diff --git a/samples/geospatial_kotlin/.gitignore b/samples/geospatial_kotlin/.gitignore
new file mode 100644
index 0000000000..19839b2d1a
--- /dev/null
+++ b/samples/geospatial_kotlin/.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/geospatial_kotlin/app/.gitignore b/samples/geospatial_kotlin/app/.gitignore
new file mode 100644
index 0000000000..a2def884f0
--- /dev/null
+++ b/samples/geospatial_kotlin/app/.gitignore
@@ -0,0 +1,2 @@
+/build
+google-services.json
diff --git a/samples/geospatial_kotlin/app/build.gradle b/samples/geospatial_kotlin/app/build.gradle
new file mode 100644
index 0000000000..258a61a3b5
--- /dev/null
+++ b/samples/geospatial_kotlin/app/build.gradle
@@ -0,0 +1,64 @@
+/*
+ * 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.
+ */
+apply plugin: 'com.android.application'
+apply plugin: 'kotlin-android'
+
+android {
+    namespace "com.google.ar.core.examples.kotlin.geospatial"
+    compileSdkVersion 36
+    defaultConfig {
+        applicationId "com.google.ar.core.examples.kotlin.geospatial"
+
+        // AR Optional apps must declare minSdkVersion >= 14.
+        // AR Required apps must declare minSdkVersion >= 24.
+        minSdkVersion 24
+        targetSdkVersion 36
+        versionCode 1
+        versionName '1.0'
+    }
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_17
+        targetCompatibility JavaVersion.VERSION_17
+    }
+    buildTypes {
+        release {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
+        }
+    }
+    kotlinOptions {
+        jvmTarget = '17'
+    }
+}
+
+dependencies {
+    // ARCore (Google Play Services for AR) library.
+    implementation 'com.google.ar:core:1.54.0'
+
+    // Obj - a simple Wavefront OBJ file loader
+    // https://github.com/javagl/Obj
+    implementation 'de.javagl:obj:0.4.0'
+
+    implementation 'androidx.appcompat:appcompat:1.1.0'
+    implementation 'androidx.lifecycle:lifecycle-common-java8:2.2.0'
+    implementation 'com.google.android.gms:play-services-location:19.0.1'
+    implementation 'com.google.android.gms:play-services-auth:19.0.0'
+
+    implementation 'com.google.android.material:material:1.1.0'
+
+    implementation "org.jetbrains.kotlin:kotlin-stdlib:$kotlin_version"
+    implementation "org.jetbrains.kotlin:kotlin-stdlib-jdk8:$kotlin_version"
+}
diff --git a/samples/geospatial_kotlin/app/proguard-rules.pro b/samples/geospatial_kotlin/app/proguard-rules.pro
new file mode 100644
index 0000000000..45dc58a590
--- /dev/null
+++ b/samples/geospatial_kotlin/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/geospatial_kotlin/app/src/main/AndroidManifest.xml b/samples/geospatial_kotlin/app/src/main/AndroidManifest.xml
new file mode 100644
index 0000000000..dd2ee52020
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/AndroidManifest.xml
@@ -0,0 +1,60 @@
+<?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">
+
+  <uses-permission android:name="android.permission.CAMERA"/>
+  <!-- Required to post notifications for Android T+ devices -->
+  <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE"/>
+  <uses-permission android:name="android.permission.INTERNET"/>
+  <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION"/>
+  <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION"/>
+
+  <uses-permission android:name="android.permission.POST_NOTIFICATIONS" />
+  <!-- Google Play assumes that certain hardware related permissions indicate that the underlying
+       hardware features are required by default.
+       (https://developer.android.com/topic/arc/manifest.html#implied-features). -->
+  <uses-feature android:name="android.hardware.camera" android:required="true" />
+  <!-- Limits app visibility in the Google Play Store to ARCore supported devices
+       (https://developers.google.com/ar/devices). -->
+  <uses-feature android:name="android.hardware.camera.ar" android:required="true"/>
+  <uses-feature android:glEsVersion="0x00020000" android:required="true" />
+
+  <application
+      android:appCategory="game"
+      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.kotlin.geospatial.GeospatialActivity"
+        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/geospatial_kotlin/app/src/main/assets/models/README.txt b/samples/geospatial_kotlin/app/src/main/assets/models/README.txt
new file mode 100644
index 0000000000..9028a24c66
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/models/README.txt
@@ -0,0 +1,3 @@
+The file "dfg.raw" is a raw image file of dimensions 64x64 with two color
+channels stored in 16-bit floats. It can be regenerated by using the script
+"generate_dfg_texture.py" provided in the ARCore SDK under /tools/.
diff --git a/samples/geospatial_kotlin/app/src/main/assets/models/depth_color_palette.png b/samples/geospatial_kotlin/app/src/main/assets/models/depth_color_palette.png
new file mode 100644
index 0000000000..5e2b4b6fee
Binary files /dev/null and b/samples/geospatial_kotlin/app/src/main/assets/models/depth_color_palette.png differ
diff --git a/samples/geospatial_kotlin/app/src/main/assets/models/dfg.raw b/samples/geospatial_kotlin/app/src/main/assets/models/dfg.raw
new file mode 100644
index 0000000000..3ef6a46c06
Binary files /dev/null and b/samples/geospatial_kotlin/app/src/main/assets/models/dfg.raw differ
diff --git a/samples/geospatial_kotlin/app/src/main/assets/models/geospatial_marker.obj b/samples/geospatial_kotlin/app/src/main/assets/models/geospatial_marker.obj
new file mode 100644
index 0000000000..60f21bef2e
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/models/geospatial_marker.obj
@@ -0,0 +1,30836 @@
+# This file uses centimeters as units for non-parametric coordinates.
+
+mtllib geospatial_marker.mtl
+g default
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diff --git a/samples/geospatial_kotlin/app/src/main/assets/models/pawn.obj b/samples/geospatial_kotlin/app/src/main/assets/models/pawn.obj
new file mode 100644
index 0000000000..556b4a222f
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/models/pawn.obj
@@ -0,0 +1,36590 @@
+# Blender v2.82 (sub 7) OBJ File: 'pawn.blend'
+# www.blender.org
+mtllib pawn.mtl
+o pawn
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diff --git a/samples/geospatial_kotlin/app/src/main/assets/models/pawn_albedo.png b/samples/geospatial_kotlin/app/src/main/assets/models/pawn_albedo.png
new file mode 100644
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diff --git a/samples/geospatial_kotlin/app/src/main/assets/models/pawn_albedo_instant_placement.png b/samples/geospatial_kotlin/app/src/main/assets/models/pawn_albedo_instant_placement.png
new file mode 100644
index 0000000000..78d025f477
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diff --git a/samples/geospatial_kotlin/app/src/main/assets/models/pawn_roughness_metallic_ao.png b/samples/geospatial_kotlin/app/src/main/assets/models/pawn_roughness_metallic_ao.png
new file mode 100644
index 0000000000..e153f2c60a
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diff --git a/samples/geospatial_kotlin/app/src/main/assets/models/spatial_marker_baked.png b/samples/geospatial_kotlin/app/src/main/assets/models/spatial_marker_baked.png
new file mode 100644
index 0000000000..12fc0dc06c
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diff --git a/samples/geospatial_kotlin/app/src/main/assets/models/spatial_marker_yellow.png b/samples/geospatial_kotlin/app/src/main/assets/models/spatial_marker_yellow.png
new file mode 100644
index 0000000000..501ac8ae0b
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diff --git a/samples/geospatial_kotlin/app/src/main/assets/models/trigrid.png b/samples/geospatial_kotlin/app/src/main/assets/models/trigrid.png
new file mode 100644
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diff --git a/samples/geospatial_kotlin/app/src/main/assets/shaders/ar_unlit_object.frag b/samples/geospatial_kotlin/app/src/main/assets/shaders/ar_unlit_object.frag
new file mode 100644
index 0000000000..fa13a8fed2
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/ar_unlit_object.frag
@@ -0,0 +1,31 @@
+#version 300 es
+/*
+ * Copyright 2022 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;
+
+in vec2 v_TexCoord;
+
+layout(location = 0) out vec4 o_FragColor;
+
+void main() {
+  // Mirror texture coordinates over the X axis
+  vec2 texCoord = vec2(v_TexCoord.x, 1.0 - v_TexCoord.y);
+
+  o_FragColor = vec4(texture(u_Texture, texCoord).rgb, 1.0);
+  return;
+}
diff --git a/samples/geospatial_kotlin/app/src/main/assets/shaders/ar_unlit_object.vert b/samples/geospatial_kotlin/app/src/main/assets/shaders/ar_unlit_object.vert
new file mode 100644
index 0000000000..bdbb7e45a1
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/ar_unlit_object.vert
@@ -0,0 +1,30 @@
+#version 300 es
+/*
+ * Copyright 2022 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;
+
+layout(location = 0) in vec4 a_Position;
+layout(location = 1) in vec2 a_TexCoord;
+layout(location = 2) in vec3 a_Normal;
+
+out vec2 v_TexCoord;
+
+void main() {
+  v_TexCoord = a_TexCoord;
+  gl_Position = u_ModelViewProjection * a_Position;
+}
diff --git a/samples/geospatial_kotlin/app/src/main/assets/shaders/background_show_camera.frag b/samples/geospatial_kotlin/app/src/main/assets/shaders/background_show_camera.frag
new file mode 100644
index 0000000000..ee24514d09
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/background_show_camera.frag
@@ -0,0 +1,26 @@
+#version 300 es
+/*
+ * 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_essl3 : require
+precision mediump float;
+
+uniform samplerExternalOES u_CameraColorTexture;
+
+in vec2 v_CameraTexCoord;
+
+layout(location = 0) out vec4 o_FragColor;
+
+void main() { o_FragColor = texture(u_CameraColorTexture, v_CameraTexCoord); }
diff --git a/samples/geospatial_kotlin/app/src/main/assets/shaders/background_show_camera.vert b/samples/geospatial_kotlin/app/src/main/assets/shaders/background_show_camera.vert
new file mode 100644
index 0000000000..18a020e4a4
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/background_show_camera.vert
@@ -0,0 +1,29 @@
+#version 300 es
+/*
+ * 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.
+ */
+
+layout(location = 0) in vec4 a_Position;
+layout(location = 1) in vec2 a_CameraTexCoord;
+// The virtual scene texture coordinate is unused in the background shader, but
+// is defined in the BackgroundRenderer Mesh.
+layout(location = 2) in vec2 a_VirtualSceneTexCoord;
+
+out vec2 v_CameraTexCoord;
+
+void main() {
+  gl_Position = a_Position;
+  v_CameraTexCoord = a_CameraTexCoord;
+}
diff --git a/samples/geospatial_kotlin/app/src/main/assets/shaders/background_show_depth_color_visualization.frag b/samples/geospatial_kotlin/app/src/main/assets/shaders/background_show_depth_color_visualization.frag
new file mode 100644
index 0000000000..7500e18410
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/background_show_depth_color_visualization.frag
@@ -0,0 +1,81 @@
+#version 300 es
+/*
+ * 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;
+
+// This shader pair shows the depth estimation instead of the camera image as
+// the background. This behavior is mostly only useful as a demonstration of the
+// depth feature.
+
+uniform sampler2D u_CameraDepthTexture;
+uniform sampler2D u_ColorMap;
+
+in vec2 v_CameraTexCoord;
+
+layout(location = 0) out vec4 o_FragColor;
+
+float Depth_GetCameraDepthInMillimeters(const sampler2D depthTexture,
+                                        const vec2 depthUv) {
+  // Depth is packed into the red and green components of its texture.
+  // The texture is a normalized format, storing millimeters.
+  vec3 packedDepthAndVisibility = texture(depthTexture, depthUv).xyz;
+  return dot(packedDepthAndVisibility.xy, vec2(255.0, 256.0 * 255.0));
+}
+
+// Returns a color corresponding to the depth passed in.
+//
+// Uses Turbo color mapping:
+// https://ai.googleblog.com/2019/08/turbo-improved-rainbow-colormap-for.html
+//
+// The input x is normalized in range 0 to 1.
+vec3 Depth_GetColorVisualization(float x) {
+  return texture(u_ColorMap, vec2(x, 0.5)).rgb;
+}
+
+// Returns linear interpolation position of value between min and max bounds.
+// E.g. InverseLerp(1100, 1000, 2000) returns 0.1.
+float InverseLerp(float value, float min_bound, float max_bound) {
+  return clamp((value - min_bound) / (max_bound - min_bound), 0.0, 1.0);
+}
+
+void main() {
+  const float kMidDepthMeters = 8.0;
+  const float kMaxDepthMeters = 30.0;
+
+  // Interpolating in units of meters is more stable, due to limited floating
+  // point precision on GPU.
+  float depth_mm =
+      Depth_GetCameraDepthInMillimeters(u_CameraDepthTexture, v_CameraTexCoord);
+  float depth_meters = depth_mm * 0.001;
+
+  // Selects the portion of the color palette to use.
+  float normalizedDepth = 0.0;
+  if (depth_meters < kMidDepthMeters) {
+    // Short-range depth (0m to 8m) maps to first half of the color palette.
+    normalizedDepth = InverseLerp(depth_meters, 0.0, kMidDepthMeters) * 0.5;
+  } else {
+    // Long-range depth (8m to 30m) maps to second half of the color palette.
+    normalizedDepth =
+        InverseLerp(depth_meters, kMidDepthMeters, kMaxDepthMeters) * 0.5 + 0.5;
+  }
+
+  // Converts depth to color by with the selected value in the color map.
+  vec4 depth_color = vec4(Depth_GetColorVisualization(normalizedDepth), 1.0);
+
+  // Invalid depth (pixels with value 0) mapped to black.
+  depth_color.rgb *= sign(depth_meters);
+  o_FragColor = depth_color;
+}
diff --git a/samples/geospatial_kotlin/app/src/main/assets/shaders/background_show_depth_color_visualization.vert b/samples/geospatial_kotlin/app/src/main/assets/shaders/background_show_depth_color_visualization.vert
new file mode 100644
index 0000000000..84c0bd88ef
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/background_show_depth_color_visualization.vert
@@ -0,0 +1,33 @@
+#version 300 es
+/*
+ * 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.
+ */
+
+// This shader pair shows the depth estimation instead of the camera image as
+// the background. This behavior is mostly only useful as a demonstration of the
+// depth feature.
+
+layout(location = 0) in vec4 a_Position;
+layout(location = 1) in vec2 a_CameraTexCoord;
+// The virtual scene texture coordinate is unused in the background shader, but
+// is defined in the BackgroundRenderer Mesh.
+layout(location = 2) in vec2 a_VirtualSceneTexCoord;
+
+out vec2 v_CameraTexCoord;
+
+void main() {
+  gl_Position = a_Position;
+  v_CameraTexCoord = a_CameraTexCoord;
+}
diff --git a/samples/geospatial_kotlin/app/src/main/assets/shaders/cubemap_filter.frag b/samples/geospatial_kotlin/app/src/main/assets/shaders/cubemap_filter.frag
new file mode 100644
index 0000000000..f2875f2b15
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/cubemap_filter.frag
@@ -0,0 +1,127 @@
+#version 300 es
+/*
+ * 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;
+
+// The number of mipmap levels in the cubemap is equal to the number of
+// roughness levels that we precalculate for filtering the cubemap for roughness
+// in real-time.
+const int kNumberOfRoughnessLevels = NUMBER_OF_MIPMAP_LEVELS;
+
+// The number of importance samples to use for roughness filtering of the
+// cubemap.
+const int kNumberOfImportanceSamples = NUMBER_OF_IMPORTANCE_SAMPLES;
+
+struct ImportanceSampleCacheEntry {
+  vec3 direction;      // Direction to sample in tangent space
+  float contribution;  // Weighted contribution of the sample's radiance
+  float level;         // The mipmap level to sample from the cubemap. Can be
+                       // in-between integer levels for trilinear filtering.
+};
+
+struct ImportanceSampleCache {
+  int number_of_entries;
+  ImportanceSampleCacheEntry entries[kNumberOfImportanceSamples];
+};
+
+// This array's length is one less than the number of roughness levels since the
+// first roughness level can be skipped.
+uniform ImportanceSampleCache
+    u_ImportanceSampleCaches[kNumberOfRoughnessLevels - 1];
+
+// The source radiance cubemap to be filtered.
+uniform samplerCube u_Cubemap;
+
+// The roughness level that we are filtering for.
+uniform int u_RoughnessLevel;
+
+in vec2 v_Position;
+
+#ifdef PX_LOCATION
+layout(location = PX_LOCATION) out vec4 o_FragColorPX;
+#endif
+#ifdef NX_LOCATION
+layout(location = NX_LOCATION) out vec4 o_FragColorNX;
+#endif
+#ifdef PY_LOCATION
+layout(location = PY_LOCATION) out vec4 o_FragColorPY;
+#endif
+#ifdef NY_LOCATION
+layout(location = NY_LOCATION) out vec4 o_FragColorNY;
+#endif
+#ifdef PZ_LOCATION
+layout(location = PZ_LOCATION) out vec4 o_FragColorPZ;
+#endif
+#ifdef NZ_LOCATION
+layout(location = NZ_LOCATION) out vec4 o_FragColorNZ;
+#endif
+
+vec4 Filter(const vec3 n) {
+  if (u_RoughnessLevel == 0) {
+    // Roughness level 0 is just a straight copy.
+    return vec4(textureLod(u_Cubemap, n, 0.0).rgb, 1.0);
+  }
+
+  vec3 up = abs(n.z) < 0.9999 ? vec3(0.0, 0.0, 1.0) : vec3(1.0, 0.0, 0.0);
+
+  mat3 tangentToWorld;
+  tangentToWorld[0] = normalize(cross(up, n));
+  tangentToWorld[1] = cross(n, tangentToWorld[0]);
+  tangentToWorld[2] = n;
+
+  // XXX: This clamp should not be necessary, but is here due to a compiler
+  // optimization bug affecting certain devices.
+  //
+  // Some drivers pre-calculate uniform expressions to reduce redundant
+  // computations. Certain drivers will incorrectly ignore uniform control flow
+  // and try to pre-calculate expressions that wouldn't be executed. So even
+  // though we explicitly short-circuit if `u_RoughnessLevel' is 0, the compiled
+  // shader still tries to calculate `u_ImportanceSampleCaches[u_RoughnessLevel
+  // - 1]', with obviously bad results.
+  ImportanceSampleCache cache = u_ImportanceSampleCaches[max(0, u_RoughnessLevel - 1)];
+  vec3 radiance = vec3(0.0);
+  for (int i = 0; i < cache.number_of_entries; ++i) {
+    ImportanceSampleCacheEntry entry = cache.entries[i];
+    radiance +=
+        textureLod(u_Cubemap, tangentToWorld * entry.direction, entry.level)
+            .rgb *
+        entry.contribution;
+  }
+  return vec4(radiance, 1.0);
+}
+
+void main() {
+  float u = v_Position.x;
+  float v = v_Position.y;
+#ifdef PX_LOCATION
+  o_FragColorPX = Filter(normalize(vec3(+1, -v, -u)));
+#endif
+#ifdef NX_LOCATION
+  o_FragColorNX = Filter(normalize(vec3(-1, -v, +u)));
+#endif
+#ifdef PY_LOCATION
+  o_FragColorPY = Filter(normalize(vec3(+u, +1, +v)));
+#endif
+#ifdef NY_LOCATION
+  o_FragColorNY = Filter(normalize(vec3(+u, -1, -v)));
+#endif
+#ifdef PZ_LOCATION
+  o_FragColorPZ = Filter(normalize(vec3(+u, -v, +1)));
+#endif
+#ifdef NZ_LOCATION
+  o_FragColorNZ = Filter(normalize(vec3(-u, -v, -1)));
+#endif
+}
diff --git a/samples/geospatial_kotlin/app/src/main/assets/shaders/cubemap_filter.vert b/samples/geospatial_kotlin/app/src/main/assets/shaders/cubemap_filter.vert
new file mode 100644
index 0000000000..f6885d6e38
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/cubemap_filter.vert
@@ -0,0 +1,25 @@
+#version 300 es
+/*
+ * 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.
+ */
+
+layout(location = 0) in vec4 a_Position;
+
+out vec2 v_Position;
+
+void main() {
+  gl_Position = a_Position;
+  v_Position = a_Position.xy;
+}
diff --git a/samples/geospatial_kotlin/app/src/main/assets/shaders/environmental_hdr.frag b/samples/geospatial_kotlin/app/src/main/assets/shaders/environmental_hdr.frag
new file mode 100644
index 0000000000..88167a3672
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/environmental_hdr.frag
@@ -0,0 +1,297 @@
+#version 300 es
+/*
+ * 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;
+
+// This shader will light scenes based on ARCore's Environmental HDR mode with a
+// physically based rendering model.
+//
+// When using the HDR Cubemap from ARCore for specular reflections, please note
+// that the following equation is true of ARCore's Environmental HDR lighting
+// estimation, where E(x) is irradiance of x.
+//
+// E(spherical harmonics) + E(main light) == E(cubemap)
+//
+// In order to not duplicate the specular lighting contribution of the main
+// light, we must use the following equation, where Lo is total reflected
+// radiance (i.e. linear color output), Ld(x) is the reflected diffuse radiance
+// of x, and Ls(x) is reflected specular radiance of x.
+//
+// Lo = Ld(spherical harmonics) + Ld(main light) + Ls(cubemap)
+//
+// The Filament documentation has excellent documentation on the subject of
+// image based lighting:
+// https://google.github.io/filament/Filament.md.html#lighting/imagebasedlights
+//
+// If you would rather not use the HDR cubemap in your application, you would
+// need to adjust the lighting calculations to reflect the following equation
+// instead.
+//
+// Lo = Ld(spherical harmonics) + Ld(main light) + Ls(main light)
+//
+// See the definitions of Pbr_CalculateMainLightRadiance and
+// Pbr_CalculateEnvironmentalRadiance.
+
+// Number of mipmap levels in the filtered cubemap.
+const int kNumberOfRoughnessLevels = NUMBER_OF_MIPMAP_LEVELS;
+
+// The albedo and roughness/metallic textures.
+uniform sampler2D u_AlbedoTexture;
+uniform sampler2D u_RoughnessMetallicAmbientOcclusionTexture;
+
+// The intensity of the main directional light.
