Merge pull request #363 from Intermodalics/feature/update_to_support_…

…tango_m20 Feature/update to support tango m20
Intermodalics · Aug 11, 2017 · fb7b64a · fb7b64a
2 parents 50d78db + e37895a
commit fb7b64a
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Showing 19 changed files with 38 additions and 38 deletions.
diff --git a/TangoRosStreamer/tango_nodelet_manager/src/main/jni/tango_helper.cc b/TangoRosStreamer/tango_nodelet_manager/src/main/jni/tango_helper.cc
@@ -15,12 +15,12 @@
 
 #include <glog/logging.h>
 #include <tango_client_api/tango_client_api.h>
-#include <tango_support_api/tango_support_api.h>
+#include <tango_support/tango_support.h>
 
 namespace tango_helper {
 bool IsTangoVersionOk(JNIEnv* env, jobject activity) {
   int version;
-  TangoErrorType result = TangoSupport_GetTangoVersion(env, activity, &version);
+  TangoErrorType result = TangoSupport_getTangoVersion(env, activity, &version);
   if (result != TANGO_SUCCESS || version < TANGO_CORE_MINIMUM_VERSION) {
     LOG(ERROR) << "Tango Core version is out of "
         "date, minimum version required: " << TANGO_CORE_MINIMUM_VERSION <<

diff --git a/tango_ros_common/tango_ros_native/Android.mk b/tango_ros_common/tango_ros_native/Android.mk
@@ -10,7 +10,7 @@ LOCAL_CFLAGS  += -O2 --std=c++11 -pthread -fPIC -fexceptions -frtti -Wunused-par
 LOCAL_LDLIBS += -landroid -lm -llog -lz
 LOCAL_WHOLE_STATIC_LIBRARIES := libimage_transport_plugins libcompressed_image_transport
 LOCAL_STATIC_LIBRARIES += roscpp_android_ndk miniglog
-LOCAL_SHARED_LIBRARIES := tango_3d_reconstruction tango_client_api tango_support_api
+LOCAL_SHARED_LIBRARIES := tango_3d_reconstruction tango_client_api tango_support
 LOCAL_EXPORT_C_INCLUDES := $(LOCAL_PATH)/include ${LOCAL_PATH}/../tango_ros_messages/include
 LOCAL_DISABLE_FATAL_LINKER_WARNINGS=true
 include $(BUILD_STATIC_LIBRARY)
@@ -21,4 +21,4 @@ $(call import-module,miniglog)
 $(call import-add-path, $(PROJECT_ROOT)/../third_party/tango_api)
 $(call import-module,tango_3d_reconstruction)
 $(call import-module,tango_client_api)
-$(call import-module,tango_support_api)
+$(call import-module,tango_support)
diff --git a/tango_ros_common/tango_ros_native/CMakeLists.txt b/tango_ros_common/tango_ros_native/CMakeLists.txt
@@ -13,7 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
    tango_3d_reconstruction
    tango_client_api
    tango_ros_messages
-   tango_support_api
+   tango_support
    tf
    tf2_geometry_msgs
    tf2_ros
@@ -34,7 +34,7 @@ generate_dynamic_reconfigure_options(
 
 catkin_package(
   INCLUDE_DIRS include
-  CATKIN_DEPENDS dynamic_reconfigure glog_catkin image_geometry image_transport roscpp sensor_msgs tango_3d_reconstruction tango_client_api tango_ros_messages tango_support_api tf tf2_geometry_msgs tf2_ros
+  CATKIN_DEPENDS dynamic_reconfigure glog_catkin image_geometry image_transport roscpp sensor_msgs tango_3d_reconstruction tango_client_api tango_ros_messages tango_support tf tf2_geometry_msgs tf2_ros
   LIBRARIES tango_ros_native
   DEPENDS OpenCV
   )

diff --git a/tango_ros_common/tango_ros_native/include/tango_ros_native/tango_3d_reconstruction_helper.h b/tango_ros_common/tango_ros_native/include/tango_ros_native/tango_3d_reconstruction_helper.h
@@ -16,7 +16,7 @@
 #include <string>
 
 #include <tango_3d_reconstruction/tango_3d_reconstruction_api.h>
-#include <tango_support_api/tango_support_api.h>
+#include <tango_support/tango_support.h>
 
