Merge pull request #95 from googlesamples/release-gankino

release gankino

java_augmented_reality_example/app/src/main/java/com/projecttango/examples/java/augmentedreality/AugmentedRealityActivity.java

@@ -128,7 +128,6 @@ public void onDisplayRemoved(int displayId) {
     @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.
@@ -142,7 +141,7 @@ protected void onStart() {
     @Override
     public void onStop() {
         super.onStop();
-        mSurfaceView.onPause();
+
         // Synchronize against disconnecting while the service is being used in the OpenGL thread or
         // in the UI thread.
         // NOTE: DO NOT lock against this same object in the Tango callback thread. Tango.disconnect
@@ -340,6 +339,7 @@ public void onPreFrame(long sceneTime, double deltaTime) {
                                     TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION,
                                     TangoPoseData.COORDINATE_FRAME_CAMERA_COLOR,
                                     TangoSupport.TANGO_SUPPORT_ENGINE_OPENGL,
+                                    TangoSupport.TANGO_SUPPORT_ENGINE_OPENGL,
                                     mDisplayRotation);
                             if (lastFramePose.statusCode == TangoPoseData.POSE_VALID) {
                                 // Update the camera pose from the renderer

java_basic_examples/hello_area_description/build.gradle

@@ -1,7 +1,7 @@
 apply plugin: 'com.android.application'
 
 android {
-    compileSdkVersion 19
+    compileSdkVersion 23
     buildToolsVersion "21.1.2"
 
     defaultConfig {

java_basic_examples/hello_video/build.gradle

@@ -1,7 +1,7 @@
 apply plugin: 'com.android.application'
 
 android {
-    compileSdkVersion 19
+    compileSdkVersion 23
     buildToolsVersion "21.1.2"
 
     defaultConfig {

java_examples_utils/app/build.gradle

@@ -1,7 +1,7 @@
 apply plugin: 'com.android.library'
 
 android {
-    compileSdkVersion 19
+    compileSdkVersion 23
     buildToolsVersion "21.1.2"
 
     defaultConfig {

java_floor_plan_reconstruction_example/README.md

@@ -0,0 +1,19 @@
+This sample shows how to use the experimental Floor plan API from the 3D
+Reconstruction packages.
+
+This sample is a small Java application that creates simple 2D floor
+plans. This application uses the depth sensor to scan the rooms
+and gets simplified 2D floor plans in the form of polygons through
+callbacks. These polygons are drawn on a SurfaceView using regular
+Android canvas 2D drawing functions.
+
+The most important code parts to note are the following:
+ - TangoFloorplanner.java is a convenience class that abstracts some of
+   the mechanics of the Floor plan reconstruction library. It uses
+   a separate thread to push point clouds through the reconstruction
+   library and generates callback events whenever new floor plan polygons
+   are available for consumption. You can reuse this class for your own
+   application.
+ - In FloorPlanReconstructionActivity.java, you can see how to tie this
+   TangoFloorplanner utility with the rest of the Tango lifecycle,
+   callback functions and events.

java_floor_plan_reconstruction_example/app/src/main/java/com/projecttango/examples/java/floorplanreconstruction/FloorPlanReconstructionActivity.java

@@ -16,6 +16,7 @@
 
 package com.projecttango.examples.java.floorplanreconstruction;
 