+uniform vec3 u_LightIntensity;
+
+// The direction of the main directional light in view space.
+uniform vec4 u_ViewLightDirection;
+
+// The coefficients for the spherical harmonic function which models the diffuse
+// irradiance of a distant environmental light for a given surface normal in
+// world space. These coefficients must be premultiplied with their
+// corresponding spherical harmonics constants. See
+// HelloArActivity.updateSphericalHarmonicsCoefficients for more information.
+uniform vec3 u_SphericalHarmonicsCoefficients[9];
+
+// The filtered cubemap texture which models the LD term (i.e. radiance (L)
+// times distribution function (D)) of the environmental specular calculation as
+// a function of direction and roughness.
+uniform samplerCube u_Cubemap;
+
+// The DFG lookup texture which models the DFG1 and DFG2 terms of the
+// environmental specular calculation as a function of normal dot view and
+// perceptual roughness.
+uniform sampler2D u_DfgTexture;
+
+// Inverse view matrix. Used for converting normals back into world space for
+// environmental radiance calculations.
+uniform mat4 u_ViewInverse;
+
+// If the current light estimate is valid. Used to short circuit the entire
+// shader when the light estimate is not valid.
+uniform bool u_LightEstimateIsValid;
+
+struct MaterialParameters {
+  vec3 diffuse;
+  float perceptualRoughness;  // perceptually linear roughness
+  float roughness;            // non-perceptually linear roughness
+  float metallic;
+  float ambientOcclusion;
+  vec3 f0;                  // reflectance
+  vec2 dfg;                 // DFG1 and DFG2 terms
+  vec3 energyCompensation;  // energy preservation for multiscattering
+};
+
+struct ShadingParameters {
+  // Halfway here refers to halfway between the view and light directions.
+  float normalDotView;
+  float normalDotHalfway;
+  float normalDotLight;
+  float viewDotHalfway;
+  float oneMinusNormalDotHalfwaySquared;
+
+  // These unit vectors are in world space and are used for the environmental
+  // lighting math.
+  vec3 worldNormalDirection;
+  vec3 worldReflectDirection;
+};
+
+in vec3 v_ViewPosition;
+in vec3 v_ViewNormal;
+in vec2 v_TexCoord;
+
+layout(location = 0) out vec4 o_FragColor;
+
+const float kPi = 3.14159265359;
+
+vec3 Pbr_CalculateMainLightRadiance(const ShadingParameters shading,
+                                    const MaterialParameters material,
+                                    const vec3 mainLightIntensity) {
+  // Lambertian diffuse
+  vec3 diffuseTerm = material.diffuse / kPi;
+
+  // Note that if we were not using the HDR cubemap from ARCore for specular
+  // lighting, we would be adding a specular contribution from the main light
+  // here. See the top of the file for a more detailed explanation.
+
+  return diffuseTerm * mainLightIntensity * shading.normalDotLight;
+}
+
+vec3 Pbr_CalculateDiffuseEnvironmentalRadiance(const vec3 normal,
+                                               const vec3 coefficients[9]) {
+  // See HelloArActivity.updateSphericalHarmonicsCoefficients() for more
+  // information about this calculation.
+  vec3 radiance = coefficients[0] + coefficients[1] * (normal.y) +
+                  coefficients[2] * (normal.z) + coefficients[3] * (normal.x) +
+                  coefficients[4] * (normal.y * normal.x) +
+                  coefficients[5] * (normal.y * normal.z) +
+                  coefficients[6] * (3.0 * normal.z * normal.z - 1.0) +
+                  coefficients[7] * (normal.z * normal.x) +
+                  coefficients[8] * (normal.x * normal.x - normal.y * normal.y);
+  return max(radiance, 0.0);
+}
+
+vec3 Pbr_CalculateSpecularEnvironmentalRadiance(
+    const ShadingParameters shading, const MaterialParameters material,
+    const samplerCube cubemap) {
+  // Lagarde and de Rousiers 2014, "Moving Frostbite to PBR"
+  float specularAO =
+      clamp(pow(shading.normalDotView + material.ambientOcclusion,
+                exp2(-16.0 * material.roughness - 1.0)) -
+                1.0 + material.ambientOcclusion,
+            0.0, 1.0);
+  // Combine DFG and LD terms
+  float lod =
+      material.perceptualRoughness * float(kNumberOfRoughnessLevels - 1);
+  vec3 LD = textureLod(cubemap, shading.worldReflectDirection, lod).rgb;
+  vec3 E = mix(material.dfg.xxx, material.dfg.yyy, material.f0);
+  return E * LD * specularAO * material.energyCompensation;
+}
+
+vec3 Pbr_CalculateEnvironmentalRadiance(
+    const ShadingParameters shading, const MaterialParameters material,
+    const vec3 sphericalHarmonicsCoefficients[9], const samplerCube cubemap) {
+  // The lambertian diffuse BRDF term (1/pi) is baked into
+  // HelloArActivity.sphericalHarmonicsFactors.
+  vec3 diffuseTerm =
+      Pbr_CalculateDiffuseEnvironmentalRadiance(
+          shading.worldNormalDirection, sphericalHarmonicsCoefficients) *
+      material.diffuse * material.ambientOcclusion;
+
+  vec3 specularTerm =
+      Pbr_CalculateSpecularEnvironmentalRadiance(shading, material, cubemap);
+
+  return diffuseTerm + specularTerm;
+}
+
+void Pbr_CreateShadingParameters(const in vec3 viewNormal,
+                                 const in vec3 viewPosition,
+                                 const in vec4 viewLightDirection,
+                                 const in mat4 viewInverse,
+                                 out ShadingParameters shading) {
+  vec3 normalDirection = normalize(viewNormal);
+  vec3 viewDirection = -normalize(viewPosition);
+  vec3 lightDirection = normalize(viewLightDirection.xyz);
+  vec3 halfwayDirection = normalize(viewDirection + lightDirection);
+
+  // Clamping the minimum bound yields better results with values less than or
+  // equal to 0, which would otherwise cause discontinuity in the geometry
+  // factor. Neubelt and Pettineo 2013, "Crafting a Next-gen Material Pipeline
+  // for The Order: 1886"
+  shading.normalDotView = max(dot(normalDirection, viewDirection), 1e-4);
+  shading.normalDotHalfway =
+      clamp(dot(normalDirection, halfwayDirection), 0.0, 1.0);
+  shading.normalDotLight =
+      clamp(dot(normalDirection, lightDirection), 0.0, 1.0);
+  shading.viewDotHalfway =
+      clamp(dot(viewDirection, halfwayDirection), 0.0, 1.0);
+
+  // The following calculation can be proven as being equivalent to 1-(N.H)^2 by
+  // using Lagrange's identity.
+  //
+  // ||a x b||^2 = ||a||^2 ||b||^2 - (a . b)^2
+  //
+  // Since we're using unit vectors: ||N x H||^2 = 1 - (N . H)^2
+  //
+  // We are calculating it in this way to preserve floating point precision.
+  vec3 NxH = cross(normalDirection, halfwayDirection);
+  shading.oneMinusNormalDotHalfwaySquared = dot(NxH, NxH);
+
+  shading.worldNormalDirection = (viewInverse * vec4(normalDirection, 0.0)).xyz;
+  vec3 reflectDirection = reflect(-viewDirection, normalDirection);
+  shading.worldReflectDirection =
+      (viewInverse * vec4(reflectDirection, 0.0)).xyz;
+}
+
+void Pbr_CreateMaterialParameters(const in vec2 texCoord,
+                                  const in sampler2D albedoTexture,
+                                  const in sampler2D pbrTexture,
+                                  const in sampler2D dfgTexture,
+                                  const in ShadingParameters shading,
+                                  out MaterialParameters material) {
+  // Read the material parameters from the textures
+  vec3 albedo = texture(albedoTexture, texCoord).rgb;
+  vec3 roughnessMetallicAmbientOcclusion = texture(pbrTexture, texCoord).rgb;
+  // Roughness inputs are perceptually linear; convert them to regular roughness
+  // values. Roughness levels approaching 0 will make specular reflections
+  // completely invisible, so cap the lower bound. This value was chosen such
+  // that (kMinPerceptualRoughness^4) > 0 in fp16 (i.e. 2^(-14/4), rounded up).
+  // https://github.com/google/filament/blob/main/shaders/src/common_material.fs#L2
+  const float kMinPerceptualRoughness = 0.089;
+  material.perceptualRoughness =
+      max(roughnessMetallicAmbientOcclusion.r, kMinPerceptualRoughness);
+  material.roughness =
+      material.perceptualRoughness * material.perceptualRoughness;
+  material.metallic = roughnessMetallicAmbientOcclusion.g;
+  material.ambientOcclusion = roughnessMetallicAmbientOcclusion.b;
+
+  material.diffuse = albedo * (1.0 - material.metallic);
+  // F0 is defined as "Fresnel reflectance at 0 degrees", i.e. specular
+  // reflectance when light is grazing a surface perfectly perpendicularly. This
+  // value is derived from the index of refraction for a material. Most
+  // dielectric materials have an F0 value of 0.00-0.08, which leaves 0.04 as a
+  // reasonable constant for a simple roughness/metallic material workflow as
+  // implemented by this shader.
+  material.f0 = mix(vec3(0.04), albedo, material.metallic);
+
+  // The DFG texture is a simple lookup table indexed by [normal dot view,
+  // perceptualRoughness].
+  material.dfg =
+      textureLod(dfgTexture,
+                 vec2(shading.normalDotView, material.perceptualRoughness), 0.0)
+          .xy;
+
+  // Energy preservation for multiscattering (see
+  // https://google.github.io/filament/Filament.md.html#materialsystem/improvingthebrdfs)
+  material.energyCompensation =
+      1.0 + material.f0 * (1.0 / material.dfg.y - 1.0);
+}
+
+vec3 LinearToSrgb(const vec3 color) {
+  vec3 kGamma = vec3(1.0 / 2.2);
+  return clamp(pow(color, kGamma), 0.0, 1.0);
+}
+
+void main() {
+  // Mirror texture coordinates over the X axis
+  vec2 texCoord = vec2(v_TexCoord.x, 1.0 - v_TexCoord.y);
+
+  // Skip all lighting calculations if the estimation is not valid.
+  if (!u_LightEstimateIsValid) {
+    o_FragColor = vec4(texture(u_AlbedoTexture, texCoord).rgb, 1.0);
+    return;
+  }
+
+  ShadingParameters shading;
+  Pbr_CreateShadingParameters(v_ViewNormal, v_ViewPosition,
+                              u_ViewLightDirection, u_ViewInverse, shading);
+
+  MaterialParameters material;
+  Pbr_CreateMaterialParameters(texCoord, u_AlbedoTexture,
+                               u_RoughnessMetallicAmbientOcclusionTexture,
+                               u_DfgTexture, shading, material);
+
+  // Combine the radiance contributions of both the main light and environment
+  vec3 mainLightRadiance =
+      Pbr_CalculateMainLightRadiance(shading, material, u_LightIntensity);
+
+  vec3 environmentalRadiance = Pbr_CalculateEnvironmentalRadiance(
+      shading, material, u_SphericalHarmonicsCoefficients, u_Cubemap);
+
+  vec3 radiance = mainLightRadiance + environmentalRadiance;
+
+  // Convert final color to sRGB color space
+  o_FragColor = vec4(LinearToSrgb(radiance), 1.0);
+}
diff --git a/samples/geospatial_kotlin/app/src/main/assets/shaders/environmental_hdr.vert b/samples/geospatial_kotlin/app/src/main/assets/shaders/environmental_hdr.vert
new file mode 100644
index 0000000000..0065b4ac86
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/environmental_hdr.vert
@@ -0,0 +1,34 @@
+#version 300 es
+/*
+ * 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.
+ */
+
+uniform mat4 u_ModelView;
+uniform mat4 u_ModelViewProjection;
+
+layout(location = 0) in vec4 a_Position;
+layout(location = 1) in vec2 a_TexCoord;
+layout(location = 2) in vec3 a_Normal;
+
+out vec3 v_ViewPosition;
+out vec3 v_ViewNormal;
+out 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/geospatial_kotlin/app/src/main/assets/shaders/occlusion.frag b/samples/geospatial_kotlin/app/src/main/assets/shaders/occlusion.frag
new file mode 100644
index 0000000000..0951b9d771
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/occlusion.frag
@@ -0,0 +1,198 @@
+#version 300 es
+/*
+ * 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;
+
+// The virtual scene as rendered to a texture via a framebuffer. This will be
+// composed with the background image depending on which modes were set in
+// DepthCompositionRenderer.setDepthModes.
+uniform sampler2D u_VirtualSceneColorTexture;
+
+#if USE_OCCLUSION
+// The AR camera depth texture.
+uniform sampler2D u_CameraDepthTexture;
+// The depth texture for the virtual scene.
+uniform sampler2D u_VirtualSceneDepthTexture;
+// The near and far clipping planes, used to transform the virtual scene depth
+// back into view space to compare with the camera depth texture.
+uniform float u_ZNear;
+uniform float u_ZFar;
+// The aspect ratio of the screen. This is used during to create uniform
+// blurring for occluded objects.
+uniform float u_DepthAspectRatio;
+#endif  // USE_OCCLUSION
+
+#if USE_OCCLUSION
+in vec2 v_CameraTexCoord;
+#endif  // USE_OCCLUSION
+in vec2 v_VirtualSceneTexCoord;
+
+layout(location = 0) out vec4 o_FragColor;
+
+#if USE_OCCLUSION
+
+float Depth_GetCameraDepthInMillimeters(const sampler2D depthTexture,
+                                        const vec2 depthUv) {
+  // Depth is packed into the red and green components of its texture.
+  // The texture is a normalized format, storing millimeters.
+  vec3 packedDepthAndVisibility = texture(depthTexture, depthUv).xyz;
+  return dot(packedDepthAndVisibility.xy, vec2(255.0, 256.0 * 255.0));
+}
+
+float Depth_GetVirtualSceneDepthMillimeters(const sampler2D depthTexture,
+                                            const vec2 depthUv, float zNear,
+                                            float zFar) {
+  // Determine the depth of the virtual scene fragment in millimeters.
+  const float kMetersToMillimeters = 1000.0;
+  // This value was empirically chosen to correct errors with objects appearing
+  // to phase through the floor. In millimeters.
+  const float kBias = -80.0;
+  float ndc = 2.0 * texture(depthTexture, depthUv).x - 1.0;
+  return 2.0 * zNear * zFar / (zFar + zNear - ndc * (zFar - zNear)) *
+             kMetersToMillimeters +
+         kBias;
+}
+
+// Returns a value between 0.0 (completely visible) and 1.0 (completely
+// occluded), representing how visible or occluded is the pixel in relation to
+// the depth map.
+float Depth_GetOcclusion(const sampler2D depthTexture, const vec2 depthUv,
+                         float assetDepthMm) {
+  float depthMm = Depth_GetCameraDepthInMillimeters(depthTexture, depthUv);
+
+  // Instead of a hard z-buffer test, allow the asset to fade into the
+  // background along a 2 * kDepthTolerancePerMm * assetDepthMm
+  // range centered on the background depth.
+  const float kDepthTolerancePerMm = 0.01;
+  return clamp(1.0 -
+                   0.5 * (depthMm - assetDepthMm) /
+                       (kDepthTolerancePerMm * assetDepthMm) +
+                   0.5,
+               0.0, 1.0);
+}
+
+float Depth_GetBlurredOcclusionAroundUV(const sampler2D depthTexture,
+                                        const vec2 uv, float assetDepthMm) {
+  // 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 += Depth_GetOcclusion(
+      depthTexture, uv + vec2(-1.0, -2.0) * blurriness, assetDepthMm);
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(+1.0, -2.0) * blurriness, assetDepthMm);
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(-1.0, +2.0) * blurriness, assetDepthMm);
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(+1.0, +2.0) * blurriness, assetDepthMm);
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(-2.0, +1.0) * blurriness, assetDepthMm);
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(+2.0, +1.0) * blurriness, assetDepthMm);
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(-2.0, -1.0) * blurriness, assetDepthMm);
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(+2.0, -1.0) * blurriness, assetDepthMm);
+  sum += current * 4.0;
+
+  current = 0.0;
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(-2.0, -0.0) * blurriness, assetDepthMm);
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(+2.0, +0.0) * blurriness, assetDepthMm);
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(+0.0, +2.0) * blurriness, assetDepthMm);
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(-0.0, -2.0) * blurriness, assetDepthMm);
+  sum += current * 7.0;
+
+  current = 0.0;
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(-1.0, -1.0) * blurriness, assetDepthMm);
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(+1.0, -1.0) * blurriness, assetDepthMm);
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(-1.0, +1.0) * blurriness, assetDepthMm);
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(+1.0, +1.0) * blurriness, assetDepthMm);
+  sum += current * 16.0;
+
+  current = 0.0;
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(+0.0, +1.0) * blurriness, assetDepthMm);
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(-0.0, -1.0) * blurriness, assetDepthMm);
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(-1.0, -0.0) * blurriness, assetDepthMm);
+  current += Depth_GetOcclusion(
+      depthTexture, uv + vec2(+1.0, +0.0) * blurriness, assetDepthMm);
+  sum += current * 26.0;
+
+  sum += Depth_GetOcclusion(depthTexture, uv, assetDepthMm) * 41.0;
+
+  return sum / kKernelTotalWeights;
+}
+#endif  // USE_OCCLUSION
+
+void main() {
+  o_FragColor = texture(u_VirtualSceneColorTexture, v_VirtualSceneTexCoord);
+
+#if USE_OCCLUSION
+  if (o_FragColor.a == 0.0) {
+    // There's no sense in calculating occlusion for a fully transparent pixel.
+    return;
+  }
+  float assetDepthMm = Depth_GetVirtualSceneDepthMillimeters(
+      u_VirtualSceneDepthTexture, v_VirtualSceneTexCoord, u_ZNear, u_ZFar);
+
+  float occlusion = Depth_GetBlurredOcclusionAroundUV(
+      u_CameraDepthTexture, v_CameraTexCoord, assetDepthMm);
+
+  // If the above blur operation is too expensive, you can replace it with the
+  // following lines.
+  /* float occlusion = Depth_GetOcclusion(u_CameraDepthTexture,
+    v_CameraTexCoord, assetDepthMm); */
+
+  // The virtual object mask is blurred, we make the falloff steeper to simulate
+  // erosion operator. This is needed to make the fully occluded virtual object
+  // invisible.
+  float objectMaskEroded = pow(occlusion, 10.0);
+
+  // occlusionTransition equal to 1 means fully occluded object. This operation
+  // boosts occlusion near the edges of the virtual object, but does not affect
+  // occlusion within the object.
+  float occlusionTransition =
+      clamp(occlusion * (2.0 - objectMaskEroded), 0.0, 1.0);
+
+  // Clips occlusion if we want to partially show fully occluded object.
+  float kMaxOcclusion = 1.0;
+  occlusionTransition = min(occlusionTransition, kMaxOcclusion);
+
+  o_FragColor *= 1.0 - occlusion;
+
+#endif  // USE_OCCLUSION
+}
diff --git a/samples/geospatial_kotlin/app/src/main/assets/shaders/occlusion.vert b/samples/geospatial_kotlin/app/src/main/assets/shaders/occlusion.vert
new file mode 100644
index 0000000000..11f02c809b
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/occlusion.vert
@@ -0,0 +1,33 @@
+#version 300 es
+/*
+ * 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.
+ */
+
+layout(location = 0) in vec4 a_Position;
+layout(location = 1) in vec2 a_CameraTexCoord;
+layout(location = 2) in vec2 a_VirtualSceneTexCoord;
+
+#if USE_OCCLUSION
+out vec2 v_CameraTexCoord;
+#endif
+out vec2 v_VirtualSceneTexCoord;
+
+void main() {
+  gl_Position = a_Position;
+#if USE_OCCLUSION
+  v_CameraTexCoord = a_CameraTexCoord;
+#endif
+  v_VirtualSceneTexCoord = a_VirtualSceneTexCoord;
+}
diff --git a/samples/geospatial_kotlin/app/src/main/assets/shaders/plane.frag b/samples/geospatial_kotlin/app/src/main/assets/shaders/plane.frag
new file mode 100644
index 0000000000..6bb0900888
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/plane.frag
@@ -0,0 +1,35 @@
+#version 300 es
+/*
+ * 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
+
+in vec3 v_TexCoordAlpha;
+layout(location = 0) out vec4 o_FragColor;
+
+void main() {
+  vec4 control = texture(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
+                                                         : (0.1 * lineFade);
+  o_FragColor = vec4(alpha * v_TexCoordAlpha.z);
+}
diff --git a/samples/geospatial_kotlin/app/src/main/assets/shaders/plane.vert b/samples/geospatial_kotlin/app/src/main/assets/shaders/plane.vert
new file mode 100644
index 0000000000..d033573492
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/plane.vert
@@ -0,0 +1,42 @@
+#version 300 es
+/*
+ * 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;
+
+layout(location = 0) in vec3 a_XZPositionAlpha; // (x, z, alpha)
+
+out 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/geospatial_kotlin/app/src/main/assets/shaders/point_cloud.frag b/samples/geospatial_kotlin/app/src/main/assets/shaders/point_cloud.frag
new file mode 100644
index 0000000000..bb4a492d6b
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/point_cloud.frag
@@ -0,0 +1,25 @@
+#version 300 es
+/*
+ * 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 vec4 u_Color;
+
+out vec4 o_FragColor;
+
+void main() {
+  o_FragColor = u_Color;
+}
diff --git a/samples/geospatial_kotlin/app/src/main/assets/shaders/point_cloud.vert b/samples/geospatial_kotlin/app/src/main/assets/shaders/point_cloud.vert
new file mode 100644
index 0000000000..27e893da58
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/point_cloud.vert
@@ -0,0 +1,26 @@
+#version 300 es
+/*
+ * 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 float u_PointSize;
+
+layout(location = 0) in vec4 a_Position;
+
+void main() {
+  gl_Position = u_ModelViewProjection * vec4(a_Position.xyz, 1.0);
+  gl_PointSize = u_PointSize;
+}
diff --git a/samples/geospatial_kotlin/app/src/main/assets/shaders/streetscape_geometry.frag b/samples/geospatial_kotlin/app/src/main/assets/shaders/streetscape_geometry.frag
new file mode 100644
index 0000000000..199b535141
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/streetscape_geometry.frag
@@ -0,0 +1,22 @@
+/*
+ * Copyright 2023 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/geospatial_kotlin/app/src/main/assets/shaders/streetscape_geometry.vert b/samples/geospatial_kotlin/app/src/main/assets/shaders/streetscape_geometry.vert
new file mode 100644
index 0000000000..87fb23b368
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/assets/shaders/streetscape_geometry.vert
@@ -0,0 +1,29 @@
+/*
+ * Copyright 2023 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/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/CameraPermissionHelper.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/CameraPermissionHelper.java
new file mode 100644
index 0000000000..7ac0e26561
--- /dev/null
+++ b/samples/geospatial_kotlin/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/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/DepthSettings.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/DepthSettings.java
new file mode 100644
index 0000000000..9610b4bb4d
--- /dev/null
+++ b/samples/geospatial_kotlin/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/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/DisplayRotationHelper.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/DisplayRotationHelper.java
new file mode 100644
index 0000000000..d8401dcc65
--- /dev/null
+++ b/samples/geospatial_kotlin/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/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/EisSettings.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/EisSettings.java
new file mode 100644
index 0000000000..5694cf8987
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/EisSettings.java
@@ -0,0 +1,53 @@
+/*
+ * Copyright 2023 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;
+
+/**
+ * A class providing persistent EIS preference across instances using {@code
+ * android.content.SharedPreferences}.
