diff --git a/area-description-jni-example/app/src/main/AndroidManifest.xml b/area-description-jni-example/app/src/main/AndroidManifest.xml
index 55193849..963479f4 100644
--- a/area-description-jni-example/app/src/main/AndroidManifest.xml
+++ b/area-description-jni-example/app/src/main/AndroidManifest.xml
@@ -7,6 +7,7 @@
+
GetEnv(reinterpret_cast(&env), JNI_VERSION_1_6);
- env->DeleteGlobalRef(calling_activity_obj_);
}
int AreaLearningApp::TangoInitialize(JNIEnv* env, jobject caller_activity) {
@@ -91,6 +89,14 @@ int AreaLearningApp::TangoInitialize(JNIEnv* env, jobject caller_activity) {
return ret;
}
+void AreaLearningApp::ActivityDestroyed() {
+ JNIEnv* env;
+ java_vm_->GetEnv(reinterpret_cast(&env), JNI_VERSION_1_6);
+ env->DeleteGlobalRef(calling_activity_obj_);
+ calling_activity_obj_ = nullptr;
+ on_saving_adf_progress_updated_ = nullptr;
+}
+
int AreaLearningApp::TangoSetupConfig(bool is_area_learning_enabled,
bool is_loading_adf) {
// Here, we'll configure the service to run in the way we'd want. For this
@@ -291,9 +297,9 @@ void AreaLearningApp::Render() {
main_scene_.Render(cur_pose, pose_data_.IsRelocalized());
}
-void AreaLearningApp::FreeContent() {
+void AreaLearningApp::DeleteResources() {
+ main_scene_.DeleteResources();
pose_data_.ResetPoseData();
- main_scene_.FreeGLContent();
}
bool AreaLearningApp::IsRelocalized() {
@@ -376,6 +382,12 @@ std::string AreaLearningApp::GetTangoServiceVersion() {
void AreaLearningApp::OnAdfSavingProgressChanged(int progress) {
// Here, we notify the Java activity that we'd like it to update the saving
// Adf progress.
+ if (calling_activity_obj_ == nullptr ||
+ on_saving_adf_progress_updated_ == nullptr) {
+ LOGE("AreaLearningApp: Cannot reference activity on ADF saving progress changed.");
+ return;
+ }
+
JNIEnv* env;
java_vm_->GetEnv(reinterpret_cast(&env), JNI_VERSION_1_6);
env->CallVoidMethod(calling_activity_obj_, on_saving_adf_progress_updated_,
diff --git a/area-description-jni-example/app/src/main/jni/jni_interface.cc b/area-description-jni-example/app/src/main/jni/jni_interface.cc
index 35a05c3d..95810fbc 100644
--- a/area-description-jni-example/app/src/main/jni/jni_interface.cc
+++ b/area-description-jni-example/app/src/main/jni/jni_interface.cc
@@ -38,6 +38,12 @@ Java_com_projecttango_experiments_nativearealearning_TangoJNINative_initialize(
return app.TangoInitialize(env, activity);
}
+JNIEXPORT void JNICALL
+Java_com_projecttango_experiments_nativearealearning_TangoJNINative_destroyActivity(
+ JNIEnv*, jobject) {
+ app.ActivityDestroyed();
+}
+
JNIEXPORT jint JNICALL
Java_com_projecttango_experiments_nativearealearning_TangoJNINative_setupConfig(
JNIEnv*, jobject, bool is_area_learningEnabled, bool is_loading_adf) {
@@ -88,9 +94,9 @@ Java_com_projecttango_experiments_nativearealearning_TangoJNINative_render(
}
JNIEXPORT void JNICALL
-Java_com_projecttango_experiments_nativearealearning_TangoJNINative_freeContent(
+Java_com_projecttango_experiments_nativearealearning_TangoJNINative_deleteResources(
JNIEnv*, jobject) {
- app.FreeContent();
+ app.DeleteResources();
}
JNIEXPORT jboolean JNICALL
diff --git a/area-description-jni-example/app/src/main/jni/scene.cc b/area-description-jni-example/app/src/main/jni/scene.cc
index a50e1d8d..f5fe07cd 100644
--- a/area-description-jni-example/app/src/main/jni/scene.cc
+++ b/area-description-jni-example/app/src/main/jni/scene.cc
@@ -66,7 +66,7 @@ void Scene::InitGLContent() {
tango_gl::GestureCamera::CameraType::kThirdPerson);
}
-void Scene::FreeGLContent() {
+void Scene::DeleteResources() {
delete gesture_camera_;
delete axis_;
delete frustum_;
diff --git a/area-description-jni-example/app/src/main/jni/tango-area-learning/area_learning_app.h b/area-description-jni-example/app/src/main/jni/tango-area-learning/area_learning_app.h
index f5d2e15b..c485fda4 100644
--- a/area-description-jni-example/app/src/main/jni/tango-area-learning/area_learning_app.h
+++ b/area-description-jni-example/app/src/main/jni/tango-area-learning/area_learning_app.h
@@ -42,6 +42,11 @@ class AreaLearningApp {
// The activity object is used for checking if the API version is outdated.
int TangoInitialize(JNIEnv* env, jobject caller_activity);
+ // When the Android activity is destroyed, signal the JNI layer to remove
+ // references to the activity. This should be called from the onDestroy()
+ // callback of the parent activity lifecycle.
+ void ActivityDestroyed();
+
// Setup the configuration file for the Tango Service. We'll also se whether
// we'd like auto-recover enabled.
//
@@ -119,8 +124,8 @@ class AreaLearningApp {
// Main render loop.
void Render();
- // Release/reset all resources that allocate from the program.
- void FreeContent();
+ // Reset pose data and release resources that allocate from the program.
+ void DeleteResources();
// Return true if Tango has relocalized to the current ADF at least once.
bool IsRelocalized();
diff --git a/area-description-jni-example/app/src/main/jni/tango-area-learning/scene.h b/area-description-jni-example/app/src/main/jni/tango-area-learning/scene.h
index dc5a754e..96c6e654 100644
--- a/area-description-jni-example/app/src/main/jni/tango-area-learning/scene.h
+++ b/area-description-jni-example/app/src/main/jni/tango-area-learning/scene.h
@@ -48,8 +48,8 @@ class Scene {
// Allocate OpenGL resources for rendering.
void InitGLContent();
- // Release OpenGL resources allocated.
- void FreeGLContent();
+ // Release non-GL resources.
+ void DeleteResources();
// Setup GL view port.
void SetupViewPort(int w, int h);
diff --git a/augmented-reality-jni-example/app/src/main/AndroidManifest.xml b/augmented-reality-jni-example/app/src/main/AndroidManifest.xml
index 48890782..dfd12a28 100644
--- a/augmented-reality-jni-example/app/src/main/AndroidManifest.xml
+++ b/augmented-reality-jni-example/app/src/main/AndroidManifest.xml
@@ -8,6 +8,7 @@
android:minSdkVersion="19"
android:targetSdkVersion="19" />
+
diff --git a/augmented-reality-jni-example/app/src/main/java/com/projecttango/experiments/nativeaugmentedreality/AugmentedRealityActivity.java b/augmented-reality-jni-example/app/src/main/java/com/projecttango/experiments/nativeaugmentedreality/AugmentedRealityActivity.java
index d6eea205..06ddd980 100644
--- a/augmented-reality-jni-example/app/src/main/java/com/projecttango/experiments/nativeaugmentedreality/AugmentedRealityActivity.java
+++ b/augmented-reality-jni-example/app/src/main/java/com/projecttango/experiments/nativeaugmentedreality/AugmentedRealityActivity.java
@@ -135,6 +135,9 @@ protected void onCreate(Bundle savedInstanceState) {
// OpenGL view where all of the graphics are drawn
mGLView = (GLSurfaceView) findViewById(R.id.gl_surface_view);
+
+ // Configure OpenGL renderer
+ mGLView.setEGLContextClientVersion(2);
// Set up button click listeners
mMotionReset.setOnClickListener(this);
@@ -165,7 +168,7 @@ protected void onCreate(Bundle savedInstanceState) {
protected void onResume() {
super.onResume();
mGLView.onResume();
-
+
// Setup the configuration for the TangoService.
