smartglasses/code/CameraActivity.java

package com.yeyupiaoling.teststadiometry;

import androidx.annotation.NonNull;
import androidx.appcompat.app.AppCompatActivity;

import android.Manifest;
import android.annotation.SuppressLint;
import android.content.Context;
import android.content.pm.PackageManager;
import android.graphics.Bitmap;
import android.graphics.ImageFormat;
import android.graphics.Matrix;
import android.graphics.SurfaceTexture;
import android.hardware.camera2.CameraAccessException;
import android.hardware.camera2.CameraCaptureSession;
import android.hardware.camera2.CameraCharacteristics;
import android.hardware.camera2.CameraDevice;
import android.hardware.camera2.CameraManager;
import android.hardware.camera2.CaptureFailure;
import android.hardware.camera2.CaptureRequest;
import android.hardware.camera2.CaptureResult;
import android.hardware.camera2.params.StreamConfigurationMap;
import android.media.ImageReader;
import android.os.Build;
import android.os.Bundle;
import android.os.Handler;
import android.os.HandlerThread;
import android.util.Log;
import android.util.Size;
import android.view.Surface;
import android.view.TextureView;
import android.view.View;
import android.widget.Button;
import android.widget.ImageView;
import android.widget.LinearLayout;
import android.widget.TextView;

import org.opencv.android.OpenCVLoader;

import java.util.Arrays;
import java.util.List;

public class CameraActivity extends AppCompatActivity {
    private static final String TAG = CameraActivity.class.getSimpleName();
    private CameraCaptureSession mCaptureSession;
    private CameraDevice mCameraDevice;

    private HandlerThread mCaptureThread;
    private Handler mCaptureHandler;

    private ImageReader mImageReader;
    private boolean isFont = false;
    private Size mPreviewSize;
    private boolean mCapturing;

    private AutoFitTextureView mTextureView;
    private ImageView imageViewLeft;
    private ImageView imageViewRight;
    private ImageView imageViewResult;
    private int sensorOrientation = 0;
    private View bgView;
    private LinearLayout ll;
    private TextView textView;
    private StereoBMUtil stereoBMUtil;
    private Bitmap leftBitmap;
    private Bitmap rightBitmap;

    @SuppressLint("ClickableViewAccessibility")
    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_camera);

        // 权限申请
        if (!hasPermission()) {
            requestPermission();
        }
        //初始化
        if (OpenCVLoader.initDebug()) {
            Log.d(TAG, "OpenCVLoader初始化成功");
        }

        stereoBMUtil = new StereoBMUtil();
        mTextureView = findViewById(R.id.texture_view);
        imageViewLeft = findViewById(R.id.imageViewLeft);
        imageViewRight = findViewById(R.id.imageViewRight);
        imageViewResult = findViewById(R.id.imageViewResult);
        bgView = findViewById(R.id.bg_view);
        ll = findViewById(R.id.show_ll);
        textView = findViewById(R.id.result_tv);

        Button button2 = findViewById(R.id.button2);
        Button button3 = findViewById(R.id.button3);
        Button button4 = findViewById(R.id.button4);

        // 拍照获取左右摄像头的图像
        button2.setOnClickListener(v -> {
            bgView.setVisibility(View.VISIBLE);
            ll.setVisibility(View.VISIBLE);
            Bitmap imgBitmap = mTextureView.getBitmap();
            Bitmap b = Utils.rotateBitmap(imgBitmap, 360 - sensorOrientation);
            List<Bitmap> bitmapList = Utils.bisectionBitmap(b);
            // 左右目摄像头的图像
            leftBitmap = bitmapList.get(0);
            rightBitmap = bitmapList.get(1);
            imageViewLeft.setImageBitmap(leftBitmap);
            imageViewRight.setImageBitmap(rightBitmap);

        });

        // 显示相机预览
        button3.setOnClickListener(v -> {
            bgView.setVisibility(View.GONE);
            ll.setVisibility(View.GONE);
        });

        // 执行StereoBM算法
        button4.setOnClickListener(v -> {
            Bitmap result = stereoBMUtil.compute(leftBitmap, rightBitmap);
            imageViewResult.setImageBitmap(result);
        });

