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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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RTABmap android build with Realsense 2 #463

Open TheBricktop opened 4 years ago

TheBricktop commented 4 years ago

Since there is a way now to connect intel realsense 2 capable cameras with unrooted phones runnning android 7 and up, could it be possible to compile old tango app with realsense v2 support? If so how to start with building it locally?

matlabbe commented 4 years ago

If we can use realsense on unrooted phones, yes that could be possible. However, can you refer a link on an example of realsense running on an unrooted phone? The best with a simple code example on how to get the frames. Which cameras are compatible (D435, D435i, T265)?

The modify android app, the longer part is to get a developing environment ready. We can use the docker image: https://github.com/introlab/rtabmap/wiki/Installation#tango-android-development-eclipse EDIT: there is an installation script here to setup android development on an Ubuntu host computer.

Then we may have to make a realsense2 camera driver for android working with rtabmap. In contrast to Tango, we would need to add the RTAB-Map's odometry thread to compute a pose with D435 cameras OR use ARCore to get the pose of the phone (assuming that we can find the transform between realsense camera and ARCore tracking frame).

TheBricktop commented 4 years ago

I can even provide You with freshly compiled librealsense2 for android, that I've used in Unity project of mine. It kinda works out of the box with realsense sdk in unity. Currently D435 and D435i are compatible, but t265 could be compatible if i manage to compile the hacky driver for it on android. ( its here if You want it ) for example there is unofficial realsense app on gplay that runs out of the box with d435. As for odometry I am very much looking into porting RTABMAP vo for and relocalisation to android (or even unity, im like a broken record) cause ARcore has stagnated so much that we are resorting to adding external vslam cameras to achieve something similar. @matlabbe

TheBricktop commented 4 years ago

Im currently working on a simple app combining the realsense depth camera solution and the ARcore capabilities to create a simple point cloud in Unity will post the results

matlabbe commented 4 years ago

Note that RTAB-Map tango app has been recently refactored to be independent of Google Tango. It works with ARCore and AREngine. There are new Camera drivers here: https://github.com/introlab/rtabmap/tree/master/app/android/jni.

TheBricktop commented 4 years ago

so it could work in tandem with realsense camera? it could be awesome! because currently librealsense2 works on unrooted phones, I use usb c-c connection for it @matlabbe

cerrajeriasabaris commented 2 months ago

Hi, did you get Realsense to work? I have tested dot 3d on an android phone with realsense 435i and what is achieved is impressive... unfortunately I have no idea of ​​programming to compile an apk
Can someone help me or give me an apk in addition to paying I would appreciate it Hello, did you manage to get realsense working

parkerlreed commented 3 weeks ago

Would be great to have the realsense drivers available for the Android port.