release electra.

AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningActivity.java

@@ -135,9 +135,13 @@ protected void onCreate(Bundle savedInstanceState) {
         // Configure OpenGL renderer
         mRenderer = setupGLViewAndRenderer();
 
-        mPoses = new TangoPoseData[3];
+    }
 
-        // Set the number of loop closures to zero at start.
+    /**
+     * Initializes pose data we keep track of. To be done
+     */
+    private void initializePoseData() {
+        mPoses = new TangoPoseData[3];
         mStart2DevicePoseCount = 0;
         mAdf2DevicePoseCount = 0;
         mAdf2StartPoseCount = 0;
@@ -173,6 +177,9 @@ protected void onPause() {
     protected void onResume() {
         super.onResume();
 
+        // Reset pose data and start counting from resume.
+        initializePoseData();
+
         // Clear the relocalization state: we don't know where the device has been since our app was paused.
         mIsRelocalized = false;
 

AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/AreaLearningRajawaliRenderer.java

@@ -22,7 +22,7 @@
 
 import com.google.atap.tangoservice.TangoPoseData;
 import com.projecttango.rajawali.Pose;
-import com.projecttango.rajawali.ScenePoseCalcuator;
+import com.projecttango.rajawali.ScenePoseCalculator;
 import com.projecttango.rajawali.TouchViewHandler;
 import com.projecttango.rajawali.renderables.FrustumAxes;
 import com.projecttango.rajawali.renderables.Grid;
@@ -115,7 +115,7 @@ protected void onRender(long ellapsedRealtime, double deltaTime) {
      *                      updated.
      */
     public synchronized void updateDevicePose(TangoPoseData tangoPoseData, boolean isRelocalized) {
-        mDevicePose = ScenePoseCalcuator.toOpenGLPose(tangoPoseData);
+        mDevicePose = ScenePoseCalculator.toOpenGLPose(tangoPoseData);
         mIsRelocalized = isRelocalized;
         mPoseUpdated = true;
     }

AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityRenderer.java

@@ -16,6 +16,7 @@
 package com.projecttango.experiments.augmentedrealitysample;
 
 import android.content.Context;
+
 import android.view.MotionEvent;
 
 import com.google.atap.tangoservice.TangoPoseData;
@@ -29,28 +30,32 @@
 import org.rajawali3d.math.vector.Vector3;
 import org.rajawali3d.primitives.Cube;
 
+import com.projecttango.rajawali.DeviceExtrinsics;
 import com.projecttango.rajawali.Pose;
+import com.projecttango.rajawali.ScenePoseCalculator;
 import com.projecttango.rajawali.ar.TangoRajawaliRenderer;
 
 /**
- * Very simple example augmented reality renderer which displays two objects in
- * a fixed position in the world and the uses the Tango position tracking to
- * keep them in place.
- * <p/>
+ * Very simple example augmented reality renderer which displays a cube fixed in place.
+ * Whenever the user clicks on the screen, the cube is placed flush with the surface detected
+ * with the depth camera in the position clicked.
+ *
  * This follows the same development model than any regular Rajawali application
  * with the following peculiarities:
  * - It extends <code>TangoRajawaliArRenderer</code>.
  * - It calls <code>super.initScene()</code> in the initialization.
- * - It doesn't do anything with the camera, since that is handled automatically
- *   by Tango.
+ * - When an updated pose for the object is obtained after a user click, the object pose is updated
+ *   in the render loop
+ * - The associated AugmentedRealityActivity is taking care of updating the camera pose to match
+ *   the displayed RGB camera texture and produce the AR effect through a Scene Frame Callback
+ *   (@see AugmentedRealityActivity)
  */
 public class AugmentedRealityRenderer extends TangoRajawaliRenderer {
     private static final float CUBE_SIDE_LENGTH = 0.5f;
 
-    private Pose mPlanePose;
-    private boolean mPlanePoseUpdated = false;
-
     private Object3D mObject;
+    private Pose mObjectPose;
+    private boolean mObjectPoseUpdated = false;
 
     public AugmentedRealityRenderer(Context context) {
         super(context);
@@ -93,38 +98,49 @@ protected void initScene() {
 
