Merge pull request #25 from googlesamples/release-leibniz

release-leibniz

Author: r4ravi2008

AreaLearningJava/libs/tango_java_lib.jar

@@ -30,14 +30,13 @@
 import com.projecttango.tangoutils.renderables.Trajectory;
 
 /**
- * OpenGL rendering class for the AreaLearningActivity API sample. This class manages
- * the objects visible in the OpenGL view which are the {@link CameraFrustum},
- * {@link CameraFrustumAndAxis}, {@link Trajectory}, and the {@link Grid}. These
- * objects are implemented in the TangoUtils library in the package
- * {@link com.projecttango.tangoutils.renderables}.
+ * OpenGL rendering class for the AreaLearningActivity API sample. This class manages the objects
+ * visible in the OpenGL view which are the {@link CameraFrustum}, {@link CameraFrustumAndAxis},
+ * {@link Trajectory}, and the {@link Grid}. These objects are implemented in the TangoUtils library
+ * in the package {@link com.projecttango.tangoutils.renderables}.
  * 
- * This class receives also handles the user-selected camera view, which can be
- * 1st person, 3rd person, or top-down.
+ * This class receives also handles the user-selected camera view, which can be 1st person, 3rd
+ * person, or top-down.
  */
 public class ALRenderer extends Renderer implements GLSurfaceView.Renderer {
 
@@ -57,33 +56,32 @@ public void onSurfaceCreated(GL10 gl, EGLConfig config) {
         mFloorGrid = new Grid();
         mCameraFrustumAndAxis = new CameraFrustumAndAxis();
         mGreenTrajectory = new Trajectory(3);
-        mGreenTrajectory.setColor(
-                new float[] { 0.39f, 0.56f, 0.03f, 1.0f});
+        mGreenTrajectory.setColor(new float[] { 0.39f, 0.56f, 0.03f, 1.0f });
         mBlueTrajectory = new Trajectory(3);
-        mBlueTrajectory.setColor(
-                new float[] { 0.22f, 0.28f, 0.67f, 1.0f});
+        mBlueTrajectory.setColor(new float[] { 0.22f, 0.28f, 0.67f, 1.0f });
         // Construct the initial view matrix
         Matrix.setIdentityM(mViewMatrix, 0);
         Matrix.setLookAtM(mViewMatrix, 0, 5f, 5f, 5f, 0f, 0f, 0f, 0f, 1f, 0f);
-        mCameraFrustumAndAxis.setModelMatrix(getModelMatCalculator()
-                .getModelMatrix());
+        mCameraFrustumAndAxis.setModelMatrix(getModelMatCalculator().getModelMatrix());
     }
 
     @Override
     public void onSurfaceChanged(GL10 gl, int width, int height) {
         GLES20.glViewport(0, 0, width, height);
         mCameraAspect = (float) width / height;
-        Matrix.perspectiveM(mProjectionMatrix, 0, THIRD_PERSON_FOV,
-                mCameraAspect, CAMERA_NEAR, CAMERA_FAR);
+        Matrix.perspectiveM(mProjectionMatrix, 0, THIRD_PERSON_FOV, mCameraAspect, CAMERA_NEAR,
+                CAMERA_FAR);
     }
 
     @Override
     public void onDrawFrame(GL10 gl) {
-        GLES20.glClear(GLES20.GL_COLOR_BUFFER_BIT | GLES20.GL_DEPTH_BUFFER_BIT);
-        mGreenTrajectory.draw(getViewMatrix(), mProjectionMatrix);
-        mBlueTrajectory.draw(getViewMatrix(), mProjectionMatrix);
-        mFloorGrid.draw(getViewMatrix(), mProjectionMatrix);
-        mCameraFrustumAndAxis.draw(getViewMatrix(), mProjectionMatrix);
+        synchronized (AreaLearningActivity.sharedLock) {
+            GLES20.glClear(GLES20.GL_COLOR_BUFFER_BIT | GLES20.GL_DEPTH_BUFFER_BIT);
+            mGreenTrajectory.draw(getViewMatrix(), mProjectionMatrix);
+            mBlueTrajectory.draw(getViewMatrix(), mProjectionMatrix);
+            mFloorGrid.draw(getViewMatrix(), mProjectionMatrix);
+            mCameraFrustumAndAxis.draw(getViewMatrix(), mProjectionMatrix);
+        }
     }
 
     public CameraFrustum getCameraFrustum() {
@@ -97,7 +95,7 @@ public CameraFrustumAndAxis getCameraFrustumAndAxis() {
     public Trajectory getBlueTrajectory() {
         return mBlueTrajectory;
     }
-    
+
     public Trajectory getGreenTrajectory() {
         return mGreenTrajectory;
     }