+ */
+public class EisSettings {
+  public static final String SHARED_PREFERENCE_ID = "SHARED_PREFERENCE_EIS_OPTIONS";
+  public static final String SHARED_PREFERENCE_EIS_ENABLED = "eis_enabled";
+  private boolean eisEnabled = false;
+  private SharedPreferences sharedPreferences;
+
+  /** Creates shared preference entry for EIS setting. */
+  public void onCreate(Context context) {
+    sharedPreferences = context.getSharedPreferences(SHARED_PREFERENCE_ID, Context.MODE_PRIVATE);
+    eisEnabled = sharedPreferences.getBoolean(SHARED_PREFERENCE_EIS_ENABLED, false);
+  }
+
+  /** Returns saved EIS state. */
+  public boolean isEisEnabled() {
+    return eisEnabled;
+  }
+
+  /** Sets and saves the EIS using {@code android.content.SharedPreferences} */
+  public void setEisEnabled(boolean enable) {
+    if (enable == eisEnabled) {
+      return;
+    }
+
+    eisEnabled = enable;
+    SharedPreferences.Editor editor = sharedPreferences.edit();
+    editor.putBoolean(SHARED_PREFERENCE_EIS_ENABLED, eisEnabled);
+    editor.apply();
+  }
+}
diff --git a/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/FullScreenHelper.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/FullScreenHelper.java
new file mode 100644
index 0000000000..8bd30db957
--- /dev/null
+++ b/samples/geospatial_kotlin/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/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/InstantPlacementSettings.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/InstantPlacementSettings.java
new file mode 100644
index 0000000000..9a63b9071f
--- /dev/null
+++ b/samples/geospatial_kotlin/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/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/LocationPermissionHelper.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/LocationPermissionHelper.java
new file mode 100644
index 0000000000..6ef940401a
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/LocationPermissionHelper.java
@@ -0,0 +1,67 @@
+/*
+ * Copyright 2022 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 location permission. */
+public final class LocationPermissionHelper {
+  private static final int LOCATION_PERMISSION_CODE = 1;
+  private static final String LOCATION_PERMISSION = Manifest.permission.ACCESS_FINE_LOCATION;
+
+  /** Check to see we have the necessary permissions for this app. */
+  public static boolean hasFineLocationPermission(Activity activity) {
+    return ContextCompat.checkSelfPermission(activity, LOCATION_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 requestFineLocationPermission(Activity activity) {
+    ActivityCompat.requestPermissions(
+        activity, new String[] {LOCATION_PERMISSION}, LOCATION_PERMISSION_CODE);
+  }
+
+  /** Check to see if the array of given permissions contain the location permission. */
+  public static boolean hasFineLocationPermissionsResponseInResult(String[] permissions) {
+    for (String permission : permissions) {
+      if (LOCATION_PERMISSION.equals(permission)) {
+        return true;
+      }
+    }
+
+    return false;
+  }
+
+  /** Check to see if we need to show the rationale for this permission. */
+  public static boolean shouldShowRequestPermissionRationale(Activity activity) {
+    return ActivityCompat.shouldShowRequestPermissionRationale(activity, LOCATION_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/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/SnackbarHelper.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/SnackbarHelper.java
new file mode 100644
index 0000000000..d251ec9683
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/SnackbarHelper.java
@@ -0,0 +1,164 @@
+/*
+ * 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 message for Snackbar.LENGTH_SHORT milliseconds */
+  public void showMessageForShortDuration(Activity activity, String message) {
+    show(activity, message, DismissBehavior.SHOW, Snackbar.LENGTH_SHORT);
+  }
+
+  /** Shows a snackbar with a given message for Snackbar.LENGTH_LONG milliseconds */
+  public void showMessageForLongDuration(Activity activity, String message) {
+    show(activity, message, DismissBehavior.SHOW, Snackbar.LENGTH_LONG);
+  }
+
+  /**
+   * 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;
+  }
+
+  /** Returns whether the snackbar is currently being shown with an indefinite duration. */
+  public boolean isDurationIndefinite() {
+    return isShowing() && messageSnackbar.getDuration() == Snackbar.LENGTH_INDEFINITE;
+  }
+
+  /**
+   * 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(Activity activity, String message, DismissBehavior dismissBehavior) {
+    show(activity, message, dismissBehavior, Snackbar.LENGTH_INDEFINITE);
+  }
+
+  private void show(
+      final Activity activity,
+      final String message,
+      final DismissBehavior dismissBehavior,
+      int duration) {
+    activity.runOnUiThread(
+        new Runnable() {
+          @Override
+          public void run() {
+            messageSnackbar =
+                Snackbar.make(
+                    snackbarView == null
+                        ? activity.findViewById(android.R.id.content)
+                        : snackbarView,
+                    message,
+                    duration);
+            messageSnackbar.getView().setBackgroundColor(BACKGROUND_COLOR);
+            if (dismissBehavior != DismissBehavior.HIDE && duration == Snackbar.LENGTH_INDEFINITE) {
+              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/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TapHelper.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TapHelper.java
new file mode 100644
index 0000000000..84cfc5fdda
--- /dev/null
+++ b/samples/geospatial_kotlin/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/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TrackingStateHelper.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TrackingStateHelper.java
new file mode 100644
index 0000000000..6c0bb2eed1
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/helpers/TrackingStateHelper.java
@@ -0,0 +1,90 @@
+/*
+ * 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 INSUFFICIENT_LIGHT_ANDROID_S_MESSAGE =
+      "Too dark. Try moving to a well-lit area."
+      + " Also, make sure the Block Camera is set to off in system settings.";
+  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 static final int ANDROID_S_SDK_VERSION = 31;
+
+  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:
+        if (android.os.Build.VERSION.SDK_INT < ANDROID_S_SDK_VERSION) {
+            return INSUFFICIENT_LIGHT_MESSAGE;
+        } else {
+            return INSUFFICIENT_LIGHT_ANDROID_S_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/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/Framebuffer.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/Framebuffer.java
new file mode 100644
index 0000000000..1c8f56cb36
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/Framebuffer.java
@@ -0,0 +1,172 @@
+/*
+ * 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.samplerender;
+
+import android.opengl.GLES30;
+import android.util.Log;
+import java.io.Closeable;
+
+/** A framebuffer associated with a texture. */
+public class Framebuffer implements Closeable {
+  private static final String TAG = Framebuffer.class.getSimpleName();
+
+  private final int[] framebufferId = {0};
+  private final Texture colorTexture;
+  private final Texture depthTexture;
+  private int width = -1;
+  private int height = -1;
+
+  /**
+   * Constructs a {@link Framebuffer} which renders internally to a texture.
+   *
+   * <p>In order to render to the {@link Framebuffer}, use {@link SampleRender#draw(Mesh, Shader,
+   * Framebuffer)}.
+   */
+  public Framebuffer(SampleRender render, int width, int height) {
+    try {
+      colorTexture =
+          new Texture(
+              render,
+              Texture.Target.TEXTURE_2D,
+              Texture.WrapMode.CLAMP_TO_EDGE,
+              /*useMipmaps=*/ false);
+      depthTexture =
+          new Texture(
+              render,
+              Texture.Target.TEXTURE_2D,
+              Texture.WrapMode.CLAMP_TO_EDGE,
+              /*useMipmaps=*/ false);
+
+      // Set parameters of the depth texture so that it's readable by shaders.
+      GLES30.glBindTexture(GLES30.GL_TEXTURE_2D, depthTexture.getTextureId());
+      GLError.maybeThrowGLException("Failed to bind depth texture", "glBindTexture");
+      GLES30.glTexParameteri(GLES30.GL_TEXTURE_2D, GLES30.GL_TEXTURE_COMPARE_MODE, GLES30.GL_NONE);
+      GLError.maybeThrowGLException("Failed to set texture parameter", "glTexParameteri");
+      GLES30.glTexParameteri(GLES30.GL_TEXTURE_2D, GLES30.GL_TEXTURE_MIN_FILTER, GLES30.GL_NEAREST);
+      GLError.maybeThrowGLException("Failed to set texture parameter", "glTexParameteri");
+      GLES30.glTexParameteri(GLES30.GL_TEXTURE_2D, GLES30.GL_TEXTURE_MAG_FILTER, GLES30.GL_NEAREST);
+      GLError.maybeThrowGLException("Failed to set texture parameter", "glTexParameteri");
+
+      // Set initial dimensions.
+      resize(width, height);
+
+      // Create framebuffer object and bind to the color and depth textures.
+      GLES30.glGenFramebuffers(1, framebufferId, 0);
+      GLError.maybeThrowGLException("Framebuffer creation failed", "glGenFramebuffers");
+      GLES30.glBindFramebuffer(GLES30.GL_FRAMEBUFFER, framebufferId[0]);
+      GLError.maybeThrowGLException("Failed to bind framebuffer", "glBindFramebuffer");
+      GLES30.glFramebufferTexture2D(
+          GLES30.GL_FRAMEBUFFER,
+          GLES30.GL_COLOR_ATTACHMENT0,
+          GLES30.GL_TEXTURE_2D,
+          colorTexture.getTextureId(),
+          /*level=*/ 0);
+      GLError.maybeThrowGLException(
+          "Failed to bind color texture to framebuffer", "glFramebufferTexture2D");
+      GLES30.glFramebufferTexture2D(
+          GLES30.GL_FRAMEBUFFER,
+          GLES30.GL_DEPTH_ATTACHMENT,
+          GLES30.GL_TEXTURE_2D,
+          depthTexture.getTextureId(),
+          /*level=*/ 0);
+      GLError.maybeThrowGLException(
+          "Failed to bind depth texture to framebuffer", "glFramebufferTexture2D");
+
+      int status = GLES30.glCheckFramebufferStatus(GLES30.GL_FRAMEBUFFER);
+      if (status != GLES30.GL_FRAMEBUFFER_COMPLETE) {
+        throw new IllegalStateException("Framebuffer construction not complete: code " + status);
+      }
+    } catch (Throwable t) {
+      close();
+      throw t;
+    }
+  }
+
+  @Override
+  public void close() {
+    if (framebufferId[0] != 0) {
+      GLES30.glDeleteFramebuffers(1, framebufferId, 0);
+      GLError.maybeLogGLError(Log.WARN, TAG, "Failed to free framebuffer", "glDeleteFramebuffers");
+      framebufferId[0] = 0;
+    }
+    colorTexture.close();
+    depthTexture.close();
+  }
+
+  /** Resizes the framebuffer to the given dimensions. */
+  public void resize(int width, int height) {
+    if (this.width == width && this.height == height) {
+      return;
+    }
+    this.width = width;
+    this.height = height;
+
+    // Color texture
+    GLES30.glBindTexture(GLES30.GL_TEXTURE_2D, colorTexture.getTextureId());
+    GLError.maybeThrowGLException("Failed to bind color texture", "glBindTexture");
+    GLES30.glTexImage2D(
+        GLES30.GL_TEXTURE_2D,
+        /*level=*/ 0,
+        GLES30.GL_RGBA,
+        width,
+        height,
+        /*border=*/ 0,
+        GLES30.GL_RGBA,
+        GLES30.GL_UNSIGNED_BYTE,
+        /*pixels=*/ null);
+    GLError.maybeThrowGLException("Failed to specify color texture format", "glTexImage2D");
+
+    // Depth texture
+    GLES30.glBindTexture(GLES30.GL_TEXTURE_2D, depthTexture.getTextureId());
+    GLError.maybeThrowGLException("Failed to bind depth texture", "glBindTexture");
+    GLES30.glTexImage2D(
+        GLES30.GL_TEXTURE_2D,
+        /*level=*/ 0,
+        GLES30.GL_DEPTH_COMPONENT32F,
+        width,
+        height,
+        /*border=*/ 0,
+        GLES30.GL_DEPTH_COMPONENT,
+        GLES30.GL_FLOAT,
+        /*pixels=*/ null);
+    GLError.maybeThrowGLException("Failed to specify depth texture format", "glTexImage2D");
+  }
+
+  /** Returns the color texture associated with this framebuffer. */
+  public Texture getColorTexture() {
+    return colorTexture;
+  }
+
+  /** Returns the depth texture associated with this framebuffer. */
+  public Texture getDepthTexture() {
+    return depthTexture;
+  }
+
+  /** Returns the width of the framebuffer. */
+  public int getWidth() {
+    return width;
+  }
+
+  /** Returns the height of the framebuffer. */
+  public int getHeight() {
+    return height;
+  }
+
+  /* package-private */
+  int getFramebufferId() {
+    return framebufferId[0];
+  }
+}
diff --git a/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/GLError.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/GLError.java
new file mode 100644
index 0000000000..0bb75e6cd0
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/GLError.java
@@ -0,0 +1,76 @@
+/*
+ * 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.samplerender;
+
+import android.opengl.GLES30;
+import android.opengl.GLException;
+import android.opengl.GLU;
+import android.util.Log;
+import java.util.ArrayList;
+import java.util.Iterator;
+import java.util.List;
+
+/** Module for handling OpenGL errors. */
+public class GLError {
+  /** Throws a {@link GLException} if a GL error occurred. */
+  public static void maybeThrowGLException(String reason, String api) {
+    List<Integer> errorCodes = getGlErrors();
+    if (errorCodes != null) {
+      throw new GLException(errorCodes.get(0), formatErrorMessage(reason, api, errorCodes));
+    }
+  }
+
+  /** Logs a message with the given logcat priority if a GL error occurred. */
+  public static void maybeLogGLError(int priority, String tag, String reason, String api) {
+    List<Integer> errorCodes = getGlErrors();
+    if (errorCodes != null) {
+      Log.println(priority, tag, formatErrorMessage(reason, api, errorCodes));
+    }
+  }
+
+  private static String formatErrorMessage(String reason, String api, List<Integer> errorCodes) {
+    StringBuilder builder = new StringBuilder(String.format("%s: %s: ", reason, api));
+    Iterator<Integer> iterator = errorCodes.iterator();
+    while (iterator.hasNext()) {
+      int errorCode = iterator.next();
+      builder.append(String.format("%s (%d)", GLU.gluErrorString(errorCode), errorCode));
+      if (iterator.hasNext()) {
+        builder.append(", ");
+      }
+    }
+    return builder.toString();
+  }
+
+  private static List<Integer> getGlErrors() {
+    int errorCode = GLES30.glGetError();
+    // Shortcut for no errors
+    if (errorCode == GLES30.GL_NO_ERROR) {
+      return null;
+    }
+    List<Integer> errorCodes = new ArrayList<>();
+    errorCodes.add(errorCode);
+    while (true) {
+      errorCode = GLES30.glGetError();
+      if (errorCode == GLES30.GL_NO_ERROR) {
+        break;
+      }
+      errorCodes.add(errorCode);
+    }
+    return errorCodes;
+  }
+
+  private GLError() {}
+}
diff --git a/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/GpuBuffer.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/GpuBuffer.java
new file mode 100644
index 0000000000..ec301d8a1f
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/GpuBuffer.java
@@ -0,0 +1,124 @@
+/*
+ * 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.samplerender;
+
+import android.opengl.GLES30;
+import android.util.Log;
+import java.nio.Buffer;
+
+/* package-private */
+class GpuBuffer {
+  private static final String TAG = GpuBuffer.class.getSimpleName();
+
+  // These values refer to the byte count of the corresponding Java datatypes.
+  public static final int INT_SIZE = 4;
+  public static final int FLOAT_SIZE = 4;
+
+  private final int target;
+  private final int numberOfBytesPerEntry;
+  private final int[] bufferId = {0};
+  private int size;
+  private int capacity;
+
+  public GpuBuffer(int target, int numberOfBytesPerEntry, Buffer entries) {
+    if (entries != null) {
+      if (!entries.isDirect()) {
+        throw new IllegalArgumentException("If non-null, entries buffer must be a direct buffer");
+      }
+      // Some GPU drivers will fail with out of memory errors if glBufferData or glBufferSubData is
+      // called with a size of 0, so avoid this case.
+      if (entries.limit() == 0) {
+        entries = null;
+      }
+    }
+
+    this.target = target;
+    this.numberOfBytesPerEntry = numberOfBytesPerEntry;
+    if (entries == null) {
+      this.size = 0;
+      this.capacity = 0;
+    } else {
+      this.size = entries.limit();
+      this.capacity = entries.limit();
+    }
+
+    try {
+      // Clear VAO to prevent unintended state change.
+      GLES30.glBindVertexArray(0);
+      GLError.maybeThrowGLException("Failed to unbind vertex array", "glBindVertexArray");
+
+      GLES30.glGenBuffers(1, bufferId, 0);
+      GLError.maybeThrowGLException("Failed to generate buffers", "glGenBuffers");
+
+      GLES30.glBindBuffer(target, bufferId[0]);
+      GLError.maybeThrowGLException("Failed to bind buffer object", "glBindBuffer");
+
+      if (entries != null) {
+        entries.rewind();
+        GLES30.glBufferData(
+            target, entries.limit() * numberOfBytesPerEntry, entries, GLES30.GL_DYNAMIC_DRAW);
+      }
+      GLError.maybeThrowGLException("Failed to populate buffer object", "glBufferData");
+    } catch (Throwable t) {
+      free();
+      throw t;
+    }
+  }
+
+  public void set(Buffer entries) {
+    // Some GPU drivers will fail with out of memory errors if glBufferData or glBufferSubData is
+    // called with a size of 0, so avoid this case.
+    if (entries == null || entries.limit() == 0) {
+      size = 0;
+      return;
+    }
+    if (!entries.isDirect()) {
+      throw new IllegalArgumentException("If non-null, entries buffer must be a direct buffer");
+    }
+    GLES30.glBindBuffer(target, bufferId[0]);
+    GLError.maybeThrowGLException("Failed to bind vertex buffer object", "glBindBuffer");
+
+    entries.rewind();
+
+    if (entries.limit() <= capacity) {
+      GLES30.glBufferSubData(target, 0, entries.limit() * numberOfBytesPerEntry, entries);
+      GLError.maybeThrowGLException("Failed to populate vertex buffer object", "glBufferSubData");
+      size = entries.limit();
+    } else {
+      GLES30.glBufferData(
+          target, entries.limit() * numberOfBytesPerEntry, entries, GLES30.GL_DYNAMIC_DRAW);
+      GLError.maybeThrowGLException("Failed to populate vertex buffer object", "glBufferData");
+      size = entries.limit();
+      capacity = entries.limit();
+    }
+  }
+
+  public void free() {
+    if (bufferId[0] != 0) {
+      GLES30.glDeleteBuffers(1, bufferId, 0);
+      GLError.maybeLogGLError(Log.WARN, TAG, "Failed to free buffer object", "glDeleteBuffers");
+      bufferId[0] = 0;
+    }
+  }
+
+  public int getBufferId() {
+    return bufferId[0];
+  }
+
+  public int getSize() {
+    return size;
+  }
+}
diff --git a/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/IndexBuffer.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/IndexBuffer.java
new file mode 100644
index 0000000000..59188c6408
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/IndexBuffer.java
@@ -0,0 +1,77 @@
+/*
+ * 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.samplerender;
+
+import android.opengl.GLES30;
+import java.io.Closeable;
+import java.nio.IntBuffer;
+
+/**
+ * A list of vertex indices stored GPU-side.
+ *
+ * <p>When constructing a {@link Mesh}, an {@link IndexBuffer} may be passed to describe the
+ * ordering of vertices when drawing each primitive.
+ *
+ * @see <a
+ *     href="https://www.khronos.org/registry/OpenGL-Refpages/es3.0/html/glDrawElements.xhtml">glDrawElements</a>
+ */
+public class IndexBuffer implements Closeable {
+  private final GpuBuffer buffer;
+
+  /**
+   * Construct an {@link IndexBuffer} populated with initial data.
+   *
+   * <p>The GPU buffer will be filled with the data in the <i>direct</i> buffer {@code entries},
+   * starting from the beginning of the buffer (not the current cursor position). The cursor will be
+   * left in an undefined position after this function returns.
+   *
+   * <p>The {@code entries} buffer may be null, in which case an empty buffer is constructed
+   * instead.
+   */
+  public IndexBuffer(SampleRender render, IntBuffer entries) {
+    buffer = new GpuBuffer(GLES30.GL_ELEMENT_ARRAY_BUFFER, GpuBuffer.INT_SIZE, entries);
+  }
+
+  /**
+   * Populate with new data.
+   *
+   * <p>The entire buffer is replaced by the contents of the <i>direct</i> buffer {@code entries}
+   * starting from the beginning of the buffer, not the current cursor position. The cursor will be
+   * left in an undefined position after this function returns.
+   *
+   * <p>The GPU buffer is reallocated automatically if necessary.
+   *
+   * <p>The {@code entries} buffer may be null, in which case the buffer will become empty.
