import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
@Override
protected void onResume() {
    super.onResume();
    // Check if it has permissions.
    // Area learning permissions are needed in order to save the adf.
    if (Tango.hasPermission(this, Tango.PERMISSIONTYPE_ADF_LOAD_SAVE)) {
        // Reset the status every time we connect to the service. The old measurements don't
        // make sense.
        mWallMeasurementList = new ArrayList<WallMeasurement>();
        mRenderer.removeMeasurements();
        mRenderer.updatePlan(new Floorplan(new ArrayList<float[]>()));
        connectAndStart();
    } else {
        startActivityForResult(
                Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_ADF_LOAD_SAVE),
                Tango.TANGO_INTENT_ACTIVITYCODE);
    }
}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
@Override
protected void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
    setContentView(R.layout.activity_start);
    setTitle(R.string.app_name);

    // Setup UI elements.
    mLearningModeToggleButton = (ToggleButton) findViewById(R.id.learning_mode);
    mLoadAdfToggleButton = (ToggleButton) findViewById(R.id.load_adf);

    mIsUseAreaLearning = mLearningModeToggleButton.isChecked();
    mIsLoadAdf = mLoadAdfToggleButton.isChecked();

    startActivityForResult(
            Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_ADF_LOAD_SAVE), 0);
}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
@Override
public void onResume() {
    super.onResume();

    // Initialize Tango Service as a normal Android Service, since we call
    // mTango.disconnect() in onPause, this will unbind Tango Service, so
    // everytime when onResume gets called, we should create a new Tango object.
    mTango = new Tango(AdfUuidListViewActivity.this, new Runnable() {
        // Pass in a Runnable to be called from UI thread when Tango is ready,
        // this Runnable will be running on a new thread.
        // When Tango is ready, we can call Tango functions safely here only
        // when there is no UI thread changes involved.
        @Override
        public void run() {
            mIsTangoReady = true;
            runOnUiThread(new Runnable() {
                @Override
                public void run() {
                    synchronized (AdfUuidListViewActivity.this) {
                        updateList();
                    }
                }
            });
        }
    });
}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
/**
 * Sets up the tango configuration object. Make sure mTango object is initialized before
 * making this call.
 */
private TangoConfig setTangoConfig(Tango tango, boolean isLearningMode, boolean isLoadAdf) {
    TangoConfig config;
    config = tango.getConfig(TangoConfig.CONFIG_TYPE_DEFAULT);
    // Check if learning mode
    if (isLearningMode) {
        // Set learning mode to config.
        config.putBoolean(TangoConfig.KEY_BOOLEAN_LEARNINGMODE, true);

    }
    // Check for Load ADF/Constant Space relocalization mode.
    if (isLoadAdf) {
        ArrayList<String> fullUuidList;
        // Returns a list of ADFs with their UUIDs.
        fullUuidList = tango.listAreaDescriptions();
        // Load the latest ADF if ADFs are found.
        if (fullUuidList.size() > 0) {
            config.putString(TangoConfig.KEY_STRING_AREADESCRIPTION,
                    fullUuidList.get(fullUuidList.size() - 1));
        }
    }
    return config;
}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
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);
}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
@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());
}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
@Override
protected void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
    setContentView(R.layout.activity_main);

    mTranslationTextView = (TextView) findViewById(R.id.translation_text_view);
    mRotationTextView = (TextView) findViewById(R.id.rotation_text_view);

    // Instantiate Tango client
    mTango = new Tango(this);

    // Set up Tango configuration for motion tracking
    // If you want to use other APIs, add more appropriate to the config
    // like: mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true)
    mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT);
    mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_MOTIONTRACKING, true);

}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
@Override
protected void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
    setContentView(R.layout.start_activity);
    setTitle(R.string.app_name);
    mLearningModeToggleButton = (ToggleButton) findViewById(R.id.learningmode);
    mLoadADFToggleButton = (ToggleButton) findViewById(R.id.loadadf);
    mStartButton = (Button) findViewById(R.id.start);
    findViewById(R.id.ADFListView).setOnClickListener(this);
    mLearningModeToggleButton.setOnClickListener(this);
    mLoadADFToggleButton.setOnClickListener(this);
    mStartButton.setOnClickListener(this);
    startActivityForResult(
            Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING), 0);
    startActivityForResult(
            Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_ADF_LOAD_SAVE), 1);