AreaLearningJava/src/com/projecttango/experiments/javaarealearning/ALRenderer.java

@@ -75,10 +75,12 @@ public void onSurfaceChanged(GL10 gl, int width, int height) {
 
     @Override
     public void onDrawFrame(GL10 gl) {
-        GLES20.glClear(GLES20.GL_COLOR_BUFFER_BIT | GLES20.GL_DEPTH_BUFFER_BIT);
-        mTrajectory.draw(getViewMatrix(), mProjectionMatrix);
-        mFloorGrid.draw(getViewMatrix(), mProjectionMatrix);
-        mCameraFrustumAndAxis.draw(getViewMatrix(), mProjectionMatrix);
+        synchronized (MotionTrackingActivity.sharedLock) {
+            GLES20.glClear(GLES20.GL_COLOR_BUFFER_BIT | GLES20.GL_DEPTH_BUFFER_BIT);
+            mTrajectory.draw(getViewMatrix(), mProjectionMatrix);
+            mFloorGrid.draw(getViewMatrix(), mProjectionMatrix);
+            mCameraFrustumAndAxis.draw(getViewMatrix(), mProjectionMatrix);
+        }
     }
 
     public CameraFrustum getCameraFrustum() {

AreaLearningJava/src/com/projecttango/experiments/javaarealearning/AreaLearningActivity.java

@@ -69,6 +69,10 @@ public class MotionTrackingActivity extends Activity implements View.OnClickList
     private boolean mIsAutoRecovery;
     private MTGLRenderer mRenderer;
     private GLSurfaceView mGLView;
+    private boolean mIsProcessing = false;
+    private TangoPoseData mPose;
+    private static final int UPDATE_INTERVAL_MS = 100;
+    public static Object sharedLock = new Object();
 
     @Override
     protected void onCreate(Bundle savedInstanceState) {
@@ -106,7 +110,6 @@ protected void onCreate(Bundle savedInstanceState) {
         mRenderer = new MTGLRenderer();
         mGLView.setEGLContextClientVersion(2);
         mGLView.setRenderer(mRenderer);
-        mGLView.setRenderMode(GLSurfaceView.RENDERMODE_WHEN_DIRTY);
 
         // Instantiate the Tango service
         mTango = new Tango(this);
@@ -137,7 +140,7 @@ protected void onCreate(Bundle savedInstanceState) {
 
         // Display the library version for debug purposes
         mTangoServiceVersionTextView.setText(mConfig.getString("tango_service_library_version"));
-
+        startUIThread();
     }
 
     /**
@@ -147,8 +150,7 @@ protected void onCreate(Bundle savedInstanceState) {
     private void setTangoListeners() {
         // Lock configuration and connect to Tango
         // Select coordinate frame pair
-        final ArrayList<TangoCoordinateFramePair> framePairs = 
-                new ArrayList<TangoCoordinateFramePair>();
+        final ArrayList<TangoCoordinateFramePair> framePairs = new ArrayList<TangoCoordinateFramePair>();
         framePairs.add(new TangoCoordinateFramePair(
                 TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
                 TangoPoseData.COORDINATE_FRAME_DEVICE));
@@ -157,55 +159,30 @@ private void setTangoListeners() {
 
