import com.vuforia.Vuforia; //导入依赖的package包/类
/**
 * Constructor: Create an instance of this object. It initializes Vuforia with the specified target images and
 * other parameters.
 *
 * @param licenseKey specifies the Vuforia license key.
 * @param cameraViewId specifies the camera view ID on the activity, -1 if none given.
 * @param cameraDir specifies which camera to use (front or back).
 * @param trackablesFile specifies the XML file that contains the target info, can be null.
 * @param numTargets specifies the number of simultaneous trackable targets.
 * @param cameraMonitorFeedback specifies the feedback image showing the orientation of the target.
 */
public FtcVuforia(
        String licenseKey, int cameraViewId, VuforiaLocalizer.CameraDirection cameraDir,
        String trackablesFile, int numTargets,
        VuforiaLocalizer.Parameters.CameraMonitorFeedback cameraMonitorFeedback)
{
    this.cameraDir = cameraDir;
    //
    // If no camera view ID, do not activate camera monitor view to save power.
    //
    VuforiaLocalizer.Parameters params =
            cameraViewId == -1? new VuforiaLocalizer.Parameters(): new VuforiaLocalizer.Parameters(cameraViewId);
    params.vuforiaLicenseKey = licenseKey;
    params.cameraDirection = cameraDir;
    params.cameraMonitorFeedback = cameraMonitorFeedback;
    localizer = ClassFactory.createVuforiaLocalizer(params);
    Vuforia.setHint(HINT.HINT_MAX_SIMULTANEOUS_IMAGE_TARGETS, numTargets);
    if (trackablesFile != null)
    {
        targetList = localizer.loadTrackablesFromAsset(trackablesFile);
    }
}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
/**
     * Initialize vuforia
     * This method takes a few seconds to complete
     *
     * @param licenseKey                the Vuforia PTC licence key from https://developer.vuforia.com/license-manager
     * @param cameraMonitorViewIdParent the place in the layout where the camera display is
     * @param widthRequest              the width to scale the image to for the FrameGrabber
     * @param heightRequest             the height to scale the image to for the FrameGrabber
     * @return the VuforiaFrameFeeder object
     */
    public static VuforiaFrameFeeder init(String licenseKey, @IdRes int cameraMonitorViewIdParent, int widthRequest, int heightRequest) {
        //display the camera on the screen
        Parameters params = new Parameters(cameraMonitorViewIdParent);

        //do not display the camera on the screen
//        VuforiaLocalizer.Parameters params = new VuforiaLocalizer.Parameters();

        params.cameraDirection = CameraDirection.BACK;

        params.vuforiaLicenseKey = licenseKey;
        params.cameraMonitorFeedback = Parameters.CameraMonitorFeedback.AXES;

        //create a new VuforiaFrameFeeder object (this takes a few seconds)
        VuforiaFrameFeeder vuforia = new VuforiaFrameFeeder(params, widthRequest, heightRequest);

        //there are 4 beacons, so set the max image targets to 4
        Vuforia.setHint(HINT.HINT_MAX_SIMULTANEOUS_IMAGE_TARGETS, 4);
        return vuforia;
    }
 

import com.vuforia.Vuforia; //导入依赖的package包/类
/**
     * Initialize vuforia
     * This method takes a few seconds to complete
     *
     * @param licenseKey                the Vuforia PTC licence key from https://developer.vuforia.com/license-manager
     * @param cameraMonitorViewIdParent the place in the layout where the camera display is
     * @param widthRequest              the width to scale the image to for the FrameGrabber
     * @param heightRequest             the height to scale the image to for the FrameGrabber
     * @return the VuforiaFrameGrabberInit object
     */
    public static VuforiaFrameGrabberInit init(String licenseKey, @IdRes int cameraMonitorViewIdParent, int widthRequest, int heightRequest) {
        //display the camera on the screen
        Parameters params = new Parameters(cameraMonitorViewIdParent);

        //do not display the camera on the screen
//        VuforiaLocalizer.Parameters params = new VuforiaLocalizer.Parameters();

        params.cameraDirection = CameraDirection.BACK;

        params.vuforiaLicenseKey = licenseKey;
        params.cameraMonitorFeedback = Parameters.CameraMonitorFeedback.AXES;

        //create a new VuforiaFrameGrabberInit object (this takes a few seconds)
        VuforiaFrameGrabberInit vuforia = new VuforiaFrameGrabberInit(params, widthRequest, heightRequest);

