release-ancha

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')
 }

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();

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()

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

AreaLearningJava/settings.gradle

@@ -1 +1,3 @@
-include ':app'
+include ':app'
+include ':TangoUtils'
+project(':TangoUtils').projectDir = new File('../TangoUtils/app')

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')
+}

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.
  * <p/>
- * 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<TangoCoordinateFramePair> framePairs = new ArrayList<TangoCoordinateFramePair>();
-            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<TangoCoordinateFramePair> framePairs = new ArrayList<TangoCoordinateFramePair>();
+                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);
 
@@ -196,22 +176,28 @@ protected void onPause() {
     @Override
     protected void onResume() {
         super.onResume();
-        if (!mIsConnected && mIsPermissionGranted) {
+        if (!mIsConnected) {
             startAugmentedreality();
         }
     }
 
     @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);
     }
 }