TangoJNINative.setupConfig();
@@ -191,7 +194,7 @@ protected void onResume() {
protected void onPause() {
super.onPause();
mGLView.onPause();
- TangoJNINative.freeGLContent();
+ TangoJNINative.deleteResources();
// Disconnect from Tango Service, release all the resources that the app is
// holding from Tango Service.
diff --git a/augmented-reality-jni-example/app/src/main/java/com/projecttango/experiments/nativeaugmentedreality/TangoJNINative.java b/augmented-reality-jni-example/app/src/main/java/com/projecttango/experiments/nativeaugmentedreality/TangoJNINative.java
index 420ea831..471f0cee 100644
--- a/augmented-reality-jni-example/app/src/main/java/com/projecttango/experiments/nativeaugmentedreality/TangoJNINative.java
+++ b/augmented-reality-jni-example/app/src/main/java/com/projecttango/experiments/nativeaugmentedreality/TangoJNINative.java
@@ -46,8 +46,8 @@ public class TangoJNINative {
// holding from the Tango Service.
public static native void disconnect();
- // Release all OpenGL resources that are allocated from the program.
- public static native void freeGLContent();
+ // Delete non-GL data structures that are allocated from the program.
+ public static native void deleteResources();
// Allocate OpenGL resources for rendering.
public static native void initGlContent();
diff --git a/augmented-reality-jni-example/app/src/main/jni/augmented_reality_app.cc b/augmented-reality-jni-example/app/src/main/jni/augmented_reality_app.cc
index 381d3364..5d214740 100644
--- a/augmented-reality-jni-example/app/src/main/jni/augmented_reality_app.cc
+++ b/augmented-reality-jni-example/app/src/main/jni/augmented_reality_app.cc
@@ -295,14 +295,14 @@ void AugmentedRealityApp::Render() {
pose_data_.GetExtrinsicsAppliedOpenGLWorldFrame(color_camera_pose);
if (status != TANGO_SUCCESS) {
LOGE(
- "AugmentedRealityApp: Failed to update video overlay texture with"
+ "AugmentedRealityApp: Failed to update video overlay texture with "
"error code: %d",
status);
}
main_scene_.Render(color_camera_pose);
}
-void AugmentedRealityApp::FreeGLContent() { main_scene_.FreeGLContent(); }
+void AugmentedRealityApp::DeleteResources() { main_scene_.DeleteResources(); }
std::string AugmentedRealityApp::GetPoseString() {
std::lock_guard lock(pose_mutex_);
diff --git a/augmented-reality-jni-example/app/src/main/jni/jni_interface.cc b/augmented-reality-jni-example/app/src/main/jni/jni_interface.cc
index 68ede864..606b9382 100644
--- a/augmented-reality-jni-example/app/src/main/jni/jni_interface.cc
+++ b/augmented-reality-jni-example/app/src/main/jni/jni_interface.cc
@@ -93,9 +93,9 @@ Java_com_projecttango_experiments_nativeaugmentedreality_TangoJNINative_render(
}
JNIEXPORT void JNICALL
-Java_com_projecttango_experiments_nativeaugmentedreality_TangoJNINative_freeGLContent(
+Java_com_projecttango_experiments_nativeaugmentedreality_TangoJNINative_deleteResources(
JNIEnv*, jobject) {
- app.FreeGLContent();
+ app.DeleteResources();
}
JNIEXPORT jstring JNICALL
diff --git a/augmented-reality-jni-example/app/src/main/jni/scene.cc b/augmented-reality-jni-example/app/src/main/jni/scene.cc
index 332b3777..f9f345b0 100644
--- a/augmented-reality-jni-example/app/src/main/jni/scene.cc
+++ b/augmented-reality-jni-example/app/src/main/jni/scene.cc
@@ -73,9 +73,9 @@ void Scene::InitGLContent() {
tango_gl::GestureCamera::CameraType::kThirdPerson);
}
-void Scene::FreeGLContent() {
- delete video_overlay_;
+void Scene::DeleteResources() {
delete gesture_camera_;
+ delete video_overlay_;
delete axis_;
delete frustum_;
delete trace_;
diff --git a/augmented-reality-jni-example/app/src/main/jni/tango-augmented-reality/augmented_reality_app.h b/augmented-reality-jni-example/app/src/main/jni/tango-augmented-reality/augmented_reality_app.h
index ca648150..f88484ba 100644
--- a/augmented-reality-jni-example/app/src/main/jni/tango-augmented-reality/augmented_reality_app.h
+++ b/augmented-reality-jni-example/app/src/main/jni/tango-augmented-reality/augmented_reality_app.h
@@ -89,8 +89,8 @@ class AugmentedRealityApp {
// Main render loop.
void Render();
- // Release all OpenGL resources that allocate from the program.
- void FreeGLContent();
+ // Release all non-OpenGL resources that allocate from the program.
+ void DeleteResources();
// Retrun pose debug string.
std::string GetPoseString();
diff --git a/augmented-reality-jni-example/app/src/main/jni/tango-augmented-reality/scene.h b/augmented-reality-jni-example/app/src/main/jni/tango-augmented-reality/scene.h
index c696b660..5757f4d5 100644
--- a/augmented-reality-jni-example/app/src/main/jni/tango-augmented-reality/scene.h
+++ b/augmented-reality-jni-example/app/src/main/jni/tango-augmented-reality/scene.h
@@ -50,8 +50,8 @@ class Scene {
// Allocate OpenGL resources for rendering.
void InitGLContent();
- // Release OpenGL resources allocated.
- void FreeGLContent();
+ // Release non-OpenGL resources.
+ void DeleteResources();
// Setup GL view port.
// @param: x, left of the screen.
diff --git a/hello-tango-jni-example/app/src/main/AndroidManifest.xml b/hello-tango-jni-example/app/src/main/AndroidManifest.xml
index 5382a02a..415b19ac 100644
--- a/hello-tango-jni-example/app/src/main/AndroidManifest.xml
+++ b/hello-tango-jni-example/app/src/main/AndroidManifest.xml
@@ -7,6 +7,7 @@
+
+
+
lock(pose_mutex_);
diff --git a/motion-tracking-jni-example/app/src/main/jni/scene.cc b/motion-tracking-jni-example/app/src/main/jni/scene.cc
index c9de3ee2..f9c6d985 100644
--- a/motion-tracking-jni-example/app/src/main/jni/scene.cc
+++ b/motion-tracking-jni-example/app/src/main/jni/scene.cc
@@ -61,7 +61,7 @@ void Scene::InitGLContent() {
tango_gl::GestureCamera::CameraType::kThirdPerson);
}
-void Scene::FreeGLContent() {
+void Scene::DeleteResources() {
delete gesture_camera_;
delete axis_;
delete frustum_;
diff --git a/motion-tracking-jni-example/app/src/main/jni/tango-motion-tracking/motion_tracking_app.h b/motion-tracking-jni-example/app/src/main/jni/tango-motion-tracking/motion_tracking_app.h
index c5832533..7cf4bab5 100644
--- a/motion-tracking-jni-example/app/src/main/jni/tango-motion-tracking/motion_tracking_app.h
+++ b/motion-tracking-jni-example/app/src/main/jni/tango-motion-tracking/motion_tracking_app.h
@@ -85,8 +85,8 @@ class MotiongTrackingApp {
// Main render loop.
void Render();
- // Release all OpenGL resources that allocate from the program.
