Talk su Project Tango di Google tenuto durante la GDG DevFest Bari 2016

1. Primi passi con Tango
Mike Trizio
@mik3lantoniO

6. Phab 2

9. SDK available for

11. onCreate()
...
// Create a new Tango Configuration and enable the MotionTracking API
mConfig = new TangoConfig();
mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT);
...

12. onResume()
...
try {
mTango.connect(mConfig);
} catch (TangoOutOfDateException e) {
// handle the error
}
...

13. onPause()
...
try {
mTango.disconnect();
} catch (TangoErrorException e) {
// handle the error
}
...

14. mTango.connectListener(framePairs, new OnTangoUpdateListener() {
@Override
public void onTangoEvent(final TangoEvent event) {
if (event.eventKey.equals(TangoEvent.DESCRIPTION_FISHEYE_OVER_EXPOSED) {
// handle the Fisheye camera issue
}
if (event.eventKey.equals(TangoEvent.DESCRIPTION_TOO_FEW_FEATURES_TRACKED)
// handle having too few features
}
// ...
}
}

16. final ArrayList<TangoCoordinateFramePair> framePairs =
new ArrayList<TangoCoordinateFramePair>();
framePairs.add(new TangoCoordinateFramePair(
TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE,
TangoPoseData.COORDINATE_FRAME_DEVICE));
// Listen for new Tango data
mTango.connectListener(framePairs, new OnTangoUpdateListener() {
@Override
public void onPoseAvailable(final TangoPoseData pose) {
// Process pose data from device with respect to start of service
}
// TODO: Define other overrides
});

17. // Define what motion is requested.
TangoCoordinateFramePair frames_of_reference;
frames_of_reference.baseFrame = TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE;
frames_of_reference.targetFrame = TangoPoseData.COORDINATE_FRAME_DEVICE;

18. new Thread(new Runnable() {
final int pollingUpdatePeriodMilliseconds = 66;
@Override
public void run() {
while (true) {
try {
Thread.sleep(pollingUpdatePeriodMilliseconds);
final TangoPoseData queryPoseStartDevice =
mTango.getPoseAtTime(0.0, frames_of_reference);
} catch (TangoErrorException e) { e.printStackTrace(); }
}
}
}).start();

20. onCreate()
...
// Create a new Tango Configuration with Depth Perception API enabled
mConfig = new TangoConfig();
mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT);
mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true);
...

21. mTango.connectListener(framePairs, new OnTangoUpdateListener() {
....
@Override
public void onPointCloudAvailable(final TangoPointCloudData pointCloudData) {
logPointCloud(pointCloudData);
}
...
});

22. private void logPointCloud(TangoPointCloudData pointCloudData) {
StringBuilder stringBuilder = new StringBuilder();
stringBuilder.append("Point count: " + pointCloudData.numPoints);
stringBuilder.append(". Average depth (m): " +
calculateAveragedDepth(pointCloudData.points, pointCloudData.numPoints));
Log.i(TAG, stringBuilder.toString());
}
private float calculateAveragedDepth(FloatBuffer pointCloudBuffer, int numPoints) {
float totalZ = 0;
float averageZ = 0;
if (numPoints != 0) {
int numFloats = 4 * numPoints;
for (int i = 2; i < numFloats; i = i + 4) {
totalZ = totalZ + pointCloudBuffer.get(i);
}
averageZ = totalZ / numPoints;
}
return averageZ;
}

27. onCreate()
...
// Create a new Tango Configuration with Depth Perception API enabled
mConfig = new TangoConfig();
mConfig = mTango.getConfig(TangoConfig.CONFIG_TYPE_CURRENT);
mConfig.putBoolean(TangoConfig.KEY_BOOLEAN_LEARNINGMODE, true);
...

28. try {
mConfig.putString(TangoConfig.KEY_STRING_AREADESCRIPTION,
area_filename);
} catch (TangoErrorException e) {
// handle exception
}

29. ArrayList<String> fullUUIDList = new ArrayList<String>();
// Returns a list of ADFs with their UUIDs
fullUUIDList = mTango.listAreaDescriptions();
// Load the latest ADF if ADFs are found.
if (fullUUIDList.size() > 0) {
mConfig.putString(TangoConfig.KEY_STRING_AREADESCRIPTION,
fullUUIDList.get(fullUUIDList.size() - 1));
}

30. final ArrayList<TangoCoordinateFramePair> framePairs =
new ArrayList<TangoCoordinateFramePair>();
framePairs.add(new TangoCoordinateFramePair(
TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION,
TangoPoseData.COORDINATE_FRAME_DEVICE));
// Listen for new Tango data
mTango.connectListener(framePairs, new OnTangoUpdateListener() {
@Override
public void onPoseAvailable(final TangoPoseData pose) {
// Process pose data from device with respect to start of service
}
// TODO: Define other overrides
});

31. final ArrayList<TangoCoordinateFramePair> framePairs =
new ArrayList<TangoCoordinateFramePair>();
framePairs.add(new TangoCoordinateFramePair(
TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION,
TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE));
// Listen for new Tango data
mTango.connectListener(framePairs, new OnTangoUpdateListener() {
@Override
public void onPoseAvailable(final TangoPoseData pose) {
// Process pose data from device with respect to start of service
}
// TODO: Define other overrides
});

32. @Override
public void onPoseAvailable(TangoPoseData pose) {
if (pose.baseFrame == TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION
&& pose.targetFrame == TangoPoseData.COORDINATE_FRAME_DEVICE) {
// Process new ADF to device pose data.
}
else if (pose.baseFrame == TangoPoseData.COORDINATE_FRAME_AREA_DESCRIPTION
&& pose.targetFrame == TangoPoseData.COORDINATE_FRAME_START_OF_SERVICE) {
// Process new localization.
}

33. String newAdfUUID = mTango.saveAreaDescription()

34. Tango UX Framework
Java Support Library
Additional goodies

35. Confidential and proprietary
New scenarios

36. Indoor Wayfinding

39. Augmented reality

41. Measurement

47. get.google.com/tango/developers/
What’s next?
Playlist: https://goo.gl/mmC3JA
github.com/googlesamples/tango-examples-java
plus.google.com/communities/114537896428695886568

49. Twitter: @mik3lantoniO
Facebook: mikelantonio
Mail: mikelantonio.trizio@gmail.com
Google+: +MichelantonioTrizio
Github: mikelantonio
Contatti

50. Thank you :)
and now Feedback
Form!!!
https://goo.gl/txE734
Mike Trizio
@mik3lantoniO