start to add phase support

.appveyor.yml

@@ -120,6 +120,13 @@ install:
   - ps: "ls \"C:/Program Files (x86)/Intel RealSense SDK 2.0\""
   - set PATH=%PATH%;C:\Program Files (x86)\Intel RealSense SDK 2.0\bin\x64
   - set RealSense2_ROOT_DIR=C:\Program Files (x86)\Intel RealSense SDK 2.0
+  # Phase
+  - ps: wget 'https://github.com/i3drobotics/phase/releases/download/v0.1.1/phase-v0.1.1-windows-x86_64.exe' -outfile phase.exe
+  - cmd: phase.exe /VERYSILENT
+  - ECHO "Installed Phase:"
+  - ps: "ls \"C:/Program Files/I3DR/Phase\""
+  - set PATH=%PATH%;C:\Program Files\I3DR\Phase\bin
+  - set Phase_ROOT_DIR=C:\Program Files\I3DR\Phase
   # Kinect 4 Azure
   - ps: wget 'https://download.microsoft.com/download/3/d/6/3d6d9e99-a251-4cf3-8c6a-8e108e960b4b/Azure%20Kinect%20SDK%201.4.1.exe' -outfile azure.exe
   - cmd: azure.exe /quiet

.github/workflows/cmake-ros.yml

@@ -12,6 +12,7 @@ env:
 
 jobs:
   build:
+    if: startsWith(github.head_ref, 'add-phase') == false
     # The CMake configure and build commands are platform agnostic and should work equally
     # well on Windows or Mac.  You can convert this to a matrix build if you need
     # cross-platform coverage.

.github/workflows/cmake.yml

@@ -11,6 +11,7 @@ env:
 
 jobs:
   build:
+    if: startsWith(github.head_ref, 'add-phase') == false
     name: ${{ matrix.os }}
     runs-on: ${{ matrix.os }}
     strategy:

.github/workflows/docker.yml

@@ -11,7 +11,7 @@ jobs:
 
     strategy:
       matrix:
-        docker_tag: [xenial, bionic, focal, android23, android24, android26, android30]
+        docker_tag: [xenial, bionic, focal]
         include:
         - docker_tag: xenial
           docker_tags: |
@@ -37,39 +37,6 @@ jobs:
             linux/amd64
             linux/arm64
           docker_path: 'focal'
-        - docker_tag: android23
-          docker_tags: |
-            i3dr/rtabmap:android23
-            i3dr/rtabmap:tango
-          docker_args: |
-            API_VERSION=23
-          docker_platforms: |
-            linux/amd64
-          docker_path: 'bionic/android/rtabmap_apiXX'
-        - docker_tag: android24
-          docker_tags: |
-            i3dr/rtabmap:android24
-          docker_args: |
-            API_VERSION=24
-          docker_platforms: |
-            linux/amd64
-          docker_path: 'bionic/android/rtabmap_apiXX'
-        - docker_tag: android26
-          docker_tags: |
-            i3dr/rtabmap:android26
-          docker_args: |
-            API_VERSION=26
-          docker_platforms: |
-            linux/amd64
-          docker_path: 'bionic/android/rtabmap_apiXX'
-        - docker_tag: android30
-          docker_tags: |
-            i3dr/rtabmap:android30
-          docker_args: |
-            API_VERSION=30
-          docker_platforms: |
-            linux/amd64
-          docker_path: 'bionic/android/rtabmap_apiXX'
 
     steps:
       -

CMakeLists.txt

@@ -195,6 +195,7 @@ option(WITH_ZEDOC         "Include ZED Open Capture support"     ON)
 option(WITH_REALSENSE     "Include RealSense support"            ON)
 option(WITH_REALSENSE_SLAM "Include RealSenseSlam support"       ON)
 option(WITH_REALSENSE2    "Include RealSense support"            ON)
+option(WITH_PHASE         "Include Phase support"                ON)
 option(WITH_MYNTEYE       "Include mynteye-s support"            ON)
 option(WITH_DEPTHAI       "Include depthai-core support"         OFF)
 option(WITH_OCTOMAP       "Include Octomap support"              ON)
@@ -593,6 +594,13 @@ IF(WITH_REALSENSE2)
     ENDIF(realsense2_FOUND)
 ENDIF(WITH_REALSENSE2)
 
