diff --git a/AreaLearningJava/app/build.gradle b/AreaLearningJava/app/build.gradle
index ec23419f..d31a3eb1 100644
--- a/AreaLearningJava/app/build.gradle
+++ b/AreaLearningJava/app/build.gradle
@@ -22,11 +22,6 @@ android {
}
}
-if (project.hasProperty("Tango.signing")
- && new File(project.property("Tango.signing") + "/tango.gradle").exists()) {
- apply from: project.property("Tango.signing") + "/tango.gradle";
-}
-
def external_lib_prefix = null
if (project.hasProperty("Tango.catkin_devel_prefix")) {
external_lib_prefix = project.property("Tango.catkin_devel_prefix")
@@ -35,14 +30,9 @@ if (project.hasProperty("Tango.catkin_devel_prefix")) {
external_lib_prefix = "../../TangoReleaseLibs"
}
+
dependencies {
compile fileTree(dir: external_lib_prefix + '/jar', include: ['**/*.jar'])
- compile(name: 'TangoUtils', ext: 'aar')
compile 'org.rajawali3d:rajawali:1.0.294-SNAPSHOT@aar'
-}
-
-repositories{
- flatDir{
- dirs external_lib_prefix + '/aar'
- }
+ compile project(':TangoUtils')
}
diff --git a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/ALStartActivity.java b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/ALStartActivity.java
index 28d4227f..35ea948d 100644
--- a/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/ALStartActivity.java
+++ b/AreaLearningJava/app/src/main/java/com/projecttango/experiments/javaarealearning/ALStartActivity.java
@@ -54,10 +54,7 @@ protected void onCreate(Bundle savedInstanceState) {
mLoadADFToggleButton.setOnClickListener(this);
mStartButton.setOnClickListener(this);
startActivityForResult(
- Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING), 0);
- startActivityForResult(
- Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_ADF_LOAD_SAVE), 1);
-
+ Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_ADF_LOAD_SAVE), 0);
}
@Override
@@ -96,12 +93,6 @@ private void startADFListView() {
protected void onActivityResult(int requestCode, int resultCode, Intent data) {
// Check which request we're responding to
if (requestCode == 0) {
- // Make sure the request was successful
- if (resultCode == RESULT_CANCELED) {
- Toast.makeText(this, R.string.motiontracking_permission, Toast.LENGTH_SHORT).show();
- finish();
- }
- } else if (requestCode == 1) {
// Make sure the request was successful
if (resultCode == RESULT_CANCELED) {
Toast.makeText(this, R.string.arealearning_permission, Toast.LENGTH_SHORT).show();
diff --git a/AreaLearningJava/build.gradle b/AreaLearningJava/build.gradle
index 217854c1..ca6de6f5 100644
--- a/AreaLearningJava/build.gradle
+++ b/AreaLearningJava/build.gradle
@@ -1,5 +1,4 @@
// Top-level build file where you can add configuration options common to all sub-projects/modules.
-
buildscript {
repositories {
jcenter()
diff --git a/AreaLearningJava/gradle/wrapper/gradle-wrapper.properties b/AreaLearningJava/gradle/wrapper/gradle-wrapper.properties
index 0c71e760..5f98ccc4 100644
--- a/AreaLearningJava/gradle/wrapper/gradle-wrapper.properties
+++ b/AreaLearningJava/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
-#Wed Apr 10 15:27:10 PDT 2013
+#Mon Oct 26 08:02:00 ART 2015
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-2.2.1-all.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-2.4-all.zip
diff --git a/AreaLearningJava/settings.gradle b/AreaLearningJava/settings.gradle
index 9d495b34..87acb705 100644
--- a/AreaLearningJava/settings.gradle
+++ b/AreaLearningJava/settings.gradle
@@ -1 +1,3 @@
-include ':app'
\ No newline at end of file
+include ':app'
+include ':TangoUtils'
+project(':TangoUtils').projectDir = new File('../TangoUtils/app')
diff --git a/AugmentedRealitySample/app/build.gradle b/AugmentedRealitySample/app/build.gradle
index b293a993..4eb890cc 100644
--- a/AugmentedRealitySample/app/build.gradle
+++ b/AugmentedRealitySample/app/build.gradle
@@ -23,10 +23,6 @@ android {
}
}
-if (project.hasProperty("Tango.signing")
- && new File(project.property("Tango.signing") + "/tango.gradle").exists()) {
- apply from: project.property("Tango.signing") + "/tango.gradle";
-}
def external_lib_prefix = null
if (project.hasProperty("Tango.catkin_devel_prefix")) {
@@ -36,14 +32,14 @@ if (project.hasProperty("Tango.catkin_devel_prefix")) {
external_lib_prefix = "../../TangoReleaseLibs"
}
-dependencies {
- compile (name: 'TangoUtils', ext: 'aar')
- compile (name: 'tango_support_java_lib', ext: 'aar')
- compile 'org.rajawali3d:rajawali:1.0.294-SNAPSHOT@aar'
-}
-
-repositories{
- flatDir{
+repositories {
+ flatDir {
dirs external_lib_prefix + '/aar'
}
}
+
+dependencies {
+ compile 'org.rajawali3d:rajawali:1.0.294-SNAPSHOT@aar'
+ compile (name: 'tango_support_java_lib', ext: 'aar')
+ compile project(':TangoUtils')
+}
diff --git a/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityActivity.java b/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityActivity.java
index 38cbacf2..d2f00123 100644
--- a/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityActivity.java
+++ b/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityActivity.java
@@ -15,8 +15,6 @@
*/
package com.projecttango.experiments.augmentedrealitysample;
-import java.util.ArrayList;
-
import android.app.Activity;
import android.content.Intent;
import android.os.Bundle;
@@ -31,11 +29,15 @@
import com.google.atap.tangoservice.TangoConfig;
import com.google.atap.tangoservice.TangoCoordinateFramePair;
import com.google.atap.tangoservice.TangoEvent;
+import com.google.atap.tangoservice.TangoException;
+import com.google.atap.tangoservice.TangoOutOfDateException;
import com.google.atap.tangoservice.TangoPoseData;
import com.google.atap.tangoservice.TangoXyzIjData;
import com.projecttango.rajawali.ar.TangoRajawaliView;
import com.projecttango.tangosupport.TangoSupport;
+import java.util.ArrayList;
+
/**
* An example showing how to build a very simple augmented reality application in Java.
* It uses Rajawali to do the rendering through the utility classes
@@ -44,7 +46,7 @@
* user clicks on the camera display, plane detection will be done on the surface closest to the
* click location and a 3D object will be placed in the scene anchored in that location.
*
- * TangoRajawaliView is used in the same way as the TangoCamaraPreview: we first need initialize the
+ * TangoRajawaliView is used in the same way as the TangoCameraPreview: We first need initialize the
* TangoRajawaliView class with the activity's context and connect to the camera we want by using
* connectToTangoCamera method. Once the connection is established we need to update
* the view's texture by using the onFrameAvailable callbacks.
@@ -60,13 +62,12 @@
* the RGB camera.
*/
public class AugmentedRealityActivity extends Activity implements View.OnTouchListener {
- private static final String TAG = "AugmentedRealityActiv";
+ private static final String TAG = AugmentedRealityActivity.class.getSimpleName();
private TangoRajawaliView mGLView;
private AugmentedRealityRenderer mRenderer;
private PointCloudManager mPointCloudManager;
private Tango mTango;
private boolean mIsConnected;
- private boolean mIsPermissionGranted;
@Override
protected void onCreate(Bundle savedInstanceState) {
@@ -76,87 +77,66 @@ protected void onCreate(Bundle savedInstanceState) {
mGLView.setSurfaceRenderer(mRenderer);
mGLView.setOnTouchListener(this);
mTango = new Tango(this);
- startActivityForResult(
- Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING),
- Tango.TANGO_INTENT_ACTIVITYCODE);
setContentView(mGLView);
}
- @Override
- protected void onActivityResult(int requestCode, int resultCode, Intent data) {
- // Check which request we're responding to
- if (requestCode == Tango.TANGO_INTENT_ACTIVITYCODE) {
- // Make sure the request was successful
- if (resultCode == RESULT_CANCELED) {
- Toast.makeText(this, "Motion Tracking Permissions Required!",
- Toast.LENGTH_SHORT).show();
- finish();
- } else {
- startAugmentedreality();
- mIsPermissionGranted = true;
- }
- }
- }
-
// Augmented reality view and renderer
private void startAugmentedreality() {
if (!mIsConnected) {
- mIsConnected = true;
- // Connect to color camera
- mGLView.connectToTangoCamera(mTango, TangoCameraIntrinsics.TANGO_CAMERA_COLOR);
-
- // Use default configuration for Tango Service, plus low latency IMU integration.
- TangoConfig config = mTango.getConfig(TangoConfig.CONFIG_TYPE_DEFAULT);
- // NOTE: low latency integration is necessary to achieve a precise alignment of
- // virtual objects with the RBG image and produce a good AR effect.
- config.putBoolean(TangoConfig.KEY_BOOLEAN_LOWLATENCYIMUINTEGRATION, true);
- config.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
- mTango.connect(config);
-
- // No need to add any coordinate frame pairs since we are not using
- // pose data. So just initialize.