        //there are 4 beacons, so set the max image targets to 4
        Vuforia.setHint(HINT.HINT_MAX_SIMULTANEOUS_IMAGE_TARGETS, 4);
        return vuforia;
    }
 

import com.vuforia.Vuforia; //导入依赖的package包/类
private String getInitializationErrorString(int code)
{
    if (code == Vuforia.INIT_DEVICE_NOT_SUPPORTED)
        return "Failed to initialize Vuforia. This device is not supported.";
    if (code == Vuforia.INIT_NO_CAMERA_ACCESS)
        return "Failed to initialize Vuforia. Camera not accessible";
    if (code == Vuforia.INIT_LICENSE_ERROR_MISSING_KEY)
        return "Vuforia App key is missing. Please get a valid key, by logging into your account at developer.vuforia.com and creating a new project.";
    if (code == Vuforia.INIT_LICENSE_ERROR_INVALID_KEY)
        return "Invalid Key used. Please make sure you are using a valid Vuforia App Key.";
    if (code == Vuforia.INIT_LICENSE_ERROR_NO_NETWORK_TRANSIENT)
        return "Unable to contact server. Please try again later.";
    if (code == Vuforia.INIT_LICENSE_ERROR_NO_NETWORK_PERMANENT)
        return "No network available. Please make sure you are connected to the Internet.";
    if (code == Vuforia.INIT_LICENSE_ERROR_CANCELED_KEY)
        return "This app license key has been canceled and may no longer be used. Please get a new license key.";
    if (code == Vuforia.INIT_LICENSE_ERROR_PRODUCT_TYPE_MISMATCH)
        return "Vuforia App key is not valid for this product. Please get a valid key, by logging into your account at developer.vuforia.com and choosing the right product type during project creation.";
    else
    {
        return "Failed to initialize Vuforia.";
    }
}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
@Override
public void onReceive(Context ctx, Intent intent) {
    String receivedAction = intent.getExtras().getString(VuforiaPlugin.PLUGIN_ACTION);

    if (receivedAction.equals(VuforiaPlugin.DISMISS_ACTION)) {
        Vuforia.deinit();
        finish();
    }else if(receivedAction.equals(VuforiaPlugin.PAUSE_ACTION)){
        doStopTrackers();
    }else if(receivedAction.equals(VuforiaPlugin.RESUME_ACTION)){
        doStartTrackers();
    }else if(receivedAction.equals(VuforiaPlugin.UPDATE_TARGETS_ACTION)){
        String targets = intent.getStringExtra("ACTION_DATA");
        doUpdateTargets(targets);
    }
}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
public void imageFound(String imageName) {
    Context context =  this.getApplicationContext();
    Intent resultIntent = new Intent();
    resultIntent.putExtra("name", imageName);

    this.setResult(0, resultIntent);

    doStopTrackers();

    Log.d(LOGTAG, "mAuto Stop On Image Found: " + mAutostopOnImageFound);

    if(mAutostopOnImageFound) {
        Vuforia.deinit();

        finish();
    } else {
        Log.d(LOGTAG, "Sending repeat callback");

        VuforiaPlugin.sendImageFoundUpdate(imageName);
    }
}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
public void onSurfaceChanged(GL10 gl, int width, int height)
{
    // Call Vuforia function to handle render surface size changes:
    Vuforia.onSurfaceChanged(width, height);
    
    // Upon every on pause the movie had to be unloaded to release resources
    // Thus, upon every surface create or surface change this has to be
    // reloaded
    // See:
    // http://developer.android.com/reference/android/media/MediaPlayer.html#release()
    for (int i = 0; i < VideoPlayback.NUM_TARGETS; i++)
    {
        if (mLoadRequested[i] && mVideoPlayerHelper[i] != null)
        {
            mVideoPlayerHelper[i].load(mMovieName[i], mCanRequestType[i],
                mShouldPlayImmediately[i], mSeekPosition[i]);
            mLoadRequested[i] = false;
        }
    }
}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
@Override
public boolean doStartTrackers()
{
    // Indicate if the trackers were started correctly
    boolean result = true;
    
    Tracker objectTracker = TrackerManager.getInstance().getTracker(
        ObjectTracker.getClassType());
    if (objectTracker != null)
    {
        objectTracker.start();
        Vuforia.setHint(HINT.HINT_MAX_SIMULTANEOUS_IMAGE_TARGETS, 2);
    } else
        result = false;
    