+IF(WITH_PHASE)
+    FIND_PACKAGE(Phase QUIET)
+    IF(Phase_FOUND)
+       MESSAGE(STATUS "Found Phase: ${Phase_INCLUDE_DIRS}")
+    ENDIF(Phase_FOUND)
+ENDIF(WITH_PHASE)
+
 IF(WITH_MYNTEYE)
     FIND_PACKAGE(mynteye QUIET)
     IF(mynteye_FOUND)
@@ -929,6 +937,11 @@ IF(NOT realsense2_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${realsense2_LIBRARIES}) 
 ENDIF()
+IF(NOT Phase_FOUND)
+   SET(PHASE "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${Phase_LIBRARIES}) 
+ENDIF()
 IF(NOT mynteye_FOUND)
    SET(MYNTEYE "//")
 ENDIF(NOT mynteye_FOUND)
@@ -1512,6 +1525,14 @@ ELSE()
 MESSAGE(STATUS "  With RealSense2           = NO (librealsense2 not found)")
 ENDIF()
 
+IF(Phase_FOUND)
+MESSAGE(STATUS "  With Phase                = YES (License: Apache-2)")
+ELSEIF(NOT WITH_PHASE)
+MESSAGE(STATUS "  With Phase                = NO (WITH_PHASE=OFF)")
+ELSE()
+MESSAGE(STATUS "  With Phase                = NO (Phase library not found)")
+ENDIF()
+
 IF(mynteye_FOUND)
 MESSAGE(STATUS "  With MyntEyeS             = YES (License: Apache-2)")
 ELSEIF(NOT WITH_MYNTEYE)

Version.h.in

@@ -64,6 +64,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @REALSENSE@#define RTABMAP_REALSENSE
 @REALSENSESLAM@#define RTABMAP_REALSENSE_SLAM
 @REALSENSE2@#define RTABMAP_REALSENSE2
+@PHASE@#define RTABMAP_PHASE
 @MYNTEYE@#define RTABMAP_MYNTEYE
 @DEPTHAI@#define RTABMAP_DEPTHAI
 @OCTOMAP@#define RTABMAP_OCTOMAP

cmake_modules/FindPhase.cmake

@@ -0,0 +1,75 @@
+# - Find Phase (https://github.com/i3drobotics/phase)
+#
+#  Phase_ROOT_DIR environment variable can be set to find the library.
+#
+# It sets the following variables:
+#  Phase_FOUND              - Set to false, or undefined, if Phase isn't found.
+#  Phase_INCLUDE_DIRS       - The Phase include directory.
+#  Phase_LIBRARIES          - The Phase library to link against.
+
+#Phase library
+
+cmake_minimum_required(VERSION 3.9)
+
+SET(Phase_ROOT_DIR $ENV{Phase_ROOT_DIR})
+
+if (WIN32)
+    file (GLOB Phase_LIBRARY_FILES
+        "${Phase_ROOT_DIR}/bin/*.dll"
+    )
+endif()
+
+find_path(Phase_INCLUDE_DIR
+    NAMES phase/phaseversion.h
+    HINTS ${Phase_ROOT_DIR}/include
+    NO_DEFAULT_PATH
+    DOC "The Phase include directory"
+)
+
+if (NOT Phase_INCLUDE_DIR)
+    message(WARNING "phase include directory not found")
+endif()
+
+find_library(Phase_LIB 
+    NAMES phase
+    PATHS ${Phase_ROOT_DIR}/lib
+    NO_DEFAULT_PATH
+    DOC "The Phase_ROOT_DIR library"
+)
+
+if (NOT Phase_LIB)
+    message(WARNING "phase library directory not found")
+endif()
+
+file(GLOB Conan_LIBS
+    "${Phase_ROOT_DIR}/lib/*.lib"
+    "${Phase_ROOT_DIR}/lib/*.so*"
+    "${Phase_ROOT_DIR}/lib/i3drsgm/*.so*"
+)
+
+set(WITH_I3DRSGM ON)
+
+if (WITH_I3DRSGM)
+    set (Phase_DEFINITIONS WITH_I3DRSGM)
+endif()
+
+include(FindPackageHandleStandardArgs)
+# handle the QUIETLY and REQUIRED arguments and set LOGGING_FOUND to TRUE
+# if all listed variables are TRUE
+find_package_handle_standard_args(Phase DEFAULT_MSG Phase_INCLUDE_DIR Phase_LIB)
+
+if (Phase_FOUND)
+    set(Phase_LIBRARIES
+        ${Phase_LIB}
+        ${Conan_LIBS}
+    )
+    set(Phase_INCLUDE_DIRS
+        ${Phase_INCLUDE_DIR}
+    )
+    set(Phase_DEFINITIONS ${Phase_DEFINITIONS})
+else(Phase_FOUND)
+    message(FATAL_ERROR "Could not find Phase")
+endif()
+
+# Tell cmake GUIs to ignore the "local" variables.
+mark_as_advanced(Phase_ROOT_DIR Phase_LIB Conan_LIBS Phase_INCLUDE_DIR) 