        // 点击计算后的图片，获取三维坐标数据
        imageViewResult.setOnTouchListener((v, event) -> {
            // 获取触摸点的坐标 x, y
            float x = event.getX();
            float y = event.getY();
            float[] dst = new float[2];
            Matrix imageMatrix = imageViewResult.getImageMatrix();
            Matrix inverseMatrix = new Matrix();
            imageMatrix.invert(inverseMatrix);
            inverseMatrix.mapPoints(dst, new float[]{x, y});
            int dstX = (int) dst[0];
            int dstY = (int) dst[1];
            // 获取该点的三维坐标
            double[] c = stereoBMUtil.getCoordinate(dstX, dstY);
            String s = String.format("点(%d, %d) 三维坐标：[%.2f, %.2f, %.2f]", dstX, dstY, c[0], c[1], c[2]);
            Log.d(TAG, s);
            textView.setText(s);
            return true;
        });
    }

    // 初始化以下变量和状态
    private void initStatus() {
        // 启动线程
        startCaptureThread();

        // 判断SurfaceTexture是否可用，可用就直接启动捕获图片
        if (mTextureView.isAvailable()) {
            startCapture();
        } else {
            mTextureView.setSurfaceTextureListener(new TextureView.SurfaceTextureListener() {
                @Override
                public void onSurfaceTextureAvailable(SurfaceTexture surface, int width, int height) {
                    startCapture();
                }

                @Override
                public void onSurfaceTextureSizeChanged(SurfaceTexture surface, int width, int height) {
                }

                @Override
                public boolean onSurfaceTextureDestroyed(SurfaceTexture surface) {
                    return true;
                }

                @Override
                public void onSurfaceTextureUpdated(SurfaceTexture surface) {
                }
            });
        }
    }

    // 启动捕获图片
    private void startCapture() {
        // 判断是否正处于捕获图片的状态
        if (mCapturing) return;
        mCapturing = true;

        final CameraManager manager = (CameraManager) getSystemService(Context.CAMERA_SERVICE);

        String cameraIdAvailable = null;
        try {
            assert manager != null;
            for (final String cameraId : manager.getCameraIdList()) {
                final CameraCharacteristics characteristics = manager.getCameraCharacteristics(cameraId);

                final Integer facing = characteristics.get(CameraCharacteristics.LENS_FACING);
                // 设置相机前摄像头或者后摄像头
                if (isFont) {
                    if (facing != null && facing == CameraCharacteristics.LENS_FACING_FRONT) {
                        cameraIdAvailable = cameraId;
                        break;
                    }
                } else {
                    if (facing != null && facing == CameraCharacteristics.LENS_FACING_BACK) {
                        cameraIdAvailable = cameraId;
                        break;
                    }
                }
            }
        } catch (CameraAccessException e) {
            Log.e(TAG, "启动图片捕获异常 ", e);
        }

        try {
            assert cameraIdAvailable != null;
            final CameraCharacteristics characteristics =
                    manager.getCameraCharacteristics(cameraIdAvailable);

            final StreamConfigurationMap map =
                    characteristics.get(CameraCharacteristics.SCALER_STREAM_CONFIGURATION_MAP);
            try {
                sensorOrientation = characteristics.get(CameraCharacteristics.SENSOR_ORIENTATION);
                Log.i(TAG, "orientation: " + sensorOrientation);
            } catch (Exception e) {
                e.printStackTrace();
            }
            assert map != null;
            mPreviewSize = Utils.chooseOptimalSize(map.getOutputSizes(SurfaceTexture.class),
                    mTextureView.getWidth(),
                    mTextureView.getHeight());
            Log.d("mPreviewSize", String.valueOf(mPreviewSize));
            mTextureView.setAspectRatio(mPreviewSize.getHeight(), mPreviewSize.getWidth());

            manager.openCamera(cameraIdAvailable, new CameraDevice.StateCallback() {
                @Override
                public void onOpened(@NonNull CameraDevice camera) {
                    mCameraDevice = camera;
                    createCaptureSession();
                }

                @Override
                public void onDisconnected(@NonNull CameraDevice camera) {
                    camera.close();
                    mCameraDevice = null;
                    mCapturing = false;
                }

                @Override
                public void onError(@NonNull CameraDevice camera, final int error) {
                    Log.e(TAG, "打开相机错误 =  " + error);
                    camera.close();
                    mCameraDevice = null;
                    mCapturing = false;
                }
            }, mCaptureHandler);
        } catch (CameraAccessException | SecurityException e) {
            mCapturing = false;
            Log.e(TAG, "启动图片捕获异常 ", e);
        }
    }