- void FreeGLContent();
+ // Release all resources that allocate from the program.
+ void DeleteResources();
// Retrun pose debug string.
std::string GetPoseString();
diff --git a/motion-tracking-jni-example/app/src/main/jni/tango-motion-tracking/scene.h b/motion-tracking-jni-example/app/src/main/jni/tango-motion-tracking/scene.h
index 1d1a78ee..30cf18dd 100644
--- a/motion-tracking-jni-example/app/src/main/jni/tango-motion-tracking/scene.h
+++ b/motion-tracking-jni-example/app/src/main/jni/tango-motion-tracking/scene.h
@@ -49,7 +49,7 @@ class Scene {
void InitGLContent();
// Release OpenGL resources allocated.
- void FreeGLContent();
+ void DeleteResources();
// Setup GL view port.
void SetupViewPort(int w, int h);
diff --git a/plane-fitting-jni-example/app/src/main/java/com/projecttango/experiments/nativeplanefitting/JNIInterface.java b/plane-fitting-jni-example/app/src/main/java/com/projecttango/experiments/nativeplanefitting/JNIInterface.java
index 5836375d..33b250bc 100644
--- a/plane-fitting-jni-example/app/src/main/java/com/projecttango/experiments/nativeplanefitting/JNIInterface.java
+++ b/plane-fitting-jni-example/app/src/main/java/com/projecttango/experiments/nativeplanefitting/JNIInterface.java
@@ -42,8 +42,8 @@ public class JNIInterface {
// camera texture.
public static native int initializeGLContent();
- // Release all the OpenGL resources that are allocated.
- public static native void freeGLContent();
+ // Release resources that are allocated.
+ public static native void deleteResources();
// Display debug colors on point cloud.
public static native void setRenderDebugPointCloud(boolean debugRender);
diff --git a/plane-fitting-jni-example/app/src/main/java/com/projecttango/experiments/nativeplanefitting/MainActivity.java b/plane-fitting-jni-example/app/src/main/java/com/projecttango/experiments/nativeplanefitting/MainActivity.java
index 692becda..bdd18534 100644
--- a/plane-fitting-jni-example/app/src/main/java/com/projecttango/experiments/nativeplanefitting/MainActivity.java
+++ b/plane-fitting-jni-example/app/src/main/java/com/projecttango/experiments/nativeplanefitting/MainActivity.java
@@ -63,7 +63,7 @@ public class MainActivity extends Activity {
// program attempting to disconnect from the service while it is not
// connected.This is especially important in the onPause() callback for the
// activity class.
- private boolean mIsConnectedService = false;
+ private boolean mIsServiceConnected = false;
// GLSurfaceView and renderer, all of the graphic content is rendered
// through OpenGL ES 2.0 in native code.
@@ -200,9 +200,10 @@ protected void onResume() {
// Setup the configuration of the Tango Service.
int ret = JNIInterface.tangoSetupAndConnect();
+ mIsServiceConnected = true;
if (ret != TANGO_SUCCESS) {
- mIsConnectedService = true;
+ mIsServiceConnected = false;
Log.e(TAG, "Failed to set config and connect with code: " + ret);
finish();
}
@@ -212,13 +213,13 @@ protected void onResume() {
protected void onPause() {
super.onPause();
mGLView.onPause();
- JNIInterface.freeGLContent();
+ JNIInterface.deleteResources();
// Disconnect from the Tango Service, release all the resources that
// the app is holding from the Tango Service.
- if (mIsConnectedService) {
+ if (mIsServiceConnected) {
JNIInterface.tangoDisconnect();
- mIsConnectedService = false;
+ mIsServiceConnected = false;
}
}
diff --git a/plane-fitting-jni-example/app/src/main/jni/Android.mk b/plane-fitting-jni-example/app/src/main/jni/Android.mk
index 0ee8c279..b135cf98 100644
--- a/plane-fitting-jni-example/app/src/main/jni/Android.mk
+++ b/plane-fitting-jni-example/app/src/main/jni/Android.mk
@@ -25,7 +25,7 @@ LOCAL_C_INCLUDES := $(PROJECT_ROOT)/tango-gl/include \
LOCAL_SRC_FILES := jni_interface.cc \
plane_fitting.cc \
plane_fitting_application.cc \
- point_cloud.cc \
+ point_cloud_renderer.cc \
$(PROJECT_ROOT_FROM_JNI)/tango-gl/bounding_box.cpp \
$(PROJECT_ROOT_FROM_JNI)/tango-gl/camera.cpp \
$(PROJECT_ROOT_FROM_JNI)/tango-gl/conversions.cpp \
diff --git a/plane-fitting-jni-example/app/src/main/jni/jni_interface.cc b/plane-fitting-jni-example/app/src/main/jni/jni_interface.cc
index 7c8264d3..a25a8143 100644
--- a/plane-fitting-jni-example/app/src/main/jni/jni_interface.cc
+++ b/plane-fitting-jni-example/app/src/main/jni/jni_interface.cc
@@ -67,9 +67,9 @@ Java_com_projecttango_experiments_nativeplanefitting_JNIInterface_render(
}
JNIEXPORT void JNICALL
-Java_com_projecttango_experiments_nativeplanefitting_JNIInterface_freeGLContent(
+Java_com_projecttango_experiments_nativeplanefitting_JNIInterface_deleteResources(
JNIEnv* /*env*/, jobject /*obj*/) {
- app.FreeGLContent();
+ app.DeleteResources();
}
JNIEXPORT void JNICALL
diff --git a/plane-fitting-jni-example/app/src/main/jni/plane_fitting_application.cc b/plane-fitting-jni-example/app/src/main/jni/plane_fitting_application.cc
index 9be2c167..ae14b198 100644
--- a/plane-fitting-jni-example/app/src/main/jni/plane_fitting_application.cc
+++ b/plane-fitting-jni-example/app/src/main/jni/plane_fitting_application.cc
@@ -47,7 +47,7 @@ void OnXYZijAvailableRouter(void* context, const TangoXYZij* xyz_ij) {
} // end namespace
void PlaneFittingApplication::OnXYZijAvailable(const TangoXYZij* xyz_ij) {
- point_cloud_->UpdateVertices(xyz_ij);
+ TangoSupport_updatePointCloud(point_cloud_manager_, xyz_ij);
}
PlaneFittingApplication::PlaneFittingApplication()
@@ -60,6 +60,8 @@ PlaneFittingApplication::PlaneFittingApplication()
PlaneFittingApplication::~PlaneFittingApplication() {
TangoConfig_free(tango_config_);
+ TangoSupport_freePointCloudManager(point_cloud_manager_);
+ point_cloud_manager_ = nullptr;
}
int PlaneFittingApplication::TangoInitialize(JNIEnv* env,
@@ -68,7 +70,7 @@ int PlaneFittingApplication::TangoInitialize(JNIEnv* env,
// initialize the service. We will do that here, passing on the JNI
// environment and jobject corresponding to the Android activity that is
// calling us.
