_FULLSCREEN
| View.SYSTEM_UI_FLAG_LAYOUT_STABLE
| View.SYSTEM_UI_FLAG_IMMERSIVE_STICKY
| View.SYSTEM_UI_FLAG_LAYOUT_HIDE_NAVIGATION
| View.SYSTEM_UI_FLAG_HIDE_NAVIGATION);


// Android 9 also requires camera permissions
if (android.os.Build.VERSION.SDK_INT > android.os.Build.VERSION_CODES.O &&
Expand All @@ -61,6 +101,11 @@ protected void onCreate(Bundle savedInstanceState) {
return;
}

if (ContextCompat.checkSelfPermission(this, Manifest.permission.WRITE_EXTERNAL_STORAGE) != PackageManager.PERMISSION_GRANTED) {
ActivityCompat.requestPermissions(this, new String[]{Manifest.permission.WRITE_EXTERNAL_STORAGE}, 0);
return;
}

mPermissionsGranted = true;
}

Expand All @@ -73,9 +118,15 @@ protected void onDestroy() {
@Override
public void onRequestPermissionsResult(int requestCode, String permissions[], int[] grantResults) {
if (ContextCompat.checkSelfPermission(this, Manifest.permission.CAMERA) != PackageManager.PERMISSION_GRANTED) {
ActivityCompat.requestPermissions(this, new String[]{Manifest.permission.CAMERA}, PERMISSIONS_REQUEST_CAMERA);
ActivityCompat.requestPermissions(this, new String[]{Manifest.permission.CAMERA}, PERMISSIONS_REQUEST_WRITE);
return;
}

if (ContextCompat.checkSelfPermission(this, Manifest.permission.WRITE_EXTERNAL_STORAGE) != PackageManager.PERMISSION_GRANTED) {
ActivityCompat.requestPermissions(this, new String[]{Manifest.permission.WRITE_EXTERNAL_STORAGE}, 0);
return;
}

mPermissionsGranted = true;
}

Expand Down Expand Up @@ -144,10 +195,9 @@ public void onDeviceDetach() {
@Override
public void run() {
try {
try(FrameSet frames = mPipeline.waitForFrames()) {
try(FrameSet processed = frames.applyFilter(mColorizer)) {
mGLSurfaceView.upload(processed);
}
try(FrameReleaser fr = new FrameReleaser()) {
FrameSet framesProcessed = mPipeline.waitForFrames().releaseWith(fr);
mGLSurfaceView.upload(framesProcessed);
}
mHandler.post(mStreaming);
}
Expand Down Expand Up @@ -196,4 +246,85 @@ private synchronized void stop() {
Log.d(TAG, "failed to stop streaming");
}
}

public void toggleRecording() {
try (FrameReleaser fr = new FrameReleaser()) {
try (FrameSet frames = mPipeline.waitForFrames().releaseWith(fr)) {
// Frame depth = frames.first(StreamType.DEPTH).releaseWith(fr);
// DepthFrame depthFrame = depth.as(Extension.DEPTH_FRAME);
// depthFrame.releaseWith(fr);
// saving raw depth data
// Mat mDepth = new Mat(depthFrame.getHeight(), depthFrame.getWidth(), CvType.CV_16UC1);
// int size = (int) (mDepth.total() * mDepth.elemSize());
// byte[] return_buff_depth = new byte[size];
// depthFrame.getData(return_buff_depth);
// short[] shorts = new short[size / 2];
// ByteBuffer.wrap(return_buff_depth).order(ByteOrder.LITTLE_ENDIAN).asShortBuffer().get(shorts);
// mDepth.put(0, 0, shorts);
Align align = new Align(StreamType.COLOR);
String folderPath = "/storage/emulated/0/graduateDesign/";
String profile = "lhh";
SimpleDateFormat sdf = new SimpleDateFormat("yyyyMMdd_HHmmss");
String currentDateAndTime = sdf.format(new Date());

//Path path = Paths.get(folderPath, String.format("%spixelDepthData%s.npy", profile, currentDateAndTime));
//NpyFile.write(path, shorts);
// applying Colorizer
try (FrameSet processed = frames.applyFilter(align).releaseWith(fr).applyFilter(mColorizer).releaseWith(fr)) {
Frame depthColored = processed.first(StreamType.DEPTH).releaseWith(fr);
DepthFrame depthColorFrame = depthColored.as(Extension.DEPTH_FRAME);
depthColorFrame.releaseWith(fr);
Frame color = processed.first(StreamType.COLOR).releaseWith(fr);
VideoFrame colorFrame = color.as(Extension.VIDEO_FRAME);
colorFrame.releaseWith(fr);

// capturing color image
Mat mRGB = new Mat(colorFrame.getHeight(), colorFrame.getWidth(), CvType.CV_8UC3);
byte[] return_buff = new byte[colorFrame.getDataSize()];
colorFrame.getData(return_buff);
mRGB.put(0, 0, return_buff);

Bitmap bmp = Bitmap.createBitmap(mRGB.cols(), mRGB.rows(), Bitmap.Config.ARGB_8888);
org.opencv.android.Utils.matToBitmap(mRGB, bmp);

File imgFile = new File(folderPath, profile + "colorFrame-" + currentDateAndTime + ".jpg");
try {
FileOutputStream out2 = new FileOutputStream(imgFile);
bmp.compress(Bitmap.CompressFormat.JPEG, 100, out2);
out2.flush();
out2.close();
} catch (Exception e) {
e.printStackTrace();
}