+import com.google.atap.tango.reconstruction.TangoFloorplanLevel;
 import com.google.atap.tango.reconstruction.TangoPolygon;
 import com.google.atap.tangoservice.Tango;
 import com.google.atap.tangoservice.TangoCameraIntrinsics;
@@ -36,6 +37,7 @@
 import android.content.pm.PackageManager;
 import android.hardware.display.DisplayManager;
 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;
@@ -54,10 +56,10 @@
 /**
  * An example showing how to use the 3D reconstruction floor planning features to create a
  * floor plan in Java.
- *
+ * <p/>
  * This sample uses the APIs that extract a set of simplified 2D polygons and renders them on a
  * SurfaceView. The device orientation is used to automatically translate and rotate the map.
- *
+ * <p/>
  * Rendering is done in a simplistic way, using the canvas API over a SurfaceView.
  */
 public class FloorPlanReconstructionActivity extends Activity implements FloorplanView
@@ -75,6 +77,8 @@ public class FloorPlanReconstructionActivity extends Activity implements Floorpl
     private Button mPauseButton;
     private FloorplanView mFloorplanView;
     private TextView mAreaText;
+    private TextView mHeightText;
+    private TextView mDistanceText;
 
     private int mDisplayRotation = 0;
 
@@ -93,6 +97,8 @@ protected void onCreate(Bundle savedInstanceState) {
         mFloorplanView = (FloorplanView) findViewById(R.id.floorplan);
         mFloorplanView.registerCallback(this);
         mAreaText = (TextView) findViewById(R.id.area_text);
+        mHeightText = (TextView) findViewById(R.id.height_text);
+        mDistanceText = (TextView) findViewById(R.id.floordistance_text);
 
         DisplayManager displayManager = (DisplayManager) getSystemService(DISPLAY_SERVICE);
         if (displayManager != null) {
@@ -166,6 +172,12 @@ public void run() {
                         startupTango();
                         mIsConnected = true;
                         mIsPaused = false;
+                        runOnUiThread(new Runnable() {
+                            @Override
+                            public void run() {
+                                pauseOrResumeFloorplanning(mIsPaused);
+                            }
+                        });
                         setDisplayRotation();
                     } catch (TangoOutOfDateException e) {
                         Log.e(TAG, getString(R.string.exception_out_of_date), e);
@@ -206,8 +218,10 @@ private void startupTango() {
         mTangoFloorplanner = new TangoFloorplanner(new TangoFloorplanner
                 .OnFloorplanAvailableListener() {
             @Override
-            public void onFloorplanAvailable(List<TangoPolygon> polygons) {
+            public void onFloorplanAvailable(List<TangoPolygon> polygons,
+                                             List<TangoFloorplanLevel> levels) {
                 mFloorplanView.setFloorplan(polygons);
+                updateFloorAndCeiling(levels);
                 calculateAndUpdateArea(polygons);
             }
         });
@@ -268,6 +282,7 @@ public void onPreDrawing() {
                         TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
                         TangoPoseData.COORDINATE_FRAME_DEVICE,
                         TangoSupport.TANGO_SUPPORT_ENGINE_OPENGL,
+                        TangoSupport.TANGO_SUPPORT_ENGINE_OPENGL,
                         mDisplayRotation);
 
                 if (devicePose.statusCode == TangoPoseData.POSE_VALID) {
@@ -303,7 +318,7 @@ private static float yRotationFromQuaternion(float x, float y, float z, float w)
      */
     private void calculateAndUpdateArea(List<TangoPolygon> polygons) {
         double area = 0;
-        for (TangoPolygon polygon: polygons) {
+        for (TangoPolygon polygon : polygons) {
             if (polygon.layer == TangoPolygon.TANGO_3DR_LAYER_SPACE) {
                 // If there is more than one free space polygon, only count those
                 // that have an area larger than two square meters to suppress unconnected
@@ -322,15 +337,58 @@ public void run() {
         });
     }
 