+   */
+  public void set(IntBuffer entries) {
+    buffer.set(entries);
+  }
+
+  @Override
+  public void close() {
+    buffer.free();
+  }
+
+  /* package-private */
+  int getBufferId() {
+    return buffer.getBufferId();
+  }
+
+  /* package-private */
+  int getSize() {
+    return buffer.getSize();
+  }
+}
diff --git a/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/Mesh.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/Mesh.java
new file mode 100644
index 0000000000..eeff6da64b
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/Mesh.java
@@ -0,0 +1,194 @@
+/*
+ * 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.samplerender;
+
+import android.opengl.GLES30;
+import android.util.Log;
+import de.javagl.obj.Obj;
+import de.javagl.obj.ObjData;
+import de.javagl.obj.ObjReader;
+import de.javagl.obj.ObjUtils;
+import java.io.Closeable;
+import java.io.IOException;
+import java.io.InputStream;
+import java.nio.FloatBuffer;
+import java.nio.IntBuffer;
+
+/**
+ * A collection of vertices, faces, and other attributes that define how to render a 3D object.
+ *
+ * <p>To render the mesh, use {@link SampleRender#draw()}.
+ */
+public class Mesh implements Closeable {
+  private static final String TAG = Mesh.class.getSimpleName();
+
+  /**
+   * The kind of primitive to render.
+   *
+   * <p>This determines how the data in {@link VertexBuffer}s are interpreted. See <a
+   * href="https://www.khronos.org/opengl/wiki/Primitive">here</a> for more on how primitives
+   * behave.
+   */
+  public enum PrimitiveMode {
+    POINTS(GLES30.GL_POINTS),
+    LINE_STRIP(GLES30.GL_LINE_STRIP),
+    LINE_LOOP(GLES30.GL_LINE_LOOP),
+    LINES(GLES30.GL_LINES),
+    TRIANGLE_STRIP(GLES30.GL_TRIANGLE_STRIP),
+    TRIANGLE_FAN(GLES30.GL_TRIANGLE_FAN),
+    TRIANGLES(GLES30.GL_TRIANGLES);
+
+    /* package-private */
+    final int glesEnum;
+
+    private PrimitiveMode(int glesEnum) {
+      this.glesEnum = glesEnum;
+    }
+  }
+
+  private final int[] vertexArrayId = {0};
+  private final PrimitiveMode primitiveMode;
+  private final IndexBuffer indexBuffer;
+  private final VertexBuffer[] vertexBuffers;
+
+  /**
+   * Construct a {@link Mesh}.
+   *
+   * <p>The data in the given {@link IndexBuffer} and {@link VertexBuffer}s does not need to be
+   * finalized; they may be freely changed throughout the lifetime of a {@link Mesh} using their
+   * respective {@code set()} methods.
+   *
+   * <p>The ordering of the {@code vertexBuffers} is significant. Their array indices will
+   * correspond to their attribute locations, which must be taken into account in shader code. The
+   * <a href="https://www.khronos.org/opengl/wiki/Layout_Qualifier_(GLSL)">layout qualifier</a> must
+   * be used in the vertex shader code to explicitly associate attributes with these indices.
+   */
+  public Mesh(
+      SampleRender render,
+      PrimitiveMode primitiveMode,
+      IndexBuffer indexBuffer,
+      VertexBuffer[] vertexBuffers) {
+    if (vertexBuffers == null || vertexBuffers.length == 0) {
+      throw new IllegalArgumentException("Must pass at least one vertex buffer");
+    }
+
+    this.primitiveMode = primitiveMode;
+    this.indexBuffer = indexBuffer;
+    this.vertexBuffers = vertexBuffers;
+
+    try {
+      // Create vertex array
+      GLES30.glGenVertexArrays(1, vertexArrayId, 0);
+      GLError.maybeThrowGLException("Failed to generate a vertex array", "glGenVertexArrays");
+
+      // Bind vertex array
+      GLES30.glBindVertexArray(vertexArrayId[0]);
+      GLError.maybeThrowGLException("Failed to bind vertex array object", "glBindVertexArray");
+
+      if (indexBuffer != null) {
+        GLES30.glBindBuffer(GLES30.GL_ELEMENT_ARRAY_BUFFER, indexBuffer.getBufferId());
+      }
+
+      for (int i = 0; i < vertexBuffers.length; ++i) {
+        // Bind each vertex buffer to vertex array
+        GLES30.glBindBuffer(GLES30.GL_ARRAY_BUFFER, vertexBuffers[i].getBufferId());
+        GLError.maybeThrowGLException("Failed to bind vertex buffer", "glBindBuffer");
+        GLES30.glVertexAttribPointer(
+            i, vertexBuffers[i].getNumberOfEntriesPerVertex(), GLES30.GL_FLOAT, false, 0, 0);
+        GLError.maybeThrowGLException(
+            "Failed to associate vertex buffer with vertex array", "glVertexAttribPointer");
+        GLES30.glEnableVertexAttribArray(i);
+        GLError.maybeThrowGLException(
+            "Failed to enable vertex buffer", "glEnableVertexAttribArray");
+      }
+    } catch (Throwable t) {
+      close();
+      throw t;
+    }
+  }
+
+  /**
+   * Constructs a {@link Mesh} from the given Wavefront OBJ file.
+   *
+   * <p>The {@link Mesh} will be constructed with three attributes, indexed in the order of local
+   * coordinates (location 0, vec3), texture coordinates (location 1, vec2), and vertex normals
+   * (location 2, vec3).
+   */
+  public static Mesh createFromAsset(SampleRender render, String assetFileName) throws IOException {
+    try (InputStream inputStream = render.getAssets().open(assetFileName)) {
+      Obj obj = ObjUtils.convertToRenderable(ObjReader.read(inputStream));
+
+      // Obtain the data from the OBJ, as direct buffers:
+      IntBuffer vertexIndices = ObjData.getFaceVertexIndices(obj, /*numVerticesPerFace=*/ 3);
+      FloatBuffer localCoordinates = ObjData.getVertices(obj);
+      FloatBuffer textureCoordinates = ObjData.getTexCoords(obj, /*dimensions=*/ 2);
+      FloatBuffer normals = ObjData.getNormals(obj);
+
+      VertexBuffer[] vertexBuffers = {
+        new VertexBuffer(render, 3, localCoordinates),
+        new VertexBuffer(render, 2, textureCoordinates),
+        new VertexBuffer(render, 3, normals),
+      };
+
+      IndexBuffer indexBuffer = new IndexBuffer(render, vertexIndices);
+
+      return new Mesh(render, Mesh.PrimitiveMode.TRIANGLES, indexBuffer, vertexBuffers);
+    }
+  }
+
+  @Override
+  public void close() {
+    if (vertexArrayId[0] != 0) {
+      GLES30.glDeleteVertexArrays(1, vertexArrayId, 0);
+      GLError.maybeLogGLError(
+          Log.WARN, TAG, "Failed to free vertex array object", "glDeleteVertexArrays");
+    }
+  }
+
+  /**
+   * Draws the mesh. Don't call this directly unless you are doing low level OpenGL code; instead,
+   * prefer {@link SampleRender#draw}.
+   */
+  public void lowLevelDraw() {
+    if (vertexArrayId[0] == 0) {
+      throw new IllegalStateException("Tried to draw a freed Mesh");
+    }
+
+    GLES30.glBindVertexArray(vertexArrayId[0]);
+    GLError.maybeThrowGLException("Failed to bind vertex array object", "glBindVertexArray");
+    if (indexBuffer == null) {
+      // Sanity check for debugging
+      int vertexCount = vertexBuffers[0].getNumberOfVertices();
+      for (int i = 1; i < vertexBuffers.length; ++i) {
+        int iterCount = vertexBuffers[i].getNumberOfVertices();
+        if (iterCount != vertexCount) {
+          throw new IllegalStateException(
+              String.format(
+                  "Vertex buffers have mismatching numbers of vertices ([0] has %d but [%d] has"
+                      + " %d)",
+                  vertexCount, i, iterCount));
+        }
+      }
+      GLES30.glDrawArrays(primitiveMode.glesEnum, 0, vertexCount);
+      GLError.maybeThrowGLException("Failed to draw vertex array object", "glDrawArrays");
+    } else {
+      GLES30.glDrawElements(
+          primitiveMode.glesEnum, indexBuffer.getSize(), GLES30.GL_UNSIGNED_INT, 0);
+      GLError.maybeThrowGLException(
+          "Failed to draw vertex array object with indices", "glDrawElements");
+    }
+  }
+}
diff --git a/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/SampleRender.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/SampleRender.java
new file mode 100644
index 0000000000..537573575d
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/SampleRender.java
@@ -0,0 +1,150 @@
+/*
+ * 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.samplerender;
+
+import android.content.res.AssetManager;
+import android.opengl.GLES30;
+import android.opengl.GLSurfaceView;
+import javax.microedition.khronos.egl.EGLConfig;
+import javax.microedition.khronos.opengles.GL10;
+
+/** A SampleRender context. */
+public class SampleRender {
+  private static final String TAG = SampleRender.class.getSimpleName();
+
+  private final AssetManager assetManager;
+
+  private int viewportWidth = 1;
+  private int viewportHeight = 1;
+
+  /**
+   * Constructs a SampleRender object and instantiates GLSurfaceView parameters.
+   *
+   * @param glSurfaceView Android GLSurfaceView
+   * @param renderer Renderer implementation to receive callbacks
+   * @param assetManager AssetManager for loading Android resources
+   */
+  public SampleRender(GLSurfaceView glSurfaceView, Renderer renderer, AssetManager assetManager) {
+    this.assetManager = assetManager;
+    glSurfaceView.setPreserveEGLContextOnPause(true);
+    glSurfaceView.setEGLContextClientVersion(3);
+    glSurfaceView.setEGLConfigChooser(8, 8, 8, 8, 16, 0);
+    glSurfaceView.setRenderer(
+        new GLSurfaceView.Renderer() {
+          @Override
+          public void onSurfaceCreated(GL10 gl, EGLConfig config) {
+            GLES30.glEnable(GLES30.GL_BLEND);
+            GLError.maybeThrowGLException("Failed to enable blending", "glEnable");
+            renderer.onSurfaceCreated(SampleRender.this);
+          }
+
+          @Override
+          public void onSurfaceChanged(GL10 gl, int w, int h) {
+            viewportWidth = w;
+            viewportHeight = h;
+            renderer.onSurfaceChanged(SampleRender.this, w, h);
+          }
+
+          @Override
+          public void onDrawFrame(GL10 gl) {
+            clear(/*framebuffer=*/ null, 0f, 0f, 0f, 1f);
+            renderer.onDrawFrame(SampleRender.this);
+          }
+        });
+    glSurfaceView.setRenderMode(GLSurfaceView.RENDERMODE_CONTINUOUSLY);
+    glSurfaceView.setWillNotDraw(false);
+  }
+
+  /** Draw a {@link Mesh} with the specified {@link Shader}. */
+  public void draw(Mesh mesh, Shader shader) {
+    draw(mesh, shader, /*framebuffer=*/ null);
+  }
+
+  /**
+   * Draw a {@link Mesh} with the specified {@link Shader} to the given {@link Framebuffer}.
+   *
+   * <p>The {@code framebuffer} argument may be null, in which case the default framebuffer is used.
+   */
+  public void draw(Mesh mesh, Shader shader, Framebuffer framebuffer) {
+    useFramebuffer(framebuffer);
+    shader.lowLevelUse();
+    mesh.lowLevelDraw();
+  }
+
+  /**
+   * Clear the given framebuffer.
+   *
+   * <p>The {@code framebuffer} argument may be null, in which case the default framebuffer is
+   * cleared.
+   */
+  public void clear(Framebuffer framebuffer, float r, float g, float b, float a) {
+    useFramebuffer(framebuffer);
+    GLES30.glClearColor(r, g, b, a);
+    GLError.maybeThrowGLException("Failed to set clear color", "glClearColor");
+    GLES30.glDepthMask(true);
+    GLError.maybeThrowGLException("Failed to set depth write mask", "glDepthMask");
+    GLES30.glClear(GLES30.GL_COLOR_BUFFER_BIT | GLES30.GL_DEPTH_BUFFER_BIT);
+    GLError.maybeThrowGLException("Failed to clear framebuffer", "glClear");
+  }
+
+  /** Interface to be implemented for rendering callbacks. */
+  public static interface Renderer {
+    /**
+     * Called by {@link SampleRender} when the GL render surface is created.
+     *
+     * <p>See {@link GLSurfaceView.Renderer#onSurfaceCreated}.
+     */
+    public void onSurfaceCreated(SampleRender render);
+
+    /**
+     * Called by {@link SampleRender} when the GL render surface dimensions are changed.
+     *
+     * <p>See {@link GLSurfaceView.Renderer#onSurfaceChanged}.
+     */
+    public void onSurfaceChanged(SampleRender render, int width, int height);
+
+    /**
+     * Called by {@link SampleRender} when a GL frame is to be rendered.
+     *
+     * <p>See {@link GLSurfaceView.Renderer#onDrawFrame}.
+     */
+    public void onDrawFrame(SampleRender render);
+  }
+
+  /* package-private */
+  AssetManager getAssets() {
+    return assetManager;
+  }
+
+  private void useFramebuffer(Framebuffer framebuffer) {
+    int framebufferId;
+    int viewportWidth;
+    int viewportHeight;
+    if (framebuffer == null) {
+      framebufferId = 0;
+      viewportWidth = this.viewportWidth;
+      viewportHeight = this.viewportHeight;
+    } else {
+      framebufferId = framebuffer.getFramebufferId();
+      viewportWidth = framebuffer.getWidth();
+      viewportHeight = framebuffer.getHeight();
+    }
+    GLES30.glBindFramebuffer(GLES30.GL_FRAMEBUFFER, framebufferId);
+    GLError.maybeThrowGLException("Failed to bind framebuffer", "glBindFramebuffer");
+    GLES30.glViewport(0, 0, viewportWidth, viewportHeight);
+    GLError.maybeThrowGLException("Failed to set viewport dimensions", "glViewport");
+  }
+}
diff --git a/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/Shader.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/Shader.java
new file mode 100644
index 0000000000..92fe162b90
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/Shader.java
@@ -0,0 +1,668 @@
+/*
+ * 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.samplerender;
+
+import static java.nio.charset.StandardCharsets.UTF_8;
+
+import android.content.res.AssetManager;
+import android.opengl.GLES30;
+import android.opengl.GLException;
+import android.util.Log;
+import java.io.Closeable;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.Map;
+import java.util.regex.Matcher;
+
+/**
+ * Represents a GPU shader, the state of its associated uniforms, and some additional draw state.
+ */
+public class Shader implements Closeable {
+  private static final String TAG = Shader.class.getSimpleName();
+
+  /**
+   * A factor to be used in a blend function.
+   *
+   * @see <a
+   *     href="https://www.khronos.org/registry/OpenGL-Refpages/es3.0/html/glBlendFunc.xhtml">glBlendFunc</a>
+   */
+  public static enum BlendFactor {
+    ZERO(GLES30.GL_ZERO),
+    ONE(GLES30.GL_ONE),
+    SRC_COLOR(GLES30.GL_SRC_COLOR),
+    ONE_MINUS_SRC_COLOR(GLES30.GL_ONE_MINUS_SRC_COLOR),
+    DST_COLOR(GLES30.GL_DST_COLOR),
+    ONE_MINUS_DST_COLOR(GLES30.GL_ONE_MINUS_DST_COLOR),
+    SRC_ALPHA(GLES30.GL_SRC_ALPHA),
+    ONE_MINUS_SRC_ALPHA(GLES30.GL_ONE_MINUS_SRC_ALPHA),
+    DST_ALPHA(GLES30.GL_DST_ALPHA),
+    ONE_MINUS_DST_ALPHA(GLES30.GL_ONE_MINUS_DST_ALPHA),
+    CONSTANT_COLOR(GLES30.GL_CONSTANT_COLOR),
+    ONE_MINUS_CONSTANT_COLOR(GLES30.GL_ONE_MINUS_CONSTANT_COLOR),
+    CONSTANT_ALPHA(GLES30.GL_CONSTANT_ALPHA),
+    ONE_MINUS_CONSTANT_ALPHA(GLES30.GL_ONE_MINUS_CONSTANT_ALPHA);
+
+    /* package-private */
+    final int glesEnum;
+
+    private BlendFactor(int glesEnum) {
+      this.glesEnum = glesEnum;
+    }
+  }
+
+  private int programId = 0;
+  private final Map<Integer, Uniform> uniforms = new HashMap<>();
+  private int maxTextureUnit = 0;
+
+  private final Map<String, Integer> uniformLocations = new HashMap<>();
+  private final Map<Integer, String> uniformNames = new HashMap<>();
+
+  private boolean depthTest = true;
+  private boolean depthWrite = true;
+  private boolean cullFace = true;
+  private BlendFactor sourceRgbBlend = BlendFactor.ONE;
+  private BlendFactor destRgbBlend = BlendFactor.ZERO;
+  private BlendFactor sourceAlphaBlend = BlendFactor.ONE;
+  private BlendFactor destAlphaBlend = BlendFactor.ZERO;
+
+  /**
+   * Constructs a {@link Shader} given the shader code.
+   *
+   * @param defines A map of shader precompiler symbols to be defined with the given names and
+   *     values
+   */
+  public Shader(
+      SampleRender render,
+      String vertexShaderCode,
+      String fragmentShaderCode,
+      Map<String, String> defines) {
+    int vertexShaderId = 0;
+    int fragmentShaderId = 0;
+    String definesCode = createShaderDefinesCode(defines);
+    try {
+      vertexShaderId =
+          createShader(
+              GLES30.GL_VERTEX_SHADER, insertShaderDefinesCode(vertexShaderCode, definesCode));
+      fragmentShaderId =
+          createShader(
+              GLES30.GL_FRAGMENT_SHADER, insertShaderDefinesCode(fragmentShaderCode, definesCode));
+
+      programId = GLES30.glCreateProgram();
+      GLError.maybeThrowGLException("Shader program creation failed", "glCreateProgram");
+      GLES30.glAttachShader(programId, vertexShaderId);
+      GLError.maybeThrowGLException("Failed to attach vertex shader", "glAttachShader");
+      GLES30.glAttachShader(programId, fragmentShaderId);
+      GLError.maybeThrowGLException("Failed to attach fragment shader", "glAttachShader");
+      GLES30.glLinkProgram(programId);
+      GLError.maybeThrowGLException("Failed to link shader program", "glLinkProgram");
+
+      final int[] linkStatus = new int[1];
+      GLES30.glGetProgramiv(programId, GLES30.GL_LINK_STATUS, linkStatus, 0);
+      if (linkStatus[0] == GLES30.GL_FALSE) {
+        String infoLog = GLES30.glGetProgramInfoLog(programId);
+        GLError.maybeLogGLError(
+            Log.WARN, TAG, "Failed to retrieve shader program info log", "glGetProgramInfoLog");
+        throw new GLException(0, "Shader link failed: " + infoLog);
+      }
+    } catch (Throwable t) {
+      close();
+      throw t;
+    } finally {
+      // Shader objects can be flagged for deletion immediately after program creation.
+      if (vertexShaderId != 0) {
+        GLES30.glDeleteShader(vertexShaderId);
+        GLError.maybeLogGLError(Log.WARN, TAG, "Failed to free vertex shader", "glDeleteShader");
+      }
+      if (fragmentShaderId != 0) {
+        GLES30.glDeleteShader(fragmentShaderId);
+        GLError.maybeLogGLError(Log.WARN, TAG, "Failed to free fragment shader", "glDeleteShader");
+      }
+    }
+  }
+
+  /**
+   * Creates a {@link Shader} from the given asset file names.
+   *
+   * <p>The file contents are interpreted as UTF-8 text.
+   *
+   * @param defines A map of shader precompiler symbols to be defined with the given names and
+   *     values
+   */
+  public static Shader createFromAssets(
+      SampleRender render,
+      String vertexShaderFileName,
+      String fragmentShaderFileName,
+      Map<String, String> defines)
+      throws IOException {
+    AssetManager assets = render.getAssets();
+    return new Shader(
+        render,
+        inputStreamToString(assets.open(vertexShaderFileName)),
+        inputStreamToString(assets.open(fragmentShaderFileName)),
+        defines);
+  }
+
+  @Override
+  public void close() {
+    if (programId != 0) {
+      GLES30.glDeleteProgram(programId);
+      programId = 0;
+    }
+  }
+
+  /**
+   * Sets depth test state.
+   *
+   * @see <a
+   *     href="https://www.khronos.org/registry/OpenGL-Refpages/es3.0/html/glEnable.xhtml">glEnable(GL_DEPTH_TEST)</a>.
+   */
+  public Shader setDepthTest(boolean depthTest) {
+    this.depthTest = depthTest;
+    return this;
+  }
+
+  /**
+   * Sets depth write state.
+   *
+   * @see <a
+   *     href="https://www.khronos.org/registry/OpenGL-Refpages/es3.0/html/glDepthMask.xhtml">glDepthMask</a>.
+   */
+  public Shader setDepthWrite(boolean depthWrite) {
+    this.depthWrite = depthWrite;
+    return this;
+  }
+
+  /**
+   * Sets cull face state.
+   *
+   * @see <a
+   *     href="https://www.khronos.org/registry/OpenGL-Refpages/es3.0/html/glEnable.xhtml">glEnable(GL_CULL_FACE)</a>.
+   */
+  public Shader setCullFace(boolean cullFace) {
+    this.cullFace = cullFace;
+    return this;
+  }
+
+  /**
+   * Sets blending function.
+   *
+   * @see <a
+   *     href="https://www.khronos.org/registry/OpenGL-Refpages/gl4/html/glBlendFunc.xhtml">glBlendFunc</a>
+   */
+  public Shader setBlend(BlendFactor sourceBlend, BlendFactor destBlend) {
+    this.sourceRgbBlend = sourceBlend;
+    this.destRgbBlend = destBlend;
+    this.sourceAlphaBlend = sourceBlend;
+    this.destAlphaBlend = destBlend;
+    return this;
+  }
+
+  /**
+   * Sets blending functions separately for RGB and alpha channels.