- ArrayList framePairs = new ArrayList();
- mTango.connectListener(framePairs, new OnTangoUpdateListener() {
- @Override
- public void onPoseAvailable(TangoPoseData pose) {
- // We are not using OnPoseAvailable for this app
- }
-
- @Override
- public void onFrameAvailable(int cameraId) {
- // Check if the frame available is for the camera we want and
- // update its frame on the view.
- if (cameraId == TangoCameraIntrinsics.TANGO_CAMERA_COLOR) {
- mGLView.onFrameAvailable();
+ try {
+ mIsConnected = true;
+ // Connect to color camera.
+ mGLView.connectToTangoCamera(mTango, TangoCameraIntrinsics.TANGO_CAMERA_COLOR);
+
+ // Use default configuration for Tango Service, plus low latency IMU integration.
+ TangoConfig config = mTango.getConfig(TangoConfig.CONFIG_TYPE_DEFAULT);
+ // NOTE: Low latency integration is necessary to achieve a precise alignment of
+ // virtual objects with the RBG image and produce a good AR effect.
+ config.putBoolean(TangoConfig.KEY_BOOLEAN_LOWLATENCYIMUINTEGRATION, true);
+ config.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
+ mTango.connect(config);
+
+ // No need to add any coordinate frame pairs since we are not using
+ // pose data. So just initialize.
+ ArrayList framePairs = new ArrayList();
+ mTango.connectListener(framePairs, new OnTangoUpdateListener() {
+ @Override
+ public void onPoseAvailable(TangoPoseData pose) {
+ // We are not using OnPoseAvailable for this app.
+ }
+
+ @Override
+ public void onFrameAvailable(int cameraId) {
+ // Check if the frame available is for the camera we want and
+ // update its frame on the view.
+ if (cameraId == TangoCameraIntrinsics.TANGO_CAMERA_COLOR) {
+ mGLView.onFrameAvailable();
+ }
}
- }
-
- @Override
- public void onXyzIjAvailable(TangoXyzIjData xyzIj) {
- // Get the device pose at the time the point cloud was acquired
- TangoCoordinateFramePair framePair = new TangoCoordinateFramePair(
- TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
- TangoPoseData.COORDINATE_FRAME_DEVICE);
- TangoPoseData cloudPose = mTango.getPoseAtTime(xyzIj.timestamp, framePair);
-
- // Save the cloud and point data for later use
- mPointCloudManager.updateXyzIjData(xyzIj, cloudPose);
- }
-
- @Override
- public void onTangoEvent(TangoEvent event) {
- // We are not using OnPoseAvailable for this app
- }
- });
-
- // Get extrinsics from device for use in transforms
- // This needs to be done after connecting Tango and listeners
- setupExtrinsics();
-
- // Set-up point cloud plane fitting library helper class
- mPointCloudManager = new PointCloudManager(mTango.getCameraIntrinsics(
- TangoCameraIntrinsics.TANGO_CAMERA_COLOR));
+ @Override
+ public void onXyzIjAvailable(TangoXyzIjData xyzIj) {
+ // Save the cloud and point data for later use.
+ mPointCloudManager.updateXyzIjData(xyzIj);
+ }
+
+ @Override
+ public void onTangoEvent(TangoEvent event) {
+ // We are not using OnPoseAvailable for this app.
+ }
+ });
+
+ // Get extrinsics from device for use in transforms. This needs to be done after
+ // connecting Tango and listeners.
+ setupExtrinsics();
+
+ // Setup point cloud plane fitting library helper class.
+ mPointCloudManager = new PointCloudManager(mTango.getCameraIntrinsics(
+ TangoCameraIntrinsics.TANGO_CAMERA_COLOR));
+ } catch (TangoOutOfDateException e) {
+ Toast.makeText(getApplicationContext(), R.string.TangoOutOfDateException,
+ Toast.LENGTH_SHORT).show();
+ }
}
}
@@ -165,17 +145,17 @@ public void onTangoEvent(TangoEvent event) {
* to be used later for transformations between frames.
*/
private void setupExtrinsics() {
- // Create Camera to IMU Transform
+ // Create camera to IMU transform.
TangoCoordinateFramePair framePair = new TangoCoordinateFramePair();
framePair.baseFrame = TangoPoseData.COORDINATE_FRAME_IMU;
framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_CAMERA_COLOR;
TangoPoseData imuTrgbPose = mTango.getPoseAtTime(0.0, framePair);
- // Create Device to IMU Transform
+ // Create device to IMU transform.
framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_DEVICE;
TangoPoseData imuTdevicePose = mTango.getPoseAtTime(0.0, framePair);
- // Create Depth camera to IMU Transform
+ // Create depth camera to IMU transform.
framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_CAMERA_DEPTH;
TangoPoseData imuTdepthPose = mTango.getPoseAtTime(0.0, framePair);
@@ -196,7 +176,7 @@ protected void onPause() {
@Override
protected void onResume() {
super.onResume();
- if (!mIsConnected && mIsPermissionGranted) {
+ if (!mIsConnected) {
startAugmentedreality();
}
}
@@ -204,14 +184,20 @@ protected void onResume() {
@Override
public boolean onTouch(View view, MotionEvent motionEvent) {
if (motionEvent.getAction() == MotionEvent.ACTION_UP) {
- // Calculate click location in u,v (0;1) coordinates
+ // Calculate click location in u,v (0;1) coordinates.
float u = motionEvent.getX() / view.getWidth();
float v = motionEvent.getY() / view.getHeight();
try {
doFitPlane(u, v);
- } catch (Throwable t) {
- Log.e(TAG, "Exception measuring nomral", t);
+ } catch (TangoException t) {
+ Toast.makeText(getApplicationContext(), R.string.failed_measurement,
+ Toast.LENGTH_SHORT).show();
+ Log.e(TAG, getString(R.string.failed_measurement), t);
+ } catch (SecurityException t) {
+ Toast.makeText(getApplicationContext(), R.string.failed_permissions,
+ Toast.LENGTH_SHORT).show();
+ Log.e(TAG, getString(R.string.failed_permissions), t);
}
}
return true;
@@ -223,15 +209,24 @@ public boolean onTouch(View view, MotionEvent motionEvent) {
* renderer to show a 3D object in that location.
*/
private void doFitPlane(float u, float v) {
- // Get the current device pose
+ // NOTE: We request measurement at the latest available time. If we wanted to be even more
+ // precise, we should use the timestamp of the RGB image rendered at the time the user
+ // clicked the screen
+ double measurementTimestamp = 0.0;
+
+ // Perform plane fitting with the latest available point cloud data.
+ PointCloudManager.FitPlaneResult planeModelAndTimestamp =
+ mPointCloudManager.fitPlane(u, v, measurementTimestamp);
+
+ // Get the device pose at the time the plane data was acquired.
TangoCoordinateFramePair framePair = new TangoCoordinateFramePair(
TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
TangoPoseData.COORDINATE_FRAME_DEVICE);
- TangoPoseData devicePose = mTango.getPoseAtTime(0.0, framePair);
+ TangoPoseData devicePose =
+ mTango.getPoseAtTime(planeModelAndTimestamp.cloudTimestamp, framePair);
- // Perform plane fitting with the latest available point cloud data
- TangoSupport.IntersectionPointPlaneModelPair planeModel =
- mPointCloudManager.fitPlane(u, v, devicePose, mRenderer.getPoseCalculator());
- mRenderer.updateObjectPose(planeModel.intersectionPoint, planeModel.planeModel, devicePose);
+ // Update the AR object location
+ mRenderer.updateObjectPose(planeModelAndTimestamp.planeModelPair.intersectionPoint,
+ planeModelAndTimestamp.planeModelPair.planeModel, devicePose);
}
}
diff --git a/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityRenderer.java b/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityRenderer.java
index e92371d6..1679b94a 100644
--- a/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityRenderer.java
+++ b/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/AugmentedRealityRenderer.java
@@ -20,7 +20,6 @@
import com.google.atap.tangoservice.TangoPoseData;
import com.projecttango.rajawali.Pose;
-import com.projecttango.rajawali.ScenePoseCalcuator;
import com.projecttango.rajawali.ar.TangoRajawaliRenderer;
import org.rajawali3d.Object3D;
@@ -43,7 +42,6 @@
* - It doesn't do anything with the camera, since that is handled automatically by Tango
*/
public class AugmentedRealityRenderer extends TangoRajawaliRenderer {
-
private static final float CUBE_SIDE_LENGTH = 0.5f;
private Pose mPlanePose;
@@ -57,17 +55,17 @@ public AugmentedRealityRenderer(Context context) {
@Override
protected void initScene() {
- // Remember to call super.initScene() to allow TangoRajawaliArRenderer to set-up
+ // Remember to call super.initScene() to allow TangoRajawaliArRenderer to be set-up.
super.initScene();
- // Add a directional light in an arbitrary direction
+ // Add a directional light in an arbitrary direction.