+    /**
+     * Given the Floorplan levels, calculate the ceiling height and the current distance from the
+     * device to the floor.
+     */
+    private void updateFloorAndCeiling(List<TangoFloorplanLevel> levels) {
+        if (levels.size() > 0) {
+            // Currently only one level is supported by the floorplanning API.
+            TangoFloorplanLevel level = levels.get(0);
+            float ceilingHeight = level.maxZ - level.minZ;
+            final String ceilingHeightText = String.format("%.2f", ceilingHeight);
+            // Query current device pose and calculate the distance from it to the floor.
+            TangoPoseData devicePose;
+            // Synchronize against disconnecting while using the service.
+            synchronized (FloorPlanReconstructionActivity.this) {
+                // Don't execute any Tango API actions if we're not connected to
+                // the service.
+                if (!mIsConnected) {
+                    return;
+                }
+                devicePose = TangoSupport.getPoseAtTime(0.0,
+                        TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
+                        TangoPoseData.COORDINATE_FRAME_DEVICE,
+                        TangoSupport.TANGO_SUPPORT_ENGINE_OPENGL,
+                        TangoSupport.TANGO_SUPPORT_ENGINE_OPENGL,
+                        mDisplayRotation);
+            }
+            float devToFloorDistance = devicePose.getTranslationAsFloats()[1] - level.minZ;
+            final String distanceText = String.format("%.2f", devToFloorDistance);
+            runOnUiThread(new Runnable() {
+                @Override
+                public void run() {
+                    mHeightText.setText(ceilingHeightText);
+                    mDistanceText.setText(distanceText);
+                }
+            });
+        }
+    }
+
     public void onPauseButtonClick(View v) {
-        if (mIsPaused) {
+        mIsPaused = !mIsPaused;
+        pauseOrResumeFloorplanning(mIsPaused);
+    }
+
+    @UiThread
+    private void pauseOrResumeFloorplanning(boolean isPaused){
+        if (!isPaused) {
             mTangoFloorplanner.startFloorplanning();
             mPauseButton.setText("Pause");
         } else {
             mTangoFloorplanner.stopFloorplanning();
             mPauseButton.setText("Resume");
         }
-        mIsPaused = !mIsPaused;
     }
 
     public void onClearButtonClicked(View v) {

java_floor_plan_reconstruction_example/app/src/main/java/com/projecttango/examples/java/floorplanreconstruction/FloorplanView.java

@@ -16,6 +16,7 @@
 
 package com.projecttango.examples.java.floorplanreconstruction;
 
+import com.google.atap.tango.reconstruction.TangoFloorplanLevel;
 import com.google.atap.tango.reconstruction.TangoPolygon;
 
 import android.content.Context;
@@ -246,7 +247,7 @@ private void doDraw(Canvas canvas) {
     }
 
     /**
-     * Sets the new floorplan polygons model.
+     * Sets the new floorplan polygons model and levels.
      */
     public void setFloorplan(List<TangoPolygon> polygons) {
         mPolygons = polygons;

java_floor_plan_reconstruction_example/app/src/main/java/com/projecttango/examples/java/floorplanreconstruction/TangoFloorplanner.java

@@ -17,6 +17,7 @@
 
 import com.google.atap.tango.reconstruction.Tango3dReconstruction;
 import com.google.atap.tango.reconstruction.Tango3dReconstructionConfig;
+import com.google.atap.tango.reconstruction.TangoFloorplanLevel;
 import com.google.atap.tango.reconstruction.TangoPolygon;
 import com.google.atap.tangoservice.Tango;
 import com.google.atap.tangoservice.TangoCameraIntrinsics;
@@ -58,7 +59,7 @@ public class TangoFloorplanner extends Tango.OnTangoUpdateListener {
      * Callback for when meshes are available.
      */
     public interface OnFloorplanAvailableListener {
-        void onFloorplanAvailable(List<TangoPolygon> polygons);
+        void onFloorplanAvailable(List<TangoPolygon> polygons, List<TangoFloorplanLevel> levels);
     }
 
