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Fix android motion line UX #9782

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merged 3 commits into from
Sep 23, 2021
Merged

Fix android motion line UX #9782

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14ab3ab
set motion color to white and add threshold
Nir-Az Sep 14, 2021
34220db
draw centered dot under motion treshold
Nir-Az Sep 19, 2021
41ba980
add comments
Nir-Az Sep 19, 2021
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51 changes: 28 additions & 23 deletions ...rs/android/librealsense/src/main/java/com/intel/realsense/librealsense/GLMotionFrame.java
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Original file line number Diff line number Diff line change
Expand Up @@ -43,9 +43,8 @@ private Rect adjustRatio(Rect in){
return new Rect((int)newLeft, (int)newTop, (int)newRight, (int)newBottom);
}

private void drawCircle(Float3 x, Float3 y, float axisWidth, Color color)
private void drawCircle(float radius, Float3 x, Float3 y, float axisWidth, Color color, Boolean dashed)
{
float radius = 2f;
Float3 center = new Float3(0,0,0);
final int N = 50;
float[] verArray = new float[N * 3];
Expand All @@ -59,23 +58,21 @@ private void drawCircle(Float3 x, Float3 y, float axisWidth, Color color)
verArray[i*3 + 2] = ((float) (center.z + radius * (x.z * cost + y.z * sint)));
}

drawLine(verArray, axisWidth, color);
drawLines(verArray, axisWidth, color, dashed);
}

private void drawLine(float[] verArray, float axisWidth, Color color)
private void drawLines(float[] verArray, float axisWidth, Color color, Boolean dashed)
{
ByteBuffer ver = ByteBuffer.allocateDirect(verArray.length * 4);
ver.order(ByteOrder.nativeOrder());
ver.asFloatBuffer().put(verArray);

GLES10.glEnableClientState(GLES10.GL_VERTEX_ARRAY);

GLES10.glColor4f(color.red, color.green, color.blue, 1f);
GLES10.glLineWidth(axisWidth);

GLES10.glVertexPointer(3, GLES10.GL_FLOAT, 0, ver);

GLES10.glDrawArrays(GLES10.GL_LINES,0,verArray.length / 3);
GLES10.glDrawArrays(dashed ? GLES10.GL_LINES: GLES10.GL_LINE_LOOP,0, verArray.length / 3);

GLES10.glDisableClientState(GLES10.GL_VERTEX_ARRAY);
GLES10.glColor4f(1f, 1f, 1f, 1f);
Expand Down Expand Up @@ -126,20 +123,19 @@ private void drawAxes(Rect rect, float axisSize, float axisWidth)
Color green = new Color(0, 0.5f, 0);
Color blue = new Color(0, 0, 0.5f);

drawLine(verAxisX, axisWidth, red);
drawLines(verAxisX, axisWidth, red, false);
drawTriangle(verTriangleX, red);
drawLine(verAxisY, axisWidth, green);
drawLines(verAxisY, axisWidth, green, false);
drawTriangle(verTriangleY, green);
drawLine(verAxisZ, axisWidth, blue);
drawLines(verAxisZ, axisWidth, blue, false);
drawTriangle(verTriangleZ, blue);
}

private Float3 calcMotionData(Float3 md, float norm){
float size = (float) Math.sqrt(md.x * md.x + md.y * md.y + md.z * md.z);
private Float3 normalizeMotionData(Float3 md, float norm){
return new Float3(
(md.x / size) * norm,
(md.y / size) * norm,
(md.z / size) * norm);
(md.x / norm),
(md.y / norm),
(md.z / norm));
}

@Override
Expand Down Expand Up @@ -169,20 +165,29 @@ public synchronized void draw(Rect rect)
float axisWidth = 5;
Color white = new Color(1, 1, 1);

drawCircle(X, Y, 1, white);
drawCircle(Y, Z, 1, white);
drawCircle(X, Z, 1, white);
drawCircle(axisSize, X, Y, 1, white, true);
drawCircle(axisSize, Y, Z, 1, white, true);
drawCircle(axisSize, X, Z, 1, white, true);
drawAxes(r, axisSize, axisWidth);

// draw norm vector
MotionFrame mf = mFrame.as(Extension.MOTION_FRAME);

float norm = axisSize / 2.f;
Float3 md = calcMotionData(mf.getMotionData(), norm);
Float3 md = mf.getMotionData();
float norm = (float) Math.sqrt(md.x * md.x + md.y * md.y + md.z * md.z);

float[] verArray = { 0, 0, 0, md.x, md.y, md.z};
Color dir = new Color(Math.abs(md.x/norm), Math.abs(md.y/norm), Math.abs(md.z/norm));
float vecThreshold = 0.2f;

drawLine(verArray, axisWidth, dir);
// If the absolute value of the motion vector is less than predefined `vecThreshold` meaning zero / noise values, draw a centered dot
if ( norm < vecThreshold ) {
drawCircle(0.05f, X, Y, 7, white, false);
}
else{
// Display the motion vector line
Float3 nmd = normalizeMotionData(mf.getMotionData(), norm);
float[] verArray = {0, 0, 0, axisSize * nmd.x, axisSize * nmd.y, axisSize * nmd.z};
drawLines(verArray, axisWidth, white, true);
}

GLES10.glMatrixMode(GLES10.GL_PROJECTION);
GLES10.glPopMatrix();
Expand Down