DirectionalLight light = new DirectionalLight(1, 0.2, -1);
light.setColor(1, 1, 1);
light.setPower(0.8f);
light.setPosition(3, 2, 4);
getCurrentScene().addLight(light);
- // Set-up a material: green with application of the light and instructions
+ // Set-up a material: green with application of the light and instructions.
Material material = new Material();
material.setColor(0xff009900);
try {
@@ -80,7 +78,7 @@ protected void initScene() {
material.enableLighting(true);
material.setDiffuseMethod(new DiffuseMethod.Lambert());
- // Build a Cube and place it initially in the origin
+ // Build a Cube and place it initially in the origin.
mObject = new Cube(CUBE_SIDE_LENGTH);
mObject.setMaterial(material);
mObject.setPosition(0, 0, -3);
@@ -89,17 +87,17 @@ protected void initScene() {
}
@Override
- protected void onRender(long ellapsedRealtime, double deltaTime) {
- super.onRender(ellapsedRealtime, deltaTime);
+ protected void onRender(long elapsedRealTime, double deltaTime) {
+ super.onRender(elapsedRealTime, deltaTime);
synchronized (this) {
- if (mPlanePoseUpdated == true) {
+ if (mPlanePoseUpdated) {
mPlanePoseUpdated = false;
- // Place the 3D object in the location of the detected plane
+ // Place the 3D object in the location of the detected plane.
mObject.setPosition(mPlanePose.getPosition());
mObject.setOrientation(mPlanePose.getOrientation());
// Move it forward by half of the size of the cube to make it flush with the plane
- // surface
+ // surface.
mObject.moveForward(CUBE_SIDE_LENGTH / 2.0f);
}
}
@@ -107,7 +105,7 @@ protected void onRender(long ellapsedRealtime, double deltaTime) {
/**
* Update the 3D object based on the provided measurement point, normal (in depth frame) and
- * device pose at the time of measurement.
+ * device pose at the time the point and normal were acquired.
*/
public synchronized void updateObjectPose(double[] point, double[] normal,
TangoPoseData devicePose) {
@@ -115,15 +113,6 @@ public synchronized void updateObjectPose(double[] point, double[] normal,
mPlanePoseUpdated = true;
}
- /**
- * Provide access to scene calculator helper class to perform necessary transformations.
- * NOTE: This won't be necessary once transformation functions are available through the
- * support library
- */
- public ScenePoseCalcuator getPoseCalculator() {
- return mScenePoseCalcuator;
- }
-
@Override
public void onOffsetsChanged(float xOffset, float yOffset, float xOffsetStep, float yOffsetStep, int xPixelOffset, int yPixelOffset) {
diff --git a/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/PointCloudManager.java b/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/PointCloudManager.java
index 69048128..5f793d90 100644
--- a/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/PointCloudManager.java
+++ b/AugmentedRealitySample/app/src/main/java/com/projecttango/experiments/augmentedrealitysample/PointCloudManager.java
@@ -18,7 +18,6 @@
import com.google.atap.tangoservice.TangoCameraIntrinsics;
import com.google.atap.tangoservice.TangoPoseData;
import com.google.atap.tangoservice.TangoXyzIjData;
-import com.projecttango.rajawali.ScenePoseCalcuator;
import com.projecttango.tangosupport.TangoSupport;
import java.nio.ByteBuffer;
@@ -35,7 +34,6 @@ public class PointCloudManager {
private final TangoCameraIntrinsics mTangoCameraIntrinsics;
private final TangoXyzIjData mXyzIjData;
- private TangoPoseData mDevicePoseAtCloudTime;
public PointCloudManager(TangoCameraIntrinsics intrinsics) {
mXyzIjData = new TangoXyzIjData();
@@ -46,12 +44,8 @@ public PointCloudManager(TangoCameraIntrinsics intrinsics) {
* Update the current cloud data with the provided xyzIjData from a Tango callback.
*
* @param from The point cloud data
- * @param xyzIjPose The device pose with respect to start of service at the time
- * the point cloud was acquired
*/
- public synchronized void updateXyzIjData(TangoXyzIjData from, TangoPoseData xyzIjPose) {
- mDevicePoseAtCloudTime = xyzIjPose;
-
+ public synchronized void updateXyzIjData(TangoXyzIjData from) {
if (mXyzIjData.xyz == null || mXyzIjData.xyz.capacity() < from.xyzCount * 3) {
mXyzIjData.xyz = ByteBuffer.allocateDirect(from.xyzCount * 3 * 4)
.order(ByteOrder.nativeOrder()).asFloatBuffer();
@@ -74,21 +68,37 @@ public synchronized void updateXyzIjData(TangoXyzIjData from, TangoPoseData xyzI
*
* @param u u (horizontal) component of the click location
* @param v v (vertical) component of the click location
- * @param devicePoseAtClickTime Device pose at the time this operation is requested
- * @param poseCalcuator ScenePoseCalculator helper instance to calculate transforms
- * @return The point and plane model, in depth sensor frame
+ * @param timestampAtClickTime Timestamp at the time this operation is requested
+ * @return The point and plane model, in depth sensor frame at the time
+ * the point cloud data was acquired and the timestamp when the
+ * the point cloud data was acquired.
*/
- public synchronized TangoSupport.IntersectionPointPlaneModelPair fitPlane(float u, float v,
- TangoPoseData devicePoseAtClickTime, ScenePoseCalcuator poseCalcuator) {
+ public synchronized FitPlaneResult fitPlane(float u, float v,
+ double timestampAtClickTime) {
// We need to calculate the transform between the color camera at the time the user clicked
// and the depth camera at the time the depth cloud was acquired.
- // This operation is currently implemented in the provided ScenePoseCalculator helper
- // class. In the future, the support library will provide a method for this calculation.
TangoPoseData colorCameraTDepthCameraWithTime
- = poseCalcuator.calculateColorCameraTDepthWithTime(devicePoseAtClickTime, mDevicePoseAtCloudTime);
+ = TangoSupport.calculateRelativePose(timestampAtClickTime,
+ TangoPoseData.COORDINATE_FRAME_CAMERA_COLOR,
+ mXyzIjData.timestamp,
+ TangoPoseData.COORDINATE_FRAME_CAMERA_DEPTH);
+
+ return new FitPlaneResult(TangoSupport.fitPlaneModelNearClick(mXyzIjData, mTangoCameraIntrinsics,
+ colorCameraTDepthCameraWithTime, u, v), mXyzIjData.timestamp);
+ }
- return TangoSupport.fitPlaneModelNearClick(mXyzIjData, mTangoCameraIntrinsics,
- colorCameraTDepthCameraWithTime, u, v);
+ /**
+ * Internal class used to return the information about a plane fitting call.
+ */
+ public class FitPlaneResult {
+ public final TangoSupport.IntersectionPointPlaneModelPair planeModelPair;
+ public final double cloudTimestamp;
+
+ public FitPlaneResult(TangoSupport.IntersectionPointPlaneModelPair planeModelPair,
+ double cloudTimestamp) {
+ this.planeModelPair = planeModelPair;
+ this.cloudTimestamp = cloudTimestamp;
+ }
}
}
diff --git a/AugmentedRealitySample/app/src/main/res/values/strings.xml b/AugmentedRealitySample/app/src/main/res/values/strings.xml
index dd880179..1679b024 100644
--- a/AugmentedRealitySample/app/src/main/res/values/strings.xml
+++ b/AugmentedRealitySample/app/src/main/res/values/strings.xml
@@ -2,7 +2,8 @@
AugmentedRealitySample
- Hello world!
Settings
-
+ "Tango service outdated!"
+ Failed to fit plane
+ Permissions required!
diff --git a/AugmentedRealitySample/build.gradle b/AugmentedRealitySample/build.gradle
index 217854c1..ead7bbfe 100644
--- a/AugmentedRealitySample/build.gradle
+++ b/AugmentedRealitySample/build.gradle
@@ -1,5 +1,4 @@
// Top-level build file where you can add configuration options common to all sub-projects/modules.