     public TangoFloorplanner(OnFloorplanAvailableListener callback) {
@@ -84,6 +85,8 @@ public TangoFloorplanner(OnFloorplanAvailableListener callback) {
             mRunnableCallback = new Runnable() {
                 @Override
                 public void run() {
+                    List<TangoPolygon> polygons;
+                    List<TangoFloorplanLevel> levels;
                     // Synchronize access to mTango3dReconstruction. This runs in TangoFloorplanner
                     // thread.
                     synchronized (TangoFloorplanner.this) {
@@ -101,6 +104,7 @@ public void run() {
                                 TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
                                 TangoPoseData.COORDINATE_FRAME_CAMERA_DEPTH,
                                 TangoSupport.TANGO_SUPPORT_ENGINE_TANGO,
+                                TangoSupport.TANGO_SUPPORT_ENGINE_TANGO,
                                 TangoSupport.ROTATION_IGNORED);
                         if (depthPose.statusCode != TangoPoseData.POSE_VALID) {
                             Log.e(TAG, "couldn't extract a valid depth pose");
@@ -111,11 +115,13 @@ public void run() {
                         mTango3dReconstruction.updateFloorplan(cloudData, depthPose);
 
                         // Extract the full set of floorplan polygons.
-                        List<TangoPolygon> polygons = mTango3dReconstruction.extractFloorplan();
+                        polygons = mTango3dReconstruction.extractFloorplan();
 
-                        // Provide the new floorplan polygons to the app via callback.
-                        mCallback.onFloorplanAvailable(polygons);
+                        // Extract the full set of floorplan levels.
+                        levels = mTango3dReconstruction.extractFloorplanLevels();
                     }
+                    // Provide the new floorplan polygons to the app via callback.
+                    mCallback.onFloorplanAvailable(polygons, levels);
                 }
             };
         }

java_floor_plan_reconstruction_example/app/src/main/res/layout/activity_main.xml

@@ -7,11 +7,49 @@
         android:layout_width="match_parent"
         android:layout_height="match_parent"/>
 
+    <TextView
+        android:id="@+id/height_label"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="Ceiling height [m]: "
+        android:layout_above="@+id/floordistance_label"
+        android:layout_toStartOf="@+id/height_text"
+        />
+
+    <TextView
+        android:id="@+id/height_text"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="n/a"
+        android:layout_above="@+id/floordistance_label"
+        android:layout_alignParentEnd="true"
+        android:paddingRight="5dp"
+        />
+
+    <TextView
+        android:id="@+id/floordistance_label"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="Distance from device to the floor [m]: "
+        android:layout_above="@+id/area_label"
+        android:layout_toStartOf="@+id/floordistance_text"
+        />
+
+    <TextView
+        android:id="@+id/floordistance_text"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="n/a"
+        android:layout_above="@+id/area_label"
+        android:layout_alignParentEnd="true"
+        android:paddingRight="5dp"
+        />
+
     <TextView
         android:id="@+id/area_label"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:text="Area (m2): "
+        android:text="Area [m2]: "
         android:layout_alignLeft="@+id/pause_button"
         android:layout_above="@+id/pause_button"
         />

java_mesh_builder_example/app/src/main/java/com/projecttango/examples/java/meshbuilder/MeshBuilderActivity.java

@@ -40,6 +40,7 @@
 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;
@@ -146,6 +147,12 @@ public void run() {
                         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);
@@ -319,14 +326,19 @@ public void preRender() {
 
     public void onPauseButtonClick(View v) {
         if (mTangoMesher != null) {
-            if (mIsPaused) {
-                mTangoMesher.startSceneReconstruction();
-                mPauseButton.setText("Pause");
-            } else {
-                mTangoMesher.stopSceneReconstruction();
-                mPauseButton.setText("Resume");
-            }
             mIsPaused = !mIsPaused;
+            pauseOrResumeReconstruction(mIsPaused);
+        }
+    }
+
+    @UiThread
+    private void pauseOrResumeReconstruction(boolean isPaused){
+        if (!isPaused) {
+            mTangoMesher.startSceneReconstruction();
+            mPauseButton.setText("Pause");
+        } else {
+            mTangoMesher.stopSceneReconstruction();
+            mPauseButton.setText("Resume");
         }
     }