             @Override
             public void onPoseAvailable(final TangoPoseData pose) {
-                // Log whenever Motion Tracking enters a n invalid state
-                if (!mIsAutoRecovery && (pose.statusCode == TangoPoseData.POSE_INVALID)) {
-                    Log.w(TAG, "Invalid State");
-                }
-                if (mPreviousPoseStatus != pose.statusCode) {
-                    count = 0;
-                }
-                count++;
-                mPreviousPoseStatus = pose.statusCode;
-                mDeltaTime = (float) (pose.timestamp - mPreviousTimeStamp) * SECS_TO_MILLISECS;
-                mPreviousTimeStamp = (float) pose.timestamp;
-                // Update the OpenGL renderable objects with the new Tango Pose
-                // data
-                float[] translation = pose.getTranslationAsFloats();
-                mRenderer.getTrajectory().updateTrajectory(translation);
-                mRenderer.getModelMatCalculator().updateModelMatrix(translation,
-                        pose.getRotationAsFloats());
-                mRenderer.updateViewMatrix();
-                mGLView.requestRender();
-
-                // Update the UI with TangoPose information
-                runOnUiThread(new Runnable() {
-                    @Override
-                    public void run() {
-                        DecimalFormat threeDec = new DecimalFormat("0.000");
-                        String translationString = "[" + threeDec.format(pose.translation[0])
-                                + ", " + threeDec.format(pose.translation[1]) + ", "
-                                + threeDec.format(pose.translation[2]) + "] ";
-                        String quaternionString = "[" + threeDec.format(pose.rotation[0]) + ", "
-                                + threeDec.format(pose.rotation[1]) + ", "
-                                + threeDec.format(pose.rotation[2]) + ", "
-                                + threeDec.format(pose.rotation[3]) + "] ";
-
-                        // Display pose data on screen in TextViews
-                        mPoseTextView.setText(translationString);
-                        mQuatTextView.setText(quaternionString);
-                        mPoseCountTextView.setText(Integer.toString(count));
-                        mDeltaTextView.setText(threeDec.format(mDeltaTime));
-                        if (pose.statusCode == TangoPoseData.POSE_VALID) {
-                            mPoseStatusTextView.setText(R.string.pose_valid);
-                        } else if (pose.statusCode == TangoPoseData.POSE_INVALID) {
-                            mPoseStatusTextView.setText(R.string.pose_invalid);
-                        } else if (pose.statusCode == TangoPoseData.POSE_INITIALIZING) {
-                            mPoseStatusTextView.setText(R.string.pose_initializing);
-                        } else if (pose.statusCode == TangoPoseData.POSE_UNKNOWN) {
-                            mPoseStatusTextView.setText(R.string.pose_unknown);
-                        }
+                //Make sure to have atomic access to Tango Pose Data so that
+                //render loop doesn't interfere while Pose call back is updating
+                // the data.
+                synchronized (sharedLock) {
+                    mPose = pose;
+                    mDeltaTime = (float) (pose.timestamp - mPreviousTimeStamp) * SECS_TO_MILLISECS;
+                    mPreviousTimeStamp = (float) pose.timestamp;
+                    // Log whenever Motion Tracking enters an invalid state
+                    if (!mIsAutoRecovery && (pose.statusCode == TangoPoseData.POSE_INVALID)) {
+                        Log.w(TAG, "Invalid State");
                     }
-                });
+                    if (mPreviousPoseStatus != pose.statusCode) {
+                        count = 0;
+                    }
+                    count++;
+                    mPreviousPoseStatus = pose.statusCode;
+                    // Update the OpenGL renderable objects with the new Tango Pose
+                    // data
+                    float[] translation = pose.getTranslationAsFloats();
+                    mRenderer.getTrajectory().updateTrajectory(translation);
+                    mRenderer.getModelMatCalculator().updateModelMatrix(translation,
+                            pose.getRotationAsFloats());
+                    mRenderer.updateViewMatrix();
+                }
             }
 
             @Override
@@ -302,7 +279,10 @@ public void onClick(View v) {
     public boolean onTouchEvent(MotionEvent event) {
         return mRenderer.onTouchEvent(event);
     }
-
+    
+    /**
+     * Setup the extrinsics of the device.
+     */
     private void setUpExtrinsics() {
         // Get device to imu matrix.
         TangoPoseData device2IMUPose = new TangoPoseData();
@@ -322,4 +302,64 @@ private void setUpExtrinsics() {
         mRenderer.getModelMatCalculator().SetColorCamera2IMUMatrix(
                 color2IMUPose.getTranslationAsFloats(), color2IMUPose.getRotationAsFloats());
     }
+    /**
+     * Create a separate thread to update Log information on UI at the specified
+     * interval of UPDATE_INTERVAL_MS. This function also makes sure to have access
+     * to the mPose atomically.
+     */
+    private void startUIThread() {
+        new Thread(new Runnable() {
+            DecimalFormat threeDec = new DecimalFormat("00.000");
+            @Override
+            public void run() {
+                while (true) {
+                    try {
+                        Thread.sleep(UPDATE_INTERVAL_MS);
+                        runOnUiThread(new Runnable() {
+                            @Override
+                            public void run() {
+                                try {
+                                    synchronized (sharedLock) {
+                                        if (mPose == null) {
+                                            return;
+                                        }
+                                       
+                                        String translationString = "["
+                                                + threeDec.format(mPose.translation[0]) + ", "
+                                                + threeDec.format(mPose.translation[1]) + ", "
+                                                + threeDec.format(mPose.translation[2]) + "] ";
+                                        String quaternionString = "["
+                                                + threeDec.format(mPose.rotation[0]) + ", "
+                                                + threeDec.format(mPose.rotation[1]) + ", "
+                                                + threeDec.format(mPose.rotation[2]) + ", "
+                                                + threeDec.format(mPose.rotation[3]) + "] ";
+
+                                        // Display pose data on screen in TextViews
+                                        mPoseTextView.setText(translationString);
+                                        mQuatTextView.setText(quaternionString);
+                                        mPoseCountTextView.setText(Integer.toString(count));
+                                        mDeltaTextView.setText(threeDec.format(mDeltaTime));
+                                        if (mPose.statusCode == TangoPoseData.POSE_VALID) {
+                                            mPoseStatusTextView.setText(R.string.pose_valid);
+                                        } else if (mPose.statusCode == TangoPoseData.POSE_INVALID) {
+                                            mPoseStatusTextView.setText(R.string.pose_invalid);
+                                        } else if (mPose.statusCode == TangoPoseData.POSE_INITIALIZING) {
+                                            mPoseStatusTextView.setText(R.string.pose_initializing);
+                                        } else if (mPose.statusCode == TangoPoseData.POSE_UNKNOWN) {
+                                            mPoseStatusTextView.setText(R.string.pose_unknown);
+                                        }
+                                    }
+                                } catch (NullPointerException e) {
+                                    e.printStackTrace();
+                                }
+                            }
+                        });
+
+                    } catch (InterruptedException e) {
+                        e.printStackTrace();
+                    }
+                }
+            }
+        }).start();
+    }
 }