-
buildscript {
repositories {
jcenter()
@@ -12,6 +11,7 @@ buildscript {
}
}
+
allprojects {
repositories {
mavenLocal()
diff --git a/AugmentedRealitySample/gradle/wrapper/gradle-wrapper.properties b/AugmentedRealitySample/gradle/wrapper/gradle-wrapper.properties
index 0c71e760..5f98ccc4 100644
--- a/AugmentedRealitySample/gradle/wrapper/gradle-wrapper.properties
+++ b/AugmentedRealitySample/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
-#Wed Apr 10 15:27:10 PDT 2013
+#Mon Oct 26 08:02:00 ART 2015
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-2.2.1-all.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-2.4-all.zip
diff --git a/AugmentedRealitySample/settings.gradle b/AugmentedRealitySample/settings.gradle
index e7b4def4..87acb705 100644
--- a/AugmentedRealitySample/settings.gradle
+++ b/AugmentedRealitySample/settings.gradle
@@ -1 +1,3 @@
include ':app'
+include ':TangoUtils'
+project(':TangoUtils').projectDir = new File('../TangoUtils/app')
diff --git a/MotionTrackingJava/app/build.gradle b/MotionTrackingJava/app/build.gradle
index 3202a884..874f8e9e 100644
--- a/MotionTrackingJava/app/build.gradle
+++ b/MotionTrackingJava/app/build.gradle
@@ -17,17 +17,11 @@ android {
proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
}
}
-
lintOptions {
abortOnError false
}
}
-if (project.hasProperty("Tango.signing")
- && new File(project.property("Tango.signing") + "/tango.gradle").exists()) {
- apply from: project.property("Tango.signing") + "/tango.gradle";
-}
-
def external_lib_prefix = null
if (project.hasProperty("Tango.catkin_devel_prefix")) {
external_lib_prefix = project.property("Tango.catkin_devel_prefix")
@@ -36,14 +30,11 @@ if (project.hasProperty("Tango.catkin_devel_prefix")) {
external_lib_prefix = "../../TangoReleaseLibs"
}
+
dependencies {
compile fileTree(dir: external_lib_prefix + '/jar', include: ['**/*.jar'])
- compile (name: 'TangoUtils', ext: 'aar')
compile 'org.rajawali3d:rajawali:1.0.294-SNAPSHOT@aar'
+ compile project(':TangoUtils')
}
-repositories{
- flatDir{
- dirs external_lib_prefix + '/aar'
- }
-}
+
diff --git a/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/StartActivity.java b/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/StartActivity.java
index 4afde5e6..057c61d2 100644
--- a/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/StartActivity.java
+++ b/MotionTrackingJava/app/src/main/java/com/projecttango/experiments/javamotiontracking/StartActivity.java
@@ -40,9 +40,6 @@ public class StartActivity extends Activity implements View.OnClickListener {
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
- startActivityForResult(
- Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING),
- Tango.TANGO_INTENT_ACTIVITYCODE);
setContentView(R.layout.start);
this.setTitle(R.string.app_name);
mAutoResetButton = (ToggleButton) findViewById(R.id.autoresetbutton);
@@ -69,16 +66,4 @@ private void startMotionTracking() {
startmotiontracking.putExtra(KEY_MOTIONTRACKING_AUTORECOVER, mUseAutoReset);
startActivity(startmotiontracking);
}
-
- @Override
- protected void onActivityResult(int requestCode, int resultCode, Intent data) {
- // Check which request we're responding to
- if (requestCode == Tango.TANGO_INTENT_ACTIVITYCODE) {
- // Make sure the request was successful
- if (resultCode == RESULT_CANCELED) {
- Toast.makeText(this, R.string.motiontrackingpermission, Toast.LENGTH_SHORT).show();
- finish();
- }
- }
- }
}
diff --git a/MotionTrackingJava/build.gradle b/MotionTrackingJava/build.gradle
index 217854c1..f07bee07 100644
--- a/MotionTrackingJava/build.gradle
+++ b/MotionTrackingJava/build.gradle
@@ -1,6 +1,6 @@
// Top-level build file where you can add configuration options common to all sub-projects/modules.
-
buildscript {
+
repositories {
jcenter()
}
diff --git a/MotionTrackingJava/gradle/wrapper/gradle-wrapper.properties b/MotionTrackingJava/gradle/wrapper/gradle-wrapper.properties
index 0c71e760..5f98ccc4 100644
--- a/MotionTrackingJava/gradle/wrapper/gradle-wrapper.properties
+++ b/MotionTrackingJava/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
-#Wed Apr 10 15:27:10 PDT 2013
+#Mon Oct 26 08:02:00 ART 2015
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-2.2.1-all.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-2.4-all.zip
diff --git a/MotionTrackingJava/settings.gradle b/MotionTrackingJava/settings.gradle
index e7b4def4..87acb705 100644
--- a/MotionTrackingJava/settings.gradle
+++ b/MotionTrackingJava/settings.gradle
@@ -1 +1,3 @@
include ':app'
+include ':TangoUtils'
+project(':TangoUtils').projectDir = new File('../TangoUtils/app')
diff --git a/PointCloudJava/app/build.gradle b/PointCloudJava/app/build.gradle
index 39b73431..1838cb22 100644
--- a/PointCloudJava/app/build.gradle
+++ b/PointCloudJava/app/build.gradle
@@ -23,11 +23,6 @@ android {
}
}
-if (project.hasProperty("Tango.signing")
- && new File(project.property("Tango.signing") + "/tango.gradle").exists()) {
- apply from: project.property("Tango.signing") + "/tango.gradle";
-}
-
def external_lib_prefix = null
if (project.hasProperty("Tango.catkin_devel_prefix")) {
external_lib_prefix = project.property("Tango.catkin_devel_prefix")
@@ -36,14 +31,15 @@ if (project.hasProperty("Tango.catkin_devel_prefix")) {
external_lib_prefix = "../../TangoReleaseLibs"
}
-dependencies {
- compile (name: 'TangoUtils', ext: 'aar')
- compile (name: 'tango-ux-support-library', ext: 'aar')
- compile 'org.rajawali3d:rajawali:1.0.294-SNAPSHOT@aar'
-}
repositories{
flatDir{
dirs external_lib_prefix + '/aar'
}
}
+
+dependencies {
+ compile (name: 'tango-ux-support-library', ext: 'aar')
+ compile 'org.rajawali3d:rajawali:1.0.294-SNAPSHOT@aar'
+ compile project(':TangoUtils')
+}
diff --git a/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudActivity.java b/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudActivity.java
index bcb6a7f2..47480820 100644
--- a/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudActivity.java
+++ b/PointCloudJava/app/src/main/java/com/projecttango/experiments/javapointcloud/PointCloudActivity.java
@@ -49,6 +49,7 @@
import org.rajawali3d.surface.RajawaliSurfaceView;
+import java.lang.Override;
import java.nio.FloatBuffer;
import java.text.DecimalFormat;
import java.util.ArrayList;
@@ -136,46 +137,27 @@ protected void onResume() {
super.onResume();
StartParams params = new StartParams();
mTangoUx.start(params);
- if (!mIsTangoServiceConnected) {
- startActivityForResult(
- Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING),
- Tango.TANGO_INTENT_ACTIVITYCODE);
+ try {
+ setTangoListeners();
+ } catch (TangoErrorException e) {
+ Toast.makeText(this, R.string.TangoError, Toast.LENGTH_SHORT).show();
+ } catch (SecurityException e) {
+ Toast.makeText(getApplicationContext(), R.string.motiontrackingpermission,
+ Toast.LENGTH_SHORT).show();
}
- Log.i(TAG, "onResumed");
- }
-
- @Override
- protected void onActivityResult(int requestCode, int resultCode, Intent data) {
- // Check which request we're responding to
- if (requestCode == Tango.TANGO_INTENT_ACTIVITYCODE) {
- Log.i(TAG, "Triggered");
- // Make sure the request was successful
- if (resultCode == RESULT_CANCELED) {
- Toast.makeText(this, R.string.motiontrackingpermission, Toast.LENGTH_LONG).show();
- finish();
- return;
- }
- try {
- setTangoListeners();
- } catch (TangoErrorException e) {
- Toast.makeText(this, R.string.TangoError, Toast.LENGTH_SHORT).show();
- } catch (SecurityException e) {
- Toast.makeText(getApplicationContext(), R.string.motiontrackingpermission,
- Toast.LENGTH_SHORT).show();
- }
- try {
- mTango.connect(mConfig);
- mIsTangoServiceConnected = true;
- } catch (TangoOutOfDateException outDateEx) {
- if (mTangoUx != null) {
- mTangoUx.showTangoOutOfDate();
- }
- } catch (TangoErrorException e) {
- Toast.makeText(getApplicationContext(), R.string.TangoError, Toast.LENGTH_SHORT)
- .show();
+ try {
+ mTango.connect(mConfig);
+ mIsTangoServiceConnected = true;
+ } catch (TangoOutOfDateException outDateEx) {
+ if (mTangoUx != null) {
+ mTangoUx.showTangoOutOfDate();
}
- setupExtrinsics();
+ } catch (TangoErrorException e) {
+ Toast.makeText(getApplicationContext(), R.string.TangoError, Toast.LENGTH_SHORT)
+ .show();
}
+ setupExtrinsics();
+ Log.i(TAG, "onResumed");
}
@Override
diff --git a/PointCloudJava/build.gradle b/PointCloudJava/build.gradle
index 217854c1..f07bee07 100644
--- a/PointCloudJava/build.gradle
+++ b/PointCloudJava/build.gradle
@@ -1,6 +1,6 @@
// Top-level build file where you can add configuration options common to all sub-projects/modules.