}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
@Override
protected void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
    setContentView(R.layout.activity_jpoint_cloud);
    setTitle(R.string.app_name);

    tts=new TextToSpeech(getApplicationContext(), new TextToSpeech.OnInitListener() {
        @Override
        public void onInit(int status) {
            if (status != TextToSpeech.ERROR) {
                tts.setLanguage(Locale.UK);
            }
        }
    });
    mTango = new Tango(this);
    mConfig = setupTangoConfig(mTango);
    setupTextViewsAndButtons(mConfig);

    int maxDepthPoints = mConfig.getInt("max_point_cloud_elements");
    mPointCloudManager = new PointCloudManager(maxDepthPoints);
    mRenderer = setupGLViewAndRenderer(mPointCloudManager);
    mTangoUx = setupTangoUxAndLayout();
    mIsTangoServiceConnected = false;
    startUIThread();
}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
@Override
protected void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
    setContentView(R.layout.activity_area_learning);
    Intent intent = getIntent();
    mIsLearningMode = intent.getBooleanExtra(ALStartActivity.USE_AREA_LEARNING, false);
    mIsConstantSpaceRelocalize = intent.getBooleanExtra(ALStartActivity.LOAD_ADF, false);

    // Instantiate the Tango service
    mTango = new Tango(this);
    mIsRelocalized = false;
    mConfig = setTangoConfig(mTango, mIsLearningMode, mIsConstantSpaceRelocalize);
    setupTextViewsAndButtons(mConfig, mTango, mIsLearningMode, mIsConstantSpaceRelocalize);

    // Configure OpenGL renderer
    mRenderer = setupGLViewAndRenderer();

    mPoses = new TangoPoseData[3];

    // Set the number of loop closures to zero at start.
    mStart2DevicePoseCount = 0;
    mAdf2DevicePoseCount = 0;
    mAdf2StartPoseCount = 0;

    startUIThread();
}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
/**
 * Sets up the tango configuration object. Make sure mTango object is initialized before
 * making this call.
 */
private TangoConfig setTangoConfig(Tango tango, boolean isLearningMode, boolean isLoadAdf) {
    TangoConfig config = new TangoConfig();
    config = tango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT);
    // Check if learning mode
    if (isLearningMode) {
        // Set learning mode to config.
        config.putBoolean(TangoConfig.KEY_BOOLEAN_LEARNINGMODE, true);

    }
    // Check for Load ADF/Constant Space relocalization mode
    if (isLoadAdf) {
        ArrayList<String> fullUUIDList = new ArrayList<String>();
        // Returns a list of ADFs with their UUIDs
        fullUUIDList = tango.listAreaDescriptions();
        // Load the latest ADF if ADFs are found.
        if (fullUUIDList.size() > 0) {
            config.putString(TangoConfig.KEY_STRING_AREADESCRIPTION,
                    fullUUIDList.get(fullUUIDList.size() - 1));
        }
    }
    return config;
}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
@Override
protected void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
    setContentView(R.layout.start_activity);
    setTitle(R.string.app_name);
    mLearningModeToggleButton = (ToggleButton) findViewById(R.id.learningmode);
    mLoadADFToggleButton = (ToggleButton) findViewById(R.id.loadadf);
    mStartButton = (Button) findViewById(R.id.start);
    mAutoButton = (Button) findViewById(R.id.auto);
    findViewById(R.id.ADFListView).setOnClickListener(this);
    mLearningModeToggleButton.setOnClickListener(this);
    mLoadADFToggleButton.setOnClickListener(this);
    mStartButton.setOnClickListener(this);
    mAutoButton.setOnClickListener(this);
    startActivityForResult(
            Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING), 0);
    startActivityForResult(
            Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_ADF_LOAD_SAVE), 1);

}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
/**
 * provides a new tango service session allowing for multiple attempts to localize against
 * different ADF.
 */
private void initializeNewTangoService() {
    // Instantiate the Tango service
    mTango = new Tango(this);
    mIsRelocalized = false;

    Intent intent = getIntent();
    //auto triggers both learning and localizing
    mIsAutoMode = intent.getBooleanExtra(ALStartActivity.USE_AUTO, false);
    mIsLearningMode = intent.getBooleanExtra(ALStartActivity.USE_AREA_LEARNING,
            false) || mIsAutoMode;
    mIsConstantSpaceRelocalize = intent.getBooleanExtra(ALStartActivity.LOAD_ADF,
            false) || mIsAutoMode;
    setTangoConfig();
    mPoses = new TangoPoseData[3];
}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
@Override
protected void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
    setContentView(R.layout.activity_tango_main);

