release-nash

googlearchive · May 11, 2015 · 28e9e13 · 28e9e13
1 parent 3827954
commit 28e9e13
Show file tree

Hide file tree

Showing 17 changed files with 127 additions and 58 deletions.
diff --git a/AreaLearningJava/libs/tango_java_lib.jar b/AreaLearningJava/libs/tango_java_lib.jar
diff --git a/AreaLearningJava/src/com/projecttango/experiments/javaarealearning/ALRenderer.java b/AreaLearningJava/src/com/projecttango/experiments/javaarealearning/ALRenderer.java
@@ -45,7 +45,7 @@ public class ALRenderer extends Renderer implements GLSurfaceView.Renderer {
     private CameraFrustum mCameraFrustum;
     private CameraFrustumAndAxis mCameraFrustumAndAxis;
     private Grid mFloorGrid;
-
+    private boolean mIsValid = false;
     @Override
     public void onSurfaceCreated(GL10 gl, EGLConfig config) {
         // Set background color and enable depth testing
@@ -63,6 +63,7 @@ public void onSurfaceCreated(GL10 gl, EGLConfig config) {
         Matrix.setIdentityM(mViewMatrix, 0);
         Matrix.setLookAtM(mViewMatrix, 0, 5f, 5f, 5f, 0f, 0f, 0f, 0f, 1f, 0f);
         mCameraFrustumAndAxis.setModelMatrix(getModelMatCalculator().getModelMatrix());
+        mIsValid = true;
     }
 
     @Override
@@ -99,5 +100,9 @@ public Trajectory getBlueTrajectory() {
     public Trajectory getGreenTrajectory() {
         return mGreenTrajectory;
     }
+
+    public boolean isValid(){
+        return mIsValid;
+    }
 
 }
diff --git a/AreaLearningJava/src/com/projecttango/experiments/javaarealearning/AreaLearningActivity.java b/AreaLearningJava/src/com/projecttango/experiments/javaarealearning/AreaLearningActivity.java
@@ -274,7 +274,7 @@ public void onPoseAvailable(TangoPoseData pose) {
                         mAdf2DevicePoseDelta = (pose.timestamp - mAdf2DevicePreviousPoseTimeStamp)
                                 * SECONDS_TO_MILLI;
                         mAdf2DevicePreviousPoseTimeStamp = pose.timestamp;
-                        if (mIsRelocalized) {
+                        if (mIsRelocalized && mRenderer.isValid()) {
                             updateRenderer = true;
                             mRenderer.getGreenTrajectory().updateTrajectory(translation);
                         }
@@ -292,7 +292,7 @@ public void onPoseAvailable(TangoPoseData pose) {
                         mStart2DevicePoseDelta = (pose.timestamp - mStart2DevicePreviousPoseTimeStamp)
                                 * SECONDS_TO_MILLI;
                         mStart2DevicePreviousPoseTimeStamp = pose.timestamp;
-                        if (!mIsRelocalized) {
+                        if (!mIsRelocalized && mRenderer.isValid()) {
                             updateRenderer = true;
 
                             synchronized (mRenderer.getBlueTrajectory()) {
@@ -324,7 +324,7 @@ public void onPoseAvailable(TangoPoseData pose) {
 
                     // Update the trajectory, model matrix, and view matrix, then
                     // render the scene again
-                    if (updateRenderer) {
+                    if (updateRenderer && mRenderer.isValid()) {
                         mRenderer.getModelMatCalculator().updateModelMatrix(translation,
                                 pose.getRotationAsFloats());
                         mRenderer.updateViewMatrix();

diff --git a/MotionTrackingJava/libs/tango_java_lib.jar b/MotionTrackingJava/libs/tango_java_lib.jar
diff --git a/MotionTrackingJava/src/com/projecttango/experiments/javamotiontracking/MTGLRenderer.java b/MotionTrackingJava/src/com/projecttango/experiments/javamotiontracking/MTGLRenderer.java
@@ -44,7 +44,7 @@ public class MTGLRenderer extends Renderer implements GLSurfaceView.Renderer {
     private CameraFrustum mCameraFrustum;
     private CameraFrustumAndAxis mCameraFrustumAndAxis;
     private Grid mFloorGrid;
-
+    private boolean mIsValid = false;
     @Override
     public void onSurfaceCreated(GL10 gl, EGLConfig config) {
 
@@ -62,6 +62,7 @@ public void onSurfaceCreated(GL10 gl, EGLConfig config) {
         Matrix.setIdentityM(mViewMatrix, 0);
         Matrix.setLookAtM(mViewMatrix, 0, 5f, 5f, 5f, 0f, 0f, 0f, 0f, 1f, 0f);
         mCameraFrustumAndAxis.setModelMatrix(getModelMatCalculator().getModelMatrix());
+        mIsValid = true;
 