- const int ret = TangoService_initialize(env, caller_activity);
+ int ret = TangoService_initialize(env, caller_activity);
if(ret != TANGO_SUCCESS) {
return ret;
}
@@ -78,6 +80,23 @@ int PlaneFittingApplication::TangoInitialize(JNIEnv* env,
LOGE("Unable to get tango config");
return TANGO_ERROR;
}
+
+ if (point_cloud_manager_ == nullptr) {
+ int32_t max_point_cloud_elements;
+ ret = TangoConfig_getInt32(tango_config_, "max_point_cloud_elements",
+ &max_point_cloud_elements);
+ if(ret != TANGO_SUCCESS) {
+ LOGE("Failed to query maximum number of point cloud elements.");
+ return ret;
+ }
+
+ ret = TangoSupport_createPointCloudManager(max_point_cloud_elements,
+ &point_cloud_manager_);
+ if(ret != TANGO_SUCCESS) {
+ return ret;
+ }
+ }
+
return TANGO_SUCCESS;
}
@@ -220,16 +239,8 @@ void PlaneFittingApplication::TangoDisconnect() {
}
int PlaneFittingApplication::InitializeGLContent() {
- int32_t max_point_cloud_elements;
- const int ret = TangoConfig_getInt32(tango_config_, "max_point_cloud_elements",
- &max_point_cloud_elements);
- if(ret != TANGO_SUCCESS) {
- LOGE("Failed to query maximum number of point cloud elements.");
- return ret;
- }
-
video_overlay_ = new tango_gl::VideoOverlay();
- point_cloud_ = new PointCloud(max_point_cloud_elements);
+ point_cloud_renderer_ = new PointCloudRenderer();
cube_ = new tango_gl::Cube();
cube_->SetScale(glm::vec3(kCubeScale, kCubeScale, kCubeScale));
cube_->SetColor(0.7f, 0.7f, 0.7f);
@@ -244,7 +255,7 @@ int PlaneFittingApplication::InitializeGLContent() {
}
void PlaneFittingApplication::SetRenderDebugPointCloud(bool on) {
- point_cloud_->SetRenderDebugColors(on);
+ point_cloud_renderer_->SetRenderDebugColors(on);
}
void PlaneFittingApplication::SetViewPort(int width, int height) {
@@ -309,8 +320,12 @@ void PlaneFittingApplication::GLRender(
glEnable(GL_BLEND);
video_overlay_->Render(glm::mat4(1.0), glm::mat4(1.0));
glEnable(GL_DEPTH_TEST);
- point_cloud_->Render(projection_matrix_ar_, opengl_camera_T_ss,
- device_T_depth_);
+ UpdateCurrentPointData();
+ const glm::mat4 start_service_T_device_t1 = GetStartServiceTDeviceTransform();
+ const glm::mat4 projection_T_depth = projection_matrix_ar_ * opengl_camera_T_ss *
+ start_service_T_device_t1 * device_T_depth_;
+ const glm::mat4 start_service_T_depth = start_service_T_device_t1 * device_T_depth_;
+ point_cloud_renderer_->Render(projection_T_depth, start_service_T_depth, front_cloud_);
glDisable(GL_BLEND);
glm::mat4 opengl_camera_T_opengl_world =
@@ -319,33 +334,22 @@ void PlaneFittingApplication::GLRender(
cube_->Render(projection_matrix_ar_, opengl_camera_T_opengl_world);
}
-void PlaneFittingApplication::FreeGLContent() {
+void PlaneFittingApplication::DeleteResources() {
delete video_overlay_;
- delete point_cloud_;
delete cube_;
video_overlay_ = nullptr;
- point_cloud_ = nullptr;
cube_ = nullptr;
}
// We assume the Java layer ensures this function is called on the GL thread.
void PlaneFittingApplication::OnTouchEvent(float x, float y) {
- // Get the current point cloud data and transform. This assumes the data has
- // been recently updated on the render thread and does not attempt to update
- // again here.
- const TangoXYZij* current_cloud = point_cloud_->GetCurrentPointData();
- // This transform relates the point cloud at acquisition time (t0) to the
- // start of service.
- const glm::mat4 start_service_T_device_t0 =
- point_cloud_->GetPointCloudStartServiceTDeviceTransform();
-
/// Calculate the conversion from the latest depth camera position to the
/// position of the most recent color camera image. This corrects for screen
/// lag between the two systems.
TangoPoseData pose_color_camera_t0_T_depth_camera_t1;
int ret = TangoSupport_calculateRelativePose(
last_gpu_timestamp_, TANGO_COORDINATE_FRAME_CAMERA_COLOR,
- current_cloud->timestamp, TANGO_COORDINATE_FRAME_CAMERA_DEPTH,
+ front_cloud_->timestamp, TANGO_COORDINATE_FRAME_CAMERA_DEPTH,
&pose_color_camera_t0_T_depth_camera_t1);
if (ret != TANGO_SUCCESS) {
LOGE("%s: could not calculate relative pose", __func__);
@@ -356,7 +360,7 @@ void PlaneFittingApplication::OnTouchEvent(float x, float y) {
glm::dvec3 double_depth_position;
glm::dvec4 double_depth_plane_equation;
if (TangoSupport_fitPlaneModelNearClick(
- current_cloud, &color_camera_intrinsics_,
+ front_cloud_, &color_camera_intrinsics_,
&pose_color_camera_t0_T_depth_camera_t1, glm::value_ptr(uv),
glm::value_ptr(double_depth_position),
glm::value_ptr(double_depth_plane_equation)) != TANGO_SUCCESS) {
@@ -369,7 +373,7 @@ void PlaneFittingApplication::OnTouchEvent(float x, float y) {
static_cast(double_depth_plane_equation);
const glm::mat4 opengl_world_T_depth = opengl_world_T_start_service_ *
- start_service_T_device_t0 *
+ GetStartServiceTDeviceTransform() *
device_T_depth_;
// Transform to world coordinates
@@ -380,7 +384,7 @@ void PlaneFittingApplication::OnTouchEvent(float x, float y) {
PlaneTransform(depth_plane_equation, opengl_world_T_depth,
&world_plane_equation);
- point_cloud_->SetPlaneEquation(world_plane_equation);
+ point_cloud_renderer_->SetPlaneEquation(world_plane_equation);
const glm::vec3 plane_normal(world_plane_equation);
@@ -406,4 +410,23 @@ void PlaneFittingApplication::OnTouchEvent(float x, float y) {
cube_->SetPosition(glm::vec3(world_position) + plane_normal * kCubeScale);
}
+glm::mat4 PlaneFittingApplication::GetStartServiceTDeviceTransform() {
+ TangoCoordinateFramePair frame_pair;
+ frame_pair.base = TANGO_COORDINATE_FRAME_START_OF_SERVICE;
+ frame_pair.target = TANGO_COORDINATE_FRAME_DEVICE;
+ TangoPoseData pose_start_service_T_device_t1;
+
+ TangoService_getPoseAtTime(front_cloud_->timestamp, frame_pair,
+ &pose_start_service_T_device_t1);
+
+ return tango_gl::conversions::TransformFromArrays(
+ pose_start_service_T_device_t1.translation,
+ pose_start_service_T_device_t1.orientation);
+}
+
+void PlaneFittingApplication::UpdateCurrentPointData() {
+ TangoSupport_getLatestPointCloud(point_cloud_manager_,
+ &front_cloud_);
+}
+
} // namespace tango_plane_fitting
diff --git a/plane-fitting-jni-example/app/src/main/jni/point_cloud.cc b/plane-fitting-jni-example/app/src/main/jni/point_cloud_renderer.cc
similarity index 61%
rename from plane-fitting-jni-example/app/src/main/jni/point_cloud.cc
rename to plane-fitting-jni-example/app/src/main/jni/point_cloud_renderer.cc
index 16194ade..e36be8cb 100644
--- a/plane-fitting-jni-example/app/src/main/jni/point_cloud.cc
+++ b/plane-fitting-jni-example/app/src/main/jni/point_cloud_renderer.cc
@@ -14,7 +14,7 @@
* limitations under the License.