    // Instantiate the Tango service
    mTango = new Tango(this);

    mTranslationTextView = (TextView) findViewById(R.id.translation_text_view);
    mRotationTextView = (TextView) findViewById(R.id.rotation_text_view);

    // Set up Tango configuration for motion tracking
    // If you want to use other APIs, add more appropriate to the config
    // like: mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true)
    mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT);
    mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_MOTIONTRACKING, true);
}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
@Override
protected void onActivityResult(int requestCode, int resultCode, Intent data) {
    // Check which request we're responding to
    if (requestCode == Tango.TANGO_INTENT_ACTIVITYCODE) {
        // Make sure the request was successful
        if (resultCode == RESULT_CANCELED) {
            Toast.makeText(this, "Area Learning Permissions Required!",
                    Toast.LENGTH_SHORT).show();
            finish();
        }
    }
}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
/**
 * Connect to Tango service and connect the camera to the renderer.
 */
private void connectAndStart() {
    // Synchronize against disconnecting while the service is being used in the OpenGL thread or
    // in the UI thread.

    if (!mIsConnected) {
        // Initialize Tango Service as a normal Android Service, since we call
        // mTango.disconnect() in onPause, this will unbind Tango Service, so
        // everytime when onResume get called, we should create a new Tango object.
        mTango = new Tango(FloorplanActivity.this, new Runnable() {
            // Pass in a Runnable to be called from UI thread when Tango is ready,
            // this Runnable will be running on a new thread.
            // When Tango is ready, we can call Tango functions safely here only
            // when there is no UI thread changes involved.
            @Override
            public void run() {
                try {
                    synchronized (FloorplanActivity.this) {
                        TangoSupport.initialize();
                        connectTango();
                        connectRenderer();
                        mIsConnected = true;
                    }
                } catch (TangoOutOfDateException e) {
                    Log.e(TAG, getString(R.string.exception_out_of_date), e);
                }
            }
        });
    }

}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
/**
 * Sets up the tango configuration object. Make sure mTango object is initialized before
 * making this call.
 */
private TangoConfig setupTangoConfig(Tango tango) {
    // Create a new Tango Configuration and enable the Depth Sensing API.
    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;
}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
/**
 * Sets up the tango configuration object. Make sure mTango object is initialized before
 * making this call.
 */
private TangoConfig setupTangoConfig(Tango tango) {
    // Create a new Tango Configuration and enable the Camera API
    TangoConfig config = new TangoConfig();
    config = tango.getConfig(config.CONFIG_TYPE_DEFAULT);
    config.putBoolean(TangoConfig.KEY_BOOLEAN_COLORCAMERA, true);
    return config;
}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
@Override
protected void onActivityResult(int requestCode, int resultCode, Intent data) {
    // Check which request we're responding to
    if (requestCode == Tango.TANGO_INTENT_ACTIVITYCODE) {
        // Make sure the request was successful
        if (resultCode == RESULT_CANCELED) {
            Toast.makeText(this, R.string.no_permissions, Toast.LENGTH_LONG).show();
        }
    }
    updateList();
}
 

import com.google.atap.tangoservice.Tango; //导入依赖的package包/类
/**
 * Sets Texts views to display statistics of Poses being received. This also sets the buttons
 * used in the UI. Please note that this needs to be called after TangoService and Config
 * objects are initialized since we use them for the SDK related stuff like version number
 * etc.
 */
private void setupTextViewsAndButtons(Tango tango, boolean isLearningMode, boolean isLoadAdf) {
    mSaveAdfButton = (Button) findViewById(R.id.save_adf_button);
    mUuidTextView = (TextView) findViewById(R.id.adf_uuid_textview);
    mRelocalizationTextView = (TextView) findViewById(R.id.relocalization_textview);

    if (isLearningMode) {
        // Disable save ADF button until Tango relocalizes to the current ADF.
        mSaveAdfButton.setEnabled(false);
    } else {
        // Hide to save ADF button if leanring mode is off.
        mSaveAdfButton.setVisibility(View.GONE);
    }

    if (isLoadAdf) {
        ArrayList<String> fullUuidList;
        // Returns a list of ADFs with their UUIDs
        fullUuidList = tango.listAreaDescriptions();
        if (fullUuidList.size() == 0) {
            mUuidTextView.setText(R.string.no_uuid);
        } else {
            mUuidTextView.setText(getString(R.string.number_of_adfs) + fullUuidList.size()
                    + getString(R.string.latest_adf_is)
                    + fullUuidList.get(fullUuidList.size() - 1));
        }
    }
}