     }
 
@@ -94,5 +95,8 @@ public CameraFrustumAndAxis getCameraFrustumAndAxis() {
     public Trajectory getTrajectory() {
         return mTrajectory;
     }
-
+
+    public boolean isValid(){
+        return mIsValid;
+    }
 }
diff --git a/...ckingJava/src/com/projecttango/experiments/javamotiontracking/MotionTrackingActivity.java b/...ckingJava/src/com/projecttango/experiments/javamotiontracking/MotionTrackingActivity.java
@@ -178,6 +178,9 @@ public void onPoseAvailable(final TangoPoseData pose) {
                     // Update the OpenGL renderable objects with the new Tango Pose
                     // data
                     float[] translation = pose.getTranslationAsFloats();
+                    if(!mRenderer.isValid()){
+                        return;
+                    }
                     mRenderer.getTrajectory().updateTrajectory(translation);
                     mRenderer.getModelMatCalculator().updateModelMatrix(translation,
                             pose.getRotationAsFloats());

diff --git a/PointCloudJava/libs/tango_java_lib.jar b/PointCloudJava/libs/tango_java_lib.jar
diff --git a/PointCloudJava/src/com/projecttango/experiments/javapointcloud/PCRenderer.java b/PointCloudJava/src/com/projecttango/experiments/javapointcloud/PCRenderer.java
@@ -46,7 +46,7 @@ public class PCRenderer extends Renderer implements GLSurfaceView.Renderer {
     private Grid mGrid;
     private CameraFrustumAndAxis mCameraFrustumAndAxis;
     private int mMaxDepthPoints;
-
+    private boolean mIsValid = false;
     public PCRenderer(int maxDepthPoints) {
         mMaxDepthPoints = maxDepthPoints;
     }
@@ -61,6 +61,7 @@ public void onSurfaceCreated(GL10 gl, EGLConfig config) {
         Matrix.setIdentityM(mViewMatrix, 0);
         Matrix.setLookAtM(mViewMatrix, 0, 5f, 5f, 5f, 0f, 0f, 0f, 0f, 1f, 0f);
         mCameraFrustumAndAxis.setModelMatrix(getModelMatCalculator().getModelMatrix());
+        mIsValid = true;
     }
 
     @Override
@@ -86,4 +87,8 @@ public void onDrawFrame(GL10 gl) {
     public PointCloud getPointCloud() {
         return mPointCloud;
     }
+
+    public boolean isValid(){
+        return mIsValid;
+    }
 }
diff --git a/PointCloudJava/src/com/projecttango/experiments/javapointcloud/PointCloudActivity.java b/PointCloudJava/src/com/projecttango/experiments/javapointcloud/PointCloudActivity.java
@@ -116,7 +116,6 @@ protected void onCreate(Bundle savedInstanceState) {
         mThirdPersonButton.setOnClickListener(this);
         mTopDownButton = (Button) findViewById(R.id.top_down_button);
         mTopDownButton.setOnClickListener(this);
-
         mTango = new Tango(this);
         mConfig = new TangoConfig();
         mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT);
@@ -279,6 +278,9 @@ public void onPoseAvailable(final TangoPoseData pose) {
                     }
                     count++;
                     mPreviousPoseStatus = pose.statusCode;
+                    if(!mRenderer.isValid()){
+                        return;
+                    }
                     mRenderer.getModelMatCalculator().updateModelMatrix(
                             pose.getTranslationAsFloats(), pose.getRotationAsFloats());
                     mRenderer.updateViewMatrix();
@@ -295,28 +297,20 @@ public void onXyzIjAvailable(final TangoXyzIjData xyzIj) {
                     mPointCloudFrameDelta = (mCurrentTimeStamp - mXyIjPreviousTimeStamp)
                             * SECS_TO_MILLISECS;
                     mXyIjPreviousTimeStamp = mCurrentTimeStamp;
-                    mPointCount = xyzIj.xyzCount;
-                    byte[] buffer = new byte[xyzIj.xyzCount * 3 * 4];
-                    // TODO: Use getXYZBuffer() call instead of parcel file directly.
-                    FileInputStream fileStream = new FileInputStream(xyzIj.xyzParcelFileDescriptor
-                            .getFileDescriptor());
-                    try {
-                        fileStream.read(buffer, xyzIj.xyzParcelFileDescriptorOffset, buffer.length);
-                        fileStream.close();
-                    } catch (IOException e) {
-                        e.printStackTrace();
-                    }
                     try {
                         TangoPoseData pointCloudPose = mTango.getPoseAtTime(mCurrentTimeStamp,
-                                framePairs.get(0));
-
-                        mRenderer.getPointCloud().UpdatePoints(buffer, xyzIj.xyzCount);
+                             framePairs.get(0));
+                        mPointCount = xyzIj.xyzCount;
+                        if(!mRenderer.isValid()){
+                            return;
+                        }
+                        mRenderer.getPointCloud().UpdatePoints(xyzIj.xyz);
                         mRenderer.getModelMatCalculator().updatePointCloudModelMatrix(
-                                pointCloudPose.getTranslationAsFloats(),
-                                pointCloudPose.getRotationAsFloats());
+                                        pointCloudPose.getTranslationAsFloats(),
+                                        pointCloudPose.getRotationAsFloats());
                         mRenderer.getPointCloud().setModelMatrix(
                                 mRenderer.getModelMatCalculator().getPointCloudModelMatrixCopy());
-                    } catch (TangoErrorException e) {
+                      } catch (TangoErrorException e) {
                         Toast.makeText(getApplicationContext(), R.string.TangoError,
                                 Toast.LENGTH_SHORT).show();
                     } catch (TangoInvalidException e) {