MotionTrackingJava/libs/tango_java_lib.jar

@@ -30,16 +30,14 @@
 import com.projecttango.tangoutils.renderables.PointCloud;
 
 /**
- * OpenGL rendering class for the Motion Tracking API sample. This class
- * managers the objects visible in the OpenGL view which are the
- * {@link CameraFrustum}, {@link PointCloud} and the {@link Grid}. These objects
- * are implemented in the TangoUtils library in the package
+ * OpenGL rendering class for the Motion Tracking API sample. This class managers the objects
+ * visible in the OpenGL view which are the {@link CameraFrustum}, {@link PointCloud} and the
+ * {@link Grid}. These objects are implemented in the TangoUtils library in the package
  * {@link com.projecttango.tangoutils.renderables}.
  * 
- * This class receives {@link TangoPose} data from the {@link MotionTracking}
- * class and updates the model and view matrices of the {@link Renderable}
- * objects appropriately. It also handles the user-selected camera view, which
- * can be 1st person, 3rd person, or top-down.
+ * This class receives {@link TangoPose} data from the {@link MotionTracking} class and updates the
+ * model and view matrices of the {@link Renderable} objects appropriately. It also handles the
+ * user-selected camera view, which can be 1st person, 3rd person, or top-down.
  * 
  */
 public class PCRenderer extends Renderer implements GLSurfaceView.Renderer {
@@ -62,24 +60,27 @@ public void onSurfaceCreated(GL10 gl, EGLConfig config) {
         mCameraFrustumAndAxis = new CameraFrustumAndAxis();
         Matrix.setIdentityM(mViewMatrix, 0);
         Matrix.setLookAtM(mViewMatrix, 0, 5f, 5f, 5f, 0f, 0f, 0f, 0f, 1f, 0f);
-        mCameraFrustumAndAxis.setModelMatrix(getModelMatCalculator()
-                .getModelMatrix());
+        mCameraFrustumAndAxis.setModelMatrix(getModelMatCalculator().getModelMatrix());
     }
 
     @Override
     public void onSurfaceChanged(GL10 gl, int width, int height) {
         GLES20.glViewport(0, 0, width, height);
         mCameraAspect = (float) width / height;
-        Matrix.perspectiveM(mProjectionMatrix, 0, CAMERA_FOV, mCameraAspect,
-                CAMERA_NEAR, CAMERA_FAR);
+        Matrix.perspectiveM(mProjectionMatrix, 0, CAMERA_FOV, mCameraAspect, CAMERA_NEAR,
+                CAMERA_FAR);
     }
 
     @Override
     public void onDrawFrame(GL10 gl) {
         GLES20.glClear(GLES20.GL_COLOR_BUFFER_BIT | GLES20.GL_DEPTH_BUFFER_BIT);
         mGrid.draw(mViewMatrix, mProjectionMatrix);
-        mPointCloud.draw(mViewMatrix, mProjectionMatrix);
-        mCameraFrustumAndAxis.draw(mViewMatrix, mProjectionMatrix);
+        synchronized (PointCloudActivity.depthLock) {
+            mPointCloud.draw(mViewMatrix, mProjectionMatrix);
+        }
+        synchronized (PointCloudActivity.poseLock) {
+            mCameraFrustumAndAxis.draw(mViewMatrix, mProjectionMatrix);
+        }
     }
 
     public PointCloud getPointCloud() {