    return result;
}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
private String getInitializationErrorString(int code)
{
    if (code == Vuforia.INIT_DEVICE_NOT_SUPPORTED)
        return mActivity.getString(R.string.INIT_ERROR_DEVICE_NOT_SUPPORTED);
    if (code == Vuforia.INIT_NO_CAMERA_ACCESS)
        return mActivity.getString(R.string.INIT_ERROR_NO_CAMERA_ACCESS);
    if (code == Vuforia.INIT_LICENSE_ERROR_MISSING_KEY)
        return mActivity.getString(R.string.INIT_LICENSE_ERROR_MISSING_KEY);
    if (code == Vuforia.INIT_LICENSE_ERROR_INVALID_KEY)
        return mActivity.getString(R.string.INIT_LICENSE_ERROR_INVALID_KEY);
    if (code == Vuforia.INIT_LICENSE_ERROR_NO_NETWORK_TRANSIENT)
        return mActivity.getString(R.string.INIT_LICENSE_ERROR_NO_NETWORK_TRANSIENT);
    if (code == Vuforia.INIT_LICENSE_ERROR_NO_NETWORK_PERMANENT)
        return mActivity.getString(R.string.INIT_LICENSE_ERROR_NO_NETWORK_PERMANENT);
    if (code == Vuforia.INIT_LICENSE_ERROR_CANCELED_KEY)
        return mActivity.getString(R.string.INIT_LICENSE_ERROR_CANCELED_KEY);
    if (code == Vuforia.INIT_LICENSE_ERROR_PRODUCT_TYPE_MISMATCH)
        return mActivity.getString(R.string.INIT_LICENSE_ERROR_PRODUCT_TYPE_MISMATCH);
    else
    {
        return mActivity.getString(R.string.INIT_LICENSE_ERROR_UNKNOWN_ERROR);
    }
}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
/**
 * This method configures Vuforia to capture video frames of the given format.
 *
 * @param imageWidth specifies the image width to capture.
 * @param imageHeight specifies the image height to capture.
 * @param queueCapacity specifies the frame queue capacity.
 */
public void configVideoSource(int imageWidth, int imageHeight, int queueCapacity)
{
    this.imageWidth = imageWidth;
    this.imageHeight = imageHeight;

    Vuforia.setFrameFormat(PIXEL_FORMAT.RGB565, true);
    localizer.setFrameQueueCapacity(queueCapacity);
}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
/**
 * @param parameters                  the vuforia parameters
 * @param widthRequest                the width to resize the input frame to
 * @param heightRequest               the height to resize the input frame to
 * @param cameraOrientation           the orientation of the camera on the robot
 * @param ignoreOrientationForDisplay whether or not to rotate the output frame to display on the phone
 */
public VuforiaFrameFeeder(Parameters parameters, int widthRequest, int heightRequest, FrameGrabber.CameraOrientation cameraOrientation, boolean ignoreOrientationForDisplay) {
    super(parameters);
    this.widthRequest = widthRequest;
    this.heightRequest = heightRequest;
    this.cameraOrientation = cameraOrientation;
    this.ignoreOrientationForDisplay = ignoreOrientationForDisplay;
    stopAR();
    clearGlSurface();

    this.vuforiaCallback = new VuforiaCallbackSubclass();
    startAR();

    // Optional: set the pixel format(s) that you want to have in the callback
    Vuforia.setFrameFormat(PIXEL_FORMAT.RGB565, true);

    //load the beacon trackables
    VuforiaTrackables beaconsVuforiaTrackables = loadTrackablesFromAsset("FTC_2016-17");

    //set the names of the beacon trackables
    beaconsVuforiaTrackables.get(0).setName("Wheels");
    beaconsVuforiaTrackables.get(1).setName("Tools");
    beaconsVuforiaTrackables.get(2).setName("Legos");
    beaconsVuforiaTrackables.get(3).setName("Gears");

    //create a Map to connect BeaconName to beacon VuforiaTrackable
    beacons = new HashMap<>();

    //add the beacon trackables to the Map
    beacons.put(BeaconName.WHEELS, beaconsVuforiaTrackables.get(0));
    beacons.put(BeaconName.TOOLS, beaconsVuforiaTrackables.get(1));
    beacons.put(BeaconName.LEGOS, beaconsVuforiaTrackables.get(2));
    beacons.put(BeaconName.GEARS, beaconsVuforiaTrackables.get(3));

}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
/**
 * @param parameters                  the vuforia parameters
 * @param widthRequest                the width to resize the input frame to
 * @param heightRequest               the height to resize the input frame to
 * @param cameraOrientation           the orientation of the camera on the robot
 * @param ignoreOrientationForDisplay whether or not to rotate the output frame to display on the phone
 */
public VuforiaFrameGrabberInit(Parameters parameters, int widthRequest, int heightRequest, FrameGrabber.CameraOrientation cameraOrientation, boolean ignoreOrientationForDisplay) {
    super(parameters);
    this.widthRequest = widthRequest;
    this.heightRequest = heightRequest;
    this.cameraOrientation = cameraOrientation;
    this.ignoreOrientationForDisplay = ignoreOrientationForDisplay;
    stopAR();
    clearGlSurface();

    this.vuforiaCallback = new VuforiaCallbackSubclass();
    startAR();

