Java tutorial
/* * Copyright 2016 Google Inc. All Rights Reserved. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ package com.projecttango.examples.java.meshbuilder; import com.google.atap.tango.mesh.TangoMesh; import com.google.atap.tangoservice.Tango; import com.google.atap.tangoservice.TangoCameraIntrinsics; import com.google.atap.tangoservice.TangoConfig; import com.google.atap.tangoservice.TangoCoordinateFramePair; import com.google.atap.tangoservice.TangoErrorException; import com.google.atap.tangoservice.TangoEvent; import com.google.atap.tangoservice.TangoInvalidException; import com.google.atap.tangoservice.TangoOutOfDateException; import com.google.atap.tangoservice.TangoPointCloudData; import com.google.atap.tangoservice.TangoPoseData; import com.google.atap.tangoservice.TangoXyzIjData; import com.google.atap.tangoservice.experimental.TangoImageBuffer; import android.Manifest; import android.app.Activity; import android.app.AlertDialog; import android.content.DialogInterface; import android.content.Intent; import android.content.pm.PackageInfo; import android.content.pm.PackageManager; import android.hardware.display.DisplayManager; import android.opengl.GLSurfaceView; import android.os.Bundle; import android.support.annotation.UiThread; import android.support.v4.app.ActivityCompat; import android.support.v4.content.ContextCompat; import android.util.Log; import android.view.Display; import android.view.View; import android.widget.Button; import android.widget.Toast; import java.util.ArrayList; import java.util.List; import com.projecttango.tangosupport.TangoSupport; /** * An example showing how to build a very simple application that allows the user to create a mesh * in Java. It uses {@code TangoMesher} to do a mesh reconstruction of the scene. */ public class MeshBuilderActivity extends Activity { private static final String TAG = MeshBuilderActivity.class.getSimpleName(); private static final String TANGO_PACKAGE_NAME = "com.google.tango"; private static final int MIN_TANGO_VERSION = 11925; private static final String CAMERA_PERMISSION = Manifest.permission.CAMERA; private static final int CAMERA_PERMISSION_CODE = 0; private GLSurfaceView mSurfaceView; private MeshBuilderRenderer mRenderer; private TangoCameraIntrinsics mIntrinsics; private TangoMesher mTangoMesher; private volatile TangoMesh[] mMeshVector; private Tango mTango; private TangoConfig mConfig; private boolean mIsConnected = false; private Button mPauseButton; private boolean mIsPaused; private boolean mClearMeshes; private int mDisplayRotation = 0; @Override protected void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); setContentView(R.layout.activity_main); mPauseButton = (Button) findViewById(R.id.pause_button); mSurfaceView = (GLSurfaceView) findViewById(R.id.surfaceview); // Set ZOrderOnTop to false so the other views don't get hidden by the SurfaceView. mSurfaceView.setZOrderOnTop(false); DisplayManager displayManager = (DisplayManager) getSystemService(DISPLAY_SERVICE); if (displayManager != null) { displayManager.registerDisplayListener(new DisplayManager.DisplayListener() { @Override public void onDisplayAdded(int displayId) { } @Override public void onDisplayChanged(int displayId) { synchronized (this) { setDisplayRotation(); } } @Override public void onDisplayRemoved(int displayId) { } }, null); } connectRenderer(); } @Override protected void onStart() { super.onStart(); mSurfaceView.onResume(); // Set render mode to RENDERMODE_CONTINUOUSLY to force getting onDraw callbacks until // the Tango Service is properly set up and we start getting onFrameAvailable callbacks. mSurfaceView.setRenderMode(GLSurfaceView.RENDERMODE_CONTINUOUSLY); // Check and request camera permission at run time. if (checkAndRequestPermissions()) { bindTangoService(); } } /** * Initialize Tango Service as a normal Android Service. */ private void bindTangoService() { // Initialize Tango Service as a normal Android Service. // Since we call mTango.disconnect() in onPause, this will unbind Tango Service, // so every time onResume gets called we should create a new Tango object. mTango = new Tango(MeshBuilderActivity.this, new Runnable() { // Pass in a Runnable to be called from UI thread when Tango is ready, // this Runnable will be running on a new thread. // When Tango is ready, we can call Tango functions safely here only // when there is no UI thread changes involved. @Override public void run() { synchronized (MeshBuilderActivity.this) { try { TangoSupport.initialize(); mConfig = setupTangoConfig(mTango); mTango.connect(mConfig); startupTango(); mIsConnected = true; mIsPaused = false; runOnUiThread(new Runnable() { @Override