+   *
+   * @see <a
+   *     href="https://www.khronos.org/registry/OpenGL-Refpages/es3.0/html/glBlendFuncSeparate.xhtml">glBlendFunc</a>
+   */
+  public Shader setBlend(
+      BlendFactor sourceRgbBlend,
+      BlendFactor destRgbBlend,
+      BlendFactor sourceAlphaBlend,
+      BlendFactor destAlphaBlend) {
+    this.sourceRgbBlend = sourceRgbBlend;
+    this.destRgbBlend = destRgbBlend;
+    this.sourceAlphaBlend = sourceAlphaBlend;
+    this.destAlphaBlend = destAlphaBlend;
+    return this;
+  }
+
+  /** Sets a texture uniform. */
+  public Shader setTexture(String name, Texture texture) {
+    // Special handling for Textures. If replacing an existing texture uniform, reuse the texture
+    // unit.
+    int location = getUniformLocation(name);
+    Uniform uniform = uniforms.get(location);
+    int textureUnit;
+    if (!(uniform instanceof UniformTexture)) {
+      textureUnit = maxTextureUnit++;
+    } else {
+      UniformTexture uniformTexture = (UniformTexture) uniform;
+      textureUnit = uniformTexture.getTextureUnit();
+    }
+    uniforms.put(location, new UniformTexture(textureUnit, texture));
+    return this;
+  }
+
+  /** Sets a {@code bool} uniform. */
+  public Shader setBool(String name, boolean v0) {
+    int[] values = {v0 ? 1 : 0};
+    uniforms.put(getUniformLocation(name), new UniformInt(values));
+    return this;
+  }
+
+  /** Sets an {@code int} uniform. */
+  public Shader setInt(String name, int v0) {
+    int[] values = {v0};
+    uniforms.put(getUniformLocation(name), new UniformInt(values));
+    return this;
+  }
+
+  /** Sets a {@code float} uniform. */
+  public Shader setFloat(String name, float v0) {
+    float[] values = {v0};
+    uniforms.put(getUniformLocation(name), new Uniform1f(values));
+    return this;
+  }
+
+  /** Sets a {@code vec2} uniform. */
+  public Shader setVec2(String name, float[] values) {
+    if (values.length != 2) {
+      throw new IllegalArgumentException("Value array length must be 2");
+    }
+    uniforms.put(getUniformLocation(name), new Uniform2f(values.clone()));
+    return this;
+  }
+  /** Sets a {@code vec3} uniform. */
+  public Shader setVec3(String name, float[] values) {
+    if (values.length != 3) {
+      throw new IllegalArgumentException("Value array length must be 3");
+    }
+    uniforms.put(getUniformLocation(name), new Uniform3f(values.clone()));
+    return this;
+  }
+
+  /** Sets a {@code vec4} uniform. */
+  public Shader setVec4(String name, float[] values) {
+    if (values.length != 4) {
+      throw new IllegalArgumentException("Value array length must be 4");
+    }
+    uniforms.put(getUniformLocation(name), new Uniform4f(values.clone()));
+    return this;
+  }
+
+  /** Sets a {@code mat2} uniform. */
+  public Shader setMat2(String name, float[] values) {
+    if (values.length != 4) {
+      throw new IllegalArgumentException("Value array length must be 4 (2x2)");
+    }
+    uniforms.put(getUniformLocation(name), new UniformMatrix2f(values.clone()));
+    return this;
+  }
+
+  /** Sets a {@code mat3} uniform. */
+  public Shader setMat3(String name, float[] values) {
+    if (values.length != 9) {
+      throw new IllegalArgumentException("Value array length must be 9 (3x3)");
+    }
+    uniforms.put(getUniformLocation(name), new UniformMatrix3f(values.clone()));
+    return this;
+  }
+
+  /** Sets a {@code mat4} uniform. */
+  public Shader setMat4(String name, float[] values) {
+    if (values.length != 16) {
+      throw new IllegalArgumentException("Value array length must be 16 (4x4)");
+    }
+    uniforms.put(getUniformLocation(name), new UniformMatrix4f(values.clone()));
+    return this;
+  }
+
+  /** Sets a {@code bool} array uniform. */
+  public Shader setBoolArray(String name, boolean[] values) {
+    int[] intValues = new int[values.length];
+    for (int i = 0; i < values.length; ++i) {
+      intValues[i] = values[i] ? 1 : 0;
+    }
+    uniforms.put(getUniformLocation(name), new UniformInt(intValues));
+    return this;
+  }
+
+  /** Sets an {@code int} array uniform. */
+  public Shader setIntArray(String name, int[] values) {
+    uniforms.put(getUniformLocation(name), new UniformInt(values.clone()));
+    return this;
+  }
+
+  /** Sets a {@code float} array uniform. */
+  public Shader setFloatArray(String name, float[] values) {
+    uniforms.put(getUniformLocation(name), new Uniform1f(values.clone()));
+    return this;
+  }
+
+  /** Sets a {@code vec2} array uniform. */
+  public Shader setVec2Array(String name, float[] values) {
+    if (values.length % 2 != 0) {
+      throw new IllegalArgumentException("Value array length must be divisible by 2");
+    }
+    uniforms.put(getUniformLocation(name), new Uniform2f(values.clone()));
+    return this;
+  }
+  /** Sets a {@code vec3} array uniform. */
+  public Shader setVec3Array(String name, float[] values) {
+    if (values.length % 3 != 0) {
+      throw new IllegalArgumentException("Value array length must be divisible by 3");
+    }
+    uniforms.put(getUniformLocation(name), new Uniform3f(values.clone()));
+    return this;
+  }
+
+  /** Sets a {@code vec4} array uniform. */
+  public Shader setVec4Array(String name, float[] values) {
+    if (values.length % 4 != 0) {
+      throw new IllegalArgumentException("Value array length must be divisible by 4");
+    }
+    uniforms.put(getUniformLocation(name), new Uniform4f(values.clone()));
+    return this;
+  }
+
+  /** Sets a {@code mat2} array uniform. */
+  public Shader setMat2Array(String name, float[] values) {
+    if (values.length % 4 != 0) {
+      throw new IllegalArgumentException("Value array length must be divisible by 4 (2x2)");
+    }
+    uniforms.put(getUniformLocation(name), new UniformMatrix2f(values.clone()));
+    return this;
+  }
+
+  /** Sets a {@code mat3} array uniform. */
+  public Shader setMat3Array(String name, float[] values) {
+    if (values.length % 9 != 0) {
+      throw new IllegalArgumentException("Values array length must be divisible by 9 (3x3)");
+    }
+    uniforms.put(getUniformLocation(name), new UniformMatrix3f(values.clone()));
+    return this;
+  }
+
+  /** Sets a {@code mat4} uniform. */
+  public Shader setMat4Array(String name, float[] values) {
+    if (values.length % 16 != 0) {
+      throw new IllegalArgumentException("Value array length must be divisible by 16 (4x4)");
+    }
+    uniforms.put(getUniformLocation(name), new UniformMatrix4f(values.clone()));
+    return this;
+  }
+
+  /**
+   * Activates the shader. Don't call this directly unless you are doing low level OpenGL code;
+   * instead, prefer {@link SampleRender#draw}.
+   */
+  public void lowLevelUse() {
+    // Make active shader/set uniforms
+    if (programId == 0) {
+      throw new IllegalStateException("Attempted to use freed shader");
+    }
+    GLES30.glUseProgram(programId);
+    GLError.maybeThrowGLException("Failed to use shader program", "glUseProgram");
+    GLES30.glBlendFuncSeparate(
+        sourceRgbBlend.glesEnum,
+        destRgbBlend.glesEnum,
+        sourceAlphaBlend.glesEnum,
+        destAlphaBlend.glesEnum);
+    GLError.maybeThrowGLException("Failed to set blend mode", "glBlendFuncSeparate");
+    GLES30.glDepthMask(depthWrite);
+    GLError.maybeThrowGLException("Failed to set depth write mask", "glDepthMask");
+    if (depthTest) {
+      GLES30.glEnable(GLES30.GL_DEPTH_TEST);
+      GLError.maybeThrowGLException("Failed to enable depth test", "glEnable");
+    } else {
+      GLES30.glDisable(GLES30.GL_DEPTH_TEST);
+      GLError.maybeThrowGLException("Failed to disable depth test", "glDisable");
+    }
+    if (cullFace) {
+      GLES30.glEnable(GLES30.GL_CULL_FACE);
+      GLError.maybeThrowGLException("Failed to enable backface culling", "glEnable");
+    } else {
+      GLES30.glDisable(GLES30.GL_CULL_FACE);
+      GLError.maybeThrowGLException("Failed to disable backface culling", "glDisable");
+    }
+    try {
+      // Remove all non-texture uniforms from the map after setting them, since they're stored as
+      // part of the program.
+      ArrayList<Integer> obsoleteEntries = new ArrayList<>(uniforms.size());
+      for (Map.Entry<Integer, Uniform> entry : uniforms.entrySet()) {
+        try {
+          entry.getValue().use(entry.getKey());
+          if (!(entry.getValue() instanceof UniformTexture)) {
+            obsoleteEntries.add(entry.getKey());
+          }
+        } catch (GLException e) {
+          String name = uniformNames.get(entry.getKey());
+          throw new IllegalArgumentException("Error setting uniform `" + name + "'", e);
+        }
+      }
+      uniforms.keySet().removeAll(obsoleteEntries);
+    } finally {
+      GLES30.glActiveTexture(GLES30.GL_TEXTURE0);
+      GLError.maybeLogGLError(Log.WARN, TAG, "Failed to set active texture", "glActiveTexture");
+    }
+  }
+
+  private static interface Uniform {
+    public void use(int location);
+  }
+
+  private static class UniformTexture implements Uniform {
+    private final int textureUnit;
+    private final Texture texture;
+
+    public UniformTexture(int textureUnit, Texture texture) {
+      this.textureUnit = textureUnit;
+      this.texture = texture;
+    }
+
+    public int getTextureUnit() {
+      return textureUnit;
+    }
+
+    @Override
+    public void use(int location) {
+      if (texture.getTextureId() == 0) {
+        throw new IllegalStateException("Tried to draw with freed texture");
+      }
+      GLES30.glActiveTexture(GLES30.GL_TEXTURE0 + textureUnit);
+      GLError.maybeThrowGLException("Failed to set active texture", "glActiveTexture");
+      GLES30.glBindTexture(texture.getTarget().glesEnum, texture.getTextureId());
+      GLError.maybeThrowGLException("Failed to bind texture", "glBindTexture");
+      GLES30.glUniform1i(location, textureUnit);
+      GLError.maybeThrowGLException("Failed to set shader texture uniform", "glUniform1i");
+    }
+  }
+
+  private static class UniformInt implements Uniform {
+    private final int[] values;
+
+    public UniformInt(int[] values) {
+      this.values = values;
+    }
+
+    @Override
+    public void use(int location) {
+      GLES30.glUniform1iv(location, values.length, values, 0);
+      GLError.maybeThrowGLException("Failed to set shader uniform 1i", "glUniform1iv");
+    }
+  }
+
+  private static class Uniform1f implements Uniform {
+    private final float[] values;
+
+    public Uniform1f(float[] values) {
+      this.values = values;
+    }
+
+    @Override
+    public void use(int location) {
+      GLES30.glUniform1fv(location, values.length, values, 0);
+      GLError.maybeThrowGLException("Failed to set shader uniform 1f", "glUniform1fv");
+    }
+  }
+
+  private static class Uniform2f implements Uniform {
+    private final float[] values;
+
+    public Uniform2f(float[] values) {
+      this.values = values;
+    }
+
+    @Override
+    public void use(int location) {
+      GLES30.glUniform2fv(location, values.length / 2, values, 0);
+      GLError.maybeThrowGLException("Failed to set shader uniform 2f", "glUniform2fv");
+    }
+  }
+
+  private static class Uniform3f implements Uniform {
+    private final float[] values;
+
+    public Uniform3f(float[] values) {
+      this.values = values;
+    }
+
+    @Override
+    public void use(int location) {
+      GLES30.glUniform3fv(location, values.length / 3, values, 0);
+      GLError.maybeThrowGLException("Failed to set shader uniform 3f", "glUniform3fv");
+    }
+  }
+
+  private static class Uniform4f implements Uniform {
+    private final float[] values;
+
+    public Uniform4f(float[] values) {
+      this.values = values;
+    }
+
+    @Override
+    public void use(int location) {
+      GLES30.glUniform4fv(location, values.length / 4, values, 0);
+      GLError.maybeThrowGLException("Failed to set shader uniform 4f", "glUniform4fv");
+    }
+  }
+
+  private static class UniformMatrix2f implements Uniform {
+    private final float[] values;
+
+    public UniformMatrix2f(float[] values) {
+      this.values = values;
+    }
+
+    @Override
+    public void use(int location) {
+      GLES30.glUniformMatrix2fv(location, values.length / 4, /*transpose=*/ false, values, 0);
+      GLError.maybeThrowGLException("Failed to set shader uniform matrix 2f", "glUniformMatrix2fv");
+    }
+  }
+
+  private static class UniformMatrix3f implements Uniform {
+    private final float[] values;
+
+    public UniformMatrix3f(float[] values) {
+      this.values = values;
+    }
+
+    @Override
+    public void use(int location) {
+      GLES30.glUniformMatrix3fv(location, values.length / 9, /*transpose=*/ false, values, 0);
+      GLError.maybeThrowGLException("Failed to set shader uniform matrix 3f", "glUniformMatrix3fv");
+    }
+  }
+
+  private static class UniformMatrix4f implements Uniform {
+    private final float[] values;
+
+    public UniformMatrix4f(float[] values) {
+      this.values = values;
+    }
+
+    @Override
+    public void use(int location) {
+      GLES30.glUniformMatrix4fv(location, values.length / 16, /*transpose=*/ false, values, 0);
+      GLError.maybeThrowGLException("Failed to set shader uniform matrix 4f", "glUniformMatrix4fv");
+    }
+  }
+
+  private int getUniformLocation(String name) {
+    Integer locationObject = uniformLocations.get(name);
+    if (locationObject != null) {
+      return locationObject;
+    }
+    int location = GLES30.glGetUniformLocation(programId, name);
+    GLError.maybeThrowGLException("Failed to find uniform", "glGetUniformLocation");
+    if (location == -1) {
+      throw new IllegalArgumentException("Shader uniform does not exist: " + name);
+    }
+    uniformLocations.put(name, Integer.valueOf(location));
+    uniformNames.put(Integer.valueOf(location), name);
+    return location;
+  }
+
+  private static int createShader(int type, String code) {
+    int shaderId = GLES30.glCreateShader(type);
+    GLError.maybeThrowGLException("Shader creation failed", "glCreateShader");
+    GLES30.glShaderSource(shaderId, code);
+    GLError.maybeThrowGLException("Shader source failed", "glShaderSource");
+    GLES30.glCompileShader(shaderId);
+    GLError.maybeThrowGLException("Shader compilation failed", "glCompileShader");
+
+    final int[] compileStatus = new int[1];
+    GLES30.glGetShaderiv(shaderId, GLES30.GL_COMPILE_STATUS, compileStatus, 0);
+    if (compileStatus[0] == GLES30.GL_FALSE) {
+      String infoLog = GLES30.glGetShaderInfoLog(shaderId);
+      GLError.maybeLogGLError(
+          Log.WARN, TAG, "Failed to retrieve shader info log", "glGetShaderInfoLog");
+      GLES30.glDeleteShader(shaderId);
+      GLError.maybeLogGLError(Log.WARN, TAG, "Failed to free shader", "glDeleteShader");
+      throw new GLException(0, "Shader compilation failed: " + infoLog);
+    }
+
+    return shaderId;
+  }
+
+  private static String createShaderDefinesCode(Map<String, String> defines) {
+    if (defines == null) {
+      return "";
+    }
+    StringBuilder builder = new StringBuilder();
+    for (Map.Entry<String, String> entry : defines.entrySet()) {
+      builder.append("#define " + entry.getKey() + " " + entry.getValue() + "\n");
+    }
+    return builder.toString();
+  }
+
+  private static String insertShaderDefinesCode(String sourceCode, String definesCode) {
+    String result =
+        sourceCode.replaceAll(
+            "(?m)^(\\s*#\\s*version\\s+.*)$", "$1\n" + Matcher.quoteReplacement(definesCode));
+    if (result.equals(sourceCode)) {
+      // No #version specified, so just prepend source
+      return definesCode + sourceCode;
+    }
+    return result;
+  }
+
+  private static String inputStreamToString(InputStream stream) throws IOException {
+    InputStreamReader reader = new InputStreamReader(stream, UTF_8.name());
+    char[] buffer = new char[1024 * 4];
+    StringBuilder builder = new StringBuilder();
+    int amount = 0;
+    while ((amount = reader.read(buffer)) != -1) {
+      builder.append(buffer, 0, amount);
+    }
+    reader.close();
+    return builder.toString();
+  }
+}
diff --git a/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/Texture.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/Texture.java
new file mode 100644
index 0000000000..acb243c8b8
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/Texture.java
@@ -0,0 +1,200 @@
+/*
+ * 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.samplerender;
+
+import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;
+import android.opengl.GLES11Ext;
+import android.opengl.GLES30;
+import android.util.Log;
+import java.io.Closeable;
+import java.io.IOException;
+import java.nio.ByteBuffer;
+
+/** A GPU-side texture. */
+public class Texture implements Closeable {
+  private static final String TAG = Texture.class.getSimpleName();
+
+  private final int[] textureId = {0};
+  private final Target target;
+
+  /**
+   * Describes the way the texture's edges are rendered.
+   *
+   * @see <a
+   *     href="https://www.khronos.org/registry/OpenGL-Refpages/es3.0/html/glTexParameter.xhtml">GL_TEXTURE_WRAP_S</a>.
+   */
+  public enum WrapMode {
+    CLAMP_TO_EDGE(GLES30.GL_CLAMP_TO_EDGE),
+    MIRRORED_REPEAT(GLES30.GL_MIRRORED_REPEAT),
+    REPEAT(GLES30.GL_REPEAT);
+
+    /* package-private */
+    final int glesEnum;
+
+    private WrapMode(int glesEnum) {
+      this.glesEnum = glesEnum;
+    }
+  }
+
+  /**
+   * Describes the target this texture is bound to.
+   *
+   * @see <a
+   *     href="https://www.khronos.org/registry/OpenGL-Refpages/es3.0/html/glBindTexture.xhtml">glBindTexture</a>.
+   */
+  public enum Target {
+    TEXTURE_2D(GLES30.GL_TEXTURE_2D),
+    TEXTURE_EXTERNAL_OES(GLES11Ext.GL_TEXTURE_EXTERNAL_OES),
+    TEXTURE_CUBE_MAP(GLES30.GL_TEXTURE_CUBE_MAP);
+
+    final int glesEnum;
+
+    private Target(int glesEnum) {
+      this.glesEnum = glesEnum;
+    }
+  }
+
+  /**
+   * Describes the color format of the texture.
+   *
+   * @see <a
+   *     href="https://www.khronos.org/registry/OpenGL-Refpages/es3.0/html/glTexImage2D.xhtml">glTexImage2d</a>.
+   */
+  public enum ColorFormat {
+    LINEAR(GLES30.GL_RGBA8),
+    SRGB(GLES30.GL_SRGB8_ALPHA8);
+
+    final int glesEnum;
+
+    private ColorFormat(int glesEnum) {
+      this.glesEnum = glesEnum;
+    }
+  }
+
+  /**
+   * Construct an empty {@link Texture}.
+   *
+   * <p>Since {@link Texture}s created in this way are not populated with data, this method is
+   * mostly only useful for creating {@link Target.TEXTURE_EXTERNAL_OES} textures. See {@link
+   * #createFromAsset} if you want a texture with data.
+   */
+  public Texture(SampleRender render, Target target, WrapMode wrapMode) {
+    this(render, target, wrapMode, /*useMipmaps=*/ true);
+  }
+
+  public Texture(SampleRender render, Target target, WrapMode wrapMode, boolean useMipmaps) {
+    this.target = target;
+
+    GLES30.glGenTextures(1, textureId, 0);
+    GLError.maybeThrowGLException("Texture creation failed", "glGenTextures");
+
+    int minFilter = useMipmaps ? GLES30.GL_LINEAR_MIPMAP_LINEAR : GLES30.GL_LINEAR;
+
+    try {
+      GLES30.glBindTexture(target.glesEnum, textureId[0]);
+      GLError.maybeThrowGLException("Failed to bind texture", "glBindTexture");
+      GLES30.glTexParameteri(target.glesEnum, GLES30.GL_TEXTURE_MIN_FILTER, minFilter);
+      GLError.maybeThrowGLException("Failed to set texture parameter", "glTexParameteri");
+      GLES30.glTexParameteri(target.glesEnum, GLES30.GL_TEXTURE_MAG_FILTER, GLES30.GL_LINEAR);
+      GLError.maybeThrowGLException("Failed to set texture parameter", "glTexParameteri");
+
+      GLES30.glTexParameteri(target.glesEnum, GLES30.GL_TEXTURE_WRAP_S, wrapMode.glesEnum);
+      GLError.maybeThrowGLException("Failed to set texture parameter", "glTexParameteri");
+      GLES30.glTexParameteri(target.glesEnum, GLES30.GL_TEXTURE_WRAP_T, wrapMode.glesEnum);
+      GLError.maybeThrowGLException("Failed to set texture parameter", "glTexParameteri");
+    } catch (Throwable t) {
+      close();
+      throw t;
+    }
+  }
+
+  /** Create a texture from the given asset file name. */
+  public static Texture createFromAsset(
+      SampleRender render, String assetFileName, WrapMode wrapMode, ColorFormat colorFormat)
+      throws IOException {
+    Texture texture = new Texture(render, Target.TEXTURE_2D, wrapMode);
+    Bitmap bitmap = null;
+    try {
+      // The following lines up to glTexImage2D could technically be replaced with
+      // GLUtils.texImage2d, but this method does not allow for loading sRGB images.
+
+      // Load and convert the bitmap and copy its contents to a direct ByteBuffer. Despite its name,
+      // the ARGB_8888 config is actually stored in RGBA order.
