ARCore Android SDK v1.24.0
diff --git a/libraries/include/arcore_c_api.h b/libraries/include/arcore_c_api.h
index 3514a61..ee15a42 100644
--- a/libraries/include/arcore_c_api.h
+++ b/libraries/include/arcore_c_api.h
@@ -156,6 +156,9 @@
/// <a href="https://developers.google.com/ar/discover/supported-devices">ARCore
/// supported device</a>.
+/// @defgroup ArDepthPoint ArDepthPoint
+/// Hit Depth API
+
/// @defgroup ArFrame ArFrame
/// Per-frame state.
@@ -231,6 +234,12 @@
/// @defgroup ArRecordingConfig ArRecordingConfig
/// Session recording management.
+/// @defgroup ArTrack ArTrack
+/// External data recording.
+
+/// @defgroup ArTrackData ArTrackData
+/// External data track, used by Recording and Playback API.
+
/// @defgroup ArSession ArSession
/// Session management.
@@ -289,6 +298,15 @@
/// - Release with: @c ::ArRecordingConfig_destroy
typedef struct ArRecordingConfig_ ArRecordingConfig;
+/// @ingroup ArTrack
+/// A track recording configuration struct of type data.
+///
+/// (@ref ownership "value type").
+///
+/// - Create with: @c ::ArTrack_create
+/// - Release with: @c ::ArTrack_destroy
+typedef struct ArTrack_ ArTrack;
+
/// @ingroup ArSession
/// The ARCore session (@ref ownership "value type").
///
@@ -387,6 +405,14 @@
/// - Release with: @c ::ArTrackableList_destroy
typedef struct ArTrackableList_ ArTrackableList;
+/// @ingroup ArTrackData
+/// Data that has been recorded to an external track.
+typedef struct ArTrackData_ ArTrackData;
+
+/// @ingroup ArTrackData
+/// A list of @c ::ArTrackData
+typedef struct ArTrackDataList_ ArTrackDataList;
+
// Planes.
/// @ingroup ArPlane
@@ -405,6 +431,16 @@
/// - Release with: @c ::ArTrackable_release
typedef struct ArPoint_ ArPoint;
+// Depth Points.
+
+/// @ingroup ArDepthPoint
+/// A point measurement taken from a depth image
+/// (@ref ownership "reference type, long-lived").
+///
+/// - Trackable type: @c #AR_TRACKABLE_DEPTH_POINT
+/// - Release with: @c ::ArTrackable_release
+typedef struct ArDepthPoint_ ArDepthPoint;
+
// Instant Placement points.
/// @ingroup ArInstantPlacementPoint
@@ -595,6 +631,11 @@
/// Trackable type for faces.
AR_TRACKABLE_FACE = 0x41520105,
+ /// On supported devices, trackable type for depth image based hit results
+ /// returned by @c ::ArFrame_hitTest when @c ::ArConfig_setDepthMode has been
+ /// set to @c #AR_DEPTH_MODE_AUTOMATIC.
+ AR_TRACKABLE_DEPTH_POINT = 0x41520111,
+
/// Trackable type for results retrieved from
/// @c ::ArFrame_hitTestInstantPlacement. This trackable type is only
/// available when when @c ::ArConfig_setInstantPlacementMode is
@@ -1054,14 +1095,37 @@
AR_DEPTH_MODE_DISABLED = 0,
/// On supported devices the best possible depth is estimated based on
/// hardware and software sources. Available sources of automatic depth are:
- /// - Depth from motion
- /// - Active depth cameras
+ /// - Depth from motion, using the main RGB camera
+ /// - Hardware depth sensor, such as a time-of-flight sensor (or ToF sensor)
///
/// Provides depth estimation for every pixel in the image, and works best for
/// static scenes. For a list of supported devices, see:
/// https://developers.google.com/ar/discover/supported-devices
/// Adds significant computational load.
+ ///
+ /// With this mode enabled, @c ::ArFrame_hitTest also returns
+ /// @c ::ArDepthPoint in the output @c ::ArHitResultList, which are
+ /// sampled from the generated depth image for the current frame if available.
AR_DEPTH_MODE_AUTOMATIC = 1,
+ /// @ingroup ArFrame
+ /// On <a
+ /// href="https://developers.google.com/ar/discover/supported-devices">ARCore
+ /// supported devices</a> that also support the Depth API, provides a "raw",
+ /// mostly unfiltered, depth image
+ /// (@c ::ArFrame_acquireRawDepthImage) and depth confidence image
+ /// (@c ::ArFrame_acquireRawDepthConfidenceImage).
+ ///
+ ///
+ ///
+ /// The raw depth image is sparse and does not provide valid depth for all
+ /// pixels. Pixels without a valid depth estimate have a pixel value of 0.
+ ///
+ /// Raw depth data is also available when @c #AR_DEPTH_MODE_AUTOMATIC is
+ /// selected.
+ ///
+ /// Raw depth is intended to be used in cases that involve understanding of
+ /// the geometry in the environment.
+ AR_DEPTH_MODE_RAW_DEPTH_ONLY = 3,
};
/// @ingroup ArPlane
@@ -1123,8 +1187,7 @@
///
/// ARCore doesn't limit the number of Instant Placement points with
/// @c #AR_INSTANT_PLACEMENT_POINT_TRACKING_METHOD_FULL_TRACKING that are
- /// being
- /// tracked concurently.
+ /// being tracked concurrently.
AR_INSTANT_PLACEMENT_POINT_TRACKING_METHOD_FULL_TRACKING = 2};
/// @ingroup ArAnchor
@@ -1297,17 +1360,15 @@
/// @param[in] user_requested_install if set, override the previous installation
/// failure message and always show the installation interface.
/// @param[out] out_install_status A pointer to an @c ::ArInstallStatus to
-/// receive
-/// the resulting install status, if successful. Value is only valid when
-/// the return value is @c #AR_SUCCESS.
+/// receive the resulting install status, if successful. Value is only valid
+/// when the return value is @c #AR_SUCCESS.
/// @return @c #AR_SUCCESS, or any of:
/// - @c #AR_ERROR_FATAL if an error occurs while checking for or requesting
-/// installation
+/// installation
/// - @c #AR_UNAVAILABLE_DEVICE_NOT_COMPATIBLE if ARCore is not supported
-/// on this device.
+/// on this device.
/// - @c #AR_UNAVAILABLE_USER_DECLINED_INSTALLATION if the user previously
-/// declined
-/// installation.
+/// declined installation.
ArStatus ArCoreApk_requestInstall(void *env,
void *application_activity,
int32_t user_requested_install,
@@ -1335,17 +1396,15 @@
/// @param[in] message_type controls the text of the of message displayed
/// before showing the install prompt, or disables display of this message.
/// @param[out] out_install_status A pointer to an @c ::ArInstallStatus to
-/// receive
-/// the resulting install status, if successful. Value is only valid when
-/// the return value is @c #AR_SUCCESS.
+/// receive the resulting install status, if successful. Value is only valid
+/// when the return value is @c #AR_SUCCESS.
/// @return @c #AR_SUCCESS, or any of:
/// - @c #AR_ERROR_FATAL if an error occurs while checking for or requesting
-/// installation
+/// installation
/// - @c #AR_UNAVAILABLE_DEVICE_NOT_COMPATIBLE if ARCore is not supported
-/// on this device.
+/// on this device.
/// - @c #AR_UNAVAILABLE_USER_DECLINED_INSTALLATION if the user previously
-/// declined
-/// installation.
+/// declined installation.
ArStatus ArCoreApk_requestInstallCustom(void *env,
void *application_activity,
int32_t user_requested_install,
@@ -1606,6 +1665,9 @@
/// - With depth enabled through this call, calls to
/// @c ::ArFrame_acquireDepthImage can be made to acquire the latest computed
/// depth image.
+/// - With depth enabled through this call, calling @c ::ArFrame_hitTest
+/// generates an @c ::ArHitResultList that also includes @c ::ArDepthPoint
+/// values that are sampled from the latest computed depth image.
void ArConfig_setDepthMode(const ArSession *session,
ArConfig *config,
ArDepthMode mode);
@@ -1633,8 +1695,7 @@
///
/// @param[in] session The ARCore session
/// @param[out] out_list A pointer to an @c ::ArCameraConfigList* to
-/// receive
-/// the address of the newly allocated @c ::ArCameraConfigList.
+/// receive the address of the newly allocated @c ::ArCameraConfigList.
void ArCameraConfigList_create(const ArSession *session,
ArCameraConfigList **out_list);
@@ -1663,8 +1724,7 @@
///
/// @param[in] session The ARCore session
/// @param[out] out_camera_config Pointer to an @c ::ArCameraConfig* to
-/// receive
-/// the address of the newly allocated @c ::ArCameraConfig.
+/// receive the address of the newly allocated @c ::ArCameraConfig.
void ArCameraConfig_create(const ArSession *session,
ArCameraConfig **out_camera_config);
@@ -1832,8 +1892,7 @@
///
/// @param[in] session The ARCore session
/// @param[out] out_filter A pointer to an @c ::ArCameraConfigFilter* to
-/// receive
-/// the address of the newly allocated @c ::ArCameraConfigFilter
+/// receive the address of the newly allocated @c ::ArCameraConfigFilter
void ArCameraConfigFilter_create(const ArSession *session,
ArCameraConfigFilter **out_filter);
@@ -1924,8 +1983,8 @@
///
/// @param[in] session The ARCore session
/// @param[in, out] filter The filter object to change
-/// @param[in] facing_direction_filter A valid @c
-/// ::ArCameraConfigFacingDirection enum value
+/// @param[in] facing_direction_filter A valid
+/// @c ::ArCameraConfigFacingDirection enum value
void ArCameraConfigFilter_setFacingDirection(
const ArSession *session,
ArCameraConfigFilter *filter,
@@ -1937,7 +1996,7 @@
/// @param[in] session The ARCore session
/// @param[in] filter The filter object to query
/// @param[out] out_facing_direction_filter To be filled in with the desired
-/// camera facing direction allowed
+/// camera facing direction allowed
void ArCameraConfigFilter_getFacingDirection(
const ArSession *session,
ArCameraConfigFilter *filter,
@@ -2026,6 +2085,70 @@
ArRecordingConfig *config,
int32_t recording_rotation);
+/// @ingroup ArRecordingConfig
+/// Configures and adds a track.
+///
+/// @param[in] session The ARCore session
+/// @param[in, out] config The @c ::ArRecordingConfig object to change
+/// @param[in] track The @c ::ArTrack being added to the
+/// recording config
+void ArRecordingConfig_addTrack(const ArSession *session,
+ ArRecordingConfig *config,
+ const ArTrack *track);
+
+/// @ingroup ArTrack
+/// Initializes an @c ::ArTrack.
+///
+/// @param[in] session The ARCore session
+/// @param[out] out_track Pointer to an @c ::ArTrack to receive
+/// the address of the newly allocated @c ::ArTrack
+void ArTrack_create(const ArSession *session, ArTrack **out_track);
+
+/// @ingroup ArTrack
+/// Sets the Track Id.
+///
+/// @param[in] session The ARCore session
+/// @param[in, out] track The track object to change
+/// @param[in] track_id_uuid_16 The track ID as UUID as a byte array of 16
+/// bytes in size
+void ArTrack_setId(const ArSession *session,
+ ArTrack *track,
+ const uint8_t *track_id_uuid_16);
+
+/// @ingroup ArTrack
+/// Sets the Track Metadata.
+///
+/// @param[in] session The ARCore session
+/// @param[in, out] track The external track object to change
+/// @param[in] track_metadata_buffer bytes describing arbitrary data about
+/// the track.
+/// @param[in] track_metadata_buffer_size size of the @p track_metadata_buffer
+void ArTrack_setMetadata(const ArSession *session,
+ ArTrack *track,
+ const uint8_t *track_metadata_buffer,
+ size_t track_metadata_buffer_size);
+
+/// @ingroup ArTrack
+/// Sets the MIME type for the Data Track. Default value is
+/// "application/text".
+///
+/// @param[in] session The ARCore session
+/// @param[in, out] track The track object to change
+/// @param[in] mime_type The string representing the MIME type label
+/// as a null-terminated string in UTF-8 format. This will be the MIME type set
+/// on the additional stream created for this @c ::ArTrack, another convenient
+/// means of identification, particularly for applications that do not support
+/// UUID as a means of identification.
+void ArTrack_setMimeType(const ArSession *session,
+ ArTrack *track,
+ const char *mime_type);
+
+/// @ingroup ArTrack
+/// Releases memory used by the provided data track config object.
+///
+/// @param[in] track The track config object to release
+void ArTrack_destroy(ArTrack *track);
+
// === ArSession functions ===
/// @ingroup ArSession
@@ -2094,8 +2217,8 @@
/// Gets the current config. More specifically, fills the given @c ::ArConfig
/// object with the copy of the configuration most recently set by
/// @c ::ArSession_configure. Note: if the session was not explicitly
-/// configured, a default configuration is returned (same as @c
-/// ::ArConfig_create).
+/// configured, a default configuration is returned (same as
+/// @c ::ArConfig_create).
void ArSession_getConfig(ArSession *session, ArConfig *out_config);
/// @ingroup ArSession
@@ -2108,10 +2231,9 @@
/// Note that if the camera configuration has been changed by
/// @c ::ArSession_setCameraConfig since the last call to @c ::ArSession_resume,
/// all images previously acquired using @c ::ArFrame_acquireCameraImage must be
-/// released by calling @c ::ArImage_release before calling @c
-/// ::ArSession_resume. If there are open images, @c ::ArSession_resume will
-/// return
-/// @c #AR_ERROR_ILLEGAL_STATE and the session will not resume.
+/// released by calling @c ::ArImage_release before calling
+/// @c ::ArSession_resume. If there are open images, @c ::ArSession_resume will
+/// return @c #AR_ERROR_ILLEGAL_STATE and the session will not resume.
///
/// @return @c #AR_SUCCESS or any of:
/// - @c #AR_ERROR_FATAL
@@ -2143,8 +2265,8 @@
/// must use a @c samplerExternalOES sampler.
///
/// The texture contents are not guaranteed to remain valid after another call
-/// to @c ::ArSession_setCameraTextureName or @c
-/// ::ArSession_setCameraTextureNames, and additionally are not guaranteed to
+/// to @c ::ArSession_setCameraTextureName or
+/// @c ::ArSession_setCameraTextureNames, and additionally are not guaranteed to
/// remain valid after a call to
/// @c ::ArSession_pause or @c ::ArSession_destroy.
///
@@ -2156,7 +2278,7 @@
///
/// @param[in] session The ARCore session
/// @param[in] number_of_textures The number of textures being passed. This
-/// must always be at least 1.
+/// must always be at least 1.
/// @param[in] texture_ids Pointer to the array of textures names (IDs)
void ArSession_setCameraTextureNames(ArSession *session,
int32_t number_of_textures,
@@ -2169,10 +2291,9 @@
/// sampler.
///
/// The texture contents are not guaranteed to remain valid after another call
-/// to @c ::ArSession_setCameraTextureName or @c
-/// ::ArSession_setCameraTextureNames, and additionally are not guaranteed to
-/// remain valid after a call to
-/// @c ::ArSession_pause or @c ::ArSession_destroy.
+/// to @c ::ArSession_setCameraTextureName or
+/// @c ::ArSession_setCameraTextureNames, and additionally are not guaranteed to
+/// remain valid after a call to @c ::ArSession_pause or @c ::ArSession_destroy.
void ArSession_setCameraTextureName(ArSession *session, uint32_t texture_id);
/// @ingroup ArSession
@@ -2463,8 +2584,8 @@
/// @c ::ArSession_getSupportedCameraConfigsWithFilter.
///
/// The camera config will be applied once the session is resumed.
-/// All previously acquired frame images must be released with @c
-/// ::ArImage_release before calling @c resume(). Failure to do so will cause
+/// All previously acquired frame images must be released with
+/// @c ::ArImage_release before calling @c resume(). Failure to do so will cause
/// @c resume() to return
/// @c #AR_ERROR_ILLEGAL_STATE error.
///
@@ -2560,20 +2681,27 @@
ArCameraConfigList *list);
/// @ingroup ArSession
-/// Sets a MP4 dataset file to playback instead of using the live camera feed
+/// Sets a MP4 dataset file to play back instead of using the live camera feed
/// and IMU sensor data.
///
/// Restrictions:
+/// - Can only be called while the session is paused. Playback of the MP4
+/// dataset file will start once the session is resumed.
+/// - The MP4 dataset file must use the same camera facing direction as is
+/// configured in the session.
/// - Due to the way session data is processed, ARCore APIs may sometimes
/// produce different results during playback than during recording and
/// produce different results during subsequent playback sessions.
/// For example, the number of detected planes and other trackables, the
/// precise timing of their detection and their pose over time may be
-// different in subsequent playback sessions.
-/// - Can only be called while the session is paused. Playback of the MP4
-/// dataset file will start once the session is resumed.
-/// - The MP4 dataset file must use the same camera facing direction as is
-/// configured in the session.
+/// different in subsequent playback sessions.
+/// - Once playback has started (due to the first call to ::ArSession_resume),
+/// pausing the session (by calling @c ::ArSession_pause) will suspend
+/// processing of all camera image frames and any other recorded sensor data
+/// in the dataset. Camera image frames and sensor frame data that is
+/// discarded in this way will not be reprocessed when the session is again
+/// resumed (by calling @c ::ArSession_resume). AR tracking for the session
+/// will generally suffer due to the gap in processed data.
///
/// When an MP4 dataset file is set:
/// - All existing trackables (@c ::ArAnchor and @c ::ArTrackable) immediately
@@ -2589,7 +2717,7 @@
///
/// @param[in] session The ARCore session
/// @param[in] mp4_dataset_file_path A string file path to a MP4 dataset file
-/// or @c NULL to use the live camera feed.
+/// or @c NULL to use the live camera feed.
///
/// @return @c #AR_SUCCESS or any of:
/// - @c #AR_ERROR_SESSION_NOT_PAUSED if called when session is not paused.
@@ -2666,6 +2794,42 @@
void ArSession_getRecordingStatus(ArSession *session,
ArRecordingStatus *out_recording_status);
+/// @ingroup ArFrame
+/// Writes a data sample in the specified track. The samples recorded using
+/// this API will be muxed into the recorded MP4 dataset in a corresponding
+/// additional MP4 stream.
+///
+/// For smooth playback of the MP4 on video players and for future compatibility
+/// of the MP4 datasets with ARCore's playback of tracks it is
+/// recommended that the samples are recorded at a frequency no higher
+/// than 90kHz.
+///
+/// Additionally, if the samples are recorded at a frequency lower than 1Hz,
+/// empty padding samples will be automatically recorded at approximately
+/// one second intervals to fill in the gaps.
+///
+/// Recording samples introduces additional CPU and/or I/O overhead and
+/// may affect app performance.
+
+///
+/// @param[in] session The ARCore session
+/// @param[in] frame The current @c ::ArFrame
+/// @param[in] track_id_uuid_16 The external track ID as UUID as a
+/// byte array of 16 bytes in size
+/// @param[in] payload The byte array payload to record
+/// @param[in] payload_size Size in bytes of the payload
+///
+/// @return #AR_SUCCESS or any of:
+/// - #AR_ERROR_ILLEGAL_STATE
+/// - #AR_ERROR_INVALID_ARGUMENT
+/// - #AR_ERROR_RECORDING_FAILED
+/// - #AR_ERROR_DEADLINE_EXCEEDED
+ArStatus ArFrame_recordTrackData(ArSession *session,
+ const ArFrame *frame,
+ const uint8_t *track_id_uuid_16,
+ const void *payload,
+ size_t payload_size);
+
/// @ingroup ArSession
/// Checks whether the provided @c ::ArDepthMode is supported on this device
/// with the selected camera configuration. The current list of supported
@@ -2676,7 +2840,7 @@
/// @param[in] session The ARCore session.
/// @param[in] depth_mode The desired depth mode to check.
/// @param[out] out_is_supported Non zero if the depth mode is supported on this
-/// device.
+/// device.
void ArSession_isDepthModeSupported(const ArSession *session,
ArDepthMode depth_mode,
int32_t *out_is_supported);
@@ -2757,7 +2921,7 @@
/// @param[in] session The ARCore session
/// @param[in] camera The session's camera (retrieved from any frame).
/// @param[inout] out_pose An already-allocated @c ::ArPose object into which
-/// the pose will be stored.
+/// the pose will be stored.
void ArCamera_getPose(const ArSession *session,
const ArCamera *camera,
ArPose *out_pose);
@@ -2785,7 +2949,7 @@
/// @param[in] session The ARCore session
/// @param[in] camera The session's camera (retrieved from any frame).
/// @param[inout] out_pose An already-allocated @c ::ArPose object into which
-/// the pose will be stored.
+/// the pose will be stored.
void ArCamera_getDisplayOrientedPose(const ArSession *session,
const ArCamera *camera,
ArPose *out_pose);
@@ -2943,7 +3107,7 @@
/// @ingroup ArFrame
/// Checks if the display rotation or viewport geometry changed since the
/// previous call to @c ::ArSession_update. The application should re-query
-/// @c ::ArCamera_getProjectionMatrix and ::ArFrame_transformCoordinates2d
+/// @c ::ArCamera_getProjectionMatrix and @c ::ArFrame_transformCoordinates2d
/// whenever this emits non-zero.
void ArFrame_getDisplayGeometryChanged(const ArSession *session,
const ArFrame *frame,
@@ -2979,7 +3143,7 @@
/// @param[in] session The ARCore session
/// @param[in] frame The current frame.
/// @param[inout] out_pose An already-allocated @c ::ArPose object into which
-/// the pose will be stored.
+/// the pose will be stored.
void ArFrame_getAndroidSensorPose(const ArSession *session,
const ArFrame *frame,
ArPose *out_pose);
@@ -3082,6 +3246,11 @@
/// @c #AR_TRACKING_STATE_TRACKING. Hit testing against tracked faces is not
/// currently supported.
///
+/// Note: In ARCore 1.24.0 or later on supported devices, if the
+/// @c ::ArDepthMode is enabled by calling @c ::ArConfig_setDepthMode the
+/// @p hit_result_list includes @c ::ArDepthPoint values that are sampled from
+/// the latest computed depth image.
+///
/// @param[in] session The ARCore session.
/// @param[in] frame The current frame.
/// @param[in] pixel_x Logical X position within the view, as from an
@@ -3161,8 +3330,7 @@
/// @param[in] session The ARCore session.
/// @param[in] frame The current frame.
/// @param[inout] out_light_estimate The @c ::ArLightEstimate to fill. This
-/// object
-/// must have been previously created with @c ::ArLightEstimate_create.
+/// object must have been previously created with @c ::ArLightEstimate_create.
void ArFrame_getLightEstimate(const ArSession *session,
const ArFrame *frame,
ArLightEstimate *out_light_estimate);
@@ -3215,8 +3383,8 @@
/// @ingroup ArFrame
/// Returns the CPU image for the current frame.
-/// Caller is responsible for later releasing the image with @c
-/// ::ArImage_release. Not supported on all devices (see
+/// Caller is responsible for later releasing the image with
+/// @c ::ArImage_release. Not supported on all devices (see
/// https://developers.google.com/ar/discover/supported-devices). Return values:
/// @return @c #AR_SUCCESS or any of:
/// - @c #AR_ERROR_INVALID_ARGUMENT - one more input arguments are invalid.
@@ -3260,35 +3428,145 @@
ArTrackableList *out_trackable_list);
/// @ingroup ArFrame
+/// Gets the set of data recorded to the given track available during playback
+/// on this @c ::ArFrame. If frames are skipped during playback, which can
+/// happen when the device is under load, played back track data will be
+/// attached to a later frame in order.
+///
+/// Note, currently playback continues internally while the session is paused.
+/// Track data from frames that were processed while the session was
+/// paused will be discarded.
+///
+/// @param[in] session The ARCore session
+/// @param[in] frame The current frame
+/// @param[in] track_id_uuid_16 The track ID as UUID as a byte
+/// array of 16 bytes in size
+/// @param[inout] out_track_data_list The list to fill. This list must have
+/// already been allocated with @c ::ArTrackDataList_create. If previously
+/// used, the list will first be cleared
+void ArFrame_getUpdatedTrackData(const ArSession *session,
+ const ArFrame *frame,
+ const uint8_t *track_id_uuid_16,
+ ArTrackDataList *out_track_data_list);
+
+// === ArTrackData functions ===
+
+/// @ingroup ArTrackData
+/// Retrieves the timestamp in nanoseconds of the frame the given
+/// @c ::ArTrackData was recorded on. This timestamp is equal to the result of
+/// @c ::ArFrame_getTimestamp on the frame during which the track data was
+/// written.
+///
+/// @param[in] session The ARCore session
+/// @param[in] track_data The @c ::ArTrackData to pull the timestamp
+/// from
+/// @param[inout] out_timestamp_ns The @c int64_t timestamp value to be set
+void ArTrackData_getFrameTimestamp(const ArSession *session,
+ const ArTrackData *track_data,
+ int64_t *out_timestamp_ns);
+
+/// @ingroup ArTrackData
+/// Retrieves the @c ::ArTrackData byte data that was recorded by
+/// @c ::ArFrame_recordTrackData.
+///
+/// The pointer returned by this function is valid until
+/// @c ::ArTrackData_release is called.
+///
+/// @param[in] session The ARCore session
+/// @param[in] track_data The @c ::ArTrackData to pull the data from
+/// @param[inout] out_data The pointer to the @c ::ArTrackDataList
+/// byte data being populated. Will point to an empty list if no data present
+/// @param[inout] out_size The number of bytes that were populated in
+/// @p out_data, 0 if list is empty
+void ArTrackData_getData(const ArSession *session,
+ const ArTrackData *track_data,
+ const uint8_t **out_data,
+ int32_t *out_size);
+
+/// @ingroup ArTrackData
+/// Releases a reference to a @c ::ArTrackData. Acquire a @c ::ArTrackData with
+/// @c ::ArTrackDataList_acquireItem.
+///
+/// This function may safely be called with @c NULL - it will do nothing.
+///
+/// @param[inout] track_data The @c ::ArTrackData being released
+void ArTrackData_release(ArTrackData *track_data);
+
+// === ArTrackDataList functions ===
+
+/// @ingroup ArTrackData
+/// Creates an @c ::ArTrackDataList object.
+///
+/// @param[in] session The ARCore session
+/// @param[inout] out_track_data_list The pointer to the list to be initialized
+void ArTrackDataList_create(const ArSession *session,
+ ArTrackDataList **out_track_data_list);
+
+/// @ingroup ArTrackData
+/// Releases the memory used by the @c ::ArTrackData list object
+///
+/// @param[inout] track_data_list The pointer to the @c ::ArTrackDataList
+/// memory being released
+void ArTrackDataList_destroy(ArTrackDataList *track_data_list);
+
+/// @ingroup ArTrackData
+/// Retrieves the number of @c ::ArTrackData elements in the list.
+///
+/// @param[in] session The ARCore session.
+/// @param[in] track_data_list The list being checked for size
+/// @param[inout] out_size The size of the list, 0 if
+/// @p track_data_list is empty
+void ArTrackDataList_getSize(const ArSession *session,
+ const ArTrackDataList *track_data_list,
+ int32_t *out_size);
+
+/// @ingroup ArTrackData
+/// Acquires a reference to an indexed entry in the list. This call must
+/// eventually be matched with a call to @c ::ArTrackData_release.
+///
+/// @param[in] session The ARCore session
+/// @param[in] track_data_list The list being queried
+/// @param[in] index The index of the list
+/// @param[inout] out_track_data The pointer to the @c ::ArTrackData
+/// acquired at the given index in the list
+void ArTrackDataList_acquireItem(const ArSession *session,
+ const ArTrackDataList *track_data_list,
+ int32_t index,
+ ArTrackData **out_track_data);
+
+/// @ingroup ArFrame
/// Attempts to acquire a depth image that corresponds to the current frame.
///
-/// The depth image has a single 16-bit plane at index 0. Each pixel contains
-/// the distance in millimeters to the camera plane. Currently, the 3 highest
-/// order bits are always set to 000. The remaining low order 13 bits in the
-/// depth image express values from 0 millimeters to 8191 millimeters,
-/// approximately 8 meters.
+/// The depth image has a single 16-bit plane at index 0, stored in
+/// little-endian format. Each pixel contains the distance in millimeters to the
+/// camera plane. Currently, the three most significant bits are always set to
+/// 000. The remaining thirteen bits express values from 0 to 8191, representing
+/// depth in millimeters. To extract distance from a depth map, see <a
+/// href="https://developers.google.com/ar/develop/java/depth/developer-guide#extract-distance">the
+/// Depth API developer guide</a>.
///
-/// The image plane is stored in big-endian format. The actual resolution of the
-/// depth image depends on the device and its display aspect ratio, with sizes
-/// typically around 160x120 pixels, with higher resolutions up to 640x480 on
-/// some devices. These sizes may change in the future.
+/// The actual size of the depth image depends on the device and its display
+/// aspect ratio. The size of the depth image is typically around 160x120
+/// pixels, with higher resolutions up to 640x480 on some devices. These sizes
+/// may change in the future. The outputs of
+/// @c ::ArFrame_acquireDepthImage, @c ::ArFrame_acquireRawDepthImage and
+/// @c ::ArFrame_acquireRawDepthConfidenceImage will all have the exact same
+/// size.
///
/// Optimal depth accuracy is achieved between 500 millimeters (50 centimeters)
/// and 5000 millimeters (5 meters) from the camera. Error increases
/// quadratically as distance from the camera increases.
///
-/// Depth is estimated using data from previous frames and the current frame. As
-/// the user moves their device through the environment 3D depth data is
-/// collected and cached, improving the quality of subsequent depth images and
-/// reducing the error introduced by camera distance.
+/// Depth is estimated using data from the world-facing cameras, user motion,
+/// and hardware depth sensors such as a time-of-flight sensor (or ToF sensor)
+/// if available. As the user moves their device through the environment, 3D
+/// depth data is collected and cached which improves the quality of subsequent
+/// depth images and reducing the error introduced by camera distance.
///
-/// If an up to date depth image isn't ready for the current frame, the most
-/// recent depth image available from an earlier frame is returned instead.
-/// This is only expected to occur on compute-constrained devices. An up to
-/// date depth image should typically become available again within a few
-/// frames. Compare @c ::ArImage_getTimestamp depth image timestamp with the
-/// @c ::ArFrame_getTimestamp frame timestamp to determine which camera frame
-/// the depth image corresponds to.
+/// If an up-to-date depth image isn't ready for the current frame, the most
+/// recent depth image available from an earlier frame will be returned instead.
+/// This is expected only to occur on compute-constrained devices. An up-to-date
+/// depth image should typically become available again within a few frames.
///
/// The image must be released with @c ::ArImage_release once it is no
/// longer needed.
@@ -3296,8 +3574,8 @@
/// @param[in] session The ARCore session.
/// @param[in] frame The current frame.
/// @param[out] out_depth_image On successful return, this is filled out
-/// with a pointer to an @c ::ArImage. On error return, this is filled out with
-/// @c nullptr.
+/// with a pointer to an @c ::ArImage. On error return, this is filled out
+/// with @c nullptr.
/// @return @c #AR_SUCCESS or any of:
/// - @c #AR_ERROR_INVALID_ARGUMENT if the session, frame, or depth image
/// arguments are invalid.
@@ -3319,6 +3597,139 @@
ArImage **out_depth_image);
/// @ingroup ArFrame
+/// Attempts to acquire a "raw", mostly unfiltered, depth image that corresponds
+/// to the current frame.
+///
+/// The raw depth image is sparse and does not provide valid depth for all
+/// pixels. Pixels without a valid depth estimate have a pixel value of 0 and a
+/// corresponding confidence value of 0 (see
+/// @c ::ArFrame_acquireRawDepthConfidenceImage).
+///
+/// The depth image has a single 16-bit plane at index 0, stored in
+/// little-endian format. Each pixel contains the distance in millimeters to the
+/// camera plane. Currently, the three most significant bits are always set to
+/// 000. The remaining thirteen bits express values from 0 to 8191, representing
+/// depth in millimeters. To extract distance from a depth map, see <a
+/// href="https://developers.google.com/ar/develop/java/depth/developer-guide#extract-distance">the
+/// Depth API developer guide</a>.
+///
+///
+/// The actual size of the depth image depends on the device and its display
+/// aspect ratio. The size of the depth image is typically around 160x120
+/// pixels, with higher resolutions up to 640x480 on some devices. These sizes
+/// may change in the future. The outputs of
+/// @c ::ArFrame_acquireDepthImage, @c ::ArFrame_acquireRawDepthImage and
+/// @c ::ArFrame_acquireRawDepthConfidenceImage will all have the exact same
+/// size.
+///
+/// Optimal depth accuracy occurs between 500 millimeters (50 centimeters) and
+/// 5000 millimeters (5 meters) from the camera. Error increases quadratically
+/// as distance from the camera increases.
+///
+/// Depth is primarily estimated using data from the motion of world-facing
+/// cameras. As the user moves their device through the environment, 3D depth
+/// data is collected and cached, improving the quality of subsequent depth
+/// images and reducing the error introduced by camera distance. Depth accuracy
+/// and robustness improves if the device has a hardware depth sensor, such as a
+/// time-of-flight (ToF) camera.
+///
+/// Not every raw depth image contains a new depth estimate. Typically there is
+/// about 10 updates to the raw depth data per second. The depth images between
+/// those updates are a 3D reprojection which transforms each depth pixel into a
+/// 3D point in space and renders those 3D points into a new raw depth image
+/// based on the current camera pose. This effectively transforms raw depth
+/// image data from a previous frame to account for device movement since the
+/// depth data was calculated. For some applications it may be important to know
+/// whether the raw depth image contains new depth data or is a 3D reprojection
+/// (for example, to reduce the runtime cost of 3D reconstruction). To do that,
+/// compare the current raw depth image timestamp, obtained via @c
+/// ::ArImage_getTimestamp, with the previously recorded raw depth image
+/// timestamp. If they are different, the depth image contains new information.
+///
+/// The image must be released via @c ::ArImage_release once it is no longer
+/// needed.
+///
+/// @param[in] session The ARCore session.
+/// @param[in] frame The current frame.
+/// @param[out] out_depth_image On successful return, this is filled out
+/// with a pointer to an @c ::ArImage. On error return, this is filled out
+/// filled out with @c nullptr.
+/// @return @c #AR_SUCCESS or any of:
+/// - @c #AR_ERROR_INVALID_ARGUMENT if the session, frame, or depth image
+/// arguments are invalid.
+/// - @c #AR_ERROR_NOT_YET_AVAILABLE if the number of observed camera frames is
+/// not yet sufficient for depth estimation; or depth estimation was not
+/// possible due to poor lighting, camera occlusion, or insufficient motion
+/// observed.
+/// - @c #AR_ERROR_NOT_TRACKING The session is not in the
+/// @c #AR_TRACKING_STATE_TRACKING state, which is required to acquire depth
+/// images.
+/// - @c #AR_ERROR_ILLEGAL_STATE if a supported depth mode was not enabled in
+/// Session configuration.
+/// - @c #AR_ERROR_RESOURCE_EXHAUSTED if the caller app has exceeded maximum
+/// number of depth images that it can hold without releasing.
+/// - @c #AR_ERROR_DEADLINE_EXCEEDED if the provided @c ::ArFrame is not the
+/// current one.
+ArStatus ArFrame_acquireRawDepthImage(const ArSession *session,
+ const ArFrame *frame,
+ ArImage **out_depth_image);
+
+/// @ingroup ArFrame
+/// Attempts to acquire the confidence image corresponding to the raw depth
+/// image of the current frame.
+///
+/// The image must be released via @c ::ArImage_release once it is no longer
+/// needed.
+///
+/// Each pixel is an 8-bit unsigned integer representing the estimated
+/// confidence of the corresponding pixel in the raw depth image. The confidence
+/// value is between 0 and 255, inclusive, with 0 representing the lowest
+/// confidence and 255 representing the highest confidence in the measured depth
+/// value. Pixels without a valid depth estimate have a confidence value of 0
+/// and a corresponding depth value of 0 (see @c
+/// ::ArFrame_acquireRawDepthImage).
+///
+/// The scaling of confidence values is linear and continuous within this range.
+/// Expect to see confidence values represented across the full range of 0 to
+/// 255, with values increasing as better observations are made of each
+/// location. If an application requires filtering out low-confidence pixels,
+/// removing depth pixels below a confidence threshold of half confidence (128)
+/// tends to work well.
+///
+/// The actual size of the depth image depends on the device and its display
+/// aspect ratio. The size of the depth image is typically around 160x120
+/// pixels, with higher resolutions up to 640x480 on some devices. These sizes
+/// may change in the future. The outputs of
+/// @c ::ArFrame_acquireDepthImage, @c ::ArFrame_acquireRawDepthImage and
+/// @c ::ArFrame_acquireRawDepthConfidenceImage will all have the exact same
+/// size.
+///
+/// @param[in] session The ARCore session.
+/// @param[in] frame The current frame.
+/// @param[out] out_confidence_image On successful return, this is filled out
+/// with a pointer to an @c ::ArImage. On error return, this is filled out
+/// filled out with @c nullptr.
+/// @return @c #AR_SUCCESS or any of:
+/// - @c #AR_ERROR_INVALID_ARGUMENT if the session, frame, or depth image
+/// arguments are invalid.
+/// - @c #AR_ERROR_NOT_YET_AVAILABLE if the number of observed camera frames is
+/// not yet sufficient for depth estimation; or depth estimation was not
+/// possible due to poor lighting, camera occlusion, or insufficient motion
+/// observed.
+/// - @c #AR_ERROR_NOT_TRACKING The session is not in the
+/// @c #AR_TRACKING_STATE_TRACKING state, which is required to acquire depth
+/// images.
+/// - @c #AR_ERROR_ILLEGAL_STATE if a supported depth mode was not enabled in
+/// Session configuration.
+/// - @c #AR_ERROR_RESOURCE_EXHAUSTED if the caller app has exceeded maximum
+/// number of depth images that it can hold without releasing.
+/// - @c #AR_ERROR_DEADLINE_EXCEEDED if the provided @c ::ArFrame is not the
+/// current one.
+ArStatus ArFrame_acquireRawDepthConfidenceImage(const ArSession *session,
+ const ArFrame *frame,
+ ArImage **out_confidence_image);
+
+/// @ingroup ArFrame
/// Returns the OpenGL ES camera texture name (ID) associated with this frame.
/// This is guaranteed to be one of the texture names previously set via
/// @c ::ArSession_setCameraTextureNames or @c ::ArSession_setCameraTextureName.
@@ -3350,9 +3761,9 @@
/// href="https://developer.android.com/reference/android/graphics/ImageFormat.html#DEPTH_POINT_CLOUD"
/// >DEPTH_POINT_CLOUD</a>.
///
-/// The pointer returned by this function is valid until @c
-/// ::ArPointCloud_release is called. If the number of points is zero, then the
-/// value of
+/// The pointer returned by this function is valid until
+/// @c ::ArPointCloud_release is called. If the number of points is zero, then
+/// the value of
/// @p *out_point_cloud_data is undefined.
///
/// If your app needs to keep some Point Cloud data, for example to compare
@@ -3372,9 +3783,9 @@
/// across frames. That is, if a point from Point Cloud 1 has the same id as the
/// point from Point Cloud 2, then it represents the same point in space.
///
-/// The pointer returned by this function is valid until @c
-/// ::ArPointCloud_release is called. If the number of points is zero, then the
-/// value of
+/// The pointer returned by this function is valid until
+/// @c ::ArPointCloud_release is called. If the number of points is zero, then
+/// the value of
/// @p *out_point_ids is undefined.
///
/// If your app needs to keep some Point Cloud data, for example to compare
@@ -3416,20 +3827,25 @@
AR_IMAGE_FORMAT_INVALID = 0,
/// Produced by @c ::ArFrame_acquireCameraImage.
- /// Int value equal to Android NDK @c AIMAGE_FORMAT_YUV_420_888
- /// (https://developer.android.com/ndk/reference/group/media#group___media_1gga9c3dace30485a0f28163a882a5d65a19aea9797f9b5db5d26a2055a43d8491890).
- /// and
- /// https://developer.android.com/reference/android/graphics/ImageFormat.html#YUV_420_888
+ /// Integer value equal to Android NDK @c <a
+ /// href="https://developer.android.com/ndk/reference/group/media#group___media_1gga9c3dace30485a0f28163a882a5d65a19aea9797f9b5db5d26a2055a43d8491890">AIMAGE_FORMAT_YUV_420_888</a>
+ /// and @c <a
+ /// href="https://developer.android.com/reference/android/graphics/ImageFormat.html#YUV_420_888">YUV_420_888</a>.
AR_IMAGE_FORMAT_YUV_420_888 = 0x23,
/// Produced by @c ::ArFrame_acquireDepthImage.
- /// Int value equal to
- /// https://developer.android.com/reference/android/graphics/ImageFormat.html#DEPTH16
+ /// Integer value equal to <a
+ /// href="https://developer.android.com/reference/android/graphics/ImageFormat.html#DEPTH16">DEPTH16</a>.
AR_IMAGE_FORMAT_DEPTH16 = 0x44363159,
+ /// Produced by @c ::ArFrame_acquireRawDepthConfidenceImage. Integer value
+ /// equal to @c <a
+ /// href="https://developer.android.com/reference/android/graphics/ImageFormat.html#Y8">Y8</a>.
+ AR_IMAGE_FORMAT_Y8 = 0x20203859,
+
/// Produced by @c ::ArLightEstimate_acquireEnvironmentalHdrCubemap.
- /// Int value equal to Android NDK @c AIMAGE_FORMAT_RGBA_FP16
- /// (https://developer.android.com/ndk/reference/group/media#group___media_1gga9c3dace30485a0f28163a882a5d65a19aa0f5b9a07c9f3dc8a111c0098b18363a).
+ /// Integer value equal to Android NDK @c <a
+ /// href="https://developer.android.com/ndk/reference/group/media#group___media_1gga9c3dace30485a0f28163a882a5d65a19aa0f5b9a07c9f3dc8a111c0098b18363a">AIMAGE_FORMAT_RGBA_FP16</a>.
AR_IMAGE_FORMAT_RGBA_FP16 = 0x16,
};
@@ -3499,7 +3915,7 @@
/// @param[in] session The ARCore session.
/// @param[in] image The @c ::ArImage of interest.
/// @param[in] plane_index The index of the plane, between 0 and
-/// n-1, where n is number of planes for this image.
+/// n-1, where n is number of planes for this image.
/// @param[inout] out_pixel_stride The plane stride of the image in bytes.
void ArImage_getPlanePixelStride(const ArSession *session,
const ArImage *image,
@@ -3513,7 +3929,7 @@
/// @param[in] session The ARCore session.
/// @param[in] image The @c ::ArImage of interest.
/// @param[in] plane_index The index of the plane, between 0 and
-/// n-1, where n is number of planes for this image.
+/// n-1, where n is number of planes for this image.
/// @param[inout] out_row_stride The row stride of the image in bytes.
void ArImage_getPlaneRowStride(const ArSession *session,
const ArImage *image,
@@ -3529,7 +3945,7 @@
/// @param[in] session The ARCore session.
/// @param[in] image The @c ::ArImage of interest.
/// @param[in] plane_index The index of the plane, between 0 and
-/// n-1, where n is number of planes for this image.
+/// n-1, where n is number of planes for this image.
/// @param[inout] out_data The data pointer to the image.
/// @param[inout] out_data_length The length of data in bytes.
void ArImage_getPlaneData(const ArSession *session,
@@ -3728,14 +4144,13 @@
/// @ingroup ArAnchor
/// Retrieves the pose of the anchor in the world coordinate space. This pose
/// produced by this call may change each time @c ::ArSession_update is called.
-/// This pose should only be used for rendering if @c
-/// ::ArAnchor_getTrackingState returns @c #AR_TRACKING_STATE_TRACKING.
+/// This pose should only be used for rendering if
+/// @c ::ArAnchor_getTrackingState returns @c #AR_TRACKING_STATE_TRACKING.
///
/// @param[in] session The ARCore session.
/// @param[in] anchor The anchor to retrieve the pose of.
/// @param[inout] out_pose An already-allocated @c ::ArPose object into which
-/// the
-/// pose will be stored.
+/// the pose will be stored.
void ArAnchor_getPose(const ArSession *session,
const ArAnchor *anchor,
ArPose *out_pose);
@@ -3912,7 +4327,7 @@
/// @param[in] session The ARCore session.
/// @param[in] plane The plane for which to retrieve center pose.
/// @param[inout] out_pose An already-allocated @c ::ArPose object into which
-/// the pose will be stored.
+/// the pose will be stored.
void ArPlane_getCenterPose(const ArSession *session,
const ArPlane *plane,
ArPose *out_pose);
@@ -3985,7 +4400,7 @@
/// @param[in] session The ARCore session.
/// @param[in] point The point to retrieve the pose of.
/// @param[inout] out_pose An already-allocated @c ::ArPose object into which
-/// the pose will be stored.
+/// the pose will be stored.
void ArPoint_getPose(const ArSession *session,
const ArPoint *point,
ArPose *out_pose);
@@ -4010,9 +4425,9 @@
/// Returns the pose of the @c ::ArInstantPlacementPoint.
/// @param[in] session The ARCore session.
/// @param[in] instant_placement_point The Instant Placement point to
-/// retrieve the pose of.
+/// retrieve the pose of.
/// @param[inout] out_pose An @c ::ArPose object already-allocated via
-/// @c ::ArPose_create into which the pose will be stored.
+/// @c ::ArPose_create into which the pose will be stored.
void ArInstantPlacementPoint_getPose(
const ArSession *session,
const ArInstantPlacementPoint *instant_placement_point,
@@ -4022,10 +4437,10 @@
/// Returns the tracking method of the @c ::ArInstantPlacementPoint.
/// @param[in] session The ARCore session.
/// @param[in] instant_placement_point The Instant Placement point to
-/// retrieve the tracking method of.
+/// retrieve the tracking method of.
/// @param[inout] out_tracking_method An already-allocated
-/// @c ::ArInstantPlacementPointTrackingMethod object into which the tracking
-/// method will be stored.
+/// @c ::ArInstantPlacementPointTrackingMethod object into which the
+/// tracking method will be stored.
void ArInstantPlacementPoint_getTrackingMethod(
const ArSession *session,
const ArInstantPlacementPoint *instant_placement_point,
@@ -4123,8 +4538,8 @@
/// Returns a pointer to an array of 3D vertices in (x, y, z) packing. These
/// vertices are relative to the center pose of the face with units in meters.
///
-/// The pointer returned by this function is valid until @c
-/// ::ArTrackable_release or the next @c ::ArSession_update is called. The
+/// The pointer returned by this function is valid until
+/// @c ::ArTrackable_release or the next @c ::ArSession_update is called. The
/// application must copy the data if they wish to retain it for longer.
///
/// If the face's tracking state is @c #AR_TRACKING_STATE_PAUSED, then the
@@ -4148,8 +4563,8 @@
/// There is exactly one normal vector for each vertex. These normals are
/// relative to the center pose of the face.
///
-/// The pointer returned by this function is valid until @c
-/// ::ArTrackable_release or the next @c ::ArSession_update is called. The
+/// The pointer returned by this function is valid until
+/// @c ::ArTrackable_release or the next @c ::ArSession_update is called. The
/// application must copy the data if they wish to retain it for longer.
///
/// If the face's tracking state is @c #AR_TRACKING_STATE_PAUSED, then the
@@ -4172,8 +4587,8 @@
/// There is a pair of texture coordinates for each vertex. These values
/// never change.
///
-/// The pointer returned by this function is valid until @c
-/// ::ArTrackable_release or the next @c ::ArSession_update is called. The
+/// The pointer returned by this function is valid until
+/// @c ::ArTrackable_release or the next @c ::ArSession_update is called. The
/// application must copy the data if they wish to retain it for longer.
///
/// If the face's tracking state is @c #AR_TRACKING_STATE_PAUSED, then the
@@ -4202,8 +4617,8 @@
/// face of each triangle is defined by the face where the vertices are in
/// counter clockwise winding order. These values never change.
///
-/// The pointer returned by this function is valid until @c
-/// ::ArTrackable_release or the next @c ::ArSession_update is called. The
+/// The pointer returned by this function is valid until
+/// @c ::ArTrackable_release or the next @c ::ArSession_update is called. The
/// application must copy the data if they wish to retain it for longer.
///
/// If the face's tracking state is @c #AR_TRACKING_STATE_PAUSED, then the
@@ -4247,7 +4662,7 @@
/// @param[in] session The ARCore session.
/// @param[in] face The face for which to retrieve center pose.
/// @param[inout] out_pose An already-allocated @c ::ArPose object into which
-/// the pose will be stored.
+/// the pose will be stored.
void ArAugmentedFace_getCenterPose(const ArSession *session,
const ArAugmentedFace *face,
ArPose *out_pose);
@@ -4411,8 +4826,7 @@
/// @param[in] hit_result_list The list from which to copy an item.
/// @param[in] index Index of the entry to copy.
/// @param[inout] out_hit_result An already-allocated @c ::ArHitResult object
-/// into
-/// which the result will be copied.
+/// into which the result will be copied.
void ArHitResultList_getItem(const ArSession *session,
const ArHitResultList *hit_result_list,
int32_t index,
@@ -4467,7 +4881,7 @@
/// @param[in] session The ARCore session.