public void run() { pauseOrResumeReconstruction(mIsPaused); } }); setDisplayRotation(); } catch (TangoOutOfDateException e) { Log.e(TAG, getString(R.string.exception_out_of_date), e); showsToastAndFinishOnUiThread(R.string.exception_out_of_date); } catch (TangoErrorException e) { Log.e(TAG, getString(R.string.exception_tango_error), e); showsToastAndFinishOnUiThread(R.string.exception_tango_error); } catch (TangoInvalidException e) { Log.e(TAG, getString(R.string.exception_tango_invalid), e); showsToastAndFinishOnUiThread(R.string.exception_tango_invalid); } catch (SecurityException e) { // Dataset permissions are required. If they are not available, // SecurityException is thrown. Log.e(TAG, getString(R.string.exception_tango_permission), e); showsToastAndFinishOnUiThread(R.string.exception_tango_permission); } } } }); } @Override protected void onStop() { super.onStop(); mSurfaceView.onPause(); // Synchronize against disconnecting while the service is being used in the OpenGL thread or // in the UI thread. synchronized (this) { try { mTangoMesher.stopSceneReconstruction(); mTango.disconnect(); mTangoMesher.resetSceneReconstruction(); mTangoMesher.release(); mRenderer.clearMeshes(); mIsConnected = false; mIsPaused = true; } catch (TangoErrorException e) { Log.e(TAG, getString(R.string.exception_tango_error), e); } } } /** * Sets up the Tango configuration object. Make sure mTango object is initialized before * making this call. */ private TangoConfig setupTangoConfig(Tango tango) { // Use default configuration for Tango Service, plus color camera, low latency // IMU integration, depth, smooth pose and dataset recording. TangoConfig config = tango.getConfig(TangoConfig.CONFIG_TYPE_DEFAULT); // NOTE: Low latency integration is necessary to achieve a precise alignment of virtual // objects with the RGB image and produce a good AR effect. config.putBoolean(TangoConfig.KEY_BOOLEAN_LOWLATENCYIMUINTEGRATION, true); config.putBoolean(TangoConfig.KEY_BOOLEAN_SMOOTH_POSE, true); config.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true); config.putInt(TangoConfig.KEY_INT_DEPTH_MODE, TangoConfig.TANGO_DEPTH_MODE_POINT_CLOUD); config.putBoolean(TangoConfig.KEY_BOOLEAN_COLORCAMERA, true); return config; } /** * Set up the callback listeners for the Tango Service and obtain other parameters required * after Tango connection. * Listen to updates from the point cloud. */ private void startupTango() { // We need to ensure that the Tango core is up-to-date. checkTangoVersion(); mTangoMesher = new TangoMesher(new TangoMesher.OnTangoMeshesAvailableListener() { @Override public void onMeshesAvailable(TangoMesh[] tangoMeshes) { mMeshVector = tangoMeshes; } }); // Set camera intrinsics to TangoMesher. mIntrinsics = mTango.getCameraIntrinsics(TangoCameraIntrinsics.TANGO_CAMERA_COLOR); mTangoMesher.setColorCameraCalibration(mIntrinsics); mTangoMesher .setDepthCameraCalibration(mTango.getCameraIntrinsics(TangoCameraIntrinsics.TANGO_CAMERA_DEPTH)); mTangoMesher.startSceneReconstruction(); // Connect listeners to Tango Service and forward point cloud and camera information to // TangoMesher. List<TangoCoordinateFramePair> framePairs = new ArrayList<TangoCoordinateFramePair>(); mTango.connectListener(framePairs, new Tango.OnTangoUpdateListener() { @Override public void onPoseAvailable(TangoPoseData tangoPoseData) { // We are not using onPoseAvailable for this app. } @Override public void onXyzIjAvailable(TangoXyzIjData tangoXyzIjData) { // We are not using onXyzIjAvailable for this app. } @Override public void onFrameAvailable(int i) { // We are not using onFrameAvailable for this app. } @Override public void onTangoEvent(TangoEvent tangoEvent) { // We are not using onTangoEvent for this app. } @Override public void onPointCloudAvailable(TangoPointCloudData tangoPointCloudData) { mTangoMesher.onPointCloudAvailable(tangoPointCloudData); } }); mTango.experimentalConnectOnFrameListener(TangoCameraIntrinsics.TANGO_CAMERA_COLOR, new Tango.OnFrameAvailableListener() { @Override public void onFrameAvailable(TangoImageBuffer tangoImageBuffer, int i) { mTangoMesher.onFrameAvailable(tangoImageBuffer, i); } }); } /** * Connects the view and renderer to the color camera and callbacks. */ private void connectRenderer() { mSurfaceView.setEGLContextClientVersion(2); mRenderer = new MeshBuilderRenderer(new MeshBuilderRenderer.RenderCallback() { @Override public void preRender() { // NOTE: This is called from the OpenGL render thread after all the renderer // onRender callbacks have a chance to run and before scene objects are rendered // into the scene. try { // Synchronize against disconnecting while using the