android-non-root-demo

1 Overview

"android-non-root-demo" demonstrates how to develop Android apk by Xvisio Android SDK（APK Version).

2 Build and Run

2.1 Build Environment

1. Install "Android Studio" in Linux/Windows OS.Click here to download.
2. Open "SDK Manager" with "Android Studio" to donwload the latest Android SDK and NDK.
3. Download the latest "android-non-root-demo" from Github. Click here to download.
4. Check the version of "android-non-root-demo". android-non-root-demo/xvsdk/build.gradle

    defaultConfig {
        versionCode 3xxx
        versionName "3.x.x-xxxxxxxx"

5. Click here to get the latest SDK installation package: Please download the package with the name of "xvsdk_3.x.x-xxxxxxx_android_apk.zig".
6. Unzip "xvsdk_3.x.x-xxxxxxx_android_apk.zig" and copy the file into "android-non-root-demo" to replace the latest SDK. File path: android-non-root-demo/xvsdk/src/main/cpp/xvsdk/. The replaced SDK directory is shown as below：

android-non-root-demo/xvsdk/src/main/cpp/xvsdk
├── android                                      
├── bin                                 
├── doc   
├── examples 
├── include 
├── include2 
├── libs 
├── unity-wrapper 
├── ChangeLog 
├── deploy-arm64-v8a.sh 
├── deploy-armeabi-v7a.sh   
├── deploy-x86_64.sh  
└── README.md                      
              

2.2 Complie

1. Start "android-non-root-demo" with "Android Studio".

2. Build->Make Project to compile project.Run->Run 'app' to install after compling.

3. Connect XVisio deivce with Android device by USB. Android device will pop up selection dialog box after connecting successfully as below:

   

4. Start "xslam".

3 Code Introduction

3.1 Demo Directory

android-non-root-demo
├── app                                      -- main interface module
├── landmode                                 -- Horizontal screen mode module
└── xvsdk/src/main                           -- xvsdk module
    ├── cpp
    │   ├── wrapper                          -- xvsdk JNI interface   
    │   └── xvsdk                            -- Xvisio Android SDK（APK version）
    └── java                                 -- xvsdk java interface

3.2 Main File

3.3 Code Analysis and Introduction

1. Add permission for file "AndroidManifest.xml"：

    <uses-permission android:name="android.permission.CAMERA" />
    <uses-permission android:name="android.permission.USB_PERMISSION" />
    <uses-permission android:name="android.permission.INTERNET" />
    <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
    <uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />
    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
    <uses-permission android:name="android.permission.MANAGE_EXTERNAL_STORAGE" />

    <uses-feature android:name="android.hardware.usb.host" />
    <uses-feature android:name="android.hardware.camera" />

2. Add USB device monitoring setting in the main Activity in file "AndroidManifest.xml":

   <intent-filter>
      <action android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" />
   </intent-filter>

   <meta-data
      android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED"
      android:resource="@xml/usb_filter" />

3. Initial SDK register device connect callback:

   XCamera mCamera = new XCamera();
   mCamera.init(mAppContext);
   mCamera.setDevicesChangedCallback(mListener);

4. Get IMU data:

    ImuListener mImuListener = new ImuListener() {
        @Override
        public void onImu(double x, double y, double z) {

        }
    };
    mCamera.setImuCallback(mImuListener);
    mCamera.startStream(XCamera.Stream.IMU);

5. Get SLAM 6DOF data:

    PoseListener mPoseListener = new PoseListener() {
        @Override
        public void onPose(double x, double y, double z, double pitch, double yaw, double roll) {

        }
    };
    mCamera.setPoseCallback(mPoseListener);
    mCamera.startStream(XCamera.Stream.SLAM);

6. Get RGB data:

    RgbListener mRgbListener = new RgbListener() {
        @Override
        public void onFps(int fps) {

        }

        @Override
        public void onRgb(int width, int height, int[] pixels) {

        }
    };
    mCamera.setRgbCallback(mRgbListener);
    mCamera.startStream(XCamera.Stream.RGB);

7. Get TOF data:

    TofListener mTofListener = new TofListener() {
        @Override
        public void onTof(int width, int height, int[] pixels) {
            
        }
    };
    TofListener mTofIrListener = new TofIrListener() {
        @Override
        public void onTofIr(int width, int height, int[] pixels) {
            
        }
    };
    mCamera.setTofCallback(mTofListener);
    mCamera.setTofIrCallback(mTofIrListener);
    mCamera.startStream(XCamera.Stream.TOF);

8. Get fisheye data:

    StereoListener mStereoListener = new StereoListener() {
        @Override
        public void onStereo(int width, int height, int[] pixels) {

        }
    };
    mCamera.setStereoCallback(mStereoListener);
    mCamera.startStream(XCamera.Stream.STEREO);

9. Get SGBM data:

    SgbmListener mSgbmListener = new SgbmListener() {
        @Override
        public void onSgbm(int width, int height, int[] pixels) {

        }
    };
    mCamera.setSgbmCallback(mSgbmListener);
    mCamera.startStream(XCamera.Stream.SGBM);

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