/// @param[in] hit_result The hit result to retrieve the pose of.
/// @param[inout] out_pose An already-allocated @c ::ArPose object into which
-/// the pose will be stored.
+/// the pose will be stored.
void ArHitResult_getHitPose(const ArSession *session,
const ArHitResult *hit_result,
ArPose *out_pose);
@@ -4586,8 +5000,7 @@
/// @param[in] tag The desired @c uint32_t metadata tag to be
/// retrieved from the provided @c ::ArImageMetadata struct.
/// @param[out] out_metadata_entry The @c ::ArImageMetadata_const_entry struct
-/// to
-/// which the metadata tag data should be written to, updated only when
+/// to which the metadata tag data should be written to, updated only when
/// function returns @c #AR_SUCCESS.
///
/// @return @c #AR_SUCCESS or any of:
diff --git a/samples/augmented_faces_java/app/build.gradle b/samples/augmented_faces_java/app/build.gradle
index 90bcb60..1ce361f 100644
--- a/samples/augmented_faces_java/app/build.gradle
+++ b/samples/augmented_faces_java/app/build.gradle
@@ -26,7 +26,7 @@
dependencies {
// ARCore (Google Play Services for AR) library.
- implementation 'com.google.ar:core:1.23.0'
+ implementation 'com.google.ar:core:1.24.0'
// Obj - a simple Wavefront OBJ file loader
// https://github.com/javagl/Obj
diff --git a/samples/augmented_image_c/app/build.gradle b/samples/augmented_image_c/app/build.gradle
index 5307cc3..3902b83 100644
--- a/samples/augmented_image_c/app/build.gradle
+++ b/samples/augmented_image_c/app/build.gradle
@@ -53,8 +53,8 @@
dependencies {
// ARCore (Google Play Services for AR) library.
- implementation 'com.google.ar:core:1.23.0'
- natives 'com.google.ar:core:1.23.0'
+ implementation 'com.google.ar:core:1.24.0'
+ natives 'com.google.ar:core:1.24.0'
implementation 'androidx.appcompat:appcompat:1.1.0'
implementation 'com.google.android.material:material:1.1.0'
diff --git a/samples/augmented_image_java/app/build.gradle b/samples/augmented_image_java/app/build.gradle
index 19c846c..a268569 100644
--- a/samples/augmented_image_java/app/build.gradle
+++ b/samples/augmented_image_java/app/build.gradle
@@ -26,7 +26,7 @@
dependencies {
// ARCore (Google Play Services for AR) library.
- implementation 'com.google.ar:core:1.23.0'
+ implementation 'com.google.ar:core:1.24.0'
// Obj - a simple Wavefront OBJ file loader
// https://github.com/javagl/Obj
diff --git a/samples/cloud_anchor_java/app/build.gradle b/samples/cloud_anchor_java/app/build.gradle
index cf6f9e8..8f13992 100644
--- a/samples/cloud_anchor_java/app/build.gradle
+++ b/samples/cloud_anchor_java/app/build.gradle
@@ -26,7 +26,7 @@
dependencies {
// ARCore (Google Play Services for AR) library.
- implementation 'com.google.ar:core:1.23.0'
+ implementation 'com.google.ar:core:1.24.0'
// Obj - a simple Wavefront OBJ file loader
// https://github.com/javagl/Obj
diff --git a/samples/computervision_c/app/build.gradle b/samples/computervision_c/app/build.gradle
index 7530f1d..7bd1be9 100644
--- a/samples/computervision_c/app/build.gradle
+++ b/samples/computervision_c/app/build.gradle
@@ -53,8 +53,8 @@
dependencies {
// ARCore (Google Play Services for AR) library.
- implementation 'com.google.ar:core:1.23.0'
- natives 'com.google.ar:core:1.23.0'
+ implementation 'com.google.ar:core:1.24.0'
+ natives 'com.google.ar:core:1.24.0'
implementation 'androidx.appcompat:appcompat:1.1.0'
implementation 'com.google.android.material:material:1.1.0'
diff --git a/samples/computervision_java/app/build.gradle b/samples/computervision_java/app/build.gradle
index 2e00306..a145e18 100644
--- a/samples/computervision_java/app/build.gradle
+++ b/samples/computervision_java/app/build.gradle
@@ -26,7 +26,7 @@
dependencies {
// ARCore (Google Play Services for AR) library.
- implementation 'com.google.ar:core:1.23.0'
+ implementation 'com.google.ar:core:1.24.0'
// Obj - a simple Wavefront OBJ file loader
// https://github.com/javagl/Obj
diff --git a/samples/hello_ar_c/app/build.gradle b/samples/hello_ar_c/app/build.gradle
index f3155b2..5898ddd 100644
--- a/samples/hello_ar_c/app/build.gradle
+++ b/samples/hello_ar_c/app/build.gradle
@@ -53,8 +53,8 @@
dependencies {
// ARCore (Google Play Services for AR) library.
- implementation 'com.google.ar:core:1.23.0'
- natives 'com.google.ar:core:1.23.0'
+ implementation 'com.google.ar:core:1.24.0'
+ natives 'com.google.ar:core:1.24.0'
implementation 'androidx.appcompat:appcompat:1.1.0'
implementation 'com.google.android.material:material:1.1.0'
diff --git a/samples/hello_ar_c/app/src/main/cpp/hello_ar_application.cc b/samples/hello_ar_c/app/src/main/cpp/hello_ar_application.cc
index d191681..0cfe7d7 100644
--- a/samples/hello_ar_c/app/src/main/cpp/hello_ar_application.cc
+++ b/samples/hello_ar_c/app/src/main/cpp/hello_ar_application.cc
@@ -248,20 +248,17 @@
ArPlane_acquireSubsumedBy(ar_session_, ar_plane, &subsume_plane);
if (subsume_plane != nullptr) {
ArTrackable_release(ArAsTrackable(subsume_plane));
+ ArTrackable_release(ar_trackable);
continue;
}
if (ArTrackingState::AR_TRACKING_STATE_TRACKING != out_tracking_state) {
+ ArTrackable_release(ar_trackable);
continue;
}
- ArTrackingState plane_tracking_state;
- ArTrackable_getTrackingState(ar_session_, ArAsTrackable(ar_plane),
- &plane_tracking_state);
- if (plane_tracking_state == AR_TRACKING_STATE_TRACKING) {
- plane_renderer_.Draw(projection_mat, view_mat, *ar_session_, *ar_plane);
- ArTrackable_release(ar_trackable);
- }
+ plane_renderer_.Draw(projection_mat, view_mat, *ar_session_, *ar_plane);
+ ArTrackable_release(ar_trackable);
}
ArTrackableList_destroy(plane_list);
@@ -409,6 +406,10 @@
}
} else if (AR_TRACKABLE_INSTANT_PLACEMENT_POINT == ar_trackable_type) {
ar_hit_result = ar_hit;
+ } else if (AR_TRACKABLE_DEPTH_POINT == ar_trackable_type) {
+ // ArDepthPoints are only returned if ArConfig_setDepthMode() is called
+ // with AR_DEPTH_MODE_AUTOMATIC.
+ ar_hit_result = ar_hit;
}
}
@@ -474,6 +475,11 @@
return;
}
+ if (ar_trackable_type == AR_TRACKABLE_DEPTH_POINT) {
+ SetColor(199.0f, 8.0f, 65.0f, 255.0f, color);
+ return;
+ }
+
if (ar_trackable_type == AR_TRACKABLE_INSTANT_PLACEMENT_POINT) {
ArInstantPlacementPoint* ar_instant_placement_point =
ArAsInstantPlacementPoint(ar_trackable);
diff --git a/samples/hello_ar_java/app/build.gradle b/samples/hello_ar_java/app/build.gradle
index f1e508b..32c58ac 100644
--- a/samples/hello_ar_java/app/build.gradle
+++ b/samples/hello_ar_java/app/build.gradle
@@ -26,7 +26,7 @@
dependencies {
// ARCore (Google Play Services for AR) library.
- implementation 'com.google.ar:core:1.23.0'
+ implementation 'com.google.ar:core:1.24.0'
// Obj - a simple Wavefront OBJ file loader
// https://github.com/javagl/Obj
diff --git a/samples/hello_ar_java/app/src/main/java/com/google/ar/core/examples/java/helloar/HelloArActivity.java b/samples/hello_ar_java/app/src/main/java/com/google/ar/core/examples/java/helloar/HelloArActivity.java
index 21dedeb..9792955 100644
--- a/samples/hello_ar_java/app/src/main/java/com/google/ar/core/examples/java/helloar/HelloArActivity.java
+++ b/samples/hello_ar_java/app/src/main/java/com/google/ar/core/examples/java/helloar/HelloArActivity.java
@@ -37,6 +37,7 @@
import com.google.ar.core.Camera;
import com.google.ar.core.Config;
import com.google.ar.core.Config.InstantPlacementMode;
+import com.google.ar.core.DepthPoint;
import com.google.ar.core.Frame;
import com.google.ar.core.HitResult;
import com.google.ar.core.InstantPlacementPoint;
@@ -606,13 +607,15 @@
// If any plane, Oriented Point, or Instant Placement Point was hit, create an anchor.
Trackable trackable = hit.getTrackable();
// If a plane was hit, check that it was hit inside the plane polygon.
+ // DepthPoints are only returned if Config.DepthMode is set to AUTOMATIC.
if ((trackable instanceof Plane
&& ((Plane) trackable).isPoseInPolygon(hit.getHitPose())
&& (PlaneRenderer.calculateDistanceToPlane(hit.getHitPose(), camera.getPose()) > 0))
|| (trackable instanceof Point
&& ((Point) trackable).getOrientationMode()
== OrientationMode.ESTIMATED_SURFACE_NORMAL)
- || (trackable instanceof InstantPlacementPoint)) {
+ || (trackable instanceof InstantPlacementPoint)
+ || (trackable instanceof DepthPoint)) {
// Cap the number of objects created. This avoids overloading both the
// rendering system and ARCore.
if (anchors.size() >= 20) {
diff --git a/samples/persistent_cloud_anchor_java/app/build.gradle b/samples/persistent_cloud_anchor_java/app/build.gradle
index cf4f05d..68aa713 100644
--- a/samples/persistent_cloud_anchor_java/app/build.gradle
+++ b/samples/persistent_cloud_anchor_java/app/build.gradle
@@ -30,7 +30,7 @@
dependencies {
// ARCore (Google Play Services for AR) library.
- implementation 'com.google.ar:core:1.23.0'
+ implementation 'com.google.ar:core:1.24.0'
// Obj - a simple Wavefront OBJ file loader
// https://github.com/javagl/Obj
diff --git a/samples/persistent_cloud_anchor_java/app/src/main/AndroidManifest.xml b/samples/persistent_cloud_anchor_java/app/src/main/AndroidManifest.xml
index da99f4d..f37ce3d 100644
--- a/samples/persistent_cloud_anchor_java/app/src/main/AndroidManifest.xml
+++ b/samples/persistent_cloud_anchor_java/app/src/main/AndroidManifest.xml
@@ -65,6 +65,5 @@
</activity>
<!-- Indicates whether "Google Play Services for AR" (ARCore) is "required" or "optional". -->
<meta-data android:name="com.google.ar.core" android:value="required" />
- <meta-data android:name="com.google.ar.core.session_settings" android:value="cloud_anchor_non_time_based,true"/>
</application>
</manifest>
diff --git a/samples/raw_depth_java/.gitignore b/samples/raw_depth_java/.gitignore
new file mode 100644
index 0000000..19839b2
--- /dev/null
+++ b/samples/raw_depth_java/.gitignore
@@ -0,0 +1,16 @@
+# Android Studio configuration.
+*.iml
+.idea/
+
+# Gradle configuration.
+.gradle/
+build/
+
+# User configuration.
+local.properties
+
+# OS configurations.
+.DS_Store
+
+# Android NDK cmake output.
+.cxx/
diff --git a/samples/raw_depth_java/app/.gitignore b/samples/raw_depth_java/app/.gitignore
new file mode 100644
index 0000000..a2def88
--- /dev/null
+++ b/samples/raw_depth_java/app/.gitignore
@@ -0,0 +1,2 @@
+/build
+google-services.json
diff --git a/samples/raw_depth_java/app/build.gradle b/samples/raw_depth_java/app/build.gradle
new file mode 100644
index 0000000..46097fe
--- /dev/null
+++ b/samples/raw_depth_java/app/build.gradle
@@ -0,0 +1,38 @@
+apply plugin: 'com.android.application'
+
+android {
+ compileSdkVersion 29
+ defaultConfig {
+ applicationId "com.google.ar.core.examples.java.rawdepth"
+
+ // Camera2 API requires minSdkVersion >= 21.
+ // "AR Optional" apps must declare minSdkVersion >= 14.
+ // "AR Required" apps must declare minSdkVersion >= 24.
+ minSdkVersion 21
+ targetSdkVersion 29
+ versionCode 1
+ versionName '1.0'
+ }
+ compileOptions {
+ sourceCompatibility JavaVersion.VERSION_1_8
+ targetCompatibility JavaVersion.VERSION_1_8
+ }
+ buildTypes {
+ release {
+ minifyEnabled false
+ proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
+ }
+ }
+}
+
+dependencies {
+ // ARCore (Google Play Services for AR) library.
+ implementation 'com.google.ar:core:1.24.0'
+
+ // Obj - a simple Wavefront OBJ file loader
+ // https://github.com/javagl/Obj
+ implementation 'de.javagl:obj:0.2.1'
+
+ implementation 'androidx.appcompat:appcompat:1.1.0'
+ implementation 'com.google.android.material:material:1.1.0'
+}
diff --git a/samples/raw_depth_java/app/proguard-rules.pro b/samples/raw_depth_java/app/proguard-rules.pro
new file mode 100644
index 0000000..45dc58a
--- /dev/null
+++ b/samples/raw_depth_java/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 *;
+#}
diff --git a/samples/raw_depth_java/app/src/main/AndroidManifest.xml b/samples/raw_depth_java/app/src/main/AndroidManifest.xml
new file mode 100644
index 0000000..585a0a4
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/AndroidManifest.xml
@@ -0,0 +1,54 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+ Copyright 2021 Google LLC
+
+ 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"
+ xmlns:tools="http://schemas.android.com/tools"
+ package="com.google.ar.core.examples.java.rawdepth">
+
+ <uses-permission android:name="android.permission.CAMERA"/>
+ <!-- Limits app visibility in the Google Play Store to devices that:
+ - Support ARCore (`android.hardware.camera.ar`)
+ - Support the Raw Depth API (`com.google.ar.core.depth`)
+ The current list of supported devices is available from:
+ - https://developers.google.com/ar/discover/supported-devices
+ -->
+ <uses-feature android:name="android.hardware.camera.ar" android:required="true"/>
+ <uses-feature android:name="com.google.ar.core.depth" android:required="true"/>
+ <uses-feature android:glEsVersion="0x00020000" android:required="true" />
+
+ <application
+ android:allowBackup="false"
+ android:icon="@drawable/ic_launcher"
+ android:label="@string/app_name"
+ android:theme="@style/AppTheme"
+ android:usesCleartextTraffic="false"
+ tools:ignore="GoogleAppIndexingWarning">
+
+ <activity
+ android:name=".RawDepthActivity"
+ android:configChanges="orientation|screenSize"
+ android:exported="true"
+ android:theme="@style/Theme.AppCompat.NoActionBar"
+ android:screenOrientation="locked">
+ <intent-filter>
+ <action android:name="android.intent.action.MAIN"/>
+ <category android:name="android.intent.category.LAUNCHER"/>
+ </intent-filter>
+ </activity>
+ <!-- Indicates whether "Google Play Services for AR" (ARCore) is "required" or "optional". -->
+ <meta-data android:name="com.google.ar.core" android:value="required" />
+ </application>
+</manifest>
diff --git a/samples/raw_depth_java/app/src/main/assets/models/anchor.obj b/samples/raw_depth_java/app/src/main/assets/models/anchor.obj
new file mode 100644
index 0000000..e1b78ec
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/models/anchor.obj
@@ -0,0 +1,13058 @@
+o anchor
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diff --git a/samples/raw_depth_java/app/src/main/assets/models/anchor.png b/samples/raw_depth_java/app/src/main/assets/models/anchor.png
new file mode 100644
index 0000000..15acd13
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/models/anchor.png
Binary files differ
diff --git a/samples/raw_depth_java/app/src/main/assets/models/andy.obj b/samples/raw_depth_java/app/src/main/assets/models/andy.obj
new file mode 100644
index 0000000..9097dea
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/models/andy.obj
@@ -0,0 +1,5003 @@
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diff --git a/samples/raw_depth_java/app/src/main/assets/models/andy.png b/samples/raw_depth_java/app/src/main/assets/models/andy.png
new file mode 100644
index 0000000..f88b1d6
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/models/andy.png
Binary files differ
diff --git a/samples/raw_depth_java/app/src/main/assets/models/andy_shadow.obj b/samples/raw_depth_java/app/src/main/assets/models/andy_shadow.obj
new file mode 100644
index 0000000..bbc1908
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/models/andy_shadow.obj
@@ -0,0 +1,18 @@
+# This file uses centimeters as units for non-parametric coordinates.
+
+g default
+v -0.100000 -0.000000 0.100000
+v 0.100000 -0.000000 0.100000
+v -0.100000 0.000000 -0.100000
+v 0.100000 0.000000 -0.100000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 0.000000 1.000000
+vt 1.000000 1.000000
+vn 0.000000 1.000000 0.000000
+vn 0.000000 1.000000 0.000000
+vn 0.000000 1.000000 0.000000
+vn 0.000000 1.000000 0.000000
+s off
+g AndyBlobShadow_GEO
+f 4/4/1 3/3/2 1/1/3 2/2/4
diff --git a/samples/raw_depth_java/app/src/main/assets/models/andy_shadow.png b/samples/raw_depth_java/app/src/main/assets/models/andy_shadow.png
new file mode 100644
index 0000000..45a09ce
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/models/andy_shadow.png
Binary files differ
diff --git a/samples/raw_depth_java/app/src/main/assets/models/andy_spec.png b/samples/raw_depth_java/app/src/main/assets/models/andy_spec.png
new file mode 100644
index 0000000..921e605
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/models/andy_spec.png
Binary files differ
diff --git a/samples/raw_depth_java/app/src/main/assets/models/ear_fur.png b/samples/raw_depth_java/app/src/main/assets/models/ear_fur.png
new file mode 100644
index 0000000..c0ffd05
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/models/ear_fur.png
Binary files differ
diff --git a/samples/raw_depth_java/app/src/main/assets/models/forehead_left.obj b/samples/raw_depth_java/app/src/main/assets/models/forehead_left.obj
new file mode 100644
index 0000000..9195773
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/models/forehead_left.obj
@@ -0,0 +1,21 @@
+# This file uses centimeters as units for non-parametric coordinates.
+
+mtllib forehead_left.mtl
+g skinCluster1Set tweakSet1
+v 0.088114 0.052146 0.025014
+v 0.034652 0.109164 0.007964
+v 0.046345 -0.000129 -0.018835
+v -0.007117 0.056890 -0.035885
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+vn -0.529919 -0.255013 0.808798
+vn -0.529919 -0.255013 0.808798
+vn -0.529919 -0.255013 0.808798
+s 1
+g earLeft_mesh asset
+usemtl earLeft_meshSG
+f 4/4/1 1/1/2 2/2/3
+f 1/1/2 4/4/1 3/3/4
diff --git a/samples/raw_depth_java/app/src/main/assets/models/forehead_right.obj b/samples/raw_depth_java/app/src/main/assets/models/forehead_right.obj
new file mode 100644
index 0000000..8fa4dd8
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/models/forehead_right.obj
@@ -0,0 +1,21 @@
+# This file uses centimeters as units for non-parametric coordinates.
+
+mtllib forehead_right.mtl
+g skinCluster2Set tweakSet2
+v -0.046329 -0.000137 -0.018811
+v 0.007133 0.056882 -0.035861
+v -0.088098 0.052138 0.025037
+v -0.034636 0.109157 0.007988
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+vn 0.529919 -0.255013 0.808798
+vn 0.529919 -0.255013 0.808798
+vn 0.529919 -0.255013 0.808798
+s 1
+g earRight_mesh asset
+usemtl earLeft_meshSG
+f 3/3/1 2/2/2 4/4/3
+f 2/2/2 3/3/1 1/1/4
diff --git a/samples/raw_depth_java/app/src/main/assets/models/freckles.png b/samples/raw_depth_java/app/src/main/assets/models/freckles.png
new file mode 100644
index 0000000..300bc7e
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/models/freckles.png
Binary files differ
diff --git a/samples/raw_depth_java/app/src/main/assets/models/map_quality_bar.obj b/samples/raw_depth_java/app/src/main/assets/models/map_quality_bar.obj
new file mode 100644
index 0000000..776b2c6
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/models/map_quality_bar.obj
@@ -0,0 +1,1623 @@
+o map_quality_bar
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diff --git a/samples/raw_depth_java/app/src/main/assets/models/map_quality_bar.png b/samples/raw_depth_java/app/src/main/assets/models/map_quality_bar.png
new file mode 100644
index 0000000..0a7f21b
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/models/map_quality_bar.png
Binary files differ
diff --git a/samples/raw_depth_java/app/src/main/assets/models/nose.obj b/samples/raw_depth_java/app/src/main/assets/models/nose.obj
new file mode 100644
index 0000000..3664bb5
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/models/nose.obj
@@ -0,0 +1,2526 @@
+# This file uses centimeters as units for non-parametric coordinates.
+
+mtllib nose.mtl
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diff --git a/samples/raw_depth_java/app/src/main/assets/models/nose_fur.png b/samples/raw_depth_java/app/src/main/assets/models/nose_fur.png
new file mode 100644
index 0000000..863e3ef
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/models/nose_fur.png
Binary files differ
diff --git a/samples/raw_depth_java/app/src/main/assets/models/trigrid.png b/samples/raw_depth_java/app/src/main/assets/models/trigrid.png
new file mode 100644
index 0000000..05cbe6e
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/models/trigrid.png
Binary files differ
diff --git a/samples/raw_depth_java/app/src/main/assets/shaders/ar_object.frag b/samples/raw_depth_java/app/src/main/assets/shaders/ar_object.frag
new file mode 100644
index 0000000..3ebb26b
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/shaders/ar_object.frag
@@ -0,0 +1,202 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+precision mediump float;
+
+uniform sampler2D u_Texture;
+
+uniform vec4 u_LightingParameters;
+uniform vec4 u_MaterialParameters;
+uniform vec4 u_ColorCorrectionParameters;
+
+#if USE_DEPTH_FOR_OCCLUSION
+uniform sampler2D u_DepthTexture;
+uniform mat3 u_DepthUvTransform;
+uniform float u_DepthAspectRatio;
+#endif // USE_DEPTH_FOR_OCCLUSION
+
+varying vec3 v_ViewPosition;
+varying vec3 v_ViewNormal;
+varying vec2 v_TexCoord;
+varying vec3 v_ScreenSpacePosition;
+uniform vec4 u_ObjColor;
+
+#if USE_DEPTH_FOR_OCCLUSION
+
+float DepthGetMillimeters(in sampler2D depth_texture, in vec2 depth_uv) {
+ // Depth is packed into the red and green components of its texture.
+ // The texture is a normalized format, storing millimeters.
+ vec3 packedDepthAndVisibility = texture2D(depth_texture, depth_uv).xyz;
+ return dot(packedDepthAndVisibility.xy, vec2(255.0, 256.0 * 255.0));
+}
+
+// Returns linear interpolation position of value between min and max bounds.
+// E.g., DepthInverseLerp(1100, 1000, 2000) returns 0.1.
+float DepthInverseLerp(in float value, in float min_bound, in float max_bound) {
+ return clamp((value - min_bound) / (max_bound - min_bound), 0.0, 1.0);
+}
+
+// Returns a value between 0.0 (not visible) and 1.0 (completely visible)
+// Which represents how visible or occluded is the pixel in relation to the
+// depth map.
+float DepthGetVisibility(in sampler2D depth_texture, in vec2 depth_uv,
+ in float asset_depth_mm) {
+ float depth_mm = DepthGetMillimeters(depth_texture, depth_uv);
+
+ // Instead of a hard z-buffer test, allow the asset to fade into the
+ // background along a 2 * kDepthTolerancePerMm * asset_depth_mm
+ // range centered on the background depth.
+ const float kDepthTolerancePerMm = 0.015;
+ float visibility_occlusion = clamp(0.5 * (depth_mm - asset_depth_mm) /
+ (kDepthTolerancePerMm * asset_depth_mm) + 0.5, 0.0, 1.0);
+
+ // Depth close to zero is most likely invalid, do not use it for occlusions.
+ float visibility_depth_near = 1.0 - DepthInverseLerp(
+ depth_mm, /*min_depth_mm=*/150.0, /*max_depth_mm=*/200.0);
+
+ // Same for very high depth values.
+ float visibility_depth_far = DepthInverseLerp(
+ depth_mm, /*min_depth_mm=*/7500.0, /*max_depth_mm=*/8000.0);
+
+ const float kOcclusionAlpha = 0.0;
+ float visibility =
+ max(max(visibility_occlusion, kOcclusionAlpha),
+ max(visibility_depth_near, visibility_depth_far));
+
+ return visibility;
+}
+
+float DepthGetBlurredVisibilityAroundUV(in sampler2D depth_texture, in vec2 uv,
+ in float asset_depth_mm) {
+ // Kernel used:
+ // 0 4 7 4 0
+ // 4 16 26 16 4
+ // 7 26 41 26 7
+ // 4 16 26 16 4
+ // 0 4 7 4 0
+ const float kKernelTotalWeights = 269.0;
+ float sum = 0.0;
+
+ const float kOcclusionBlurAmount = 0.01;
+ vec2 blurriness = vec2(kOcclusionBlurAmount,
+ kOcclusionBlurAmount * u_DepthAspectRatio);
+
+ float current = 0.0;
+
+ current += DepthGetVisibility(depth_texture, uv + vec2(-1.0, -2.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+1.0, -2.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(-1.0, +2.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+1.0, +2.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(-2.0, +1.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+2.0, +1.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(-2.0, -1.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+2.0, -1.0) * blurriness, asset_depth_mm);
+ sum += current * 4.0;
+
+ current = 0.0;
+ current += DepthGetVisibility(depth_texture, uv + vec2(-2.0, -0.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+2.0, +0.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+0.0, +2.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(-0.0, -2.0) * blurriness, asset_depth_mm);
+ sum += current * 7.0;
+
+ current = 0.0;
+ current += DepthGetVisibility(depth_texture, uv + vec2(-1.0, -1.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+1.0, -1.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(-1.0, +1.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+1.0, +1.0) * blurriness, asset_depth_mm);
+ sum += current * 16.0;
+
+ current = 0.0;
+ current += DepthGetVisibility(depth_texture, uv + vec2(+0.0, +1.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(-0.0, -1.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(-1.0, -0.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+1.0, +0.0) * blurriness, asset_depth_mm);
+ sum += current * 26.0;
+
+ sum += DepthGetVisibility(depth_texture, uv , asset_depth_mm) * 41.0;
+
+ return sum / kKernelTotalWeights;
+}
+
+#endif // USE_DEPTH_FOR_OCCLUSION
+
+void main() {
+ // We support approximate sRGB gamma.
+ const float kGamma = 0.4545454;
+ const float kInverseGamma = 2.2;
+ const float kMiddleGrayGamma = 0.466;
+
+ // Unpack lighting and material parameters for better naming.
+ vec3 viewLightDirection = u_LightingParameters.xyz;
+ vec3 colorShift = u_ColorCorrectionParameters.rgb;
+ float averagePixelIntensity = u_ColorCorrectionParameters.a;
+
+ float materialAmbient = u_MaterialParameters.x;
+ float materialDiffuse = u_MaterialParameters.y;
+ float materialSpecular = u_MaterialParameters.z;
+ float materialSpecularPower = u_MaterialParameters.w;
+
+ // Normalize varying parameters, because they are linearly interpolated in the vertex shader.
+ vec3 viewFragmentDirection = normalize(v_ViewPosition);
+ vec3 viewNormal = normalize(v_ViewNormal);
+
+ // Flip the y-texture coordinate to address the texture from top-left.
+ vec4 objectColor = texture2D(u_Texture, vec2(v_TexCoord.x, 1.0 - v_TexCoord.y));
+
+ // Apply color to grayscale image only if the alpha of u_ObjColor is
+ // greater and equal to 255.0.
+ objectColor.rgb *= mix(vec3(1.0), u_ObjColor.rgb / 255.0,
+ step(255.0, u_ObjColor.a));
+
+ // Apply inverse SRGB gamma to the texture before making lighting calculations.
+ objectColor.rgb = pow(objectColor.rgb, vec3(kInverseGamma));
+
+ // Ambient light is unaffected by the light intensity.
+ float ambient = materialAmbient;
+
+ // Approximate a hemisphere light (not a harsh directional light).
+ float diffuse = materialDiffuse *
+ 0.5 * (dot(viewNormal, viewLightDirection) + 1.0);
+
+ // Compute specular light. Textures are loaded with with premultiplied alpha
+ // (https://developer.android.com/reference/android/graphics/BitmapFactory.Options#inPremultiplied),
+ // so premultiply the specular color by alpha as well.
+ vec3 reflectedLightDirection = reflect(viewLightDirection, viewNormal);
+ float specularStrength = max(0.0, dot(viewFragmentDirection, reflectedLightDirection));
+ float specular = objectColor.a * materialSpecular *
+ pow(specularStrength, materialSpecularPower);
+
+ vec3 color = objectColor.rgb * (ambient + diffuse) + specular;
+ // Apply SRGB gamma before writing the fragment color.
+ color.rgb = pow(color, vec3(kGamma));
+ // Apply average pixel intensity and color shift
+ color *= colorShift * (averagePixelIntensity / kMiddleGrayGamma);
+ gl_FragColor.rgb = color;
+ gl_FragColor.a = objectColor.a;
+
+#if USE_DEPTH_FOR_OCCLUSION
+ const float kMetersToMillimeters = 1000.0;
+ float asset_depth_mm = v_ViewPosition.z * kMetersToMillimeters * -1.;
+ // Computes the texture coordinates to sample from the depth image.
+ vec2 depth_uvs = (u_DepthUvTransform * vec3(v_ScreenSpacePosition.xy, 1)).xy;
+
+ // The following step is very costly. Replace the last line with the
+ // commented line if it's too expensive.
+ // gl_FragColor *= DepthGetVisibility(u_DepthTexture, depth_uvs, asset_depth_mm);
+ gl_FragColor *= DepthGetBlurredVisibilityAroundUV(u_DepthTexture, depth_uvs, asset_depth_mm);
+#endif // USE_DEPTH_FOR_OCCLUSION
+}
diff --git a/samples/raw_depth_java/app/src/main/assets/shaders/ar_object.vert b/samples/raw_depth_java/app/src/main/assets/shaders/ar_object.vert
new file mode 100644
index 0000000..1629275
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/shaders/ar_object.vert
@@ -0,0 +1,35 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+uniform mat4 u_ModelView;
+uniform mat4 u_ModelViewProjection;
+
+attribute vec4 a_Position;
+attribute vec3 a_Normal;
+attribute vec2 a_TexCoord;
+
+varying vec3 v_ViewPosition;
+varying vec3 v_ViewNormal;
+varying vec2 v_TexCoord;
+varying vec3 v_ScreenSpacePosition;
+
+void main() {
+ v_ViewPosition = (u_ModelView * a_Position).xyz;
+ v_ViewNormal = normalize((u_ModelView * vec4(a_Normal, 0.0)).xyz);
+ v_TexCoord = a_TexCoord;
+ gl_Position = u_ModelViewProjection * a_Position;
+ v_ScreenSpacePosition = gl_Position.xyz / gl_Position.w;
+}
diff --git a/samples/raw_depth_java/app/src/main/assets/shaders/background_show_depth_color_visualization.frag b/samples/raw_depth_java/app/src/main/assets/shaders/background_show_depth_color_visualization.frag
new file mode 100644
index 0000000..87398c9
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/shaders/background_show_depth_color_visualization.frag
@@ -0,0 +1,65 @@
+/*
+ * Copyright 2020 Google LLC
+ *
+ * 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.
+ */
+
+precision mediump float;
+
+uniform sampler2D u_DepthTexture;
+
+varying vec2 v_TexCoord;
+
+const highp float kMaxDepth = 8000.0; // In millimeters.
+
+float DepthGetMillimeters(in sampler2D depth_texture, in vec2 depth_uv) {
+ // Depth is packed into the red and green components of its texture.
+ // The texture is a normalized format, storing millimeters.
+ vec3 packedDepthAndVisibility = texture2D(depth_texture, depth_uv).xyz;
+ return dot(packedDepthAndVisibility.xy, vec2(255.0, 256.0 * 255.0));
+}
+
+// Returns a color corresponding to the depth passed in. Colors range from red
+// to green to blue, where red is closest and blue is farthest.
+//
+// Uses Turbo color mapping:
+// https://ai.googleblog.com/2019/08/turbo-improved-rainbow-colormap-for.html
+vec3 DepthGetColorVisualization(in float x) {
+ const vec4 kRedVec4 = vec4(0.55305649, 3.00913185, -5.46192616, -11.11819092);
+ const vec4 kGreenVec4 = vec4(0.16207513, 0.17712472, 15.24091500, -36.50657960);
+ const vec4 kBlueVec4 = vec4(-0.05195877, 5.18000081, -30.94853351, 81.96403246);
+ const vec2 kRedVec2 = vec2(27.81927491, -14.87899417);
+ const vec2 kGreenVec2 = vec2(25.95549545, -5.02738237);
+ const vec2 kBlueVec2 = vec2(-86.53476570, 30.23299484);
+ const float kInvalidDepthThreshold = 0.01;
+
+ // Adjusts color space via 6 degree poly interpolation to avoid pure red.
+ x = clamp(x * 0.9 + 0.03, 0.0, 1.0);
+ vec4 v4 = vec4(1.0, x, x * x, x * x * x);
+ vec2 v2 = v4.zw * v4.z;
+ vec3 polynomial_color = vec3(
+ dot(v4, kRedVec4) + dot(v2, kRedVec2),
+ dot(v4, kGreenVec4) + dot(v2, kGreenVec2),
+ dot(v4, kBlueVec4) + dot(v2, kBlueVec2)
+ );
+
+ return step(kInvalidDepthThreshold, x) * polynomial_color;
+}
+
+void main() {
+ highp float normalized_depth =
+ clamp(DepthGetMillimeters(u_DepthTexture, v_TexCoord.xy) / kMaxDepth,
+ 0.0, 1.0);
+ vec4 depth_color = vec4(DepthGetColorVisualization(normalized_depth), 1.0);
+ gl_FragColor = depth_color;
+}
diff --git a/samples/raw_depth_java/app/src/main/assets/shaders/background_show_depth_color_visualization.vert b/samples/raw_depth_java/app/src/main/assets/shaders/background_show_depth_color_visualization.vert
new file mode 100644
index 0000000..7ef5853
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/shaders/background_show_depth_color_visualization.vert
@@ -0,0 +1,25 @@
+/*
+ * Copyright 2020 Google LLC
+ *
+ * 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.
+ */
+
+attribute vec4 a_Position;
+attribute vec2 a_TexCoord;
+
+varying vec2 v_TexCoord;
+
+void main() {
+ v_TexCoord = a_TexCoord;
+ gl_Position = a_Position;
+}
diff --git a/samples/raw_depth_java/app/src/main/assets/shaders/depth_point_cloud.frag b/samples/raw_depth_java/app/src/main/assets/shaders/depth_point_cloud.frag
new file mode 100644
index 0000000..0f8df5b
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/shaders/depth_point_cloud.frag
@@ -0,0 +1,22 @@
+/*
+ * Copyright 2021 Google LLC
+ *
+ * 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.
+ */
+
+precision mediump float;
+varying vec4 v_Color;
+
+void main() {
+ gl_FragColor = v_Color;
+}
diff --git a/samples/raw_depth_java/app/src/main/assets/shaders/depth_point_cloud.vert b/samples/raw_depth_java/app/src/main/assets/shaders/depth_point_cloud.vert
new file mode 100644
index 0000000..f443381
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/shaders/depth_point_cloud.vert
@@ -0,0 +1,34 @@
+/*
+ * Copyright 2021 Google LLC
+ *
+ * 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.
+ */
+
+uniform mat4 u_ModelViewProjection;
+uniform float u_PointSize;
+uniform float u_ConfidenceThreshold;
+
+attribute vec4 a_Position;
+attribute vec3 a_Color;
+
+varying vec4 v_Color;
+
+void main() {
+ v_Color = vec4(a_Color, 1.0);
+ gl_Position = u_ModelViewProjection * vec4(a_Position.xyz, 1.0);
+
+ // Set w of low confidence points to 0 to hide those points.
+ gl_Position.w *= step(u_ConfidenceThreshold, a_Position.w);
+
+ gl_PointSize = u_PointSize;
+}
diff --git a/samples/raw_depth_java/app/src/main/assets/shaders/object.frag b/samples/raw_depth_java/app/src/main/assets/shaders/object.frag
new file mode 100644
index 0000000..3626b93
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/shaders/object.frag
@@ -0,0 +1,81 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+precision mediump float;
+
+uniform sampler2D u_Texture;
+
+uniform vec4 u_LightingParameters;
+uniform vec4 u_MaterialParameters;
+uniform vec4 u_ColorCorrectionParameters;
+
+varying vec3 v_ViewPosition;
+varying vec3 v_ViewNormal;
+varying vec2 v_TexCoord;
+uniform vec4 u_ObjColor;
+
+void main() {
+ // We support approximate sRGB gamma.
+ const float kGamma = 0.4545454;
+ const float kInverseGamma = 2.2;
+ const float kMiddleGrayGamma = 0.466;
+
+ // Unpack lighting and material parameters for better naming.
+ vec3 viewLightDirection = u_LightingParameters.xyz;
+ vec3 colorShift = u_ColorCorrectionParameters.rgb;
+ float averagePixelIntensity = u_ColorCorrectionParameters.a;
+
+ float materialAmbient = u_MaterialParameters.x;
+ float materialDiffuse = u_MaterialParameters.y;
+ float materialSpecular = u_MaterialParameters.z;
+ float materialSpecularPower = u_MaterialParameters.w;
+
+ // Normalize varying parameters, because they are linearly interpolated in the vertex shader.
+ vec3 viewFragmentDirection = normalize(v_ViewPosition);
+ vec3 viewNormal = normalize(v_ViewNormal);
+
+ // Flip the y-texture coordinate to address the texture from top-left.
+ vec4 objectColor = texture2D(u_Texture, vec2(v_TexCoord.x, 1.0 - v_TexCoord.y));
+
+ // Apply color to grayscale image only if the alpha of u_ObjColor is
+ // greater and equal to 255.0.
+ objectColor.rgb *= mix(vec3(1.0), u_ObjColor.rgb / 255.0,
+ step(255.0, u_ObjColor.a));
+
+ // Apply inverse SRGB gamma to the texture before making lighting calculations.
+ objectColor.rgb = pow(objectColor.rgb, vec3(kInverseGamma));
+
+ // Ambient light is unaffected by the light intensity.
+ float ambient = materialAmbient;
+
+ // Approximate a hemisphere light (not a harsh directional light).
+ float diffuse = materialDiffuse *
+ 0.5 * (dot(viewNormal, viewLightDirection) + 1.0);
+
+ // Compute specular light.
+ vec3 reflectedLightDirection = reflect(viewLightDirection, viewNormal);
+ float specularStrength = max(0.0, dot(viewFragmentDirection, reflectedLightDirection));
+ float specular = materialSpecular *
+ pow(specularStrength, materialSpecularPower);
+
+ vec3 color = objectColor.rgb * (ambient + diffuse) + specular;
+ // Apply SRGB gamma before writing the fragment color.
+ color.rgb = pow(color, vec3(kGamma));
+ // Apply average pixel intensity and color shift
+ color *= colorShift * (averagePixelIntensity / kMiddleGrayGamma);
+ gl_FragColor.rgb = color;
+ gl_FragColor.a = objectColor.a;
+}
diff --git a/samples/raw_depth_java/app/src/main/assets/shaders/object.vert b/samples/raw_depth_java/app/src/main/assets/shaders/object.vert
new file mode 100644
index 0000000..f07499e
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/shaders/object.vert
@@ -0,0 +1,33 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+uniform mat4 u_ModelView;
+uniform mat4 u_ModelViewProjection;
+
+attribute vec4 a_Position;
+attribute vec3 a_Normal;
+attribute vec2 a_TexCoord;
+
+varying vec3 v_ViewPosition;
+varying vec3 v_ViewNormal;
+varying vec2 v_TexCoord;
+
+void main() {
+ v_ViewPosition = (u_ModelView * a_Position).xyz;
+ v_ViewNormal = normalize((u_ModelView * vec4(a_Normal, 0.0)).xyz);
+ v_TexCoord = a_TexCoord;
+ gl_Position = u_ModelViewProjection * a_Position;
+}
diff --git a/samples/raw_depth_java/app/src/main/assets/shaders/plane.frag b/samples/raw_depth_java/app/src/main/assets/shaders/plane.frag
new file mode 100644
index 0000000..00f0092
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/shaders/plane.frag
@@ -0,0 +1,30 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+precision highp float;
+uniform sampler2D u_Texture;
+uniform vec4 u_gridControl; // dotThreshold, lineThreshold, lineFadeShrink, occlusionShrink
+varying vec3 v_TexCoordAlpha;
+
+void main() {
+ vec4 control = texture2D(u_Texture, v_TexCoordAlpha.xy);
+ float dotScale = v_TexCoordAlpha.z;
+ float lineFade = max(0.0, u_gridControl.z * v_TexCoordAlpha.z - (u_gridControl.z - 1.0));
+ float alpha = (control.r * dotScale > u_gridControl.x) ? 1.0
+ : (control.g > u_gridControl.y) ? lineFade
+ : (0.25 * lineFade);
+ gl_FragColor = vec4(alpha * v_TexCoordAlpha.z);
+}
diff --git a/samples/raw_depth_java/app/src/main/assets/shaders/plane.vert b/samples/raw_depth_java/app/src/main/assets/shaders/plane.vert
new file mode 100644
index 0000000..2f396d6
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/shaders/plane.vert
@@ -0,0 +1,41 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+uniform mat4 u_Model;
+uniform mat4 u_ModelViewProjection;
+uniform mat2 u_PlaneUvMatrix;
+uniform vec3 u_Normal;
+
+attribute vec3 a_XZPositionAlpha; // (x, z, alpha)
+
+varying vec3 v_TexCoordAlpha;
+
+void main() {
+ vec4 local_pos = vec4(a_XZPositionAlpha.x, 0.0, a_XZPositionAlpha.y, 1.0);
+ vec4 world_pos = u_Model * local_pos;
+
+ // Construct two vectors that are orthogonal to the normal.
+ // This arbitrary choice is not co-linear with either horizontal
+ // or vertical plane normals.
+ const vec3 arbitrary = vec3(1.0, 1.0, 0.0);
+ vec3 vec_u = normalize(cross(u_Normal, arbitrary));
+ vec3 vec_v = normalize(cross(u_Normal, vec_u));
+
+ // Project vertices in world frame onto vec_u and vec_v.
+ vec2 uv = vec2(dot(world_pos.xyz, vec_u), dot(world_pos.xyz, vec_v));
+ v_TexCoordAlpha = vec3(u_PlaneUvMatrix * uv, a_XZPositionAlpha.z);
+ gl_Position = u_ModelViewProjection * local_pos;
+}
diff --git a/samples/raw_depth_java/app/src/main/assets/shaders/point_cloud.frag b/samples/raw_depth_java/app/src/main/assets/shaders/point_cloud.frag
new file mode 100644
index 0000000..d2587bc
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/shaders/point_cloud.frag
@@ -0,0 +1,22 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+precision mediump float;
+varying vec4 v_Color;
+
+void main() {
+ gl_FragColor = v_Color;
+}
diff --git a/samples/raw_depth_java/app/src/main/assets/shaders/point_cloud.vert b/samples/raw_depth_java/app/src/main/assets/shaders/point_cloud.vert
new file mode 100644
index 0000000..5afb77d
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/shaders/point_cloud.vert
@@ -0,0 +1,29 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+uniform mat4 u_ModelViewProjection;
+uniform vec4 u_Color;
+uniform float u_PointSize;
+
+attribute vec4 a_Position;
+
+varying vec4 v_Color;
+
+void main() {
+ v_Color = u_Color;
+ gl_Position = u_ModelViewProjection * vec4(a_Position.xyz, 1.0);
+ gl_PointSize = u_PointSize;
+}
diff --git a/samples/raw_depth_java/app/src/main/assets/shaders/screenquad.frag b/samples/raw_depth_java/app/src/main/assets/shaders/screenquad.frag
new file mode 100644
index 0000000..ee8cb56
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/shaders/screenquad.frag
@@ -0,0 +1,25 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+#extension GL_OES_EGL_image_external : require
+
+precision mediump float;
+varying vec2 v_TexCoord;
+uniform samplerExternalOES sTexture;
+
+
+void main() {
+ gl_FragColor = texture2D(sTexture, v_TexCoord);
+}
diff --git a/samples/raw_depth_java/app/src/main/assets/shaders/screenquad.vert b/samples/raw_depth_java/app/src/main/assets/shaders/screenquad.vert
new file mode 100644
index 0000000..77ed8c9
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/assets/shaders/screenquad.vert
@@ -0,0 +1,25 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+attribute vec4 a_Position;
+attribute vec2 a_TexCoord;
+
+varying vec2 v_TexCoord;
+
+void main() {
+ gl_Position = a_Position;
+ v_TexCoord = a_TexCoord;
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/CameraPermissionHelper.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/CameraPermissionHelper.java
new file mode 100644
index 0000000..7ac0e26
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/CameraPermissionHelper.java
@@ -0,0 +1,56 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.helpers;
+
+import android.Manifest;
+import android.app.Activity;
+import android.content.Intent;
+import android.content.pm.PackageManager;
+import android.net.Uri;
+import android.provider.Settings;
+import androidx.core.app.ActivityCompat;
+import androidx.core.content.ContextCompat;
+
+/** Helper to ask camera permission. */
+public final class CameraPermissionHelper {
+ private static final int CAMERA_PERMISSION_CODE = 0;
+ private static final String CAMERA_PERMISSION = Manifest.permission.CAMERA;
+
+ /** Check to see we have the necessary permissions for this app. */
+ public static boolean hasCameraPermission(Activity activity) {
+ return ContextCompat.checkSelfPermission(activity, CAMERA_PERMISSION)
+ == PackageManager.PERMISSION_GRANTED;
+ }
+
+ /** Check to see we have the necessary permissions for this app, and ask for them if we don't. */
+ public static void requestCameraPermission(Activity activity) {
+ ActivityCompat.requestPermissions(
+ activity, new String[] {CAMERA_PERMISSION}, CAMERA_PERMISSION_CODE);
+ }
+
+ /** Check to see if we need to show the rationale for this permission. */
+ public static boolean shouldShowRequestPermissionRationale(Activity activity) {
+ return ActivityCompat.shouldShowRequestPermissionRationale(activity, CAMERA_PERMISSION);
+ }
+
+ /** Launch Application Setting to grant permission. */
+ public static void launchPermissionSettings(Activity activity) {
+ Intent intent = new Intent();
+ intent.setAction(Settings.ACTION_APPLICATION_DETAILS_SETTINGS);
+ intent.setData(Uri.fromParts("package", activity.getPackageName(), null));
+ activity.startActivity(intent);
+ }
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/DepthSettings.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/DepthSettings.java
new file mode 100644
index 0000000..9610b4b
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/DepthSettings.java
@@ -0,0 +1,82 @@
+/*
+ * Copyright 2020 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.helpers;
+
+import android.content.Context;
+import android.content.SharedPreferences;
+
+/** Manages the Occlusion option setting and shared preferences. */
+public class DepthSettings {
+ public static final String SHARED_PREFERENCES_ID = "SHARED_PREFERENCES_OCCLUSION_OPTIONS";
+ public static final String SHARED_PREFERENCES_SHOW_DEPTH_ENABLE_DIALOG_OOBE =
+ "show_depth_enable_dialog_oobe";
+ public static final String SHARED_PREFERENCES_USE_DEPTH_FOR_OCCLUSION = "use_depth_for_occlusion";
+
+ // Current depth-based settings used by the app.
+ private boolean depthColorVisualizationEnabled = false;
+ private boolean useDepthForOcclusion = false;
+ private SharedPreferences sharedPreferences;
+
+ /** Initializes the current settings based on when the app was last used. */
+ public void onCreate(Context context) {
+ sharedPreferences = context.getSharedPreferences(SHARED_PREFERENCES_ID, Context.MODE_PRIVATE);
+ useDepthForOcclusion =
+ sharedPreferences.getBoolean(SHARED_PREFERENCES_USE_DEPTH_FOR_OCCLUSION, false);
+ }
+
+ /** Retrieves whether depth-based occlusion is enabled. */
+ public boolean useDepthForOcclusion() {
+ return useDepthForOcclusion;
+ }
+
+ public void setUseDepthForOcclusion(boolean enable) {
+ if (enable == useDepthForOcclusion) {
+ return; // No change.
+ }
+
+ // Updates the stored default settings.