service. synchronized (MeshBuilderActivity.this) { // Don't execute any tango API actions if we're not connected to the // service. if (!mIsConnected) { return; } // Calculate the camera color pose at the camera frame update time in // OpenGL engine. TangoSupport.TangoMatrixTransformData ssTdev = TangoSupport.getMatrixTransformAtTime(0.0, TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE, TangoPoseData.COORDINATE_FRAME_DEVICE, TangoSupport.TANGO_SUPPORT_ENGINE_TANGO, TangoSupport.TANGO_SUPPORT_ENGINE_OPENGL, mDisplayRotation); if (ssTdev.statusCode == TangoPoseData.POSE_VALID) { // Update the camera pose from the renderer. mRenderer.updateViewMatrix(ssTdev.matrix); } else { Log.w(TAG, "Can't get last camera pose"); } } // Update mesh. updateMeshMap(); } catch (TangoErrorException e) { Log.w(TAG, "Tango API call error within the OpenGL thread", e); } catch (TangoInvalidException e) { Log.w(TAG, "Tango API call error within the OpenGL thread", e); } } }); mSurfaceView.setRenderer(mRenderer); } public void onPauseButtonClick(View v) { if (mTangoMesher != null) { mIsPaused = !mIsPaused; pauseOrResumeReconstruction(mIsPaused); } } @UiThread private void pauseOrResumeReconstruction(boolean isPaused) { if (!isPaused) { mTangoMesher.startSceneReconstruction(); mPauseButton.setText("Pause"); } else { mTangoMesher.stopSceneReconstruction(); mPauseButton.setText("Resume"); } } public void onClearButtonClicked(View v) { if (mTangoMesher != null) { mTangoMesher.resetSceneReconstruction(); mClearMeshes = true; } } /** * Updates the rendered mesh map if a new mesh vector is available. * This is run in the OpenGL thread. */ private void updateMeshMap() { if (mClearMeshes) { mRenderer.clearMeshes(); mClearMeshes = false; } if (mMeshVector != null) { for (TangoMesh tangoMesh : mMeshVector) { if (tangoMesh != null && tangoMesh.numFaces > 0) { mRenderer.updateMesh(tangoMesh); } } mMeshVector = null; } } /** * Check the minimum Tango core version needed by the Java 3D reconstruction library. */ private void checkTangoVersion() { try { PackageInfo packageInfo = getPackageManager().getPackageInfo(TANGO_PACKAGE_NAME, 0); int version = Integer.parseInt(Integer.toString(packageInfo.versionCode).substring(2)); if (version < MIN_TANGO_VERSION) { throw new TangoOutOfDateException(); } } catch (PackageManager.NameNotFoundException e) { Log.d(TAG, "Tango package could not be found"); } } /** * Set the display rotation. */ private void setDisplayRotation() { Display display = getWindowManager().getDefaultDisplay(); mDisplayRotation = display.getRotation(); } /** * Check to see if we have the necessary permissions for this app; ask for them if we don't. * * @return True if we have the necessary permissions, false if we don't. */ private boolean checkAndRequestPermissions() { if (!hasCameraPermission()) { requestCameraPermission(); return false; } return true; } /** * Check to see of we have the necessary permissions for this app. */ private boolean hasCameraPermission() { return ContextCompat.checkSelfPermission(this, CAMERA_PERMISSION) == PackageManager.PERMISSION_GRANTED; } /** * Request the necessary permissions for this app. */ private void requestCameraPermission() { if (ActivityCompat.shouldShowRequestPermissionRationale(this, CAMERA_PERMISSION)) { showRequestPermissionRationale(); } else { ActivityCompat.requestPermissions(this, new String[] { CAMERA_PERMISSION }, CAMERA_PERMISSION_CODE); } } /** * If the user has declined the permission before, we have to explain that the app needs this * permission. */ private void showRequestPermissionRationale() { final AlertDialog dialog = new AlertDialog.Builder(this) .setMessage("Java Mesh Builder Example requires camera permission") .setPositiveButton("Ok", new DialogInterface.OnClickListener() { @Override public void onClick(DialogInterface dialogInterface, int i) { ActivityCompat.requestPermissions(MeshBuilderActivity.this, new String[] { CAMERA_PERMISSION }, CAMERA_PERMISSION_CODE); } }).create(); dialog.show(); } /** * Display toast on UI thread. * * @param resId The resource id of the string resource to use. Can be formatted text. */ private void showsToastAndFinishOnUiThread(final int resId) { runOnUiThread(new Runnable() { @Override public void run() { Toast.makeText(MeshBuilderActivity.this, getString(resId), Toast.LENGTH_LONG).show(); finish(); } }); } /** * Result for requesting camera permission. */ @Override public void onRequestPermissionsResult(int requestCode, String[] permissions, int[] grantResults) { if (hasCameraPermission()) { bindTangoService(); } else { Toast.makeText(this, "Java Mesh Builder Example requires camera permission", Toast.LENGTH_LONG).show(); } } }