 #include <nav_msgs/OccupancyGrid.h>
 #include <ros/ros.h>
@@ -50,11 +50,11 @@ Tango3DR_Status TangoSetup3DRConfig(
     Tango3DR_CameraCalibration* t3dr_color_camera_intrinsics);
 
 void UpdateMesh(const Tango3DR_ReconstructionContext& t3dr_context,
-         TangoSupportPointCloudManager* point_cloud_manager,
-         TangoSupportImageBufferManager* image_buffer_manager,
-         Tango3DR_Pose* last_camera_depth_pose,
-         Tango3DR_Pose* last_camera_color_pose,
-         Tango3DR_GridIndexArray* t3dr_updated_indices);
+                TangoSupport_PointCloudManager* point_cloud_manager,
+                TangoSupport_ImageBufferManager* image_buffer_manager,
+                Tango3DR_Pose* last_camera_depth_pose,
+                Tango3DR_Pose* last_camera_color_pose,
+                Tango3DR_GridIndexArray* t3dr_updated_indices);
 
 void ExtractMeshAndConvertToMarkerArray(
     const Tango3DR_ReconstructionContext& t3dr_context,

diff --git a/tango_ros_common/tango_ros_native/include/tango_ros_native/tango_ros_conversions_helper.h b/tango_ros_common/tango_ros_native/include/tango_ros_native/tango_ros_conversions_helper.h
@@ -15,7 +15,7 @@
 #define TANGO_ROS_CONVERSIONS_HELPER_H_
 #include <tango_3d_reconstruction/tango_3d_reconstruction_api.h>
 #include <tango_client_api/tango_client_api.h>
-#include <tango_support_api/tango_support_api.h>
+#include <tango_support/tango_support.h>
 
 #include <geometry_msgs/TransformStamped.h>
 #include <nav_msgs/OccupancyGrid.h>

diff --git a/tango_ros_common/tango_ros_native/include/tango_ros_native/tango_ros_node.h b/tango_ros_common/tango_ros_native/include/tango_ros_native/tango_ros_node.h
@@ -23,7 +23,7 @@
 
 #include <tango_3d_reconstruction/tango_3d_reconstruction_api.h>
 #include <tango_client_api/tango_client_api.h>
-#include <tango_support_api/tango_support_api.h>
+#include <tango_support/tango_support.h>
 
 #include <opencv2/core/core.hpp>
 
@@ -283,9 +283,9 @@ class TangoRosNode : public ::nodelet::Nodelet {
   // Context for a 3D Reconstruction. Maintains the state of a single
   // mesh being reconstructed.
   Tango3DR_ReconstructionContext t3dr_context_;
-  TangoSupportPointCloudManager* point_cloud_manager_;
+  TangoSupport_PointCloudManager* point_cloud_manager_;
   Tango3DR_Pose last_camera_depth_pose_;
-  TangoSupportImageBufferManager* image_buffer_manager_;
+  TangoSupport_ImageBufferManager* image_buffer_manager_;
   Tango3DR_Pose last_camera_color_pose_;
   Tango3DR_CameraCalibration t3dr_color_camera_intrinsics_;
   double t3dr_resolution_;

diff --git a/tango_ros_common/tango_ros_native/package.xml b/tango_ros_common/tango_ros_native/package.xml
@@ -23,7 +23,7 @@
   <build_depend>tango_3d_reconstruction</build_depend>
   <build_depend>tango_client_api</build_depend>
   <build_depend>tango_ros_messages</build_depend>
-  <build_depend>tango_support_api</build_depend>
+  <build_depend>tango_support</build_depend>
   <build_depend>tf</build_depend>
   <build_depend>tf2_geometry_msgs</build_depend>
   <build_depend>tf2_ros</build_depend>
@@ -43,7 +43,7 @@
   <run_depend>tango_3d_reconstruction</run_depend>
   <run_depend>tango_client_api</run_depend>
   <run_depend>tango_ros_messages</run_depend>
-  <run_depend>tango_support_api</run_depend>
+  <run_depend>tango_support</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>tf2_geometry_msgs</run_depend>
   <run_depend>tf2_ros</run_depend>

diff --git a/tango_ros_common/tango_ros_native/src/tango_3d_reconstruction_helper.cpp b/tango_ros_common/tango_ros_native/src/tango_3d_reconstruction_helper.cpp
@@ -124,11 +124,11 @@ Tango3DR_Status TangoSetup3DRConfig(
 }
 
