release vega

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

@@ -24,6 +24,7 @@
 import com.google.atap.tangoservice.TangoErrorException;
 import com.google.atap.tangoservice.TangoEvent;
 import com.google.atap.tangoservice.TangoOutOfDateException;
+import com.google.atap.tangoservice.TangoPointCloudData;
 import com.google.atap.tangoservice.TangoPoseData;
 import com.google.atap.tangoservice.TangoXyzIjData;
 
@@ -208,6 +209,11 @@ public void onXyzIjAvailable(TangoXyzIjData xyzIj) {
                 // We are not using onXyzIjAvailable for this app.
             }
 
+            @Override
+            public void onPointCloudAvailable(TangoPointCloudData pointCloud) {
+                // We are not using onPointCloudAvailable for this app.
+            }
+
             @Override
             public void onTangoEvent(TangoEvent event) {
                 // We are not using onTangoEvent for this app.

java_basic_examples/hello_area_description/src/main/java/com/projecttango/examples/java/helloareadescription/HelloAreaDescriptionActivity.java

@@ -25,6 +25,7 @@
 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;
 
@@ -269,8 +270,13 @@ public void run() {
             }
 
             @Override
-            public void onXyzIjAvailable(TangoXyzIjData xyzij) {
-                // We are not using TangoXyzIjData for this application.
+            public void onXyzIjAvailable(TangoXyzIjData xyzIj) {
+                // We are not using onXyzIjAvailable for this app.
+            }
+
+            @Override
+            public void onPointCloudAvailable(TangoPointCloudData xyzij) {
+                // We are not using onPointCloudAvailable for this app.
             }
 
             @Override

java_basic_examples/hello_depth_perception/src/main/java/com/projecttango/examples/java/hellodepthperception/HelloDepthPerceptionActivity.java

@@ -23,6 +23,7 @@
 import com.google.atap.tangoservice.TangoErrorException;
 import com.google.atap.tangoservice.TangoEvent;
 import com.google.atap.tangoservice.TangoOutOfDateException;
+import com.google.atap.tangoservice.TangoPointCloudData;
 import com.google.atap.tangoservice.TangoPoseData;
 import com.google.atap.tangoservice.TangoXyzIjData;
 
@@ -35,7 +36,7 @@
 
 /**
  * Main Activity class for the Depth Perception Sample. Handles the connection to the {@link Tango}
- * service and propagation of Tango XyzIj data to Layout view.
+ * service and propagation of Tango PointCloud data to Layout view.
  */
 public class HelloDepthPerceptionActivity extends Activity {
 
@@ -107,6 +108,7 @@ private TangoConfig setupTangoConfig(Tango tango) {
         TangoConfig config = new TangoConfig();
         config = tango.getConfig(config.CONFIG_TYPE_DEFAULT);
         config.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
+        config.putInt(TangoConfig.KEY_INT_DEPTH_MODE, TangoConfig.TANGO_DEPTH_MODE_POINT_CLOUD);
         return config;
     }
 
@@ -131,8 +133,13 @@ public void onPoseAvailable(final TangoPoseData pose) {
             }
 
             @Override
-            public void onXyzIjAvailable(final TangoXyzIjData xyzIjData) {
-                logXyzIj(xyzIjData);
+            public void onXyzIjAvailable(TangoXyzIjData xyzIj) {
+                // We are not using onXyzIjAvailable for this app.
+            }
+
+            @Override
+            public void onPointCloudAvailable(final TangoPointCloudData pointCloudData) {
+                logPointCloud(pointCloudData);
             }
 
             @Override
@@ -148,28 +155,29 @@ public void onFrameAvailable(int cameraId) {
     }
 
     /**
-     * Log the point count and the average depth of the given XyzIj data
+     * Log the point count and the average depth of the given PointCloud data
      * in the Logcat as information.
      */
-    private void logXyzIj(TangoXyzIjData xyzIjData) {
+    private void logPointCloud(TangoPointCloudData pointCloudData) {
         StringBuilder stringBuilder = new StringBuilder();
-        stringBuilder.append("Point count: " + xyzIjData.xyzCount);
-        stringBuilder.append(". Average depth (m): " + calculateAveragedDepth(xyzIjData.xyz));
+        stringBuilder.append("Point count: " + pointCloudData.numPoints);
+        stringBuilder.append(". Average depth (m): " +
+            calculateAveragedDepth(pointCloudData.points, pointCloudData.numPoints));
         Log.i(TAG, stringBuilder.toString());
     }
 