    // Optional: set the pixel format(s) that you want to have in the callback
    Vuforia.setFrameFormat(PIXEL_FORMAT.RGB565, true);

    //load the beacon trackables
    VuforiaTrackables beaconsVuforiaTrackables = loadTrackablesFromAsset("FTC_2016-17");

    //set the names of the beacon trackables
    beaconsVuforiaTrackables.get(0).setName("Wheels");
    beaconsVuforiaTrackables.get(1).setName("Tools");
    beaconsVuforiaTrackables.get(2).setName("Legos");
    beaconsVuforiaTrackables.get(3).setName("Gears");

    //create a Map to connect BeaconName to beacon VuforiaTrackable
    beacons = new HashMap<>();

    //add the beacon trackables to the Map
    beacons.put(BeaconName.WHEELS, beaconsVuforiaTrackables.get(0));
    beacons.put(BeaconName.TOOLS, beaconsVuforiaTrackables.get(1));
    beacons.put(BeaconName.LEGOS, beaconsVuforiaTrackables.get(2));
    beacons.put(BeaconName.GEARS, beaconsVuforiaTrackables.get(3));

}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
public void resumeAR() throws VuforiaException
{
    // Vuforia-specific resume operation
    Vuforia.onResume();

    if (mStarted)
        startAR(mCamera);
}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
public void pauseAR() throws VuforiaException
{
    if (mStarted)
        stopCamera();

    Vuforia.onPause();
}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
protected Boolean doInBackground(Void... params)
{
    // Prevent the onDestroy() method to overlap with initialization:
    synchronized (mShutdownLock)
    {
        Vuforia.setInitParameters(mActivity, mVuforiaFlags, mActivity.getString(R.string.vuforia_key));

        do
        {
            // Vuforia.init() blocks until an initialization step is
            // complete, then it proceeds to the next step and reports
            // progress in percents (0 ... 100%).
            // If Vuforia.init() returns -1, it indicates an error.
            // Initialization is done when progress has reached 100%.
            mProgressValue = Vuforia.init();

            // Publish the progress value:
            publishProgress(mProgressValue);

            // We check whether the task has been canceled in the
            // meantime (by calling AsyncTask.cancel(true)).
            // and bail out if it has, thus stopping this thread.
            // This is necessary as the AsyncTask will run to completion
            // regardless of the status of the component that
            // started is.
        } while (!isCancelled() && mProgressValue >= 0
                && mProgressValue < 100);

        return (mProgressValue > 0);
    }
}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
protected void onPostExecute(Boolean result)
{

    VuforiaException vuforiaException = null;

    Log.d(LOGTAG, "LoadTrackerTask.onPostExecute: execution " + (result ? "successful" : "failed"));

    if (!result)
    {
        String logMessage = "Failed to load tracker data.";
        // Error loading dataset
        Log.e(LOGTAG, logMessage);
        vuforiaException = new VuforiaException(
                VuforiaException.LOADING_TRACKERS_FAILURE,
                logMessage);
    } else
    {
        // Hint to the virtual machine that it would be a good time to
        // run the garbage collector:
        //
        // NOTE: This is only a hint. There is no guarantee that the
        // garbage collector will actually be run.
        System.gc();

        Vuforia.registerCallback(AppSession.this);

        mStarted = true;
    }

    // Done loading the tracker, update application status, send the
    // exception to check errors
    mSessionControl.onInitARDone(vuforiaException);
}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
public void initRendering()
{
    Log.d(LOGTAG, "GLRenderer.initRendering");

    mRenderer = Renderer.getInstance();

    GLES20.glClearColor(0.0f, 0.0f, 0.0f, Vuforia.requiresAlpha() ? 0.0f
            : 1.0f);


    // Call Vuforia function to (re)initialize rendering after first use
    // or after OpenGL ES context was lost (e.g. after onPause/onResume):
    vuforiaAppSession.onSurfaceCreated();
}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
@Override
public boolean doStartTrackers() {
    // Indicate if the trackers were started correctly
    boolean result = true;

    Tracker imageTracker = TrackerManager.getInstance().getTracker(
            ObjectTracker.getClassType());
    if (imageTracker != null) {
        imageTracker.start();
        Vuforia.setHint(HINT.HINT_MAX_SIMULTANEOUS_IMAGE_TARGETS, 1);
    } else
        result = false;

    return result;
}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
public void resumeAR() throws ApplicationException
{
    // Vuforia-specific resume operation
    Vuforia.onResume();

    if (mStarted)
    {
        startAR(mCamera);
    }
}
 

import com.vuforia.Vuforia; //导入依赖的package包/类
public void pauseAR() throws ApplicationException
{
    if (mStarted)
    {
        stopCamera();
    }

    Vuforia.onPause();
}