*/
-#include "tango-plane-fitting/point_cloud.h"
+#include "tango-plane-fitting/point_cloud_renderer.h"
#include
#include
@@ -55,12 +55,10 @@ const std::string kPointCloudFragmentShader =
} // namespace
-PointCloud::PointCloud(int32_t max_point_cloud_size)
+PointCloudRenderer::PointCloudRenderer()
: plane_distance_(0.05f),
debug_colors_(false),
plane_model_(glm::vec4(0.0, 0.0, 1.0, 0.0)) {
- TangoSupport_createPointCloudManager(max_point_cloud_size,
- &point_cloud_manager_);
opengl_world_T_start_service_ =
tango_gl::conversions::opengl_world_T_tango_world();
@@ -75,26 +73,17 @@ PointCloud::PointCloud(int32_t max_point_cloud_size)
plane_distance_handle_ =
glGetUniformLocation(shader_program_, "plane_distance");
- tango_gl::util::CheckGlError("Pointcloud::Construction");
+ tango_gl::util::CheckGlError("PointCloudRenderer::Construction");
}
-PointCloud::~PointCloud() {
+PointCloudRenderer::~PointCloudRenderer() {
glDeleteProgram(shader_program_);
glDeleteBuffers(0, &vertex_buffer_);
- TangoSupport_freePointCloudManager(point_cloud_manager_);
}
-void PointCloud::UpdateVertices(const TangoXYZij* cloud) {
- TangoSupport_updatePointCloud(point_cloud_manager_, cloud);
-}
-
-void PointCloud::Render(const glm::mat4& projection,
- const glm::mat4& opengl_camera_T_start_service,
- const glm::mat4& device_T_depth) {
- // Update point data.
- if(TangoSupport_getLatestPointCloud(point_cloud_manager_, &front_cloud_) == TANGO_INVALID) {
- return;
- }
+void PointCloudRenderer::Render(const glm::mat4& projection_T_depth,
+ const glm::mat4&start_service_T_depth,
+ const TangoXYZij* point_cloud) {
if (!debug_colors_) {
return;
@@ -102,26 +91,20 @@ void PointCloud::Render(const glm::mat4& projection,
glUseProgram(shader_program_);
- const size_t number_of_vertices = front_cloud_->xyz_count;
+ const size_t number_of_vertices = point_cloud->xyz_count;
glBindBuffer(GL_ARRAY_BUFFER, vertex_buffer_);
glBufferData(GL_ARRAY_BUFFER, sizeof(GLfloat) * 3 * number_of_vertices,
- front_cloud_->xyz[0], GL_STATIC_DRAW);
-
- const glm::mat4 start_service_T_device_t1 = this->GetPointCloudStartServiceTDeviceTransform();
-
- const glm::mat4 mvp_mat = projection * opengl_camera_T_start_service *
- start_service_T_device_t1 * device_T_depth;
+ point_cloud->xyz[0], GL_STATIC_DRAW);
const glm::mat4 depth_T_opengl =
- glm::inverse(opengl_world_T_start_service_ * start_service_T_device_t1 *
- device_T_depth);
+ glm::inverse(opengl_world_T_start_service_ * start_service_T_depth);
// Transform plane into depth camera coordinates.
glm::vec4 camera_plane;
PlaneTransform(plane_model_, depth_T_opengl, &camera_plane);
- glUniformMatrix4fv(mvp_handle_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+ glUniformMatrix4fv(mvp_handle_, 1, GL_FALSE, glm::value_ptr(projection_T_depth));
glUniform4fv(plane_handle_, 1, glm::value_ptr(camera_plane));
@@ -139,30 +122,7 @@ void PointCloud::Render(const glm::mat4& projection,
glBindBuffer(GL_ARRAY_BUFFER, 0);
glUseProgram(0);
- tango_gl::util::CheckGlError("Pointcloud::Render");
-}
-
-const glm::mat4 PointCloud::GetPointCloudStartServiceTDeviceTransform() {
- TangoCoordinateFramePair frame_pair;
- frame_pair.base = TANGO_COORDINATE_FRAME_START_OF_SERVICE;
- frame_pair.target = TANGO_COORDINATE_FRAME_DEVICE;
- TangoPoseData pose_start_service_T_device_t1;
-
- TangoService_getPoseAtTime(front_cloud_->timestamp, frame_pair,
- &pose_start_service_T_device_t1);
-
- const glm::mat4 start_service_T_device =
- tango_gl::conversions::TransformFromArrays(
- pose_start_service_T_device_t1.translation,
- pose_start_service_T_device_t1.orientation);
-
- return start_service_T_device;
-}
-
-const TangoXYZij* PointCloud::GetCurrentPointData() {
- TangoSupport_getLatestPointCloud(point_cloud_manager_,
- &front_cloud_);
- return front_cloud_;
+ tango_gl::util::CheckGlError("PointCloudRenderer::Render");
}
} // namespace tango_plane_fitting
diff --git a/plane-fitting-jni-example/app/src/main/jni/tango-plane-fitting/plane_fitting_application.h b/plane-fitting-jni-example/app/src/main/jni/tango-plane-fitting/plane_fitting_application.h
index 66eae02c..5c1cd44e 100644
--- a/plane-fitting-jni-example/app/src/main/jni/tango-plane-fitting/plane_fitting_application.h
+++ b/plane-fitting-jni-example/app/src/main/jni/tango-plane-fitting/plane_fitting_application.h
@@ -24,7 +24,7 @@
#include
#include
-#include "tango-plane-fitting/point_cloud.h"
+#include "tango-plane-fitting/point_cloud_renderer.h"
namespace tango_plane_fitting {
@@ -61,8 +61,8 @@ class PlaneFittingApplication {
// Get current camera position and render.
void Render();
- // Free the GL context when the context is deleted.
- void FreeGLContent();
+ // Delete the allocate resources.
+ void DeleteResources();
//
// Callback for point clouds that come in from the Tango service.
@@ -83,12 +83,19 @@ class PlaneFittingApplication {
// Details of rendering to OpenGL after determining transforms.
void GLRender(const glm::mat4& w_T_cc);
+ // Update the current point data.
+ void UpdateCurrentPointData();
+
+ // return pose for device position with respect to
+ // start of service.
+ glm::mat4 GetStartServiceTDeviceTransform();
+
TangoConfig tango_config_;
TangoCameraIntrinsics color_camera_intrinsics_;
// Render objects
tango_gl::VideoOverlay* video_overlay_;
- PointCloud* point_cloud_;
+ PointCloudRenderer* point_cloud_renderer_;
tango_gl::Cube* cube_;
// The dimensions of the render window.
@@ -110,6 +117,10 @@ class PlaneFittingApplication {
glm::mat4 color_camera_T_opengl_camera_;
// OpenGL projection matrix.
glm::mat4 projection_matrix_ar_;
+
+ // Point data manager.
+ TangoSupportPointCloudManager* point_cloud_manager_;
+ TangoXYZij* front_cloud_;
};
} // namespace tango_plane_fitting
diff --git a/plane-fitting-jni-example/app/src/main/jni/tango-plane-fitting/point_cloud.h b/plane-fitting-jni-example/app/src/main/jni/tango-plane-fitting/point_cloud_renderer.h
similarity index 61%
rename from plane-fitting-jni-example/app/src/main/jni/tango-plane-fitting/point_cloud.h
rename to plane-fitting-jni-example/app/src/main/jni/tango-plane-fitting/point_cloud_renderer.h
index 9e9ff805..db783309 100644
--- a/plane-fitting-jni-example/app/src/main/jni/tango-plane-fitting/point_cloud.h
+++ b/plane-fitting-jni-example/app/src/main/jni/tango-plane-fitting/point_cloud_renderer.h
@@ -27,28 +27,23 @@
namespace tango_plane_fitting {
-// PointCloud contains the logic to maintain an updated, renderable depth
-// buffer.
-class PointCloud {
+// PointCloudRenderer contains the OpenGL logic to render depth data.
+class PointCloudRenderer {
public:
- PointCloud(int32_t max_point_cloud_size);
- ~PointCloud();
-
- // Update the point cloud data with the latest results from the
- // callback. This is intended to be called from the callback thread.