diff --git a/QuickstartJava/AndroidManifest.xml b/QuickstartJava/AndroidManifest.xml
@@ -31,7 +31,7 @@
         android:label="@string/app_name"
         android:theme="@style/AppTheme" >
         <activity
-            android:name="com.projecttango.quickstartjava.MainActivity"
+            android:name="com.projecttango.experiments.quickstartjava.MainActivity"
             android:label="@string/app_name" >
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />

diff --git a/QuickstartJava/libs/tango_java_lib.jar b/QuickstartJava/libs/tango_java_lib.jar
diff --git a/...ecttango/quickstartjava/MainActivity.java → ...eriments/quickstartjava/MainActivity.java b/...ecttango/quickstartjava/MainActivity.java → ...eriments/quickstartjava/MainActivity.java
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-package com.projecttango.quickstartjava;
+package com.projecttango.experiments.quickstartjava;
 
 import java.util.ArrayList;
 
@@ -27,6 +27,7 @@
 import com.google.atap.tangoservice.TangoOutOfDateException;
 import com.google.atap.tangoservice.TangoPoseData;
 import com.google.atap.tangoservice.TangoXyzIjData;
+import com.projecttango.quickstartjava.R;
 
 import android.annotation.SuppressLint;
 import android.app.Activity;
@@ -36,6 +37,7 @@
 import android.widget.TextView;
 import android.widget.Toast;
 
+
 /**
  * Main Activity for the Tango Java Quickstart. Demonstrates establishing a
  * connection to the {@link Tango} service and printing the {@link TangoPose}
@@ -53,7 +55,7 @@ public class MainActivity extends Activity {
     private Tango mTango;
     private TangoConfig mConfig;
     private boolean mIsTangoServiceConnected;
-
+    private boolean mIsProcessing = false;
     @Override
     protected void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
@@ -153,6 +155,12 @@ private void setTangoListeners() {
             @SuppressLint("DefaultLocale")
             @Override
             public void onPoseAvailable(TangoPoseData pose) {
+                if (mIsProcessing) {
+                    Log.i(TAG, "Processing UI");
+                    return;
+                }
+                mIsProcessing = true;
+
                 // Format Translation and Rotation data
                 final String translationMsg = String.format(sTranslationFormat,
                         pose.translation[0], pose.translation[1],
@@ -175,6 +183,7 @@ public void onPoseAvailable(TangoPoseData pose) {
                     public void run() {
                         mTranslationTextView.setText(translationMsg);
                         mRotationTextView.setText(rotationMsg);
+                        mIsProcessing = false;
                     }
                 });
             }

diff --git a/TangoUtils/src/com/projecttango/tangoutils/Renderer.java b/TangoUtils/src/com/projecttango/tangoutils/Renderer.java
@@ -1,3 +1,18 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.*/
+
 package com.projecttango.tangoutils;
 
 import android.opengl.Matrix;

diff --git a/TangoUtils/src/com/projecttango/tangoutils/renderables/PointCloud.java b/TangoUtils/src/com/projecttango/tangoutils/renderables/PointCloud.java
@@ -19,6 +19,7 @@
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import java.nio.FloatBuffer;
+import java.util.concurrent.atomic.AtomicBoolean;
 
 import android.opengl.GLES20;
 import android.opengl.Matrix;
@@ -43,7 +44,11 @@ public class PointCloud extends Renderable {
 