+ useDepthForOcclusion = enable;
+ SharedPreferences.Editor editor = sharedPreferences.edit();
+ editor.putBoolean(SHARED_PREFERENCES_USE_DEPTH_FOR_OCCLUSION, useDepthForOcclusion);
+ editor.apply();
+ }
+
+ /** Retrieves whether to render the depth map visualization instead of the camera feed. */
+ public boolean depthColorVisualizationEnabled() {
+ return depthColorVisualizationEnabled;
+ }
+
+ public void setDepthColorVisualizationEnabled(boolean depthColorVisualizationEnabled) {
+ this.depthColorVisualizationEnabled = depthColorVisualizationEnabled;
+ }
+
+ /** Determines if the initial prompt to use depth-based occlusion should be shown. */
+ public boolean shouldShowDepthEnableDialog() {
+ // Checks if this dialog has been called before on this device.
+ boolean showDialog =
+ sharedPreferences.getBoolean(SHARED_PREFERENCES_SHOW_DEPTH_ENABLE_DIALOG_OOBE, true);
+
+ if (showDialog) {
+ // Only ever shows the dialog on the first time. If the user wants to adjust these settings
+ // again, they can use the gear icon to invoke the settings menu dialog.
+ SharedPreferences.Editor editor = sharedPreferences.edit();
+ editor.putBoolean(SHARED_PREFERENCES_SHOW_DEPTH_ENABLE_DIALOG_OOBE, false);
+ editor.apply();
+ }
+
+ return showDialog;
+ }
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/DisplayRotationHelper.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/DisplayRotationHelper.java
new file mode 100644
index 0000000..d8401dc
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/DisplayRotationHelper.java
@@ -0,0 +1,165 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.helpers;
+
+import android.app.Activity;
+import android.content.Context;
+import android.hardware.camera2.CameraAccessException;
+import android.hardware.camera2.CameraCharacteristics;
+import android.hardware.camera2.CameraManager;
+import android.hardware.display.DisplayManager;
+import android.hardware.display.DisplayManager.DisplayListener;
+import android.view.Display;
+import android.view.Surface;
+import android.view.WindowManager;
+import com.google.ar.core.Session;
+
+/**
+ * Helper to track the display rotations. In particular, the 180 degree rotations are not notified
+ * by the onSurfaceChanged() callback, and thus they require listening to the android display
+ * events.
+ */
+public final class DisplayRotationHelper implements DisplayListener {
+ private boolean viewportChanged;
+ private int viewportWidth;
+ private int viewportHeight;
+ private final Display display;
+ private final DisplayManager displayManager;
+ private final CameraManager cameraManager;
+
+ /**
+ * Constructs the DisplayRotationHelper but does not register the listener yet.
+ *
+ * @param context the Android {@link Context}.
+ */
+ public DisplayRotationHelper(Context context) {
+ displayManager = (DisplayManager) context.getSystemService(Context.DISPLAY_SERVICE);
+ cameraManager = (CameraManager) context.getSystemService(Context.CAMERA_SERVICE);
+ WindowManager windowManager = (WindowManager) context.getSystemService(Context.WINDOW_SERVICE);
+ display = windowManager.getDefaultDisplay();
+ }
+
+ /** Registers the display listener. Should be called from {@link Activity#onResume()}. */
+ public void onResume() {
+ displayManager.registerDisplayListener(this, null);
+ }
+
+ /** Unregisters the display listener. Should be called from {@link Activity#onPause()}. */
+ public void onPause() {
+ displayManager.unregisterDisplayListener(this);
+ }
+
+ /**
+ * Records a change in surface dimensions. This will be later used by {@link
+ * #updateSessionIfNeeded(Session)}. Should be called from {@link
+ * android.opengl.GLSurfaceView.Renderer
+ * #onSurfaceChanged(javax.microedition.khronos.opengles.GL10, int, int)}.
+ *
+ * @param width the updated width of the surface.
+ * @param height the updated height of the surface.
+ */
+ public void onSurfaceChanged(int width, int height) {
+ viewportWidth = width;
+ viewportHeight = height;
+ viewportChanged = true;
+ }
+
+ /**
+ * Updates the session display geometry if a change was posted either by {@link
+ * #onSurfaceChanged(int, int)} call or by {@link #onDisplayChanged(int)} system callback. This
+ * function should be called explicitly before each call to {@link Session#update()}. This
+ * function will also clear the 'pending update' (viewportChanged) flag.
+ *
+ * @param session the {@link Session} object to update if display geometry changed.
+ */
+ public void updateSessionIfNeeded(Session session) {
+ if (viewportChanged) {
+ int displayRotation = display.getRotation();
+ session.setDisplayGeometry(displayRotation, viewportWidth, viewportHeight);
+ viewportChanged = false;
+ }
+ }
+
+ /**
+ * Returns the aspect ratio of the GL surface viewport while accounting for the display rotation
+ * relative to the device camera sensor orientation.
+ */
+ public float getCameraSensorRelativeViewportAspectRatio(String cameraId) {
+ float aspectRatio;
+ int cameraSensorToDisplayRotation = getCameraSensorToDisplayRotation(cameraId);
+ switch (cameraSensorToDisplayRotation) {
+ case 90:
+ case 270:
+ aspectRatio = (float) viewportHeight / (float) viewportWidth;
+ break;
+ case 0:
+ case 180:
+ aspectRatio = (float) viewportWidth / (float) viewportHeight;
+ break;
+ default:
+ throw new RuntimeException("Unhandled rotation: " + cameraSensorToDisplayRotation);
+ }
+ return aspectRatio;
+ }
+
+ /**
+ * Returns the rotation of the back-facing camera with respect to the display. The value is one of
+ * 0, 90, 180, 270.
+ */
+ public int getCameraSensorToDisplayRotation(String cameraId) {
+ CameraCharacteristics characteristics;
+ try {
+ characteristics = cameraManager.getCameraCharacteristics(cameraId);
+ } catch (CameraAccessException e) {
+ throw new RuntimeException("Unable to determine display orientation", e);
+ }
+
+ // Camera sensor orientation.
+ int sensorOrientation = characteristics.get(CameraCharacteristics.SENSOR_ORIENTATION);
+
+ // Current display orientation.
+ int displayOrientation = toDegrees(display.getRotation());
+
+ // Make sure we return 0, 90, 180, or 270 degrees.
+ return (sensorOrientation - displayOrientation + 360) % 360;
+ }
+
+ private int toDegrees(int rotation) {
+ switch (rotation) {
+ case Surface.ROTATION_0:
+ return 0;
+ case Surface.ROTATION_90:
+ return 90;
+ case Surface.ROTATION_180:
+ return 180;
+ case Surface.ROTATION_270:
+ return 270;
+ default:
+ throw new RuntimeException("Unknown rotation " + rotation);
+ }
+ }
+
+ @Override
+ public void onDisplayAdded(int displayId) {}
+
+ @Override
+ public void onDisplayRemoved(int displayId) {}
+
+ @Override
+ public void onDisplayChanged(int displayId) {
+ viewportChanged = true;
+ }
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/FullScreenHelper.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/FullScreenHelper.java
new file mode 100644
index 0000000..8bd30db
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/FullScreenHelper.java
@@ -0,0 +1,46 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.helpers;
+
+import android.app.Activity;
+import android.view.View;
+
+/** Helper to set up the Android full screen mode. */
+public final class FullScreenHelper {
+ /**
+ * Sets the Android fullscreen flags. Expected to be called from {@link
+ * Activity#onWindowFocusChanged(boolean hasFocus)}.
+ *
+ * @param activity the Activity on which the full screen mode will be set.
+ * @param hasFocus the hasFocus flag passed from the {@link Activity#onWindowFocusChanged(boolean
+ * hasFocus)} callback.
+ */
+ public static void setFullScreenOnWindowFocusChanged(Activity activity, boolean hasFocus) {
+ if (hasFocus) {
+ // https://developer.android.com/training/system-ui/immersive.html#sticky
+ activity
+ .getWindow()
+ .getDecorView()
+ .setSystemUiVisibility(
+ View.SYSTEM_UI_FLAG_LAYOUT_STABLE
+ | View.SYSTEM_UI_FLAG_LAYOUT_HIDE_NAVIGATION
+ | View.SYSTEM_UI_FLAG_LAYOUT_FULLSCREEN
+ | View.SYSTEM_UI_FLAG_HIDE_NAVIGATION
+ | View.SYSTEM_UI_FLAG_FULLSCREEN
+ | View.SYSTEM_UI_FLAG_IMMERSIVE_STICKY);
+ }
+ }
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/InstantPlacementSettings.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/InstantPlacementSettings.java
new file mode 100644
index 0000000..9a63b90
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/InstantPlacementSettings.java
@@ -0,0 +1,52 @@
+/*
+ * Copyright 2020 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.helpers;
+
+import android.content.Context;
+import android.content.SharedPreferences;
+
+/** Manages the Instant Placement option setting and shared preferences. */
+public class InstantPlacementSettings {
+ public static final String SHARED_PREFERENCES_ID = "SHARED_PREFERENCES_INSTANT_PLACEMENT_OPTIONS";
+ public static final String SHARED_PREFERENCES_INSTANT_PLACEMENT_ENABLED =
+ "instant_placement_enabled";
+ private boolean instantPlacementEnabled = true;
+ private SharedPreferences sharedPreferences;
+
+ /** Initializes the current settings based on the saved value. */
+ public void onCreate(Context context) {
+ sharedPreferences = context.getSharedPreferences(SHARED_PREFERENCES_ID, Context.MODE_PRIVATE);
+ instantPlacementEnabled =
+ sharedPreferences.getBoolean(SHARED_PREFERENCES_INSTANT_PLACEMENT_ENABLED, false);
+ }
+
+ /** Retrieves whether Instant Placement is enabled, */
+ public boolean isInstantPlacementEnabled() {
+ return instantPlacementEnabled;
+ }
+
+ public void setInstantPlacementEnabled(boolean enable) {
+ if (enable == instantPlacementEnabled) {
+ return; // No change.
+ }
+
+ // Updates the stored default settings.
+ instantPlacementEnabled = enable;
+ SharedPreferences.Editor editor = sharedPreferences.edit();
+ editor.putBoolean(SHARED_PREFERENCES_INSTANT_PLACEMENT_ENABLED, instantPlacementEnabled);
+ editor.apply();
+ }
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/SnackbarHelper.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/SnackbarHelper.java
new file mode 100644
index 0000000..f83e9eb
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/SnackbarHelper.java
@@ -0,0 +1,142 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.helpers;
+
+import android.app.Activity;
+import android.view.View;
+import android.widget.TextView;
+import com.google.android.material.snackbar.BaseTransientBottomBar;
+import com.google.android.material.snackbar.Snackbar;
+
+/**
+ * Helper to manage the sample snackbar. Hides the Android boilerplate code, and exposes simpler
+ * methods.
+ */
+public final class SnackbarHelper {
+ private static final int BACKGROUND_COLOR = 0xbf323232;
+ private Snackbar messageSnackbar;
+ private enum DismissBehavior { HIDE, SHOW, FINISH };
+ private int maxLines = 2;
+ private String lastMessage = "";
+ private View snackbarView;
+
+ public boolean isShowing() {
+ return messageSnackbar != null;
+ }
+
+ /** Shows a snackbar with a given message. */
+ public void showMessage(Activity activity, String message) {
+ if (!message.isEmpty() && (!isShowing() || !lastMessage.equals(message))) {
+ lastMessage = message;
+ show(activity, message, DismissBehavior.HIDE);
+ }
+ }
+
+ /** Shows a snackbar with a given message, and a dismiss button. */
+ public void showMessageWithDismiss(Activity activity, String message) {
+ show(activity, message, DismissBehavior.SHOW);
+ }
+
+ /**
+ * Shows a snackbar with a given error message. When dismissed, will finish the activity. Useful
+ * for notifying errors, where no further interaction with the activity is possible.
+ */
+ public void showError(Activity activity, String errorMessage) {
+ show(activity, errorMessage, DismissBehavior.FINISH);
+ }
+
+ /**
+ * Hides the currently showing snackbar, if there is one. Safe to call from any thread. Safe to
+ * call even if snackbar is not shown.
+ */
+ public void hide(Activity activity) {
+ if (!isShowing()) {
+ return;
+ }
+ lastMessage = "";
+ Snackbar messageSnackbarToHide = messageSnackbar;
+ messageSnackbar = null;
+ activity.runOnUiThread(
+ new Runnable() {
+ @Override
+ public void run() {
+ messageSnackbarToHide.dismiss();
+ }
+ });
+ }
+
+ public void setMaxLines(int lines) {
+ maxLines = lines;
+ }
+
+ /**
+ * Sets the view that will be used to find a suitable parent view to hold the Snackbar view.
+ *
+ * <p>To use the root layout ({@link android.R.id.content}), pass in {@code null}.
+ *
+ * @param snackbarView the view to pass to {@link
+ * com.google.android.material.snackbar.Snackbar#make(…)} which will be used to find a
+ * suitable parent, which is a {@link androidx.coordinatorlayout.widget.CoordinatorLayout}, or
+ * the window decor's content view, whichever comes first.
+ */
+ public void setParentView(View snackbarView) {
+ this.snackbarView = snackbarView;
+ }
+
+ private void show(
+ final Activity activity, final String message, final DismissBehavior dismissBehavior) {
+ activity.runOnUiThread(
+ new Runnable() {
+ @Override
+ public void run() {
+ messageSnackbar =
+ Snackbar.make(
+ snackbarView == null
+ ? activity.findViewById(android.R.id.content)
+ : snackbarView,
+ message,
+ Snackbar.LENGTH_INDEFINITE);
+ messageSnackbar.getView().setBackgroundColor(BACKGROUND_COLOR);
+ if (dismissBehavior != DismissBehavior.HIDE) {
+ messageSnackbar.setAction(
+ "Dismiss",
+ new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ messageSnackbar.dismiss();
+ }
+ });
+ if (dismissBehavior == DismissBehavior.FINISH) {
+ messageSnackbar.addCallback(
+ new BaseTransientBottomBar.BaseCallback<Snackbar>() {
+ @Override
+ public void onDismissed(Snackbar transientBottomBar, int event) {
+ super.onDismissed(transientBottomBar, event);
+ activity.finish();
+ }
+ });
+ }
+ }
+ ((TextView)
+ messageSnackbar
+ .getView()
+ .findViewById(com.google.android.material.R.id.snackbar_text))
+ .setMaxLines(maxLines);
+ messageSnackbar.show();
+ }
+ });
+ }
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TapHelper.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TapHelper.java
new file mode 100644
index 0000000..84cfc5f
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TapHelper.java
@@ -0,0 +1,71 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.helpers;
+
+import android.content.Context;
+import android.view.GestureDetector;
+import android.view.MotionEvent;
+import android.view.View;
+import android.view.View.OnTouchListener;
+import java.util.concurrent.ArrayBlockingQueue;
+import java.util.concurrent.BlockingQueue;
+
+/**
+ * Helper to detect taps using Android GestureDetector, and pass the taps between UI thread and
+ * render thread.
+ */
+public final class TapHelper implements OnTouchListener {
+ private final GestureDetector gestureDetector;
+ private final BlockingQueue<MotionEvent> queuedSingleTaps = new ArrayBlockingQueue<>(16);
+
+ /**
+ * Creates the tap helper.
+ *
+ * @param context the application's context.
+ */
+ public TapHelper(Context context) {
+ gestureDetector =
+ new GestureDetector(
+ context,
+ new GestureDetector.SimpleOnGestureListener() {
+ @Override
+ public boolean onSingleTapUp(MotionEvent e) {
+ // Queue tap if there is space. Tap is lost if queue is full.
+ queuedSingleTaps.offer(e);
+ return true;
+ }
+
+ @Override
+ public boolean onDown(MotionEvent e) {
+ return true;
+ }
+ });
+ }
+
+ /**
+ * Polls for a tap.
+ *
+ * @return if a tap was queued, a MotionEvent for the tap. Otherwise null if no taps are queued.
+ */
+ public MotionEvent poll() {
+ return queuedSingleTaps.poll();
+ }
+
+ @Override
+ public boolean onTouch(View view, MotionEvent motionEvent) {
+ return gestureDetector.onTouchEvent(motionEvent);
+ }
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TrackingStateHelper.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TrackingStateHelper.java
new file mode 100644
index 0000000..ffd8bd0
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TrackingStateHelper.java
@@ -0,0 +1,82 @@
+/*
+ * Copyright 2019 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.helpers;
+
+import android.app.Activity;
+import android.view.WindowManager;
+import com.google.ar.core.Camera;
+import com.google.ar.core.TrackingFailureReason;
+import com.google.ar.core.TrackingState;
+
+/** Gets human readibly tracking failure reasons and suggested actions. */
+public final class TrackingStateHelper {
+ private static final String INSUFFICIENT_FEATURES_MESSAGE =
+ "Can't find anything. Aim device at a surface with more texture or color.";
+ private static final String EXCESSIVE_MOTION_MESSAGE = "Moving too fast. Slow down.";
+ private static final String INSUFFICIENT_LIGHT_MESSAGE =
+ "Too dark. Try moving to a well-lit area.";
+ private static final String BAD_STATE_MESSAGE =
+ "Tracking lost due to bad internal state. Please try restarting the AR experience.";
+ private static final String CAMERA_UNAVAILABLE_MESSAGE =
+ "Another app is using the camera. Tap on this app or try closing the other one.";
+
+ private final Activity activity;
+
+ private TrackingState previousTrackingState;
+
+ public TrackingStateHelper(Activity activity) {
+ this.activity = activity;
+ }
+
+ /** Keep the screen unlocked while tracking, but allow it to lock when tracking stops. */
+ public void updateKeepScreenOnFlag(TrackingState trackingState) {
+ if (trackingState == previousTrackingState) {
+ return;
+ }
+
+ previousTrackingState = trackingState;
+ switch (trackingState) {
+ case PAUSED:
+ case STOPPED:
+ activity.runOnUiThread(
+ () -> activity.getWindow().clearFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON));
+ break;
+ case TRACKING:
+ activity.runOnUiThread(
+ () -> activity.getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON));
+ break;
+ }
+ }
+
+ public static String getTrackingFailureReasonString(Camera camera) {
+ TrackingFailureReason reason = camera.getTrackingFailureReason();
+ switch (reason) {
+ case NONE:
+ return "";
+ case BAD_STATE:
+ return BAD_STATE_MESSAGE;
+ case INSUFFICIENT_LIGHT:
+ return INSUFFICIENT_LIGHT_MESSAGE;
+ case EXCESSIVE_MOTION:
+ return EXCESSIVE_MOTION_MESSAGE;
+ case INSUFFICIENT_FEATURES:
+ return INSUFFICIENT_FEATURES_MESSAGE;
+ case CAMERA_UNAVAILABLE:
+ return CAMERA_UNAVAILABLE_MESSAGE;
+ }
+ return "Unknown tracking failure reason: " + reason;
+ }
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/BackgroundRenderer.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/BackgroundRenderer.java
new file mode 100644
index 0000000..5d5509a
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/BackgroundRenderer.java
@@ -0,0 +1,319 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.rendering;
+
+import android.content.Context;
+import android.opengl.GLES11Ext;
+import android.opengl.GLES20;
+import android.opengl.GLSurfaceView;
+import androidx.annotation.NonNull;
+import com.google.ar.core.Coordinates2d;
+import com.google.ar.core.Frame;
+import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.FloatBuffer;
+import javax.microedition.khronos.egl.EGLConfig;
+import javax.microedition.khronos.opengles.GL10;
+
+/**
+ * This class renders the AR background from camera feed. It creates and hosts the texture given to
+ * ARCore to be filled with the camera image.
+ */
+public class BackgroundRenderer {
+ private static final String TAG = BackgroundRenderer.class.getSimpleName();
+
+ // Shader names.
+ private static final String CAMERA_VERTEX_SHADER_NAME = "shaders/screenquad.vert";
+ private static final String CAMERA_FRAGMENT_SHADER_NAME = "shaders/screenquad.frag";
+ private static final String DEPTH_VISUALIZER_VERTEX_SHADER_NAME =
+ "shaders/background_show_depth_color_visualization.vert";
+ private static final String DEPTH_VISUALIZER_FRAGMENT_SHADER_NAME =
+ "shaders/background_show_depth_color_visualization.frag";
+
+ private static final int COORDS_PER_VERTEX = 2;
+ private static final int TEXCOORDS_PER_VERTEX = 2;
+ private static final int FLOAT_SIZE = 4;
+
+ private FloatBuffer quadCoords;
+ private FloatBuffer quadTexCoords;
+
+ private int cameraProgram;
+ private int depthProgram;
+
+ private int cameraPositionAttrib;
+ private int cameraTexCoordAttrib;
+ private int cameraTextureUniform;
+ private int cameraTextureId = -1;
+ private boolean suppressTimestampZeroRendering = true;
+
+ private int depthPositionAttrib;
+ private int depthTexCoordAttrib;
+ private int depthTextureUniform;
+ private int depthTextureId = -1;
+
+ public int getTextureId() {
+ return cameraTextureId;
+ }
+
+ /**
+ * Allocates and initializes OpenGL resources needed by the background renderer. Must be called on
+ * the OpenGL thread, typically in {@link GLSurfaceView.Renderer#onSurfaceCreated(GL10,
+ * EGLConfig)}.
+ *
+ * @param context Needed to access shader source.
+ */
+ public void createOnGlThread(Context context, int depthTextureId) throws IOException {
+ // Generate the background texture.
+ int[] textures = new int[1];
+ GLES20.glGenTextures(1, textures, 0);
+ cameraTextureId = textures[0];
+ int textureTarget = GLES11Ext.GL_TEXTURE_EXTERNAL_OES;
+ GLES20.glBindTexture(textureTarget, cameraTextureId);
+ GLES20.glTexParameteri(textureTarget, GLES20.GL_TEXTURE_WRAP_S, GLES20.GL_CLAMP_TO_EDGE);
+ GLES20.glTexParameteri(textureTarget, GLES20.GL_TEXTURE_WRAP_T, GLES20.GL_CLAMP_TO_EDGE);
+ GLES20.glTexParameteri(textureTarget, GLES20.GL_TEXTURE_MIN_FILTER, GLES20.GL_LINEAR);
+ GLES20.glTexParameteri(textureTarget, GLES20.GL_TEXTURE_MAG_FILTER, GLES20.GL_LINEAR);
+
+ int numVertices = 4;
+ if (numVertices != QUAD_COORDS.length / COORDS_PER_VERTEX) {
+ throw new RuntimeException("Unexpected number of vertices in BackgroundRenderer.");
+ }
+
+ ByteBuffer bbCoords = ByteBuffer.allocateDirect(QUAD_COORDS.length * FLOAT_SIZE);
+ bbCoords.order(ByteOrder.nativeOrder());
+ quadCoords = bbCoords.asFloatBuffer();
+ quadCoords.put(QUAD_COORDS);
+ quadCoords.position(0);
+
+ ByteBuffer bbTexCoordsTransformed =
+ ByteBuffer.allocateDirect(numVertices * TEXCOORDS_PER_VERTEX * FLOAT_SIZE);
+ bbTexCoordsTransformed.order(ByteOrder.nativeOrder());
+ quadTexCoords = bbTexCoordsTransformed.asFloatBuffer();
+
+ // Load render camera feed shader.
+ {
+ int vertexShader =
+ ShaderUtil.loadGLShader(TAG, context, GLES20.GL_VERTEX_SHADER, CAMERA_VERTEX_SHADER_NAME);
+ int fragmentShader =
+ ShaderUtil.loadGLShader(
+ TAG, context, GLES20.GL_FRAGMENT_SHADER, CAMERA_FRAGMENT_SHADER_NAME);
+
+ cameraProgram = GLES20.glCreateProgram();
+ GLES20.glAttachShader(cameraProgram, vertexShader);
+ GLES20.glAttachShader(cameraProgram, fragmentShader);
+ GLES20.glLinkProgram(cameraProgram);
+ GLES20.glUseProgram(cameraProgram);
+ cameraPositionAttrib = GLES20.glGetAttribLocation(cameraProgram, "a_Position");
+ cameraTexCoordAttrib = GLES20.glGetAttribLocation(cameraProgram, "a_TexCoord");
+ ShaderUtil.checkGLError(TAG, "Program creation");
+
+ cameraTextureUniform = GLES20.glGetUniformLocation(cameraProgram, "sTexture");
+ ShaderUtil.checkGLError(TAG, "Program parameters");
+ }
+
+ // Load render depth map shader.
+ {
+ int vertexShader =
+ ShaderUtil.loadGLShader(
+ TAG, context, GLES20.GL_VERTEX_SHADER, DEPTH_VISUALIZER_VERTEX_SHADER_NAME);
+ int fragmentShader =
+ ShaderUtil.loadGLShader(
+ TAG, context, GLES20.GL_FRAGMENT_SHADER, DEPTH_VISUALIZER_FRAGMENT_SHADER_NAME);
+
+ depthProgram = GLES20.glCreateProgram();
+ GLES20.glAttachShader(depthProgram, vertexShader);
+ GLES20.glAttachShader(depthProgram, fragmentShader);
+ GLES20.glLinkProgram(depthProgram);
+ GLES20.glUseProgram(depthProgram);
+ depthPositionAttrib = GLES20.glGetAttribLocation(depthProgram, "a_Position");
+ depthTexCoordAttrib = GLES20.glGetAttribLocation(depthProgram, "a_TexCoord");
+ ShaderUtil.checkGLError(TAG, "Program creation");
+
+ depthTextureUniform = GLES20.glGetUniformLocation(depthProgram, "u_DepthTexture");
+ ShaderUtil.checkGLError(TAG, "Program parameters");
+ }
+
+ this.depthTextureId = depthTextureId;
+ }
+
+ public void createOnGlThread(Context context) throws IOException {
+ createOnGlThread(context, /*depthTextureId=*/ -1);
+ }
+
+ public void suppressTimestampZeroRendering(boolean suppressTimestampZeroRendering) {
+ this.suppressTimestampZeroRendering = suppressTimestampZeroRendering;
+ }
+
+ /**
+ * Draws the AR background image. The image will be drawn such that virtual content rendered with
+ * the matrices provided by {@link com.google.ar.core.Camera#getViewMatrix(float[], int)} and
+ * {@link com.google.ar.core.Camera#getProjectionMatrix(float[], int, float, float)} will
+ * accurately follow static physical objects. This must be called <b>before</b> drawing virtual
+ * content.
+ *
+ * @param frame The current {@code Frame} as returned by {@link Session#update()}.
+ * @param debugShowDepthMap Toggles whether to show the live camera feed or latest depth image.
+ */
+ public void draw(@NonNull Frame frame, boolean debugShowDepthMap) {
+ // If display rotation changed (also includes view size change), we need to re-query the uv
+ // coordinates for the screen rect, as they may have changed as well.
+ if (frame.hasDisplayGeometryChanged()) {
+ frame.transformCoordinates2d(
+ Coordinates2d.OPENGL_NORMALIZED_DEVICE_COORDINATES,
+ quadCoords,
+ Coordinates2d.TEXTURE_NORMALIZED,
+ quadTexCoords);
+ }
+
+ if (frame.getTimestamp() == 0 && suppressTimestampZeroRendering) {
+ // Suppress rendering if the camera did not produce the first frame yet. This is to avoid
+ // drawing possible leftover data from previous sessions if the texture is reused.
+ return;
+ }
+
+ draw(debugShowDepthMap);
+ }
+
+ public void draw(@NonNull Frame frame) {
+ draw(frame, /*debugShowDepthMap=*/ false);
+ }
+
+ /**
+ * Draws the camera image using the currently configured {@link BackgroundRenderer#quadTexCoords}
+ * image texture coordinates.
+ *
+ * <p>The image will be center cropped if the camera sensor aspect ratio does not match the screen
+ * aspect ratio, which matches the cropping behavior of {@link
+ * Frame#transformCoordinates2d(Coordinates2d, float[], Coordinates2d, float[])}.
+ */
+ public void draw(
+ int imageWidth, int imageHeight, float screenAspectRatio, int cameraToDisplayRotation) {
+ // Crop the camera image to fit the screen aspect ratio.
+ float imageAspectRatio = (float) imageWidth / imageHeight;
+ float croppedWidth;
+ float croppedHeight;
+ if (screenAspectRatio < imageAspectRatio) {
+ croppedWidth = imageHeight * screenAspectRatio;
+ croppedHeight = imageHeight;
+ } else {
+ croppedWidth = imageWidth;
+ croppedHeight = imageWidth / screenAspectRatio;
+ }
+
+ float u = (imageWidth - croppedWidth) / imageWidth * 0.5f;
+ float v = (imageHeight - croppedHeight) / imageHeight * 0.5f;
+
+ float[] texCoordTransformed;
+ switch (cameraToDisplayRotation) {
+ case 90:
+ texCoordTransformed = new float[] {1 - u, 1 - v, 1 - u, v, u, 1 - v, u, v};
+ break;
+ case 180:
+ texCoordTransformed = new float[] {1 - u, v, u, v, 1 - u, 1 - v, u, 1 - v};
+ break;
+ case 270:
+ texCoordTransformed = new float[] {u, v, u, 1 - v, 1 - u, v, 1 - u, 1 - v};
+ break;
+ case 0:
+ texCoordTransformed = new float[] {u, 1 - v, 1 - u, 1 - v, u, v, 1 - u, v};
+ break;
+ default:
+ throw new IllegalArgumentException("Unhandled rotation: " + cameraToDisplayRotation);
+ }
+
+ // Write image texture coordinates.
+ quadTexCoords.position(0);
+ quadTexCoords.put(texCoordTransformed);
+
+ draw(/*debugShowDepthMap=*/ false);
+ }
+
+ /**
+ * Draws the camera background image using the currently configured {@link
+ * BackgroundRenderer#quadTexCoords} image texture coordinates.
+ */
+ private void draw(boolean debugShowDepthMap) {
+ // Ensure position is rewound before use.
+ quadTexCoords.position(0);
+
+ // No need to test or write depth, the screen quad has arbitrary depth, and is expected
+ // to be drawn first.
+ GLES20.glDisable(GLES20.GL_DEPTH_TEST);
+ GLES20.glDepthMask(false);
+
+ GLES20.glActiveTexture(GLES20.GL_TEXTURE0);
+
+ if (debugShowDepthMap) {
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, depthTextureId);
+ GLES20.glUseProgram(depthProgram);
+ GLES20.glUniform1i(depthTextureUniform, 0);
+
+ // Set the vertex positions and texture coordinates.
+ GLES20.glVertexAttribPointer(
+ depthPositionAttrib, COORDS_PER_VERTEX, GLES20.GL_FLOAT, false, 0, quadCoords);
+ GLES20.glVertexAttribPointer(
+ depthTexCoordAttrib, TEXCOORDS_PER_VERTEX, GLES20.GL_FLOAT, false, 0, quadTexCoords);
+ GLES20.glEnableVertexAttribArray(depthPositionAttrib);
+ GLES20.glEnableVertexAttribArray(depthTexCoordAttrib);
+ } else {
+ GLES20.glBindTexture(GLES11Ext.GL_TEXTURE_EXTERNAL_OES, cameraTextureId);
+ GLES20.glUseProgram(cameraProgram);
+ GLES20.glUniform1i(cameraTextureUniform, 0);
+
+ // Set the vertex positions and texture coordinates.
+ GLES20.glVertexAttribPointer(
+ cameraPositionAttrib, COORDS_PER_VERTEX, GLES20.GL_FLOAT, false, 0, quadCoords);
+ GLES20.glVertexAttribPointer(
+ cameraTexCoordAttrib, TEXCOORDS_PER_VERTEX, GLES20.GL_FLOAT, false, 0, quadTexCoords);
+ GLES20.glEnableVertexAttribArray(cameraPositionAttrib);
+ GLES20.glEnableVertexAttribArray(cameraTexCoordAttrib);
+ }
+
+ GLES20.glDrawArrays(GLES20.GL_TRIANGLE_STRIP, 0, 4);
+
+ // Disable vertex arrays
+ if (debugShowDepthMap) {
+ GLES20.glDisableVertexAttribArray(depthPositionAttrib);
+ GLES20.glDisableVertexAttribArray(depthTexCoordAttrib);
+ } else {
+ GLES20.glDisableVertexAttribArray(cameraPositionAttrib);
+ GLES20.glDisableVertexAttribArray(cameraTexCoordAttrib);
+ }
+
+ // Restore the depth state for further drawing.
+ GLES20.glDepthMask(true);
+ GLES20.glEnable(GLES20.GL_DEPTH_TEST);
+
+ ShaderUtil.checkGLError(TAG, "BackgroundRendererDraw");
+ }
+
+ /**
+ * (-1, 1) ------- (1, 1)
+ * | \ |
+ * | \ |
+ * | \ |
+ * | \ |
+ * (-1, -1) ------ (1, -1)
+ * Ensure triangles are front-facing, to support glCullFace().
+ * This quad will be drawn using GL_TRIANGLE_STRIP which draws two
+ * triangles: v0->v1->v2, then v2->v1->v3.
+ */
+ private static final float[] QUAD_COORDS =
+ new float[] {
+ -1.0f, -1.0f, +1.0f, -1.0f, -1.0f, +1.0f, +1.0f, +1.0f,
+ };
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/ObjectRenderer.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/ObjectRenderer.java
new file mode 100644
index 0000000..fd5f2d2
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/ObjectRenderer.java
@@ -0,0 +1,473 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.rendering;
+
+import android.content.Context;
+import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;
+import android.opengl.GLES20;
+import android.opengl.GLUtils;
+import android.opengl.Matrix;
+import de.javagl.obj.Obj;
+import de.javagl.obj.ObjData;
+import de.javagl.obj.ObjReader;
+import de.javagl.obj.ObjUtils;
+import java.io.IOException;
+import java.io.InputStream;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.FloatBuffer;
+import java.nio.IntBuffer;
+import java.nio.ShortBuffer;
+import java.util.Map;
+import java.util.TreeMap;
+
+/** Renders an object loaded from an OBJ file in OpenGL. */
+public class ObjectRenderer {
+ private static final String TAG = ObjectRenderer.class.getSimpleName();
+
+ /**
+ * Blend mode.
+ *
+ * @see #setBlendMode(BlendMode)
+ */
+ public enum BlendMode {
+ /** Multiplies the destination color by the source alpha, without z-buffer writing. */
+ Shadow,
+ /** Normal alpha blending with z-buffer writing. */
+ AlphaBlending
+ }
+
+ // Shader names.
+ private static final String VERTEX_SHADER_NAME = "shaders/ar_object.vert";
+ private static final String FRAGMENT_SHADER_NAME = "shaders/ar_object.frag";
+
+ private static final int COORDS_PER_VERTEX = 3;
+ private static final float[] DEFAULT_COLOR = new float[] {0f, 0f, 0f, 0f};
+
+ // Note: the last component must be zero to avoid applying the translational part of the matrix.
+ private static final float[] LIGHT_DIRECTION = new float[] {0.250f, 0.866f, 0.433f, 0.0f};
+ private final float[] viewLightDirection = new float[4];
+
+ // Object vertex buffer variables.
+ private int vertexBufferId;
+ private int verticesBaseAddress;
+ private int texCoordsBaseAddress;
+ private int normalsBaseAddress;
+ private int indexBufferId;
+ private int indexCount;
+
+ private int program;
+ private final int[] textures = new int[1];
+
+ // Shader location: model view projection matrix.
+ private int modelViewUniform;
+ private int modelViewProjectionUniform;
+
+ // Shader location: object attributes.
+ private int positionAttribute;
+ private int normalAttribute;
+ private int texCoordAttribute;
+
+ // Shader location: texture sampler.
+ private int textureUniform;
+
+ // Shader location: environment properties.
+ private int lightingParametersUniform;
+
+ // Shader location: material properties.
+ private int materialParametersUniform;
+
+ // Shader location: color correction property.
+ private int colorCorrectionParameterUniform;
+
+ // Shader location: object color property (to change the primary color of the object).
+ private int colorUniform;
+
+ // Shader location: depth texture.
+ private int depthTextureUniform;
+
+ // Shader location: transform to depth uvs.
+ private int depthUvTransformUniform;
+
+ // Shader location: the aspect ratio of the depth texture.
+ private int depthAspectRatioUniform;
+
+ private BlendMode blendMode = null;
+
+ // Temporary matrices allocated here to reduce number of allocations for each frame.
+ private final float[] modelMatrix = new float[16];
+ private final float[] modelViewMatrix = new float[16];
+ private final float[] modelViewProjectionMatrix = new float[16];
+
+ // Set some default material properties to use for lighting.
+ private float ambient = 0.3f;
+ private float diffuse = 1.0f;
+ private float specular = 1.0f;
+ private float specularPower = 6.0f;
+
+ // Depth-for-Occlusion parameters.
+ private static final String USE_DEPTH_FOR_OCCLUSION_SHADER_FLAG = "USE_DEPTH_FOR_OCCLUSION";
+ private boolean useDepthForOcclusion = false;
+ private float depthAspectRatio = 0.0f;
+ private float[] uvTransform = null;
+ private int depthTextureId;
+
+ /**
+ * Creates and initializes OpenGL resources needed for rendering the model.
+ *
+ * @param context Context for loading the shader and below-named model and texture assets.
+ * @param objAssetName Name of the OBJ file containing the model geometry.
+ * @param diffuseTextureAssetName Name of the PNG file containing the diffuse texture map.
+ */
+ public void createOnGlThread(Context context, String objAssetName, String diffuseTextureAssetName)
+ throws IOException {
+ // Compiles and loads the shader based on the current configuration.
+ compileAndLoadShaderProgram(context);
+
+ // Read the texture.
+ Bitmap textureBitmap =
+ BitmapFactory.decodeStream(context.getAssets().open(diffuseTextureAssetName));
+
+ GLES20.glActiveTexture(GLES20.GL_TEXTURE0);
+ GLES20.glGenTextures(textures.length, textures, 0);
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, textures[0]);
+
+ GLES20.glTexParameteri(
+ GLES20.GL_TEXTURE_2D, GLES20.GL_TEXTURE_MIN_FILTER, GLES20.GL_LINEAR_MIPMAP_LINEAR);
+ GLES20.glTexParameteri(GLES20.GL_TEXTURE_2D, GLES20.GL_TEXTURE_MAG_FILTER, GLES20.GL_LINEAR);
+ GLUtils.texImage2D(GLES20.GL_TEXTURE_2D, 0, textureBitmap, 0);
+ GLES20.glGenerateMipmap(GLES20.GL_TEXTURE_2D);
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, 0);
+
+ textureBitmap.recycle();
+
+ ShaderUtil.checkGLError(TAG, "Texture loading");
+
+ // Read the obj file.
+ InputStream objInputStream = context.getAssets().open(objAssetName);
+ Obj obj = ObjReader.read(objInputStream);
+
+ // Prepare the Obj so that its structure is suitable for
+ // rendering with OpenGL:
+ // 1. Triangulate it
+ // 2. Make sure that texture coordinates are not ambiguous
+ // 3. Make sure that normals are not ambiguous
+ // 4. Convert it to single-indexed data
+ obj = ObjUtils.convertToRenderable(obj);
+
+ // OpenGL does not use Java arrays. ByteBuffers are used instead to provide data in a format
+ // that OpenGL understands.
+
+ // Obtain the data from the OBJ, as direct buffers:
+ IntBuffer wideIndices = ObjData.getFaceVertexIndices(obj, 3);
+ FloatBuffer vertices = ObjData.getVertices(obj);
+ FloatBuffer texCoords = ObjData.getTexCoords(obj, 2);
+ FloatBuffer normals = ObjData.getNormals(obj);
+
+ // Convert int indices to shorts for GL ES 2.0 compatibility
+ ShortBuffer indices =
+ ByteBuffer.allocateDirect(2 * wideIndices.limit())
+ .order(ByteOrder.nativeOrder())
+ .asShortBuffer();
+ while (wideIndices.hasRemaining()) {
+ indices.put((short) wideIndices.get());
+ }
+ indices.rewind();
+
+ int[] buffers = new int[2];
+ GLES20.glGenBuffers(2, buffers, 0);
+ vertexBufferId = buffers[0];
+ indexBufferId = buffers[1];
+
+ // Load vertex buffer
+ verticesBaseAddress = 0;
+ texCoordsBaseAddress = verticesBaseAddress + 4 * vertices.limit();
+ normalsBaseAddress = texCoordsBaseAddress + 4 * texCoords.limit();
+ final int totalBytes = normalsBaseAddress + 4 * normals.limit();
+
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, vertexBufferId);
+ GLES20.glBufferData(GLES20.GL_ARRAY_BUFFER, totalBytes, null, GLES20.GL_STATIC_DRAW);
+ GLES20.glBufferSubData(
+ GLES20.GL_ARRAY_BUFFER, verticesBaseAddress, 4 * vertices.limit(), vertices);
+ GLES20.glBufferSubData(
+ GLES20.GL_ARRAY_BUFFER, texCoordsBaseAddress, 4 * texCoords.limit(), texCoords);
+ GLES20.glBufferSubData(
+ GLES20.GL_ARRAY_BUFFER, normalsBaseAddress, 4 * normals.limit(), normals);
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, 0);
+
+ // Load index buffer
+ GLES20.glBindBuffer(GLES20.GL_ELEMENT_ARRAY_BUFFER, indexBufferId);
+ indexCount = indices.limit();
+ GLES20.glBufferData(
+ GLES20.GL_ELEMENT_ARRAY_BUFFER, 2 * indexCount, indices, GLES20.GL_STATIC_DRAW);
+ GLES20.glBindBuffer(GLES20.GL_ELEMENT_ARRAY_BUFFER, 0);
+
+ ShaderUtil.checkGLError(TAG, "OBJ buffer load");
+
+ Matrix.setIdentityM(modelMatrix, 0);
+ }
+
+ /**
+ * Selects the blending mode for rendering.
+ *
+ * @param blendMode The blending mode. Null indicates no blending (opaque rendering).
+ */
+ public void setBlendMode(BlendMode blendMode) {
+ this.blendMode = blendMode;
+ }
+
+ /**
+ * Specifies whether to use the depth texture to perform depth-based occlusion of virtual objects
+ * from real-world geometry.
+ *
+ * <p>This function is a no-op if the value provided is the same as what is already set. If the
+ * value changes, this function will recompile and reload the shader program to either
+ * enable/disable depth-based occlusion. NOTE: recompilation of the shader is inefficient. This
+ * code could be optimized to precompile both versions of the shader.
+ *
+ * @param context Context for loading the shader.
+ * @param useDepthForOcclusion Specifies whether to use the depth texture to perform occlusion
+ * during rendering of virtual objects.
+ */
+ public void setUseDepthForOcclusion(Context context, boolean useDepthForOcclusion)
+ throws IOException {
+ if (this.useDepthForOcclusion == useDepthForOcclusion) {
+ return; // No change, does nothing.
+ }
+
+ // Toggles the occlusion rendering mode and recompiles the shader.
+ this.useDepthForOcclusion = useDepthForOcclusion;
+ compileAndLoadShaderProgram(context);
+ }
+
+ private void compileAndLoadShaderProgram(Context context) throws IOException {
+ // Compiles and loads the shader program based on the selected mode.
+ Map<String, Integer> defineValuesMap = new TreeMap<>();
+ defineValuesMap.put(USE_DEPTH_FOR_OCCLUSION_SHADER_FLAG, useDepthForOcclusion ? 1 : 0);
+
+ final int vertexShader =
+ ShaderUtil.loadGLShader(TAG, context, GLES20.GL_VERTEX_SHADER, VERTEX_SHADER_NAME);
+ final int fragmentShader =
+ ShaderUtil.loadGLShader(
+ TAG, context, GLES20.GL_FRAGMENT_SHADER, FRAGMENT_SHADER_NAME, defineValuesMap);
+
+ program = GLES20.glCreateProgram();
+ GLES20.glAttachShader(program, vertexShader);
+ GLES20.glAttachShader(program, fragmentShader);
+ GLES20.glLinkProgram(program);
+ GLES20.glUseProgram(program);
+
+ ShaderUtil.checkGLError(TAG, "Program creation");
+
+ modelViewUniform = GLES20.glGetUniformLocation(program, "u_ModelView");
+ modelViewProjectionUniform = GLES20.glGetUniformLocation(program, "u_ModelViewProjection");
+
+ positionAttribute = GLES20.glGetAttribLocation(program, "a_Position");
+ normalAttribute = GLES20.glGetAttribLocation(program, "a_Normal");
+ texCoordAttribute = GLES20.glGetAttribLocation(program, "a_TexCoord");
+
+ textureUniform = GLES20.glGetUniformLocation(program, "u_Texture");
+
+ lightingParametersUniform = GLES20.glGetUniformLocation(program, "u_LightingParameters");
+ materialParametersUniform = GLES20.glGetUniformLocation(program, "u_MaterialParameters");
+ colorCorrectionParameterUniform =
+ GLES20.glGetUniformLocation(program, "u_ColorCorrectionParameters");
+ colorUniform = GLES20.glGetUniformLocation(program, "u_ObjColor");
+
+ // Occlusion Uniforms.
+ if (useDepthForOcclusion) {
+ depthTextureUniform = GLES20.glGetUniformLocation(program, "u_DepthTexture");
+ depthUvTransformUniform = GLES20.glGetUniformLocation(program, "u_DepthUvTransform");
+ depthAspectRatioUniform = GLES20.glGetUniformLocation(program, "u_DepthAspectRatio");
+ }
+
+ ShaderUtil.checkGLError(TAG, "Program parameters");
+ }
+
+ /**
+ * Updates the object model matrix and applies scaling.
+ *
+ * @param modelMatrix A 4x4 model-to-world transformation matrix, stored in column-major order.
+ * @param scaleFactor A separate scaling factor to apply before the {@code modelMatrix}.
+ * @see android.opengl.Matrix
+ */
+ public void updateModelMatrix(float[] modelMatrix, float scaleFactor) {
+ float[] scaleMatrix = new float[16];
+ Matrix.setIdentityM(scaleMatrix, 0);
+ scaleMatrix[0] = scaleFactor;
+ scaleMatrix[5] = scaleFactor;
+ scaleMatrix[10] = scaleFactor;
+ Matrix.multiplyMM(this.modelMatrix, 0, modelMatrix, 0, scaleMatrix, 0);
+ }
+
+ /**
+ * Sets the surface characteristics of the rendered model.
+ *
+ * @param ambient Intensity of non-directional surface illumination.
+ * @param diffuse Diffuse (matte) surface reflectivity.
+ * @param specular Specular (shiny) surface reflectivity.
+ * @param specularPower Surface shininess. Larger values result in a smaller, sharper specular
+ * highlight.
+ */
+ public void setMaterialProperties(
+ float ambient, float diffuse, float specular, float specularPower) {
+ this.ambient = ambient;
+ this.diffuse = diffuse;
+ this.specular = specular;
+ this.specularPower = specularPower;
+ }
+
+ /**
+ * Draws the model.
+ *
+ * @param cameraView A 4x4 view matrix, in column-major order.
+ * @param cameraPerspective A 4x4 projection matrix, in column-major order.
+ * @param colorCorrectionRgba Illumination intensity. Combined with diffuse and specular material
+ * properties.
+ * @see #setBlendMode(BlendMode)
+ * @see #updateModelMatrix(float[], float)
+ * @see #setMaterialProperties(float, float, float, float)
+ * @see android.opengl.Matrix
+ */
+ public void draw(float[] cameraView, float[] cameraPerspective, float[] colorCorrectionRgba) {
+ draw(cameraView, cameraPerspective, colorCorrectionRgba, DEFAULT_COLOR);
+ }
+
+ public void draw(
+ float[] cameraView,
+ float[] cameraPerspective,
+ float[] colorCorrectionRgba,
+ float[] objColor) {
+
+ ShaderUtil.checkGLError(TAG, "Before draw");
+
+ // Build the ModelView and ModelViewProjection matrices
+ // for calculating object position and light.
+ Matrix.multiplyMM(modelViewMatrix, 0, cameraView, 0, modelMatrix, 0);
+ Matrix.multiplyMM(modelViewProjectionMatrix, 0, cameraPerspective, 0, modelViewMatrix, 0);
+
+ GLES20.glUseProgram(program);
+
+ // Set the lighting environment properties.
+ Matrix.multiplyMV(viewLightDirection, 0, modelViewMatrix, 0, LIGHT_DIRECTION, 0);
+ normalizeVec3(viewLightDirection);
+ GLES20.glUniform4f(
+ lightingParametersUniform,
+ viewLightDirection[0],
+ viewLightDirection[1],
+ viewLightDirection[2],
+ 1.f);
+ GLES20.glUniform4fv(colorCorrectionParameterUniform, 1, colorCorrectionRgba, 0);
+
+ // Set the object color property.
+ GLES20.glUniform4fv(colorUniform, 1, objColor, 0);
+
+ // Set the object material properties.
+ GLES20.glUniform4f(materialParametersUniform, ambient, diffuse, specular, specularPower);
+
+ // Attach the object texture.
+ GLES20.glActiveTexture(GLES20.GL_TEXTURE0);
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, textures[0]);
+ GLES20.glUniform1i(textureUniform, 0);
+
+ // Occlusion parameters.
+ if (useDepthForOcclusion) {
+ // Attach the depth texture.
+ GLES20.glActiveTexture(GLES20.GL_TEXTURE1);
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, depthTextureId);
+ GLES20.glUniform1i(depthTextureUniform, 1);
+
+ // Set the depth texture uv transform.