- void UpdateVertices(const TangoXYZij* cloud);
+ PointCloudRenderer();
+ ~PointCloudRenderer();
// Render the point cloud colored by its location relative to the
// world plane model.
//
- // @param projection The OpenGL projection matrix.
- // @param opengl_camera_T_start_service The pose of the OpenGL camera with
- // respect to start of service.
- // @param device_T_depth Fixed extrinsics of pose of depth camera
- // with respect to device (not time-varying).
- void Render(const glm::mat4& projection,
- const glm::mat4& opengl_camera_T_start_service,
- const glm::mat4& device_T_depth);
+ // @param projection_T_depth The pose of the openGL projection with
+ // respect to the depth camera position.
+ // @param start_service_T_depth The pose of the start of service with
+ // respect to depth camera position.
+ // @param point_cloud Depth data gathered by a PointCloudManager.
+ void Render(const glm::mat4& projection_T_depth,
+ const glm::mat4& start_service_T_depth,
+ const TangoXYZij* point_cloud);
// Render depth points with debugging colors.
void SetRenderDebugColors(bool on) { debug_colors_ = on; }
@@ -56,15 +51,7 @@ class PointCloud {
// A plane equation in world coordinates for debug rendering.
void SetPlaneEquation(const glm::vec4& plane) { plane_model_ = plane; }
- // Get a reference to the current point data.
- const TangoXYZij* GetCurrentPointData();
-
- // Get a copy of the current point cloud transform of device with respect to
- // start of service.
- const glm::mat4 GetPointCloudStartServiceTDeviceTransform();
-
private:
- bool UpdateRenderPoints();
GLuint shader_program_;
GLuint vertex_buffer_;
GLuint mvp_handle_;
@@ -84,10 +71,6 @@ class PointCloud {
// Cached transform from opengl world to tango world.
// This is initialized and never updated.
glm::mat4 opengl_world_T_start_service_;
-
- // Point data manager.
- TangoSupportPointCloudManager* point_cloud_manager_;
- TangoXYZij* front_cloud_;
};
} // namespace tango_plane_fitting
diff --git a/point-cloud-jni-example/app/src/main/AndroidManifest.xml b/point-cloud-jni-example/app/src/main/AndroidManifest.xml
index d45e71eb..95ec78db 100644
--- a/point-cloud-jni-example/app/src/main/AndroidManifest.xml
+++ b/point-cloud-jni-example/app/src/main/AndroidManifest.xml
@@ -9,6 +9,7 @@
android:targetSdkVersion="19" />
+
lock(pose_mutex_);
diff --git a/point-cloud-jni-example/app/src/main/jni/point_cloud_drawable.cc b/point-cloud-jni-example/app/src/main/jni/point_cloud_drawable.cc
index be9f17eb..b73ad6ac 100644
--- a/point-cloud-jni-example/app/src/main/jni/point_cloud_drawable.cc
+++ b/point-cloud-jni-example/app/src/main/jni/point_cloud_drawable.cc
@@ -21,15 +21,18 @@
namespace {
const std::string kPointCloudVertexShader =
+ "precision mediump float;\n"
+ "precision mediump int;\n"
"attribute vec4 vertex;\n"
"uniform mat4 mvp;\n"
"varying vec4 v_color;\n"
"void main() {\n"
- " gl_PointSize = 5.0;\n"
" gl_Position = mvp*vertex;\n"
" v_color = vertex;\n"
"}\n";
const std::string kPointCloudFragmentShader =
+ "precision mediump float;\n"
+ "precision mediump int;\n"
"varying vec4 v_color;\n"
"void main() {\n"
" gl_FragColor = vec4(v_color);\n"
@@ -43,7 +46,6 @@ const glm::mat4 kOpengGL_T_Depth =
namespace tango_point_cloud {
PointCloudDrawable::PointCloudDrawable() {
- LOGI("PointCloudDrawable constructor");
shader_program_ = tango_gl::util::CreateProgram(
kPointCloudVertexShader.c_str(), kPointCloudFragmentShader.c_str());
@@ -52,13 +54,19 @@ PointCloudDrawable::PointCloudDrawable() {
glGenBuffers(1, &vertex_buffers_);
}
-PointCloudDrawable::~PointCloudDrawable() { glDeleteProgram(shader_program_); }
+void PointCloudDrawable::DeleteGlResources() {
+ if (vertex_buffers_) {
+ glDeleteBuffers(1, &vertex_buffers_);
+ }
+ if (shader_program_) {
+ glDeleteShader(shader_program_);
+ }
+}
void PointCloudDrawable::Render(glm::mat4 projection_mat, glm::mat4 view_mat,
glm::mat4 model_mat,
const std::vector& vertices) {
glUseProgram(shader_program_);
- glEnable(GL_VERTEX_PROGRAM_POINT_SIZE);
mvp_handle_ = glGetUniformLocation(shader_program_, "mvp");
// Calculate model view projection matrix.
@@ -75,7 +83,7 @@ void PointCloudDrawable::Render(glm::mat4 projection_mat, glm::mat4 view_mat,
glDrawArrays(GL_POINTS, 0, vertices.size() / 3);
glUseProgram(0);
- tango_gl::util::CheckGlError("Pointcloud::Render");
+ tango_gl::util::CheckGlError("Pointcloud::Render()");
}
} // namespace tango_point_cloud
diff --git a/point-cloud-jni-example/app/src/main/jni/scene.cc b/point-cloud-jni-example/app/src/main/jni/scene.cc
index dcb1093d..66032b72 100644
--- a/point-cloud-jni-example/app/src/main/jni/scene.cc
+++ b/point-cloud-jni-example/app/src/main/jni/scene.cc
@@ -56,7 +56,7 @@ void Scene::InitGLContent() {
tango_gl::GestureCamera::CameraType::kThirdPerson);
}
-void Scene::FreeGLContent() {
+void Scene::DeleteResources() {
delete gesture_camera_;
delete axis_;
delete frustum_;
diff --git a/point-cloud-jni-example/app/src/main/jni/tango-point-cloud/point_cloud_app.h b/point-cloud-jni-example/app/src/main/jni/tango-point-cloud/point_cloud_app.h
index f2ee8c17..110eaec7 100644
--- a/point-cloud-jni-example/app/src/main/jni/tango-point-cloud/point_cloud_app.h
+++ b/point-cloud-jni-example/app/src/main/jni/tango-point-cloud/point_cloud_app.h
@@ -93,8 +93,8 @@ class PointCloudApp {
// Main render loop.
void Render();
- // Release all OpenGL resources that allocate from the program.
- void FreeGLContent();
+ // Release all non-OpenGL allocated resources.
+ void DeleteResources();
// Return pose debug string.
std::string GetPoseString();
diff --git a/point-cloud-jni-example/app/src/main/jni/tango-point-cloud/point_cloud_drawable.h b/point-cloud-jni-example/app/src/main/jni/tango-point-cloud/point_cloud_drawable.h
index 8d76790f..6a8e388d 100644
--- a/point-cloud-jni-example/app/src/main/jni/tango-point-cloud/point_cloud_drawable.h
+++ b/point-cloud-jni-example/app/src/main/jni/tango-point-cloud/point_cloud_drawable.h
@@ -27,7 +27,9 @@ namespace tango_point_cloud {
class PointCloudDrawable {
public:
PointCloudDrawable();
- ~PointCloudDrawable();
+
+ // Free all GL Resources, i.e, shaders, buffers.
+ void DeleteGlResources();
// Update current point cloud data.