+      bitmap =
+          convertBitmapToConfig(
+              BitmapFactory.decodeStream(render.getAssets().open(assetFileName)),
+              Bitmap.Config.ARGB_8888);
+      ByteBuffer buffer = ByteBuffer.allocateDirect(bitmap.getByteCount());
+      bitmap.copyPixelsToBuffer(buffer);
+      buffer.rewind();
+
+      GLES30.glBindTexture(GLES30.GL_TEXTURE_2D, texture.getTextureId());
+      GLError.maybeThrowGLException("Failed to bind texture", "glBindTexture");
+      GLES30.glTexImage2D(
+          GLES30.GL_TEXTURE_2D,
+          /*level=*/ 0,
+          colorFormat.glesEnum,
+          bitmap.getWidth(),
+          bitmap.getHeight(),
+          /*border=*/ 0,
+          GLES30.GL_RGBA,
+          GLES30.GL_UNSIGNED_BYTE,
+          buffer);
+      GLError.maybeThrowGLException("Failed to populate texture data", "glTexImage2D");
+      GLES30.glGenerateMipmap(GLES30.GL_TEXTURE_2D);
+      GLError.maybeThrowGLException("Failed to generate mipmaps", "glGenerateMipmap");
+    } catch (Throwable t) {
+      texture.close();
+      throw t;
+    } finally {
+      if (bitmap != null) {
+        bitmap.recycle();
+      }
+    }
+    return texture;
+  }
+
+  @Override
+  public void close() {
+    if (textureId[0] != 0) {
+      GLES30.glDeleteTextures(1, textureId, 0);
+      GLError.maybeLogGLError(Log.WARN, TAG, "Failed to free texture", "glDeleteTextures");
+      textureId[0] = 0;
+    }
+  }
+
+  /** Retrieve the native texture ID. */
+  public int getTextureId() {
+    return textureId[0];
+  }
+
+  /* package-private */
+  Target getTarget() {
+    return target;
+  }
+
+  private static Bitmap convertBitmapToConfig(Bitmap bitmap, Bitmap.Config config) {
+    // We use this method instead of BitmapFactory.Options.outConfig to support a minimum of Android
+    // API level 24.
+    if (bitmap.getConfig() == config) {
+      return bitmap;
+    }
+    Bitmap result = bitmap.copy(config, /*isMutable=*/ false);
+    bitmap.recycle();
+    return result;
+  }
+}
diff --git a/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/VertexBuffer.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/VertexBuffer.java
new file mode 100644
index 0000000000..e2c13c6158
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/VertexBuffer.java
@@ -0,0 +1,101 @@
+/*
+ * 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.samplerender;
+
+import android.opengl.GLES30;
+import java.io.Closeable;
+import java.nio.FloatBuffer;
+
+/**
+ * A list of vertex attribute data stored GPU-side.
+ *
+ * <p>One or more {@link VertexBuffer}s are used when constructing a {@link Mesh} to describe vertex
+ * attribute data; for example, local coordinates, texture coordinates, vertex normals, etc.
+ *
+ * @see <a
+ *     href="https://www.khronos.org/registry/OpenGL-Refpages/es3.0/html/glVertexAttribPointer.xhtml">glVertexAttribPointer</a>
+ */
+public class VertexBuffer implements Closeable {
+  private final GpuBuffer buffer;
+  private final int numberOfEntriesPerVertex;
+
+  /**
+   * Construct a {@link VertexBuffer} populated with initial data.
+   *
+   * <p>The GPU buffer will be filled with the data in the <i>direct</i> buffer {@code entries},
+   * starting from the beginning of the buffer (not the current cursor position). The cursor will be
+   * left in an undefined position after this function returns.
+   *
+   * <p>The number of vertices in the buffer can be expressed as {@code entries.limit() /
+   * numberOfEntriesPerVertex}. Thus, The size of the buffer must be divisible by {@code
+   * numberOfEntriesPerVertex}.
+   *
+   * <p>The {@code entries} buffer may be null, in which case an empty buffer is constructed
+   * instead.
+   */
+  public VertexBuffer(SampleRender render, int numberOfEntriesPerVertex, FloatBuffer entries) {
+    if (entries != null && entries.limit() % numberOfEntriesPerVertex != 0) {
+      throw new IllegalArgumentException(
+          "If non-null, vertex buffer data must be divisible by the number of data points per"
+              + " vertex");
+    }
+
+    this.numberOfEntriesPerVertex = numberOfEntriesPerVertex;
+    buffer = new GpuBuffer(GLES30.GL_ARRAY_BUFFER, GpuBuffer.FLOAT_SIZE, entries);
+  }
+
+  /**
+   * Populate with new data.
+   *
+   * <p>The entire buffer is replaced by the contents of the <i>direct</i> buffer {@code entries}
+   * starting from the beginning of the buffer, not the current cursor position. The cursor will be
+   * left in an undefined position after this function returns.
+   *
+   * <p>The GPU buffer is reallocated automatically if necessary.
+   *
+   * <p>The {@code entries} buffer may be null, in which case the buffer will become empty.
+   * Otherwise, the size of {@code entries} must be divisible by the number of entries per vertex
+   * specified during construction.
+   */
+  public void set(FloatBuffer entries) {
+    if (entries != null && entries.limit() % numberOfEntriesPerVertex != 0) {
+      throw new IllegalArgumentException(
+          "If non-null, vertex buffer data must be divisible by the number of data points per"
+              + " vertex");
+    }
+    buffer.set(entries);
+  }
+
+  @Override
+  public void close() {
+    buffer.free();
+  }
+
+  /* package-private */
+  int getBufferId() {
+    return buffer.getBufferId();
+  }
+
+  /* package-private */
+  int getNumberOfEntriesPerVertex() {
+    return numberOfEntriesPerVertex;
+  }
+
+  /* package-private */
+  int getNumberOfVertices() {
+    return buffer.getSize() / numberOfEntriesPerVertex;
+  }
+}
diff --git a/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/arcore/BackgroundRenderer.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/arcore/BackgroundRenderer.java
new file mode 100644
index 0000000000..74df7885ff
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/arcore/BackgroundRenderer.java
@@ -0,0 +1,262 @@
+/*
+ * 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.samplerender.arcore;
+
+import android.media.Image;
+import android.opengl.GLES30;
+import com.google.ar.core.Coordinates2d;
+import com.google.ar.core.Frame;
+import com.google.ar.core.examples.java.common.samplerender.Framebuffer;
+import com.google.ar.core.examples.java.common.samplerender.Mesh;
+import com.google.ar.core.examples.java.common.samplerender.SampleRender;
+import com.google.ar.core.examples.java.common.samplerender.Shader;
+import com.google.ar.core.examples.java.common.samplerender.Texture;
+import com.google.ar.core.examples.java.common.samplerender.VertexBuffer;
+import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.FloatBuffer;
+import java.util.HashMap;
+
+/**
+ * This class both renders the AR camera background and composes the a scene foreground. The camera
+ * background can be rendered as either camera image data or camera depth data. The virtual scene
+ * can be composited with or without depth occlusion.
+ */
+public class BackgroundRenderer {
+  private static final String TAG = BackgroundRenderer.class.getSimpleName();
+
+  // components_per_vertex * number_of_vertices * float_size
+  private static final int COORDS_BUFFER_SIZE = 2 * 4 * 4;
+
+  private static final FloatBuffer NDC_QUAD_COORDS_BUFFER =
+      ByteBuffer.allocateDirect(COORDS_BUFFER_SIZE).order(ByteOrder.nativeOrder()).asFloatBuffer();
+
+  private static final FloatBuffer VIRTUAL_SCENE_TEX_COORDS_BUFFER =
+      ByteBuffer.allocateDirect(COORDS_BUFFER_SIZE).order(ByteOrder.nativeOrder()).asFloatBuffer();
+
+  static {
+    NDC_QUAD_COORDS_BUFFER.put(
+        new float[] {
+          /*0:*/ -1f, -1f, /*1:*/ +1f, -1f, /*2:*/ -1f, +1f, /*3:*/ +1f, +1f,
+        });
+    VIRTUAL_SCENE_TEX_COORDS_BUFFER.put(
+        new float[] {
+          /*0:*/ 0f, 0f, /*1:*/ 1f, 0f, /*2:*/ 0f, 1f, /*3:*/ 1f, 1f,
+        });
+  }
+
+  private final FloatBuffer cameraTexCoords =
+      ByteBuffer.allocateDirect(COORDS_BUFFER_SIZE).order(ByteOrder.nativeOrder()).asFloatBuffer();
+
+  private final Mesh mesh;
+  private final VertexBuffer cameraTexCoordsVertexBuffer;
+  private Shader backgroundShader;
+  private Shader occlusionShader;
+  private final Texture cameraDepthTexture;
+  private final Texture cameraColorTexture;
+  private Texture depthColorPaletteTexture;
+
+  private boolean useDepthVisualization;
+  private boolean useOcclusion;
+  private float aspectRatio;
+
+  /**
+   * Allocates and initializes OpenGL resources needed by the background renderer. Must be called
+   * during a {@link SampleRender.Renderer} callback, typically in {@link
+   * SampleRender.Renderer#onSurfaceCreated()}.
+   */
+  public BackgroundRenderer(SampleRender render) {
+    cameraColorTexture =
+        new Texture(
+            render,
+            Texture.Target.TEXTURE_EXTERNAL_OES,
+            Texture.WrapMode.CLAMP_TO_EDGE,
+            /*useMipmaps=*/ false);
+    cameraDepthTexture =
+        new Texture(
+            render,
+            Texture.Target.TEXTURE_2D,
+            Texture.WrapMode.CLAMP_TO_EDGE,
+            /*useMipmaps=*/ false);
+
+    // Create a Mesh with three vertex buffers: one for the screen coordinates (normalized device
+    // coordinates), one for the camera texture coordinates (to be populated with proper data later
+    // before drawing), and one for the virtual scene texture coordinates (unit texture quad)
+    VertexBuffer screenCoordsVertexBuffer =
+        new VertexBuffer(render, /* numberOfEntriesPerVertex=*/ 2, NDC_QUAD_COORDS_BUFFER);
+    cameraTexCoordsVertexBuffer =
+        new VertexBuffer(render, /*numberOfEntriesPerVertex=*/ 2, /*entries=*/ null);
+    VertexBuffer virtualSceneTexCoordsVertexBuffer =
+        new VertexBuffer(render, /* numberOfEntriesPerVertex=*/ 2, VIRTUAL_SCENE_TEX_COORDS_BUFFER);
+    VertexBuffer[] vertexBuffers = {
+      screenCoordsVertexBuffer, cameraTexCoordsVertexBuffer, virtualSceneTexCoordsVertexBuffer,
+    };
+    mesh =
+        new Mesh(render, Mesh.PrimitiveMode.TRIANGLE_STRIP, /*indexBuffer=*/ null, vertexBuffers);
+  }
+
+  /**
+   * Sets whether the background camera image should be replaced with a depth visualization instead.
+   * This reloads the corresponding shader code, and must be called on the GL thread.
+   */
+  public void setUseDepthVisualization(SampleRender render, boolean useDepthVisualization)
+      throws IOException {
+    if (backgroundShader != null) {
+      if (this.useDepthVisualization == useDepthVisualization) {
+        return;
+      }
+      backgroundShader.close();
+      backgroundShader = null;
+      this.useDepthVisualization = useDepthVisualization;
+    }
+    if (useDepthVisualization) {
+     depthColorPaletteTexture =
+        Texture.createFromAsset(
+            render,
+            "models/depth_color_palette.png",
+            Texture.WrapMode.CLAMP_TO_EDGE,
+            Texture.ColorFormat.LINEAR);
+      backgroundShader =
+          Shader.createFromAssets(
+                  render,
+                  "shaders/background_show_depth_color_visualization.vert",
+                  "shaders/background_show_depth_color_visualization.frag",
+                  /*defines=*/ null)
+              .setTexture("u_CameraDepthTexture", cameraDepthTexture)
+              .setTexture("u_ColorMap", depthColorPaletteTexture)
+              .setDepthTest(false)
+              .setDepthWrite(false);
+    } else {
+      backgroundShader =
+          Shader.createFromAssets(
+                  render,
+                  "shaders/background_show_camera.vert",
+                  "shaders/background_show_camera.frag",
+                  /*defines=*/ null)
+              .setTexture("u_CameraColorTexture", cameraColorTexture)
+              .setDepthTest(false)
+              .setDepthWrite(false);
+    }
+  }
+
+  /**
+   * Sets whether to use depth for occlusion. This reloads the shader code with new {@code
+   * #define}s, and must be called on the GL thread.
+   */
+  public void setUseOcclusion(SampleRender render, boolean useOcclusion) throws IOException {
+    if (occlusionShader != null) {
+      if (this.useOcclusion == useOcclusion) {
+        return;
+      }
+      occlusionShader.close();
+      occlusionShader = null;
+      this.useOcclusion = useOcclusion;
+    }
+    HashMap<String, String> defines = new HashMap<>();
+    defines.put("USE_OCCLUSION", useOcclusion ? "1" : "0");
+    occlusionShader =
+        Shader.createFromAssets(render, "shaders/occlusion.vert", "shaders/occlusion.frag", defines)
+            .setDepthTest(false)
+            .setDepthWrite(false)
+            .setBlend(Shader.BlendFactor.SRC_ALPHA, Shader.BlendFactor.ONE_MINUS_SRC_ALPHA);
+    if (useOcclusion) {
+      occlusionShader
+          .setTexture("u_CameraDepthTexture", cameraDepthTexture)
+          .setFloat("u_DepthAspectRatio", aspectRatio);
+    }
+  }
+
+  /**
+   * Updates the display geometry. This must be called every frame before calling either of
+   * BackgroundRenderer's draw methods.
+   *
+   * @param frame The current {@code Frame} as returned by {@link Session#update()}.
+   */
+  public void updateDisplayGeometry(Frame frame) {
+    if (frame.hasDisplayGeometryChanged()) {
+      // 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.
+      frame.transformCoordinates2d(
+          Coordinates2d.OPENGL_NORMALIZED_DEVICE_COORDINATES,
+          NDC_QUAD_COORDS_BUFFER,
+          Coordinates2d.TEXTURE_NORMALIZED,
+          cameraTexCoords);
+      cameraTexCoordsVertexBuffer.set(cameraTexCoords);
+    }
+  }
+
+  /** Update depth texture with Image contents. */
+  public void updateCameraDepthTexture(Image image) {
+    // SampleRender abstraction leaks here
+    GLES30.glBindTexture(GLES30.GL_TEXTURE_2D, cameraDepthTexture.getTextureId());
+    GLES30.glTexImage2D(
+        GLES30.GL_TEXTURE_2D,
+        0,
+        GLES30.GL_RG8,
+        image.getWidth(),
+        image.getHeight(),
+        0,
+        GLES30.GL_RG,
+        GLES30.GL_UNSIGNED_BYTE,
+        image.getPlanes()[0].getBuffer());
+    if (useOcclusion) {
+      aspectRatio = (float) image.getWidth() / (float) image.getHeight();
+      occlusionShader.setFloat("u_DepthAspectRatio", aspectRatio);
+    }
+  }
+
+  /**
+   * 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.
+   */
+  public void drawBackground(SampleRender render) {
+    render.draw(mesh, backgroundShader);
+  }
+
+  /**
+   * Draws the virtual scene. Any objects rendered in the given {@link Framebuffer} will be drawn
+   * given the previously specified {@link OcclusionMode}.
+   *
+   * <p>Virtual content should be rendered using 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)}.
+   */
+  public void drawVirtualScene(
+      SampleRender render, Framebuffer virtualSceneFramebuffer, float zNear, float zFar) {
+    occlusionShader.setTexture(
+        "u_VirtualSceneColorTexture", virtualSceneFramebuffer.getColorTexture());
+    if (useOcclusion) {
+      occlusionShader
+          .setTexture("u_VirtualSceneDepthTexture", virtualSceneFramebuffer.getDepthTexture())
+          .setFloat("u_ZNear", zNear)
+          .setFloat("u_ZFar", zFar);
+    }
+    render.draw(mesh, occlusionShader);
+  }
+
+  /** Return the camera color texture generated by this object. */
+  public Texture getCameraColorTexture() {
+    return cameraColorTexture;
+  }
+
+  /** Return the camera depth texture generated by this object. */
+  public Texture getCameraDepthTexture() {
+    return cameraDepthTexture;
+  }
+}
diff --git a/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/arcore/PlaneRenderer.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/arcore/PlaneRenderer.java
new file mode 100644
index 0000000000..528bd10de4
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/arcore/PlaneRenderer.java
@@ -0,0 +1,324 @@
+/*
+ * 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.samplerender.arcore;
+
+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 com.google.ar.core.examples.java.common.samplerender.IndexBuffer;
+import com.google.ar.core.examples.java.common.samplerender.Mesh;
+import com.google.ar.core.examples.java.common.samplerender.SampleRender;
+import com.google.ar.core.examples.java.common.samplerender.Shader;
+import com.google.ar.core.examples.java.common.samplerender.Shader.BlendFactor;
+import com.google.ar.core.examples.java.common.samplerender.Texture;
+import com.google.ar.core.examples.java.common.samplerender.VertexBuffer;
+import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.FloatBuffer;
+import java.nio.IntBuffer;
+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 String TEXTURE_NAME = "models/trigrid.png";
+
+  private static final int BYTES_PER_FLOAT = Float.SIZE / 8;
+  private static final int BYTES_PER_INT = Integer.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_INT
+          * 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 final Mesh mesh;
+  private final IndexBuffer indexBufferObject;
+  private final VertexBuffer vertexBufferObject;
+  private final Shader shader;
+
+  private FloatBuffer vertexBuffer =
+      ByteBuffer.allocateDirect(INITIAL_VERTEX_BUFFER_SIZE_BYTES)
+          .order(ByteOrder.nativeOrder())
+          .asFloatBuffer();
+  private IntBuffer indexBuffer =
+      ByteBuffer.allocateDirect(INITIAL_INDEX_BUFFER_SIZE_BYTES)
+          .order(ByteOrder.nativeOrder())
+          .asIntBuffer();
+
+  // Temporary lists/matrices allocated here to reduce number of allocations for each frame.
+  private final float[] viewMatrix = new float[16];
+  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 float[] normalVector = new float[3];
+
+  private final Map<Plane, Integer> planeIndexMap = new HashMap<>();
+
+  /**
+   * Allocates and initializes OpenGL resources needed by the plane renderer. Must be called during
+   * a {@link SampleRender.Renderer} callback, typically in {@link
+   * SampleRender.Renderer#onSurfaceCreated}.
+   */
+  public PlaneRenderer(SampleRender render) throws IOException {
+    Texture texture =
+        Texture.createFromAsset(
+            render, TEXTURE_NAME, Texture.WrapMode.REPEAT, Texture.ColorFormat.LINEAR);
+    shader =
+        Shader.createFromAssets(render, VERTEX_SHADER_NAME, FRAGMENT_SHADER_NAME, /*defines=*/ null)
+            .setTexture("u_Texture", texture)
+            .setVec4("u_GridControl", GRID_CONTROL)
+            .setBlend(
+                BlendFactor.DST_ALPHA, // RGB (src)
+                BlendFactor.ONE, // RGB (dest)
+                BlendFactor.ZERO, // ALPHA (src)
+                BlendFactor.ONE_MINUS_SRC_ALPHA) // ALPHA (dest)
+            .setDepthWrite(false);
+
+    indexBufferObject = new IndexBuffer(render, /*entries=*/ null);
+    vertexBufferObject = new VertexBuffer(render, COORDS_PER_VERTEX, /*entries=*/ null);
+    VertexBuffer[] vertexBuffers = {vertexBufferObject};
+    mesh = new Mesh(render, Mesh.PrimitiveMode.TRIANGLE_STRIP, indexBufferObject, vertexBuffers);
+  }
+
+  /** 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_INT * size)
+              .order(ByteOrder.nativeOrder())
+              .asIntBuffer();
+    }
+    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));
+    }
+  }
+
+  /**
+   * 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 cameraProjection The projection matrix, as returned by {@link
+   *     Camera#getProjectionMatrix(float[], int, float, float)}
+   */
+  public void drawPlanes(
+      SampleRender render, Collection<Plane> allPlanes, Pose cameraPose, float[] cameraProjection) {
+    // 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);
+          }
+        });
+
+    cameraPose.inverse().toMatrix(viewMatrix, 0);
+
+    for (SortablePlane sortedPlane : sortedPlanes) {
+      Plane plane = sortedPlane.plane;
+      float[] planeMatrix = new float[16];
+      plane.getCenterPose().toMatrix(planeMatrix, 0);
+
+      // Get transformed Y axis of plane's coordinate system.
+      plane.getCenterPose().getTransformedAxis(1, 1.0f, normalVector, 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;
+
+      // Build the ModelView and ModelViewProjection matrices
+      // for calculating cube position and light.
+      Matrix.multiplyMM(modelViewMatrix, 0, viewMatrix, 0, modelMatrix, 0);
+      Matrix.multiplyMM(modelViewProjectionMatrix, 0, cameraProjection, 0, modelViewMatrix, 0);
+
+      // Populate the shader uniforms for this frame.
+      shader.setMat4("u_Model", modelMatrix);
+      shader.setMat4("u_ModelViewProjection", modelViewProjectionMatrix);
+      shader.setMat2("u_PlaneUvMatrix", planeAngleUvMatrix);
+      shader.setVec3("u_Normal", normalVector);
+
+      // Set the position of the plane
+      vertexBufferObject.set(vertexBuffer);
+      indexBufferObject.set(indexBuffer);
+
+      render.draw(mesh, shader);
+    }
+  }
+
+  private static class SortablePlane {
+    final float distance;
+    final Plane plane;
+
+    SortablePlane(float distance, Plane plane) {
+      this.distance = distance;
+      this.plane = plane;
+    }
+  }
+
+  // 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/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/arcore/SpecularCubemapFilter.java b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/arcore/SpecularCubemapFilter.java
new file mode 100644
index 0000000000..a8708ce28f
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/java/common/samplerender/arcore/SpecularCubemapFilter.java
@@ -0,0 +1,525 @@
+/*
+ * 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.samplerender.arcore;
+
+import static java.lang.Math.max;
+import static java.lang.Math.min;
+
+import android.media.Image;
+import android.opengl.GLES30;
+import android.util.Log;
+import com.google.ar.core.ImageFormat;
+import com.google.ar.core.examples.java.common.samplerender.GLError;
+import com.google.ar.core.examples.java.common.samplerender.Mesh;
+import com.google.ar.core.examples.java.common.samplerender.SampleRender;
+import com.google.ar.core.examples.java.common.samplerender.Shader;
+import com.google.ar.core.examples.java.common.samplerender.Texture;
+import com.google.ar.core.examples.java.common.samplerender.VertexBuffer;
+import java.io.Closeable;
+import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.FloatBuffer;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.Iterator;
+
+/**
+ * Filters a provided cubemap into a cubemap lookup texture which is a function of the direction of
+ * a reflected ray of light and material roughness, i.e. the LD term of the specular IBL
+ * calculation.