 void UpdateMesh(const Tango3DR_ReconstructionContext& t3dr_context,
-         TangoSupportPointCloudManager* const point_cloud_manager,
-         TangoSupportImageBufferManager* const image_buffer_manager,
-         Tango3DR_Pose* last_camera_depth_pose,
-         Tango3DR_Pose* last_camera_color_pose,
-         Tango3DR_GridIndexArray* t3dr_updated_indices)  {
+                TangoSupport_PointCloudManager* point_cloud_manager,
+                TangoSupport_ImageBufferManager* image_buffer_manager,
+                Tango3DR_Pose* last_camera_depth_pose,
+                Tango3DR_Pose* last_camera_color_pose,
+                Tango3DR_GridIndexArray* t3dr_updated_indices)  {
   // Get latest point cloud.
   TangoPointCloud* last_point_cloud;
   TangoSupport_getLatestPointCloud(point_cloud_manager, &last_point_cloud);
@@ -152,11 +152,11 @@ void UpdateMesh(const Tango3DR_ReconstructionContext& t3dr_context,
     t3dr_image.data = last_color_image_buffer->data;
     // Get updated mesh segment indices.
     Tango3DR_Status result =
-        Tango3DR_update(t3dr_context, &t3dr_depth, last_camera_depth_pose,
+        Tango3DR_updateFromPointCloud(t3dr_context, &t3dr_depth, last_camera_depth_pose,
                         &t3dr_image, last_camera_color_pose,
                         t3dr_updated_indices);
     if (result != TANGO_3DR_SUCCESS) {
-      LOG(ERROR) << "Tango3DR_update failed with error code "
+      LOG(ERROR) << "Tango3DR_updateFromPointCloud failed with error code "
           << result;
     }
   }

diff --git a/third_party/tango_api/tango-examples-c b/third_party/tango_api/tango-examples-c
diff --git a/third_party/tango_api/tango_support/Android.mk b/third_party/tango_api/tango_support/Android.mk
@@ -0,0 +1 @@
+../tango-examples-c/tango_support/Android.mk
diff --git a/...ango_api/tango_support_api/CMakeLists.txt → ...ty/tango_api/tango_support/CMakeLists.txt b/...ango_api/tango_support_api/CMakeLists.txt → ...ty/tango_api/tango_support/CMakeLists.txt
@@ -1,13 +1,13 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(tango_support_api)
+project(tango_support)
 
 find_package(catkin REQUIRED tango_client_api)
 find_package(JNI REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS include
   CATKIN_DEPENDS tango_client_api
-  LIBRARIES tango_support_api
+  LIBRARIES tango_support
   )
 
 include_directories(
@@ -16,15 +16,15 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-add_library(tango_support_api
-  src/tango_support_api.cpp
+add_library(tango_support
+  src/tango_support.cpp
   )
 
-target_link_libraries(tango_support_api
+target_link_libraries(tango_support
   ${catkin_LIBRARIES}
   )
 
-install(TARGETS tango_support_api
+install(TARGETS tango_support
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

diff --git a/third_party/tango_api/tango_support/include/tango_support/tango_support.h b/third_party/tango_api/tango_support/include/tango_support/tango_support.h
@@ -0,0 +1 @@
+../../../tango-examples-c/tango_support/include/tango_support.h
diff --git a/third_party/tango_api/tango_support/lib b/third_party/tango_api/tango_support/lib
@@ -0,0 +1 @@
+../tango-examples-c/tango_support/lib/
diff --git a/...y/tango_api/tango_support_api/package.xml → ...party/tango_api/tango_support/package.xml b/...y/tango_api/tango_support_api/package.xml → ...party/tango_api/tango_support/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package>
-  <name>tango_support_api</name>
+  <name>tango_support</name>
   <version>0.0.0</version>
-  <description>Single-header tango_support_api library.</description>
+  <description>Single-header tango_support library.</description>
   <license>Apache</license>
 
   <maintainer email="tango-help@google.com"> </maintainer>

diff --git a/third_party/tango_api/tango_support/src/tango_support.cpp b/third_party/tango_api/tango_support/src/tango_support.cpp
@@ -0,0 +1 @@
+#include "tango_support/tango_support.h"
diff --git a/third_party/tango_api/tango_support_api/Android.mk b/third_party/tango_api/tango_support_api/Android.mk
diff --git a/third_party/tango_api/tango_support_api/include/tango_support_api/tango_support_api.h b/third_party/tango_api/tango_support_api/include/tango_support_api/tango_support_api.h
diff --git a/third_party/tango_api/tango_support_api/lib b/third_party/tango_api/tango_support_api/lib
diff --git a/third_party/tango_api/tango_support_api/src/tango_support_api.cpp b/third_party/tango_api/tango_support_api/src/tango_support_api.cpp