//
diff --git a/point-cloud-jni-example/app/src/main/jni/tango-point-cloud/scene.h b/point-cloud-jni-example/app/src/main/jni/tango-point-cloud/scene.h
index ff98a2ce..ebde4dbd 100644
--- a/point-cloud-jni-example/app/src/main/jni/tango-point-cloud/scene.h
+++ b/point-cloud-jni-example/app/src/main/jni/tango-point-cloud/scene.h
@@ -46,8 +46,8 @@ class Scene {
// Allocate OpenGL resources for rendering.
void InitGLContent();
- // Release OpenGL resources allocated.
- void FreeGLContent();
+ // Release non-OpenGL allocated resources.
+ void DeleteResources();
// Setup GL view port.
void SetupViewPort(int w, int h);
diff --git a/starter-jni-example/app/src/main/AndroidManifest.xml b/starter-jni-example/app/src/main/AndroidManifest.xml
index 937ff8f2..1d3494b9 100644
--- a/starter-jni-example/app/src/main/AndroidManifest.xml
+++ b/starter-jni-example/app/src/main/AndroidManifest.xml
@@ -7,6 +7,8 @@
+
+
TANGO_SUCCESS on free.
-/// Returns TANGO_INVALID if manager is NULL.
TangoErrorType TangoSupport_freeImageBufferManager(
TangoSupportImageBufferManager* manager);
@@ -72,10 +71,14 @@ TangoErrorType TangoSupport_freeImageBufferManager(
/// @param manager A handle to the image buffer manager.
/// @param y_only For YUV images copy only the Y-portion (grayscale
/// intensities) if value is non-zero. For zero value copy Y and UV portions.
-/// @param begin_line Copy only scan lines start at this row.
-/// @param end_line Copy only scan lines to this row.
+/// @param begin_line Copy only scan lines start at this row. Must be less than
+/// end_line.
+/// @param end_line Copy only scan lines to this row. Must be greater than
+/// begin_line.
/// @pre 0 <= begin_line <= end_line <= image_height - 1.
-/// @return Returns TANGO_SUCCESS on update of the copy region.
+/// @return Returns TANGO_SUCCESS on update of the copy
+/// region. Returns TANGO_INVALID if the preconditions are not
+/// satisfied.
TangoErrorType TangoSupport_setImageBufferCopyRegion(
TangoSupportImageBufferManager* manager, int y_only, uint32_t begin_line,
uint32_t end_line);
@@ -150,7 +153,8 @@ TangoErrorType TangoSupport_copyXYZij(const TangoXYZij* input_point_cloud,
///
/// @param point_cloud The input point cloud. Cannot be NULL and must have at
/// least three points.
-/// @param intrinsics The camera intrinsics for the color camera.
+/// @param camera_intrinsics The camera intrinsics for the color camera. Cannot
+/// be NULL.
/// @param color_camera_T_point_cloud The pose of the point cloud relative to
/// the color camera used to obtain uv_coordinates.
/// @param uv_coordinates The UV coordinates for the user selection. This is
@@ -164,7 +168,8 @@ TangoErrorType TangoSupport_copyXYZij(const TangoXYZij* input_point_cloud,
/// @return TANGO_SUCCESS on success, TANGO_INVALID on
/// invalid input, and TANGO_ERROR on failure.
TangoErrorType TangoSupport_fitPlaneModelNearClick(
- const TangoXYZij* point_cloud, const TangoCameraIntrinsics* intrinsics,
+ const TangoXYZij* point_cloud,
+ const TangoCameraIntrinsics* camera_intrinsics,
const TangoPoseData* color_camera_T_point_cloud,
const float uv_coordinates[2], double intersection_point[3],
double plane_model[4]);
@@ -216,8 +221,7 @@ TangoErrorType TangoSupport_createPointCloudManager(
/// @brief Delete the point cloud manager object.
///
/// @param manager A handle to the manager to delete.
-/// @return A TangoErrorType value of TANGO_SUCCESS if
-/// successful. Returns TANGO_INVALID if manager is NULL.
+/// @return A TangoErrorType value of TANGO_SUCCESS on free.
TangoErrorType TangoSupport_freePointCloudManager(
TangoSupportPointCloudManager* manager);
@@ -261,7 +265,6 @@ TangoErrorType TangoSupport_initializeEmptyMesh(TangoMesh_Experimental* mesh);
///
/// @param mesh A pointer to the mesh to be deleted. Cannot be NULL.
/// @return Returns TANGO_SUCCESS on successful free.
-/// Returns TANGO_INVALID if mesh is NULL.
TangoErrorType TangoSupport_freeMesh(TangoMesh_Experimental* mesh);
/// @brief Creates a mesh, allocating memory for vertices, faces, and
@@ -351,8 +354,8 @@ TangoErrorType TangoSupport_calculateRelativePose(
/// in the order of x, y, z.
/// @param orientation The camera with respect to world orientation,
/// in the order of x, y, z, w.
-/// @return TANGO_SUCCESS on success, TANGO_INVALID
-/// on invalid input, and TANGO_ERROR on failure.
+/// @return TANGO_SUCCESS on success and TANGO_INVALID
+/// on invalid input.
TangoErrorType TangoSupport_getWorldTCameraPose(
TangoCoordinateConvention coordinate_convention,
const TangoPoseData* pose_start_service_T_device, double translation[3],
@@ -360,6 +363,175 @@ TangoErrorType TangoSupport_getWorldTCameraPose(
/// @}
+/// @defgroup DepthInterpolationSupport Depth Interpolation Support Functions
+/// @brief Functions for interpolating depth.
+/// @{
+
+/// @brief Calculates the depth in the color camera space at a user-specified
+/// location using nearest-neighbor interpolation.
+///
+/// @param point_cloud The point cloud. Cannot be NULL and must have at least
+/// one point.
+/// @param camera_intrinsics The camera intrinsics for the color camera. Cannot
+// be NULL.
+/// @param color_camera_T_point_cloud The pose of the point cloud relative to
+/// the color camera used to obtain uv_coordinates.
+/// @param uv_coordinates The UV coordinates for the user selection. This is
+/// expected to be between (0.0, 0.0) and (1.0, 1.0). Cannot be NULL.
+/// @param point_cloud_point The point (x, y, z), where (x, y) is the
+/// back-projection of the UV coordinates to the color camera space and z is
+// the z coordinate of the point in the point cloud nearest to the user
+// selection after projection onto the image plane. If there is not a point
+// cloud point close to the user selection after projection onto the image
+// plane, then the point will be set to (0.0, 0.0, 0.0) and is_valid_point
+/// will be set to 0.
+/// @param is_valid_point A flag valued 1 if there is a point cloud point close
+/// to the user selection after projection onto the image plane and valued 0
+/// otherwise.
+/// @return TANGO_SUCCESS on success and TANGO_INVALID
+/// on invalid input.
+TangoErrorType TangoSupport_getDepthAtPointNearestNeighbor(
+ const TangoXYZij* point_cloud,
+ const TangoCameraIntrinsics* camera_intrinsics,
+ const TangoPoseData* color_camera_T_point_cloud,
+ const float uv_coordinates[2], float point_cloud_point[3],
+ int* is_valid_point);
+
+/// @brief The TangoSupportDepthInterpolator contains references to camera
+/// intrinsics
+/// and cached data structures needed to upsample depth data to a camera image.
+struct TangoSupportDepthInterpolator;
+
+/// @brief Create an object for depth interpolation.
+///
+/// @param intrinsics The camera intrinsics for the camera to upsample.
+/// @param interpolator A handle to the interpolator object.
+/// @return A TangoErrorType value of TANGO_INVALID if intrinsics
+/// is null. Returns TANGO_SUCCESS otherwise.
+TangoErrorType TangoSupport_createDepthInterpolator(
+ TangoCameraIntrinsics* intrinsics,
+ TangoSupportDepthInterpolator** interpolator);
+
+/// @brief Free the depth interpolation object.
