Skip to content

Commit

Permalink
Merge pull request rosjava#24 from talregev/kinetic
Browse files Browse the repository at this point in the history 
Add android all sensor driver.
  • Loading branch information
Juan Ignacio Ubeira authored May 30, 2019
2 parents 3d8468f + 0bb5746 commit eb015a5
Show file tree
Hide file tree
Showing 33 changed files with 2,383 additions and 0 deletions.
32 changes: 32 additions & 0 deletions android_all_sensors_driver/build.gradle
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,32 @@
/*
* Copyright (c) 2015, Tal Regev
* All rights reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not
* use this file except in compliance with the License. You may obtain a copy of
* the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations under
* the License.
*/

apply plugin: "com.android.application"

//noinspection GroovyAssignabilityCheck
dependencies {
compile 'org.ros.android_core:android_core_components:[0.4,0.5)'
compile group: 'org.opencv', name: 'openCVLibrary', version: '3.4.0'
}

android {
defaultConfig {
applicationId "org.ros.android.android_all_sensors_driver"
minSdkVersion 16
targetSdkVersion 28
}
}
57 changes: 57 additions & 0 deletions android_all_sensors_driver/src/main/AndroidManifest.xml
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,57 @@
<?xml version="1.0" encoding="utf-8"?>
<manifest
package="org.ros.android.android_all_sensors_driver"
xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools">

<uses-permission android:name="android.permission.ACCESS_WIFI_STATE"/>
<uses-permission android:name="android.permission.CHANGE_WIFI_STATE"/>
<uses-permission android:name="android.permission.INTERNET"/>
<uses-permission android:name="android.permission.WAKE_LOCK"/>
<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE"/>
<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION"/>
<uses-permission android:name="android.permission.NFC"/>
<uses-permission android:name="android.permission.CAMERA"/>
<uses-permission android:name="android.permission.FOREGROUND_SERVICE"/>

<supports-screens
android:xlargeScreens="true" android:largeScreens="true"
android:normalScreens="true" android:smallScreens="true"
android:anyDensity="true" />

<application
android:allowBackup="true"
android:icon="@mipmap/all_sensors_launcher"
android:label="@string/app_name"
android:theme="@style/Theme.AppCompat"
tools:replace="android:icon,android:label">
<activity
android:name="org.ros.android.android_all_sensors_driver.MainActivity"
android:configChanges="orientation|keyboardHidden"
android:label="@string/app_name"
android:screenOrientation="landscape">
<intent-filter>
<action android:name="android.intent.action.MAIN"/>

<category android:name="android.intent.category.LAUNCHER"/>
</intent-filter>

<intent-filter>
<action android:name="android.nfc.action.NDEF_DISCOVERED"/>
<category android:name="android.intent.category.DEFAULT"/>
<data
android:host="ros.org"
android:path="/wiki/android_sensors_driver/install"
android:scheme="http"/>
</intent-filter>
</activity>

<activity
android:name=".MasterChooser"
android:screenOrientation="portrait">
</activity>

<service android:name="org.ros.android.NodeMainExecutorService"/>
</application>

</manifest>
287 changes: 287 additions & 0 deletions ...sors_driver/src/main/java/org/ros/android/android_all_sensors_driver/CameraPublisher.java
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,287 @@
/*
* Copyright (c) 2011, Chad Rockey
* Copyright (c) 2015, Tal Regev
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Android Sensors Driver nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/

package org.ros.android.android_all_sensors_driver;

import android.hardware.Camera;
import android.util.Log;

import org.jboss.netty.buffer.ChannelBufferOutputStream;
import org.opencv.android.CameraBridgeViewBase.CvCameraViewFrame;
import org.opencv.android.CameraBridgeViewBase.CvCameraViewListener2;
import org.opencv.core.Mat;
import org.opencv.core.MatOfByte;
import org.opencv.core.MatOfInt;
import org.opencv.imgcodecs.Imgcodecs;
import org.opencv.imgproc.Imgproc;
import org.ros.internal.message.MessageBuffers;
import org.ros.message.Time;
import org.ros.namespace.GraphName;
import org.ros.namespace.NameResolver;
import org.ros.node.ConnectedNode;
import org.ros.node.Node;
import org.ros.node.NodeMain;
import org.ros.node.topic.Publisher;

import sensor_msgs.CameraInfo;
import sensor_msgs.CompressedImage;
import sensor_msgs.Image;

import static org.opencv.core.Core.flip;