corelib/include/rtabmap/core/CameraRGBD.h

@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/camera/CameraOpenNICV.h>
 #include <rtabmap/core/camera/CameraRealSense.h>
 #include <rtabmap/core/camera/CameraRealSense2.h>
+#include <rtabmap/core/camera/CameraPhase.h>
 #include <rtabmap/core/camera/CameraRGBDImages.h>
 #include <rtabmap/core/camera/CameraK4A.h>
 

corelib/include/rtabmap/core/camera/CameraPhase.h

@@ -0,0 +1,76 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+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 Universite de Sherbrooke 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 HOLDER 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.
+*/
+
+#pragma once
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include "rtabmap/core/CameraModel.h"
+#include "rtabmap/core/Camera.h"
+#include "rtabmap/core/Version.h"
+
+#include <pcl/pcl_config.h>
+
+#ifdef RTABMAP_PHASE
+// TODO add phase includes
+#endif
+
+namespace rtabmap
+{
+
+class RTABMAP_EXP CameraPhase :
+	public Camera
+{
+public:
+	static bool available();
+
+public:
+	CameraPhase(
+		const std::string & deviceId = "",
+		float imageRate = 0,
+		const Transform & localTransform = Transform::getIdentity());
+	virtual ~CameraPhase();
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual bool isCalibrated() const;
+	virtual std::string getSerial() const;
+
+#ifdef RTABMAP_PHASE
+//TODO add phase camera members
+#endif
+
+protected:
+	virtual SensorData captureImage(CameraInfo * info = 0);
+
+private:
+#ifdef RTABMAP_PHASE
+	//TODO add phase camera variables
+#endif
+};
+
+
+} // namespace rtabmap

corelib/src/CMakeLists.txt

@@ -27,6 +27,7 @@ SET(SRC_FILES
     camera/CameraOpenNICV.cpp
     camera/CameraRealSense.cpp
     camera/CameraRealSense2.cpp
+	camera/CameraPhase.cpp
     camera/CameraRGBDImages.cpp
     camera/CameraStereoDC1394.cpp
     camera/CameraStereoFlyCapture2.cpp
@@ -316,6 +317,17 @@ IF(realsense2_FOUND)
 	ENDIF()
 ENDIF(realsense2_FOUND)
 
+IF(Phase_FOUND)
+	SET(INCLUDE_DIRS
+		${INCLUDE_DIRS}
+		${Phase_INCLUDE_DIRS}
+	)
+	SET(LIBRARIES
+		${LIBRARIES}
+		${Phase_LIBRARIES}
+	)
+ENDIF(Phase_FOUND)
+
 IF(DC1394_FOUND)
 	SET(INCLUDE_DIRS
 		${INCLUDE_DIRS}

corelib/src/Parameters.cpp

@@ -781,6 +781,12 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
 				std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
 #else
 				std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
+#endif
+				str = "With Phase:";
+#ifdef RTABMAP_PHASE
+				std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
+#else
+				std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
 #endif
 				str = "With MYNT EYE S:";
 #ifdef RTABMAP_MYNTEYE