+ GLES20.glUniformMatrix3fv(depthUvTransformUniform, 1, false, uvTransform, 0);
+ GLES20.glUniform1f(depthAspectRatioUniform, depthAspectRatio);
+ }
+
+ // Set the vertex attributes.
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, vertexBufferId);
+
+ GLES20.glVertexAttribPointer(
+ positionAttribute, COORDS_PER_VERTEX, GLES20.GL_FLOAT, false, 0, verticesBaseAddress);
+ GLES20.glVertexAttribPointer(normalAttribute, 3, GLES20.GL_FLOAT, false, 0, normalsBaseAddress);
+ GLES20.glVertexAttribPointer(
+ texCoordAttribute, 2, GLES20.GL_FLOAT, false, 0, texCoordsBaseAddress);
+
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, 0);
+
+ // Set the ModelViewProjection matrix in the shader.
+ GLES20.glUniformMatrix4fv(modelViewUniform, 1, false, modelViewMatrix, 0);
+ GLES20.glUniformMatrix4fv(modelViewProjectionUniform, 1, false, modelViewProjectionMatrix, 0);
+
+ // Enable vertex arrays
+ GLES20.glEnableVertexAttribArray(positionAttribute);
+ GLES20.glEnableVertexAttribArray(normalAttribute);
+ GLES20.glEnableVertexAttribArray(texCoordAttribute);
+
+ if (blendMode != null) {
+ GLES20.glEnable(GLES20.GL_BLEND);
+ switch (blendMode) {
+ case Shadow:
+ // Multiplicative blending function for Shadow.
+ GLES20.glDepthMask(false);
+ GLES20.glBlendFunc(GLES20.GL_ZERO, GLES20.GL_ONE_MINUS_SRC_ALPHA);
+ break;
+ case AlphaBlending:
+ // Alpha blending function, with the depth mask enabled.
+ GLES20.glDepthMask(true);
+
+ // Textures are loaded with premultiplied alpha
+ // (https://developer.android.com/reference/android/graphics/BitmapFactory.Options#inPremultiplied),
+ // so we use the premultiplied alpha blend factors.
+ GLES20.glBlendFunc(GLES20.GL_ONE, GLES20.GL_ONE_MINUS_SRC_ALPHA);
+ break;
+ }
+ }
+
+ GLES20.glBindBuffer(GLES20.GL_ELEMENT_ARRAY_BUFFER, indexBufferId);
+ GLES20.glDrawElements(GLES20.GL_TRIANGLES, indexCount, GLES20.GL_UNSIGNED_SHORT, 0);
+ GLES20.glBindBuffer(GLES20.GL_ELEMENT_ARRAY_BUFFER, 0);
+
+ if (blendMode != null) {
+ GLES20.glDisable(GLES20.GL_BLEND);
+ GLES20.glDepthMask(true);
+ }
+
+ // Disable vertex arrays
+ GLES20.glDisableVertexAttribArray(positionAttribute);
+ GLES20.glDisableVertexAttribArray(normalAttribute);
+ GLES20.glDisableVertexAttribArray(texCoordAttribute);
+
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, 0);
+
+ ShaderUtil.checkGLError(TAG, "After draw");
+ }
+
+ private static void normalizeVec3(float[] v) {
+ float reciprocalLength = 1.0f / (float) Math.sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
+ v[0] *= reciprocalLength;
+ v[1] *= reciprocalLength;
+ v[2] *= reciprocalLength;
+ }
+
+ public void setUvTransformMatrix(float[] transform) {
+ uvTransform = transform;
+ }
+
+ public void setDepthTexture(int textureId, int width, int height) {
+ depthTextureId = textureId;
+ depthAspectRatio = (float) width / (float) height;
+ }
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/PlaneRenderer.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/PlaneRenderer.java
new file mode 100644
index 0000000..050ee19
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/PlaneRenderer.java
@@ -0,0 +1,400 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.rendering;
+
+import android.content.Context;
+import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;
+import android.opengl.GLES20;
+import android.opengl.GLSurfaceView;
+import android.opengl.GLUtils;
+import android.opengl.Matrix;
+import com.google.ar.core.Camera;
+import com.google.ar.core.Plane;
+import com.google.ar.core.Pose;
+import com.google.ar.core.TrackingState;
+import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.FloatBuffer;
+import java.nio.ShortBuffer;
+import java.util.ArrayList;
+import java.util.Collection;
+import java.util.Collections;
+import java.util.Comparator;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/** Renders the detected AR planes. */
+public class PlaneRenderer {
+ private static final String TAG = PlaneRenderer.class.getSimpleName();
+
+ // Shader names.
+ private static final String VERTEX_SHADER_NAME = "shaders/plane.vert";
+ private static final String FRAGMENT_SHADER_NAME = "shaders/plane.frag";
+
+ private static final int BYTES_PER_FLOAT = Float.SIZE / 8;
+ private static final int BYTES_PER_SHORT = Short.SIZE / 8;
+ private static final int COORDS_PER_VERTEX = 3; // x, z, alpha
+
+ private static final int VERTS_PER_BOUNDARY_VERT = 2;
+ private static final int INDICES_PER_BOUNDARY_VERT = 3;
+ private static final int INITIAL_BUFFER_BOUNDARY_VERTS = 64;
+
+ private static final int INITIAL_VERTEX_BUFFER_SIZE_BYTES =
+ BYTES_PER_FLOAT * COORDS_PER_VERTEX * VERTS_PER_BOUNDARY_VERT * INITIAL_BUFFER_BOUNDARY_VERTS;
+
+ private static final int INITIAL_INDEX_BUFFER_SIZE_BYTES =
+ BYTES_PER_SHORT
+ * INDICES_PER_BOUNDARY_VERT
+ * INDICES_PER_BOUNDARY_VERT
+ * INITIAL_BUFFER_BOUNDARY_VERTS;
+
+ private static final float FADE_RADIUS_M = 0.25f;
+ private static final float DOTS_PER_METER = 10.0f;
+ private static final float EQUILATERAL_TRIANGLE_SCALE = (float) (1 / Math.sqrt(3));
+
+ // Using the "signed distance field" approach to render sharp lines and circles.
+ // {dotThreshold, lineThreshold, lineFadeSpeed, occlusionScale}
+ // dotThreshold/lineThreshold: red/green intensity above which dots/lines are present
+ // lineFadeShrink: lines will fade in between alpha = 1-(1/lineFadeShrink) and 1.0
+ // occlusionShrink: occluded planes will fade out between alpha = 0 and 1/occlusionShrink
+ private static final float[] GRID_CONTROL = {0.2f, 0.4f, 2.0f, 1.5f};
+
+ private int planeProgram;
+ private final int[] textures = new int[1];
+
+ private int planeXZPositionAlphaAttribute;
+
+ private int planeModelUniform;
+ private int planeNormalUniform;
+ private int planeModelViewProjectionUniform;
+ private int textureUniform;
+ private int gridControlUniform;
+ private int planeUvMatrixUniform;
+
+ private FloatBuffer vertexBuffer =
+ ByteBuffer.allocateDirect(INITIAL_VERTEX_BUFFER_SIZE_BYTES)
+ .order(ByteOrder.nativeOrder())
+ .asFloatBuffer();
+ private ShortBuffer indexBuffer =
+ ByteBuffer.allocateDirect(INITIAL_INDEX_BUFFER_SIZE_BYTES)
+ .order(ByteOrder.nativeOrder())
+ .asShortBuffer();
+
+ // Temporary lists/matrices allocated here to reduce number of allocations for each frame.
+ private final float[] modelMatrix = new float[16];
+ private final float[] modelViewMatrix = new float[16];
+ private final float[] modelViewProjectionMatrix = new float[16];
+ private final float[] planeAngleUvMatrix =
+ new float[4]; // 2x2 rotation matrix applied to uv coords.
+
+ private final Map<Plane, Integer> planeIndexMap = new HashMap<>();
+
+ public PlaneRenderer() {}
+
+ /**
+ * Allocates and initializes OpenGL resources needed by the plane renderer. Must be called on the
+ * OpenGL thread, typically in {@link GLSurfaceView.Renderer#onSurfaceCreated(GL10, EGLConfig)}.
+ *
+ * @param context Needed to access shader source and texture PNG.
+ * @param gridDistanceTextureName Name of the PNG file containing the grid texture.
+ */
+ public void createOnGlThread(Context context, String gridDistanceTextureName) throws IOException {
+ int vertexShader =
+ ShaderUtil.loadGLShader(TAG, context, GLES20.GL_VERTEX_SHADER, VERTEX_SHADER_NAME);
+ int passthroughShader =
+ ShaderUtil.loadGLShader(TAG, context, GLES20.GL_FRAGMENT_SHADER, FRAGMENT_SHADER_NAME);
+
+ planeProgram = GLES20.glCreateProgram();
+ GLES20.glAttachShader(planeProgram, vertexShader);
+ GLES20.glAttachShader(planeProgram, passthroughShader);
+ GLES20.glLinkProgram(planeProgram);
+ GLES20.glUseProgram(planeProgram);
+
+ ShaderUtil.checkGLError(TAG, "Program creation");
+
+ // Read the texture.
+ Bitmap textureBitmap =
+ BitmapFactory.decodeStream(context.getAssets().open(gridDistanceTextureName));
+
+ GLES20.glActiveTexture(GLES20.GL_TEXTURE0);
+ GLES20.glGenTextures(textures.length, textures, 0);
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, textures[0]);
+
+ GLES20.glTexParameteri(
+ GLES20.GL_TEXTURE_2D, GLES20.GL_TEXTURE_MIN_FILTER, GLES20.GL_LINEAR_MIPMAP_LINEAR);
+ GLES20.glTexParameteri(GLES20.GL_TEXTURE_2D, GLES20.GL_TEXTURE_MAG_FILTER, GLES20.GL_LINEAR);
+ GLUtils.texImage2D(GLES20.GL_TEXTURE_2D, 0, textureBitmap, 0);
+ GLES20.glGenerateMipmap(GLES20.GL_TEXTURE_2D);
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, 0);
+
+ ShaderUtil.checkGLError(TAG, "Texture loading");
+
+ planeXZPositionAlphaAttribute = GLES20.glGetAttribLocation(planeProgram, "a_XZPositionAlpha");
+
+ planeModelUniform = GLES20.glGetUniformLocation(planeProgram, "u_Model");
+ planeNormalUniform = GLES20.glGetUniformLocation(planeProgram, "u_Normal");
+ planeModelViewProjectionUniform =
+ GLES20.glGetUniformLocation(planeProgram, "u_ModelViewProjection");
+ textureUniform = GLES20.glGetUniformLocation(planeProgram, "u_Texture");
+ gridControlUniform = GLES20.glGetUniformLocation(planeProgram, "u_gridControl");
+ planeUvMatrixUniform = GLES20.glGetUniformLocation(planeProgram, "u_PlaneUvMatrix");
+
+ ShaderUtil.checkGLError(TAG, "Program parameters");
+ }
+
+ /** Updates the plane model transform matrix and extents. */
+ private void updatePlaneParameters(
+ float[] planeMatrix, float extentX, float extentZ, FloatBuffer boundary) {
+ System.arraycopy(planeMatrix, 0, modelMatrix, 0, 16);
+ if (boundary == null) {
+ vertexBuffer.limit(0);
+ indexBuffer.limit(0);
+ return;
+ }
+
+ // Generate a new set of vertices and a corresponding triangle strip index set so that
+ // the plane boundary polygon has a fading edge. This is done by making a copy of the
+ // boundary polygon vertices and scaling it down around center to push it inwards. Then
+ // the index buffer is setup accordingly.
+ boundary.rewind();
+ int boundaryVertices = boundary.limit() / 2;
+ int numVertices;
+ int numIndices;
+
+ numVertices = boundaryVertices * VERTS_PER_BOUNDARY_VERT;
+ // drawn as GL_TRIANGLE_STRIP with 3n-2 triangles (n-2 for fill, 2n for perimeter).
+ numIndices = boundaryVertices * INDICES_PER_BOUNDARY_VERT;
+
+ if (vertexBuffer.capacity() < numVertices * COORDS_PER_VERTEX) {
+ int size = vertexBuffer.capacity();
+ while (size < numVertices * COORDS_PER_VERTEX) {
+ size *= 2;
+ }
+ vertexBuffer =
+ ByteBuffer.allocateDirect(BYTES_PER_FLOAT * size)
+ .order(ByteOrder.nativeOrder())
+ .asFloatBuffer();
+ }
+ vertexBuffer.rewind();
+ vertexBuffer.limit(numVertices * COORDS_PER_VERTEX);
+
+ if (indexBuffer.capacity() < numIndices) {
+ int size = indexBuffer.capacity();
+ while (size < numIndices) {
+ size *= 2;
+ }
+ indexBuffer =
+ ByteBuffer.allocateDirect(BYTES_PER_SHORT * size)
+ .order(ByteOrder.nativeOrder())
+ .asShortBuffer();
+ }
+ indexBuffer.rewind();
+ indexBuffer.limit(numIndices);
+
+ // Note: when either dimension of the bounding box is smaller than 2*FADE_RADIUS_M we
+ // generate a bunch of 0-area triangles. These don't get rendered though so it works
+ // out ok.
+ float xScale = Math.max((extentX - 2 * FADE_RADIUS_M) / extentX, 0.0f);
+ float zScale = Math.max((extentZ - 2 * FADE_RADIUS_M) / extentZ, 0.0f);
+
+ while (boundary.hasRemaining()) {
+ float x = boundary.get();
+ float z = boundary.get();
+ vertexBuffer.put(x);
+ vertexBuffer.put(z);
+ vertexBuffer.put(0.0f);
+ vertexBuffer.put(x * xScale);
+ vertexBuffer.put(z * zScale);
+ vertexBuffer.put(1.0f);
+ }
+
+ // step 1, perimeter
+ indexBuffer.put((short) ((boundaryVertices - 1) * 2));
+ for (int i = 0; i < boundaryVertices; ++i) {
+ indexBuffer.put((short) (i * 2));
+ indexBuffer.put((short) (i * 2 + 1));
+ }
+ indexBuffer.put((short) 1);
+ // This leaves us on the interior edge of the perimeter between the inset vertices
+ // for boundary verts n-1 and 0.
+
+ // step 2, interior:
+ for (int i = 1; i < boundaryVertices / 2; ++i) {
+ indexBuffer.put((short) ((boundaryVertices - 1 - i) * 2 + 1));
+ indexBuffer.put((short) (i * 2 + 1));
+ }
+ if (boundaryVertices % 2 != 0) {
+ indexBuffer.put((short) ((boundaryVertices / 2) * 2 + 1));
+ }
+ }
+
+ private void draw(float[] cameraView, float[] cameraPerspective, float[] planeNormal) {
+ // Build the ModelView and ModelViewProjection matrices
+ // for calculating cube position and light.
+ Matrix.multiplyMM(modelViewMatrix, 0, cameraView, 0, modelMatrix, 0);
+ Matrix.multiplyMM(modelViewProjectionMatrix, 0, cameraPerspective, 0, modelViewMatrix, 0);
+
+ // Set the position of the plane
+ vertexBuffer.rewind();
+ GLES20.glVertexAttribPointer(
+ planeXZPositionAlphaAttribute,
+ COORDS_PER_VERTEX,
+ GLES20.GL_FLOAT,
+ false,
+ BYTES_PER_FLOAT * COORDS_PER_VERTEX,
+ vertexBuffer);
+
+ // Set the Model and ModelViewProjection matrices in the shader.
+ GLES20.glUniformMatrix4fv(planeModelUniform, 1, false, modelMatrix, 0);
+ GLES20.glUniform3f(planeNormalUniform, planeNormal[0], planeNormal[1], planeNormal[2]);
+ GLES20.glUniformMatrix4fv(
+ planeModelViewProjectionUniform, 1, false, modelViewProjectionMatrix, 0);
+
+ indexBuffer.rewind();
+ GLES20.glDrawElements(
+ GLES20.GL_TRIANGLE_STRIP, indexBuffer.limit(), GLES20.GL_UNSIGNED_SHORT, indexBuffer);
+ ShaderUtil.checkGLError(TAG, "Drawing plane");
+ }
+
+ static class SortablePlane {
+ final float distance;
+ final Plane plane;
+
+ SortablePlane(float distance, Plane plane) {
+ this.distance = distance;
+ this.plane = plane;
+ }
+ }
+
+ /**
+ * Draws the collection of tracked planes, with closer planes hiding more distant ones.
+ *
+ * @param allPlanes The collection of planes to draw.
+ * @param cameraPose The pose of the camera, as returned by {@link Camera#getPose()}
+ * @param cameraPerspective The projection matrix, as returned by {@link
+ * Camera#getProjectionMatrix(float[], int, float, float)}
+ */
+ public void drawPlanes(Collection<Plane> allPlanes, Pose cameraPose, float[] cameraPerspective) {
+ // Planes must be sorted by distance from camera so that we draw closer planes first, and
+ // they occlude the farther planes.
+ List<SortablePlane> sortedPlanes = new ArrayList<>();
+
+ for (Plane plane : allPlanes) {
+ if (plane.getTrackingState() != TrackingState.TRACKING || plane.getSubsumedBy() != null) {
+ continue;
+ }
+
+ float distance = calculateDistanceToPlane(plane.getCenterPose(), cameraPose);
+ if (distance < 0) { // Plane is back-facing.
+ continue;
+ }
+ sortedPlanes.add(new SortablePlane(distance, plane));
+ }
+ Collections.sort(
+ sortedPlanes,
+ new Comparator<SortablePlane>() {
+ @Override
+ public int compare(SortablePlane a, SortablePlane b) {
+ return Float.compare(b.distance, a.distance);
+ }
+ });
+
+ float[] cameraView = new float[16];
+ cameraPose.inverse().toMatrix(cameraView, 0);
+
+ // Disable depth write.
+ GLES20.glDepthMask(false);
+
+ // Normal alpha blending with premultiplied alpha.
+ GLES20.glEnable(GLES20.GL_BLEND);
+ GLES20.glBlendFunc(GLES20.GL_ONE, GLES20.GL_ONE_MINUS_SRC_ALPHA);
+
+ // Set up the shader.
+ GLES20.glUseProgram(planeProgram);
+
+ // Attach the texture.
+ GLES20.glActiveTexture(GLES20.GL_TEXTURE0);
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, textures[0]);
+ GLES20.glUniform1i(textureUniform, 0);
+
+ // Shared fragment uniforms.
+ GLES20.glUniform4fv(gridControlUniform, 1, GRID_CONTROL, 0);
+
+ // Enable vertex arrays
+ GLES20.glEnableVertexAttribArray(planeXZPositionAlphaAttribute);
+
+ ShaderUtil.checkGLError(TAG, "Setting up to draw planes");
+
+ for (SortablePlane sortedPlane : sortedPlanes) {
+ Plane plane = sortedPlane.plane;
+ float[] planeMatrix = new float[16];
+ plane.getCenterPose().toMatrix(planeMatrix, 0);
+
+ float[] normal = new float[3];
+ // Get transformed Y axis of plane's coordinate system.
+ plane.getCenterPose().getTransformedAxis(1, 1.0f, normal, 0);
+
+ updatePlaneParameters(
+ planeMatrix, plane.getExtentX(), plane.getExtentZ(), plane.getPolygon());
+
+ // Get plane index. Keep a map to assign same indices to same planes.
+ Integer planeIndex = planeIndexMap.get(plane);
+ if (planeIndex == null) {
+ planeIndex = planeIndexMap.size();
+ planeIndexMap.put(plane, planeIndex);
+ }
+
+ // Each plane will have its own angle offset from others, to make them easier to
+ // distinguish. Compute a 2x2 rotation matrix from the angle.
+ float angleRadians = planeIndex * 0.144f;
+ float uScale = DOTS_PER_METER;
+ float vScale = DOTS_PER_METER * EQUILATERAL_TRIANGLE_SCALE;
+ planeAngleUvMatrix[0] = +(float) Math.cos(angleRadians) * uScale;
+ planeAngleUvMatrix[1] = -(float) Math.sin(angleRadians) * vScale;
+ planeAngleUvMatrix[2] = +(float) Math.sin(angleRadians) * uScale;
+ planeAngleUvMatrix[3] = +(float) Math.cos(angleRadians) * vScale;
+ GLES20.glUniformMatrix2fv(planeUvMatrixUniform, 1, false, planeAngleUvMatrix, 0);
+
+ draw(cameraView, cameraPerspective, normal);
+ }
+
+ // Clean up the state we set
+ GLES20.glDisableVertexAttribArray(planeXZPositionAlphaAttribute);
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, 0);
+ GLES20.glDisable(GLES20.GL_BLEND);
+ GLES20.glDepthMask(true);
+
+ ShaderUtil.checkGLError(TAG, "Cleaning up after drawing planes");
+ }
+
+ // Calculate the normal distance to plane from cameraPose, the given planePose should have y axis
+ // parallel to plane's normal, for example plane's center pose or hit test pose.
+ public static float calculateDistanceToPlane(Pose planePose, Pose cameraPose) {
+ float[] normal = new float[3];
+ float cameraX = cameraPose.tx();
+ float cameraY = cameraPose.ty();
+ float cameraZ = cameraPose.tz();
+ // Get transformed Y axis of plane's coordinate system.
+ planePose.getTransformedAxis(1, 1.0f, normal, 0);
+ // Compute dot product of plane's normal with vector from camera to plane center.
+ return (cameraX - planePose.tx()) * normal[0]
+ + (cameraY - planePose.ty()) * normal[1]
+ + (cameraZ - planePose.tz()) * normal[2];
+ }
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/PointCloudRenderer.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/PointCloudRenderer.java
new file mode 100644
index 0000000..1272b94
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/PointCloudRenderer.java
@@ -0,0 +1,153 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.rendering;
+
+import android.content.Context;
+import android.opengl.GLES20;
+import android.opengl.GLSurfaceView;
+import android.opengl.Matrix;
+import com.google.ar.core.PointCloud;
+import java.io.IOException;
+
+/** Renders a point cloud. */
+public class PointCloudRenderer {
+ private static final String TAG = PointCloud.class.getSimpleName();
+
+ // Shader names.
+ private static final String VERTEX_SHADER_NAME = "shaders/point_cloud.vert";
+ private static final String FRAGMENT_SHADER_NAME = "shaders/point_cloud.frag";
+
+ private static final int BYTES_PER_FLOAT = Float.SIZE / 8;
+ private static final int FLOATS_PER_POINT = 4; // X,Y,Z,confidence.
+ private static final int BYTES_PER_POINT = BYTES_PER_FLOAT * FLOATS_PER_POINT;
+ private static final int INITIAL_BUFFER_POINTS = 1000;
+
+ private int vbo;
+ private int vboSize;
+
+ private int programName;
+ private int positionAttribute;
+ private int modelViewProjectionUniform;
+ private int colorUniform;
+ private int pointSizeUniform;
+
+ private int numPoints = 0;
+
+ // Keep track of the last point cloud rendered to avoid updating the VBO if point cloud
+ // was not changed. Do this using the timestamp since we can't compare PointCloud objects.
+ private long lastTimestamp = 0;
+
+ public PointCloudRenderer() {}
+
+ /**
+ * Allocates and initializes OpenGL resources needed by the plane renderer. Must be called on the
+ * OpenGL thread, typically in {@link GLSurfaceView.Renderer#onSurfaceCreated(GL10, EGLConfig)}.
+ *
+ * @param context Needed to access shader source.
+ */
+ public void createOnGlThread(Context context) throws IOException {
+ ShaderUtil.checkGLError(TAG, "before create");
+
+ int[] buffers = new int[1];
+ GLES20.glGenBuffers(1, buffers, 0);
+ vbo = buffers[0];
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, vbo);
+
+ vboSize = INITIAL_BUFFER_POINTS * BYTES_PER_POINT;
+ GLES20.glBufferData(GLES20.GL_ARRAY_BUFFER, vboSize, null, GLES20.GL_DYNAMIC_DRAW);
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, 0);
+
+ ShaderUtil.checkGLError(TAG, "buffer alloc");
+
+ int vertexShader =
+ ShaderUtil.loadGLShader(TAG, context, GLES20.GL_VERTEX_SHADER, VERTEX_SHADER_NAME);
+ int passthroughShader =
+ ShaderUtil.loadGLShader(TAG, context, GLES20.GL_FRAGMENT_SHADER, FRAGMENT_SHADER_NAME);
+
+ programName = GLES20.glCreateProgram();
+ GLES20.glAttachShader(programName, vertexShader);
+ GLES20.glAttachShader(programName, passthroughShader);
+ GLES20.glLinkProgram(programName);
+ GLES20.glUseProgram(programName);
+
+ ShaderUtil.checkGLError(TAG, "program");
+
+ positionAttribute = GLES20.glGetAttribLocation(programName, "a_Position");
+ colorUniform = GLES20.glGetUniformLocation(programName, "u_Color");
+ modelViewProjectionUniform = GLES20.glGetUniformLocation(programName, "u_ModelViewProjection");
+ pointSizeUniform = GLES20.glGetUniformLocation(programName, "u_PointSize");
+
+ ShaderUtil.checkGLError(TAG, "program params");
+ }
+
+ /**
+ * Updates the OpenGL buffer contents to the provided point. Repeated calls with the same point
+ * cloud will be ignored.
+ */
+ public void update(PointCloud cloud) {
+ if (cloud.getTimestamp() == lastTimestamp) {
+ // Redundant call.
+ return;
+ }
+ ShaderUtil.checkGLError(TAG, "before update");
+
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, vbo);
+ lastTimestamp = cloud.getTimestamp();
+
+ // If the VBO is not large enough to fit the new point cloud, resize it.
+ numPoints = cloud.getPoints().remaining() / FLOATS_PER_POINT;
+ if (numPoints * BYTES_PER_POINT > vboSize) {
+ while (numPoints * BYTES_PER_POINT > vboSize) {
+ vboSize *= 2;
+ }
+ GLES20.glBufferData(GLES20.GL_ARRAY_BUFFER, vboSize, null, GLES20.GL_DYNAMIC_DRAW);
+ }
+ GLES20.glBufferSubData(
+ GLES20.GL_ARRAY_BUFFER, 0, numPoints * BYTES_PER_POINT, cloud.getPoints());
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, 0);
+
+ ShaderUtil.checkGLError(TAG, "after update");
+ }
+
+ /**
+ * Renders the point cloud. ARCore point cloud is given in world space.
+ *
+ * @param cameraView the camera view matrix for this frame, typically from {@link
+ * com.google.ar.core.Camera#getViewMatrix(float[], int)}.
+ * @param cameraPerspective the camera projection matrix for this frame, typically from {@link
+ * com.google.ar.core.Camera#getProjectionMatrix(float[], int, float, float)}.
+ */
+ public void draw(float[] cameraView, float[] cameraPerspective) {
+ float[] modelViewProjection = new float[16];
+ Matrix.multiplyMM(modelViewProjection, 0, cameraPerspective, 0, cameraView, 0);
+
+ ShaderUtil.checkGLError(TAG, "Before draw");
+
+ GLES20.glUseProgram(programName);
+ GLES20.glEnableVertexAttribArray(positionAttribute);
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, vbo);
+ GLES20.glVertexAttribPointer(positionAttribute, 4, GLES20.GL_FLOAT, false, BYTES_PER_POINT, 0);
+ GLES20.glUniform4f(colorUniform, 31.0f / 255.0f, 188.0f / 255.0f, 210.0f / 255.0f, 1.0f);
+ GLES20.glUniformMatrix4fv(modelViewProjectionUniform, 1, false, modelViewProjection, 0);
+ GLES20.glUniform1f(pointSizeUniform, 5.0f);
+
+ GLES20.glDrawArrays(GLES20.GL_POINTS, 0, numPoints);
+ GLES20.glDisableVertexAttribArray(positionAttribute);
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, 0);
+
+ ShaderUtil.checkGLError(TAG, "Draw");
+ }
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/ShaderUtil.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/ShaderUtil.java
new file mode 100644
index 0000000..9f9580b
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/ShaderUtil.java
@@ -0,0 +1,128 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.rendering;
+
+import android.content.Context;
+import android.opengl.GLES20;
+import android.util.Log;
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+import java.util.Map;
+import java.util.TreeMap;
+
+/** Shader helper functions. */
+public class ShaderUtil {
+ /**
+ * Converts a raw text file, saved as a resource, into an OpenGL ES shader.
+ *
+ * @param type The type of shader we will be creating.
+ * @param filename The filename of the asset file about to be turned into a shader.
+ * @param defineValuesMap The #define values to add to the top of the shader source code.
+ * @return The shader object handler.
+ */
+ public static int loadGLShader(
+ String tag, Context context, int type, String filename, Map<String, Integer> defineValuesMap)
+ throws IOException {
+ // Load shader source code.
+ String code = readShaderFileFromAssets(context, filename);
+
+ // Prepend any #define values specified during this run.
+ String defines = "";
+ for (Map.Entry<String, Integer> entry : defineValuesMap.entrySet()) {
+ defines += "#define " + entry.getKey() + " " + entry.getValue() + "\n";
+ }
+ code = defines + code;
+
+ // Compiles shader code.
+ int shader = GLES20.glCreateShader(type);
+ GLES20.glShaderSource(shader, code);
+ GLES20.glCompileShader(shader);
+
+ // Get the compilation status.
+ final int[] compileStatus = new int[1];
+ GLES20.glGetShaderiv(shader, GLES20.GL_COMPILE_STATUS, compileStatus, 0);
+
+ // If the compilation failed, delete the shader.
+ if (compileStatus[0] == 0) {
+ Log.e(tag, "Error compiling shader: " + GLES20.glGetShaderInfoLog(shader));
+ GLES20.glDeleteShader(shader);
+ shader = 0;
+ }
+
+ if (shader == 0) {
+ throw new RuntimeException("Error creating shader.");
+ }
+
+ return shader;
+ }
+
+ /** Overload of loadGLShader that assumes no additional #define values to add. */
+ public static int loadGLShader(String tag, Context context, int type, String filename)
+ throws IOException {
+ Map<String, Integer> emptyDefineValuesMap = new TreeMap<>();
+ return loadGLShader(tag, context, type, filename, emptyDefineValuesMap);
+ }
+
+ /**
+ * Checks if we've had an error inside of OpenGL ES, and if so what that error is.
+ *
+ * @param label Label to report in case of error.
+ * @throws RuntimeException If an OpenGL error is detected.
+ */
+ public static void checkGLError(String tag, String label) {
+ int lastError = GLES20.GL_NO_ERROR;
+ // Drain the queue of all errors.
+ int error;
+ while ((error = GLES20.glGetError()) != GLES20.GL_NO_ERROR) {
+ Log.e(tag, label + ": glError " + error);
+ lastError = error;
+ }
+ if (lastError != GLES20.GL_NO_ERROR) {
+ throw new RuntimeException(label + ": glError " + lastError);
+ }
+ }
+
+ /**
+ * Converts a raw shader file into a string.
+ *
+ * @param filename The filename of the shader file about to be turned into a shader.
+ * @return The context of the text file, or null in case of error.
+ */
+ private static String readShaderFileFromAssets(Context context, String filename)
+ throws IOException {
+ try (InputStream inputStream = context.getAssets().open(filename);
+ BufferedReader reader = new BufferedReader(new InputStreamReader(inputStream))) {
+ StringBuilder sb = new StringBuilder();
+ String line;
+ while ((line = reader.readLine()) != null) {
+ String[] tokens = line.split(" ", -1);
+ if (tokens[0].equals("#include")) {
+ String includeFilename = tokens[1];
+ includeFilename = includeFilename.replace("\"", "");
+ if (includeFilename.equals(filename)) {
+ throw new IOException("Do not include the calling file.");
+ }
+ sb.append(readShaderFileFromAssets(context, includeFilename));
+ } else {
+ sb.append(line).append("\n");
+ }
+ }
+ return sb.toString();
+ }
+ }
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/rawdepth/DepthData.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/rawdepth/DepthData.java
new file mode 100644
index 0000000..daec1f9
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/rawdepth/DepthData.java
@@ -0,0 +1,127 @@
+/*
+ * Copyright 2021 Google LLC
+ *
+ * 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.
+ */
+
+package com.google.ar.core.examples.java.rawdepth;
+
+import android.media.Image;
+import com.google.ar.core.Anchor;
+import com.google.ar.core.CameraIntrinsics;
+import com.google.ar.core.Frame;
+import com.google.ar.core.Session;
+import com.google.ar.core.exceptions.NotYetAvailableException;
+import java.nio.FloatBuffer;
+
+/**
+ * Stores depth data from ARCore as a 3D pointcloud. Points are added by calling the Raw Depth API,
+ * and reprojected into 3D space. The points are stored relative to an anchor created with each
+ * instance. The color of the points are matched with the latest color image from the same frame.
+ */
+final class DepthData {
+ /** Buffer of point coordinates and confidence values. */
+ private FloatBuffer points;
+
+ /** Buffer of point RGB color values. */
+ private FloatBuffer colors;
+
+ /** The anchor to the 3D position of the camera at the point of depth acquisition. */
+ private final Anchor anchor;
+
+ /** The timestamp in nanoseconds when the raw depth image was observed. */
+ private long timestamp;
+
+ private DepthData(
+ FloatBuffer points, FloatBuffer colors, long timestamp, Anchor cameraPoseAnchor) {
+ this.points = points;
+ this.colors = colors;
+ this.timestamp = timestamp;
+ this.anchor = cameraPoseAnchor;
+ }
+
+ public static DepthData create(Session session, Frame frame) {
+ try (Image cameraImage = frame.acquireCameraImage();
+ Image depthImage = frame.acquireRawDepthImage();
+ Image confidenceImage = frame.acquireRawDepthConfidenceImage()) {
+ // Depth images vary in size depending on device, and can be large on devices with a depth
+ // camera. To ensure smooth framerate, we cap the number of points each frame.
+ final int maxNumberOfPointsToRender = 15000;
+
+ // To transform 2D depth pixels into 3D points we retrieve the intrinsic camera parameters
+ // corresponding to the depth image. See more information about the depth values at
+ // https://developers.google.com/ar/develop/java/depth/overview#understand-depth-values.
+ CameraIntrinsics intrinsics = frame.getCamera().getTextureIntrinsics();
+ FloatBuffer points =
+ PointCloudHelper.convertRawDepthImagesTo3dPointBuffer(
+ depthImage, confidenceImage, intrinsics, maxNumberOfPointsToRender);
+
+ // To give each point a color from the RGB camera we need to look up the RGB pixel
+ // corresponding to each depth pixel. RGB and depth images usually have different aspect
+ // ratios. Here we calculate the CPU image region that corresponds to the area covered by the
+ // depth image.
+ FloatBuffer imageRegionCoordinates =
+ PointCloudHelper.getImageCoordinatesForFullTexture(frame);
+
+ FloatBuffer colors =
+ PointCloudHelper.convertImageToColorBuffer(
+ cameraImage, depthImage, imageRegionCoordinates, maxNumberOfPointsToRender);
+
+ Anchor cameraPoseAnchor = session.createAnchor(frame.getCamera().getPose());
+ return new DepthData(points, colors, depthImage.getTimestamp(), cameraPoseAnchor);
+ } catch (NotYetAvailableException e) {
+ // This normally means that depth data is not available yet. This is normal so we will not
+ // spam the logcat with this.
+ }
+
+ return null;
+ }
+
+ /**
+ * Buffer of point coordinates and confidence values.
+ *
+ * <p>Each point is represented by four consecutive values in the buffer; first the X, Y, Z
+ * position coordinates, followed by a confidence value. This is the same format as described in
+ * {@link android.graphics.ImageFormat#DEPTH_POINT_CLOUD}.
+ *
+ * <p>Point locations are in the world coordinate space, consistent with the camera position for
+ * the frame that provided the point cloud.
+ */
+ public FloatBuffer getPoints() {
+ return points;
+ }
+
+ /**
+ * Buffer of point RGB values from the color camera.
+ *
+ * <p>Each point is represented by three consecutive values in the buffer for the red, green and
+ * blue image channels. The values for each color are in 0-1 range (inclusive).
+ */
+ public FloatBuffer getColors() {
+ return colors;
+ }
+
+ /** Returns the anchor corresponding to the camera pose where the depth data was acquired. */
+ public Anchor getAnchor() {
+ return anchor;
+ }
+
+ /**
+ * Retrieves the linearized column-major 4x4 matrix representing the transform from pointcloud to
+ * the session coordinates.
+ */
+ public void getModelMatrix(float[] modelMatrix) {
+ anchor.getPose().toMatrix(modelMatrix, 0);
+ }
+
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/rawdepth/PointCloudHelper.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/rawdepth/PointCloudHelper.java
new file mode 100644
index 0000000..ca51319
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/rawdepth/PointCloudHelper.java
@@ -0,0 +1,226 @@
+/*
+ * Copyright 2021 Google LLC
+ *
+ * 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.
+ */
+
+package com.google.ar.core.examples.java.rawdepth;
+
+import android.media.Image;
+import android.media.Image.Plane;
+import com.google.ar.core.CameraIntrinsics;
+import com.google.ar.core.Coordinates2d;
+import com.google.ar.core.Frame;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.FloatBuffer;
+import java.nio.ShortBuffer;
+
+/** Static utilities for depth data transformations. */
+public final class PointCloudHelper {
+
+ private PointCloudHelper() {}
+
+ /**
+ * Creates a linear buffer of 3D point positions in the world space and the corresponding
+ * confidence values.
+ */
+ public static FloatBuffer convertRawDepthImagesTo3dPointBuffer(
+ Image depth, Image confidence, CameraIntrinsics cameraTextureIntrinsics, int pointLimit) {
+ Plane depthImagePlane = depth.getPlanes()[0];
+ // Set the endianess to ensure we extract depth data in the correct byte order.
+ ShortBuffer depthBuffer =
+ depthImagePlane.getBuffer().order(ByteOrder.nativeOrder()).asShortBuffer();
+
+ Plane confidenceImagePlane = confidence.getPlanes()[0];
+ ByteBuffer confidenceBuffer = confidenceImagePlane.getBuffer().order(ByteOrder.nativeOrder());
+
+ // To transform 2D depth pixels into 3D points we retrieve the intrinsic camera parameters
+ // corresponding to the depth image. See more information about the depth values at
+ // https://developers.google.com/ar/develop/java/depth/overview#understand-depth-values.
+ int[] intrinsicsDimensions = cameraTextureIntrinsics.getImageDimensions();
+ int depthWidth = depth.getWidth();
+ int depthHeight = depth.getHeight();
+ float fx = cameraTextureIntrinsics.getFocalLength()[0] * depthWidth / intrinsicsDimensions[0];
+ float fy = cameraTextureIntrinsics.getFocalLength()[1] * depthHeight / intrinsicsDimensions[1];
+ float cx =
+ cameraTextureIntrinsics.getPrincipalPoint()[0] * depthWidth / intrinsicsDimensions[0];
+ float cy =
+ cameraTextureIntrinsics.getPrincipalPoint()[1] * depthHeight / intrinsicsDimensions[1];
+
+ // Allocate the destination point buffer. If the number of depth pixels is larger than
+ // `pointLimit` we do uniform image subsampling. Alternatively we could reduce the number of
+ // points based on depth confidence at this stage.
+ int step = calculateImageSubsamplingStep(depthWidth, depthHeight, pointLimit);
+ FloatBuffer points =
+ FloatBuffer.allocate(
+ depthWidth / step * depthHeight / step * Renderer.POSITION_FLOATS_PER_POINT);
+
+ for (int y = 0; y < depthHeight; y += step) {
+ for (int x = 0; x < depthWidth; x += step) {
+ // Depth images are tightly packed, so it's OK to not use row and pixel strides.
+ int depthMillimeters = depthBuffer.get(y * depthWidth + x); // Depth image pixels are in mm.
+ if (depthMillimeters == 0) {
+ // A pixel that has a value of zero has a missing depth estimate at this location.
+ continue;
+ }
+
+ float depthMeters = depthMillimeters / 1000.0f;
+
+ points.put(depthMeters * (x - cx) / fx); // X.
+ points.put(depthMeters * (cy - y) / fy); // Y.
+ points.put(-depthMeters); // Z.
+
+ // Depth confidence value for this pixel, stored as an unsigned byte in range [0, 255].
+ byte confidencePixelValue =
+ confidenceBuffer.get(
+ y * confidenceImagePlane.getRowStride()
+ + x * confidenceImagePlane.getPixelStride());
+ // Normalize depth confidence to [0.0, 1.0] float range.
+ float confidenceNormalized = ((float) (confidencePixelValue & 0xff)) / 255.0f;
+ points.put(confidenceNormalized);
+ }
+ }
+
+ points.rewind();
+
+ return points;
+ }
+
+ /** Calculates the CPU image region that corresponds to the area covered by the depth image. */
+ public static FloatBuffer getImageCoordinatesForFullTexture(Frame frame) {
+ FloatBuffer textureCoords =
+ ByteBuffer.allocateDirect(TEXTURE_COORDS.length * Float.SIZE)
+ .order(ByteOrder.nativeOrder())
+ .asFloatBuffer()
+ .put(TEXTURE_COORDS);
+ textureCoords.position(0);
+ FloatBuffer imageCoords =
+ ByteBuffer.allocateDirect(TEXTURE_COORDS.length * Float.SIZE)
+ .order(ByteOrder.nativeOrder())
+ .asFloatBuffer();
+ frame.transformCoordinates2d(
+ Coordinates2d.TEXTURE_NORMALIZED, textureCoords, Coordinates2d.IMAGE_PIXELS, imageCoords);
+ return imageCoords;
+ }
+
+ /**
+ * Creates a linear buffer of RGB color values corresponding to the values in the depth image.
+ * Pixels with the depth value equal to zero are not included in the output.
+ */
+ public static FloatBuffer convertImageToColorBuffer(
+ Image color, Image depth, FloatBuffer imageCoords, int pointLimit) {
+ int depthWidth = depth.getWidth();
+ int depthHeight = depth.getHeight();
+ int colorWidth = color.getWidth();
+ int colorHeight = color.getHeight();
+ Plane imagePlaneY = color.getPlanes()[0];
+ Plane imagePlaneU = color.getPlanes()[1];
+ Plane imagePlaneV = color.getPlanes()[2];
+ int rowStrideY = imagePlaneY.getRowStride();
+ int rowStrideU = imagePlaneU.getRowStride();
+ int rowStrideV = imagePlaneV.getRowStride();
+ int pixelStrideY = imagePlaneY.getPixelStride();
+ int pixelStrideU = imagePlaneU.getPixelStride();
+ int pixelStrideV = imagePlaneV.getPixelStride();
+ ByteBuffer colorBufferY = imagePlaneY.getBuffer();
+ ByteBuffer colorBufferU = imagePlaneU.getBuffer();
+ ByteBuffer colorBufferV = imagePlaneV.getBuffer();
+
+ // The first CPU image row overlapping with the depth image region.
+ int colorMinY = Math.round(imageCoords.get(1));
+ // The last CPU image row overlapping with the depth image region.
+ int colorMaxY = Math.round(imageCoords.get(3));
+ int colorRegionHeight = colorMaxY - colorMinY;
+
+ Plane depthImagePlane = depth.getPlanes()[0];
+ ShortBuffer depthBuffer =
+ depthImagePlane.getBuffer().order(ByteOrder.nativeOrder()).asShortBuffer();
+
+ // Allocate the destination color buffer.
+ int step = calculateImageSubsamplingStep(depthWidth, depthHeight, pointLimit);
+ FloatBuffer colors =
+ FloatBuffer.allocate(
+ depthWidth / step * depthHeight / step * Renderer.COLOR_FLOATS_PER_POINT);
+
+ float rgb[] = new float[3]; // Reusable space for 3-channel color values.
+
+ for (int y = 0; y < depthHeight; y += step) {
+ for (int x = 0; x < depthWidth; x += step) {
+ if (depthBuffer.get(y * depthWidth + x) == 0) {
+ // A pixel that has a value of zero has a missing depth estimate at this location.
+ continue;
+ }
+
+ // Retrieve the color at this point.
+ int colorX = x * colorWidth / depthWidth;
+ int colorY = colorMinY + y * colorRegionHeight / depthHeight;
+ int colorHalfX = colorX / 2;
+ int colorHalfY = colorY / 2;
+
+ // Each channel value is an unsigned byte, so we need to apply `0xff` to convert the sign.
+ int channelValueY = colorBufferY.get(colorY * rowStrideY + colorX * pixelStrideY) & 0xff;
+ int channelValueU =
+ colorBufferU.get(colorHalfY * rowStrideU + colorHalfX * pixelStrideU) & 0xff;
+ int channelValueV =
+ colorBufferV.get(colorHalfY * rowStrideV + colorHalfX * pixelStrideV) & 0xff;
+
+ convertYuvToRgb(channelValueY, channelValueU, channelValueV, rgb);
+ colors.put(rgb[0]);
+ colors.put(rgb[1]);
+ colors.put(rgb[2]);
+ }
+ }
+
+ colors.rewind();
+
+ return colors;
+ }
+
+ /** Returs the increment in rows and columns to sample the image n times. */
+ private static int calculateImageSubsamplingStep(int imageWidth, int imageHeight, int n) {
+ return (int) Math.ceil(Math.sqrt((float) imageWidth * imageHeight / n));
+ }
+
+ /**
+ * Converts a YUV color value into RGB. Input YUV values are expected in the range [0, 255].
+ * Output RGB values are in the range [0.0, 1.0].
+ */
+ private static void convertYuvToRgb(int yInt, int uInt, int vInt, float[] rgb) {
+ // See https://en.wikipedia.org/wiki/YUV.
+ float yFloat = yInt / 255.0f; // Range [0.0, 1.0].
+ float uFloat = uInt * 0.872f / 255.0f - 0.436f; // Range [-0.436, 0.436].
+ float vFloat = vInt * 1.230f / 255.0f - 0.615f; // Range [-0.615, 0.615].
+ rgb[0] = clamp(yFloat + 1.13983f * vFloat);
+ rgb[1] = clamp(yFloat - 0.39465f * uFloat - 0.58060f * vFloat);
+ rgb[2] = clamp(yFloat + 2.03211f * uFloat);
+ }
+
+ /**
+ * Clamps the value to [0, 1] range (inclusive).
+ *
+ * <p>If the value passed in is between 0 and 1, then it is returned unchanged.
+ *
+ * <p>If the value passed in is less than 0, 0 is returned.
+ *
+ * <p>If the value passed in is greater than 1, 1 is returned.
+ */
+ private static float clamp(float val) {
+ return Math.max(0.0f, Math.min(1.0f, val));
+ }
+
+ private static final float[] TEXTURE_COORDS =
+ new float[] {
+ 0.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, 1.0f,
+ };
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/rawdepth/RawDepthActivity.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/rawdepth/RawDepthActivity.java
new file mode 100644
index 0000000..f0a15f3
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/rawdepth/RawDepthActivity.java
@@ -0,0 +1,330 @@
+/*
+ * Copyright 2021 Google LLC
+ *
+ * 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.
+ */
+
+package com.google.ar.core.examples.java.rawdepth;
+
+import android.media.Image;
+import android.opengl.GLES20;
+import android.opengl.GLSurfaceView;
+import android.os.Bundle;
+import android.util.Log;
+import android.widget.SeekBar;
+import android.widget.Toast;
+import androidx.appcompat.app.AppCompatActivity;
+import com.google.ar.core.ArCoreApk;
+import com.google.ar.core.Camera;
+import com.google.ar.core.Config;
+import com.google.ar.core.Frame;
+import com.google.ar.core.Session;
+import com.google.ar.core.TrackingState;
+import com.google.ar.core.examples.java.common.helpers.CameraPermissionHelper;
+import com.google.ar.core.examples.java.common.helpers.DisplayRotationHelper;
+import com.google.ar.core.examples.java.common.helpers.FullScreenHelper;
+import com.google.ar.core.examples.java.common.helpers.SnackbarHelper;
+import com.google.ar.core.examples.java.common.helpers.TrackingStateHelper;
+import com.google.ar.core.exceptions.CameraNotAvailableException;
+import com.google.ar.core.exceptions.NotYetAvailableException;
+import com.google.ar.core.exceptions.UnavailableApkTooOldException;
+import com.google.ar.core.exceptions.UnavailableArcoreNotInstalledException;
+import com.google.ar.core.exceptions.UnavailableDeviceNotCompatibleException;
+import com.google.ar.core.exceptions.UnavailableSdkTooOldException;
+import com.google.ar.core.exceptions.UnavailableUserDeclinedInstallationException;
+import java.io.IOException;
+import javax.microedition.khronos.egl.EGLConfig;
+import javax.microedition.khronos.opengles.GL10;
+
+/**
+ * This is a simple example that shows how to use ARCore Raw Depth API. The application will display
+ * a 3D point cloud and allow the user control the number of points based on depth confidence.
+ */
+public class RawDepthActivity extends AppCompatActivity implements GLSurfaceView.Renderer {
+ private static final String TAG = RawDepthActivity.class.getSimpleName();
+
+ // Rendering. The Renderers are created here, and initialized when the GL surface is created.
+ private GLSurfaceView surfaceView;
+
+ private boolean installRequested;
+ private boolean depthReceived;
+
+ private Session session;
+ private final SnackbarHelper messageSnackbarHelper = new SnackbarHelper();
+ private DisplayRotationHelper displayRotationHelper;
+ private final TrackingStateHelper trackingStateHelper = new TrackingStateHelper(this);
+
+ private final Renderer renderer = new Renderer();
+
+ // This lock prevents accessing the frame images while Session is paused.