     /**
      * Calculates the average depth from a point cloud buffer.
      */
-    private float calculateAveragedDepth(FloatBuffer pointCloudBuffer) {
-        int pointCount = pointCloudBuffer.capacity() / 3;
+    private float calculateAveragedDepth(FloatBuffer pointCloudBuffer, int numPoints) {
         float totalZ = 0;
         float averageZ = 0;
-        for (int i = 0; i < pointCloudBuffer.capacity() - 3; i = i + 3) {
-            totalZ = totalZ + pointCloudBuffer.get(i + 2);
-        }
-        if (pointCount != 0) {
-            averageZ = totalZ / pointCount;
+        if (numPoints != 0) {
+            int numFloats = 4 * numPoints;
+            for (int i = 2; i < numFloats; i = i + 4) {
+                totalZ = totalZ + pointCloudBuffer.get(i);
+            }
+            averageZ = totalZ / numPoints;
         }
         return averageZ;
     }

java_basic_examples/hello_motion_tracking/src/main/java/com/projecttango/examples/java/hellomotiontracking/HelloMotionTrackingActivity.java

@@ -23,6 +23,7 @@
 import com.google.atap.tangoservice.TangoErrorException;
 import com.google.atap.tangoservice.TangoEvent;
 import com.google.atap.tangoservice.TangoOutOfDateException;
+import com.google.atap.tangoservice.TangoPointCloudData;
 import com.google.atap.tangoservice.TangoPoseData;
 import com.google.atap.tangoservice.TangoXyzIjData;
 
@@ -133,8 +134,13 @@ public void onPoseAvailable(final TangoPoseData pose) {
             }
 
             @Override
-            public void onXyzIjAvailable(TangoXyzIjData arg0) {
-                // We are not using TangoXyzIjData for this application.
+            public void onXyzIjAvailable(TangoXyzIjData xyzIj) {
+                // We are not using onXyzIjAvailable for this app.
+            }
+
+            @Override
+            public void onPointCloudAvailable(TangoPointCloudData pointCloud) {
+                // We are not using onPointCloudAvailable for this app.
             }
 
             @Override

java_basic_examples/hello_video/src/main/java/com/projecttango/examples/java/hellovideo/HelloVideoActivity.java

@@ -24,6 +24,7 @@
 import com.google.atap.tangoservice.TangoErrorException;
 import com.google.atap.tangoservice.TangoEvent;
 import com.google.atap.tangoservice.TangoOutOfDateException;
+import com.google.atap.tangoservice.TangoPointCloudData;
 import com.google.atap.tangoservice.TangoPoseData;
 import com.google.atap.tangoservice.TangoXyzIjData;
 
@@ -171,8 +172,13 @@ public void onPoseAvailable(final TangoPoseData pose) {
             }
 
             @Override
-            public void onXyzIjAvailable(final TangoXyzIjData xyzIjData) {
-                // We are not using TangoXyzIjData for this application.
+            public void onXyzIjAvailable(TangoXyzIjData xyzIj) {
+                // We are not using onXyzIjAvailable for this app.
+            }
+
+            @Override
+            public void onPointCloudAvailable(final TangoPointCloudData pointCloudData) {
+                // We are not using onPointCloudAvailable for this app.
             }
 
             @Override

java_floor_plan_example/app/src/main/java/com/projecttango/examples/java/floorplan/FloorplanActivity.java

@@ -25,6 +25,7 @@
 import com.google.atap.tangoservice.TangoEvent;
 import com.google.atap.tangoservice.TangoException;
 import com.google.atap.tangoservice.TangoOutOfDateException;
+import com.google.atap.tangoservice.TangoPointCloudData;
 import com.google.atap.tangoservice.TangoPoseData;
 import com.google.atap.tangoservice.TangoXyzIjData;
 
@@ -212,6 +213,7 @@ private void connectTango() {
         // 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);
+        config.putInt(TangoConfig.KEY_INT_DEPTH_MODE, TangoConfig.TANGO_DEPTH_MODE_POINT_CLOUD);
         // NOTE: Area learning is necessary to achieve better precision is pose estimation
         config.putBoolean(TangoConfig.KEY_BOOLEAN_LEARNINGMODE, true);
         config.putBoolean(TangoConfig.KEY_BOOLEAN_COLORCAMERA, true);
@@ -239,8 +241,13 @@ public void onFrameAvailable(int cameraId) {
 
             @Override
             public void onXyzIjAvailable(TangoXyzIjData xyzIj) {
+                // We are not using onXyzIjAvailable for this app.
+            }
+
+            @Override
+            public void onPointCloudAvailable(TangoPointCloudData pointCloud) {
                 // Save the cloud and point data for later use.
-                mPointCloudManager.updateXyzIj(xyzIj);
+                mPointCloudManager.updatePointCloud(pointCloud);
             }
 
             @Override
@@ -417,9 +424,9 @@ public boolean onTouch(View view, MotionEvent motionEvent) {
      * It returns the pose of the fitted plane in a TangoPoseData structure.
      */
     private WallMeasurement doWallMeasurement(float u, float v, double rgbTimestamp) {
-        TangoXyzIjData xyzIj = mPointCloudManager.getLatestXyzIj();
+        TangoPointCloudData pointCloud = mPointCloudManager.getLatestPointCloud();
 
-        if (xyzIj == null) {
+        if (pointCloud == null) {
             return null;
         }
 