     @Override
     protected void onRender(long elapsedRealTime, double deltaTime) {
-        super.onRender(elapsedRealTime, deltaTime);
-
+        // Update the AR object if necessary
+        // Synchronize against concurrent access with the setter below.
         synchronized (this) {
-            if (mPlanePoseUpdated) {
-                mPlanePoseUpdated = false;
+            if (mObjectPoseUpdated) {
                 // Place the 3D object in the location of the detected plane.
-                mObject.setPosition(mPlanePose.getPosition());
-                mObject.setOrientation(mPlanePose.getOrientation());
+                mObject.setPosition(mObjectPose.getPosition());
+                mObject.setOrientation(mObjectPose.getOrientation());
                 // Move it forward by half of the size of the cube to make it
                 // flush with the plane surface.
                 mObject.moveForward(CUBE_SIDE_LENGTH / 2.0f);
+                mObjectPoseUpdated = false;
             }
         }
+
+        super.onRender(elapsedRealTime, deltaTime);
+    }
+
+    /**
+     * Save the updated plane fit pose to update the AR object on the next render pass.
+     * This is synchronized against concurrent access in the render loop above.
+     */
+    public synchronized void updateObjectPose(TangoPoseData planeFitPose) {
+        mObjectPose = ScenePoseCalculator.toOpenGLPose(planeFitPose);
+        mObjectPoseUpdated = true;
     }
 
     /**
-     * Update the 3D object based on the provided measurement point, normal (in
-     * depth frame) and device pose at the time the point and normal were
-     * acquired.
+     * Update the scene camera based on the provided pose in Tango start of service frame.
+     * The device pose should match the pose of the device at the time the last rendered RGB
+     * frame, which can be retrieved with this.getTimestamp();
+     *
+     * NOTE: This must be called from the OpenGL render thread - it is not thread safe.
      */
-    public synchronized void updateObjectPose(double[] point, double[] normal,
-                                              TangoPoseData devicePose) {
-        mPlanePose = mScenePoseCalcuator.planeFitToOpenGLPose(point, normal,
-                                                              devicePose);
-        mPlanePoseUpdated = true;
+    public void updateRenderCameraPose(TangoPoseData devicePose, DeviceExtrinsics extrinsics) {
+        Pose cameraPose = ScenePoseCalculator.toOpenGlCameraPose(devicePose, extrinsics);
+        getCurrentCamera().setRotation(cameraPose.getOrientation());
+        getCurrentCamera().setPosition(cameraPose.getPosition());
     }
 
     @Override
     public void onOffsetsChanged(float xOffset, float yOffset,
                                  float xOffsetStep, float yOffsetStep,
                                  int xPixelOffset, int yPixelOffset) {
-
     }
 
     @Override

MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/MotionTrackingRajawaliRenderer.java

@@ -22,10 +22,10 @@
 
 import com.google.atap.tangoservice.TangoPoseData;
 import com.projecttango.rajawali.Pose;
+import com.projecttango.rajawali.ScenePoseCalculator;
 import com.projecttango.rajawali.TouchViewHandler;
 import com.projecttango.rajawali.renderables.FrustumAxes;
 import com.projecttango.rajawali.renderables.Grid;
-import com.projecttango.rajawali.ScenePoseCalcuator;
 import com.projecttango.rajawali.renderables.Trajectory;
 
 import org.rajawali3d.math.Quaternion;
@@ -37,7 +37,7 @@
  */
 public class MotionTrackingRajawaliRenderer extends RajawaliRenderer {
 
-    private final String TAG = ScenePoseCalcuator.class.getSimpleName();
+    private final String TAG = MotionTrackingRajawaliRenderer.class.getSimpleName();
 
     // Only add line segments to the trajectory if the deviced moved more than THRESHOLD meters
     private static final double THRESHOLD = 0.002f;
@@ -104,7 +104,7 @@ protected void onRender(long ellapsedRealtime, double deltaTime) {
      * concurrent access from the OpenGL thread above.
      */
     public synchronized void updateDevicePose(TangoPoseData tangoPoseData) {
-        mDevicePose = ScenePoseCalcuator.toOpenGLPose(tangoPoseData);
+        mDevicePose = ScenePoseCalculator.toOpenGLPose(tangoPoseData);
         mPoseUpdated = true;
     }
 

PointCloudJava/app/build.gradle

@@ -40,6 +40,7 @@ repositories{
 
 dependencies {
     compile (name: 'tango-ux-support-library', ext: 'aar')
+    compile (name: 'tango_support_java_lib', ext: 'aar')
     compile 'org.rajawali3d:rajawali:1.0.294-SNAPSHOT@aar'
     compile project(':TangoUtils')
 }