-
buildscript {
+
repositories {
jcenter()
}
diff --git a/PointCloudJava/gradle/wrapper/gradle-wrapper.properties b/PointCloudJava/gradle/wrapper/gradle-wrapper.properties
index 0c71e760..5f98ccc4 100644
--- a/PointCloudJava/gradle/wrapper/gradle-wrapper.properties
+++ b/PointCloudJava/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
-#Wed Apr 10 15:27:10 PDT 2013
+#Mon Oct 26 08:02:00 ART 2015
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-2.2.1-all.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-2.4-all.zip
diff --git a/PointCloudJava/settings.gradle b/PointCloudJava/settings.gradle
index e7b4def4..87acb705 100644
--- a/PointCloudJava/settings.gradle
+++ b/PointCloudJava/settings.gradle
@@ -1 +1,3 @@
include ':app'
+include ':TangoUtils'
+project(':TangoUtils').projectDir = new File('../TangoUtils/app')
diff --git a/QuickstartJava/app/build.gradle b/QuickstartJava/app/build.gradle
index 00a663bc..55b1760b 100644
--- a/QuickstartJava/app/build.gradle
+++ b/QuickstartJava/app/build.gradle
@@ -22,10 +22,6 @@ android {
}
}
-if (project.hasProperty("Tango.signing")
- && new File(project.property("Tango.signing") + "/tango.gradle").exists()) {
- apply from: project.property("Tango.signing") + "/tango.gradle";
-}
def external_lib_prefix = null
if (project.hasProperty("Tango.catkin_devel_prefix")) {
diff --git a/QuickstartJava/app/src/main/java/com/projecttango/experiments/quickstartjava/MainActivity.java b/QuickstartJava/app/src/main/java/com/projecttango/experiments/quickstartjava/MainActivity.java
index a6c27765..f1fac3ab 100644
--- a/QuickstartJava/app/src/main/java/com/projecttango/experiments/quickstartjava/MainActivity.java
+++ b/QuickstartJava/app/src/main/java/com/projecttango/experiments/quickstartjava/MainActivity.java
@@ -83,24 +83,6 @@ protected void onResume() {
// is brought to the foreground.
super.onResume();
if (!mIsTangoServiceConnected) {
- startActivityForResult(
- Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING),
- Tango.TANGO_INTENT_ACTIVITYCODE);
- }
- }
-
- @Override
- protected void onActivityResult(int requestCode, int resultCode, Intent data) {
- // Check which request we're responding to
- if (requestCode == Tango.TANGO_INTENT_ACTIVITYCODE) {
- // Make sure the request was successful
- if (resultCode == RESULT_CANCELED) {
- Toast.makeText(this,
- "This app requires Motion Tracking permission!",
- Toast.LENGTH_LONG).show();
- finish();
- return;
- }
try {
setTangoListeners();
} catch (TangoErrorException e) {
diff --git a/QuickstartJava/build.gradle b/QuickstartJava/build.gradle
index 9405f3fd..5ec6aa5b 100644
--- a/QuickstartJava/build.gradle
+++ b/QuickstartJava/build.gradle
@@ -1,5 +1,4 @@
// Top-level build file where you can add configuration options common to all sub-projects/modules.
-
buildscript {
repositories {
jcenter()
diff --git a/QuickstartJava/gradle/wrapper/gradle-wrapper.properties b/QuickstartJava/gradle/wrapper/gradle-wrapper.properties
index 0c71e760..5f98ccc4 100644
--- a/QuickstartJava/gradle/wrapper/gradle-wrapper.properties
+++ b/QuickstartJava/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
-#Wed Apr 10 15:27:10 PDT 2013
+#Mon Oct 26 08:02:00 ART 2015
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-2.2.1-all.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-2.4-all.zip
diff --git a/TangoReleaseLibs/aar/TangoUtils.aar b/TangoReleaseLibs/aar/TangoUtils.aar
index 14fdece2..189cbad2 100644
Binary files a/TangoReleaseLibs/aar/TangoUtils.aar and b/TangoReleaseLibs/aar/TangoUtils.aar differ
diff --git a/TangoReleaseLibs/aar/tango-ux-support-library.aar b/TangoReleaseLibs/aar/tango-ux-support-library.aar
index 9d7a599d..dc181b25 100644
Binary files a/TangoReleaseLibs/aar/tango-ux-support-library.aar and b/TangoReleaseLibs/aar/tango-ux-support-library.aar differ
diff --git a/TangoReleaseLibs/aar/tango_support_java_lib.aar b/TangoReleaseLibs/aar/tango_support_java_lib.aar
index b2c78b9b..4df01320 100644
Binary files a/TangoReleaseLibs/aar/tango_support_java_lib.aar and b/TangoReleaseLibs/aar/tango_support_java_lib.aar differ
diff --git a/TangoReleaseLibs/jar/tango_java_lib.jar b/TangoReleaseLibs/jar/tango_java_lib.jar
index 345bbaf8..63199d65 100644
Binary files a/TangoReleaseLibs/jar/tango_java_lib.jar and b/TangoReleaseLibs/jar/tango_java_lib.jar differ
diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/ScenePoseCalcuator.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/ScenePoseCalcuator.java
index c4f28c2e..eab495f7 100644
--- a/TangoUtils/app/src/main/java/com/projecttango/rajawali/ScenePoseCalcuator.java
+++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/ScenePoseCalcuator.java
@@ -15,10 +15,6 @@
*/
package com.projecttango.rajawali;
-import android.util.Log;
-
-import com.google.atap.tangoservice.Tango;
-import com.google.atap.tangoservice.TangoCoordinateFramePair;
import com.google.atap.tangoservice.TangoPoseData;
import org.rajawali3d.math.Matrix;
@@ -37,15 +33,15 @@ public class ScenePoseCalcuator {
private static final String TAG = ScenePoseCalcuator.class.getSimpleName();
// Transformation from the Tango Area Description or Start of Service coordinate frames
- // to the OpenGL coordinate frame
- // NOTE: Rajawali uses column-major for matrices
+ // to the OpenGL coordinate frame.
+ // NOTE: Rajawali uses column-major for matrices.
public static final Matrix4 OPENGL_T_TANGO_WORLD = new Matrix4(new double[]{
1, 0, 0, 0,
0, 0,-1, 0,
0, 1, 0, 0,
0, 0, 0, 1
});
- // Transformation from the Tango RGB camera coordinate frame to the OpenGL camera frame
+ // Transformation from the Tango RGB camera coordinate frame to the OpenGL camera frame.
public static final Matrix4 COLOR_CAMERA_T_OPENGL_CAMERA = new Matrix4(new double[] {
1, 0, 0, 0,
0,-1, 0, 0,
@@ -60,13 +56,13 @@ public class ScenePoseCalcuator {
0, 0, 0, 1
});
- // Up vector in the Tango Start of Service and Area Description frame
+ // Up vector in the Tango start of Service and Area Description frame.
public static final Vector3 TANGO_WORLD_UP = new Vector3(0, 0, 1);
- // Transformation from the position of the Depth camera to the Device frame
+ // Transformation from the position of the depth camera to the device frame.
private Matrix4 mDeviceTDepthCamera;
- // Transformation from the position of the Color Camera to the Device frame
+ // Transformation from the position of the color Camera to the device frame.
private Matrix4 mDeviceTColorCamera;
/**
@@ -77,7 +73,7 @@ public static Matrix4 tangoPoseToMatrix(TangoPoseData tangoPose) {
tangoPose.translation[1], tangoPose.translation[2]);
Quaternion q = new Quaternion(tangoPose.rotation[3], tangoPose.rotation[0],
tangoPose.rotation[1], tangoPose.rotation[2]);
- // NOTE: Rajawali Quaternions use a left-hand rotation around the axis convention
+ // NOTE: Rajawali quaternions use a left-hand rotation around the axis convention.
q.conjugate();
Matrix4 m = new Matrix4();
m.setAll(v, new Vector3(1, 1, 1), q);
@@ -88,11 +84,11 @@ public static Matrix4 tangoPoseToMatrix(TangoPoseData tangoPose) {
* Converts a transform in Matrix4 format to TangoPoseData.
*/
public static TangoPoseData matrixToTangoPose(Matrix4 transform) {
- // Get translation and rotation components from the transformation matrix
+ // Get translation and rotation components from the transformation matrix.
Vector3 p = transform.getTranslation();
Quaternion q = new Quaternion();
q.fromMatrix(transform);
- // NOTE: Rajawali Quaternions use a left-hand rotation around the axis convention
+ // NOTE: Rajawali quaternions use a left-hand rotation around the axis convention.
q.conjugate();
TangoPoseData tangoPose = new TangoPoseData();
@@ -114,12 +110,12 @@ public static TangoPoseData matrixToTangoPose(Matrix4 transform) {
* Rajawali conventions.
*/
public static Pose matrixToPose(Matrix4 m) {
- // Get translation and rotation components from the transformation matrix
+ // Get translation and rotation components from the transformation matrix.
Vector3 p = m.getTranslation();
Quaternion q = new Quaternion();
q.fromMatrix(m);
- // NOTE: Rajawali Quaternions use a left-hand rotation around the axis convention
+ // NOTE: Rajawali quaternions use a left-hand rotation around the axis convention.
q.conjugate();
return new Pose(p, q);
@@ -130,17 +126,17 @@ public static Pose matrixToPose(Matrix4 m) {
* position and orientation for a OpenGL Scene Camera in the Rajawali world.
*/
public Pose toOpenGLCameraPose(TangoPoseData tangoPose) {
- // We can't do this calculation until Extrinsics are set-up
+ // We can't do this calculation until extrinsics are set-up.
if (mDeviceTColorCamera == null) {
throw new RuntimeException("You must call setupExtrinsics first.");
}
Matrix4 startServiceTdevice = tangoPoseToMatrix(tangoPose);
- // Get device pose in OpenGL world frame
+ // Get device pose in OpenGL world frame.