+ private final Object frameInUseLock = new Object();
+
+ /** The current raw depth image timestamp. */
+ private long depthTimestamp = -1;
+
+ @Override
+ protected void onCreate(Bundle savedInstanceState) {
+ super.onCreate(savedInstanceState);
+ setContentView(R.layout.activity_main);
+ surfaceView = findViewById(R.id.surfaceview);
+ displayRotationHelper = new DisplayRotationHelper(/*context=*/ this);
+
+ // Set up rendering.
+ surfaceView.setPreserveEGLContextOnPause(true);
+ surfaceView.setEGLContextClientVersion(2);
+ surfaceView.setEGLConfigChooser(8, 8, 8, 0, 16, 0);
+ surfaceView.setRenderer(this);
+ surfaceView.setRenderMode(GLSurfaceView.RENDERMODE_CONTINUOUSLY);
+ surfaceView.setWillNotDraw(false);
+
+ // Set up confidence threshold slider.
+ SeekBar seekBar = findViewById(R.id.slider);
+ seekBar.setProgress((int) (renderer.getPointAmount() * seekBar.getMax()));
+ seekBar.setOnSeekBarChangeListener(seekBarChangeListener);
+
+ installRequested = false;
+ depthReceived = false;
+ }
+
+ private SeekBar.OnSeekBarChangeListener seekBarChangeListener =
+ new SeekBar.OnSeekBarChangeListener() {
+ @Override
+ public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
+ float progressNormalized = (float) progress / seekBar.getMax();
+ renderer.setPointAmount(progressNormalized);
+ }
+
+ @Override
+ public void onStartTrackingTouch(SeekBar seekBar) {}
+
+ @Override
+ public void onStopTrackingTouch(SeekBar seekBar) {}
+ };
+
+ @Override
+ protected void onDestroy() {
+ if (session != null) {
+ // Explicitly close ARCore Session to release native resources.
+ // Review the API reference for important considerations before calling close() in apps with
+ // more complicated lifecycle requirements:
+ // https://developers.google.com/ar/reference/java/arcore/reference/com/google/ar/core/Session#close()
+ session.close();
+ session = null;
+ }
+
+ super.onDestroy();
+ }
+
+ @Override
+ protected void onResume() {
+ super.onResume();
+
+ if (session == null) {
+ Exception exception = null;
+ String message = null;
+ try {
+ switch (ArCoreApk.getInstance().requestInstall(this, !installRequested)) {
+ case INSTALL_REQUESTED:
+ installRequested = true;
+ return;
+ case INSTALLED:
+ break;
+ }
+
+ // ARCore requires camera permissions to operate. If we did not yet obtain runtime
+ // permission on Android M and above, now is a good time to ask the user for it.
+ if (!CameraPermissionHelper.hasCameraPermission(this)) {
+ CameraPermissionHelper.requestCameraPermission(this);
+ return;
+ }
+
+ // Create the session.
+ session = new Session(/* context= */ this);
+ } catch (UnavailableArcoreNotInstalledException
+ | UnavailableUserDeclinedInstallationException e) {
+ message = "Please install ARCore";
+ exception = e;
+ } catch (UnavailableApkTooOldException e) {
+ message = "Please update ARCore";
+ exception = e;
+ } catch (UnavailableSdkTooOldException e) {
+ message = "Please update this app";
+ exception = e;
+ } catch (UnavailableDeviceNotCompatibleException e) {
+ message = "This device does not support AR";
+ exception = e;
+ } catch (RuntimeException e) {
+ message = "Failed to create AR session";
+ exception = e;
+ }
+
+ if (!session.isDepthModeSupported(Config.DepthMode.RAW_DEPTH_ONLY)) {
+ message = "This device does not support the ARCore Raw Depth API.";
+ session = null;
+ }
+
+ if (message != null) {
+ messageSnackbarHelper.showError(this, message);
+ Log.e(TAG, "Exception creating session", exception);
+ return;
+ }
+ }
+
+ // Note that order matters - see the note in onPause(), the reverse applies here.
+ try {
+ // Wait until the frame is no longer being processed.
+ synchronized (frameInUseLock) {
+ // Enable raw depth estimation and auto focus mode while ARCore is running.
+ Config config = session.getConfig();
+ config.setDepthMode(Config.DepthMode.RAW_DEPTH_ONLY);
+ session.configure(config);
+ session.resume();
+ }
+ } catch (CameraNotAvailableException e) {
+ messageSnackbarHelper.showError(this, "Camera not available. Try restarting the app.");
+ session = null;
+ return;
+ }
+
+ surfaceView.onResume();
+ displayRotationHelper.onResume();
+
+ messageSnackbarHelper.showMessage(this, "No depth yet. Try moving the device.");
+ }
+
+ @Override
+ public void onPause() {
+ super.onPause();
+ if (session != null) {
+ // Note that the order matters - see note in onResume().
+ // GLSurfaceView is paused before pausing the ARCore session, to prevent onDrawFrame() from
+ // calling session.update() on a paused session.
+ displayRotationHelper.onPause();
+ surfaceView.onPause();
+ session.pause();
+ }
+ }
+
+ @Override
+ public void onRequestPermissionsResult(int requestCode, String[] permissions, int[] results) {
+ super.onRequestPermissionsResult(requestCode, permissions, results);
+ if (!CameraPermissionHelper.hasCameraPermission(this)) {
+ Toast.makeText(this, "Camera permission is needed to run this application", Toast.LENGTH_LONG)
+ .show();
+ if (!CameraPermissionHelper.shouldShowRequestPermissionRationale(this)) {
+ // Permission denied with checking "Do not ask again".
+ CameraPermissionHelper.launchPermissionSettings(this);
+ }
+ finish();
+ }
+ }
+
+ @Override
+ public void onWindowFocusChanged(boolean hasFocus) {
+ super.onWindowFocusChanged(hasFocus);
+ FullScreenHelper.setFullScreenOnWindowFocusChanged(this, hasFocus);
+ }
+
+ @Override
+ public void onSurfaceCreated(GL10 gl, EGLConfig config) {
+ GLES20.glClearColor(0.1f, 0.1f, 0.1f, 1.0f);
+
+ // Prepare the rendering objects. This involves reading shaders, so may throw an IOException.
+ try {
+ renderer.createOnGlThread(/*context=*/ this);
+ } catch (IOException e) {
+ Log.e(TAG, "Failed to read an asset file", e);
+ }
+ }
+
+ @Override
+ public void onSurfaceChanged(GL10 gl, int width, int height) {
+ displayRotationHelper.onSurfaceChanged(width, height);
+ GLES20.glViewport(0, 0, width, height);
+ }
+
+ @Override
+ public void onDrawFrame(GL10 gl) {
+ // Clear screen to notify driver it should not load any pixels from previous frame.
+ GLES20.glClear(GLES20.GL_COLOR_BUFFER_BIT | GLES20.GL_DEPTH_BUFFER_BIT);
+
+ if (session == null) {
+ return;
+ }
+
+ // Synchronize prevents session.update() call while paused, see note in onPause().
+ synchronized (frameInUseLock) {
+ // Notify ARCore that the view size changed so that the perspective matrix can be adjusted.
+ displayRotationHelper.updateSessionIfNeeded(session);
+
+ try {
+ session.setCameraTextureNames(new int[] {0});
+
+ Frame frame = session.update();
+ Camera camera = frame.getCamera();
+
+ // Keep the screen unlocked while tracking, but allow it to lock when tracking stops.
+ trackingStateHelper.updateKeepScreenOnFlag(camera.getTrackingState());
+
+ if (camera.getTrackingState() != TrackingState.TRACKING) {
+ // If motion tracking is not available but previous depth is available, notify the user
+ // that the app will resume with tracking.
+ if (depthReceived) {
+ messageSnackbarHelper.showMessage(
+ this, TrackingStateHelper.getTrackingFailureReasonString(camera));
+ }
+
+ // If not tracking, do not render the point cloud.
+ return;
+ }
+
+ // Check if the frame contains new depth data or a 3D reprojection of the previous data. See
+ // documentation of acquireRawDepthImage for more details.
+ boolean containsNewDepthData;
+ try (Image depthImage = frame.acquireRawDepthImage()) {
+ containsNewDepthData = depthTimestamp == depthImage.getTimestamp();
+ depthTimestamp = depthImage.getTimestamp();
+ } catch (NotYetAvailableException e) {
+ // This is normal at the beginning of session, where depth hasn't been estimated yet.
+ containsNewDepthData = false;
+ }
+
+ if (containsNewDepthData) {
+ // Get Raw Depth data of the current frame.
+ final DepthData depth = DepthData.create(session, frame);
+
+ // Skip rendering the current frame if an exception arises during depth data processing.
+ // For example, before depth estimation finishes initializing.
+ if (depth != null) {
+ depthReceived = true;
+ renderer.update(depth);
+ }
+ }
+
+ float[] projectionMatrix = new float[16];
+ camera.getProjectionMatrix(projectionMatrix, 0, 0.1f, 100.0f);
+ float[] viewMatrix = new float[16];
+ camera.getViewMatrix(viewMatrix, 0);
+
+ // Visualize depth points.
+ renderer.draw(viewMatrix, projectionMatrix);
+
+ // Hide all user notifications when the frame has been rendered successfully.
+ messageSnackbarHelper.hide(this);
+ } catch (Throwable t) {
+ // Avoid crashing the application due to unhandled exceptions.
+ Log.e(TAG, "Exception on the OpenGL thread", t);
+ }
+ }
+ }
+}
diff --git a/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/rawdepth/Renderer.java b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/rawdepth/Renderer.java
new file mode 100644
index 0000000..80735c5
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/java/com/google/ar/core/examples/java/rawdepth/Renderer.java
@@ -0,0 +1,255 @@
+/*
+ * Copyright 2021 Google LLC
+ *
+ * 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.
+ */
+
+package com.google.ar.core.examples.java.rawdepth;
+
+import android.content.Context;
+import android.opengl.GLES20;
+import android.opengl.GLSurfaceView;
+import android.opengl.Matrix;
+import com.google.ar.core.examples.java.common.rendering.ShaderUtil;
+import java.io.IOException;
+import java.util.ArrayList;
+
+/** Renders the data from Raw Depth API as 3D points. */
+final class Renderer {
+ private static final String TAG = Renderer.class.getSimpleName();
+
+ public static final int POSITION_FLOATS_PER_POINT = 4; // X, Y, Z, confidence.
+ public static final int COLOR_FLOATS_PER_POINT = 3; // Red, green, blue channels.
+
+ public static final int BYTES_PER_FLOAT = Float.SIZE / 8;
+ private static final int POSITION_BYTES_PER_POINT = BYTES_PER_FLOAT * POSITION_FLOATS_PER_POINT;
+ private static final int COLOR_BYTES_PER_POINT = BYTES_PER_FLOAT * COLOR_FLOATS_PER_POINT;
+ private static final int INITIAL_BUFFER_POINTS = 1000;
+
+ // Shader names.
+ private static final String VERTEX_SHADER_NAME = "shaders/depth_point_cloud.vert";
+ private static final String FRAGMENT_SHADER_NAME = "shaders/depth_point_cloud.frag";
+
+ /**
+ * The list of pointcloud frames to render. Each item in the list represents a single raw depth
+ * frame, taken at different times and poses.
+ */
+ private ArrayList<DepthData> depthFrames = new ArrayList<DepthData>();
+
+ private int positionAttribute;
+ private int positionBuffer;
+ private int positionBufferSize;
+
+ private int colorAttribute;
+ private int colorBuffer;
+ private int colorBufferSize;
+
+ private int programName;
+ private int modelViewProjectionUniform;
+ private int pointSizeUniform;
+ private int confidenceThresholdUniform;
+
+ private int numPoints = 0;
+
+ /**
+ * The minimum confidence value of a depth image pixel to be rendered as a point. The initial
+ * value is selected to remove only the most unreliable depth values. Low confidence points are
+ * discarded in the vertex shader when they fall below this threshold value.
+ */
+ private float minConfidence = 0.1f;
+
+ public Renderer() {}
+
+ /**
+ * Allocates and initializes OpenGL resources needed by the plane renderer. Must be called on the
+ * OpenGL thread, typically in {@link GLSurfaceView.Renderer#onSurfaceCreated(GL10, EGLConfig)}.
+ *
+ * @param context Needed to access shader source.
+ */
+ public void createOnGlThread(Context context) throws IOException {
+ ShaderUtil.checkGLError(TAG, "Bind");
+
+ int[] buffers = new int[2];
+ GLES20.glGenBuffers(2, buffers, 0);
+ positionBuffer = buffers[0];
+ colorBuffer = buffers[1];
+
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, positionBuffer);
+ positionBufferSize = INITIAL_BUFFER_POINTS * POSITION_BYTES_PER_POINT;
+ GLES20.glBufferData(GLES20.GL_ARRAY_BUFFER, positionBufferSize, null, GLES20.GL_DYNAMIC_DRAW);
+
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, colorBuffer);
+ colorBufferSize = INITIAL_BUFFER_POINTS * COLOR_BYTES_PER_POINT;
+ GLES20.glBufferData(GLES20.GL_ARRAY_BUFFER, colorBufferSize, null, GLES20.GL_DYNAMIC_DRAW);
+
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, 0);
+
+ ShaderUtil.checkGLError(TAG, "Create");
+
+ int vertexShader =
+ ShaderUtil.loadGLShader(TAG, context, GLES20.GL_VERTEX_SHADER, VERTEX_SHADER_NAME);
+ int passthroughShader =
+ ShaderUtil.loadGLShader(TAG, context, GLES20.GL_FRAGMENT_SHADER, FRAGMENT_SHADER_NAME);
+
+ programName = GLES20.glCreateProgram();
+ GLES20.glAttachShader(programName, vertexShader);
+ GLES20.glAttachShader(programName, passthroughShader);
+ GLES20.glLinkProgram(programName);
+ GLES20.glUseProgram(programName);
+
+ ShaderUtil.checkGLError(TAG, "Program");
+
+ positionAttribute = GLES20.glGetAttribLocation(programName, "a_Position");
+ colorAttribute = GLES20.glGetAttribLocation(programName, "a_Color");
+ modelViewProjectionUniform = GLES20.glGetUniformLocation(programName, "u_ModelViewProjection");
+ pointSizeUniform = GLES20.glGetUniformLocation(programName, "u_PointSize");
+ confidenceThresholdUniform = GLES20.glGetUniformLocation(programName, "u_ConfidenceThreshold");
+
+ ShaderUtil.checkGLError(TAG, "Init complete");
+ }
+
+ /**
+ * Updates the OpenGL buffer contents to the provided point. Repeated calls with the same point
+ * cloud will be ignored.
+ */
+ public void update(DepthData depth) {
+ depthFrames.add(depth);
+
+ // We store and visualize multiple previous frames to create a denser map of the environment.
+ // Cap the total number of depth frames and anchors to avoid memory exhaustion (each depth frame
+ // consumes memory). ARCore consumes CPU cycles for each anchor that it tracks, and this cap
+ // avoids overloading the app rendering system.
+ final int maxFramesStored = 60;
+ while (depthFrames.size() > maxFramesStored) {
+ depthFrames.get(0).getAnchor().detach();
+ depthFrames.remove(0);
+ }
+ }
+
+ /**
+ * Renders the point cloud. ARCore point cloud is given in world space.
+ *
+ * @param viewMatrix The camera view matrix for this frame, typically from {@link
+ * com.google.ar.core.Camera#getViewMatrix(float[], int)}.
+ * @param projectionMatrix The camera projection matrix for this frame, typically from {@link
+ * com.google.ar.core.Camera#getProjectionMatrix(float[], int, float, float)}.
+ */
+ public void draw(float[] viewMatrix, float[] projectionMatrix) {
+ if (depthFrames.isEmpty()) {
+ return;
+ }
+
+ // Move the camera backwards by 1 meter, to help convey 3D depth of the point cloud.
+ moveCameraAlongLocalZAxis(viewMatrix, -1f);
+
+ float[] modelMatrix = new float[16];
+ float[] modelView = new float[16];
+ float[] modelViewProjection = new float[16];
+
+ ShaderUtil.checkGLError(TAG, "Draw");
+
+ for (DepthData depthFrame : depthFrames) {
+ numPoints = depthFrame.getPoints().remaining() / POSITION_FLOATS_PER_POINT;
+
+ // Resize the position buffer if needed.
+ while (numPoints * POSITION_BYTES_PER_POINT > positionBufferSize) {
+ positionBufferSize *= 2;
+ }
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, positionBuffer);
+ GLES20.glBufferData(GLES20.GL_ARRAY_BUFFER, positionBufferSize, null, GLES20.GL_DYNAMIC_DRAW);
+
+ GLES20.glBufferSubData(
+ GLES20.GL_ARRAY_BUFFER, 0, numPoints * POSITION_BYTES_PER_POINT, depthFrame.getPoints());
+
+ // Resize the color buffer if needed.
+ while (numPoints * COLOR_BYTES_PER_POINT > colorBufferSize) {
+ colorBufferSize *= 2;
+ }
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, colorBuffer);
+ GLES20.glBufferData(GLES20.GL_ARRAY_BUFFER, colorBufferSize, null, GLES20.GL_DYNAMIC_DRAW);
+ GLES20.glBufferSubData(
+ GLES20.GL_ARRAY_BUFFER, 0, numPoints * COLOR_BYTES_PER_POINT, depthFrame.getColors());
+
+ depthFrame.getModelMatrix(modelMatrix);
+
+ Matrix.multiplyMM(modelView, 0, viewMatrix, 0, modelMatrix, 0);
+ Matrix.multiplyMM(modelViewProjection, 0, projectionMatrix, 0, modelView, 0);
+
+ GLES20.glUseProgram(programName);
+
+ GLES20.glEnableVertexAttribArray(positionAttribute);
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, positionBuffer);
+ GLES20.glVertexAttribPointer(
+ positionAttribute, 4, GLES20.GL_FLOAT, false, POSITION_BYTES_PER_POINT, 0);
+
+ GLES20.glEnableVertexAttribArray(colorAttribute);
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, colorBuffer);
+ GLES20.glVertexAttribPointer(
+ colorAttribute, 4, GLES20.GL_FLOAT, false, COLOR_BYTES_PER_POINT, 0);
+
+ GLES20.glUniformMatrix4fv(modelViewProjectionUniform, 1, false, modelViewProjection, 0);
+ GLES20.glUniform1f(pointSizeUniform, 5.0f);
+ GLES20.glUniform1f(confidenceThresholdUniform, minConfidence);
+
+ GLES20.glDrawArrays(GLES20.GL_POINTS, 0, numPoints);
+ GLES20.glDisableVertexAttribArray(positionAttribute);
+ GLES20.glDisableVertexAttribArray(colorAttribute);
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, 0);
+ }
+
+ ShaderUtil.checkGLError(TAG, "Draw complete");
+ }
+
+ /** Returns the fraction of points that is currently rendered based on confidence. */
+ float getPointAmount() {
+ // Higher confidence threshold means lower point amount.
+ return 1f - minConfidence;
+ }
+
+ /**
+ * Configures the fraction of points that should be rendered based on their depth confidence.
+ *
+ * @param pointAmount How many depth points should be rendered. The value must be in [0; 1] range
+ * (inclusive).
+ */
+ void setPointAmount(float pointAmount) {
+ minConfidence = 1f - pointAmount;
+ }
+
+ /**
+ * Translates the virtual camera along its local forward axis by a specified amount in meters.
+ *
+ * @param viewMatrix The camera view matrix for this frame, typically from {@link
+ * com.google.ar.core.Camera#getViewMatrix(float[], int)}.
+ * @param translation The distance in meters that the camera should be moved.
+ */
+ private static void moveCameraAlongLocalZAxis(float[] viewMatrix, float translation) {
+ // Construct a 4x4 matrix that transforms a point in the camera space into the world space.
+ float[] cameraToWorld = new float[16];
+ Matrix.invertM(cameraToWorld, 0, viewMatrix, 0);
+
+ // Calculate the current and the modified camera position in the world space.
+ float[] originalCameraPositionCS = new float[] {0f, 0f, 0f, 1f};
+ float[] modifiedCameraPositionCS = new float[] {0f, 0f, translation, 1f};
+ float[] originalCameraPositionWS = new float[4];
+ float[] modifiedCameraPositionWS = new float[4];
+ Matrix.multiplyMV(originalCameraPositionWS, 0, cameraToWorld, 0, originalCameraPositionCS, 0);
+ Matrix.multiplyMV(modifiedCameraPositionWS, 0, cameraToWorld, 0, modifiedCameraPositionCS, 0);
+
+ // Move the camera from the current position into `modifiedCameraPositionWS`.
+ float deltaX = modifiedCameraPositionWS[0] - originalCameraPositionWS[0];
+ float deltaY = modifiedCameraPositionWS[1] - originalCameraPositionWS[1];
+ float deltaZ = modifiedCameraPositionWS[2] - originalCameraPositionWS[2];
+ Matrix.translateM(viewMatrix, 0, deltaX, deltaY, deltaZ);
+ }
+}
diff --git a/samples/raw_depth_java/app/src/main/res/drawable-xxhdpi/ic_launcher.png b/samples/raw_depth_java/app/src/main/res/drawable-xxhdpi/ic_launcher.png
new file mode 100644
index 0000000..3f691da
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/res/drawable-xxhdpi/ic_launcher.png
Binary files differ
diff --git a/samples/raw_depth_java/app/src/main/res/layout/activity_main.xml b/samples/raw_depth_java/app/src/main/res/layout/activity_main.xml
new file mode 100644
index 0000000..a4847e9
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/res/layout/activity_main.xml
@@ -0,0 +1,35 @@
+<!--
+ Copyright 2021 Google LLC
+
+ 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.
+-->
+<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+ xmlns:tools="http://schemas.android.com/tools"
+ android:layout_width="match_parent"
+ android:layout_height="match_parent"
+ tools:context="com.google.ar.core.examples.java.rawdepth.RawDepthActivity">
+
+ <android.opengl.GLSurfaceView
+ android:id="@+id/surfaceview"
+ android:layout_width="fill_parent"
+ android:layout_height="fill_parent"
+ android:layout_gravity="top"/>
+
+ <SeekBar
+ android:id="@+id/slider"
+ android:layout_width="match_parent"
+ android:layout_height="wrap_content"
+ android:layout_margin="40dp"
+ android:layout_alignParentBottom="true"/>
+
+</RelativeLayout>
diff --git a/samples/raw_depth_java/app/src/main/res/values/strings.xml b/samples/raw_depth_java/app/src/main/res/values/strings.xml
new file mode 100644
index 0000000..acc9f8f
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/res/values/strings.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+ Copyright 2021 Google LLC
+
+ 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.
+-->
+<resources>
+ <!-- Android app name. [CHAR_LIMIT=50]-->
+ <string name="app_name">Raw Depth</string>
+</resources>
diff --git a/samples/raw_depth_java/app/src/main/res/values/styles.xml b/samples/raw_depth_java/app/src/main/res/values/styles.xml
new file mode 100644
index 0000000..9c17852
--- /dev/null
+++ b/samples/raw_depth_java/app/src/main/res/values/styles.xml
@@ -0,0 +1,35 @@
+<!--
+ Copyright 2021 Google LLC
+
+ 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.
+-->
+<resources>
+
+ <!--
+ Base application theme, dependent on API level. This theme is replaced
+ by AppBaseTheme from res/values-vXX/styles.xml on newer devices.
+ -->
+ <style name="AppBaseTheme" parent="android:Theme.Light">
+ <!--
+ Theme customizations available in newer API levels can go in
+ res/values-vXX/styles.xml, while customizations related to
+ backward-compatibility can go here.
+ -->
+ </style>
+
+ <!-- Application theme. -->
+ <style name="AppTheme" parent="AppBaseTheme">
+ <!-- All customizations that are NOT specific to a particular API-level can go here. -->
+ </style>
+
+</resources>
diff --git a/samples/raw_depth_java/build.gradle b/samples/raw_depth_java/build.gradle
new file mode 100644
index 0000000..e999636
--- /dev/null
+++ b/samples/raw_depth_java/build.gradle
@@ -0,0 +1,25 @@
+// Top-level build file where you can add configuration options common to all sub-projects/modules.
+
+buildscript {
+ repositories {
+ google()
+ jcenter()
+ }
+ dependencies {
+ classpath 'com.android.tools.build:gradle:3.6.0'
+ // NOTE: Do not place your application dependencies here; they belong
+ // in the individual module build.gradle files
+ }
+}
+
+allprojects {
+ repositories {
+ google()
+ jcenter()
+ mavenLocal()
+ }
+}
+
+task clean(type: Delete) {
+ delete rootProject.buildDir
+}
diff --git a/samples/raw_depth_java/gradle.properties b/samples/raw_depth_java/gradle.properties
new file mode 100644
index 0000000..95adfc1
--- /dev/null
+++ b/samples/raw_depth_java/gradle.properties
@@ -0,0 +1,22 @@
+# Project-wide Gradle settings.
+
+# IDE (e.g. Android Studio) users:
+# Gradle settings configured through the IDE *will override*
+# any settings specified in this file.
+
+# For more details on how to configure your build environment visit
+# http://www.gradle.org/docs/current/userguide/build_environment.html
+
+# Specifies the JVM arguments used for the daemon process.
+# The setting is particularly useful for tweaking memory settings.
+org.gradle.jvmargs=-Xmx1536m
+
+# When configured, Gradle will run in incubating parallel mode.
+# This option should only be used with decoupled projects. More details, visit
+# http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects
+# org.gradle.parallel=true
+
+# Migrating to AndroidX, for targetSdkVersion 29.
+# For details, see https://developer.android.com/jetpack/androidx/migrate
+android.useAndroidX=true
+android.enableJetifier=true
diff --git a/samples/raw_depth_java/gradle/wrapper/gradle-wrapper.jar b/samples/raw_depth_java/gradle/wrapper/gradle-wrapper.jar
new file mode 100644
index 0000000..e708b1c
--- /dev/null
+++ b/samples/raw_depth_java/gradle/wrapper/gradle-wrapper.jar
Binary files differ
diff --git a/samples/raw_depth_java/gradle/wrapper/gradle-wrapper.properties b/samples/raw_depth_java/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000..e3d7e28
--- /dev/null
+++ b/samples/raw_depth_java/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,6 @@
+#Mon Nov 20 10:27:45 PST 2017
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.6.4-all.zip
diff --git a/samples/raw_depth_java/gradlew b/samples/raw_depth_java/gradlew
new file mode 100755
index 0000000..4f906e0
--- /dev/null
+++ b/samples/raw_depth_java/gradlew
@@ -0,0 +1,185 @@
+#!/usr/bin/env sh
+
+#
+# Copyright 2015 the original author or authors.
+#
+# 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
+#
+# https://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.
+#
+
+##############################################################################
+##
+## Gradle start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+ ls=`ls -ld "$PRG"`
+ link=`expr "$ls" : '.*-> \(.*\)$'`
+ if expr "$link" : '/.*' > /dev/null; then
+ PRG="$link"
+ else
+ PRG=`dirname "$PRG"`"/$link"
+ fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+ echo "$*"
+}
+
+die () {
+ echo
+ echo "$*"
+ echo
+ exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+ CYGWIN* )
+ cygwin=true
+ ;;
+ Darwin* )
+ darwin=true
+ ;;
+ MINGW* )
+ msys=true
+ ;;
+ NONSTOP* )
+ nonstop=true
+ ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+ if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+ # IBM's JDK on AIX uses strange locations for the executables
+ JAVACMD="$JAVA_HOME/jre/sh/java"
+ else
+ JAVACMD="$JAVA_HOME/bin/java"
+ fi
+ if [ ! -x "$JAVACMD" ] ; then
+ die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+ fi
+else
+ JAVACMD="java"
+ which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+ MAX_FD_LIMIT=`ulimit -H -n`
+ if [ $? -eq 0 ] ; then
+ if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+ MAX_FD="$MAX_FD_LIMIT"
+ fi
+ ulimit -n $MAX_FD
+ if [ $? -ne 0 ] ; then
+ warn "Could not set maximum file descriptor limit: $MAX_FD"
+ fi
+ else
+ warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+ fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+ GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
+ APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+ CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+
+ JAVACMD=`cygpath --unix "$JAVACMD"`
+
+ # We build the pattern for arguments to be converted via cygpath
+ ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+ SEP=""
+ for dir in $ROOTDIRSRAW ; do
+ ROOTDIRS="$ROOTDIRS$SEP$dir"
+ SEP="|"
+ done
+ OURCYGPATTERN="(^($ROOTDIRS))"
+ # Add a user-defined pattern to the cygpath arguments
+ if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+ OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+ fi
+ # Now convert the arguments - kludge to limit ourselves to /bin/sh
+ i=0
+ for arg in "$@" ; do
+ CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+ CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
+
+ if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
+ eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+ else
+ eval `echo args$i`="\"$arg\""
+ fi
+ i=`expr $i + 1`
+ done
+ case $i in
+ 0) set -- ;;
+ 1) set -- "$args0" ;;
+ 2) set -- "$args0" "$args1" ;;
+ 3) set -- "$args0" "$args1" "$args2" ;;
+ 4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+ 5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+ 6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+ 7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+ 8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+ 9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+ esac
+fi
+
+# Escape application args
+save () {
+ for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+ echo " "
+}
+APP_ARGS=`save "$@"`
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+exec "$JAVACMD" "$@"
diff --git a/samples/raw_depth_java/gradlew.bat b/samples/raw_depth_java/gradlew.bat
new file mode 100644
index 0000000..ac1b06f
--- /dev/null
+++ b/samples/raw_depth_java/gradlew.bat
@@ -0,0 +1,89 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/samples/raw_depth_java/settings.gradle b/samples/raw_depth_java/settings.gradle
new file mode 100644
index 0000000..e7b4def
--- /dev/null
+++ b/samples/raw_depth_java/settings.gradle
@@ -0,0 +1 @@
+include ':app'
diff --git a/samples/recording_playback_java/.gitignore b/samples/recording_playback_java/.gitignore
new file mode 100644
index 0000000..19839b2
--- /dev/null
+++ b/samples/recording_playback_java/.gitignore
@@ -0,0 +1,16 @@
+# Android Studio configuration.
+*.iml
+.idea/
+
+# Gradle configuration.
+.gradle/
+build/
+
+# User configuration.
+local.properties
+
+# OS configurations.
+.DS_Store
+
+# Android NDK cmake output.
+.cxx/
diff --git a/samples/recording_playback_java/app/.gitignore b/samples/recording_playback_java/app/.gitignore
new file mode 100644
index 0000000..a2def88
--- /dev/null
+++ b/samples/recording_playback_java/app/.gitignore
@@ -0,0 +1,2 @@
+/build
+google-services.json
diff --git a/samples/recording_playback_java/app/build.gradle b/samples/recording_playback_java/app/build.gradle
new file mode 100644
index 0000000..67d5993
--- /dev/null
+++ b/samples/recording_playback_java/app/build.gradle
@@ -0,0 +1,39 @@
+apply plugin: 'com.android.application'
+
+android {
+ compileSdkVersion 29
+ defaultConfig {
+ applicationId "com.google.ar.core.examples.java.hellorecordingplayback"
+
+ // AR Optional apps must declare minSdkVersion >= 14.
+ // AR Required apps must declare minSdkVersion >= 24.
+ minSdkVersion 24
+ targetSdkVersion 29
+ versionCode 1
+ versionName '1.0'
+ }
+ compileOptions {
+ sourceCompatibility JavaVersion.VERSION_1_8
+ targetCompatibility JavaVersion.VERSION_1_8
+ }
+ buildTypes {
+ release {
+ minifyEnabled false
+ proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
+ }
+ }
+}
+
+dependencies {
+ // ARCore (Google Play Services for AR) library.
+ implementation 'com.google.ar:core:1.24.0'
+
+ // Obj - a simple Wavefront OBJ file loader
+ // https://github.com/javagl/Obj
+ implementation 'de.javagl:obj:0.2.1'
+
+ implementation 'androidx.appcompat:appcompat:1.1.0'
+ implementation 'com.google.android.material:material:1.1.0'
+
+ compile 'joda-time:joda-time:2.10.5'
+}
diff --git a/samples/recording_playback_java/app/proguard-rules.pro b/samples/recording_playback_java/app/proguard-rules.pro
new file mode 100644
index 0000000..45dc58a
--- /dev/null
+++ b/samples/recording_playback_java/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 *;
+#}
diff --git a/samples/recording_playback_java/app/src/main/AndroidManifest.xml b/samples/recording_playback_java/app/src/main/AndroidManifest.xml
new file mode 100644
index 0000000..11e8b80
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/AndroidManifest.xml
@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+ Copyright 2021 Google LLC
+
+ 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"
+ xmlns:tools="http://schemas.android.com/tools"
+ package="com.google.ar.core.examples.java.hellorecordingplayback">
+
+ <uses-permission android:name="android.permission.CAMERA"/>
+
+ <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE"/>
+ <!-- Limits app visibility in the Google Play Store to ARCore supported devices
+ (https://developers.google.com/ar/discover/supported-devices). -->
+ <uses-feature android:name="android.hardware.camera.ar" android:required="true"/>
+ <uses-feature android:glEsVersion="0x00020000" android:required="true" />
+
+ <application
+ android:allowBackup="false"
+ android:icon="@drawable/ic_launcher"
+ android:label="@string/app_name"
+ android:theme="@style/AppTheme"
+ android:usesCleartextTraffic="false"
+ tools:ignore="GoogleAppIndexingWarning">
+
+ <activity
+ android:name="com.google.ar.core.examples.java.hellorecordingplayback.HelloRecordingPlaybackActivity"
+ android:configChanges="orientation|screenSize"
+ android:exported="true"
+ android:theme="@style/Theme.AppCompat.NoActionBar"
+ android:screenOrientation="locked">
+ <intent-filter>
+ <action android:name="android.intent.action.MAIN"/>
+ <category android:name="android.intent.category.LAUNCHER"/>
+ </intent-filter>
+ </activity>
+ <!-- Indicates whether "Google Play Services for AR" (ARCore) is "required" or "optional". -->
+ <meta-data android:name="com.google.ar.core" android:value="required" />
+ </application>
+</manifest>
diff --git a/samples/recording_playback_java/app/src/main/assets/models/anchor.obj b/samples/recording_playback_java/app/src/main/assets/models/anchor.obj
new file mode 100644
index 0000000..e1b78ec
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/models/anchor.obj
@@ -0,0 +1,13058 @@
+o anchor
+v -0.002540 0.104842 0.002540
+v 0.002540 0.104842 0.002540
+v 0.002540 0.104842 -0.002540
+v -0.002540 0.104842 -0.002540
+v -0.002540 0.000635 0.094904
+v 0.002540 0.000635 0.094904
+v 0.002540 0.005715 0.094904
+v -0.002540 0.005715 0.094904
+v 0.102472 0.000635 0.002540
+v 0.102472 0.000635 -0.002540
+v 0.102472 0.005715 -0.002540
+v 0.102472 0.005715 0.002540
+v 0.002540 0.104207 0.003175
+v -0.002540 0.104207 0.003175
+v -0.002540 0.058975 0.003175
+v 0.002540 0.058975 0.003175
+v 0.003175 0.104207 -0.002540
+v 0.003175 0.104207 0.002540
+v 0.003175 0.058975 0.002540
+v 0.003175 0.058975 -0.002540
+v -0.002540 0.104207 -0.003175
+v 0.002540 0.104207 -0.003175
+v 0.002540 0.058975 -0.003175
+v -0.002540 0.058975 -0.003175
+v -0.003175 0.104207 0.002540
+v -0.003175 0.104207 -0.002540
+v -0.003175 0.058975 -0.002540
+v -0.003175 0.058975 0.002540
+v 0.002540 -0.000000 0.094269
+v -0.002540 -0.000000 0.094269
+v -0.002540 -0.000000 0.059045
+v 0.002540 -0.000000 0.059045
+v 0.003175 0.005715 0.094269
+v 0.003175 0.000635 0.094269
+v 0.003175 0.000635 0.059045
+v 0.003175 0.005715 0.059045
+v -0.002540 0.006350 0.094269
+v 0.002540 0.006350 0.094269
+v 0.002540 0.006350 0.059045
+v -0.002540 0.006350 0.059045
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diff --git a/samples/recording_playback_java/app/src/main/assets/models/anchor.png b/samples/recording_playback_java/app/src/main/assets/models/anchor.png
new file mode 100644
index 0000000..15acd13
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/models/anchor.png
Binary files differ
diff --git a/samples/recording_playback_java/app/src/main/assets/models/andy.obj b/samples/recording_playback_java/app/src/main/assets/models/andy.obj
new file mode 100644
index 0000000..9097dea
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/models/andy.obj
@@ -0,0 +1,5003 @@
+# This file uses centimeters as units for non-parametric coordinates.
+
+g default
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+v -0.036134 0.040000 0.028816
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diff --git a/samples/recording_playback_java/app/src/main/assets/models/andy.png b/samples/recording_playback_java/app/src/main/assets/models/andy.png
new file mode 100644
index 0000000..f88b1d6
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/models/andy.png
Binary files differ
diff --git a/samples/recording_playback_java/app/src/main/assets/models/andy_shadow.obj b/samples/recording_playback_java/app/src/main/assets/models/andy_shadow.obj
new file mode 100644
index 0000000..bbc1908
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/models/andy_shadow.obj
@@ -0,0 +1,18 @@
+# This file uses centimeters as units for non-parametric coordinates.
+
+g default
+v -0.100000 -0.000000 0.100000
+v 0.100000 -0.000000 0.100000
+v -0.100000 0.000000 -0.100000
+v 0.100000 0.000000 -0.100000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 0.000000 1.000000
+vt 1.000000 1.000000
+vn 0.000000 1.000000 0.000000
+vn 0.000000 1.000000 0.000000
+vn 0.000000 1.000000 0.000000
+vn 0.000000 1.000000 0.000000
+s off
+g AndyBlobShadow_GEO
+f 4/4/1 3/3/2 1/1/3 2/2/4
diff --git a/samples/recording_playback_java/app/src/main/assets/models/andy_shadow.png b/samples/recording_playback_java/app/src/main/assets/models/andy_shadow.png
new file mode 100644
index 0000000..45a09ce
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/models/andy_shadow.png
Binary files differ
diff --git a/samples/recording_playback_java/app/src/main/assets/models/andy_spec.png b/samples/recording_playback_java/app/src/main/assets/models/andy_spec.png
new file mode 100644
index 0000000..921e605
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/models/andy_spec.png
Binary files differ
diff --git a/samples/recording_playback_java/app/src/main/assets/models/ear_fur.png b/samples/recording_playback_java/app/src/main/assets/models/ear_fur.png
new file mode 100644
index 0000000..c0ffd05
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/models/ear_fur.png
Binary files differ
diff --git a/samples/recording_playback_java/app/src/main/assets/models/forehead_left.obj b/samples/recording_playback_java/app/src/main/assets/models/forehead_left.obj
new file mode 100644
index 0000000..9195773
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/models/forehead_left.obj
@@ -0,0 +1,21 @@
+# This file uses centimeters as units for non-parametric coordinates.
+
+mtllib forehead_left.mtl
+g skinCluster1Set tweakSet1
+v 0.088114 0.052146 0.025014
+v 0.034652 0.109164 0.007964
+v 0.046345 -0.000129 -0.018835
+v -0.007117 0.056890 -0.035885
+vt 0.005966 0.994333
+vt 0.993035 0.994333
+vt 0.005966 0.006373
+vt 0.993035 0.006373
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+vn -0.529919 -0.255013 0.808798
+vn -0.529919 -0.255013 0.808798
+vn -0.529919 -0.255013 0.808798
+s 1
+g earLeft_mesh asset
+usemtl earLeft_meshSG
+f 4/4/1 1/1/2 2/2/3
+f 1/1/2 4/4/1 3/3/4
diff --git a/samples/recording_playback_java/app/src/main/assets/models/forehead_right.obj b/samples/recording_playback_java/app/src/main/assets/models/forehead_right.obj
new file mode 100644
index 0000000..8fa4dd8
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/models/forehead_right.obj
@@ -0,0 +1,21 @@
+# This file uses centimeters as units for non-parametric coordinates.
+
+mtllib forehead_right.mtl
+g skinCluster2Set tweakSet2
+v -0.046329 -0.000137 -0.018811
+v 0.007133 0.056882 -0.035861
+v -0.088098 0.052138 0.025037
+v -0.034636 0.109157 0.007988
+vt 0.002194 0.001364
+vt 0.995606 0.001364
+vt 0.002194 0.996801
+vt 0.995606 0.996801
+vn 0.529919 -0.255013 0.808798
+vn 0.529919 -0.255013 0.808798
+vn 0.529919 -0.255013 0.808798
+vn 0.529919 -0.255013 0.808798
+s 1
+g earRight_mesh asset
+usemtl earLeft_meshSG
+f 3/3/1 2/2/2 4/4/3
+f 2/2/2 3/3/1 1/1/4
diff --git a/samples/recording_playback_java/app/src/main/assets/models/freckles.png b/samples/recording_playback_java/app/src/main/assets/models/freckles.png
new file mode 100644
index 0000000..300bc7e
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/models/freckles.png
Binary files differ
diff --git a/samples/recording_playback_java/app/src/main/assets/models/map_quality_bar.obj b/samples/recording_playback_java/app/src/main/assets/models/map_quality_bar.obj
new file mode 100644
index 0000000..776b2c6
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/models/map_quality_bar.obj
@@ -0,0 +1,1623 @@
+o map_quality_bar
+v 0.004105 -0.095175 -0.001334
+v 0.003492 -0.095175 -0.002537
+v 0.006897 -0.094164 -0.005011
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diff --git a/samples/recording_playback_java/app/src/main/assets/models/map_quality_bar.png b/samples/recording_playback_java/app/src/main/assets/models/map_quality_bar.png
new file mode 100644
index 0000000..0a7f21b
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/models/map_quality_bar.png
Binary files differ
diff --git a/samples/recording_playback_java/app/src/main/assets/models/nose.obj b/samples/recording_playback_java/app/src/main/assets/models/nose.obj
new file mode 100644
index 0000000..3664bb5
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/models/nose.obj
@@ -0,0 +1,2526 @@
+# This file uses centimeters as units for non-parametric coordinates.
+
+mtllib nose.mtl
+g skinCluster4Set tweakSet4
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diff --git a/samples/recording_playback_java/app/src/main/assets/models/nose_fur.png b/samples/recording_playback_java/app/src/main/assets/models/nose_fur.png
new file mode 100644
index 0000000..863e3ef
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/models/nose_fur.png
Binary files differ
diff --git a/samples/recording_playback_java/app/src/main/assets/models/trigrid.png b/samples/recording_playback_java/app/src/main/assets/models/trigrid.png
new file mode 100644
index 0000000..05cbe6e
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/models/trigrid.png
Binary files differ
diff --git a/samples/recording_playback_java/app/src/main/assets/shaders/ar_object.frag b/samples/recording_playback_java/app/src/main/assets/shaders/ar_object.frag
new file mode 100644
index 0000000..3ebb26b
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/shaders/ar_object.frag
@@ -0,0 +1,202 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+precision mediump float;
+
+uniform sampler2D u_Texture;
+
+uniform vec4 u_LightingParameters;
+uniform vec4 u_MaterialParameters;
+uniform vec4 u_ColorCorrectionParameters;
+
+#if USE_DEPTH_FOR_OCCLUSION
+uniform sampler2D u_DepthTexture;
+uniform mat3 u_DepthUvTransform;
+uniform float u_DepthAspectRatio;
+#endif // USE_DEPTH_FOR_OCCLUSION
+
+varying vec3 v_ViewPosition;
+varying vec3 v_ViewNormal;
+varying vec2 v_TexCoord;
+varying vec3 v_ScreenSpacePosition;
+uniform vec4 u_ObjColor;
+
+#if USE_DEPTH_FOR_OCCLUSION
+
+float DepthGetMillimeters(in sampler2D depth_texture, in vec2 depth_uv) {
+ // Depth is packed into the red and green components of its texture.
+ // The texture is a normalized format, storing millimeters.
+ vec3 packedDepthAndVisibility = texture2D(depth_texture, depth_uv).xyz;
+ return dot(packedDepthAndVisibility.xy, vec2(255.0, 256.0 * 255.0));
+}
+
+// Returns linear interpolation position of value between min and max bounds.
+// E.g., DepthInverseLerp(1100, 1000, 2000) returns 0.1.
+float DepthInverseLerp(in float value, in float min_bound, in float max_bound) {
+ return clamp((value - min_bound) / (max_bound - min_bound), 0.0, 1.0);
+}
+
+// Returns a value between 0.0 (not visible) and 1.0 (completely visible)
+// Which represents how visible or occluded is the pixel in relation to the
+// depth map.
+float DepthGetVisibility(in sampler2D depth_texture, in vec2 depth_uv,
+ in float asset_depth_mm) {
+ float depth_mm = DepthGetMillimeters(depth_texture, depth_uv);
+
+ // Instead of a hard z-buffer test, allow the asset to fade into the
+ // background along a 2 * kDepthTolerancePerMm * asset_depth_mm
+ // range centered on the background depth.
+ const float kDepthTolerancePerMm = 0.015;
+ float visibility_occlusion = clamp(0.5 * (depth_mm - asset_depth_mm) /
+ (kDepthTolerancePerMm * asset_depth_mm) + 0.5, 0.0, 1.0);
+
+ // Depth close to zero is most likely invalid, do not use it for occlusions.
+ float visibility_depth_near = 1.0 - DepthInverseLerp(
+ depth_mm, /*min_depth_mm=*/150.0, /*max_depth_mm=*/200.0);
+
+ // Same for very high depth values.
+ float visibility_depth_far = DepthInverseLerp(
+ depth_mm, /*min_depth_mm=*/7500.0, /*max_depth_mm=*/8000.0);
+
+ const float kOcclusionAlpha = 0.0;
+ float visibility =
+ max(max(visibility_occlusion, kOcclusionAlpha),
+ max(visibility_depth_near, visibility_depth_far));
+
+ return visibility;
+}
+
+float DepthGetBlurredVisibilityAroundUV(in sampler2D depth_texture, in vec2 uv,
+ in float asset_depth_mm) {
+ // Kernel used:
+ // 0 4 7 4 0
+ // 4 16 26 16 4
+ // 7 26 41 26 7
+ // 4 16 26 16 4
+ // 0 4 7 4 0
+ const float kKernelTotalWeights = 269.0;
+ float sum = 0.0;
+
+ const float kOcclusionBlurAmount = 0.01;
+ vec2 blurriness = vec2(kOcclusionBlurAmount,
+ kOcclusionBlurAmount * u_DepthAspectRatio);
+
+ float current = 0.0;
+
+ current += DepthGetVisibility(depth_texture, uv + vec2(-1.0, -2.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+1.0, -2.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(-1.0, +2.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+1.0, +2.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(-2.0, +1.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+2.0, +1.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(-2.0, -1.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+2.0, -1.0) * blurriness, asset_depth_mm);
+ sum += current * 4.0;
+
+ current = 0.0;
+ current += DepthGetVisibility(depth_texture, uv + vec2(-2.0, -0.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+2.0, +0.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+0.0, +2.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(-0.0, -2.0) * blurriness, asset_depth_mm);
+ sum += current * 7.0;
+
+ current = 0.0;
+ current += DepthGetVisibility(depth_texture, uv + vec2(-1.0, -1.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+1.0, -1.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(-1.0, +1.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+1.0, +1.0) * blurriness, asset_depth_mm);
+ sum += current * 16.0;
+
+ current = 0.0;
+ current += DepthGetVisibility(depth_texture, uv + vec2(+0.0, +1.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(-0.0, -1.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(-1.0, -0.0) * blurriness, asset_depth_mm);
+ current += DepthGetVisibility(depth_texture, uv + vec2(+1.0, +0.0) * blurriness, asset_depth_mm);
+ sum += current * 26.0;
+
+ sum += DepthGetVisibility(depth_texture, uv , asset_depth_mm) * 41.0;
+
+ return sum / kKernelTotalWeights;
+}
+
+#endif // USE_DEPTH_FOR_OCCLUSION
+
+void main() {
+ // We support approximate sRGB gamma.
+ const float kGamma = 0.4545454;
+ const float kInverseGamma = 2.2;
+ const float kMiddleGrayGamma = 0.466;
+
+ // Unpack lighting and material parameters for better naming.
+ vec3 viewLightDirection = u_LightingParameters.xyz;
+ vec3 colorShift = u_ColorCorrectionParameters.rgb;
+ float averagePixelIntensity = u_ColorCorrectionParameters.a;
+
+ float materialAmbient = u_MaterialParameters.x;
+ float materialDiffuse = u_MaterialParameters.y;
+ float materialSpecular = u_MaterialParameters.z;
+ float materialSpecularPower = u_MaterialParameters.w;
+
+ // Normalize varying parameters, because they are linearly interpolated in the vertex shader.
+ vec3 viewFragmentDirection = normalize(v_ViewPosition);
+ vec3 viewNormal = normalize(v_ViewNormal);
+
+ // Flip the y-texture coordinate to address the texture from top-left.
+ vec4 objectColor = texture2D(u_Texture, vec2(v_TexCoord.x, 1.0 - v_TexCoord.y));
+
+ // Apply color to grayscale image only if the alpha of u_ObjColor is
+ // greater and equal to 255.0.
+ objectColor.rgb *= mix(vec3(1.0), u_ObjColor.rgb / 255.0,
+ step(255.0, u_ObjColor.a));
+
+ // Apply inverse SRGB gamma to the texture before making lighting calculations.
