Visual-Inertial Odometry (VIO) benchmark app for Android

Usage

There different modes in the application are explained below

Data collection

Saves data as tarballs to the "external cache" folder on the disk. Accessible via ADB

# list files
adb shell ls -lha /storage/emulated/0/Android/data/org.example.viotester/cache/recordings

# download data (example)
adb pull /storage/emulated/0/Android/data/org.example.viotester/cache/recordings/20191031104043.tar

These files can also be shared directly from the phone using the Share recording button. To remove the recordings from the phone, either use ADB (adb shell rm ...) or just clear the cache from Android settings, e.g., Long tap icon -> App info -> Storage & Cache -> Clear cache.

For data collection, the recommended settings are

• Resolution: 1280x960
• (Target) FPS: 30

TODO: the real recording FPS will not currently be stored to the recorded video, which may produce speedups in playback. However, this does not otherwise affect the algorithm and since the true timestamps of the frames are stored in the other recording file, the problem is fixable later with, e.g, FFMpeg.

Camera calibration

Approximates camera parameters using OpenCV on phones whose Camera 2 API does provide these values

1. Print or open this pattern on your screen.
2. Move camera so that the pattern is viewed from different angles and at different locations on the screen (center & edges)
3. The camera parameters at the current resolution are printed on screen (TODO: share to Slack etc.)

Build

First, configure using

./configure.sh

Note: you will also have to do this after changing anything in preferences.xml. In addition to merging the available settings XML files, it creates a dummy google-services.json if you don't have one.

Linux/Mac setup

On Debian Stretch, these packages needed to be installed with apt-get

• ninja
• ccache
• openjdk-8-jdk

Also an Android SDK and Android NDK need to be installed. The project can be run in Android Studio.

ARCore test mode

Can be used to compare other methods to Google ARCore. Enabled by changing the build flavor to arcore.

AREngine test mode

Enables comparison to Huawei AREngine. Enabled by changing the build flavor to arengine. Requirements:

• Supported Huawei phone

Copyright

The files under app/src/arcore that say so at the top of the file, are Licensed under Apache 2 (© Google). They have been copied from the ARCore SDK examples. To see how they have been modified from their original versions, see comments beginning with "NOTE".

The original code in this repository is also licensed under Apache 2.0.

The depenency mobile-cv-suite is a collection of libraries licensed under various OSS licenses, including LGPL. See the repository for more details.