/**
* @author chadrockey@gmail.com (Chad Rockey)
* @author axelfurlan@gmail.com (Axel Furlan)
* @author tal.regev@gmail.com (Tal Regev)
*/

public class CameraPublisher implements NodeMain, CvCameraViewListener2 {
private static final String TAG = "SENSORS:CameraPublisher";


protected ConnectedNode node = null;
protected Publisher<CompressedImage> imagePublisher;
protected Publisher<sensor_msgs.Image> rawImagePublisher;
protected Publisher<sensor_msgs.CameraInfo> cameraInfoPublisher;
protected sensor_msgs.CameraInfo cameraInfo;
protected int counter = 0;
@SuppressWarnings("deprecation")
protected Camera.CameraInfo info = new Camera.CameraInfo();
@SuppressWarnings("deprecation")
protected final int FRONT = Camera.CameraInfo.CAMERA_FACING_FRONT;
public String robotName;
public MainActivity mainActivity;


public CameraPublisher() {
}

@Override
public GraphName getDefaultNodeName() {
return GraphName.of("android_camera_driver/cameraPublisher");
}

@Override
public void onError(Node node, Throwable throwable) {
}

@Override
public void onStart(final ConnectedNode node) {
this.node = node;
NameResolver resolver;
resolver = node.getResolver().newChild(robotName + "/camera");
imagePublisher = node.newPublisher(resolver.resolve("image/compressed"), CompressedImage._TYPE);
cameraInfoPublisher = node.newPublisher(resolver.resolve("camera_info"), CameraInfo._TYPE);
rawImagePublisher = node.newPublisher(resolver.resolve("image/raw"), Image._TYPE);
Log.i(TAG, "called onStart");
}

@Override
public void onShutdown(Node arg0) {
}

@Override
public void onShutdownComplete(Node arg0) {
}

@Override
public void onCameraViewStarted(int width, int height) {
}

@Override
public void onCameraViewStopped() {
}

@Override
public Mat onCameraFrame(CvCameraViewFrame inputFrame) {
Mat frame = null;
Mat frameToSend = new Mat();
MatOfByte buf = new MatOfByte();
MatOfInt params;

counter = (counter + 1) % 2;
ChannelBufferOutputStream stream = new ChannelBufferOutputStream(MessageBuffers.dynamicBuffer());
switch (MainActivity.viewMode) {
case MainActivity.VIEW_MODE_RGBA:
frame = inputFrame.rgba();
break;
case MainActivity.VIEW_MODE_GRAY:
case MainActivity.VIEW_MODE_CANNY:
frame = inputFrame.gray();
break;
}
if (null != node && null != frame) {

//noinspection deprecation
android.hardware.Camera.getCameraInfo(MainActivity.mCameraId, info);
if (info.facing == FRONT)
{
flip(frame, frame,1);
}

switch (MainActivity.viewMode) {
case MainActivity.VIEW_MODE_RGBA:
Imgproc.cvtColor(frame, frameToSend, Imgproc.COLOR_RGBA2BGR);
break;
case MainActivity.VIEW_MODE_GRAY:
frameToSend = frame;
break;
case MainActivity.VIEW_MODE_CANNY:
Imgproc.Canny(frame, frame, 80, 100);
frameToSend = frame;
break;
}

