com.google.atap.tangoservice.TangoXyzIjData Java Examples

The following examples show how to use com.google.atap.tangoservice.TangoXyzIjData. 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 4 votes vote down vote up 
@Override
public void onXyzIjAvailable(TangoXyzIjData xyzIj) {
    if (tangoUx != null) {
        tangoUx.updateXyzCount(xyzIj.xyzCount);
    }
}
Example #2
Source File: PointCloudActivity.java    From tango with MIT License 4 votes vote down vote up 
private void saveScanData(TangoPoseData pose, final TangoXyzIjData xyzIj) throws IOException {
        saveScan = false;

        Log.i(TAG, "Saving");
        if (!isExternalStorageWritable()) {
            Log.e(TAG, "External storage unavailable");
            return;
        }
        File dir = getScanStorageDir();
        if (dir == null) {
            Log.e(TAG, "Failed to create scan directory");
            return;
        }
        String filename = String.format("Scan%05d.data", scanNumber);
        scanNumber += 1;
        File file = new File(dir, filename);
        Log.i(TAG, "Writing data to "+file.getAbsolutePath());

        // Set up buffers
        BufferedOutputStream out = new BufferedOutputStream(new FileOutputStream(file));
        ByteBuffer buf = ByteBuffer.allocate(4*8);
        buf.order(ByteOrder.LITTLE_ENDIAN);

        // Write translation
        for (int i=0; i<pose.translation.length; i++) {
            buf.putDouble(pose.translation[i]);
        }
        out.write(buf.array(), 0, 3*8);

        // Write Rotation
        buf.clear();
        for (int i=0; i<pose.rotation.length; i++) {
            buf.putDouble(pose.rotation[i]);
        }
        out.write(buf.array(), 0, 4 * 8);

        // Write field of view
        TangoCameraIntrinsics intrinsics = mTango.getCameraIntrinsics(TangoCameraIntrinsics.TANGO_CAMERA_COLOR);
        double vFOV = 2*Math.atan(0.5*intrinsics.height/intrinsics.fy);
        double hFOV = 2*Math.atan(0.5*intrinsics.width/intrinsics.fx);
        buf.clear();
        buf.putDouble(hFOV);
        buf.putDouble(vFOV);
        out.write(buf.array(), 0, 16);

        // Write points
        buf.clear();
        buf.putInt(xyzIj.xyzCount);
        out.write(buf.array(), 0, 4);
        Log.i(TAG, "xyzCount="+Integer.toString(xyzIj.xyzCount));
        for (int i=0; i<10; i++) {
            Log.i(TAG, Float.toString(xyzIj.xyz.get(i*3))+", "+Float.toString(xyzIj.xyz.get(i*3+1))+", "+Float.toString(xyzIj.xyz.get(i*3+2)));
        }
        for (int i=0; i<xyzIj.xyzCount*3; i++) {
            buf.clear();
            buf.putFloat(xyzIj.xyz.get(i));
            out.write(buf.array(), 0, 4);
        }

        // Write IJ (Not yet implemented in Tango)
        buf.clear();
        int ijCount = xyzIj.ijRows*xyzIj.ijCols;
        Log.i(TAG, "IJCount="+Integer.toString(ijCount));
        Log.i(TAG, "ijRows="+Integer.toString(xyzIj.ijRows)+" ijCols="+Integer.toString(xyzIj.ijCols));
        ijCount=0;
        buf.putInt(ijCount);
        out.write(buf.array(), 0, 4);
//        if (ijCount>0) {
//            byte[] ijBuffer = new byte[ijCount * 4];
//            FileInputStream ijStream = new FileInputStream(
//                    xyzIj.ijParcelFileDescriptor.getFileDescriptor());
//            try {
//                ijStream.read(ijBuffer, 0, ijCount * 4);
//                ijStream.close();
//            } catch (IOException e) {
//                e.printStackTrace();
//            }
//            out.write(ijBuffer);
//        }
        out.close();

        MediaScannerConnection.scanFile(
                getApplicationContext(),
                new String[] {file.getAbsolutePath()},
                null,
                new MediaScannerConnection.OnScanCompletedListener() {
                    @Override
                    public void onScanCompleted(String path, Uri uri) {
                        Log.v(TAG, "file " + path + " was scanned successfully: " + uri);
                    }
                });

        Log.i(TAG, "Done");
    }