Matrix4 openglTDevice = OPENGL_T_TANGO_WORLD.clone().multiply(startServiceTdevice);
- // Get OpenGL camera pose in OpenGL world frame
+ // Get OpenGL camera pose in OpenGL world frame.
Matrix4 openglWorldTOpenglCamera = openglTDevice.multiply(mDeviceTColorCamera).
multiply(COLOR_CAMERA_T_OPENGL_CAMERA);
@@ -152,13 +148,12 @@ public Pose toOpenGLCameraPose(TangoPoseData tangoPose) {
* PointCloud in Depth camera coordinate system to the Rajawali world.
*/
public Pose toOpenGLPointCloudPose(TangoPoseData tangoPose) {
-
- // We can't do this calculation until Extrinsics are set-up
+ // We can't do this calculation until extrinsics are set-up.
if (mDeviceTDepthCamera == null) {
throw new RuntimeException("You must call setupExtrinsics first.");
}
- //conversion matrix to put point cloud data in Rajwali/Opengl Coordinate system.
+ //conversion matrix to put point cloud data in Rajawali/OpenGL coordinate system.
Matrix4 invertYandZMatrix = new Matrix4(new double[]{1.0f, 0.0f, 0.0f, 0.0f,
0.0f, -1.0f, 0.0f, 0.0f,
0.0f, 0.0f, -1.0f, 0.0f,
@@ -166,10 +161,10 @@ public Pose toOpenGLPointCloudPose(TangoPoseData tangoPose) {
Matrix4 startServiceTdevice = tangoPoseToMatrix(tangoPose);
- // Get device pose in OpenGL world frame
+ // Get device pose in OpenGL world frame.
Matrix4 openglTDevice = OPENGL_T_TANGO_WORLD.clone().multiply(startServiceTdevice);
- // Get OpenGL camera pose in OpenGL world frame
+ // Get OpenGL camera pose in OpenGL world frame.
Matrix4 openglWorldTOpenglCamera = openglTDevice.multiply(mDeviceTDepthCamera).
multiply(DEPTH_CAMERA_T_OPENGL_CAMERA).multiply(invertYandZMatrix);
@@ -183,7 +178,7 @@ public Pose toOpenGLPointCloudPose(TangoPoseData tangoPose) {
static public Pose toOpenGLPose(TangoPoseData tangoPose) {
Matrix4 start_service_T_device = tangoPoseToMatrix(tangoPose);
- // Get device pose in OpenGL world frame
+ // Get device pose in OpenGL world frame.
Matrix4 opengl_world_T_device = OPENGL_T_TANGO_WORLD.clone().multiply(start_service_T_device);
return matrixToPose(opengl_world_T_device);
@@ -195,9 +190,9 @@ static public Pose toOpenGLPose(TangoPoseData tangoPose) {
* Tango start of service frame.
*
* @param point Point in depth frame where the plane has been detected.
- * @param normal Normal of the detected plane
+ * @param normal Normal of the detected plane.
* @param tangoPose Device pose with respect to start of service at the time the plane was
- * fitted
+ * fitted.
*/
public Pose planeFitToOpenGLPose(double[] point, double[] normal, TangoPoseData tangoPose) {
if (mDeviceTDepthCamera == null) {
@@ -206,14 +201,14 @@ public Pose planeFitToOpenGLPose(double[] point, double[] normal, TangoPoseData
Matrix4 startServiceTdevice = tangoPoseToMatrix(tangoPose);
- // Calculate the UP vector in the Depth frame at the provided measurement pose
+ // Calculate the UP vector in the depth frame at the provided measurement pose.
Vector3 depthUp = TANGO_WORLD_UP.clone();
startServiceTdevice.clone().multiply(mDeviceTDepthCamera).inverse().rotateVector(depthUp);
- // Calculate the transform in depth frame corresponding to the plane fitting information
+ // Calculate the transform in depth frame corresponding to the plane fitting information.
Matrix4 depthTplane = matrixFromPointNormalUp(point, normal, depthUp);
- // Convert to OpenGL frame
+ // Convert to OpenGL frame.
Matrix4 openglWorldTplane = OPENGL_T_TANGO_WORLD.clone().multiply(startServiceTdevice)
.multiply(mDeviceTDepthCamera).multiply(depthTplane);
@@ -229,14 +224,10 @@ public Pose planeFitToOpenGLPose(double[] point, double[] normal, TangoPoseData
public void setupExtrinsics(TangoPoseData imuTDevicePose, TangoPoseData imuTColorCameraPose,
TangoPoseData imuTDepthCameraPose) {
Matrix4 deviceTImu = ScenePoseCalcuator.tangoPoseToMatrix(imuTDevicePose).inverse();
- Matrix4 imutColorCamera = ScenePoseCalcuator.tangoPoseToMatrix(imuTColorCameraPose);
+ Matrix4 imuTColorCamera = ScenePoseCalcuator.tangoPoseToMatrix(imuTColorCameraPose);
Matrix4 imuTDepthCamera = ScenePoseCalcuator.tangoPoseToMatrix(imuTDepthCameraPose);
mDeviceTDepthCamera = deviceTImu.clone().multiply(imuTDepthCamera);
- mDeviceTColorCamera = deviceTImu.multiply(imutColorCamera);
- }
-
- private void throwExceptionIfNoExtrinsics() {
-
+ mDeviceTColorCamera = deviceTImu.multiply(imuTColorCamera);
}
/**
@@ -244,7 +235,7 @@ private void throwExceptionIfNoExtrinsics() {
*/
public static Matrix4 calculateProjectionMatrix(int width, int height, double fx, double fy,
double cx, double cy) {
- // Uses frustumM to create a projection matrix taking into account Calibrated camera
+ // Uses frustumM to create a projection matrix taking into account calibrated camera
// intrinsic parameter.
// Reference: http://ksimek.github.io/2013/06/03/calibrated_cameras_in_opengl/
double near = 0.1;
@@ -302,26 +293,4 @@ private static Matrix4 matrixFromPointNormalUp(double[] point, double[] normal,
return m;
}
-
- /**
- * Calculates the transform between the color camera at a time t0 and the depth camera at a
- * time t1, given the device poses at t0 and t1.
- */
- public TangoPoseData calculateColorCameraTDepthWithTime(TangoPoseData ssTdeviceT0pose,
- TangoPoseData ssTdeviceT1pose) {
- if (mDeviceTDepthCamera == null) {
- throw new RuntimeException("You must call setupExtrinsics first");
- }
-
- // Operation at hand:
- // rgb_t0_T_depth_t1 = rgb_T_dev * dev_t0_T_ss * ss_T_dev_t1 * dev_T_depth
-
- Matrix4 ssTdeviceT0 = tangoPoseToMatrix(ssTdeviceT0pose);
- Matrix4 ssTdeviceT1 = tangoPoseToMatrix(ssTdeviceT1pose);
-
- Matrix4 rgbt0Tdeptht1 = mDeviceTColorCamera.clone().inverse().
- multiply(ssTdeviceT0.inverse()).multiply(ssTdeviceT1).multiply(mDeviceTDepthCamera);
-
- return matrixToTangoPose(rgbt0Tdeptht1);
- }
}
diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/TouchViewHandler.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/TouchViewHandler.java
index becf3a0e..93809d66 100644
--- a/TangoUtils/app/src/main/java/com/projecttango/rajawali/TouchViewHandler.java
+++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/TouchViewHandler.java
@@ -25,12 +25,11 @@
import org.rajawali3d.math.vector.Vector3;
/**
- * This is a helper class that adds Top-down and Third-person views in a VR setting, including
+ * This is a helper class that adds top-down and third-person views in a VR setting, including
* handling of standard pan and zoom touch interactions.
*/
public class TouchViewHandler {
-
- // Touch interaction tuning constants
+ // Touch interaction tuning constants.
private static final int TOUCH_THIRD_PITCH_LIMIT = 60;
private static final int TOUCH_THIRD_PITCH_DEFAULT = 45;
private static final int TOUCH_THIRD_YAW_DEFAULT = -45;
@@ -38,20 +37,20 @@ public class TouchViewHandler {
private static final int TOUCH_THIRD_DISTANCE = 10;
private static final int TOUCH_TOP_DISTANCE = 10;
- // Virtual Reality view parameters
+ // Virtual reality view parameters.