+///
+/// @param A handle to the interpolator object.
+/// @return TANGO_SUCCESS
+TangoErrorType TangoSupport_freeDepthInterpolator(
+ TangoSupportDepthInterpolator* interpolator);
+
+/// @brief Calculates the depth in the color camera space at a user-specified
+/// location using bilateral filtering weighted by both spatial distance from
+/// the user coordinate and by intensity similarity.
+///
+/// @param interpolator A handle to the interpolator object. The intrinsics of
+/// this interpolator object must match those of the image_buffer.
+/// @param point_cloud The point cloud. Cannot be NULL and must have at least
+/// one point.
+/// @param image_buffer The RGB image buffer. This must have intrinsics matching
+/// those used to create the interpolator object. Cannot be NULL.
+/// @param color_camera_T_point_cloud The pose of the point cloud relative to
+/// the color camera used to obtain uv_coordinates.
+/// @param uv_coordinates The UV coordinates for the user selection. This is
+/// expected to be between (0.0, 0.0) and (1.0, 1.0). Cannot be NULL.
+/// @param point_cloud_point The point (x, y, z), where (x, y) is the
+/// back-projection of the UV coordinates to the color camera space and z is
+/// the bilateral interpolation of the z coordinate of the point. If there is
+/// not a point cloud point close to the user selection after projection onto
+/// the image plane, then the point will be set to (0.0, 0.0, 0.0) and
+/// is_valid_point will be set to 0.
+/// @param is_valid_point A flag valued 1 if there is a point cloud point close
+/// to the user selection after projection onto the image plane and valued 0
+/// otherwise.
+/// @return TANGO_SUCCESS on success, TANGO_INVALID on
+/// invalid input, and TANGO_ERROR on failure.
+TangoErrorType TangoSupport_getDepthAtPointBilateral(
+ const TangoSupportDepthInterpolator* interpolator,
+ const TangoXYZij* point_cloud, const TangoImageBuffer* image_buffer,
+ const TangoPoseData* color_camera_T_point_cloud,
+ const float uv_coordinates[2], float point_cloud_point[3],
+ int* is_valid_point);
+
+/// @brief A structure to hold depth values for image upsampling. The units of
+/// the depth are the same as for TangoXYZij.
+struct TangoSupportDepthBuffer {
+ float* depths;
+ uint32_t width;
+ uint32_t height;
+};
+
+/// @brief Allocate memory for a depth buffer for the given image resolution.
+///
+/// @param width The width of the image. This should match the width given by
+/// the camera intrinsics.
+/// @param height The height of the image. This should match the height given by
+/// the camera intrinsics.
+/// @param depth_buffer The depth buffer to initialize.
+/// @return TANGO_SUCCESS on success, TANGO_INVALID on
+/// invalid input, and TANGO_ERROR on failure.
+TangoErrorType TangoSupport_initializeDepthBuffer(
+ uint32_t width, uint32_t height, TangoSupportDepthBuffer* depth_buffer);
+
+/// @brief Free memory for the depth buffer.
+///
+/// @param depth_buffer The depth buffer to free.
+/// @return TANGO_SUCCESS on success, TANGO_INVALID on
+/// invalid input, and TANGO_ERROR on failure.
+TangoErrorType TangoSupport_freeDepthBuffer(
+ TangoSupportDepthBuffer* depth_buffer);
+
+/// @brief Upsamples the depth data to the resolution of the color image. This
+/// uses the resolution specified by the intrinsics used to construct the
+/// interpolator. This function fills depth around each sample using a fixed
+/// radius. The resolution of the intrinsics provided to the interpolator and
+/// the the resolution of the output depth_buffer must match.
+///
+/// @param interpolator A handle to the interpolator object. The intrinsics of
+/// this interpolator object must match those of the image_buffer. Cannot be
+/// NULL.
+/// @param point_cloud The point cloud. Cannot be NULL and must have at least
+/// one point.
+/// @param color_camera_T_point_cloud The pose of the point cloud relative to
+/// the color camera used to obtain uv_coordinates. Cannot be NULL.
+/// @param depth_buffer A buffer for output of the depth data. Each pixel
+/// contains a depth value (in meters) or zero if there is no depth data near
+/// enough to the pixel. Cannot be NULL.
+/// @return TANGO_SUCCESS on success, TANGO_INVALID on
+/// invalid input, and TANGO_ERROR on failure.
+TangoErrorType TangoSupport_upsampleImageNearest(
+ const TangoSupportDepthInterpolator* interpolator,
+ const TangoXYZij* point_cloud,
+ const TangoPoseData* color_camera_T_point_cloud,
+ TangoSupportDepthBuffer* depth_buffer);
+
+/// @brief Upsamples the depth data to the resolution of the color image. This
+/// uses the resolution specified by the intrinsics used to construct the
+/// interpolator. This function fills depth around using a bilateral filtering
+/// approach. The resolution of the intrinsics provided to the interpolator and
+/// the the resolution of the output depth_buffer must match.
+///
+/// @param interpolator A handle to the interpolator object. The intrinsics of
+/// this interpolator object must match those of the image_buffer. Cannot be
+/// NULL.
+/// @param approximate If non-zero, uses an approximation technique that is
+/// faster but somewhat less accurate. If zero, use the a slower technique
+/// that is slightly more accurate.
+/// @param point_cloud The point cloud. Cannot be NULL and must have at least
+/// one point.
+/// @param color_camera_T_point_cloud The pose of the point cloud relative to
+/// the color camera used to obtain uv_coordinates. Cannot be NULL.
+/// @param depth_buffer A buffer for output of the depth data. Each pixel
+/// contains a depth value (in meters) or zero if there is no depth data near
+/// enough to the pixel. Cannot be NULL.
+/// @return TANGO_SUCCESS on success, TANGO_INVALID on
+/// invalid input, and TANGO_ERROR on failure.
+TangoErrorType TangoSupport_upsampleImageBilateral(
+ const TangoSupportDepthInterpolator* interpolator, int approximate,
+ const TangoXYZij* point_cloud, const TangoImageBuffer* image_buffer,
+ const TangoPoseData* color_camera_T_point_cloud,
+ TangoSupportDepthBuffer* depth_buffer);
+
+/// @}
+
#ifdef __cplusplus
}
#endif
diff --git a/tango_support_api/lib/libtango_support_api.so b/tango_support_api/lib/libtango_support_api.so
index 3658fef5..5f90d03d 100644
Binary files a/tango_support_api/lib/libtango_support_api.so and b/tango_support_api/lib/libtango_support_api.so differ
diff --git a/video-overlay-jni-example/app/src/main/AndroidManifest.xml b/video-overlay-jni-example/app/src/main/AndroidManifest.xml
index 15c76593..83a95afe 100644
--- a/video-overlay-jni-example/app/src/main/AndroidManifest.xml
+++ b/video-overlay-jni-example/app/src/main/AndroidManifest.xml
@@ -8,10 +8,12 @@
android:name="android.hardware.camera.autofocus"
android:required="false" />
+
+
DeleteDrawables();
+ }
video_overlay_drawable_ = new tango_gl::VideoOverlay();
yuv_drawable_ = new YUVDrawable();
@@ -182,14 +194,13 @@ void VideoOverlayApp::Render() {
}
}
-void VideoOverlayApp::FreeGLContent() {
+void VideoOverlayApp::FreeBufferData() {
is_yuv_texture_available_ = false;
swap_buffer_signal_ = false;
rgb_buffer_.clear();
yuv_buffer_.clear();
yuv_temp_buffer_.clear();
- delete yuv_drawable_;
- delete video_overlay_drawable_;
+ this->DeleteDrawables();
}
void VideoOverlayApp::AllocateTexture(GLuint texture_id, int width,