// capturing colorized depth image
Mat mDepthColorized = new Mat(depthColorFrame.getHeight(), depthColorFrame.getWidth(), CvType.CV_8UC3);
byte[] return_buff_DepthColor = new byte[depthColorFrame.getDataSize()];
depthColorFrame.getData(return_buff_DepthColor);
mDepthColorized.put(0, 0, return_buff_DepthColor);

Bitmap bmpDepthColor = Bitmap.createBitmap(mDepthColorized.cols(), mDepthColorized.rows(), Bitmap.Config.ARGB_8888);
org.opencv.android.Utils.matToBitmap(mDepthColorized, bmpDepthColor);

File imgFileDepthColor = new File(folderPath, profile + "depthFrame-" + currentDateAndTime + ".jpg");
try {
FileOutputStream out3 = new FileOutputStream(imgFileDepthColor);
bmpDepthColor.compress(Bitmap.CompressFormat.JPEG, 100, out3);
out3.flush();
out3.close();
} catch (Exception e) {
e.printStackTrace();
}
} catch (Exception e) {
e.printStackTrace();
}
} catch (Exception e) {
e.printStackTrace();
}
} catch (Exception e) {
e.printStackTrace();
}
}

}

17 changes: 15 additions & 2 deletions wrappers/android/examples/capture/src/main/res/layout/activity_main.xml
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Expand Up @@ -3,13 +3,14 @@
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
android:layout_height="match_parent"
xmlns:app="http://schemas.android.com/apk/res-auto"
android:background="@color/black"
android:orientation="horizontal">

<com.intel.realsense.librealsense.GLRsSurfaceView
android:id="@+id/glSurfaceView"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:id="@+id/glSurfaceView"/>
android:layout_height="match_parent" />

<androidx.appcompat.widget.LinearLayoutCompat
android:id="@+id/buttonPanel"
Expand All @@ -29,5 +30,17 @@
android:textColor="#ffffff"/>
</androidx.appcompat.widget.LinearLayoutCompat>

<Button android:text="@string/message1"
android:id="@+id/startRecordFab"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_alignParentBottom="true"
android:layout_centerHorizontal="true"
android:layout_marginBottom="40dp"
android:backgroundTint="#ffffff"
android:clickable="true"
android:visibility="visible" />



</RelativeLayout>
1 change: 1 addition & 0 deletions wrappers/android/examples/capture/src/main/res/values/strings.xml
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@@ -1,3 +1,4 @@
<resources>
<string name="app_name">RS Capture</string>
<string name="message1">拍照</string>
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Message in chinese???

</resources>
14 changes: 7 additions & 7 deletions wrappers/android/examples/java_example/app/build.gradle
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@@ -1,14 +1,14 @@
apply plugin: 'com.android.application'

android {
compileSdkVersion 30
compileSdkVersion 28
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Compile sdk should be the latest not an old one

defaultConfig {
applicationId "com.example.realsense_java_example"
minSdkVersion 19
targetSdkVersion 30
targetSdkVersion 28
versionCode 1
versionName "1.0"
testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
testInstrumentationRunner "android.support.test.runner.AndroidJUnitRunner"
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Why this? androidx is now the preferred way

}
buildTypes {
release {
Expand All @@ -20,11 +20,11 @@ android {

dependencies {
implementation fileTree(dir: 'libs', include: ['*.jar'])
implementation 'androidx.appcompat:appcompat:1.2.0'
implementation 'androidx.constraintlayout:constraintlayout:2.0.4'
implementation 'com.android.support:appcompat-v7:28.0.0'
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here too androidX is the preferred way

implementation 'com.android.support.constraint:constraint-layout:1.1.3'
testImplementation 'junit:junit:4.12'
androidTestImplementation 'androidx.test.ext:junit:1.1.2'
androidTestImplementation 'androidx.test.espresso:espresso-core:3.3.0'
androidTestImplementation 'com.android.support.test:runner:1.0.2'
androidTestImplementation 'com.android.support.test.espresso:espresso-core:3.0.2'
}

//The lines below add librealsense to the application's dependencies
Expand Down
4 changes: 2 additions & 2 deletions wrappers/android/examples/java_example/app/src/main/res/layout/activity_main.xml
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@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
<android.support.constraint.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
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AndroidX is the preferred way

xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:layout_width="match_parent"
Expand All @@ -16,4 +16,4 @@
app:layout_constraintRight_toRightOf="parent"
app:layout_constraintTop_toTopOf="parent" />

</androidx.constraintlayout.widget.ConstraintLayout>
</android.support.constraint.ConstraintLayout>
6 changes: 3 additions & 3 deletions wrappers/android/examples/java_example/build.gradle
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Expand Up @@ -4,10 +4,10 @@ buildscript {

repositories {
google()
mavenCentral()
jcenter()
}
dependencies {
classpath 'com.android.tools.build:gradle:4.2.1'
classpath 'com.android.tools.build:gradle:3.2.1'


// NOTE: Do not place your application dependencies here; they belong
Expand All @@ -18,7 +18,7 @@ buildscript {
allprojects {
repositories {
google()
mavenCentral()
jcenter()
}
}

Expand Down
2 changes: 0 additions & 2 deletions wrappers/android/examples/java_example/gradle.properties
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Expand Up @@ -11,7 +11,5 @@ org.gradle.jvmargs=-Xmx1536m
# This option should only be used with decoupled projects. More details, visit
# http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects
# org.gradle.parallel=true
android.enableJetifier=true
android.useAndroidX=true


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