private static final float FIRST_PERSON_FOV = 37.8f;
private static final int THIRD_PERSON_FOV = 65;
private static final int TOP_DOWN_FOV = 65;
private enum ViewMode {
FIRST_PERSON, TOP_DOWN, THIRD_PERSON
- };
+ }
private ViewMode viewMode = ViewMode.THIRD_PERSON;
private GestureDetector gestureDetector;
private ScaleGestureDetector scaleGestureDetector;
- private Vector3 topdownCameraDelta = new Vector3();
+ private Vector3 topDownCameraDelta = new Vector3();
private float thirdPersonPitch = TOUCH_THIRD_PITCH_DEFAULT;
private float thirdPersonYaw = TOUCH_THIRD_YAW_DEFAULT;
@@ -76,8 +75,8 @@ public void updateCamera(Vector3 position, Quaternion orientation) {
camera.setPosition(position);
camera.setOrientation(orientation);
} else if (viewMode == ViewMode.TOP_DOWN) {
- camera.setPosition(position.x + topdownCameraDelta.x, TOUCH_TOP_DISTANCE,
- position.z + topdownCameraDelta.z);
+ camera.setPosition(position.x + topDownCameraDelta.x, TOUCH_TOP_DISTANCE,
+ position.z + topDownCameraDelta.z);
camera.setRotation(Vector3.Axis.X, 90);
} else if (viewMode == ViewMode.THIRD_PERSON) {
camera.setPosition(position.x, position.y, position.z);
@@ -99,7 +98,7 @@ public void setFirstPersonView() {
public void setTopDownView() {
viewMode = ViewMode.TOP_DOWN;
- topdownCameraDelta = new Vector3();
+ topDownCameraDelta = new Vector3();
camera.setFieldOfView(TOP_DOWN_FOV);
}
@@ -131,7 +130,7 @@ public boolean onScroll(MotionEvent e1, MotionEvent e2, float distanceX, float d
if (viewMode == ViewMode.TOP_DOWN) {
double factor = camera.getFieldOfView() / 45;
- topdownCameraDelta.add(new Vector3(distanceX / 100 * factor, 0, distanceY / 100 * factor));
+ topDownCameraDelta.add(new Vector3(distanceX / 100 * factor, 0, distanceY / 100 * factor));
} else if (viewMode == ViewMode.THIRD_PERSON) {
thirdPersonPitch -= distanceY / 10;
thirdPersonPitch =
diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/ar/TangoRajawaliRenderer.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/ar/TangoRajawaliRenderer.java
index b6798445..189a21d7 100644
--- a/TangoUtils/app/src/main/java/com/projecttango/rajawali/ar/TangoRajawaliRenderer.java
+++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/ar/TangoRajawaliRenderer.java
@@ -55,7 +55,6 @@
* handled by this mRenderer.
*/
public abstract class TangoRajawaliRenderer extends RajawaliRenderer {
-
private static final String TAG = "TangoRajawaliRenderer";
private static TangoCoordinateFramePair TANGO_WORLD_T_DEVICE = new TangoCoordinateFramePair(
@@ -63,7 +62,7 @@ public abstract class TangoRajawaliRenderer extends RajawaliRenderer {
TangoPoseData.COORDINATE_FRAME_DEVICE
);
- // Tango support objects
+ // Tango support objects.
private StreamingTexture mTangoCameraTexture;
private Tango mTango;
private int mCameraId;
@@ -71,7 +70,7 @@ public abstract class TangoRajawaliRenderer extends RajawaliRenderer {
private int mConnectedTextureId = -1;
private double mLastRGBFrameTimestamp = -1;
private double mLastSceneCameraFrameTimestamp = -1;
- // The ScreenQuad used to render the Tango camera in the background of the scene
+ // The ScreenQuad used to render the Tango camera in the background of the scene.
private ScreenQuad mBackgroundQuad;
private boolean mIsCameraConfigured = false;
@@ -105,8 +104,8 @@ protected void initScene() {
}
@Override
- protected void onRender(long ellapsedRealtime, double deltaTime) {
- super.onRender(ellapsedRealtime, deltaTime);
+ protected void onRender(long elapsedRealTime, double deltaTime) {
+ super.onRender(elapsedRealTime, deltaTime);
synchronized (this) {
if (mTango != null) {
@@ -116,20 +115,20 @@ protected void onRender(long ellapsedRealtime, double deltaTime) {
mUpdatePending = false;
}
if (mLastRGBFrameTimestamp != mLastSceneCameraFrameTimestamp) {
- // We delay the camera set-up until now because if we do it earlier (i.e.: when the
+ // We delay the camera set-up until now because if we do it earlier (i.e., when the
// camera is connected to the renderer) the Tango service may still not have the
- // necessary intrinsic and extrinsic transformation information available
+ // necessary intrinsic and extrinsic transformation information available.
if (!mIsCameraConfigured) {
configureCamera();
mIsCameraConfigured = true;
}
- // Calculate the device pose at the camera frame update time
+ // Calculate the device pose at the camera frame update time.
TangoPoseData lastFramePose =
mTango.getPoseAtTime(mLastRGBFrameTimestamp, TANGO_WORLD_T_DEVICE);
- // Fall back to latest available time if for some reason that fails
+
if (lastFramePose.statusCode != TangoPoseData.POSE_VALID) {
- lastFramePose = mTango.getPoseAtTime(0, TANGO_WORLD_T_DEVICE);
+ Log.w(TAG, "Unable to get device pose at camera frame update time = " + mLastRGBFrameTimestamp);
} else {
Pose sceneCameraPose = mScenePoseCalcuator.toOpenGLCameraPose(lastFramePose);
updateCameraPose(sceneCameraPose);
@@ -148,7 +147,7 @@ protected void onRender(long ellapsedRealtime, double deltaTime) {
/**
* Override onRenderSurfaceSizeChanged() so that it will be called after onSurfaceCreated,
* nested view get reset or resized, including activity get paused and resumed, in this function
- * sets mIsCameracConfigured to false since Rajawali will reset the scene camera if SurfaceSizeChanged
+ * sets mIsCameraConfigured to false since Rajawali will reset the scene camera if SurfaceSizeChanged
* get called.
*/
@Override
@@ -214,21 +213,21 @@ private int connectTangoTexture() {
}
private void configureCamera() {
- // This should never happen, but it never hurts to double-check
+ // This should never happen, but it never hurts to double-check.
if (mTango == null) {
return;
}
- // Configure the Rajawali Scene camera projection to match the Tango camera intrinsic
+ // Configure the Rajawali Scene camera projection to match the Tango camera intrinsic.
TangoCameraIntrinsics intrinsics = mTango.getCameraIntrinsics(mCameraId);
- Matrix4 projectionMatrix = mScenePoseCalcuator.calculateProjectionMatrix(
+ Matrix4 projectionMatrix = ScenePoseCalcuator.calculateProjectionMatrix(
intrinsics.width, intrinsics.height, intrinsics.fx, intrinsics.fy, intrinsics.cx,
intrinsics.cy);
getCurrentCamera().setProjectionMatrix(projectionMatrix);
}
/**
- * Set-up device to sensors transforms
+ * Set-up device to sensors transforms.
*/
public void setupExtrinsics(TangoPoseData imuTDevicePose, TangoPoseData imuTColorCameraPose,
TangoPoseData imuTDepthCameraPose) {
@@ -236,7 +235,7 @@ public void setupExtrinsics(TangoPoseData imuTDevicePose, TangoPoseData imuTColo
}
/**
- * Intended to be called from TangoRajawaliView
+ * Intended to be called from TangoRajawaliView.
*/
void connectCamera(Tango tango, int cameraId) {
this.mTango = tango;
@@ -245,7 +244,7 @@ void connectCamera(Tango tango, int cameraId) {
}
/**
- * Intended to be called from TangoRajawaliView
+ * Intended to be called from TangoRajawaliView.
*/
synchronized void disconnectCamera() {
Tango oldTango = mTango;
@@ -258,19 +257,18 @@ synchronized void disconnectCamera() {
}
/**
- * Intended to be called from TangoRajawaliView
+ * Intended to be called from TangoRajawaliView.
*/
synchronized void onTangoFrameAvailable() {
mUpdatePending = true;
}
/**
- * Get the latest camera frame timestamp. This value will be updated when
+ * Get the latest camera frame timestamp. This value will be updated when
* the updateTexture() is called.
*
* @return The timestamp. This can be used to associate camera data with a
* pose or other sensor data using other pieces of the Tango API.
- *
*/
public double getTimestamp() {
return mLastRGBFrameTimestamp;
diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/ar/TangoRajawaliView.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/ar/TangoRajawaliView.java
index 82b8041f..1f376c21 100644
--- a/TangoUtils/app/src/main/java/com/projecttango/rajawali/ar/TangoRajawaliView.java
+++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/ar/TangoRajawaliView.java
@@ -30,7 +30,6 @@
*
*/
public class TangoRajawaliView extends RajawaliSurfaceView {
-
private static final String TAG = "TangoRajawaliView";
TangoRajawaliRenderer mRenderer;
@@ -38,7 +37,7 @@ public TangoRajawaliView(Context context) {
super(context);
// It is important to set render mode to manual to force rendering only when there is a
// Tango Camera image available and get correct synchronization between the camera and the
- // rest of the scene
+ // rest of the scene.
setRenderMode(GLSurfaceView.RENDERMODE_WHEN_DIRTY);
}
@@ -46,7 +45,7 @@ public TangoRajawaliView(Context context, AttributeSet attrs) {
super(context, attrs);
// It is important to set render mode to manual to force rendering only when there is a
// Tango Camera image available and get correct synchronization between the camera and the
- // rest of the scene
+ // rest of the scene.
setRenderMode(GLSurfaceView.RENDERMODE_WHEN_DIRTY);
}
@@ -61,7 +60,7 @@ public void setSurfaceRenderer(TangoRajawaliRenderer renderer) throws IllegalSta
}
/**
- * Get the latest camera data's timestamp. This value will be updated when
+ * Get the latest camera data's timestamp. This value will be updated when
* the updateTexture() is called.