+ objectColor.rgb = pow(objectColor.rgb, vec3(kInverseGamma));
+
+ // Ambient light is unaffected by the light intensity.
+ float ambient = materialAmbient;
+
+ // Approximate a hemisphere light (not a harsh directional light).
+ float diffuse = materialDiffuse *
+ 0.5 * (dot(viewNormal, viewLightDirection) + 1.0);
+
+ // Compute specular light. Textures are loaded with with premultiplied alpha
+ // (https://developer.android.com/reference/android/graphics/BitmapFactory.Options#inPremultiplied),
+ // so premultiply the specular color by alpha as well.
+ vec3 reflectedLightDirection = reflect(viewLightDirection, viewNormal);
+ float specularStrength = max(0.0, dot(viewFragmentDirection, reflectedLightDirection));
+ float specular = objectColor.a * materialSpecular *
+ pow(specularStrength, materialSpecularPower);
+
+ vec3 color = objectColor.rgb * (ambient + diffuse) + specular;
+ // Apply SRGB gamma before writing the fragment color.
+ color.rgb = pow(color, vec3(kGamma));
+ // Apply average pixel intensity and color shift
+ color *= colorShift * (averagePixelIntensity / kMiddleGrayGamma);
+ gl_FragColor.rgb = color;
+ gl_FragColor.a = objectColor.a;
+
+#if USE_DEPTH_FOR_OCCLUSION
+ const float kMetersToMillimeters = 1000.0;
+ float asset_depth_mm = v_ViewPosition.z * kMetersToMillimeters * -1.;
+ // Computes the texture coordinates to sample from the depth image.
+ vec2 depth_uvs = (u_DepthUvTransform * vec3(v_ScreenSpacePosition.xy, 1)).xy;
+
+ // The following step is very costly. Replace the last line with the
+ // commented line if it's too expensive.
+ // gl_FragColor *= DepthGetVisibility(u_DepthTexture, depth_uvs, asset_depth_mm);
+ gl_FragColor *= DepthGetBlurredVisibilityAroundUV(u_DepthTexture, depth_uvs, asset_depth_mm);
+#endif // USE_DEPTH_FOR_OCCLUSION
+}
diff --git a/samples/recording_playback_java/app/src/main/assets/shaders/ar_object.vert b/samples/recording_playback_java/app/src/main/assets/shaders/ar_object.vert
new file mode 100644
index 0000000..1629275
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/shaders/ar_object.vert
@@ -0,0 +1,35 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+uniform mat4 u_ModelView;
+uniform mat4 u_ModelViewProjection;
+
+attribute vec4 a_Position;
+attribute vec3 a_Normal;
+attribute vec2 a_TexCoord;
+
+varying vec3 v_ViewPosition;
+varying vec3 v_ViewNormal;
+varying vec2 v_TexCoord;
+varying vec3 v_ScreenSpacePosition;
+
+void main() {
+ v_ViewPosition = (u_ModelView * a_Position).xyz;
+ v_ViewNormal = normalize((u_ModelView * vec4(a_Normal, 0.0)).xyz);
+ v_TexCoord = a_TexCoord;
+ gl_Position = u_ModelViewProjection * a_Position;
+ v_ScreenSpacePosition = gl_Position.xyz / gl_Position.w;
+}
diff --git a/samples/recording_playback_java/app/src/main/assets/shaders/background_show_depth_color_visualization.frag b/samples/recording_playback_java/app/src/main/assets/shaders/background_show_depth_color_visualization.frag
new file mode 100644
index 0000000..87398c9
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/shaders/background_show_depth_color_visualization.frag
@@ -0,0 +1,65 @@
+/*
+ * Copyright 2020 Google LLC
+ *
+ * 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.
+ */
+
+precision mediump float;
+
+uniform sampler2D u_DepthTexture;
+
+varying vec2 v_TexCoord;
+
+const highp float kMaxDepth = 8000.0; // In millimeters.
+
+float DepthGetMillimeters(in sampler2D depth_texture, in vec2 depth_uv) {
+ // Depth is packed into the red and green components of its texture.
+ // The texture is a normalized format, storing millimeters.
+ vec3 packedDepthAndVisibility = texture2D(depth_texture, depth_uv).xyz;
+ return dot(packedDepthAndVisibility.xy, vec2(255.0, 256.0 * 255.0));
+}
+
+// Returns a color corresponding to the depth passed in. Colors range from red
+// to green to blue, where red is closest and blue is farthest.
+//
+// Uses Turbo color mapping:
+// https://ai.googleblog.com/2019/08/turbo-improved-rainbow-colormap-for.html
+vec3 DepthGetColorVisualization(in float x) {
+ const vec4 kRedVec4 = vec4(0.55305649, 3.00913185, -5.46192616, -11.11819092);
+ const vec4 kGreenVec4 = vec4(0.16207513, 0.17712472, 15.24091500, -36.50657960);
+ const vec4 kBlueVec4 = vec4(-0.05195877, 5.18000081, -30.94853351, 81.96403246);
+ const vec2 kRedVec2 = vec2(27.81927491, -14.87899417);
+ const vec2 kGreenVec2 = vec2(25.95549545, -5.02738237);
+ const vec2 kBlueVec2 = vec2(-86.53476570, 30.23299484);
+ const float kInvalidDepthThreshold = 0.01;
+
+ // Adjusts color space via 6 degree poly interpolation to avoid pure red.
+ x = clamp(x * 0.9 + 0.03, 0.0, 1.0);
+ vec4 v4 = vec4(1.0, x, x * x, x * x * x);
+ vec2 v2 = v4.zw * v4.z;
+ vec3 polynomial_color = vec3(
+ dot(v4, kRedVec4) + dot(v2, kRedVec2),
+ dot(v4, kGreenVec4) + dot(v2, kGreenVec2),
+ dot(v4, kBlueVec4) + dot(v2, kBlueVec2)
+ );
+
+ return step(kInvalidDepthThreshold, x) * polynomial_color;
+}
+
+void main() {
+ highp float normalized_depth =
+ clamp(DepthGetMillimeters(u_DepthTexture, v_TexCoord.xy) / kMaxDepth,
+ 0.0, 1.0);
+ vec4 depth_color = vec4(DepthGetColorVisualization(normalized_depth), 1.0);
+ gl_FragColor = depth_color;
+}
diff --git a/samples/recording_playback_java/app/src/main/assets/shaders/background_show_depth_color_visualization.vert b/samples/recording_playback_java/app/src/main/assets/shaders/background_show_depth_color_visualization.vert
new file mode 100644
index 0000000..7ef5853
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/shaders/background_show_depth_color_visualization.vert
@@ -0,0 +1,25 @@
+/*
+ * Copyright 2020 Google LLC
+ *
+ * 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.
+ */
+
+attribute vec4 a_Position;
+attribute vec2 a_TexCoord;
+
+varying vec2 v_TexCoord;
+
+void main() {
+ v_TexCoord = a_TexCoord;
+ gl_Position = a_Position;
+}
diff --git a/samples/recording_playback_java/app/src/main/assets/shaders/object.frag b/samples/recording_playback_java/app/src/main/assets/shaders/object.frag
new file mode 100644
index 0000000..3626b93
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/shaders/object.frag
@@ -0,0 +1,81 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+precision mediump float;
+
+uniform sampler2D u_Texture;
+
+uniform vec4 u_LightingParameters;
+uniform vec4 u_MaterialParameters;
+uniform vec4 u_ColorCorrectionParameters;
+
+varying vec3 v_ViewPosition;
+varying vec3 v_ViewNormal;
+varying vec2 v_TexCoord;
+uniform vec4 u_ObjColor;
+
+void main() {
+ // We support approximate sRGB gamma.
+ const float kGamma = 0.4545454;
+ const float kInverseGamma = 2.2;
+ const float kMiddleGrayGamma = 0.466;
+
+ // Unpack lighting and material parameters for better naming.
+ vec3 viewLightDirection = u_LightingParameters.xyz;
+ vec3 colorShift = u_ColorCorrectionParameters.rgb;
+ float averagePixelIntensity = u_ColorCorrectionParameters.a;
+
+ float materialAmbient = u_MaterialParameters.x;
+ float materialDiffuse = u_MaterialParameters.y;
+ float materialSpecular = u_MaterialParameters.z;
+ float materialSpecularPower = u_MaterialParameters.w;
+
+ // Normalize varying parameters, because they are linearly interpolated in the vertex shader.
+ vec3 viewFragmentDirection = normalize(v_ViewPosition);
+ vec3 viewNormal = normalize(v_ViewNormal);
+
+ // Flip the y-texture coordinate to address the texture from top-left.
+ vec4 objectColor = texture2D(u_Texture, vec2(v_TexCoord.x, 1.0 - v_TexCoord.y));
+
+ // Apply color to grayscale image only if the alpha of u_ObjColor is
+ // greater and equal to 255.0.
+ objectColor.rgb *= mix(vec3(1.0), u_ObjColor.rgb / 255.0,
+ step(255.0, u_ObjColor.a));
+
+ // Apply inverse SRGB gamma to the texture before making lighting calculations.
+ objectColor.rgb = pow(objectColor.rgb, vec3(kInverseGamma));
+
+ // Ambient light is unaffected by the light intensity.
+ float ambient = materialAmbient;
+
+ // Approximate a hemisphere light (not a harsh directional light).
+ float diffuse = materialDiffuse *
+ 0.5 * (dot(viewNormal, viewLightDirection) + 1.0);
+
+ // Compute specular light.
+ vec3 reflectedLightDirection = reflect(viewLightDirection, viewNormal);
+ float specularStrength = max(0.0, dot(viewFragmentDirection, reflectedLightDirection));
+ float specular = materialSpecular *
+ pow(specularStrength, materialSpecularPower);
+
+ vec3 color = objectColor.rgb * (ambient + diffuse) + specular;
+ // Apply SRGB gamma before writing the fragment color.
+ color.rgb = pow(color, vec3(kGamma));
+ // Apply average pixel intensity and color shift
+ color *= colorShift * (averagePixelIntensity / kMiddleGrayGamma);
+ gl_FragColor.rgb = color;
+ gl_FragColor.a = objectColor.a;
+}
diff --git a/samples/recording_playback_java/app/src/main/assets/shaders/object.vert b/samples/recording_playback_java/app/src/main/assets/shaders/object.vert
new file mode 100644
index 0000000..f07499e
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/shaders/object.vert
@@ -0,0 +1,33 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+uniform mat4 u_ModelView;
+uniform mat4 u_ModelViewProjection;
+
+attribute vec4 a_Position;
+attribute vec3 a_Normal;
+attribute vec2 a_TexCoord;
+
+varying vec3 v_ViewPosition;
+varying vec3 v_ViewNormal;
+varying vec2 v_TexCoord;
+
+void main() {
+ v_ViewPosition = (u_ModelView * a_Position).xyz;
+ v_ViewNormal = normalize((u_ModelView * vec4(a_Normal, 0.0)).xyz);
+ v_TexCoord = a_TexCoord;
+ gl_Position = u_ModelViewProjection * a_Position;
+}
diff --git a/samples/recording_playback_java/app/src/main/assets/shaders/plane.frag b/samples/recording_playback_java/app/src/main/assets/shaders/plane.frag
new file mode 100644
index 0000000..00f0092
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/shaders/plane.frag
@@ -0,0 +1,30 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+precision highp float;
+uniform sampler2D u_Texture;
+uniform vec4 u_gridControl; // dotThreshold, lineThreshold, lineFadeShrink, occlusionShrink
+varying vec3 v_TexCoordAlpha;
+
+void main() {
+ vec4 control = texture2D(u_Texture, v_TexCoordAlpha.xy);
+ float dotScale = v_TexCoordAlpha.z;
+ float lineFade = max(0.0, u_gridControl.z * v_TexCoordAlpha.z - (u_gridControl.z - 1.0));
+ float alpha = (control.r * dotScale > u_gridControl.x) ? 1.0
+ : (control.g > u_gridControl.y) ? lineFade
+ : (0.25 * lineFade);
+ gl_FragColor = vec4(alpha * v_TexCoordAlpha.z);
+}
diff --git a/samples/recording_playback_java/app/src/main/assets/shaders/plane.vert b/samples/recording_playback_java/app/src/main/assets/shaders/plane.vert
new file mode 100644
index 0000000..2f396d6
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/shaders/plane.vert
@@ -0,0 +1,41 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+uniform mat4 u_Model;
+uniform mat4 u_ModelViewProjection;
+uniform mat2 u_PlaneUvMatrix;
+uniform vec3 u_Normal;
+
+attribute vec3 a_XZPositionAlpha; // (x, z, alpha)
+
+varying vec3 v_TexCoordAlpha;
+
+void main() {
+ vec4 local_pos = vec4(a_XZPositionAlpha.x, 0.0, a_XZPositionAlpha.y, 1.0);
+ vec4 world_pos = u_Model * local_pos;
+
+ // Construct two vectors that are orthogonal to the normal.
+ // This arbitrary choice is not co-linear with either horizontal
+ // or vertical plane normals.
+ const vec3 arbitrary = vec3(1.0, 1.0, 0.0);
+ vec3 vec_u = normalize(cross(u_Normal, arbitrary));
+ vec3 vec_v = normalize(cross(u_Normal, vec_u));
+
+ // Project vertices in world frame onto vec_u and vec_v.
+ vec2 uv = vec2(dot(world_pos.xyz, vec_u), dot(world_pos.xyz, vec_v));
+ v_TexCoordAlpha = vec3(u_PlaneUvMatrix * uv, a_XZPositionAlpha.z);
+ gl_Position = u_ModelViewProjection * local_pos;
+}
diff --git a/samples/recording_playback_java/app/src/main/assets/shaders/point_cloud.frag b/samples/recording_playback_java/app/src/main/assets/shaders/point_cloud.frag
new file mode 100644
index 0000000..d2587bc
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/shaders/point_cloud.frag
@@ -0,0 +1,22 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+precision mediump float;
+varying vec4 v_Color;
+
+void main() {
+ gl_FragColor = v_Color;
+}
diff --git a/samples/recording_playback_java/app/src/main/assets/shaders/point_cloud.vert b/samples/recording_playback_java/app/src/main/assets/shaders/point_cloud.vert
new file mode 100644
index 0000000..5afb77d
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/shaders/point_cloud.vert
@@ -0,0 +1,29 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+uniform mat4 u_ModelViewProjection;
+uniform vec4 u_Color;
+uniform float u_PointSize;
+
+attribute vec4 a_Position;
+
+varying vec4 v_Color;
+
+void main() {
+ v_Color = u_Color;
+ gl_Position = u_ModelViewProjection * vec4(a_Position.xyz, 1.0);
+ gl_PointSize = u_PointSize;
+}
diff --git a/samples/recording_playback_java/app/src/main/assets/shaders/screenquad.frag b/samples/recording_playback_java/app/src/main/assets/shaders/screenquad.frag
new file mode 100644
index 0000000..ee8cb56
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/shaders/screenquad.frag
@@ -0,0 +1,25 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+#extension GL_OES_EGL_image_external : require
+
+precision mediump float;
+varying vec2 v_TexCoord;
+uniform samplerExternalOES sTexture;
+
+
+void main() {
+ gl_FragColor = texture2D(sTexture, v_TexCoord);
+}
diff --git a/samples/recording_playback_java/app/src/main/assets/shaders/screenquad.vert b/samples/recording_playback_java/app/src/main/assets/shaders/screenquad.vert
new file mode 100644
index 0000000..77ed8c9
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/assets/shaders/screenquad.vert
@@ -0,0 +1,25 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+attribute vec4 a_Position;
+attribute vec2 a_TexCoord;
+
+varying vec2 v_TexCoord;
+
+void main() {
+ gl_Position = a_Position;
+ v_TexCoord = a_TexCoord;
+}
diff --git a/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/CameraPermissionHelper.java b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/CameraPermissionHelper.java
new file mode 100644
index 0000000..7ac0e26
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/CameraPermissionHelper.java
@@ -0,0 +1,56 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.helpers;
+
+import android.Manifest;
+import android.app.Activity;
+import android.content.Intent;
+import android.content.pm.PackageManager;
+import android.net.Uri;
+import android.provider.Settings;
+import androidx.core.app.ActivityCompat;
+import androidx.core.content.ContextCompat;
+
+/** Helper to ask camera permission. */
+public final class CameraPermissionHelper {
+ private static final int CAMERA_PERMISSION_CODE = 0;
+ private static final String CAMERA_PERMISSION = Manifest.permission.CAMERA;
+
+ /** Check to see we have the necessary permissions for this app. */
+ public static boolean hasCameraPermission(Activity activity) {
+ return ContextCompat.checkSelfPermission(activity, CAMERA_PERMISSION)
+ == PackageManager.PERMISSION_GRANTED;
+ }
+
+ /** Check to see we have the necessary permissions for this app, and ask for them if we don't. */
+ public static void requestCameraPermission(Activity activity) {
+ ActivityCompat.requestPermissions(
+ activity, new String[] {CAMERA_PERMISSION}, CAMERA_PERMISSION_CODE);
+ }
+
+ /** Check to see if we need to show the rationale for this permission. */
+ public static boolean shouldShowRequestPermissionRationale(Activity activity) {
+ return ActivityCompat.shouldShowRequestPermissionRationale(activity, CAMERA_PERMISSION);
+ }
+
+ /** Launch Application Setting to grant permission. */
+ public static void launchPermissionSettings(Activity activity) {
+ Intent intent = new Intent();
+ intent.setAction(Settings.ACTION_APPLICATION_DETAILS_SETTINGS);
+ intent.setData(Uri.fromParts("package", activity.getPackageName(), null));
+ activity.startActivity(intent);
+ }
+}
diff --git a/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/DepthSettings.java b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/DepthSettings.java
new file mode 100644
index 0000000..9610b4b
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/DepthSettings.java
@@ -0,0 +1,82 @@
+/*
+ * Copyright 2020 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.helpers;
+
+import android.content.Context;
+import android.content.SharedPreferences;
+
+/** Manages the Occlusion option setting and shared preferences. */
+public class DepthSettings {
+ public static final String SHARED_PREFERENCES_ID = "SHARED_PREFERENCES_OCCLUSION_OPTIONS";
+ public static final String SHARED_PREFERENCES_SHOW_DEPTH_ENABLE_DIALOG_OOBE =
+ "show_depth_enable_dialog_oobe";
+ public static final String SHARED_PREFERENCES_USE_DEPTH_FOR_OCCLUSION = "use_depth_for_occlusion";
+
+ // Current depth-based settings used by the app.
+ private boolean depthColorVisualizationEnabled = false;
+ private boolean useDepthForOcclusion = false;
+ private SharedPreferences sharedPreferences;
+
+ /** Initializes the current settings based on when the app was last used. */
+ public void onCreate(Context context) {
+ sharedPreferences = context.getSharedPreferences(SHARED_PREFERENCES_ID, Context.MODE_PRIVATE);
+ useDepthForOcclusion =
+ sharedPreferences.getBoolean(SHARED_PREFERENCES_USE_DEPTH_FOR_OCCLUSION, false);
+ }
+
+ /** Retrieves whether depth-based occlusion is enabled. */
+ public boolean useDepthForOcclusion() {
+ return useDepthForOcclusion;
+ }
+
+ public void setUseDepthForOcclusion(boolean enable) {
+ if (enable == useDepthForOcclusion) {
+ return; // No change.
+ }
+
+ // Updates the stored default settings.
+ useDepthForOcclusion = enable;
+ SharedPreferences.Editor editor = sharedPreferences.edit();
+ editor.putBoolean(SHARED_PREFERENCES_USE_DEPTH_FOR_OCCLUSION, useDepthForOcclusion);
+ editor.apply();
+ }
+
+ /** Retrieves whether to render the depth map visualization instead of the camera feed. */
+ public boolean depthColorVisualizationEnabled() {
+ return depthColorVisualizationEnabled;
+ }
+
+ public void setDepthColorVisualizationEnabled(boolean depthColorVisualizationEnabled) {
+ this.depthColorVisualizationEnabled = depthColorVisualizationEnabled;
+ }
+
+ /** Determines if the initial prompt to use depth-based occlusion should be shown. */
+ public boolean shouldShowDepthEnableDialog() {
+ // Checks if this dialog has been called before on this device.
+ boolean showDialog =
+ sharedPreferences.getBoolean(SHARED_PREFERENCES_SHOW_DEPTH_ENABLE_DIALOG_OOBE, true);
+
+ if (showDialog) {
+ // Only ever shows the dialog on the first time. If the user wants to adjust these settings
+ // again, they can use the gear icon to invoke the settings menu dialog.
+ SharedPreferences.Editor editor = sharedPreferences.edit();
+ editor.putBoolean(SHARED_PREFERENCES_SHOW_DEPTH_ENABLE_DIALOG_OOBE, false);
+ editor.apply();
+ }
+
+ return showDialog;
+ }
+}
diff --git a/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/DisplayRotationHelper.java b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/DisplayRotationHelper.java
new file mode 100644
index 0000000..d8401dc
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/DisplayRotationHelper.java
@@ -0,0 +1,165 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.helpers;
+
+import android.app.Activity;
+import android.content.Context;
+import android.hardware.camera2.CameraAccessException;
+import android.hardware.camera2.CameraCharacteristics;
+import android.hardware.camera2.CameraManager;
+import android.hardware.display.DisplayManager;
+import android.hardware.display.DisplayManager.DisplayListener;
+import android.view.Display;
+import android.view.Surface;
+import android.view.WindowManager;
+import com.google.ar.core.Session;
+
+/**
+ * Helper to track the display rotations. In particular, the 180 degree rotations are not notified
+ * by the onSurfaceChanged() callback, and thus they require listening to the android display
+ * events.
+ */
+public final class DisplayRotationHelper implements DisplayListener {
+ private boolean viewportChanged;
+ private int viewportWidth;
+ private int viewportHeight;
+ private final Display display;
+ private final DisplayManager displayManager;
+ private final CameraManager cameraManager;
+
+ /**
+ * Constructs the DisplayRotationHelper but does not register the listener yet.
+ *
+ * @param context the Android {@link Context}.
+ */
+ public DisplayRotationHelper(Context context) {
+ displayManager = (DisplayManager) context.getSystemService(Context.DISPLAY_SERVICE);
+ cameraManager = (CameraManager) context.getSystemService(Context.CAMERA_SERVICE);
+ WindowManager windowManager = (WindowManager) context.getSystemService(Context.WINDOW_SERVICE);
+ display = windowManager.getDefaultDisplay();
+ }
+
+ /** Registers the display listener. Should be called from {@link Activity#onResume()}. */
+ public void onResume() {
+ displayManager.registerDisplayListener(this, null);
+ }
+
+ /** Unregisters the display listener. Should be called from {@link Activity#onPause()}. */
+ public void onPause() {
+ displayManager.unregisterDisplayListener(this);
+ }
+
+ /**
+ * Records a change in surface dimensions. This will be later used by {@link
+ * #updateSessionIfNeeded(Session)}. Should be called from {@link
+ * android.opengl.GLSurfaceView.Renderer
+ * #onSurfaceChanged(javax.microedition.khronos.opengles.GL10, int, int)}.
+ *
+ * @param width the updated width of the surface.
+ * @param height the updated height of the surface.
+ */
+ public void onSurfaceChanged(int width, int height) {
+ viewportWidth = width;
+ viewportHeight = height;
+ viewportChanged = true;
+ }
+
+ /**
+ * Updates the session display geometry if a change was posted either by {@link
+ * #onSurfaceChanged(int, int)} call or by {@link #onDisplayChanged(int)} system callback. This
+ * function should be called explicitly before each call to {@link Session#update()}. This
+ * function will also clear the 'pending update' (viewportChanged) flag.
+ *
+ * @param session the {@link Session} object to update if display geometry changed.
+ */
+ public void updateSessionIfNeeded(Session session) {
+ if (viewportChanged) {
+ int displayRotation = display.getRotation();
+ session.setDisplayGeometry(displayRotation, viewportWidth, viewportHeight);
+ viewportChanged = false;
+ }
+ }
+
+ /**
+ * Returns the aspect ratio of the GL surface viewport while accounting for the display rotation
+ * relative to the device camera sensor orientation.
+ */
+ public float getCameraSensorRelativeViewportAspectRatio(String cameraId) {
+ float aspectRatio;
+ int cameraSensorToDisplayRotation = getCameraSensorToDisplayRotation(cameraId);
+ switch (cameraSensorToDisplayRotation) {
+ case 90:
+ case 270:
+ aspectRatio = (float) viewportHeight / (float) viewportWidth;
+ break;
+ case 0:
+ case 180:
+ aspectRatio = (float) viewportWidth / (float) viewportHeight;
+ break;
+ default:
+ throw new RuntimeException("Unhandled rotation: " + cameraSensorToDisplayRotation);
+ }
+ return aspectRatio;
+ }
+
+ /**
+ * Returns the rotation of the back-facing camera with respect to the display. The value is one of
+ * 0, 90, 180, 270.
+ */
+ public int getCameraSensorToDisplayRotation(String cameraId) {
+ CameraCharacteristics characteristics;
+ try {
+ characteristics = cameraManager.getCameraCharacteristics(cameraId);
+ } catch (CameraAccessException e) {
+ throw new RuntimeException("Unable to determine display orientation", e);
+ }
+
+ // Camera sensor orientation.
+ int sensorOrientation = characteristics.get(CameraCharacteristics.SENSOR_ORIENTATION);
+
+ // Current display orientation.
+ int displayOrientation = toDegrees(display.getRotation());
+
+ // Make sure we return 0, 90, 180, or 270 degrees.
+ return (sensorOrientation - displayOrientation + 360) % 360;
+ }
+
+ private int toDegrees(int rotation) {
+ switch (rotation) {
+ case Surface.ROTATION_0:
+ return 0;
+ case Surface.ROTATION_90:
+ return 90;
+ case Surface.ROTATION_180:
+ return 180;
+ case Surface.ROTATION_270:
+ return 270;
+ default:
+ throw new RuntimeException("Unknown rotation " + rotation);
+ }
+ }
+
+ @Override
+ public void onDisplayAdded(int displayId) {}
+
+ @Override
+ public void onDisplayRemoved(int displayId) {}
+
+ @Override
+ public void onDisplayChanged(int displayId) {
+ viewportChanged = true;
+ }
+}
diff --git a/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/FullScreenHelper.java b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/FullScreenHelper.java
new file mode 100644
index 0000000..8bd30db
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/FullScreenHelper.java
@@ -0,0 +1,46 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.helpers;
+
+import android.app.Activity;
+import android.view.View;
+
+/** Helper to set up the Android full screen mode. */
+public final class FullScreenHelper {
+ /**
+ * Sets the Android fullscreen flags. Expected to be called from {@link
+ * Activity#onWindowFocusChanged(boolean hasFocus)}.
+ *
+ * @param activity the Activity on which the full screen mode will be set.
+ * @param hasFocus the hasFocus flag passed from the {@link Activity#onWindowFocusChanged(boolean
+ * hasFocus)} callback.
+ */
+ public static void setFullScreenOnWindowFocusChanged(Activity activity, boolean hasFocus) {
+ if (hasFocus) {
+ // https://developer.android.com/training/system-ui/immersive.html#sticky
+ activity
+ .getWindow()
+ .getDecorView()
+ .setSystemUiVisibility(
+ View.SYSTEM_UI_FLAG_LAYOUT_STABLE
+ | View.SYSTEM_UI_FLAG_LAYOUT_HIDE_NAVIGATION
+ | View.SYSTEM_UI_FLAG_LAYOUT_FULLSCREEN
+ | View.SYSTEM_UI_FLAG_HIDE_NAVIGATION
+ | View.SYSTEM_UI_FLAG_FULLSCREEN
+ | View.SYSTEM_UI_FLAG_IMMERSIVE_STICKY);
+ }
+ }
+}
diff --git a/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/InstantPlacementSettings.java b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/InstantPlacementSettings.java
new file mode 100644
index 0000000..9a63b90
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/InstantPlacementSettings.java
@@ -0,0 +1,52 @@
+/*
+ * Copyright 2020 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.helpers;
+
+import android.content.Context;
+import android.content.SharedPreferences;
+
+/** Manages the Instant Placement option setting and shared preferences. */
+public class InstantPlacementSettings {
+ public static final String SHARED_PREFERENCES_ID = "SHARED_PREFERENCES_INSTANT_PLACEMENT_OPTIONS";
+ public static final String SHARED_PREFERENCES_INSTANT_PLACEMENT_ENABLED =
+ "instant_placement_enabled";
+ private boolean instantPlacementEnabled = true;
+ private SharedPreferences sharedPreferences;
+
+ /** Initializes the current settings based on the saved value. */
+ public void onCreate(Context context) {
+ sharedPreferences = context.getSharedPreferences(SHARED_PREFERENCES_ID, Context.MODE_PRIVATE);
+ instantPlacementEnabled =
+ sharedPreferences.getBoolean(SHARED_PREFERENCES_INSTANT_PLACEMENT_ENABLED, false);
+ }
+
+ /** Retrieves whether Instant Placement is enabled, */
+ public boolean isInstantPlacementEnabled() {
+ return instantPlacementEnabled;
+ }
+
+ public void setInstantPlacementEnabled(boolean enable) {
+ if (enable == instantPlacementEnabled) {
+ return; // No change.
+ }
+
+ // Updates the stored default settings.
+ instantPlacementEnabled = enable;
+ SharedPreferences.Editor editor = sharedPreferences.edit();
+ editor.putBoolean(SHARED_PREFERENCES_INSTANT_PLACEMENT_ENABLED, instantPlacementEnabled);
+ editor.apply();
+ }
+}
diff --git a/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/SnackbarHelper.java b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/SnackbarHelper.java
new file mode 100644
index 0000000..f83e9eb
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/SnackbarHelper.java
@@ -0,0 +1,142 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.helpers;
+
+import android.app.Activity;
+import android.view.View;
+import android.widget.TextView;
+import com.google.android.material.snackbar.BaseTransientBottomBar;
+import com.google.android.material.snackbar.Snackbar;
+
+/**
+ * Helper to manage the sample snackbar. Hides the Android boilerplate code, and exposes simpler
+ * methods.
+ */
+public final class SnackbarHelper {
+ private static final int BACKGROUND_COLOR = 0xbf323232;
+ private Snackbar messageSnackbar;
+ private enum DismissBehavior { HIDE, SHOW, FINISH };
+ private int maxLines = 2;
+ private String lastMessage = "";
+ private View snackbarView;
+
+ public boolean isShowing() {
+ return messageSnackbar != null;
+ }
+
+ /** Shows a snackbar with a given message. */
+ public void showMessage(Activity activity, String message) {
+ if (!message.isEmpty() && (!isShowing() || !lastMessage.equals(message))) {
+ lastMessage = message;
+ show(activity, message, DismissBehavior.HIDE);
+ }
+ }
+
+ /** Shows a snackbar with a given message, and a dismiss button. */
+ public void showMessageWithDismiss(Activity activity, String message) {
+ show(activity, message, DismissBehavior.SHOW);
+ }
+
+ /**
+ * Shows a snackbar with a given error message. When dismissed, will finish the activity. Useful
+ * for notifying errors, where no further interaction with the activity is possible.
+ */
+ public void showError(Activity activity, String errorMessage) {
+ show(activity, errorMessage, DismissBehavior.FINISH);
+ }
+
+ /**
+ * Hides the currently showing snackbar, if there is one. Safe to call from any thread. Safe to
+ * call even if snackbar is not shown.
+ */
+ public void hide(Activity activity) {
+ if (!isShowing()) {
+ return;
+ }
+ lastMessage = "";
+ Snackbar messageSnackbarToHide = messageSnackbar;
+ messageSnackbar = null;
+ activity.runOnUiThread(
+ new Runnable() {
+ @Override
+ public void run() {
+ messageSnackbarToHide.dismiss();
+ }
+ });
+ }
+
+ public void setMaxLines(int lines) {
+ maxLines = lines;
+ }
+
+ /**
+ * Sets the view that will be used to find a suitable parent view to hold the Snackbar view.
+ *
+ * <p>To use the root layout ({@link android.R.id.content}), pass in {@code null}.
+ *
+ * @param snackbarView the view to pass to {@link
+ * com.google.android.material.snackbar.Snackbar#make(…)} which will be used to find a
+ * suitable parent, which is a {@link androidx.coordinatorlayout.widget.CoordinatorLayout}, or
+ * the window decor's content view, whichever comes first.
+ */
+ public void setParentView(View snackbarView) {
+ this.snackbarView = snackbarView;
+ }
+
+ private void show(
+ final Activity activity, final String message, final DismissBehavior dismissBehavior) {
+ activity.runOnUiThread(
+ new Runnable() {
+ @Override
+ public void run() {
+ messageSnackbar =
+ Snackbar.make(
+ snackbarView == null
+ ? activity.findViewById(android.R.id.content)
+ : snackbarView,
+ message,
+ Snackbar.LENGTH_INDEFINITE);
+ messageSnackbar.getView().setBackgroundColor(BACKGROUND_COLOR);
+ if (dismissBehavior != DismissBehavior.HIDE) {
+ messageSnackbar.setAction(
+ "Dismiss",
+ new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ messageSnackbar.dismiss();
+ }
+ });
+ if (dismissBehavior == DismissBehavior.FINISH) {
+ messageSnackbar.addCallback(
+ new BaseTransientBottomBar.BaseCallback<Snackbar>() {
+ @Override
+ public void onDismissed(Snackbar transientBottomBar, int event) {
+ super.onDismissed(transientBottomBar, event);
+ activity.finish();
+ }
+ });
+ }
+ }
+ ((TextView)
+ messageSnackbar
+ .getView()
+ .findViewById(com.google.android.material.R.id.snackbar_text))
+ .setMaxLines(maxLines);
+ messageSnackbar.show();
+ }
+ });
+ }
+}
diff --git a/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TapHelper.java b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TapHelper.java
new file mode 100644
index 0000000..84cfc5f
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TapHelper.java
@@ -0,0 +1,71 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.helpers;
+
+import android.content.Context;
+import android.view.GestureDetector;
+import android.view.MotionEvent;
+import android.view.View;
+import android.view.View.OnTouchListener;
+import java.util.concurrent.ArrayBlockingQueue;
+import java.util.concurrent.BlockingQueue;
+
+/**
+ * Helper to detect taps using Android GestureDetector, and pass the taps between UI thread and
+ * render thread.
+ */
+public final class TapHelper implements OnTouchListener {
+ private final GestureDetector gestureDetector;
+ private final BlockingQueue<MotionEvent> queuedSingleTaps = new ArrayBlockingQueue<>(16);
+
+ /**
+ * Creates the tap helper.
+ *
+ * @param context the application's context.
+ */
+ public TapHelper(Context context) {
+ gestureDetector =
+ new GestureDetector(
+ context,
+ new GestureDetector.SimpleOnGestureListener() {
+ @Override
+ public boolean onSingleTapUp(MotionEvent e) {
+ // Queue tap if there is space. Tap is lost if queue is full.
+ queuedSingleTaps.offer(e);
+ return true;
+ }
+
+ @Override
+ public boolean onDown(MotionEvent e) {
+ return true;
+ }
+ });
+ }
+
+ /**
+ * Polls for a tap.
+ *
+ * @return if a tap was queued, a MotionEvent for the tap. Otherwise null if no taps are queued.
+ */
+ public MotionEvent poll() {
+ return queuedSingleTaps.poll();
+ }
+
+ @Override
+ public boolean onTouch(View view, MotionEvent motionEvent) {
+ return gestureDetector.onTouchEvent(motionEvent);
+ }
+}
diff --git a/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TrackingStateHelper.java b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TrackingStateHelper.java
new file mode 100644
index 0000000..ffd8bd0
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TrackingStateHelper.java
@@ -0,0 +1,82 @@
+/*
+ * Copyright 2019 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.helpers;
+
+import android.app.Activity;
+import android.view.WindowManager;
+import com.google.ar.core.Camera;
+import com.google.ar.core.TrackingFailureReason;
+import com.google.ar.core.TrackingState;
+
+/** Gets human readibly tracking failure reasons and suggested actions. */
+public final class TrackingStateHelper {
+ private static final String INSUFFICIENT_FEATURES_MESSAGE =
+ "Can't find anything. Aim device at a surface with more texture or color.";
+ private static final String EXCESSIVE_MOTION_MESSAGE = "Moving too fast. Slow down.";
+ private static final String INSUFFICIENT_LIGHT_MESSAGE =
+ "Too dark. Try moving to a well-lit area.";
+ private static final String BAD_STATE_MESSAGE =
+ "Tracking lost due to bad internal state. Please try restarting the AR experience.";
+ private static final String CAMERA_UNAVAILABLE_MESSAGE =
+ "Another app is using the camera. Tap on this app or try closing the other one.";
+
+ private final Activity activity;
+
+ private TrackingState previousTrackingState;
+
+ public TrackingStateHelper(Activity activity) {
+ this.activity = activity;
+ }
+
+ /** Keep the screen unlocked while tracking, but allow it to lock when tracking stops. */
+ public void updateKeepScreenOnFlag(TrackingState trackingState) {
+ if (trackingState == previousTrackingState) {
+ return;
+ }
+
+ previousTrackingState = trackingState;
+ switch (trackingState) {
+ case PAUSED:
+ case STOPPED:
+ activity.runOnUiThread(
+ () -> activity.getWindow().clearFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON));
+ break;
+ case TRACKING:
+ activity.runOnUiThread(
+ () -> activity.getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON));
+ break;
+ }
+ }
+
+ public static String getTrackingFailureReasonString(Camera camera) {
+ TrackingFailureReason reason = camera.getTrackingFailureReason();
+ switch (reason) {
+ case NONE:
+ return "";
+ case BAD_STATE:
+ return BAD_STATE_MESSAGE;
+ case INSUFFICIENT_LIGHT:
+ return INSUFFICIENT_LIGHT_MESSAGE;
+ case EXCESSIVE_MOTION:
+ return EXCESSIVE_MOTION_MESSAGE;
+ case INSUFFICIENT_FEATURES:
+ return INSUFFICIENT_FEATURES_MESSAGE;
+ case CAMERA_UNAVAILABLE:
+ return CAMERA_UNAVAILABLE_MESSAGE;
+ }
+ return "Unknown tracking failure reason: " + reason;
+ }
+}
diff --git a/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/BackgroundRenderer.java b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/BackgroundRenderer.java
new file mode 100644
index 0000000..5d5509a
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/BackgroundRenderer.java
@@ -0,0 +1,319 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.rendering;
+
+import android.content.Context;
+import android.opengl.GLES11Ext;
+import android.opengl.GLES20;
+import android.opengl.GLSurfaceView;
+import androidx.annotation.NonNull;
+import com.google.ar.core.Coordinates2d;
+import com.google.ar.core.Frame;
+import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.FloatBuffer;
+import javax.microedition.khronos.egl.EGLConfig;
+import javax.microedition.khronos.opengles.GL10;
+
+/**
+ * This class renders the AR background from camera feed. It creates and hosts the texture given to
+ * ARCore to be filled with the camera image.
+ */
+public class BackgroundRenderer {
+ private static final String TAG = BackgroundRenderer.class.getSimpleName();
+
+ // Shader names.
+ private static final String CAMERA_VERTEX_SHADER_NAME = "shaders/screenquad.vert";
+ private static final String CAMERA_FRAGMENT_SHADER_NAME = "shaders/screenquad.frag";
+ private static final String DEPTH_VISUALIZER_VERTEX_SHADER_NAME =
+ "shaders/background_show_depth_color_visualization.vert";
+ private static final String DEPTH_VISUALIZER_FRAGMENT_SHADER_NAME =
+ "shaders/background_show_depth_color_visualization.frag";
+
+ private static final int COORDS_PER_VERTEX = 2;
+ private static final int TEXCOORDS_PER_VERTEX = 2;
+ private static final int FLOAT_SIZE = 4;
+
+ private FloatBuffer quadCoords;
+ private FloatBuffer quadTexCoords;
+
+ private int cameraProgram;
+ private int depthProgram;
+
+ private int cameraPositionAttrib;
+ private int cameraTexCoordAttrib;
+ private int cameraTextureUniform;
+ private int cameraTextureId = -1;
+ private boolean suppressTimestampZeroRendering = true;
+
+ private int depthPositionAttrib;
+ private int depthTexCoordAttrib;
+ private int depthTextureUniform;
+ private int depthTextureId = -1;
+
+ public int getTextureId() {
+ return cameraTextureId;
+ }
+
+ /**
+ * Allocates and initializes OpenGL resources needed by the background renderer. Must be called on
+ * the OpenGL thread, typically in {@link GLSurfaceView.Renderer#onSurfaceCreated(GL10,
+ * EGLConfig)}.
+ *
+ * @param context Needed to access shader source.
+ */
+ public void createOnGlThread(Context context, int depthTextureId) throws IOException {
+ // Generate the background texture.
+ int[] textures = new int[1];
+ GLES20.glGenTextures(1, textures, 0);
+ cameraTextureId = textures[0];
+ int textureTarget = GLES11Ext.GL_TEXTURE_EXTERNAL_OES;
+ GLES20.glBindTexture(textureTarget, cameraTextureId);
+ GLES20.glTexParameteri(textureTarget, GLES20.GL_TEXTURE_WRAP_S, GLES20.GL_CLAMP_TO_EDGE);
+ GLES20.glTexParameteri(textureTarget, GLES20.GL_TEXTURE_WRAP_T, GLES20.GL_CLAMP_TO_EDGE);
+ GLES20.glTexParameteri(textureTarget, GLES20.GL_TEXTURE_MIN_FILTER, GLES20.GL_LINEAR);
+ GLES20.glTexParameteri(textureTarget, GLES20.GL_TEXTURE_MAG_FILTER, GLES20.GL_LINEAR);
+
+ int numVertices = 4;
+ if (numVertices != QUAD_COORDS.length / COORDS_PER_VERTEX) {
+ throw new RuntimeException("Unexpected number of vertices in BackgroundRenderer.");
+ }
+
+ ByteBuffer bbCoords = ByteBuffer.allocateDirect(QUAD_COORDS.length * FLOAT_SIZE);
+ bbCoords.order(ByteOrder.nativeOrder());
+ quadCoords = bbCoords.asFloatBuffer();
+ quadCoords.put(QUAD_COORDS);
+ quadCoords.position(0);
+
+ ByteBuffer bbTexCoordsTransformed =
+ ByteBuffer.allocateDirect(numVertices * TEXCOORDS_PER_VERTEX * FLOAT_SIZE);
+ bbTexCoordsTransformed.order(ByteOrder.nativeOrder());
+ quadTexCoords = bbTexCoordsTransformed.asFloatBuffer();
+
+ // Load render camera feed shader.
+ {
+ int vertexShader =
+ ShaderUtil.loadGLShader(TAG, context, GLES20.GL_VERTEX_SHADER, CAMERA_VERTEX_SHADER_NAME);
+ int fragmentShader =
+ ShaderUtil.loadGLShader(
+ TAG, context, GLES20.GL_FRAGMENT_SHADER, CAMERA_FRAGMENT_SHADER_NAME);
+
+ cameraProgram = GLES20.glCreateProgram();
+ GLES20.glAttachShader(cameraProgram, vertexShader);
+ GLES20.glAttachShader(cameraProgram, fragmentShader);
+ GLES20.glLinkProgram(cameraProgram);
+ GLES20.glUseProgram(cameraProgram);
+ cameraPositionAttrib = GLES20.glGetAttribLocation(cameraProgram, "a_Position");
+ cameraTexCoordAttrib = GLES20.glGetAttribLocation(cameraProgram, "a_TexCoord");
+ ShaderUtil.checkGLError(TAG, "Program creation");
+
+ cameraTextureUniform = GLES20.glGetUniformLocation(cameraProgram, "sTexture");
+ ShaderUtil.checkGLError(TAG, "Program parameters");
+ }
+
+ // Load render depth map shader.
+ {
+ int vertexShader =
+ ShaderUtil.loadGLShader(
+ TAG, context, GLES20.GL_VERTEX_SHADER, DEPTH_VISUALIZER_VERTEX_SHADER_NAME);
+ int fragmentShader =
+ ShaderUtil.loadGLShader(
+ TAG, context, GLES20.GL_FRAGMENT_SHADER, DEPTH_VISUALIZER_FRAGMENT_SHADER_NAME);
+
+ depthProgram = GLES20.glCreateProgram();
+ GLES20.glAttachShader(depthProgram, vertexShader);
+ GLES20.glAttachShader(depthProgram, fragmentShader);
+ GLES20.glLinkProgram(depthProgram);
+ GLES20.glUseProgram(depthProgram);
+ depthPositionAttrib = GLES20.glGetAttribLocation(depthProgram, "a_Position");
+ depthTexCoordAttrib = GLES20.glGetAttribLocation(depthProgram, "a_TexCoord");
+ ShaderUtil.checkGLError(TAG, "Program creation");
+
+ depthTextureUniform = GLES20.glGetUniformLocation(depthProgram, "u_DepthTexture");
+ ShaderUtil.checkGLError(TAG, "Program parameters");
+ }
+
+ this.depthTextureId = depthTextureId;
+ }
+
+ public void createOnGlThread(Context context) throws IOException {
+ createOnGlThread(context, /*depthTextureId=*/ -1);
+ }
+
+ public void suppressTimestampZeroRendering(boolean suppressTimestampZeroRendering) {
+ this.suppressTimestampZeroRendering = suppressTimestampZeroRendering;
+ }
+
+ /**
+ * Draws the AR background image. The image will be drawn such that virtual content rendered with
+ * the matrices provided by {@link com.google.ar.core.Camera#getViewMatrix(float[], int)} and
+ * {@link com.google.ar.core.Camera#getProjectionMatrix(float[], int, float, float)} will
+ * accurately follow static physical objects. This must be called <b>before</b> drawing virtual
+ * content.
+ *
+ * @param frame The current {@code Frame} as returned by {@link Session#update()}.
+ * @param debugShowDepthMap Toggles whether to show the live camera feed or latest depth image.
+ */
+ public void draw(@NonNull Frame frame, boolean debugShowDepthMap) {
+ // If display rotation changed (also includes view size change), we need to re-query the uv
+ // coordinates for the screen rect, as they may have changed as well.
+ if (frame.hasDisplayGeometryChanged()) {
+ frame.transformCoordinates2d(
+ Coordinates2d.OPENGL_NORMALIZED_DEVICE_COORDINATES,
+ quadCoords,
+ Coordinates2d.TEXTURE_NORMALIZED,
+ quadTexCoords);
+ }
+
+ if (frame.getTimestamp() == 0 && suppressTimestampZeroRendering) {
+ // Suppress rendering if the camera did not produce the first frame yet. This is to avoid
+ // drawing possible leftover data from previous sessions if the texture is reused.
+ return;
+ }
+
+ draw(debugShowDepthMap);
+ }
+
+ public void draw(@NonNull Frame frame) {
+ draw(frame, /*debugShowDepthMap=*/ false);
+ }
+
+ /**
+ * Draws the camera image using the currently configured {@link BackgroundRenderer#quadTexCoords}
+ * image texture coordinates.
+ *
+ * <p>The image will be center cropped if the camera sensor aspect ratio does not match the screen
+ * aspect ratio, which matches the cropping behavior of {@link
+ * Frame#transformCoordinates2d(Coordinates2d, float[], Coordinates2d, float[])}.
+ */
+ public void draw(
+ int imageWidth, int imageHeight, float screenAspectRatio, int cameraToDisplayRotation) {
+ // Crop the camera image to fit the screen aspect ratio.
+ float imageAspectRatio = (float) imageWidth / imageHeight;
+ float croppedWidth;
+ float croppedHeight;
+ if (screenAspectRatio < imageAspectRatio) {
+ croppedWidth = imageHeight * screenAspectRatio;
+ croppedHeight = imageHeight;
+ } else {
+ croppedWidth = imageWidth;
+ croppedHeight = imageWidth / screenAspectRatio;
+ }
+
+ float u = (imageWidth - croppedWidth) / imageWidth * 0.5f;
+ float v = (imageHeight - croppedHeight) / imageHeight * 0.5f;
+
+ float[] texCoordTransformed;
+ switch (cameraToDisplayRotation) {
+ case 90:
+ texCoordTransformed = new float[] {1 - u, 1 - v, 1 - u, v, u, 1 - v, u, v};
+ break;
+ case 180:
+ texCoordTransformed = new float[] {1 - u, v, u, v, 1 - u, 1 - v, u, 1 - v};
+ break;
+ case 270:
+ texCoordTransformed = new float[] {u, v, u, 1 - v, 1 - u, v, 1 - u, 1 - v};
+ break;
+ case 0:
+ texCoordTransformed = new float[] {u, 1 - v, 1 - u, 1 - v, u, v, 1 - u, v};
+ break;
+ default:
+ throw new IllegalArgumentException("Unhandled rotation: " + cameraToDisplayRotation);
+ }
+
+ // Write image texture coordinates.
+ quadTexCoords.position(0);
+ quadTexCoords.put(texCoordTransformed);
+
+ draw(/*debugShowDepthMap=*/ false);
+ }
+
+ /**
+ * Draws the camera background image using the currently configured {@link
+ * BackgroundRenderer#quadTexCoords} image texture coordinates.
+ */
+ private void draw(boolean debugShowDepthMap) {
+ // Ensure position is rewound before use.
+ quadTexCoords.position(0);
+
+ // No need to test or write depth, the screen quad has arbitrary depth, and is expected
+ // to be drawn first.