+ *
+ * <p>See https://google.github.io/filament/Filament.md.html#lighting/imagebasedlights for a more
+ * detailed explanation.
+ */
+public class SpecularCubemapFilter implements Closeable {
+  private static final String TAG = SpecularCubemapFilter.class.getSimpleName();
+
+  private static final int COMPONENTS_PER_VERTEX = 2;
+  private static final int NUMBER_OF_VERTICES = 4;
+  private static final int FLOAT_SIZE = 4;
+  private static final int COORDS_BUFFER_SIZE =
+      COMPONENTS_PER_VERTEX * NUMBER_OF_VERTICES * FLOAT_SIZE;
+
+  private static final int NUMBER_OF_CUBE_FACES = 6;
+
+  private static final FloatBuffer COORDS_BUFFER =
+      ByteBuffer.allocateDirect(COORDS_BUFFER_SIZE).order(ByteOrder.nativeOrder()).asFloatBuffer();
+
+  static {
+    COORDS_BUFFER.put(
+        new float[] {
+          /*0:*/ -1f, -1f, /*1:*/ +1f, -1f, /*2:*/ -1f, +1f, /*3:*/ +1f, +1f,
+        });
+  }
+
+  private static final String[] ATTACHMENT_LOCATION_DEFINES = {
+    "PX_LOCATION", "NX_LOCATION", "PY_LOCATION", "NY_LOCATION", "PZ_LOCATION", "NZ_LOCATION",
+  };
+
+  private static final int[] ATTACHMENT_ENUMS = {
+    GLES30.GL_COLOR_ATTACHMENT0,
+    GLES30.GL_COLOR_ATTACHMENT1,
+    GLES30.GL_COLOR_ATTACHMENT2,
+    GLES30.GL_COLOR_ATTACHMENT3,
+    GLES30.GL_COLOR_ATTACHMENT4,
+    GLES30.GL_COLOR_ATTACHMENT5,
+  };
+
+  // We need to create enough shaders and framebuffers to encompass every face of the cubemap. Each
+  // color attachment is used by the framebuffer to render to a different face of the cubemap, so we
+  // use "chunks" which define as many color attachments as possible for each face. For example, if
+  // we have a maximum of 3 color attachments, we must create two shaders with the following color
+  // attachments:
+  //
+  // layout(location = 0) out vec4 o_FragColorPX;
+  // layout(location = 1) out vec4 o_FragColorNX;
+  // layout(location = 2) out vec4 o_FragColorPY;
+  //
+  // and
+  //
+  // layout(location = 0) out vec4 o_FragColorNY;
+  // layout(location = 1) out vec4 o_FragColorPZ;
+  // layout(location = 2) out vec4 o_FragColorNZ;
+  private static class Chunk {
+    public final int chunkIndex;
+    public final int chunkSize;
+    public final int firstFaceIndex;
+
+    public Chunk(int chunkIndex, int maxChunkSize) {
+      this.chunkIndex = chunkIndex;
+      this.firstFaceIndex = chunkIndex * maxChunkSize;
+      this.chunkSize = min(maxChunkSize, NUMBER_OF_CUBE_FACES - this.firstFaceIndex);
+    }
+  }
+
+  private static class ChunkIterable implements Iterable<Chunk> {
+    public final int maxChunkSize;
+    public final int numberOfChunks;
+
+    public ChunkIterable(int maxNumberOfColorAttachments) {
+      this.maxChunkSize = min(maxNumberOfColorAttachments, NUMBER_OF_CUBE_FACES);
+      int numberOfChunks = NUMBER_OF_CUBE_FACES / this.maxChunkSize;
+      if (NUMBER_OF_CUBE_FACES % this.maxChunkSize != 0) {
+        numberOfChunks++;
+      }
+      this.numberOfChunks = numberOfChunks;
+    }
+
+    @Override
+    public Iterator<Chunk> iterator() {
+      return new Iterator<Chunk>() {
+        private Chunk chunk = new Chunk(/*chunkIndex=*/ 0, maxChunkSize);
+
+        @Override
+        public boolean hasNext() {
+          return chunk.chunkIndex < numberOfChunks;
+        }
+
+        @Override
+        public Chunk next() {
+          Chunk result = this.chunk;
+          this.chunk = new Chunk(result.chunkIndex + 1, maxChunkSize);
+          return result;
+        }
+      };
+    }
+  }
+
+  private static class ImportanceSampleCacheEntry {
+    public float[] direction;
+    public float contribution;
+    public float level;
+  }
+
+  private final int resolution;
+  private final int numberOfImportanceSamples;
+  private final int numberOfMipmapLevels;
+
+  private final Texture radianceCubemap;
+  private final Texture ldCubemap;
+  // Indexed by attachment chunk.
+  private final Shader[] shaders;
+  private final Mesh mesh;
+
+  // Using OpenGL directly here since cubemap framebuffers are very involved. Indexed by
+  // [mipmapLevel][attachmentChunk].
+  private final int[][] framebuffers;
+
+  /**
+   * Constructs a {@link SpecularCubemapFilter}.
+   *
+   * <p>The provided resolution refers to both the width and height of the input resolution and the
+   * resolution of the highest mipmap level of the filtered cubemap texture.
+   *
+   * <p>Ideally, the cubemap would need to be filtered by computing a function of every sample over
+   * the hemisphere for every texel. Since this is not practical to compute, a limited, discrete
+   * number of importance samples are selected instead. A larger number of importance samples will
+   * generally provide more accurate results, but in the case of ARCore, the cubemap estimations are
+   * already very low resolution, and higher values provide rapidly diminishing returns.
+   */
+  public SpecularCubemapFilter(SampleRender render, int resolution, int numberOfImportanceSamples)
+      throws IOException {
+    this.resolution = resolution;
+    this.numberOfImportanceSamples = numberOfImportanceSamples;
+    this.numberOfMipmapLevels = log2(resolution) + 1;
+
+    try {
+      radianceCubemap =
+          new Texture(render, Texture.Target.TEXTURE_CUBE_MAP, Texture.WrapMode.CLAMP_TO_EDGE);
+      ldCubemap =
+          new Texture(render, Texture.Target.TEXTURE_CUBE_MAP, Texture.WrapMode.CLAMP_TO_EDGE);
+
+      ChunkIterable chunks = new ChunkIterable(getMaxColorAttachments());
+      initializeLdCubemap();
+      shaders = createShaders(render, chunks);
+      framebuffers = createFramebuffers(chunks);
+
+      // Create the quad mesh that encompasses the entire view.
+      VertexBuffer coordsBuffer = new VertexBuffer(render, COMPONENTS_PER_VERTEX, COORDS_BUFFER);
+      mesh =
+          new Mesh(
+              render,
+              Mesh.PrimitiveMode.TRIANGLE_STRIP,
+              /*indexBuffer=*/ null,
+              new VertexBuffer[] {coordsBuffer});
+    } catch (Throwable t) {
+      close();
+      throw t;
+    }
+  }
+
+  @Override
+  public void close() {
+    if (framebuffers != null) {
+      for (int[] framebufferChunks : framebuffers) {
+        GLES30.glDeleteFramebuffers(framebufferChunks.length, framebufferChunks, 0);
+        GLError.maybeLogGLError(
+            Log.WARN, TAG, "Failed to free framebuffers", "glDeleteFramebuffers");
+      }
+    }
+    if (radianceCubemap != null) {
+      radianceCubemap.close();
+    }
+    if (ldCubemap != null) {
+      ldCubemap.close();
+    }
+    if (shaders != null) {
+      for (Shader shader : shaders) {
+        shader.close();
+      }
+    }
+  }
+
+  /**
+   * Updates and filters the provided cubemap textures from ARCore.
+   *
+   * <p>This method should be called every frame with the result of {@link
+   * com.google.ar.core.LightEstimate.acquireEnvironmentalHdrCubeMap()} to update the filtered
+   * cubemap texture, accessible via {@link getFilteredCubemapTexture()}.
+   *
+   * <p>The given {@link Image}s will be closed by this method, even if an exception occurs.
+   */
+  public void update(Image[] images) {
+    try {
+      GLES30.glBindTexture(GLES30.GL_TEXTURE_CUBE_MAP, radianceCubemap.getTextureId());
+      GLError.maybeThrowGLException("Failed to bind radiance cubemap texture", "glBindTexture");
+
+      if (images.length != NUMBER_OF_CUBE_FACES) {
+        throw new IllegalArgumentException(
+            "Number of images differs from the number of sides of a cube.");
+      }
+
+      for (int i = 0; i < NUMBER_OF_CUBE_FACES; ++i) {
+        Image image = images[i];
+        // Sanity check for the format of the cubemap.
+        if (image.getFormat() != ImageFormat.RGBA_FP16) {
+          throw new IllegalArgumentException(
+              "Unexpected image format for cubemap: " + image.getFormat());
+        }
+        if (image.getHeight() != image.getWidth()) {
+          throw new IllegalArgumentException("Cubemap face is not square.");
+        }
+        if (image.getHeight() != resolution) {
+          throw new IllegalArgumentException(
+              "Cubemap face resolution ("
+                  + image.getHeight()
+                  + ") does not match expected value ("
+                  + resolution
+                  + ").");
+        }
+
+        GLES30.glTexImage2D(
+            GLES30.GL_TEXTURE_CUBE_MAP_POSITIVE_X + i,
+            /*level=*/ 0,
+            GLES30.GL_RGBA16F,
+            /*width=*/ resolution,
+            /*height=*/ resolution,
+            /*border=*/ 0,
+            GLES30.GL_RGBA,
+            GLES30.GL_HALF_FLOAT,
+            image.getPlanes()[0].getBuffer());
+        GLError.maybeThrowGLException("Failed to populate cubemap face", "glTexImage2D");
+      }
+
+      GLES30.glGenerateMipmap(GLES30.GL_TEXTURE_CUBE_MAP);
+      GLError.maybeThrowGLException("Failed to generate cubemap mipmaps", "glGenerateMipmap");
+
+      // Do the filtering operation, filling the mipmaps of ldTexture with the roughness filtered
+      // cubemap.
+      for (int level = 0; level < numberOfMipmapLevels; ++level) {
+        int mipmapResolution = resolution >> level;
+        GLES30.glViewport(0, 0, mipmapResolution, mipmapResolution);
+        GLError.maybeThrowGLException("Failed to set viewport dimensions", "glViewport");
+        for (int chunkIndex = 0; chunkIndex < shaders.length; ++chunkIndex) {
+          GLES30.glBindFramebuffer(GLES30.GL_FRAMEBUFFER, framebuffers[level][chunkIndex]);
+          GLError.maybeThrowGLException("Failed to bind cubemap framebuffer", "glBindFramebuffer");
+          shaders[chunkIndex].setInt("u_RoughnessLevel", level);
+          shaders[chunkIndex].lowLevelUse();
+          mesh.lowLevelDraw();
+        }
+      }
+    } finally {
+      for (Image image : images) {
+        image.close();
+      }
+    }
+  }
+
+  /** Returns the number of mipmap levels in the filtered cubemap texture. */
+  public int getNumberOfMipmapLevels() {
+    return numberOfMipmapLevels;
+  }
+
+  /**
+   * Returns the filtered cubemap texture whose contents are updated with each call to {@link
+   * #update(Image[])}.
+   */
+  public Texture getFilteredCubemapTexture() {
+    return ldCubemap;
+  }
+
+  private void initializeLdCubemap() {
+    // Initialize mipmap levels of LD cubemap.
+    GLES30.glBindTexture(GLES30.GL_TEXTURE_CUBE_MAP, ldCubemap.getTextureId());
+    GLError.maybeThrowGLException("Could not bind LD cubemap texture", "glBindTexture");
+    for (int level = 0; level < numberOfMipmapLevels; ++level) {
+      int mipmapResolution = resolution >> level;
+      for (int face = 0; face < NUMBER_OF_CUBE_FACES; ++face) {
+        GLES30.glTexImage2D(
+            GLES30.GL_TEXTURE_CUBE_MAP_POSITIVE_X + face,
+            level,
+            GLES30.GL_RGB16F,
+            /*width=*/ mipmapResolution,
+            /*height=*/ mipmapResolution,
+            /*border=*/ 0,
+            GLES30.GL_RGB,
+            GLES30.GL_HALF_FLOAT,
+            /*data=*/ null);
+        GLError.maybeThrowGLException("Could not initialize LD cubemap mipmap", "glTexImage2D");
+      }
+    }
+  }
+
+  private Shader[] createShaders(SampleRender render, ChunkIterable chunks) throws IOException {
+    ImportanceSampleCacheEntry[][] importanceSampleCaches = generateImportanceSampleCaches();
+
+    HashMap<String, String> commonDefines = new HashMap<>();
+    commonDefines.put("NUMBER_OF_IMPORTANCE_SAMPLES", Integer.toString(numberOfImportanceSamples));
+    commonDefines.put("NUMBER_OF_MIPMAP_LEVELS", Integer.toString(numberOfMipmapLevels));
+
+    Shader[] shaders = new Shader[chunks.numberOfChunks];
+    for (Chunk chunk : chunks) {
+      HashMap<String, String> defines = new HashMap<>(commonDefines);
+      for (int location = 0; location < chunk.chunkSize; ++location) {
+        defines.put(
+            ATTACHMENT_LOCATION_DEFINES[chunk.firstFaceIndex + location],
+            Integer.toString(location));
+      }
+
+      // Create the shader and populate its uniforms with the importance sample cache entries.
+      shaders[chunk.chunkIndex] =
+          Shader.createFromAssets(
+                  render, "shaders/cubemap_filter.vert", "shaders/cubemap_filter.frag", defines)
+              .setTexture("u_Cubemap", radianceCubemap)
+              .setDepthTest(false)
+              .setDepthWrite(false);
+    }
+
+    for (Shader shader : shaders) {
+      for (int i = 0; i < importanceSampleCaches.length; ++i) {
+        ImportanceSampleCacheEntry[] cache = importanceSampleCaches[i];
+        String cacheName = "u_ImportanceSampleCaches[" + i + "]";
+        shader.setInt(cacheName + ".number_of_entries", cache.length);
+        for (int j = 0; j < cache.length; ++j) {
+          ImportanceSampleCacheEntry entry = cache[j];
+          String entryName = cacheName + ".entries[" + j + "]";
+          shader
+              .setVec3(entryName + ".direction", entry.direction)
+              .setFloat(entryName + ".contribution", entry.contribution)
+              .setFloat(entryName + ".level", entry.level);
+        }
+      }
+    }
+
+    return shaders;
+  }
+
+  private int[][] createFramebuffers(ChunkIterable chunks) {
+    // Create the framebuffers for each mipmap level.
+    int[][] framebuffers = new int[numberOfMipmapLevels][];
+    for (int level = 0; level < numberOfMipmapLevels; ++level) {
+      int[] framebufferChunks = new int[chunks.numberOfChunks];
+      GLES30.glGenFramebuffers(framebufferChunks.length, framebufferChunks, 0);
+      GLError.maybeThrowGLException("Could not create cubemap framebuffers", "glGenFramebuffers");
+      for (Chunk chunk : chunks) {
+        // Set the drawbuffers
+        GLES30.glBindFramebuffer(GLES30.GL_FRAMEBUFFER, framebufferChunks[chunk.chunkIndex]);
+        GLError.maybeThrowGLException("Could not bind framebuffer", "glBindFramebuffer");
+        GLES30.glDrawBuffers(chunk.chunkSize, ATTACHMENT_ENUMS, 0);
+        GLError.maybeThrowGLException("Could not bind draw buffers", "glDrawBuffers");
+        // Since GLES doesn't support glFramebufferTexture, we will use each cubemap face as a
+        // different color attachment.
+        for (int attachment = 0; attachment < chunk.chunkSize; ++attachment) {
+          GLES30.glFramebufferTexture2D(
+              GLES30.GL_FRAMEBUFFER,
+              GLES30.GL_COLOR_ATTACHMENT0 + attachment,
+              GLES30.GL_TEXTURE_CUBE_MAP_POSITIVE_X + chunk.firstFaceIndex + attachment,
+              ldCubemap.getTextureId(),
+              level);
+          GLError.maybeThrowGLException(
+              "Could not attach LD cubemap mipmap to framebuffer", "glFramebufferTexture");
+        }
+      }
+      framebuffers[level] = framebufferChunks;
+    }
+
+    return framebuffers;
+  }
+
+  /**
+   * Generate a cache of importance sampling terms in tangent space, indexed by {@code
+   * [roughnessLevel-1][sampleIndex]}.
+   */
+  private ImportanceSampleCacheEntry[][] generateImportanceSampleCaches() {
+    ImportanceSampleCacheEntry[][] result =
+        new ImportanceSampleCacheEntry[numberOfMipmapLevels - 1][];
+    for (int i = 0; i < numberOfMipmapLevels - 1; ++i) {
+      int mipmapLevel = i + 1;
+      float perceptualRoughness = mipmapLevel / (float) (numberOfMipmapLevels - 1);
+      float roughness = perceptualRoughness * perceptualRoughness;
+      int resolution = this.resolution >> mipmapLevel;
+      float log4omegaP = log4((4.0f * PI_F) / (6 * resolution * resolution));
+      float inverseNumberOfSamples = 1f / numberOfImportanceSamples;
+
+      ArrayList<ImportanceSampleCacheEntry> cache = new ArrayList<>(numberOfImportanceSamples);
+      float weight = 0f;
+      for (int sampleIndex = 0; sampleIndex < numberOfImportanceSamples; ++sampleIndex) {
+        float[] u = hammersley(sampleIndex, inverseNumberOfSamples);
+        float[] h = hemisphereImportanceSampleDggx(u, roughness);
+        float noh = h[2];
+        float noh2 = noh * noh;
+        float nol = 2f * noh2 - 1f;
+        if (nol > 0) {
+          ImportanceSampleCacheEntry entry = new ImportanceSampleCacheEntry();
+          entry.direction = new float[] {2f * noh * h[0], 2 * noh * h[1], nol};
+          float pdf = distributionGgx(noh, roughness) / 4f;
+          float log4omegaS = log4(1f / (numberOfImportanceSamples * pdf));
+          // K is a LOD bias that allows a bit of overlapping between samples
+          float log4K = 1f; // K = 4
+          float l = log4omegaS - log4omegaP + log4K;
+          entry.level = min(max(l, 0f), (float) (numberOfMipmapLevels - 1));
+          entry.contribution = nol;
+
+          cache.add(entry);
+          weight += nol;
+        }
+      }
+      for (ImportanceSampleCacheEntry entry : cache) {
+        entry.contribution /= weight;
+      }
+      result[i] = new ImportanceSampleCacheEntry[cache.size()];
+      cache.toArray(result[i]);
+    }
+    return result;
+  }
+
+  private static int getMaxColorAttachments() {
+    int[] result = new int[1];
+    GLES30.glGetIntegerv(GLES30.GL_MAX_COLOR_ATTACHMENTS, result, 0);
+    GLError.maybeThrowGLException("Failed to get max color attachments", "glGetIntegerv");
+    return result[0];
+  }
+
+  // Math!
+  private static final float PI_F = (float) Math.PI;
+
+  private static int log2(int value) {
+    if (value <= 0) {
+      throw new IllegalArgumentException("value must be positive");
+    }
+    value >>= 1;
+    int result = 0;
+    while (value != 0) {
+      ++result;
+      value >>= 1;
+    }
+    return result;
+  }
+
+  private static float log4(float value) {
+    return (float) (Math.log((double) value) / Math.log(4.0));
+  }
+
+  private static float sqrt(float value) {
+    return (float) Math.sqrt((double) value);
+  }
+
+  private static float sin(float value) {
+    return (float) Math.sin((double) value);
+  }
+
+  private static float cos(float value) {
+    return (float) Math.cos((double) value);
+  }
+
+  private static float[] hammersley(int i, float iN) {
+    float tof = 0.5f / 0x80000000L;
+    long bits = i;
+    bits = (bits << 16) | (bits >>> 16);
+    bits = ((bits & 0x55555555L) << 1) | ((bits & 0xAAAAAAAAL) >>> 1);
+    bits = ((bits & 0x33333333L) << 2) | ((bits & 0xCCCCCCCCL) >>> 2);
+    bits = ((bits & 0x0F0F0F0FL) << 4) | ((bits & 0xF0F0F0F0L) >>> 4);
+    bits = ((bits & 0x00FF00FFL) << 8) | ((bits & 0xFF00FF00L) >>> 8);
+    return new float[] {i * iN, bits * tof};
+  }
+
+  private static float[] hemisphereImportanceSampleDggx(float[] u, float a) {
+    // GGX - Trowbridge-Reitz importance sampling
+    float phi = 2.0f * PI_F * u[0];
+    // NOTE: (aa-1) == (a-1)(a+1) produces better fp accuracy
+    float cosTheta2 = (1f - u[1]) / (1f + (a + 1f) * ((a - 1f) * u[1]));
+    float cosTheta = sqrt(cosTheta2);
+    float sinTheta = sqrt(1f - cosTheta2);
+    return new float[] {sinTheta * cos(phi), sinTheta * sin(phi), cosTheta};
+  }
+
+  private static float distributionGgx(float noh, float a) {
+    // NOTE: (aa-1) == (a-1)(a+1) produces better fp accuracy
+    float f = (a - 1f) * ((a + 1f) * (noh * noh)) + 1f;
+    return (a * a) / (PI_F * f * f);
+  }
+}
diff --git a/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/kotlin/geospatial/GeospatialActivity.kt b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/kotlin/geospatial/GeospatialActivity.kt
new file mode 100644
index 0000000000..0665bd4d7d
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/kotlin/geospatial/GeospatialActivity.kt
@@ -0,0 +1,983 @@
+package com.google.ar.core.examples.kotlin.geospatial
+
+/*
+ * Copyright 2022 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.