*
* @return The timestamp. This can be used to associate camera data with a
diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/FrustumAxes.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/FrustumAxes.java
index 39dc7468..0018dec1 100644
--- a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/FrustumAxes.java
+++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/FrustumAxes.java
@@ -17,7 +17,6 @@
import android.graphics.Color;
-import org.rajawali3d.Object3D;
import org.rajawali3d.materials.Material;
import org.rajawali3d.math.vector.Vector3;
import org.rajawali3d.primitives.Line3D;
@@ -53,7 +52,7 @@ private static Stack makePoints() {
Vector3 z = new Vector3(0, 0, 1);
Stack points = new Stack();
- Collections.addAll(points, new Vector3[]{o, x, o, y, o, z, o, a, b, o, b, c, o, c, d, o, d, a});
+ Collections.addAll(points, o, x, o, y, o, z, o, a, b, o, b, c, o, c, d, o, d, a);
return points;
}
diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Trajectory.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Trajectory.java
index 854a4295..8db7ba39 100644
--- a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Trajectory.java
+++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/Trajectory.java
@@ -32,10 +32,11 @@
* passing translation data obtained from Tango Pose Data.
*/
public class Trajectory extends Object3D {
- private int mMaxNumberOfVertices = 9000;
+ private static final int MAX_NUMBER_OF_VERTICES = 9000;
private Vector3 mLastPoint = new Vector3();
private FloatBuffer mVertexBuffer;
private int mTrajectoryCount;
+
public Trajectory(int color, float thickness) {
super();
init(true);
@@ -43,16 +44,16 @@ public Trajectory(int color, float thickness) {
m.setColor(color);
setMaterial(m);
mVertexBuffer = ByteBuffer
- .allocateDirect(mMaxNumberOfVertices * Geometry3D.FLOAT_SIZE_BYTES)
+ .allocateDirect(MAX_NUMBER_OF_VERTICES * Geometry3D.FLOAT_SIZE_BYTES)
.order(ByteOrder.nativeOrder()).asFloatBuffer();
}
// Initialize the buffers for Trajectory primitive.
- // Since only vertex and Index buffers are used, we only initialize them using setdata call.
+ // Since only vertex and Index buffers are used, we only initialize them using setData call.
protected void init(boolean createVBOs) {
- float[] vertices = new float[mMaxNumberOfVertices*3];
- int[] indices = new int[mMaxNumberOfVertices];
+ float[] vertices = new float[MAX_NUMBER_OF_VERTICES * 3];
+ int[] indices = new int[MAX_NUMBER_OF_VERTICES];
for(int i = 0; i < indices.length; ++i){
indices[i] = i;
}
diff --git a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/primitives/Points.java b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/primitives/Points.java
index bcc08287..4579683b 100644
--- a/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/primitives/Points.java
+++ b/TangoUtils/app/src/main/java/com/projecttango/rajawali/renderables/primitives/Points.java
@@ -29,11 +29,11 @@
* Intended to be contributed and PR'ed to Rajawali.
*/
public class Points extends Object3D {
- private int mMaxNumberofVertices;
+ private int mMaxNumberOfVertices;
public Points(int numberOfPoints) {
super();
- mMaxNumberofVertices = numberOfPoints;
+ mMaxNumberOfVertices = numberOfPoints;
init(true);
Material m = new Material();
m.setColor(Color.GREEN);
@@ -41,10 +41,10 @@ public Points(int numberOfPoints) {
}
// Initialize the buffers for Points primitive.
- // Since only vertex and Index buffers are used, we only initialize them using setdata call.
+ // Since only vertex and index buffers are used, we only initialize them using setData call.
protected void init(boolean createVBOs) {
- float[] vertices = new float[mMaxNumberofVertices*3];
- int[] indices = new int[mMaxNumberofVertices];
+ float[] vertices = new float[mMaxNumberOfVertices * 3];
+ int[] indices = new int[mMaxNumberOfVertices];
for(int i = 0; i < indices.length; ++i){
indices[i] = i;
}
diff --git a/TangoUtils/app/src/main/java/com/projecttango/tangoutils/TangoPoseUtilities.java b/TangoUtils/app/src/main/java/com/projecttango/tangoutils/TangoPoseUtilities.java
index 428cdb1a..c6eb02c3 100644
--- a/TangoUtils/app/src/main/java/com/projecttango/tangoutils/TangoPoseUtilities.java
+++ b/TangoUtils/app/src/main/java/com/projecttango/tangoutils/TangoPoseUtilities.java
@@ -24,14 +24,13 @@
* sample applications
*/
public class TangoPoseUtilities {
-
/**
* Get translation string from a pose.
- * @param pose: Pose from which translation string is constructed.
- * @param decimalFormat: Number of decimals for each component of translation.
+ * @param pose Pose from which translation string is constructed.
+ * @param decimalFormat Number of decimals for each component of translation.
* @return
*/
- public static String getTranslationString(TangoPoseData pose, DecimalFormat decimalFormat){
+ public static String getTranslationString(TangoPoseData pose, DecimalFormat decimalFormat) {
String translationString = "["
+ decimalFormat.format(pose.translation[0]) + ", "
+ decimalFormat.format(pose.translation[1]) + ", "
@@ -41,11 +40,11 @@ public static String getTranslationString(TangoPoseData pose, DecimalFormat deci
/**
* Get quaternion string from a pose.
- * @param pose: Pose from which quaternion string is constructed.
- * @param decimalFormat: Number of decimals for each component of translation.
+ * @param pose Pose from which quaternion string is constructed.
+ * @param decimalFormat Number of decimals for each component of translation.
* @return
*/
- public static String getQuaternionString(TangoPoseData pose, DecimalFormat decimalFormat){
+ public static String getQuaternionString(TangoPoseData pose, DecimalFormat decimalFormat) {
String quaternionString ="["
+ decimalFormat.format(pose.rotation[0]) + ", "
+ decimalFormat.format(pose.rotation[1]) + ", "
@@ -56,11 +55,11 @@ public static String getQuaternionString(TangoPoseData pose, DecimalFormat decim
/**
* Get the status of the Pose as a string.
- * @param pose: Pose from which status string is constructed.
+ * @param pose Pose from which status string is constructed.
* @return
*/
- public static String getStatusString(TangoPoseData pose){
- String poseStatus = "unknown";
+ public static String getStatusString(TangoPoseData pose) {
+ String poseStatus;
switch (pose.statusCode){
case TangoPoseData.POSE_UNKNOWN:
poseStatus = "unknown";
@@ -77,6 +76,6 @@ public static String getStatusString(TangoPoseData pose){
default:
poseStatus = "unknown";
}
- return poseStatus;
+ return poseStatus;
}
}
diff --git a/TangoUtils/build.gradle b/TangoUtils/build.gradle
index ca6de6f5..f07bee07 100644
--- a/TangoUtils/build.gradle
+++ b/TangoUtils/build.gradle
@@ -1,5 +1,6 @@
// Top-level build file where you can add configuration options common to all sub-projects/modules.
buildscript {
+
repositories {
jcenter()
}
diff --git a/TangoUtils/gradle/wrapper/gradle-wrapper.properties b/TangoUtils/gradle/wrapper/gradle-wrapper.properties
index 0c71e760..5f98ccc4 100644
--- a/TangoUtils/gradle/wrapper/gradle-wrapper.properties
+++ b/TangoUtils/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
-#Wed Apr 10 15:27:10 PDT 2013
+#Mon Oct 26 08:02:00 ART 2015
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-2.2.1-all.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-2.4-all.zip
diff --git a/VideoOverlaySample/app/build.gradle b/VideoOverlaySample/app/build.gradle
index efba93da..3e5d91c0 100644
--- a/VideoOverlaySample/app/build.gradle
+++ b/VideoOverlaySample/app/build.gradle
@@ -23,10 +23,6 @@ android {
}
}
-if (project.hasProperty("Tango.signing")
- && new File(project.property("Tango.signing") + "/tango.gradle").exists()) {
- apply from: project.property("Tango.signing") + "/tango.gradle";
-}
def external_lib_prefix = null
if (project.hasProperty("Tango.catkin_devel_prefix")) {
diff --git a/VideoOverlaySample/build.gradle b/VideoOverlaySample/build.gradle
index 9405f3fd..7a66dc5a 100644
--- a/VideoOverlaySample/build.gradle
+++ b/VideoOverlaySample/build.gradle
@@ -1,6 +1,6 @@
// Top-level build file where you can add configuration options common to all sub-projects/modules.
-
buildscript {
+
repositories {
jcenter()
}
diff --git a/VideoOverlaySample/gradle/wrapper/gradle-wrapper.properties b/VideoOverlaySample/gradle/wrapper/gradle-wrapper.properties
index 0c71e760..5f98ccc4 100644
--- a/VideoOverlaySample/gradle/wrapper/gradle-wrapper.properties
+++ b/VideoOverlaySample/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
-#Wed Apr 10 15:27:10 PDT 2013
+#Mon Oct 26 08:02:00 ART 2015
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-2.2.1-all.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-2.4-all.zip