+ GLES20.glDisable(GLES20.GL_DEPTH_TEST);
+ GLES20.glDepthMask(false);
+
+ GLES20.glActiveTexture(GLES20.GL_TEXTURE0);
+
+ if (debugShowDepthMap) {
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, depthTextureId);
+ GLES20.glUseProgram(depthProgram);
+ GLES20.glUniform1i(depthTextureUniform, 0);
+
+ // Set the vertex positions and texture coordinates.
+ GLES20.glVertexAttribPointer(
+ depthPositionAttrib, COORDS_PER_VERTEX, GLES20.GL_FLOAT, false, 0, quadCoords);
+ GLES20.glVertexAttribPointer(
+ depthTexCoordAttrib, TEXCOORDS_PER_VERTEX, GLES20.GL_FLOAT, false, 0, quadTexCoords);
+ GLES20.glEnableVertexAttribArray(depthPositionAttrib);
+ GLES20.glEnableVertexAttribArray(depthTexCoordAttrib);
+ } else {
+ GLES20.glBindTexture(GLES11Ext.GL_TEXTURE_EXTERNAL_OES, cameraTextureId);
+ GLES20.glUseProgram(cameraProgram);
+ GLES20.glUniform1i(cameraTextureUniform, 0);
+
+ // Set the vertex positions and texture coordinates.
+ GLES20.glVertexAttribPointer(
+ cameraPositionAttrib, COORDS_PER_VERTEX, GLES20.GL_FLOAT, false, 0, quadCoords);
+ GLES20.glVertexAttribPointer(
+ cameraTexCoordAttrib, TEXCOORDS_PER_VERTEX, GLES20.GL_FLOAT, false, 0, quadTexCoords);
+ GLES20.glEnableVertexAttribArray(cameraPositionAttrib);
+ GLES20.glEnableVertexAttribArray(cameraTexCoordAttrib);
+ }
+
+ GLES20.glDrawArrays(GLES20.GL_TRIANGLE_STRIP, 0, 4);
+
+ // Disable vertex arrays
+ if (debugShowDepthMap) {
+ GLES20.glDisableVertexAttribArray(depthPositionAttrib);
+ GLES20.glDisableVertexAttribArray(depthTexCoordAttrib);
+ } else {
+ GLES20.glDisableVertexAttribArray(cameraPositionAttrib);
+ GLES20.glDisableVertexAttribArray(cameraTexCoordAttrib);
+ }
+
+ // Restore the depth state for further drawing.
+ GLES20.glDepthMask(true);
+ GLES20.glEnable(GLES20.GL_DEPTH_TEST);
+
+ ShaderUtil.checkGLError(TAG, "BackgroundRendererDraw");
+ }
+
+ /**
+ * (-1, 1) ------- (1, 1)
+ * | \ |
+ * | \ |
+ * | \ |
+ * | \ |
+ * (-1, -1) ------ (1, -1)
+ * Ensure triangles are front-facing, to support glCullFace().
+ * This quad will be drawn using GL_TRIANGLE_STRIP which draws two
+ * triangles: v0->v1->v2, then v2->v1->v3.
+ */
+ private static final float[] QUAD_COORDS =
+ new float[] {
+ -1.0f, -1.0f, +1.0f, -1.0f, -1.0f, +1.0f, +1.0f, +1.0f,
+ };
+}
diff --git a/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/ObjectRenderer.java b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/ObjectRenderer.java
new file mode 100644
index 0000000..fd5f2d2
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/ObjectRenderer.java
@@ -0,0 +1,473 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.rendering;
+
+import android.content.Context;
+import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;
+import android.opengl.GLES20;
+import android.opengl.GLUtils;
+import android.opengl.Matrix;
+import de.javagl.obj.Obj;
+import de.javagl.obj.ObjData;
+import de.javagl.obj.ObjReader;
+import de.javagl.obj.ObjUtils;
+import java.io.IOException;
+import java.io.InputStream;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.FloatBuffer;
+import java.nio.IntBuffer;
+import java.nio.ShortBuffer;
+import java.util.Map;
+import java.util.TreeMap;
+
+/** Renders an object loaded from an OBJ file in OpenGL. */
+public class ObjectRenderer {
+ private static final String TAG = ObjectRenderer.class.getSimpleName();
+
+ /**
+ * Blend mode.
+ *
+ * @see #setBlendMode(BlendMode)
+ */
+ public enum BlendMode {
+ /** Multiplies the destination color by the source alpha, without z-buffer writing. */
+ Shadow,
+ /** Normal alpha blending with z-buffer writing. */
+ AlphaBlending
+ }
+
+ // Shader names.
+ private static final String VERTEX_SHADER_NAME = "shaders/ar_object.vert";
+ private static final String FRAGMENT_SHADER_NAME = "shaders/ar_object.frag";
+
+ private static final int COORDS_PER_VERTEX = 3;
+ private static final float[] DEFAULT_COLOR = new float[] {0f, 0f, 0f, 0f};
+
+ // Note: the last component must be zero to avoid applying the translational part of the matrix.
+ private static final float[] LIGHT_DIRECTION = new float[] {0.250f, 0.866f, 0.433f, 0.0f};
+ private final float[] viewLightDirection = new float[4];
+
+ // Object vertex buffer variables.
+ private int vertexBufferId;
+ private int verticesBaseAddress;
+ private int texCoordsBaseAddress;
+ private int normalsBaseAddress;
+ private int indexBufferId;
+ private int indexCount;
+
+ private int program;
+ private final int[] textures = new int[1];
+
+ // Shader location: model view projection matrix.
+ private int modelViewUniform;
+ private int modelViewProjectionUniform;
+
+ // Shader location: object attributes.
+ private int positionAttribute;
+ private int normalAttribute;
+ private int texCoordAttribute;
+
+ // Shader location: texture sampler.
+ private int textureUniform;
+
+ // Shader location: environment properties.
+ private int lightingParametersUniform;
+
+ // Shader location: material properties.
+ private int materialParametersUniform;
+
+ // Shader location: color correction property.
+ private int colorCorrectionParameterUniform;
+
+ // Shader location: object color property (to change the primary color of the object).
+ private int colorUniform;
+
+ // Shader location: depth texture.
+ private int depthTextureUniform;
+
+ // Shader location: transform to depth uvs.
+ private int depthUvTransformUniform;
+
+ // Shader location: the aspect ratio of the depth texture.
+ private int depthAspectRatioUniform;
+
+ private BlendMode blendMode = null;
+
+ // Temporary matrices allocated here to reduce number of allocations for each frame.
+ private final float[] modelMatrix = new float[16];
+ private final float[] modelViewMatrix = new float[16];
+ private final float[] modelViewProjectionMatrix = new float[16];
+
+ // Set some default material properties to use for lighting.
+ private float ambient = 0.3f;
+ private float diffuse = 1.0f;
+ private float specular = 1.0f;
+ private float specularPower = 6.0f;
+
+ // Depth-for-Occlusion parameters.
+ private static final String USE_DEPTH_FOR_OCCLUSION_SHADER_FLAG = "USE_DEPTH_FOR_OCCLUSION";
+ private boolean useDepthForOcclusion = false;
+ private float depthAspectRatio = 0.0f;
+ private float[] uvTransform = null;
+ private int depthTextureId;
+
+ /**
+ * Creates and initializes OpenGL resources needed for rendering the model.
+ *
+ * @param context Context for loading the shader and below-named model and texture assets.
+ * @param objAssetName Name of the OBJ file containing the model geometry.
+ * @param diffuseTextureAssetName Name of the PNG file containing the diffuse texture map.
+ */
+ public void createOnGlThread(Context context, String objAssetName, String diffuseTextureAssetName)
+ throws IOException {
+ // Compiles and loads the shader based on the current configuration.
+ compileAndLoadShaderProgram(context);
+
+ // Read the texture.
+ Bitmap textureBitmap =
+ BitmapFactory.decodeStream(context.getAssets().open(diffuseTextureAssetName));
+
+ GLES20.glActiveTexture(GLES20.GL_TEXTURE0);
+ GLES20.glGenTextures(textures.length, textures, 0);
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, textures[0]);
+
+ GLES20.glTexParameteri(
+ GLES20.GL_TEXTURE_2D, GLES20.GL_TEXTURE_MIN_FILTER, GLES20.GL_LINEAR_MIPMAP_LINEAR);
+ GLES20.glTexParameteri(GLES20.GL_TEXTURE_2D, GLES20.GL_TEXTURE_MAG_FILTER, GLES20.GL_LINEAR);
+ GLUtils.texImage2D(GLES20.GL_TEXTURE_2D, 0, textureBitmap, 0);
+ GLES20.glGenerateMipmap(GLES20.GL_TEXTURE_2D);
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, 0);
+
+ textureBitmap.recycle();
+
+ ShaderUtil.checkGLError(TAG, "Texture loading");
+
+ // Read the obj file.
+ InputStream objInputStream = context.getAssets().open(objAssetName);
+ Obj obj = ObjReader.read(objInputStream);
+
+ // Prepare the Obj so that its structure is suitable for
+ // rendering with OpenGL:
+ // 1. Triangulate it
+ // 2. Make sure that texture coordinates are not ambiguous
+ // 3. Make sure that normals are not ambiguous
+ // 4. Convert it to single-indexed data
+ obj = ObjUtils.convertToRenderable(obj);
+
+ // OpenGL does not use Java arrays. ByteBuffers are used instead to provide data in a format
+ // that OpenGL understands.
+
+ // Obtain the data from the OBJ, as direct buffers:
+ IntBuffer wideIndices = ObjData.getFaceVertexIndices(obj, 3);
+ FloatBuffer vertices = ObjData.getVertices(obj);
+ FloatBuffer texCoords = ObjData.getTexCoords(obj, 2);
+ FloatBuffer normals = ObjData.getNormals(obj);
+
+ // Convert int indices to shorts for GL ES 2.0 compatibility
+ ShortBuffer indices =
+ ByteBuffer.allocateDirect(2 * wideIndices.limit())
+ .order(ByteOrder.nativeOrder())
+ .asShortBuffer();
+ while (wideIndices.hasRemaining()) {
+ indices.put((short) wideIndices.get());
+ }
+ indices.rewind();
+
+ int[] buffers = new int[2];
+ GLES20.glGenBuffers(2, buffers, 0);
+ vertexBufferId = buffers[0];
+ indexBufferId = buffers[1];
+
+ // Load vertex buffer
+ verticesBaseAddress = 0;
+ texCoordsBaseAddress = verticesBaseAddress + 4 * vertices.limit();
+ normalsBaseAddress = texCoordsBaseAddress + 4 * texCoords.limit();
+ final int totalBytes = normalsBaseAddress + 4 * normals.limit();
+
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, vertexBufferId);
+ GLES20.glBufferData(GLES20.GL_ARRAY_BUFFER, totalBytes, null, GLES20.GL_STATIC_DRAW);
+ GLES20.glBufferSubData(
+ GLES20.GL_ARRAY_BUFFER, verticesBaseAddress, 4 * vertices.limit(), vertices);
+ GLES20.glBufferSubData(
+ GLES20.GL_ARRAY_BUFFER, texCoordsBaseAddress, 4 * texCoords.limit(), texCoords);
+ GLES20.glBufferSubData(
+ GLES20.GL_ARRAY_BUFFER, normalsBaseAddress, 4 * normals.limit(), normals);
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, 0);
+
+ // Load index buffer
+ GLES20.glBindBuffer(GLES20.GL_ELEMENT_ARRAY_BUFFER, indexBufferId);
+ indexCount = indices.limit();
+ GLES20.glBufferData(
+ GLES20.GL_ELEMENT_ARRAY_BUFFER, 2 * indexCount, indices, GLES20.GL_STATIC_DRAW);
+ GLES20.glBindBuffer(GLES20.GL_ELEMENT_ARRAY_BUFFER, 0);
+
+ ShaderUtil.checkGLError(TAG, "OBJ buffer load");
+
+ Matrix.setIdentityM(modelMatrix, 0);
+ }
+
+ /**
+ * Selects the blending mode for rendering.
+ *
+ * @param blendMode The blending mode. Null indicates no blending (opaque rendering).
+ */
+ public void setBlendMode(BlendMode blendMode) {
+ this.blendMode = blendMode;
+ }
+
+ /**
+ * Specifies whether to use the depth texture to perform depth-based occlusion of virtual objects
+ * from real-world geometry.
+ *
+ * <p>This function is a no-op if the value provided is the same as what is already set. If the
+ * value changes, this function will recompile and reload the shader program to either
+ * enable/disable depth-based occlusion. NOTE: recompilation of the shader is inefficient. This
+ * code could be optimized to precompile both versions of the shader.
+ *
+ * @param context Context for loading the shader.
+ * @param useDepthForOcclusion Specifies whether to use the depth texture to perform occlusion
+ * during rendering of virtual objects.
+ */
+ public void setUseDepthForOcclusion(Context context, boolean useDepthForOcclusion)
+ throws IOException {
+ if (this.useDepthForOcclusion == useDepthForOcclusion) {
+ return; // No change, does nothing.
+ }
+
+ // Toggles the occlusion rendering mode and recompiles the shader.
+ this.useDepthForOcclusion = useDepthForOcclusion;
+ compileAndLoadShaderProgram(context);
+ }
+
+ private void compileAndLoadShaderProgram(Context context) throws IOException {
+ // Compiles and loads the shader program based on the selected mode.
+ Map<String, Integer> defineValuesMap = new TreeMap<>();
+ defineValuesMap.put(USE_DEPTH_FOR_OCCLUSION_SHADER_FLAG, useDepthForOcclusion ? 1 : 0);
+
+ final int vertexShader =
+ ShaderUtil.loadGLShader(TAG, context, GLES20.GL_VERTEX_SHADER, VERTEX_SHADER_NAME);
+ final int fragmentShader =
+ ShaderUtil.loadGLShader(
+ TAG, context, GLES20.GL_FRAGMENT_SHADER, FRAGMENT_SHADER_NAME, defineValuesMap);
+
+ program = GLES20.glCreateProgram();
+ GLES20.glAttachShader(program, vertexShader);
+ GLES20.glAttachShader(program, fragmentShader);
+ GLES20.glLinkProgram(program);
+ GLES20.glUseProgram(program);
+
+ ShaderUtil.checkGLError(TAG, "Program creation");
+
+ modelViewUniform = GLES20.glGetUniformLocation(program, "u_ModelView");
+ modelViewProjectionUniform = GLES20.glGetUniformLocation(program, "u_ModelViewProjection");
+
+ positionAttribute = GLES20.glGetAttribLocation(program, "a_Position");
+ normalAttribute = GLES20.glGetAttribLocation(program, "a_Normal");
+ texCoordAttribute = GLES20.glGetAttribLocation(program, "a_TexCoord");
+
+ textureUniform = GLES20.glGetUniformLocation(program, "u_Texture");
+
+ lightingParametersUniform = GLES20.glGetUniformLocation(program, "u_LightingParameters");
+ materialParametersUniform = GLES20.glGetUniformLocation(program, "u_MaterialParameters");
+ colorCorrectionParameterUniform =
+ GLES20.glGetUniformLocation(program, "u_ColorCorrectionParameters");
+ colorUniform = GLES20.glGetUniformLocation(program, "u_ObjColor");
+
+ // Occlusion Uniforms.
+ if (useDepthForOcclusion) {
+ depthTextureUniform = GLES20.glGetUniformLocation(program, "u_DepthTexture");
+ depthUvTransformUniform = GLES20.glGetUniformLocation(program, "u_DepthUvTransform");
+ depthAspectRatioUniform = GLES20.glGetUniformLocation(program, "u_DepthAspectRatio");
+ }
+
+ ShaderUtil.checkGLError(TAG, "Program parameters");
+ }
+
+ /**
+ * Updates the object model matrix and applies scaling.
+ *
+ * @param modelMatrix A 4x4 model-to-world transformation matrix, stored in column-major order.
+ * @param scaleFactor A separate scaling factor to apply before the {@code modelMatrix}.
+ * @see android.opengl.Matrix
+ */
+ public void updateModelMatrix(float[] modelMatrix, float scaleFactor) {
+ float[] scaleMatrix = new float[16];
+ Matrix.setIdentityM(scaleMatrix, 0);
+ scaleMatrix[0] = scaleFactor;
+ scaleMatrix[5] = scaleFactor;
+ scaleMatrix[10] = scaleFactor;
+ Matrix.multiplyMM(this.modelMatrix, 0, modelMatrix, 0, scaleMatrix, 0);
+ }
+
+ /**
+ * Sets the surface characteristics of the rendered model.
+ *
+ * @param ambient Intensity of non-directional surface illumination.
+ * @param diffuse Diffuse (matte) surface reflectivity.
+ * @param specular Specular (shiny) surface reflectivity.
+ * @param specularPower Surface shininess. Larger values result in a smaller, sharper specular
+ * highlight.
+ */
+ public void setMaterialProperties(
+ float ambient, float diffuse, float specular, float specularPower) {
+ this.ambient = ambient;
+ this.diffuse = diffuse;
+ this.specular = specular;
+ this.specularPower = specularPower;
+ }
+
+ /**
+ * Draws the model.
+ *
+ * @param cameraView A 4x4 view matrix, in column-major order.
+ * @param cameraPerspective A 4x4 projection matrix, in column-major order.
+ * @param colorCorrectionRgba Illumination intensity. Combined with diffuse and specular material
+ * properties.
+ * @see #setBlendMode(BlendMode)
+ * @see #updateModelMatrix(float[], float)
+ * @see #setMaterialProperties(float, float, float, float)
+ * @see android.opengl.Matrix
+ */
+ public void draw(float[] cameraView, float[] cameraPerspective, float[] colorCorrectionRgba) {
+ draw(cameraView, cameraPerspective, colorCorrectionRgba, DEFAULT_COLOR);
+ }
+
+ public void draw(
+ float[] cameraView,
+ float[] cameraPerspective,
+ float[] colorCorrectionRgba,
+ float[] objColor) {
+
+ ShaderUtil.checkGLError(TAG, "Before draw");
+
+ // Build the ModelView and ModelViewProjection matrices
+ // for calculating object position and light.
+ Matrix.multiplyMM(modelViewMatrix, 0, cameraView, 0, modelMatrix, 0);
+ Matrix.multiplyMM(modelViewProjectionMatrix, 0, cameraPerspective, 0, modelViewMatrix, 0);
+
+ GLES20.glUseProgram(program);
+
+ // Set the lighting environment properties.
+ Matrix.multiplyMV(viewLightDirection, 0, modelViewMatrix, 0, LIGHT_DIRECTION, 0);
+ normalizeVec3(viewLightDirection);
+ GLES20.glUniform4f(
+ lightingParametersUniform,
+ viewLightDirection[0],
+ viewLightDirection[1],
+ viewLightDirection[2],
+ 1.f);
+ GLES20.glUniform4fv(colorCorrectionParameterUniform, 1, colorCorrectionRgba, 0);
+
+ // Set the object color property.
+ GLES20.glUniform4fv(colorUniform, 1, objColor, 0);
+
+ // Set the object material properties.
+ GLES20.glUniform4f(materialParametersUniform, ambient, diffuse, specular, specularPower);
+
+ // Attach the object texture.
+ GLES20.glActiveTexture(GLES20.GL_TEXTURE0);
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, textures[0]);
+ GLES20.glUniform1i(textureUniform, 0);
+
+ // Occlusion parameters.
+ if (useDepthForOcclusion) {
+ // Attach the depth texture.
+ GLES20.glActiveTexture(GLES20.GL_TEXTURE1);
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, depthTextureId);
+ GLES20.glUniform1i(depthTextureUniform, 1);
+
+ // Set the depth texture uv transform.
+ GLES20.glUniformMatrix3fv(depthUvTransformUniform, 1, false, uvTransform, 0);
+ GLES20.glUniform1f(depthAspectRatioUniform, depthAspectRatio);
+ }
+
+ // Set the vertex attributes.
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, vertexBufferId);
+
+ GLES20.glVertexAttribPointer(
+ positionAttribute, COORDS_PER_VERTEX, GLES20.GL_FLOAT, false, 0, verticesBaseAddress);
+ GLES20.glVertexAttribPointer(normalAttribute, 3, GLES20.GL_FLOAT, false, 0, normalsBaseAddress);
+ GLES20.glVertexAttribPointer(
+ texCoordAttribute, 2, GLES20.GL_FLOAT, false, 0, texCoordsBaseAddress);
+
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, 0);
+
+ // Set the ModelViewProjection matrix in the shader.
+ GLES20.glUniformMatrix4fv(modelViewUniform, 1, false, modelViewMatrix, 0);
+ GLES20.glUniformMatrix4fv(modelViewProjectionUniform, 1, false, modelViewProjectionMatrix, 0);
+
+ // Enable vertex arrays
+ GLES20.glEnableVertexAttribArray(positionAttribute);
+ GLES20.glEnableVertexAttribArray(normalAttribute);
+ GLES20.glEnableVertexAttribArray(texCoordAttribute);
+
+ if (blendMode != null) {
+ GLES20.glEnable(GLES20.GL_BLEND);
+ switch (blendMode) {
+ case Shadow:
+ // Multiplicative blending function for Shadow.
+ GLES20.glDepthMask(false);
+ GLES20.glBlendFunc(GLES20.GL_ZERO, GLES20.GL_ONE_MINUS_SRC_ALPHA);
+ break;
+ case AlphaBlending:
+ // Alpha blending function, with the depth mask enabled.
+ GLES20.glDepthMask(true);
+
+ // Textures are loaded with premultiplied alpha
+ // (https://developer.android.com/reference/android/graphics/BitmapFactory.Options#inPremultiplied),
+ // so we use the premultiplied alpha blend factors.
+ GLES20.glBlendFunc(GLES20.GL_ONE, GLES20.GL_ONE_MINUS_SRC_ALPHA);
+ break;
+ }
+ }
+
+ GLES20.glBindBuffer(GLES20.GL_ELEMENT_ARRAY_BUFFER, indexBufferId);
+ GLES20.glDrawElements(GLES20.GL_TRIANGLES, indexCount, GLES20.GL_UNSIGNED_SHORT, 0);
+ GLES20.glBindBuffer(GLES20.GL_ELEMENT_ARRAY_BUFFER, 0);
+
+ if (blendMode != null) {
+ GLES20.glDisable(GLES20.GL_BLEND);
+ GLES20.glDepthMask(true);
+ }
+
+ // Disable vertex arrays
+ GLES20.glDisableVertexAttribArray(positionAttribute);
+ GLES20.glDisableVertexAttribArray(normalAttribute);
+ GLES20.glDisableVertexAttribArray(texCoordAttribute);
+
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, 0);
+
+ ShaderUtil.checkGLError(TAG, "After draw");
+ }
+
+ private static void normalizeVec3(float[] v) {
+ float reciprocalLength = 1.0f / (float) Math.sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
+ v[0] *= reciprocalLength;
+ v[1] *= reciprocalLength;
+ v[2] *= reciprocalLength;
+ }
+
+ public void setUvTransformMatrix(float[] transform) {
+ uvTransform = transform;
+ }
+
+ public void setDepthTexture(int textureId, int width, int height) {
+ depthTextureId = textureId;
+ depthAspectRatio = (float) width / (float) height;
+ }
+}
diff --git a/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/PlaneRenderer.java b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/PlaneRenderer.java
new file mode 100644
index 0000000..050ee19
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/PlaneRenderer.java
@@ -0,0 +1,400 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.rendering;
+
+import android.content.Context;
+import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;
+import android.opengl.GLES20;
+import android.opengl.GLSurfaceView;
+import android.opengl.GLUtils;
+import android.opengl.Matrix;
+import com.google.ar.core.Camera;
+import com.google.ar.core.Plane;
+import com.google.ar.core.Pose;
+import com.google.ar.core.TrackingState;
+import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.FloatBuffer;
+import java.nio.ShortBuffer;
+import java.util.ArrayList;
+import java.util.Collection;
+import java.util.Collections;
+import java.util.Comparator;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/** Renders the detected AR planes. */
+public class PlaneRenderer {
+ private static final String TAG = PlaneRenderer.class.getSimpleName();
+
+ // Shader names.
+ private static final String VERTEX_SHADER_NAME = "shaders/plane.vert";
+ private static final String FRAGMENT_SHADER_NAME = "shaders/plane.frag";
+
+ private static final int BYTES_PER_FLOAT = Float.SIZE / 8;
+ private static final int BYTES_PER_SHORT = Short.SIZE / 8;
+ private static final int COORDS_PER_VERTEX = 3; // x, z, alpha
+
+ private static final int VERTS_PER_BOUNDARY_VERT = 2;
+ private static final int INDICES_PER_BOUNDARY_VERT = 3;
+ private static final int INITIAL_BUFFER_BOUNDARY_VERTS = 64;
+
+ private static final int INITIAL_VERTEX_BUFFER_SIZE_BYTES =
+ BYTES_PER_FLOAT * COORDS_PER_VERTEX * VERTS_PER_BOUNDARY_VERT * INITIAL_BUFFER_BOUNDARY_VERTS;
+
+ private static final int INITIAL_INDEX_BUFFER_SIZE_BYTES =
+ BYTES_PER_SHORT
+ * INDICES_PER_BOUNDARY_VERT
+ * INDICES_PER_BOUNDARY_VERT
+ * INITIAL_BUFFER_BOUNDARY_VERTS;
+
+ private static final float FADE_RADIUS_M = 0.25f;
+ private static final float DOTS_PER_METER = 10.0f;
+ private static final float EQUILATERAL_TRIANGLE_SCALE = (float) (1 / Math.sqrt(3));
+
+ // Using the "signed distance field" approach to render sharp lines and circles.
+ // {dotThreshold, lineThreshold, lineFadeSpeed, occlusionScale}
+ // dotThreshold/lineThreshold: red/green intensity above which dots/lines are present
+ // lineFadeShrink: lines will fade in between alpha = 1-(1/lineFadeShrink) and 1.0
+ // occlusionShrink: occluded planes will fade out between alpha = 0 and 1/occlusionShrink
+ private static final float[] GRID_CONTROL = {0.2f, 0.4f, 2.0f, 1.5f};
+
+ private int planeProgram;
+ private final int[] textures = new int[1];
+
+ private int planeXZPositionAlphaAttribute;
+
+ private int planeModelUniform;
+ private int planeNormalUniform;
+ private int planeModelViewProjectionUniform;
+ private int textureUniform;
+ private int gridControlUniform;
+ private int planeUvMatrixUniform;
+
+ private FloatBuffer vertexBuffer =
+ ByteBuffer.allocateDirect(INITIAL_VERTEX_BUFFER_SIZE_BYTES)
+ .order(ByteOrder.nativeOrder())
+ .asFloatBuffer();
+ private ShortBuffer indexBuffer =
+ ByteBuffer.allocateDirect(INITIAL_INDEX_BUFFER_SIZE_BYTES)
+ .order(ByteOrder.nativeOrder())
+ .asShortBuffer();
+
+ // Temporary lists/matrices allocated here to reduce number of allocations for each frame.
+ private final float[] modelMatrix = new float[16];
+ private final float[] modelViewMatrix = new float[16];
+ private final float[] modelViewProjectionMatrix = new float[16];
+ private final float[] planeAngleUvMatrix =
+ new float[4]; // 2x2 rotation matrix applied to uv coords.
+
+ private final Map<Plane, Integer> planeIndexMap = new HashMap<>();
+
+ public PlaneRenderer() {}
+
+ /**
+ * Allocates and initializes OpenGL resources needed by the plane renderer. Must be called on the
+ * OpenGL thread, typically in {@link GLSurfaceView.Renderer#onSurfaceCreated(GL10, EGLConfig)}.
+ *
+ * @param context Needed to access shader source and texture PNG.
+ * @param gridDistanceTextureName Name of the PNG file containing the grid texture.
+ */
+ public void createOnGlThread(Context context, String gridDistanceTextureName) throws IOException {
+ int vertexShader =
+ ShaderUtil.loadGLShader(TAG, context, GLES20.GL_VERTEX_SHADER, VERTEX_SHADER_NAME);
+ int passthroughShader =
+ ShaderUtil.loadGLShader(TAG, context, GLES20.GL_FRAGMENT_SHADER, FRAGMENT_SHADER_NAME);
+
+ planeProgram = GLES20.glCreateProgram();
+ GLES20.glAttachShader(planeProgram, vertexShader);
+ GLES20.glAttachShader(planeProgram, passthroughShader);
+ GLES20.glLinkProgram(planeProgram);
+ GLES20.glUseProgram(planeProgram);
+
+ ShaderUtil.checkGLError(TAG, "Program creation");
+
+ // Read the texture.
+ Bitmap textureBitmap =
+ BitmapFactory.decodeStream(context.getAssets().open(gridDistanceTextureName));
+
+ GLES20.glActiveTexture(GLES20.GL_TEXTURE0);
+ GLES20.glGenTextures(textures.length, textures, 0);
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, textures[0]);
+
+ GLES20.glTexParameteri(
+ GLES20.GL_TEXTURE_2D, GLES20.GL_TEXTURE_MIN_FILTER, GLES20.GL_LINEAR_MIPMAP_LINEAR);
+ GLES20.glTexParameteri(GLES20.GL_TEXTURE_2D, GLES20.GL_TEXTURE_MAG_FILTER, GLES20.GL_LINEAR);
+ GLUtils.texImage2D(GLES20.GL_TEXTURE_2D, 0, textureBitmap, 0);
+ GLES20.glGenerateMipmap(GLES20.GL_TEXTURE_2D);
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, 0);
+
+ ShaderUtil.checkGLError(TAG, "Texture loading");
+
+ planeXZPositionAlphaAttribute = GLES20.glGetAttribLocation(planeProgram, "a_XZPositionAlpha");
+
+ planeModelUniform = GLES20.glGetUniformLocation(planeProgram, "u_Model");
+ planeNormalUniform = GLES20.glGetUniformLocation(planeProgram, "u_Normal");
+ planeModelViewProjectionUniform =
+ GLES20.glGetUniformLocation(planeProgram, "u_ModelViewProjection");
+ textureUniform = GLES20.glGetUniformLocation(planeProgram, "u_Texture");
+ gridControlUniform = GLES20.glGetUniformLocation(planeProgram, "u_gridControl");
+ planeUvMatrixUniform = GLES20.glGetUniformLocation(planeProgram, "u_PlaneUvMatrix");
+
+ ShaderUtil.checkGLError(TAG, "Program parameters");
+ }
+
+ /** Updates the plane model transform matrix and extents. */
+ private void updatePlaneParameters(
+ float[] planeMatrix, float extentX, float extentZ, FloatBuffer boundary) {
+ System.arraycopy(planeMatrix, 0, modelMatrix, 0, 16);
+ if (boundary == null) {
+ vertexBuffer.limit(0);
+ indexBuffer.limit(0);
+ return;
+ }
+
+ // Generate a new set of vertices and a corresponding triangle strip index set so that
+ // the plane boundary polygon has a fading edge. This is done by making a copy of the
+ // boundary polygon vertices and scaling it down around center to push it inwards. Then
+ // the index buffer is setup accordingly.
+ boundary.rewind();
+ int boundaryVertices = boundary.limit() / 2;
+ int numVertices;
+ int numIndices;
+
+ numVertices = boundaryVertices * VERTS_PER_BOUNDARY_VERT;
+ // drawn as GL_TRIANGLE_STRIP with 3n-2 triangles (n-2 for fill, 2n for perimeter).
+ numIndices = boundaryVertices * INDICES_PER_BOUNDARY_VERT;
+
+ if (vertexBuffer.capacity() < numVertices * COORDS_PER_VERTEX) {
+ int size = vertexBuffer.capacity();
+ while (size < numVertices * COORDS_PER_VERTEX) {
+ size *= 2;
+ }
+ vertexBuffer =
+ ByteBuffer.allocateDirect(BYTES_PER_FLOAT * size)
+ .order(ByteOrder.nativeOrder())
+ .asFloatBuffer();
+ }
+ vertexBuffer.rewind();
+ vertexBuffer.limit(numVertices * COORDS_PER_VERTEX);
+
+ if (indexBuffer.capacity() < numIndices) {
+ int size = indexBuffer.capacity();
+ while (size < numIndices) {
+ size *= 2;
+ }
+ indexBuffer =
+ ByteBuffer.allocateDirect(BYTES_PER_SHORT * size)
+ .order(ByteOrder.nativeOrder())
+ .asShortBuffer();
+ }
+ indexBuffer.rewind();
+ indexBuffer.limit(numIndices);
+
+ // Note: when either dimension of the bounding box is smaller than 2*FADE_RADIUS_M we
+ // generate a bunch of 0-area triangles. These don't get rendered though so it works
+ // out ok.
+ float xScale = Math.max((extentX - 2 * FADE_RADIUS_M) / extentX, 0.0f);
+ float zScale = Math.max((extentZ - 2 * FADE_RADIUS_M) / extentZ, 0.0f);
+
+ while (boundary.hasRemaining()) {
+ float x = boundary.get();
+ float z = boundary.get();
+ vertexBuffer.put(x);
+ vertexBuffer.put(z);
+ vertexBuffer.put(0.0f);
+ vertexBuffer.put(x * xScale);
+ vertexBuffer.put(z * zScale);
+ vertexBuffer.put(1.0f);
+ }
+
+ // step 1, perimeter
+ indexBuffer.put((short) ((boundaryVertices - 1) * 2));
+ for (int i = 0; i < boundaryVertices; ++i) {
+ indexBuffer.put((short) (i * 2));
+ indexBuffer.put((short) (i * 2 + 1));
+ }
+ indexBuffer.put((short) 1);
+ // This leaves us on the interior edge of the perimeter between the inset vertices
+ // for boundary verts n-1 and 0.
+
+ // step 2, interior:
+ for (int i = 1; i < boundaryVertices / 2; ++i) {
+ indexBuffer.put((short) ((boundaryVertices - 1 - i) * 2 + 1));
+ indexBuffer.put((short) (i * 2 + 1));
+ }
+ if (boundaryVertices % 2 != 0) {
+ indexBuffer.put((short) ((boundaryVertices / 2) * 2 + 1));
+ }
+ }
+
+ private void draw(float[] cameraView, float[] cameraPerspective, float[] planeNormal) {
+ // Build the ModelView and ModelViewProjection matrices
+ // for calculating cube position and light.
+ Matrix.multiplyMM(modelViewMatrix, 0, cameraView, 0, modelMatrix, 0);
+ Matrix.multiplyMM(modelViewProjectionMatrix, 0, cameraPerspective, 0, modelViewMatrix, 0);
+
+ // Set the position of the plane
+ vertexBuffer.rewind();
+ GLES20.glVertexAttribPointer(
+ planeXZPositionAlphaAttribute,
+ COORDS_PER_VERTEX,
+ GLES20.GL_FLOAT,
+ false,
+ BYTES_PER_FLOAT * COORDS_PER_VERTEX,
+ vertexBuffer);
+
+ // Set the Model and ModelViewProjection matrices in the shader.
+ GLES20.glUniformMatrix4fv(planeModelUniform, 1, false, modelMatrix, 0);
+ GLES20.glUniform3f(planeNormalUniform, planeNormal[0], planeNormal[1], planeNormal[2]);
+ GLES20.glUniformMatrix4fv(
+ planeModelViewProjectionUniform, 1, false, modelViewProjectionMatrix, 0);
+
+ indexBuffer.rewind();
+ GLES20.glDrawElements(
+ GLES20.GL_TRIANGLE_STRIP, indexBuffer.limit(), GLES20.GL_UNSIGNED_SHORT, indexBuffer);
+ ShaderUtil.checkGLError(TAG, "Drawing plane");
+ }
+
+ static class SortablePlane {
+ final float distance;
+ final Plane plane;
+
+ SortablePlane(float distance, Plane plane) {
+ this.distance = distance;
+ this.plane = plane;
+ }
+ }
+
+ /**
+ * Draws the collection of tracked planes, with closer planes hiding more distant ones.
+ *
+ * @param allPlanes The collection of planes to draw.
+ * @param cameraPose The pose of the camera, as returned by {@link Camera#getPose()}
+ * @param cameraPerspective The projection matrix, as returned by {@link
+ * Camera#getProjectionMatrix(float[], int, float, float)}
+ */
+ public void drawPlanes(Collection<Plane> allPlanes, Pose cameraPose, float[] cameraPerspective) {
+ // Planes must be sorted by distance from camera so that we draw closer planes first, and
+ // they occlude the farther planes.
+ List<SortablePlane> sortedPlanes = new ArrayList<>();
+
+ for (Plane plane : allPlanes) {
+ if (plane.getTrackingState() != TrackingState.TRACKING || plane.getSubsumedBy() != null) {
+ continue;
+ }
+
+ float distance = calculateDistanceToPlane(plane.getCenterPose(), cameraPose);
+ if (distance < 0) { // Plane is back-facing.
+ continue;
+ }
+ sortedPlanes.add(new SortablePlane(distance, plane));
+ }
+ Collections.sort(
+ sortedPlanes,
+ new Comparator<SortablePlane>() {
+ @Override
+ public int compare(SortablePlane a, SortablePlane b) {
+ return Float.compare(b.distance, a.distance);
+ }
+ });
+
+ float[] cameraView = new float[16];
+ cameraPose.inverse().toMatrix(cameraView, 0);
+
+ // Disable depth write.
+ GLES20.glDepthMask(false);
+
+ // Normal alpha blending with premultiplied alpha.
+ GLES20.glEnable(GLES20.GL_BLEND);
+ GLES20.glBlendFunc(GLES20.GL_ONE, GLES20.GL_ONE_MINUS_SRC_ALPHA);
+
+ // Set up the shader.
+ GLES20.glUseProgram(planeProgram);
+
+ // Attach the texture.
+ GLES20.glActiveTexture(GLES20.GL_TEXTURE0);
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, textures[0]);
+ GLES20.glUniform1i(textureUniform, 0);
+
+ // Shared fragment uniforms.
+ GLES20.glUniform4fv(gridControlUniform, 1, GRID_CONTROL, 0);
+
+ // Enable vertex arrays
+ GLES20.glEnableVertexAttribArray(planeXZPositionAlphaAttribute);
+
+ ShaderUtil.checkGLError(TAG, "Setting up to draw planes");
+
+ for (SortablePlane sortedPlane : sortedPlanes) {
+ Plane plane = sortedPlane.plane;
+ float[] planeMatrix = new float[16];
+ plane.getCenterPose().toMatrix(planeMatrix, 0);
+
+ float[] normal = new float[3];
+ // Get transformed Y axis of plane's coordinate system.
+ plane.getCenterPose().getTransformedAxis(1, 1.0f, normal, 0);
+
+ updatePlaneParameters(
+ planeMatrix, plane.getExtentX(), plane.getExtentZ(), plane.getPolygon());
+
+ // Get plane index. Keep a map to assign same indices to same planes.
+ Integer planeIndex = planeIndexMap.get(plane);
+ if (planeIndex == null) {
+ planeIndex = planeIndexMap.size();
+ planeIndexMap.put(plane, planeIndex);
+ }
+
+ // Each plane will have its own angle offset from others, to make them easier to
+ // distinguish. Compute a 2x2 rotation matrix from the angle.
+ float angleRadians = planeIndex * 0.144f;
+ float uScale = DOTS_PER_METER;
+ float vScale = DOTS_PER_METER * EQUILATERAL_TRIANGLE_SCALE;
+ planeAngleUvMatrix[0] = +(float) Math.cos(angleRadians) * uScale;
+ planeAngleUvMatrix[1] = -(float) Math.sin(angleRadians) * vScale;
+ planeAngleUvMatrix[2] = +(float) Math.sin(angleRadians) * uScale;
+ planeAngleUvMatrix[3] = +(float) Math.cos(angleRadians) * vScale;
+ GLES20.glUniformMatrix2fv(planeUvMatrixUniform, 1, false, planeAngleUvMatrix, 0);
+
+ draw(cameraView, cameraPerspective, normal);
+ }
+
+ // Clean up the state we set
+ GLES20.glDisableVertexAttribArray(planeXZPositionAlphaAttribute);
+ GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, 0);
+ GLES20.glDisable(GLES20.GL_BLEND);
+ GLES20.glDepthMask(true);
+
+ ShaderUtil.checkGLError(TAG, "Cleaning up after drawing planes");
+ }
+
+ // Calculate the normal distance to plane from cameraPose, the given planePose should have y axis
+ // parallel to plane's normal, for example plane's center pose or hit test pose.
+ public static float calculateDistanceToPlane(Pose planePose, Pose cameraPose) {
+ float[] normal = new float[3];
+ float cameraX = cameraPose.tx();
+ float cameraY = cameraPose.ty();
+ float cameraZ = cameraPose.tz();
+ // Get transformed Y axis of plane's coordinate system.
+ planePose.getTransformedAxis(1, 1.0f, normal, 0);
+ // Compute dot product of plane's normal with vector from camera to plane center.
+ return (cameraX - planePose.tx()) * normal[0]
+ + (cameraY - planePose.ty()) * normal[1]
+ + (cameraZ - planePose.tz()) * normal[2];
+ }
+}
diff --git a/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/PointCloudRenderer.java b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/PointCloudRenderer.java
new file mode 100644
index 0000000..1272b94
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/PointCloudRenderer.java
@@ -0,0 +1,153 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.rendering;
+
+import android.content.Context;
+import android.opengl.GLES20;
+import android.opengl.GLSurfaceView;
+import android.opengl.Matrix;
+import com.google.ar.core.PointCloud;
+import java.io.IOException;
+
+/** Renders a point cloud. */
+public class PointCloudRenderer {
+ private static final String TAG = PointCloud.class.getSimpleName();
+
+ // Shader names.
+ private static final String VERTEX_SHADER_NAME = "shaders/point_cloud.vert";
+ private static final String FRAGMENT_SHADER_NAME = "shaders/point_cloud.frag";
+
+ private static final int BYTES_PER_FLOAT = Float.SIZE / 8;
+ private static final int FLOATS_PER_POINT = 4; // X,Y,Z,confidence.
+ private static final int BYTES_PER_POINT = BYTES_PER_FLOAT * FLOATS_PER_POINT;
+ private static final int INITIAL_BUFFER_POINTS = 1000;
+
+ private int vbo;
+ private int vboSize;
+
+ private int programName;
+ private int positionAttribute;
+ private int modelViewProjectionUniform;
+ private int colorUniform;
+ private int pointSizeUniform;
+
+ private int numPoints = 0;
+
+ // Keep track of the last point cloud rendered to avoid updating the VBO if point cloud
+ // was not changed. Do this using the timestamp since we can't compare PointCloud objects.
+ private long lastTimestamp = 0;
+
+ public PointCloudRenderer() {}
+
+ /**
+ * Allocates and initializes OpenGL resources needed by the plane renderer. Must be called on the
+ * OpenGL thread, typically in {@link GLSurfaceView.Renderer#onSurfaceCreated(GL10, EGLConfig)}.
+ *
+ * @param context Needed to access shader source.
+ */
+ public void createOnGlThread(Context context) throws IOException {
+ ShaderUtil.checkGLError(TAG, "before create");
+
+ int[] buffers = new int[1];
+ GLES20.glGenBuffers(1, buffers, 0);
+ vbo = buffers[0];
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, vbo);
+
+ vboSize = INITIAL_BUFFER_POINTS * BYTES_PER_POINT;
+ GLES20.glBufferData(GLES20.GL_ARRAY_BUFFER, vboSize, null, GLES20.GL_DYNAMIC_DRAW);
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, 0);
+
+ ShaderUtil.checkGLError(TAG, "buffer alloc");
+
+ int vertexShader =
+ ShaderUtil.loadGLShader(TAG, context, GLES20.GL_VERTEX_SHADER, VERTEX_SHADER_NAME);
+ int passthroughShader =
+ ShaderUtil.loadGLShader(TAG, context, GLES20.GL_FRAGMENT_SHADER, FRAGMENT_SHADER_NAME);
+
+ programName = GLES20.glCreateProgram();
+ GLES20.glAttachShader(programName, vertexShader);
+ GLES20.glAttachShader(programName, passthroughShader);
+ GLES20.glLinkProgram(programName);
+ GLES20.glUseProgram(programName);
+
+ ShaderUtil.checkGLError(TAG, "program");
+
+ positionAttribute = GLES20.glGetAttribLocation(programName, "a_Position");
+ colorUniform = GLES20.glGetUniformLocation(programName, "u_Color");
+ modelViewProjectionUniform = GLES20.glGetUniformLocation(programName, "u_ModelViewProjection");
+ pointSizeUniform = GLES20.glGetUniformLocation(programName, "u_PointSize");
+
+ ShaderUtil.checkGLError(TAG, "program params");
+ }
+
+ /**
+ * Updates the OpenGL buffer contents to the provided point. Repeated calls with the same point
+ * cloud will be ignored.
+ */
+ public void update(PointCloud cloud) {
+ if (cloud.getTimestamp() == lastTimestamp) {
+ // Redundant call.
+ return;
+ }
+ ShaderUtil.checkGLError(TAG, "before update");
+
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, vbo);
+ lastTimestamp = cloud.getTimestamp();
+
+ // If the VBO is not large enough to fit the new point cloud, resize it.
+ numPoints = cloud.getPoints().remaining() / FLOATS_PER_POINT;
+ if (numPoints * BYTES_PER_POINT > vboSize) {
+ while (numPoints * BYTES_PER_POINT > vboSize) {
+ vboSize *= 2;
+ }
+ GLES20.glBufferData(GLES20.GL_ARRAY_BUFFER, vboSize, null, GLES20.GL_DYNAMIC_DRAW);
+ }
+ GLES20.glBufferSubData(
+ GLES20.GL_ARRAY_BUFFER, 0, numPoints * BYTES_PER_POINT, cloud.getPoints());
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, 0);
+
+ ShaderUtil.checkGLError(TAG, "after update");
+ }
+
+ /**
+ * Renders the point cloud. ARCore point cloud is given in world space.
+ *
+ * @param cameraView the camera view matrix for this frame, typically from {@link
+ * com.google.ar.core.Camera#getViewMatrix(float[], int)}.
+ * @param cameraPerspective the camera projection matrix for this frame, typically from {@link
+ * com.google.ar.core.Camera#getProjectionMatrix(float[], int, float, float)}.
+ */
+ public void draw(float[] cameraView, float[] cameraPerspective) {
+ float[] modelViewProjection = new float[16];
+ Matrix.multiplyMM(modelViewProjection, 0, cameraPerspective, 0, cameraView, 0);
+
+ ShaderUtil.checkGLError(TAG, "Before draw");
+
+ GLES20.glUseProgram(programName);
+ GLES20.glEnableVertexAttribArray(positionAttribute);
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, vbo);
+ GLES20.glVertexAttribPointer(positionAttribute, 4, GLES20.GL_FLOAT, false, BYTES_PER_POINT, 0);
+ GLES20.glUniform4f(colorUniform, 31.0f / 255.0f, 188.0f / 255.0f, 210.0f / 255.0f, 1.0f);
+ GLES20.glUniformMatrix4fv(modelViewProjectionUniform, 1, false, modelViewProjection, 0);
+ GLES20.glUniform1f(pointSizeUniform, 5.0f);
+
+ GLES20.glDrawArrays(GLES20.GL_POINTS, 0, numPoints);
+ GLES20.glDisableVertexAttribArray(positionAttribute);
+ GLES20.glBindBuffer(GLES20.GL_ARRAY_BUFFER, 0);
+
+ ShaderUtil.checkGLError(TAG, "Draw");
+ }
+}
diff --git a/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/ShaderUtil.java b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/ShaderUtil.java
new file mode 100644
index 0000000..9f9580b
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/common/rendering/ShaderUtil.java
@@ -0,0 +1,128 @@
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+package com.google.ar.core.examples.java.common.rendering;
+
+import android.content.Context;
+import android.opengl.GLES20;
+import android.util.Log;
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+import java.util.Map;
+import java.util.TreeMap;
+
+/** Shader helper functions. */
+public class ShaderUtil {
+ /**
+ * Converts a raw text file, saved as a resource, into an OpenGL ES shader.
+ *
+ * @param type The type of shader we will be creating.
+ * @param filename The filename of the asset file about to be turned into a shader.
+ * @param defineValuesMap The #define values to add to the top of the shader source code.
+ * @return The shader object handler.
+ */
+ public static int loadGLShader(
+ String tag, Context context, int type, String filename, Map<String, Integer> defineValuesMap)
+ throws IOException {
+ // Load shader source code.
+ String code = readShaderFileFromAssets(context, filename);
+
+ // Prepend any #define values specified during this run.
+ String defines = "";
+ for (Map.Entry<String, Integer> entry : defineValuesMap.entrySet()) {
+ defines += "#define " + entry.getKey() + " " + entry.getValue() + "\n";
+ }
+ code = defines + code;
+
+ // Compiles shader code.
+ int shader = GLES20.glCreateShader(type);
+ GLES20.glShaderSource(shader, code);
+ GLES20.glCompileShader(shader);
+
+ // Get the compilation status.
+ final int[] compileStatus = new int[1];
+ GLES20.glGetShaderiv(shader, GLES20.GL_COMPILE_STATUS, compileStatus, 0);
+
+ // If the compilation failed, delete the shader.
