@Override
protected void onActivityResult(int requestCode, int resultCode, Intent data) {
// Check which request we're responding to
if (requestCode == Tango.TANGO_INTENT_ACTIVITYCODE) {
Log.i(TAG, "Triggered");
// Make sure the request was successful
if (resultCode == RESULT_CANCELED) {
Toast.makeText(this, R.string.motiontrackingpermission, Toast.LENGTH_LONG).show();
finish();
return;
}
try {
setTangoListeners();
} catch (TangoErrorException e) {
Toast.makeText(this, R.string.TangoError, Toast.LENGTH_SHORT).show();
} catch (SecurityException e) {
Toast.makeText(
getApplicationContext(), R.string.motiontrackingpermission, Toast.LENGTH_SHORT)
.show();
}
try {
mTango.connect(mConfig);
mIsTangoServiceConnected = true;
} catch (TangoOutOfDateException outDateEx) {
if (mTangoUx != null) {
mTangoUx.showTangoOutOfDate();
}
} catch (TangoErrorException e) {
Toast.makeText(getApplicationContext(), R.string.TangoError, Toast.LENGTH_SHORT).show();
}
setUpExtrinsics();
}
}
@Override
protected void onDestroy() {
super.onDestroy();
vibrator.cancel();
mTangoUx.stop();
mTango.disconnect();
mIsTangoServiceConnected = false;
}
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_point_cloud);
vibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);
mPoseTextView = (TextView) findViewById(R.id.pose);
mQuatTextView = (TextView) findViewById(R.id.quat);
mPoseCountTextView = (TextView) findViewById(R.id.posecount);
mDeltaTextView = (TextView) findViewById(R.id.deltatime);
mTangoEventTextView = (TextView) findViewById(R.id.tangoevent);
mPoseStatusTextView = (TextView) findViewById(R.id.status);
mPointCountTextView = (TextView) findViewById(R.id.pointCount);
mAverageZTextView = (TextView) findViewById(R.id.averageZ);
mFrequencyTextView = (TextView) findViewById(R.id.frameDelta);
mFirstPersonButton = (Button) findViewById(R.id.first_person_button);
mFirstPersonButton.setOnClickListener(this);
mThirdPersonButton = (Button) findViewById(R.id.third_person_button);
mThirdPersonButton.setOnClickListener(this);
mTopDownButton = (Button) findViewById(R.id.top_down_button);
mTopDownButton.setOnClickListener(this);
mTango = new Tango(this);
mConfig = new TangoConfig();
mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT);
mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
mTangoUxLayout = (TangoUxLayout) findViewById(R.id.layout_tango);
mTangoUx = new TangoUx(this);
mTangoUx.setLayout(mTangoUxLayout);
mTangoUx.setUxExceptionEventListener(mUxExceptionListener);
int maxDepthPoints = mConfig.getInt("max_point_cloud_elements");
mRenderer = new PCRenderer(maxDepthPoints);
mGLView = (GLSurfaceView) findViewById(R.id.gl_surface_view);
mGLView.setEGLContextClientVersion(2);
mGLView.setRenderer(mRenderer);
mIsTangoServiceConnected = false;
startUIThread();
}
@Override
protected void onResume() {
super.onResume();
TangoUx.StartParams params = new TangoUx.StartParams();
mTangoUx.start(params);
if (!mIsTangoServiceConnected) {
startActivityForResult(
Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING),
Tango.TANGO_INTENT_ACTIVITYCODE);
}
Log.i(TAG, "onResumed");
}