     private static final int BYTES_PER_FLOAT = 4;
     private static final int POINT_TO_XYZ = 3;
-    private FloatBuffer mVertexBuffer;
+
+    int mVertexVBO; // VertexBufferObject.
+    private AtomicBoolean mUpdateVBO = new AtomicBoolean();
+    private volatile FloatBuffer mPointCloudBuffer;
+
     private final int mProgram;
     private int mPosHandle;
     private int mMVPMatrixHandle;
@@ -61,42 +66,54 @@ public PointCloud(int maxDepthPoints) {
         GLES20.glAttachShader(mProgram, fragShader);
         GLES20.glLinkProgram(mProgram);
         Matrix.setIdentityM(getModelMatrix(), 0);
-        mVertexBuffer = ByteBuffer
-                .allocateDirect(maxDepthPoints * BYTES_PER_FLOAT * POINT_TO_XYZ)
-                .order(ByteOrder.nativeOrder()).asFloatBuffer();
+
+        final int buffers[] = new int[1];
+        GLES20.glGenBuffers(1, buffers, 0);
+        mVertexVBO = buffers[0];        
     }
 
-    public synchronized void UpdatePoints(byte[] byteArray, int pointCount) {
-        FloatBuffer mPointCloudFloatBuffer;
-        mPointCloudFloatBuffer = ByteBuffer.wrap(byteArray)
-                .order(ByteOrder.nativeOrder()).asFloatBuffer();
-        mPointCount = pointCount;
-        mVertexBuffer.clear();
-        mVertexBuffer.position(0);
-        mVertexBuffer.put(mPointCloudFloatBuffer);
-        float totalZ = 0;
-        for (int i = 0; i < mPointCloudFloatBuffer.capacity() - 3; i = i + 3) {
-            totalZ = totalZ + mPointCloudFloatBuffer.get(i + 2);
-        }
-        mAverageZ = totalZ / mPointCount;
+    public synchronized void UpdatePoints(FloatBuffer pointCloudFloatBuffer) {
+        //save the reference in order to update this in the proper thread.
+        mPointCloudBuffer = pointCloudFloatBuffer;
+
+        //signal the update
+        mUpdateVBO.set(true);
     }
 
     @Override
     public synchronized void draw(float[] viewMatrix, float[] projectionMatrix) {
+        GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, mVertexVBO);
+
+        if (mUpdateVBO.getAndSet(false)) {
+            if (mPointCloudBuffer != null) {
+                mPointCloudBuffer.position(0);
+                // Pass the info to the VBO
+                GLES20.glBufferData(GLES20.GL_ARRAY_BUFFER, mPointCloudBuffer.capacity()
+                        * BYTES_PER_FLOAT, mPointCloudBuffer, GLES20.GL_STATIC_DRAW);
+                mPointCount = mPointCloudBuffer.capacity() / 3;
+                float totalZ = 0;
+                for (int i = 0; i < mPointCloudBuffer.capacity() - 3; i = i + 3) {
+                    totalZ = totalZ + mPointCloudBuffer.get(i + 2);
+                }
+                if (mPointCount != 0)
+                    mAverageZ = totalZ / mPointCount;
+                // signal the update
+                mUpdateVBO.set(true);
+            }
+            mPointCloudBuffer = null;
+        }
+
         if (mPointCount > 0) {
-            mVertexBuffer.position(0);
+
             GLES20.glUseProgram(mProgram);
             updateMvpMatrix(viewMatrix, projectionMatrix);
-            mPosHandle = GLES20.glGetAttribLocation(mProgram, "vPosition");
-            GLES20.glVertexAttribPointer(mPosHandle, COORDS_PER_VERTEX,
-                    GLES20.GL_FLOAT, false, 0, mVertexBuffer);
+            GLES20.glVertexAttribPointer(mPosHandle, COORDS_PER_VERTEX, GLES20.GL_FLOAT, false, 0,
+                    0);
             GLES20.glEnableVertexAttribArray(mPosHandle);
-            mMVPMatrixHandle = GLES20.glGetUniformLocation(mProgram,
-                    "uMVPMatrix");
-            GLES20.glUniformMatrix4fv(mMVPMatrixHandle, 1, false,
-                    getMvpMatrix(), 0);
+            GLES20.glUniformMatrix4fv(mMVPMatrixHandle, 1, false, getMvpMatrix(), 0);
             GLES20.glDrawArrays(GLES20.GL_POINTS, 0, mPointCount);
         }
+        GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, 0);
     }
 
     public float getAverageZ() {

diff --git a/VideoOverlaySample/AndroidManifest.xml b/VideoOverlaySample/AndroidManifest.xml
@@ -15,7 +15,7 @@
         android:label="@string/app_name"
         android:theme="@style/AppTheme" >
         <activity
-            android:name=".MainActivity"
+            android:name="com.projecttango.experiments.videooverlaysample.MainActivity"
             android:label="@string/app_name" >
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />

diff --git a/VideoOverlaySample/libs/tango_java_lib.jar b/VideoOverlaySample/libs/tango_java_lib.jar