+ if (compileStatus[0] == 0) {
+ Log.e(tag, "Error compiling shader: " + GLES20.glGetShaderInfoLog(shader));
+ GLES20.glDeleteShader(shader);
+ shader = 0;
+ }
+
+ if (shader == 0) {
+ throw new RuntimeException("Error creating shader.");
+ }
+
+ return shader;
+ }
+
+ /** Overload of loadGLShader that assumes no additional #define values to add. */
+ public static int loadGLShader(String tag, Context context, int type, String filename)
+ throws IOException {
+ Map<String, Integer> emptyDefineValuesMap = new TreeMap<>();
+ return loadGLShader(tag, context, type, filename, emptyDefineValuesMap);
+ }
+
+ /**
+ * Checks if we've had an error inside of OpenGL ES, and if so what that error is.
+ *
+ * @param label Label to report in case of error.
+ * @throws RuntimeException If an OpenGL error is detected.
+ */
+ public static void checkGLError(String tag, String label) {
+ int lastError = GLES20.GL_NO_ERROR;
+ // Drain the queue of all errors.
+ int error;
+ while ((error = GLES20.glGetError()) != GLES20.GL_NO_ERROR) {
+ Log.e(tag, label + ": glError " + error);
+ lastError = error;
+ }
+ if (lastError != GLES20.GL_NO_ERROR) {
+ throw new RuntimeException(label + ": glError " + lastError);
+ }
+ }
+
+ /**
+ * Converts a raw shader file into a string.
+ *
+ * @param filename The filename of the shader file about to be turned into a shader.
+ * @return The context of the text file, or null in case of error.
+ */
+ private static String readShaderFileFromAssets(Context context, String filename)
+ throws IOException {
+ try (InputStream inputStream = context.getAssets().open(filename);
+ BufferedReader reader = new BufferedReader(new InputStreamReader(inputStream))) {
+ StringBuilder sb = new StringBuilder();
+ String line;
+ while ((line = reader.readLine()) != null) {
+ String[] tokens = line.split(" ", -1);
+ if (tokens[0].equals("#include")) {
+ String includeFilename = tokens[1];
+ includeFilename = includeFilename.replace("\"", "");
+ if (includeFilename.equals(filename)) {
+ throw new IOException("Do not include the calling file.");
+ }
+ sb.append(readShaderFileFromAssets(context, includeFilename));
+ } else {
+ sb.append(line).append("\n");
+ }
+ }
+ return sb.toString();
+ }
+ }
+}
diff --git a/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/hellorecordingplayback/HelloRecordingPlaybackActivity.java b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/hellorecordingplayback/HelloRecordingPlaybackActivity.java
new file mode 100644
index 0000000..758e71a
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/java/com/google/ar/core/examples/java/hellorecordingplayback/HelloRecordingPlaybackActivity.java
@@ -0,0 +1,810 @@
+/*
+ * Copyright 2021 Google LLC
+ *
+ * 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.
+ */
+
+package com.google.ar.core.examples.java.hellorecordingplayback;
+
+import android.Manifest.permission;
+import android.content.Intent;
+import android.content.pm.PackageManager;
+import android.opengl.GLES20;
+import android.opengl.GLSurfaceView;
+import android.os.Bundle;
+import android.util.Log;
+import android.view.MotionEvent;
+import android.view.View;
+import android.widget.Button;
+import android.widget.TextView;
+import androidx.appcompat.app.AppCompatActivity;
+import androidx.core.app.ActivityCompat;
+import androidx.core.content.ContextCompat;
+import com.google.ar.core.Anchor;
+import com.google.ar.core.ArCoreApk;
+import com.google.ar.core.Camera;
+import com.google.ar.core.Frame;
+import com.google.ar.core.HitResult;
+import com.google.ar.core.Plane;
+import com.google.ar.core.PlaybackStatus;
+import com.google.ar.core.Point;
+import com.google.ar.core.Point.OrientationMode;
+import com.google.ar.core.PointCloud;
+import com.google.ar.core.Pose;
+import com.google.ar.core.RecordingConfig;
+import com.google.ar.core.RecordingStatus;
+import com.google.ar.core.Session;
+import com.google.ar.core.Track;
+import com.google.ar.core.TrackData;
+import com.google.ar.core.Trackable;
+import com.google.ar.core.TrackingState;
+import com.google.ar.core.examples.java.common.helpers.DisplayRotationHelper;
+import com.google.ar.core.examples.java.common.helpers.FullScreenHelper;
+import com.google.ar.core.examples.java.common.helpers.SnackbarHelper;
+import com.google.ar.core.examples.java.common.helpers.TapHelper;
+import com.google.ar.core.examples.java.common.helpers.TrackingStateHelper;
+import com.google.ar.core.examples.java.common.rendering.BackgroundRenderer;
+import com.google.ar.core.examples.java.common.rendering.ObjectRenderer;
+import com.google.ar.core.examples.java.common.rendering.ObjectRenderer.BlendMode;
+import com.google.ar.core.examples.java.common.rendering.PlaneRenderer;
+import com.google.ar.core.examples.java.common.rendering.PointCloudRenderer;
+import com.google.ar.core.exceptions.CameraNotAvailableException;
+import com.google.ar.core.exceptions.PlaybackFailedException;
+import com.google.ar.core.exceptions.RecordingFailedException;
+import com.google.ar.core.exceptions.UnavailableApkTooOldException;
+import com.google.ar.core.exceptions.UnavailableArcoreNotInstalledException;
+import com.google.ar.core.exceptions.UnavailableDeviceNotCompatibleException;
+import com.google.ar.core.exceptions.UnavailableSdkTooOldException;
+import com.google.ar.core.exceptions.UnavailableUserDeclinedInstallationException;
+import java.io.File;
+import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.nio.FloatBuffer;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.Iterator;
+import java.util.List;
+import java.util.Locale;
+import java.util.UUID;
+import java.util.concurrent.atomic.AtomicReference;
+import javax.microedition.khronos.egl.EGLConfig;
+import javax.microedition.khronos.opengles.GL10;
+import org.joda.time.DateTime;
+
+/**
+ * This is a simple example that shows how to create an augmented reality (AR) app that demonstrates
+ * recording and playback of the AR session:
+ *
+ * <ul>
+ * - During recording, ARCore captures device camera and IMU sensor to an MP4 video file.
+ * <li>During plaback, ARCore replays the recorded session.
+ * <li>The app visualizes detected planes.
+ * <li>The user can tap on a detected plane to place a 3D model. These taps are simultaneously
+ * recorded in a separate MP4 data track, so that the taps can be replayed during playback.
+ * </ul>
+ */
+public class HelloRecordingPlaybackActivity extends AppCompatActivity
+ implements GLSurfaceView.Renderer {
+ // Application states.
+ private enum AppState {
+ IDLE,
+ RECORDING,
+ PLAYBACK
+ }
+
+ private static final String TAG = HelloRecordingPlaybackActivity.class.getSimpleName();
+
+ // MP4 dataset naming convention: arcore-dataset-YYYY-MM-DD-hh-mm-ss.mp4
+ private static final String MP4_DATASET_FILENAME_TEMPLATE = "arcore-dataset-%s.mp4";
+ private static final String MP4_DATASET_TIMESTAMP_FORMAT = "yyyy-MM-dd-HH-mm-ss";
+
+ // Keys to keep track of the active dataset and playback state between restarts.
+ private static final String DESIRED_DATASET_PATH_KEY = "desired_dataset_path_key";
+ private static final String DESIRED_APP_STATE_KEY = "desired_app_state_key";
+ private static final int PERMISSIONS_REQUEST_CODE = 0;
+
+ // Recording and playback requires android.permission.WRITE_EXTERNAL_STORAGE and
+ // android.permission.CAMERA to operate. These permissions must be mirrored in the manifest.
+ private static final List<String> requiredPermissions =
+ Arrays.asList(permission.CAMERA, permission.WRITE_EXTERNAL_STORAGE);
+
+ // Randomly generated UUID and custom MIME type to mark the anchor track for this sample.
+ private static final UUID ANCHOR_TRACK_ID =
+ UUID.fromString("a65e59fc-2e13-4607-b514-35302121c138");
+ private static final String ANCHOR_TRACK_MIME_TYPE =
+ "application/hello-recording-playback-anchor";
+
+ // The app state so that it can be preserved when the activity restarts. This is also used to
+ // update the UI.
+ private final AtomicReference<AppState> currentState = new AtomicReference<>(AppState.IDLE);
+
+ private String playbackDatasetPath;
+ private String lastRecordingDatasetPath;
+ private Button startRecordingButton;
+ private Button stopRecordingButton;
+ private Button startPlaybackButton;
+ private Button stopPlaybackButton;
+ private TextView recordingPlaybackPathTextView;
+
+ private Session session;
+ private final SnackbarHelper messageSnackbarHelper = new SnackbarHelper();
+ private DisplayRotationHelper displayRotationHelper;
+ private final TrackingStateHelper trackingStateHelper = new TrackingStateHelper(this);
+ private TapHelper tapHelper;
+ private GLSurfaceView surfaceView;
+
+ // The Renderers are created here, and initialized when the GL surface is created.
+ private final BackgroundRenderer backgroundRenderer = new BackgroundRenderer();
+ private final ObjectRenderer virtualObject = new ObjectRenderer();
+ private final ObjectRenderer virtualObjectShadow = new ObjectRenderer();
+ private final PlaneRenderer planeRenderer = new PlaneRenderer();
+ private final PointCloudRenderer pointCloudRenderer = new PointCloudRenderer();
+
+ // Temporary matrix allocated here to reduce number of allocations for each frame.
+ private final float[] anchorMatrix = new float[16];
+ private static final float[] DEFAULT_COLOR = new float[] {0f, 0f, 0f, 0f};
+
+ private static final String SEARCHING_PLANE_MESSAGE = "Searching for surfaces...";
+
+ // Anchors created from taps used for object placing with a given color.
+ private static class ColoredAnchor {
+ public final Anchor anchor;
+ public final float[] color;
+
+ public ColoredAnchor(Anchor a, float[] color4f) {
+ this.anchor = a;
+ this.color = color4f;
+ }
+ }
+
+ private final ArrayList<ColoredAnchor> anchors = new ArrayList<>();
+ private final ArrayList<ColoredAnchor> anchorsToBeRecorded = new ArrayList<>();
+
+ private boolean installRequested;
+
+ @Override
+ protected void onCreate(Bundle savedInstanceState) {
+ super.onCreate(savedInstanceState);
+ loadInternalStateFromIntentExtras();
+
+ setContentView(R.layout.activity_main);
+ surfaceView = findViewById(R.id.surfaceview);
+ displayRotationHelper = new DisplayRotationHelper(/*context=*/ this);
+
+ // Set up touch listener.
+ tapHelper = new TapHelper(/*context=*/ this);
+ surfaceView.setOnTouchListener(tapHelper);
+
+ // Set up renderer.
+ surfaceView.setPreserveEGLContextOnPause(true);
+ surfaceView.setEGLContextClientVersion(2);
+ surfaceView.setEGLConfigChooser(8, 8, 8, 8, 16, 0); // Alpha used for plane blending.
+ surfaceView.setRenderer(this);
+ surfaceView.setRenderMode(GLSurfaceView.RENDERMODE_CONTINUOUSLY);
+ surfaceView.setWillNotDraw(false);
+
+ installRequested = false;
+
+ recordingPlaybackPathTextView = findViewById(R.id.recording_playback_path);
+ startRecordingButton = findViewById(R.id.start_recording_button);
+ stopRecordingButton = findViewById(R.id.stop_recording_button);
+ startPlaybackButton = findViewById(R.id.playback_button);
+ stopPlaybackButton = findViewById(R.id.close_playback_button);
+ startRecordingButton.setOnClickListener(view -> startRecording());
+ stopRecordingButton.setOnClickListener(view -> stopRecording());
+ startPlaybackButton.setOnClickListener(view -> startPlayback());
+ stopPlaybackButton.setOnClickListener(view -> stopPlayback());
+ updateUI();
+ }
+
+ @Override
+ protected void onResume() {
+ super.onResume();
+
+ if (session == null) {
+ Exception exception = null;
+ String message = null;
+ try {
+ switch (ArCoreApk.getInstance().requestInstall(this, !installRequested)) {
+ case INSTALL_REQUESTED:
+ installRequested = true;
+ return;
+ case INSTALLED:
+ break;
+ }
+
+ // If we did not yet obtain runtime permission on Android M and above, now is a good time to
+ // ask the user for it.
+ if (requestPermissions()) {
+ return;
+ }
+
+ // Create the session.
+ session = new Session(/* context= */ this);
+ if (currentState.get() == AppState.PLAYBACK) {
+ // Dataset playback will start when session.resume() is called.
+ setPlaybackDatasetPath();
+ }
+ } catch (UnavailableArcoreNotInstalledException
+ | UnavailableUserDeclinedInstallationException e) {
+ message = "Please install Google Play Services for AR (ARCore)";
+ exception = e;
+ } catch (UnavailableApkTooOldException e) {
+ message = "Please update Google Play Services for AR (ARCore)";
+ exception = e;
+ } catch (UnavailableSdkTooOldException e) {
+ message = "Please update this app";
+ exception = e;
+ } catch (UnavailableDeviceNotCompatibleException e) {
+ message = "This device does not support AR";
+ exception = e;
+ } catch (Exception e) {
+ message = "Failed to create AR session";
+ exception = e;
+ }
+
+ if (message != null) {
+ messageSnackbarHelper.showError(this, message + " " + exception);
+ Log.e(TAG, "Exception creating session", exception);
+ return;
+ }
+ }
+
+ // Note that order matters - see the note in onPause(), the reverse applies here.
+ try {
+ // Playback will now start if an MP4 dataset has been set.
+ session.resume();
+ } catch (CameraNotAvailableException e) {
+ messageSnackbarHelper.showError(this, "Camera not available. Try restarting the app.");
+ session = null;
+ return;
+ }
+
+ if (currentState.get() == AppState.PLAYBACK) {
+ // Must be called after dataset playback is started by call to session.resume().
+ checkPlaybackStatus();
+ }
+ surfaceView.onResume();
+ displayRotationHelper.onResume();
+ updateUI();
+ }
+
+ @Override
+ public void onPause() {
+ super.onPause();
+ if (session != null) {
+ // Note that the order matters - GLSurfaceView is paused first so that it does not try
+ // to query the session. If Session is paused before GLSurfaceView, GLSurfaceView may
+ // still call session.update() and get a SessionPausedException.
+ displayRotationHelper.onPause();
+ surfaceView.onPause();
+ if (currentState.get() == AppState.RECORDING) {
+ stopRecording();
+ }
+ session.pause();
+ }
+ }
+
+ @Override
+ public void onRequestPermissionsResult(int requestCode, String[] permissions, int[] results) {
+ super.onRequestPermissionsResult(requestCode, permissions, results);
+ if (requestCode == PERMISSIONS_REQUEST_CODE) {
+ for (int i = 0; i < results.length; i++) {
+ if (results[i] != PackageManager.PERMISSION_GRANTED) {
+ logAndShowErrorMessage("Cannot start app, missing permission: " + permissions[i]);
+ finish();
+ }
+ }
+ }
+ }
+
+ @Override
+ public void onWindowFocusChanged(boolean hasFocus) {
+ super.onWindowFocusChanged(hasFocus);
+ FullScreenHelper.setFullScreenOnWindowFocusChanged(this, hasFocus);
+ }
+
+ @Override
+ public void onSurfaceCreated(GL10 gl, EGLConfig config) {
+ GLES20.glClearColor(0.1f, 0.1f, 0.1f, 1.0f);
+
+ // Prepare the rendering objects. This involves reading shaders, so may throw an IOException.
+ try {
+ // Create the texture and pass it to ARCore session to be filled during update().
+ backgroundRenderer.createOnGlThread(/*context=*/ this);
+ planeRenderer.createOnGlThread(/*context=*/ this, "models/trigrid.png");
+ pointCloudRenderer.createOnGlThread(/*context=*/ this);
+
+ virtualObject.createOnGlThread(/*context=*/ this, "models/andy.obj", "models/andy.png");
+ virtualObject.setMaterialProperties(0.0f, 2.0f, 0.5f, 6.0f);
+
+ virtualObjectShadow.createOnGlThread(
+ /*context=*/ this, "models/andy_shadow.obj", "models/andy_shadow.png");
+ virtualObjectShadow.setBlendMode(BlendMode.Shadow);
+ virtualObjectShadow.setMaterialProperties(1.0f, 0.0f, 0.0f, 1.0f);
+
+ } catch (IOException e) {
+ Log.e(TAG, "Failed to read an asset file", e);
+ }
+ }
+
+ @Override
+ public void onSurfaceChanged(GL10 gl, int width, int height) {
+ displayRotationHelper.onSurfaceChanged(width, height);
+ GLES20.glViewport(0, 0, width, height);
+ }
+
+ @Override
+ public void onDrawFrame(GL10 gl) {
+ // Clear screen to tell driver it should not load any pixels from previous frame.
+ GLES20.glClear(GLES20.GL_COLOR_BUFFER_BIT | GLES20.GL_DEPTH_BUFFER_BIT);
+
+ // Do not render anything or call session methods until session is created.
+ if (session == null) {
+ return;
+ }
+
+ // Notify ARCore session that the view size changed so that the projection matrix and
+ // the video background can be properly adjusted.
+ displayRotationHelper.updateSessionIfNeeded(session);
+
+ try {
+ session.setCameraTextureName(backgroundRenderer.getTextureId());
+
+ // Obtain the current frame from ARSession. When the configuration is set to
+ // UpdateMode.BLOCKING (it is by default), this will throttle the rendering to the
+ // camera framerate.
+ Frame frame = session.update();
+ Camera camera = frame.getCamera();
+
+ // Handle one tap per frame.
+ ColoredAnchor anchor = handleTap(frame, camera);
+ if (anchor != null) {
+ // If we created an anchor, then try to record it.
+ anchorsToBeRecorded.add(anchor);
+ }
+
+ // Try to record any anchors that have not been recorded yet.
+ recordAnchors(session, frame, camera);
+
+ // If we are playing back, then add any recorded anchors to the session.
+ addRecordedAnchors(session, frame, camera);
+
+ // If frame is ready, render camera preview image to the GL surface.
+ backgroundRenderer.draw(frame);
+
+ // Keep the screen unlocked while tracking, but allow it to lock when tracking stops.
+ trackingStateHelper.updateKeepScreenOnFlag(camera.getTrackingState());
+
+ // If not tracking, don't draw 3D objects, show tracking failure reason instead.
+ if (camera.getTrackingState() == TrackingState.PAUSED) {
+ messageSnackbarHelper.showMessage(
+ this, TrackingStateHelper.getTrackingFailureReasonString(camera));
+ return;
+ }
+
+ // Get projection matrix.
+ float[] projmtx = new float[16];
+ camera.getProjectionMatrix(projmtx, 0, 0.1f, 100.0f);
+
+ // Get camera matrix and draw.
+ float[] viewmtx = new float[16];
+ camera.getViewMatrix(viewmtx, 0);
+
+ // Compute lighting from average intensity of the image.
+ // The first three components are color scaling factors.
+ // The last one is the average pixel intensity in gamma space.
+ final float[] colorCorrectionRgba = new float[4];
+ frame.getLightEstimate().getColorCorrection(colorCorrectionRgba, 0);
+
+ // Visualize tracked points.
+ // Use try-with-resources to automatically release the point cloud.
+ try (PointCloud pointCloud = frame.acquirePointCloud()) {
+ pointCloudRenderer.update(pointCloud);
+ pointCloudRenderer.draw(viewmtx, projmtx);
+ }
+
+ // No tracking failure at this point. If we detected any planes, then hide the
+ // message UI. If not planes detected, show searching planes message.
+ if (hasTrackingPlane()) {
+ messageSnackbarHelper.hide(this);
+ } else {
+ messageSnackbarHelper.showMessage(this, SEARCHING_PLANE_MESSAGE);
+ }
+
+ // Visualize detected planes.
+ planeRenderer.drawPlanes(
+ session.getAllTrackables(Plane.class), camera.getDisplayOrientedPose(), projmtx);
+
+ // Visualize anchors created by tapping.
+ float scaleFactor = 1.0f;
+ for (ColoredAnchor coloredAnchor : anchors) {
+ if (coloredAnchor.anchor.getTrackingState() != TrackingState.TRACKING) {
+ continue;
+ }
+ // Get the current pose of an Anchor in world space. The Anchor pose is updated
+ // during calls to session.update() as ARCore refines its estimate of the world.
+ coloredAnchor.anchor.getPose().toMatrix(anchorMatrix, 0);
+
+ // Update and draw the model and its shadow.
+ virtualObject.updateModelMatrix(anchorMatrix, scaleFactor);
+ virtualObjectShadow.updateModelMatrix(anchorMatrix, scaleFactor);
+ virtualObject.draw(viewmtx, projmtx, colorCorrectionRgba, coloredAnchor.color);
+ virtualObjectShadow.draw(viewmtx, projmtx, colorCorrectionRgba, coloredAnchor.color);
+ }
+
+ } catch (Throwable t) {
+ // Avoid crashing the application due to unhandled exceptions.
+ Log.e(TAG, "Exception on the OpenGL thread", t);
+ }
+ }
+
+ /** Try to create an anchor if the user has tapped the screen. */
+ private ColoredAnchor handleTap(Frame frame, Camera camera) {
+ // Handle only one tap per frame, as taps are usually low frequency compared to frame rate.
+ MotionEvent tap = tapHelper.poll();
+ if (tap != null && camera.getTrackingState() == TrackingState.TRACKING) {
+ for (HitResult hit : frame.hitTest(tap)) {
+ // Check if any plane was hit, and if it was hit inside the plane polygon.
+ Trackable trackable = hit.getTrackable();
+ // Creates an anchor if a plane or an oriented point was hit.
+ if ((trackable instanceof Plane
+ && ((Plane) trackable).isPoseInPolygon(hit.getHitPose())
+ && (PlaneRenderer.calculateDistanceToPlane(hit.getHitPose(), camera.getPose()) > 0))
+ || (trackable instanceof Point
+ && ((Point) trackable).getOrientationMode()
+ == OrientationMode.ESTIMATED_SURFACE_NORMAL)) {
+ // Hits are sorted by depth. Consider only closest hit on a plane or oriented point.
+ // Cap the number of objects created. This avoids overloading both the
+ // rendering system and ARCore.
+ if (anchors.size() >= 20) {
+ anchors.get(0).anchor.detach();
+ anchors.remove(0);
+ }
+
+ // Assign a color to the object for rendering based on the trackable type
+ // this anchor attached to.
+ float[] objColor;
+ if (trackable instanceof Point) {
+ objColor = new float[] {66.0f, 133.0f, 244.0f, 255.0f}; // Blue.
+ } else if (trackable instanceof Plane) {
+ objColor = new float[] {139.0f, 195.0f, 74.0f, 255.0f}; // Green.
+ } else {
+ objColor = DEFAULT_COLOR;
+ }
+
+ ColoredAnchor anchor = new ColoredAnchor(hit.createAnchor(), objColor);
+ // Adding an Anchor tells ARCore that it should track this position in
+ // space. This anchor is created on the Plane to place the 3D model
+ // in the correct position relative both to the world and to the plane.
+ anchors.add(anchor);
+ return anchor;
+ }
+ }
+ }
+ return null;
+ }
+
+ /**
+ * Try to add anchors to an MP4 data track track if the app is currently recording.
+ *
+ * <p>Track data recording can sometimes fail due an image not being available for recording in
+ * ARCore, so we try to record all anchors that have not been recorded yet.
+ */
+ private void recordAnchors(Session session, Frame frame, Camera camera) {
+ if (!session.getRecordingStatus().equals(RecordingStatus.OK)) {
+ // We do not record anchors created before we started recording.
+ anchorsToBeRecorded.clear();
+ return;
+ }
+
+ Iterator<ColoredAnchor> anchorIterator = anchorsToBeRecorded.iterator();
+ while (anchorIterator.hasNext()) {
+ ColoredAnchor anchor = anchorIterator.next();
+ // Transform the anchor pose world coordinates in to camera coordinate frame for easy
+ // placement during playback.
+ Pose pose = camera.getPose().inverse().compose(anchor.anchor.getPose());
+ float[] translation = pose.getTranslation();
+ float[] quaternion = pose.getRotationQuaternion();
+ ByteBuffer payload =
+ ByteBuffer.allocate(4 * (translation.length + quaternion.length + anchor.color.length));
+ FloatBuffer floatView = payload.asFloatBuffer();
+ floatView.put(translation);
+ floatView.put(quaternion);
+ floatView.put(anchor.color);
+
+ try {
+ frame.recordTrackData(ANCHOR_TRACK_ID, payload);
+ anchorIterator.remove();
+ } catch (IllegalStateException e) {
+ Log.e(TAG, "Could not record anchor into external data track.", e);
+ return;
+ }
+ }
+ }
+
+ /** During playback, recreate any anchors that were placed during recording. */
+ private void addRecordedAnchors(Session session, Frame frame, Camera camera) {
+ for (TrackData data : frame.getUpdatedTrackData(ANCHOR_TRACK_ID)) {
+ ByteBuffer payload = data.getData();
+
+ float[] translation = new float[3];
+ float[] quaternion = new float[4];
+ float[] color = new float[4];
+
+ FloatBuffer floatView = payload.asFloatBuffer();
+ floatView.get(translation);
+ floatView.get(quaternion);
+ floatView.get(color);
+
+ // Transform the recorded anchor pose in the camera coordinate frame back into world
+ // coordinates.
+ Pose pose = camera.getPose().compose(new Pose(translation, quaternion));
+ ColoredAnchor anchor = new ColoredAnchor(session.createAnchor(pose), color);
+ anchors.add(anchor);
+ }
+ }
+
+ /** Checks if we detected at least one plane. */
+ private boolean hasTrackingPlane() {
+ for (Plane plane : session.getAllTrackables(Plane.class)) {
+ if (plane.getTrackingState() == TrackingState.TRACKING) {
+ return true;
+ }
+ }
+ return false;
+ }
+
+ /**
+ * Requests any not (yet) granted required permissions needed for recording and playback.
+ *
+ * <p>Returns false if all permissions are already granted. Otherwise, requests missing
+ * permissions and returns true.
+ */
+ private boolean requestPermissions() {
+ List<String> permissionsNotGranted = new ArrayList<>();
+ for (String permission : requiredPermissions) {
+ if (ContextCompat.checkSelfPermission(this, permission)
+ != PackageManager.PERMISSION_GRANTED) {
+ permissionsNotGranted.add(permission);
+ }
+ }
+ if (permissionsNotGranted.isEmpty()) {
+ return false;
+ }
+ ActivityCompat.requestPermissions(
+ this, permissionsNotGranted.toArray(new String[0]), PERMISSIONS_REQUEST_CODE);
+ return true;
+ }
+
+ /** Sets the path of the MP4 dataset to playback. */
+ private void setPlaybackDatasetPath() {
+ if (session.getPlaybackStatus() == PlaybackStatus.OK) {
+ logAndShowErrorMessage("Session is already playing back.");
+ setStateAndUpdateUI(AppState.PLAYBACK);
+ return;
+ }
+ if (playbackDatasetPath != null) {
+ try {
+ session.setPlaybackDataset(playbackDatasetPath);
+ } catch (PlaybackFailedException e) {
+ String errorMsg = "Failed to set playback MP4 dataset. " + e;
+ Log.e(TAG, errorMsg, e);
+ messageSnackbarHelper.showError(this, errorMsg);
+ Log.d(TAG, "Setting app state to IDLE, as the playback is not in progress.");
+ setStateAndUpdateUI(AppState.IDLE);
+ return;
+ }
+ setStateAndUpdateUI(AppState.PLAYBACK);
+ }
+ }
+
+ /** Generates a new MP4 dataset filename based on the current system time. */
+ private static String getNewMp4DatasetFilename() {
+ return String.format(
+ Locale.ENGLISH,
+ MP4_DATASET_FILENAME_TEMPLATE,
+ DateTime.now().toString(MP4_DATASET_TIMESTAMP_FORMAT));
+ }
+
+ /** Generates a new MP4 dataset path based on the current system time. */
+ private String getNewDatasetPath() {
+ File baseDir = this.getExternalFilesDir(null);
+ if (baseDir == null) {
+ return null;
+ }
+ return new File(this.getExternalFilesDir(null), getNewMp4DatasetFilename()).getAbsolutePath();
+ }
+
+ /** Updates UI behaviors based on current app state. */
+ private void updateUI() {
+ switch (currentState.get()) {
+ case IDLE:
+ startRecordingButton.setVisibility(View.VISIBLE);
+ startRecordingButton.setEnabled(true);
+ stopRecordingButton.setVisibility(View.GONE);
+ stopRecordingButton.setEnabled(false);
+ stopPlaybackButton.setVisibility(View.INVISIBLE);
+ stopPlaybackButton.setEnabled(false);
+ startPlaybackButton.setEnabled(playbackDatasetPath != null);
+ recordingPlaybackPathTextView.setText(
+ getResources()
+ .getString(
+ R.string.playback_path_text,
+ playbackDatasetPath == null ? "" : playbackDatasetPath));
+ break;
+ case RECORDING:
+ startRecordingButton.setVisibility(View.GONE);
+ startRecordingButton.setEnabled(false);
+ stopRecordingButton.setVisibility(View.VISIBLE);
+ stopRecordingButton.setEnabled(true);
+ stopPlaybackButton.setVisibility(View.INVISIBLE);
+ stopPlaybackButton.setEnabled(false);
+ startPlaybackButton.setEnabled(false);
+ recordingPlaybackPathTextView.setText(
+ getResources()
+ .getString(
+ R.string.recording_path_text,
+ lastRecordingDatasetPath == null ? "" : lastRecordingDatasetPath));
+ break;
+ case PLAYBACK:
+ startRecordingButton.setVisibility(View.INVISIBLE);
+ stopRecordingButton.setVisibility(View.INVISIBLE);
+ startPlaybackButton.setVisibility(View.INVISIBLE);
+ startRecordingButton.setEnabled(false);
+ stopRecordingButton.setEnabled(false);
+ stopPlaybackButton.setVisibility(View.VISIBLE);
+ stopPlaybackButton.setEnabled(true);
+ recordingPlaybackPathTextView.setText("");
+ break;
+ }
+ }
+
+ /** Performs action when start_recording button is clicked. */
+ private void startRecording() {
+ try {
+ lastRecordingDatasetPath = getNewDatasetPath();
+ if (lastRecordingDatasetPath == null) {
+ logAndShowErrorMessage("Failed to generate a MP4 dataset path for recording.");
+ return;
+ }
+
+ Track anchorTrack =
+ new Track(session).setId(ANCHOR_TRACK_ID).setMimeType(ANCHOR_TRACK_MIME_TYPE);
+
+ session.startRecording(
+ new RecordingConfig(session)
+ .setMp4DatasetFilePath(lastRecordingDatasetPath)
+ .setAutoStopOnPause(false)
+ .addTrack(anchorTrack));
+ } catch (RecordingFailedException e) {
+ String errorMessage = "Failed to start recording. " + e;
+ Log.e(TAG, errorMessage, e);
+ messageSnackbarHelper.showError(this, errorMessage);
+ return;
+ }
+ if (session.getRecordingStatus() != RecordingStatus.OK) {
+ logAndShowErrorMessage(
+ "Failed to start recording, recording status is " + session.getRecordingStatus());
+ return;
+ }
+ setStateAndUpdateUI(AppState.RECORDING);
+ }
+
+ /** Performs action when stop_recording button is clicked. */
+ private void stopRecording() {
+ try {
+ session.stopRecording();
+ } catch (RecordingFailedException e) {
+ String errorMessage = "Failed to stop recording. " + e;
+ Log.e(TAG, errorMessage, e);
+ messageSnackbarHelper.showError(this, errorMessage);
+ return;
+ }
+ if (session.getRecordingStatus() == RecordingStatus.OK) {
+ logAndShowErrorMessage(
+ "Failed to stop recording, recording status is " + session.getRecordingStatus());
+ return;
+ }
+ if (new File(lastRecordingDatasetPath).exists()) {
+ playbackDatasetPath = lastRecordingDatasetPath;
+ Log.d(TAG, "MP4 dataset has been saved at: " + playbackDatasetPath);
+ } else {
+ logAndShowErrorMessage(
+ "Recording failed. File " + lastRecordingDatasetPath + " wasn't created.");
+ }
+ setStateAndUpdateUI(AppState.IDLE);
+ }
+
+ /** Helper function to log error message and show it on the screen. */
+ private void logAndShowErrorMessage(String errorMessage) {
+ Log.e(TAG, errorMessage);
+ messageSnackbarHelper.showError(this, errorMessage);
+ }
+
+ /** Helper function to set state and update UI. */
+ private void setStateAndUpdateUI(AppState state) {
+ currentState.set(state);
+ updateUI();
+ }
+
+ /** Performs action when playback button is clicked. */
+ private void startPlayback() {
+ if (playbackDatasetPath == null) {
+ return;
+ }
+ currentState.set(AppState.PLAYBACK);
+ restartActivityWithIntentExtras();
+ }
+
+ /** Performs action when close_playback button is clicked. */
+ private void stopPlayback() {
+ currentState.set(AppState.IDLE);
+ restartActivityWithIntentExtras();
+ }
+
+ /** Checks the playback is in progress without issues. */
+ private void checkPlaybackStatus() {
+ if ((session.getPlaybackStatus() != PlaybackStatus.OK)
+ && (session.getPlaybackStatus() != PlaybackStatus.FINISHED)) {
+ logAndShowErrorMessage(
+ "Failed to start playback, playback status is: " + session.getPlaybackStatus());
+ setStateAndUpdateUI(AppState.IDLE);
+ }
+ }
+
+ /**
+ * Restarts current activity to enter or exit playback mode.
+ *
+ * <p>This method simulates an app with separate activities for recording and playback by
+ * restarting the current activity and passing in the desired app state via an intent with extras.
+ */
+ private void restartActivityWithIntentExtras() {
+ Intent intent = this.getIntent();
+ Bundle bundle = new Bundle();
+ bundle.putString(DESIRED_APP_STATE_KEY, currentState.get().name());
+ bundle.putString(DESIRED_DATASET_PATH_KEY, playbackDatasetPath);
+ intent.putExtras(bundle);
+ this.finish();
+ this.startActivity(intent);
+ }
+
+ /** Loads desired state from intent extras, if available. */
+ private void loadInternalStateFromIntentExtras() {
+ if (getIntent() == null || getIntent().getExtras() == null) {
+ return;
+ }
+ Bundle bundle = getIntent().getExtras();
+ if (bundle.containsKey(DESIRED_DATASET_PATH_KEY)) {
+ playbackDatasetPath = getIntent().getStringExtra(DESIRED_DATASET_PATH_KEY);
+ }
+ if (bundle.containsKey(DESIRED_APP_STATE_KEY)) {
+ String state = getIntent().getStringExtra(DESIRED_APP_STATE_KEY);
+ if (state != null) {
+ switch (state) {
+ case "PLAYBACK":
+ currentState.set(AppState.PLAYBACK);
+ break;
+ case "IDLE":
+ currentState.set(AppState.IDLE);
+ break;
+ case "RECORDING":
+ currentState.set(AppState.RECORDING);
+ break;
+ default:
+ break;
+ }
+ }
+ }
+ }
+}
diff --git a/samples/recording_playback_java/app/src/main/res/drawable-xxhdpi/ic_launcher.png b/samples/recording_playback_java/app/src/main/res/drawable-xxhdpi/ic_launcher.png
new file mode 100644
index 0000000..3f691da
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/res/drawable-xxhdpi/ic_launcher.png
Binary files differ
diff --git a/samples/recording_playback_java/app/src/main/res/layout/activity_main.xml b/samples/recording_playback_java/app/src/main/res/layout/activity_main.xml
new file mode 100644
index 0000000..d2b7b1c
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/res/layout/activity_main.xml
@@ -0,0 +1,101 @@
+<!--
+ Copyright 2021 Google LLC
+
+ 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.
+-->
+<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+ xmlns:tools="http://schemas.android.com/tools"
+ android:layout_width="match_parent"
+ android:layout_height="match_parent"
+ tools:context="com.google.ar.core.examples.java.hellorecordingplayback.HelloRecordingPlaybackActivity">
+
+ <android.opengl.GLSurfaceView
+ android:id="@+id/surfaceview"
+ android:layout_width="fill_parent"
+ android:layout_height="fill_parent"
+ android:layout_gravity="top"/>
+
+ <LinearLayout
+ android:id="@+id/buttons_panel"
+ android:layout_width="match_parent"
+ android:layout_height="wrap_content"
+ android:orientation="horizontal"
+ android:padding="5dp"
+ android:baselineAligned="false">
+
+ <FrameLayout
+ android:layout_width="match_parent"
+ android:layout_height="match_parent"
+ android:layout_weight="1"
+ android:gravity="center">
+
+ <Button
+ android:id="@+id/start_recording_button"
+ android:layout_width="match_parent"
+ android:layout_height="match_parent"
+ android:textStyle="bold"
+ android:text="@string/start_recording_button_text"
+ android:textColor="@android:color/holo_green_light"
+ android:textSize="18sp"/>
+
+ <Button
+ android:id="@+id/stop_recording_button"
+ android:layout_width="match_parent"
+ android:layout_height="match_parent"
+ android:visibility="invisible"
+ android:textStyle="bold"
+ android:text="@string/stop_recording_button_text"
+ android:textColor="@android:color/holo_red_dark"
+ android:textSize="18sp"/>
+
+ </FrameLayout>
+
+ <FrameLayout
+ android:layout_width="match_parent"
+ android:layout_height="match_parent"
+ android:layout_weight="1"
+ android:gravity="center">
+
+ <Button
+ android:id="@+id/playback_button"
+ android:layout_width="match_parent"
+ android:layout_height="match_parent"
+ android:text="@string/playback_button_text"
+ android:textSize="18sp"
+ android:textStyle="bold"
+ android:enabled="false"/>
+
+ </FrameLayout>
+
+ </LinearLayout>
+
+ <TextView
+ android:id="@+id/recording_playback_path"
+ android:layout_width="wrap_content"
+ android:layout_height="wrap_content"
+ android:textSize="12sp"
+ android:padding="10dp"
+ android:layout_below="@id/buttons_panel"/>
+
+ <Button
+ android:id="@+id/close_playback_button"
+ android:layout_width="wrap_content"
+ android:layout_height="wrap_content"
+ android:visibility="invisible"
+ android:drawableStart="@android:drawable/ic_menu_close_clear_cancel"
+ android:background="@android:color/transparent"
+ android:padding="10dp"
+ android:layout_alignParentEnd="true"/>
+
+
+</RelativeLayout>
diff --git a/samples/recording_playback_java/app/src/main/res/values/strings.xml b/samples/recording_playback_java/app/src/main/res/values/strings.xml
new file mode 100644
index 0000000..c74fc7c
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/res/values/strings.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+ Copyright 2021 Google LLC
+
+ 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.
+-->
+<resources>
+ <string translatable="false" name="app_name">HelloAR Recording and Playback</string>
+ <string translatable="false" name="start_recording_button_text">START RECORDING</string>
+ <string translatable="false" name="stop_recording_button_text">STOP RECORDING</string>
+ <string translatable="false" name="playback_button_text">PLAYBACK</string>
+ <string translatable="false" name="playback_path_text">Playback: %1$s</string>
+ <string translatable="false" name="recording_path_text">Recording: %1$s</string>
+</resources>
diff --git a/samples/recording_playback_java/app/src/main/res/values/styles.xml b/samples/recording_playback_java/app/src/main/res/values/styles.xml
new file mode 100644
index 0000000..9c17852
--- /dev/null
+++ b/samples/recording_playback_java/app/src/main/res/values/styles.xml
@@ -0,0 +1,35 @@
+<!--
+ Copyright 2021 Google LLC
+
+ 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.
+-->
+<resources>
+
+ <!--
+ Base application theme, dependent on API level. This theme is replaced
+ by AppBaseTheme from res/values-vXX/styles.xml on newer devices.
+ -->
+ <style name="AppBaseTheme" parent="android:Theme.Light">
+ <!--
+ Theme customizations available in newer API levels can go in
+ res/values-vXX/styles.xml, while customizations related to
+ backward-compatibility can go here.
+ -->
+ </style>
+
+ <!-- Application theme. -->
+ <style name="AppTheme" parent="AppBaseTheme">
+ <!-- All customizations that are NOT specific to a particular API-level can go here. -->
+ </style>
+
+</resources>
diff --git a/samples/recording_playback_java/build.gradle b/samples/recording_playback_java/build.gradle
new file mode 100644
index 0000000..e999636
--- /dev/null
+++ b/samples/recording_playback_java/build.gradle
@@ -0,0 +1,25 @@
+// Top-level build file where you can add configuration options common to all sub-projects/modules.
+
+buildscript {
+ repositories {
+ google()
+ jcenter()
+ }
+ dependencies {
+ classpath 'com.android.tools.build:gradle:3.6.0'
+ // NOTE: Do not place your application dependencies here; they belong
+ // in the individual module build.gradle files
+ }
+}
+
+allprojects {
+ repositories {
+ google()
+ jcenter()
+ mavenLocal()
+ }
+}
+
+task clean(type: Delete) {
+ delete rootProject.buildDir
+}
diff --git a/samples/recording_playback_java/gradle.properties b/samples/recording_playback_java/gradle.properties
new file mode 100644
index 0000000..95adfc1
--- /dev/null
+++ b/samples/recording_playback_java/gradle.properties
@@ -0,0 +1,22 @@
+# Project-wide Gradle settings.
+
+# IDE (e.g. Android Studio) users:
+# Gradle settings configured through the IDE *will override*
+# any settings specified in this file.
+
+# For more details on how to configure your build environment visit
+# http://www.gradle.org/docs/current/userguide/build_environment.html
+
+# Specifies the JVM arguments used for the daemon process.
+# The setting is particularly useful for tweaking memory settings.
+org.gradle.jvmargs=-Xmx1536m
+
+# When configured, Gradle will run in incubating parallel mode.
+# This option should only be used with decoupled projects. More details, visit
+# http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects
+# org.gradle.parallel=true
+
+# Migrating to AndroidX, for targetSdkVersion 29.
+# For details, see https://developer.android.com/jetpack/androidx/migrate
+android.useAndroidX=true
+android.enableJetifier=true
diff --git a/samples/recording_playback_java/gradle/wrapper/gradle-wrapper.jar b/samples/recording_playback_java/gradle/wrapper/gradle-wrapper.jar
new file mode 100644
index 0000000..e708b1c
--- /dev/null
+++ b/samples/recording_playback_java/gradle/wrapper/gradle-wrapper.jar
Binary files differ
diff --git a/samples/recording_playback_java/gradle/wrapper/gradle-wrapper.properties b/samples/recording_playback_java/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000..e3d7e28
--- /dev/null
+++ b/samples/recording_playback_java/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,6 @@
+#Mon Nov 20 10:27:45 PST 2017
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.6.4-all.zip
diff --git a/samples/recording_playback_java/gradlew b/samples/recording_playback_java/gradlew
new file mode 100755
index 0000000..4f906e0
--- /dev/null
+++ b/samples/recording_playback_java/gradlew
@@ -0,0 +1,185 @@
+#!/usr/bin/env sh
+
+#
+# Copyright 2015 the original author or authors.
+#
+# 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
+#
+# https://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.
+#
+
+##############################################################################
+##
+## Gradle start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+ ls=`ls -ld "$PRG"`
+ link=`expr "$ls" : '.*-> \(.*\)$'`
+ if expr "$link" : '/.*' > /dev/null; then
+ PRG="$link"
+ else
+ PRG=`dirname "$PRG"`"/$link"
+ fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+ echo "$*"
+}
+
+die () {
+ echo
+ echo "$*"
+ echo
+ exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+ CYGWIN* )
+ cygwin=true
+ ;;
+ Darwin* )
+ darwin=true
+ ;;
+ MINGW* )
+ msys=true
+ ;;
+ NONSTOP* )
+ nonstop=true
+ ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+ if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+ # IBM's JDK on AIX uses strange locations for the executables
+ JAVACMD="$JAVA_HOME/jre/sh/java"
+ else
+ JAVACMD="$JAVA_HOME/bin/java"
+ fi
+ if [ ! -x "$JAVACMD" ] ; then
+ die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+ fi
+else
+ JAVACMD="java"
+ which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+ MAX_FD_LIMIT=`ulimit -H -n`
+ if [ $? -eq 0 ] ; then
+ if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+ MAX_FD="$MAX_FD_LIMIT"
+ fi
+ ulimit -n $MAX_FD
+ if [ $? -ne 0 ] ; then
+ warn "Could not set maximum file descriptor limit: $MAX_FD"
+ fi
+ else
+ warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+ fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+ GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
+ APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+ CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+
+ JAVACMD=`cygpath --unix "$JAVACMD"`
+
+ # We build the pattern for arguments to be converted via cygpath
+ ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+ SEP=""
+ for dir in $ROOTDIRSRAW ; do
+ ROOTDIRS="$ROOTDIRS$SEP$dir"
+ SEP="|"
+ done
+ OURCYGPATTERN="(^($ROOTDIRS))"
+ # Add a user-defined pattern to the cygpath arguments
+ if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+ OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+ fi
+ # Now convert the arguments - kludge to limit ourselves to /bin/sh
+ i=0
+ for arg in "$@" ; do
+ CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+ CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
+
+ if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
+ eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+ else
+ eval `echo args$i`="\"$arg\""
+ fi
+ i=`expr $i + 1`
+ done
+ case $i in
+ 0) set -- ;;
+ 1) set -- "$args0" ;;
+ 2) set -- "$args0" "$args1" ;;
+ 3) set -- "$args0" "$args1" "$args2" ;;
+ 4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+ 5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+ 6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+ 7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+ 8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+ 9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+ esac
+fi
+
+# Escape application args
+save () {
+ for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+ echo " "
+}
+APP_ARGS=`save "$@"`
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+exec "$JAVACMD" "$@"
diff --git a/samples/recording_playback_java/gradlew.bat b/samples/recording_playback_java/gradlew.bat
new file mode 100644
index 0000000..ac1b06f
--- /dev/null
+++ b/samples/recording_playback_java/gradlew.bat
@@ -0,0 +1,89 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/samples/recording_playback_java/settings.gradle b/samples/recording_playback_java/settings.gradle
new file mode 100644
index 0000000..e7b4def
--- /dev/null
+++ b/samples/recording_playback_java/settings.gradle
@@ -0,0 +1 @@
+include ':app'
diff --git a/samples/shared_camera_java/app/build.gradle b/samples/shared_camera_java/app/build.gradle
index a0fbdfa..d054f4f 100644
--- a/samples/shared_camera_java/app/build.gradle
+++ b/samples/shared_camera_java/app/build.gradle
@@ -27,7 +27,7 @@
dependencies {
// ARCore (Google Play Services for AR) library.
- implementation 'com.google.ar:core:1.23.0'
+ implementation 'com.google.ar:core:1.24.0'
// Obj - a simple Wavefront OBJ file loader
// https://github.com/javagl/Obj
diff --git a/samples/shared_camera_java/app/src/main/java/com/google/ar/core/examples/java/sharedcamera/SharedCameraActivity.java b/samples/shared_camera_java/app/src/main/java/com/google/ar/core/examples/java/sharedcamera/SharedCameraActivity.java
index d4d6e13..10fb8b0 100644
--- a/samples/shared_camera_java/app/src/main/java/com/google/ar/core/examples/java/sharedcamera/SharedCameraActivity.java
+++ b/samples/shared_camera_java/app/src/main/java/com/google/ar/core/examples/java/sharedcamera/SharedCameraActivity.java
@@ -106,8 +106,8 @@
// Whether the app is currently in AR mode. Initial value determines initial state.
private boolean arMode = false;
- // Whether the surface texture has been attached to the GL context.
- boolean isGlAttached;
+ // Whether the app has just entered non-AR mode.
+ private final AtomicBoolean isFirstFrameWithoutArcore = new AtomicBoolean(true);
// GL Surface used to draw camera preview image.
private GLSurfaceView surfaceView;
@@ -476,6 +476,7 @@
if (arcoreActive) {
// Pause ARCore.
sharedSession.pause();
+ isFirstFrameWithoutArcore.set(true);
arcoreActive = false;
updateSnackbarMessage();
}
@@ -504,7 +505,6 @@
private void createCameraPreviewSession() {
try {
- // Note that isGlAttached will be set to true in AR mode in onDrawFrame().
sharedSession.setCameraTextureName(backgroundRenderer.getTextureId());
sharedCamera.getSurfaceTexture().setOnFrameAvailableListener(this);
@@ -835,10 +835,15 @@
public void onDrawFrameCamera2() {
SurfaceTexture texture = sharedCamera.getSurfaceTexture();
- // Ensure the surface is attached to the GL context.
- if (!isGlAttached) {
+ // ARCore may attach the SurfaceTexture to a different texture from the camera texture, so we
+ // need to manually reattach it to our desired texture.
+ if (isFirstFrameWithoutArcore.getAndSet(false)) {
+ try {
+ texture.detachFromGLContext();
+ } catch (RuntimeException e) {
+ // Ignore if fails, it may not be attached yet.
+ }
texture.attachToGLContext(backgroundRenderer.getTextureId());
- isGlAttached = true;
}
// Update the surface.
@@ -875,10 +880,6 @@
Frame frame = sharedSession.update();
Camera camera = frame.getCamera();
- // ARCore attached the surface to GL context using the texture ID we provided
- // in createCameraPreviewSession() via sharedSession.setCameraTextureName(…).
- isGlAttached = true;
-
// Handle screen tap.
handleTap(frame, camera);
