com.google.atap.tangoservice.Tango Java Examples

The following examples show how to use com.google.atap.tangoservice.Tango. You can vote up the ones you like or vote down the ones you don't like, and go to the original project or source file by following the links above each example. You may check out the related API usage on the sidebar.
Example #1
Source File: MainActivity.java    From tango-ar-navigation-example with MIT License 6 votes vote down vote up 
private static DeviceExtrinsics setupExtrinsics(Tango tango) {
    // Create camera to IMU transform.
    TangoCoordinateFramePair framePair = new TangoCoordinateFramePair();
    framePair.baseFrame = TangoPoseData.COORDINATE_FRAME_IMU;
    framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_CAMERA_COLOR;
    TangoPoseData imuToRgbPose = tango.getPoseAtTime(0.0, framePair);

    // Create device to IMU transform.
    framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_DEVICE;
    TangoPoseData imuToDevicePose = tango.getPoseAtTime(0.0, framePair);

    // Create depth camera to IMU transform.
    framePair.targetFrame = TangoPoseData.COORDINATE_FRAME_CAMERA_DEPTH;
    TangoPoseData imuToDepthPose = tango.getPoseAtTime(0.0, framePair);

    return new DeviceExtrinsics(imuToDevicePose, imuToRgbPose, imuToDepthPose);
}
Example #2
Source File: MainActivity.java    From tango-ar-navigation-example with MIT License 6 votes vote down vote up 
@Override
protected void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
    tango = new Tango(this);
    tangoUx = new TangoUx(this);
    renderer = new SceneRenderer(this);

    setContentView(R.layout.main_layout);
    ButterKnife.bind(this);
    setSupportActionBar(toolbar);
    tangoUx.setLayout(uxLayout);
    renderer.renderVirtualObjects(true);
    mainSurfaceView.setSurfaceRenderer(renderer);
    mainSurfaceView.setZOrderOnTop(false);
    mapView.setFloorPlanData(renderer.getFloorPlanData());
}
Example #3
Source File: PointCloudActivity.java    From ParaViewTangoRecorder with Apache License 2.0 5 votes vote down vote up 
@Override
protected void onResume() {
    super.onResume();
    if (!mIsTangoServiceConnected) {
        startActivityForResult(
                Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING),
                Tango.TANGO_INTENT_ACTIVITYCODE);
    }
    Log.i(TAG, "onResumed");
}
Example #4
Source File: PointCloudActivity.java    From tango with MIT License 5 votes vote down vote up 
@Override
protected void onResume() {
    super.onResume();
    if (!mIsTangoServiceConnected) {
        startActivityForResult(
                Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING),
                Tango.TANGO_INTENT_ACTIVITYCODE);
    }
    Log.i(TAG, "onResumed");
}
Example #5
Source File: MainActivity.java    From tango-ar-navigation-example with MIT License 4 votes vote down vote up 
protected void setupCameraProperties(Tango tango) {
    extrinsics = setupExtrinsics(tango);
    intrinsics = tango.getCameraIntrinsics(ACTIVE_CAMERA_INTRINSICS);
}
Example #6
Source File: PointCloudActivity.java    From tango with MIT License 4 votes vote down vote up 
@Override
protected void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
    setContentView(R.layout.activity_jpoint_cloud);
    setTitle(R.string.app_name);

    mPoseTextView = (TextView) findViewById(R.id.pose);
    mQuatTextView = (TextView) findViewById(R.id.quat);
    mPoseCountTextView = (TextView) findViewById(R.id.posecount);
    mDeltaTextView = (TextView) findViewById(R.id.deltatime);
    mTangoEventTextView = (TextView) findViewById(R.id.tangoevent);
    mPoseStatusTextView = (TextView) findViewById(R.id.status);
    mPointCountTextView = (TextView) findViewById(R.id.pointCount);
    mTangoServiceVersionTextView = (TextView) findViewById(R.id.version);
    mApplicationVersionTextView = (TextView) findViewById(R.id.appversion);
    mAverageZTextView = (TextView) findViewById(R.id.averageZ);
    mFrequencyTextView = (TextView) findViewById(R.id.frameDelta);

    mSaveButton = (Button) findViewById(R.id.saveButton);
    mSaveButton.setOnClickListener(this);
    mFirstPersonButton = (Button) findViewById(R.id.first_person_button);
    mFirstPersonButton.setOnClickListener(this);
    mThirdPersonButton = (Button) findViewById(R.id.third_person_button);
    mThirdPersonButton.setOnClickListener(this);
    mTopDownButton = (Button) findViewById(R.id.top_down_button);
    mTopDownButton.setOnClickListener(this);

    mGLView = (GLSurfaceView) findViewById(R.id.gl_surface_view);
    mGLView.setEGLContextClientVersion(2);

    mTango = new Tango(this);
    mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT);
    // tangoCameraPreview = (TangoCameraPreview) findViewById(R.id.cameraView);

    int maxDepthPoints = mConfig.getInt("max_point_cloud_elements");
    mRenderer = new PCRenderer(maxDepthPoints);
    mGLView.setRenderer(mRenderer);

    mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
    mGLView.setRenderMode(GLSurfaceView.RENDERMODE_WHEN_DIRTY);

    PackageInfo packageInfo;
    try {
        packageInfo = this.getPackageManager().getPackageInfo(
                this.getPackageName(), 0);
        mApplicationVersionTextView.setText(packageInfo.versionName);
    } catch (NameNotFoundException e) {
        e.printStackTrace();
    }

    // Display the version of Tango Service
    mServiceVersion = mConfig.getString("tango_service_library_version");
    mTangoServiceVersionTextView.setText(mServiceVersion);
    mIsTangoServiceConnected = false;

    // Set up OpenGL ES surface
    mCamView = new GLSurfaceView(this);
    mCamView.setEGLContextClientVersion(2);
    mCamView.setDebugFlags(GLSurfaceView.DEBUG_CHECK_GL_ERROR);
    mCamView.setRenderer(renderer_ = new FrameRenderer(this));
    mCamView.setRenderMode(GLSurfaceView.RENDERMODE_WHEN_DIRTY);
    mCamView.setOnClickListener(this);
    FrameLayout placeholder = (FrameLayout)findViewById(R.id.cameraFrame);
    placeholder.addView(mCamView);
    cameraTextures_ = new HashMap<>();
}