    // 创建捕获图片session
    private void createCaptureSession() {
        try {
            final SurfaceTexture texture = mTextureView.getSurfaceTexture();
            texture.setDefaultBufferSize(mPreviewSize.getWidth(), mPreviewSize.getHeight());

            final Surface surface = new Surface(texture);
            final CaptureRequest.Builder captureRequestBuilder = mCameraDevice.createCaptureRequest(CameraDevice.TEMPLATE_PREVIEW);
            captureRequestBuilder.addTarget(surface);

            mImageReader = ImageReader.newInstance(
                    mPreviewSize.getWidth(), mPreviewSize.getHeight(), ImageFormat.JPEG, 10);

            mCameraDevice.createCaptureSession(
                    Arrays.asList(surface, mImageReader.getSurface()),
                    new CameraCaptureSession.StateCallback() {

                        @Override
                        public void onConfigured(@NonNull CameraCaptureSession cameraCaptureSession) {
                            if (null == mCameraDevice) {
                                return;
                            }

                            mCaptureSession = cameraCaptureSession;
                            try {
                                captureRequestBuilder.set(
                                        CaptureRequest.CONTROL_AF_MODE,
                                        CaptureRequest.CONTROL_AF_MODE_CONTINUOUS_PICTURE);
                                captureRequestBuilder.set(
                                        CaptureRequest.CONTROL_AE_MODE, CaptureRequest.CONTROL_AE_MODE_ON_AUTO_FLASH);

                                CaptureRequest previewRequest = captureRequestBuilder.build();
                                mCaptureSession.setRepeatingRequest(
                                        previewRequest, new CameraCaptureSession.CaptureCallback() {
                                            @Override
                                            public void onCaptureProgressed(@NonNull CameraCaptureSession session, @NonNull CaptureRequest request, @NonNull CaptureResult partialResult) {
                                                super.onCaptureProgressed(session, request, partialResult);
                                            }

                                            @Override
                                            public void onCaptureFailed(@NonNull CameraCaptureSession session, @NonNull CaptureRequest request, @NonNull CaptureFailure failure) {
                                                super.onCaptureFailed(session, request, failure);
                                                Log.d(TAG, "onCaptureFailed = " + failure.getReason());
                                            }

                                            @Override
                                            public void onCaptureSequenceCompleted(@NonNull CameraCaptureSession session, int sequenceId, long frameNumber) {
                                                super.onCaptureSequenceCompleted(session, sequenceId, frameNumber);
                                                Log.d(TAG, "onCaptureSequenceCompleted");
                                            }
                                        }, mCaptureHandler);
                            } catch (final CameraAccessException e) {
                                Log.e(TAG, "onConfigured exception ", e);
                            }
                        }

                        @Override
                        public void onConfigureFailed(@NonNull final CameraCaptureSession cameraCaptureSession) {
                            Log.e(TAG, "onConfigureFailed ");
                        }
                    },
                    null);
        } catch (final CameraAccessException e) {
            Log.e(TAG, "创建捕获图片session异常 ", e);
        }
    }

    // 关闭相机
    private void closeCamera() {
        if (mCaptureSession != null) {
            mCaptureSession.close();
            mCaptureSession = null;
        }
        if (mCameraDevice != null) {
            mCameraDevice.close();
            mCameraDevice = null;
        }
        if (mImageReader != null) {
            mImageReader.close();
            mImageReader = null;
        }
        mCapturing = false;
    }

    // 关闭捕获图片线程
    private void stopCaptureThread() {
        try {
            if (mCaptureThread != null) {
                mCaptureThread.quitSafely();
                mCaptureThread.join();
            }
            mCaptureThread = null;
            mCaptureHandler = null;
        } catch (final Exception e) {
            e.printStackTrace();
        }
    }

    @Override
    protected void onPause() {
        // 关闭相机
        closeCamera();
        stopCaptureThread();
        super.onPause();
    }

    @Override
    protected void onStop() {
        // 关闭相机
        closeCamera();
        stopCaptureThread();
        super.onStop();
    }

    // 启动捕获图片线程
    private void startCaptureThread() {
        mCaptureThread = new HandlerThread("capture");
        mCaptureThread.start();
        mCaptureHandler = new Handler(mCaptureThread.getLooper());
    }

    @Override
    protected void onResume() {
        initStatus();
        super.onResume();
    }

    // check had permission
    private boolean hasPermission() {
        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) {
            return checkSelfPermission(Manifest.permission.CAMERA) == PackageManager.PERMISSION_GRANTED;
        } else {
            return true;
        }
    }

    // request permission
    private void requestPermission() {
        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) {
            requestPermissions(new String[]{Manifest.permission.CAMERA}, 1);
        }
    }

}