MainActivity.eScreenOrientation orientation = mainActivity.getCurrentScreenOrientation();
switch (orientation)
{
case PORTRAIT:
flip(frameToSend, frameToSend, 1);
break;
case PORTRAIT_REVERSE:
flip(frameToSend, frameToSend, -1);
flip(frame, frame, 0);
break;
}

Time currentTime = node.getCurrentTime();

int cols = frame.cols();
int rows = frame.rows();

try {

cameraInfo = cameraInfoPublisher.newMessage();
cameraInfo.getHeader().setFrameId("camera");
cameraInfo.getHeader().setStamp(currentTime);
cameraInfo.setWidth(cols);
cameraInfo.setHeight(rows);
cameraInfoPublisher.publish(cameraInfo);


if (MainActivity.imageCompression >= MainActivity.IMAGE_TRANSPORT_COMPRESSION_PNG)
{
//Compressed image
CompressedImage image = imagePublisher.newMessage();

image.getHeader().setStamp(currentTime);
image.getHeader().setFrameId("camera");

switch (MainActivity.imageCompression)
{
case MainActivity.IMAGE_TRANSPORT_COMPRESSION_PNG:
image.setFormat("png");
params = new MatOfInt(Imgcodecs.IMWRITE_PNG_COMPRESSION, MainActivity.imagePNGCompressionQuality);
Imgcodecs.imencode(".png", frameToSend, buf, params);
break;
case MainActivity.IMAGE_TRANSPORT_COMPRESSION_JPEG:
image.setFormat("jpeg");
params = new MatOfInt(Imgcodecs.IMWRITE_JPEG_QUALITY, MainActivity.imageJPEGCompressionQuality);
Imgcodecs.imencode(".jpg", frameToSend, buf, params);
break;
}

stream.write(buf.toArray());
image.setData(stream.buffer().copy());

//noinspection UnusedAssignment
stream = null;
imagePublisher.publish(image);
}
else if (counter == 0)
{
// Raw image
Log.i(TAG, "Raw image start");

if(cols > 640)
{
rows = (int)((640.0 / cols) * rows);
cols = 640;
Mat resizeImage = new Mat(rows, cols, frameToSend.type());
Imgproc.resize(frameToSend, resizeImage, resizeImage.size());
frameToSend = resizeImage;
//noinspection UnusedAssignment
resizeImage = null;
}

int totalByteFrame = (safeLongToInt(frameToSend.total()));

Image rawImage = rawImagePublisher.newMessage();
rawImage.getHeader().setStamp(currentTime);
rawImage.getHeader().setFrameId("camera");

//from http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeCppCturtle
switch (MainActivity.viewMode) {
case MainActivity.VIEW_MODE_RGBA:
rawImage.setEncoding("bgr8");
break;
case MainActivity.VIEW_MODE_GRAY:
case MainActivity.VIEW_MODE_CANNY:
rawImage.setEncoding("mono8");
break;
}

rawImage.setWidth(cols);
rawImage.setHeight(rows);
rawImage.setStep(totalByteFrame / rows);

byte[] imageInBytes = new byte[totalByteFrame * frameToSend.channels()];
frameToSend.get(0, 0, imageInBytes);
stream.write(imageInBytes);

//noinspection UnusedAssignment
imageInBytes = null;

rawImage.setData(stream.buffer().copy());

//noinspection UnusedAssignment
stream = null;

rawImagePublisher.publish(rawImage);
Log.i(TAG, "Raw image end");
}
}
catch (Exception e)
{
Log.e(TAG, "Frame conversion and publishing throws an exception: " + e.getMessage());
}
}
return frame;
}

protected int safeLongToInt(long l) {
if (l < Integer.MIN_VALUE || l > Integer.MAX_VALUE) {
throw new IllegalArgumentException
(l + " cannot be cast to int without changing its value.");
}
return (int) l;
}
}
Loading

0 comments on commit eb015a5

Please sign in to comment.