@@ -428,17 +435,17 @@ private WallMeasurement doWallMeasurement(float u, float v, double rgbTimestamp)
         // cloud was acquired.
         TangoPoseData colorTdepthPose = TangoSupport.calculateRelativePose(
                 rgbTimestamp, TangoPoseData.COORDINATE_FRAME_CAMERA_COLOR,
-                xyzIj.timestamp, TangoPoseData.COORDINATE_FRAME_CAMERA_DEPTH);
+                pointCloud.timestamp, TangoPoseData.COORDINATE_FRAME_CAMERA_DEPTH);
 
         // Perform plane fitting with the latest available point cloud data.
         try {
             IntersectionPointPlaneModelPair intersectionPointPlaneModelPair =
-                    TangoSupport.fitPlaneModelNearClick(xyzIj, mIntrinsics,
+                    TangoSupport.fitPlaneModelNearPoint(pointCloud,
                             colorTdepthPose, u, v);
 
             // Get the depth camera transform at the time the plane data was acquired.
             TangoSupport.TangoMatrixTransformData transform =
-                    TangoSupport.getMatrixTransformAtTime(xyzIj.timestamp,
+                    TangoSupport.getMatrixTransformAtTime(pointCloud.timestamp,
                             TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION,
                             TangoPoseData.COORDINATE_FRAME_CAMERA_DEPTH,
                             TangoSupport.TANGO_SUPPORT_ENGINE_OPENGL,
@@ -449,10 +456,12 @@ private WallMeasurement doWallMeasurement(float u, float v, double rgbTimestamp)
                         intersectionPointPlaneModelPair.intersectionPoint,
                         intersectionPointPlaneModelPair.planeModel, transform.matrix);
 
-                return new WallMeasurement(planeFitTransform, transform.matrix, xyzIj.timestamp);
+                return new WallMeasurement(planeFitTransform,
+                                           transform.matrix,
+                                           pointCloud.timestamp);
             } else {
                 Log.d(TAG, "Could not get a valid transform from depth to area description at time "
-                        + xyzIj.timestamp);
+                        + pointCloud.timestamp);
             }
         } catch (TangoException e) {
             Log.d(TAG, "Failed to fit plane");

java_green_screen_example/.gitignore

@@ -0,0 +1,7 @@
+.gradle
+local.properties
+.idea
+*.iml
+.DS_Store
+build
+captures

java_green_screen_example/app/.gitignore

@@ -0,0 +1 @@
+/build

java_green_screen_example/app/build.gradle

@@ -0,0 +1,43 @@
+apply plugin: 'com.android.application'
+
+android {
+    compileSdkVersion 23
+    buildToolsVersion "21.1.2"
+
+    defaultConfig {
+        applicationId "com.projecttango.examples.java.greenscreen"
+        minSdkVersion 19
+        targetSdkVersion 23
+        versionCode 1
+        versionName "1.0"
+    }
+    buildTypes {
+        release {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
+        }
+    }
+    lintOptions {
+        abortOnError false
+    }
+}
+
+def external_lib_prefix = null
+if (project.hasProperty("Tango.catkin_devel_prefix")) {
+    external_lib_prefix = project.property("Tango.catkin_devel_prefix")
+} else {
+    // Building in standalone sample form.
+    external_lib_prefix = "../../TangoReleaseLibs"
+}
+
+repositories {
+    flatDir {
+        dirs external_lib_prefix + '/aar'
+    }
+}
+
+dependencies {
+    compile fileTree(dir: external_lib_prefix + '/jar', include: ['**/*.jar'])
+    compile (name: 'tango_support_java_lib', ext: 'aar')
+    compile 'com.android.support:design:23.4.0'
+}

java_green_screen_example/app/proguard-rules.pro

@@ -0,0 +1,17 @@
+# Add project specific ProGuard rules here.
+# By default, the flags in this file are appended to flags specified
+# in /opt/android-sdk/tools/proguard/proguard-android.txt
+# You can edit the include path and order by changing the proguardFiles
+# directive in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
+
+# Add any project specific keep options here:
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+#   public *;
+#}

java_green_screen_example/app/src/main/AndroidManifest.xml

@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+   Copyright 2016 Google Inc.
+
+   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.
+-->
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    package="com.projecttango.examples.java.greenscreen"
+    android:versionCode="0"
+    android:versionName="0" >
+
+    <uses-sdk
+        android:minSdkVersion="17"
+        android:targetSdkVersion="19" />
+
+    <uses-permission android:name="android.permission.CAMERA" />
+    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE"/>
+
+    <application
+        android:allowBackup="true"
+        android:icon="@drawable/ic_launcher"
+        android:label="@string/app_name"
+        android:theme="@style/AppTheme" >
+        <uses-library
+            android:name="com.projecttango.libtango_device2"
+            android:required="true" />
+        <activity
+            android:name="com.projecttango.examples.java.greenscreen.GreenScreenActivity"
+            android:label="@string/app_name_long" >
+            <intent-filter android:label="@string/app_name">
+                <action android:name="android.intent.action.MAIN" />
+                <category android:name="android.intent.category.LAUNCHER" />
+            </intent-filter>
+        </activity>
+    </application>
+
+</manifest>