+ */
+
+
+import android.content.Context
+import android.content.SharedPreferences
+import android.location.Location
+import android.opengl.GLSurfaceView
+import android.opengl.Matrix
+import android.os.Bundle
+import android.util.Log
+import android.view.GestureDetector
+import android.view.MenuItem
+import android.view.MotionEvent
+import android.view.View
+import android.widget.Button
+import android.widget.CompoundButton
+import android.widget.PopupMenu
+import android.widget.Switch
+import android.widget.TextView
+import android.widget.Toast
+import androidx.annotation.GuardedBy
+import androidx.appcompat.app.AppCompatActivity
+import androidx.fragment.app.DialogFragment
+import com.google.android.gms.location.FusedLocationProviderClient
+import com.google.android.gms.location.LocationServices
+import com.google.ar.core.Anchor
+import com.google.ar.core.Anchor.RooftopAnchorState
+import com.google.ar.core.Anchor.TerrainAnchorState
+import com.google.ar.core.ArCoreApk
+import com.google.ar.core.Camera
+import com.google.ar.core.Config
+import com.google.ar.core.Earth
+import com.google.ar.core.Frame
+import com.google.ar.core.GeospatialPose
+import com.google.ar.core.HitResult
+import com.google.ar.core.Plane
+import com.google.ar.core.Point
+import com.google.ar.core.Point.OrientationMode
+import com.google.ar.core.Pose
+import com.google.ar.core.Session
+import com.google.ar.core.StreetscapeGeometry
+import com.google.ar.core.Trackable
+import com.google.ar.core.TrackingState
+import com.google.ar.core.VpsAvailability
+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.LocationPermissionHelper
+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.examples.java.common.samplerender.Framebuffer
+import com.google.ar.core.examples.java.common.samplerender.IndexBuffer
+import com.google.ar.core.examples.java.common.samplerender.Mesh
+import com.google.ar.core.examples.java.common.samplerender.SampleRender
+import com.google.ar.core.examples.java.common.samplerender.Shader
+import com.google.ar.core.examples.java.common.samplerender.Shader.BlendFactor
+import com.google.ar.core.examples.java.common.samplerender.Texture
+import com.google.ar.core.examples.java.common.samplerender.VertexBuffer
+import com.google.ar.core.examples.java.common.samplerender.arcore.BackgroundRenderer
+import com.google.ar.core.examples.java.common.samplerender.arcore.PlaneRenderer
+import com.google.ar.core.exceptions.CameraNotAvailableException
+import com.google.ar.core.exceptions.FineLocationPermissionNotGrantedException
+import com.google.ar.core.exceptions.GooglePlayServicesLocationLibraryNotLinkedException
+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 com.google.ar.core.exceptions.UnsupportedConfigurationException
+import java.io.IOException
+import java.util.concurrent.TimeUnit
+
+/**
+ * Main activity for the Geospatial API example.
+ *
+ * This example shows how to use the Geospatial APIs. Once the device is localized, anchors can
+ * be created at the device's geospatial location. Anchor locations are persisted across sessions
+ * and will be recreated once localized.
+ */
+class GeospatialActivity : AppCompatActivity(),
+    SampleRender.Renderer,
+    VpsAvailabilityNoticeDialogFragment.NoticeDialogListener,
+    PrivacyNoticeDialogFragment.NoticeDialogListener {
+
+    companion object {
+        private val TAG = GeospatialActivity::class.java.simpleName
+
+        private const val SHARED_PREFERENCES_SAVED_ANCHORS = "SHARED_PREFERENCES_SAVED_ANCHORS"
+        private const val ALLOW_GEOSPATIAL_ACCESS_KEY = "ALLOW_GEOSPATIAL_ACCESS"
+        private const val ANCHOR_MODE = "ANCHOR_MODE"
+
+        private const val Z_NEAR = 0.1f
+        private const val Z_FAR = 1000f
+
+        private const val LOCALIZING_HORIZONTAL_ACCURACY_THRESHOLD_METERS = 10.0
+        private const val LOCALIZING_ORIENTATION_YAW_ACCURACY_THRESHOLD_DEGREES = 15.0
+
+        private const val LOCALIZED_HORIZONTAL_ACCURACY_HYSTERESIS_METERS = 10.0
+        private const val LOCALIZED_ORIENTATION_YAW_ACCURACY_HYSTERESIS_DEGREES = 10.0
+
+        private const val LOCALIZING_TIMEOUT_SECONDS = 180
+        private const val MAXIMUM_ANCHORS = 20
+        private const val DURATION_FOR_NO_TERRAIN_ANCHOR_RESULT_MS = 10000L
+    }
+
+    enum class State {
+        UNINITIALIZED,
+        UNSUPPORTED,
+        EARTH_STATE_ERROR,
+        PRETRACKING,
+        LOCALIZING,
+        LOCALIZING_FAILED,
+        LOCALIZED
+    }
+
+    enum class AnchorType {
+        GEOSPATIAL,
+        TERRAIN,
+        ROOFTOP
+    }
+
+    // Rendering
+    private lateinit var surfaceView: GLSurfaceView
+
+    private var installRequested = false
+    private var clearedAnchorsAmount: Int? = null
+
+    private var localizingStartTimestamp = 0L
+    private var deadlineForMessageMillis = 0L
+
+    private var state = State.UNINITIALIZED
+    private var anchorType = AnchorType.GEOSPATIAL
+
+    private var session: Session? = null
+    private val messageSnackbarHelper = SnackbarHelper()
+    private lateinit var displayRotationHelper: DisplayRotationHelper
+    private val trackingStateHelper = TrackingStateHelper(this)
+    private lateinit var render: SampleRender
+    private lateinit var sharedPreferences: SharedPreferences
+
+    private var lastStatusText: String = ""
+    private lateinit var geospatialPoseTextView: TextView
+    private lateinit var statusTextView: TextView
+    private lateinit var tapScreenTextView: TextView
+    private lateinit var setAnchorButton: Button
+    private lateinit var clearAnchorsButton: Button
+    private lateinit var streetscapeGeometrySwitch: Switch
+
+    private lateinit var planeRenderer: PlaneRenderer
+    private lateinit var backgroundRenderer: BackgroundRenderer
+    private lateinit var virtualSceneFramebuffer: Framebuffer
+    private var hasSetTextureNames = false
+    private var isRenderStreetscapeGeometry = false
+
+    private lateinit var virtualObjectMesh: Mesh
+    private lateinit var geospatialAnchorVirtualObjectShader: Shader
+    private lateinit var terrainAnchorVirtualObjectShader: Shader
+
+    private val anchorsLock = Any()
+
+    @GuardedBy("anchorsLock")
+    private val anchors = mutableListOf<Anchor>()
+
+    private val terrainAnchors = mutableSetOf<Anchor>()
+    private val rooftopAnchors = mutableSetOf<Anchor>()
+
+    // Temporary matrices to reduce allocations per frame
+    private val modelMatrix = FloatArray(16)
+    private val viewMatrix = FloatArray(16)
+    private val projectionMatrix = FloatArray(16)
+    private val modelViewMatrix = FloatArray(16)
+    private val modelViewProjectionMatrix = FloatArray(16)
+
+    private val identityQuaternion = floatArrayOf(0f, 0f, 0f, 1f)
+
+    private val singleTapLock = Any()
+
+    @GuardedBy("singleTapLock")
+    private var queuedSingleTap: MotionEvent? = null
+
+    private lateinit var gestureDetector: GestureDetector
+
+    // Point Cloud
+    private lateinit var pointCloudVertexBuffer: VertexBuffer
+    private lateinit var pointCloudMesh: Mesh
+    private lateinit var pointCloudShader: Shader
+    private var lastPointCloudTimestamp = 0L
+
+    private lateinit var fusedLocationClient: FusedLocationProviderClient
+
+    // Streetscape geometry
+    private val wallsColor = ArrayList<FloatArray>()
+    private lateinit var streetscapeGeometryTerrainShader: Shader
+    private lateinit var streetscapeGeometryBuildingShader: Shader
+    private val streetscapeGeometryToMeshes = HashMap<StreetscapeGeometry, Mesh>()
+
+    // Lifecycle
+
+    override fun onCreate(savedInstanceState: Bundle?) {
+        super.onCreate(savedInstanceState)
+        sharedPreferences = getPreferences(Context.MODE_PRIVATE)
+
+        setContentView(R.layout.activity_main)
+        surfaceView = findViewById(R.id.surfaceview)
+        geospatialPoseTextView = findViewById(R.id.geospatial_pose_view)
+        statusTextView = findViewById(R.id.status_text_view)
+        tapScreenTextView = findViewById(R.id.tap_screen_text_view)
+        setAnchorButton = findViewById(R.id.set_anchor_button)
+        clearAnchorsButton = findViewById(R.id.clear_anchors_button)
+
+        setAnchorButton.setOnClickListener { v ->
+            PopupMenu(this, v).apply {
+                setOnMenuItemClickListener { item -> settingsMenuClick(item) }
+                inflate(R.menu.settings_menu)
+                show()
+                menu.findItem(sharedPreferences.getInt(ANCHOR_MODE, R.id.geospatial))
+                    ?.isChecked = true
+            }
+        }
+
+        clearAnchorsButton.setOnClickListener { handleClearAnchorsButton() }
+
+        streetscapeGeometrySwitch = findViewById(R.id.streetscape_geometry_switch)
+        streetscapeGeometrySwitch.isChecked = false
+        streetscapeGeometrySwitch.setOnCheckedChangeListener { button, isChecked ->
+            onRenderStreetscapeGeometryChanged(button, isChecked)
+        }
+
+        displayRotationHelper = DisplayRotationHelper(this)
+        render = SampleRender(surfaceView, this, assets)
+
+        installRequested = false
+        clearedAnchorsAmount = null
+
+        gestureDetector = GestureDetector(this, object : GestureDetector.SimpleOnGestureListener() {
+            override fun onSingleTapUp(e: MotionEvent): Boolean {
+                synchronized(singleTapLock) { queuedSingleTap = e }
+                return true
+            }
+
+            override fun onDown(e: MotionEvent): Boolean = true
+        })
+        surfaceView.setOnTouchListener { _, event -> gestureDetector.onTouchEvent(event) }
+
+        fusedLocationClient = LocationServices.getFusedLocationProviderClient(this)
+    }
+
+    override fun onDestroy() {
+        session?.close()
+        session = null
+        super.onDestroy()
+    }
+
+    override fun onResume() {
+        super.onResume()
+        if (sharedPreferences.getBoolean(ALLOW_GEOSPATIAL_ACCESS_KEY, false)) {
+            createSession()
+        } else {
+            showPrivacyNoticeDialog()
+        }
+        surfaceView.onResume()
+        displayRotationHelper.onResume()
+    }
+
+    override fun onPause() {
+        super.onPause()
+        session?.let {
+            displayRotationHelper.onPause()
+            surfaceView.onPause()
+            it.pause()
+        }
+    }
+
+    override fun onRequestPermissionsResult(requestCode: Int, permissions: Array<String>, results: IntArray) {
+        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)) {
+                CameraPermissionHelper.launchPermissionSettings(this)
+            }
+            finish()
+        }
+        if (LocationPermissionHelper.hasFineLocationPermissionsResponseInResult(permissions)
+            && !LocationPermissionHelper.hasFineLocationPermission(this)
+        ) {
+            Toast.makeText(this, "Precise location permission is needed to run this application", Toast.LENGTH_LONG).show()
+            if (!LocationPermissionHelper.shouldShowRequestPermissionRationale(this)) {
+                LocationPermissionHelper.launchPermissionSettings(this)
+            }
+            finish()
+        }
+    }
+
+    override fun onWindowFocusChanged(hasFocus: Boolean) {
+        super.onWindowFocusChanged(hasFocus)
+        FullScreenHelper.setFullScreenOnWindowFocusChanged(this, hasFocus)
+    }
+
+    // Session setup
+
+    private fun showPrivacyNoticeDialog() {
+        PrivacyNoticeDialogFragment.createDialog()
+            .show(supportFragmentManager, PrivacyNoticeDialogFragment::class.java.name)
+    }
+
+    private fun createSession() {
+        var exception: Exception? = null
+        var message: String? = null
+
+        if (session == null) {
+            try {
+                when (ArCoreApk.getInstance().requestInstall(this, !installRequested)) {
+                    ArCoreApk.InstallStatus.INSTALL_REQUESTED -> {
+                        installRequested = true
+                        return
+                    }
+                    ArCoreApk.InstallStatus.INSTALLED -> Unit
+                }
+
+                if (!CameraPermissionHelper.hasCameraPermission(this)) {
+                    CameraPermissionHelper.requestCameraPermission(this)
+                    return
+                }
+                if (!LocationPermissionHelper.hasFineLocationPermission(this)) {
+                    LocationPermissionHelper.requestFineLocationPermission(this)
+                    return
+                }
+
+                session = Session(this)
+            } catch (e: UnavailableArcoreNotInstalledException) {
+                message = "Please install ARCore"; exception = e
+            } catch (e: UnavailableUserDeclinedInstallationException) {
+                message = "Please install ARCore"; exception = e
+            } catch (e: UnavailableApkTooOldException) {
+                message = "Please update ARCore"; exception = e
+            } catch (e: UnavailableSdkTooOldException) {
+                message = "Please update this app"; exception = e
+            } catch (e: UnavailableDeviceNotCompatibleException) {
+                message = "This device does not support AR"; exception = e
+            } catch (e: Exception) {
+                message = "Failed to create AR session"; exception = e
+            }
+
+            if (message != null) {
+                messageSnackbarHelper.showError(this, message)
+                Log.e(TAG, "Exception creating session", exception)
+                return
+            }
+        }
+
+        if (session != null) {
+            getLastLocation()
+        }
+
+        try {
+            configureSession()
+            session?.resume()
+        } catch (e: CameraNotAvailableException) {
+            message = "Camera not available. Try restarting the app."; exception = e
+        } catch (e: GooglePlayServicesLocationLibraryNotLinkedException) {
+            message = "Google Play Services location library not linked or obfuscated with Proguard."; exception = e
+        } catch (e: FineLocationPermissionNotGrantedException) {
+            message = "The Android permission ACCESS_FINE_LOCATION was not granted."; exception = e
+        } catch (e: UnsupportedConfigurationException) {
+            message = "This device does not support GeospatialMode.ENABLED."; exception = e
+        } catch (e: SecurityException) {
+            message = "Camera failure or the internet permission has not been granted."; exception = e
+        }
+
+        if (message != null) {
+            session = null
+            messageSnackbarHelper.showError(this, message)
+            Log.e(TAG, "Exception configuring and resuming the session", exception)
+        }
+    }
+
+    private fun getLastLocation() {
+        try {
+            fusedLocationClient.lastLocation.addOnSuccessListener { location: Location? ->
+                val latitude = location?.latitude ?: run {
+                    Log.e(TAG, "Error location is null"); 0.0
+                }
+                val longitude = location?.longitude ?: 0.0
+                checkVpsAvailability(latitude, longitude)
+            }
+        } catch (e: SecurityException) {
+            Log.e(TAG, "No location permissions granted by User!")
+        }
+    }
+
+    private fun checkVpsAvailability(latitude: Double, longitude: Double) {
+        session?.checkVpsAvailabilityAsync(latitude, longitude) { availability ->
+            if (availability != VpsAvailability.AVAILABLE) {
+                showVpsNotAvailabilityNoticeDialog()
+            }
+        }
+    }
+
+    private fun showVpsNotAvailabilityNoticeDialog() {
+        VpsAvailabilityNoticeDialogFragment.createDialog()
+            .show(supportFragmentManager, VpsAvailabilityNoticeDialogFragment::class.java.name)
+    }
+
+    private fun configureSession() {
+        val currentSession = session ?: return
+        if (!currentSession.isGeospatialModeSupported(Config.GeospatialMode.ENABLED)) {
+            state = State.UNSUPPORTED
+            return
+        }
+        val config = currentSession.config
+            .setGeospatialMode(Config.GeospatialMode.ENABLED)
+            .setStreetscapeGeometryMode(Config.StreetscapeGeometryMode.ENABLED)
+        currentSession.configure(config)
+        state = State.PRETRACKING
+        localizingStartTimestamp = System.currentTimeMillis()
+    }
+
+    // SampleRender.Renderer callbacks
+
+    override fun onSurfaceCreated(render: SampleRender) {
+        try {
+            planeRenderer = PlaneRenderer(render)
+            backgroundRenderer = BackgroundRenderer(render)
+            virtualSceneFramebuffer = Framebuffer(render, 1, 1)
+
+            val virtualObjectTexture = Texture.createFromAsset(
+                render,
+                "models/spatial_marker_baked.png",
+                Texture.WrapMode.CLAMP_TO_EDGE,
+                Texture.ColorFormat.SRGB
+            )
+            virtualObjectMesh = Mesh.createFromAsset(render, "models/geospatial_marker.obj")
+            geospatialAnchorVirtualObjectShader = Shader.createFromAssets(
+                render,
+                "shaders/ar_unlit_object.vert",
+                "shaders/ar_unlit_object.frag",
+                null
+            ).setTexture("u_Texture", virtualObjectTexture)
+
+            val terrainAnchorVirtualObjectTexture = Texture.createFromAsset(
+                render,
+                "models/spatial_marker_yellow.png",
+                Texture.WrapMode.CLAMP_TO_EDGE,
+                Texture.ColorFormat.SRGB
+            )
+            terrainAnchorVirtualObjectShader = Shader.createFromAssets(
+                render,
+                "shaders/ar_unlit_object.vert",
+                "shaders/ar_unlit_object.frag",
+                null
+            ).setTexture("u_Texture", terrainAnchorVirtualObjectTexture)
+
+            backgroundRenderer.setUseDepthVisualization(render, false)
+            backgroundRenderer.setUseOcclusion(render, false)
+
+            pointCloudShader = Shader.createFromAssets(
+                render,
+                "shaders/point_cloud.vert",
+                "shaders/point_cloud.frag",
+                null
+            ).setVec4("u_Color", floatArrayOf(31f / 255f, 188f / 255f, 210f / 255f, 1f))
+                .setFloat("u_PointSize", 5f)
+
+            pointCloudVertexBuffer = VertexBuffer(render, 4, null)
+            pointCloudMesh = Mesh(render, Mesh.PrimitiveMode.POINTS, null, arrayOf(pointCloudVertexBuffer))
+
+            streetscapeGeometryBuildingShader = Shader.createFromAssets(
+                render,
+                "shaders/streetscape_geometry.vert",
+                "shaders/streetscape_geometry.frag",
+                null
+            ).setBlend(BlendFactor.DST_ALPHA, BlendFactor.ONE)
+
+            streetscapeGeometryTerrainShader = Shader.createFromAssets(
+                render,
+                "shaders/streetscape_geometry.vert",
+                "shaders/streetscape_geometry.frag",
+                null
+            ).setBlend(BlendFactor.DST_ALPHA, BlendFactor.ONE)
+
+            wallsColor.add(floatArrayOf(0.5f, 0f, 0.5f, 0.3f))
+            wallsColor.add(floatArrayOf(0.5f, 0.5f, 0f, 0.3f))
+            wallsColor.add(floatArrayOf(0f, 0.5f, 0.5f, 0.3f))
+        } catch (e: IOException) {
+            Log.e(TAG, "Failed to read a required asset file", e)
+            messageSnackbarHelper.showError(this, "Failed to read a required asset file: $e")
+        }
+    }
+
+    override fun onSurfaceChanged(render: SampleRender, width: Int, height: Int) {
+        displayRotationHelper.onSurfaceChanged(width, height)
+        virtualSceneFramebuffer.resize(width, height)
+    }
+
+    override fun onDrawFrame(render: SampleRender) {
+        val currentSession = session ?: return
+
+        if (!hasSetTextureNames) {
+            currentSession.setCameraTextureNames(intArrayOf(backgroundRenderer.cameraColorTexture.textureId))
+            hasSetTextureNames = true
+        }
+
+        displayRotationHelper.updateSessionIfNeeded(currentSession)
+        updateStreetscapeGeometries(currentSession.getAllTrackables(StreetscapeGeometry::class.java))
+
+        val frame: Frame = try {
+            currentSession.update()
+        } catch (e: CameraNotAvailableException) {
+            Log.e(TAG, "Camera not available during onDrawFrame", e)
+            messageSnackbarHelper.showError(this, "Camera not available. Try restarting the app.")
+            return
+        }
+        val camera: Camera = frame.camera
+
+        backgroundRenderer.updateDisplayGeometry(frame)
+        trackingStateHelper.updateKeepScreenOnFlag(camera.trackingState)
+
+        val earth = currentSession.earth
+        if (earth != null) {
+            updateGeospatialState(earth)
+        }
+
+        val message: String? = when (state) {
+            State.UNINITIALIZED -> null
+            State.UNSUPPORTED -> resources.getString(R.string.status_unsupported)
+            State.PRETRACKING -> resources.getString(R.string.status_pretracking)
+            State.EARTH_STATE_ERROR -> resources.getString(R.string.status_earth_state_error)
+            State.LOCALIZING -> resources.getString(R.string.status_localize_hint)
+            State.LOCALIZING_FAILED -> resources.getString(R.string.status_localize_timeout)
+            State.LOCALIZED -> {
+                if (lastStatusText == resources.getString(R.string.status_localize_hint)) {
+                    resources.getString(R.string.status_localize_complete)
+                } else null
+            }
+        }
+
+        if (message != null && lastStatusText != message) {
+            lastStatusText = message
+            runOnUiThread {
+                statusTextView.visibility = View.VISIBLE
+                statusTextView.text = lastStatusText
+            }
+        }
+
+        synchronized(anchorsLock) {
+            if (anchors.size >= MAXIMUM_ANCHORS) {
+                runOnUiThread {
+                    setAnchorButton.visibility = View.INVISIBLE
+                    tapScreenTextView.visibility = View.INVISIBLE
+                }
+            }
+        }
+
+        handleTap(frame, camera.trackingState)
+
+        if (frame.timestamp != 0L) {
+            backgroundRenderer.drawBackground(render)
+        }
+
+        if (camera.trackingState != TrackingState.TRACKING || state != State.LOCALIZED) return
+
+        camera.getProjectionMatrix(projectionMatrix, 0, Z_NEAR, Z_FAR)
+        camera.getViewMatrix(viewMatrix, 0)
+
+        frame.acquirePointCloud().use { pointCloud ->
+            if (pointCloud.timestamp > lastPointCloudTimestamp) {
+                pointCloudVertexBuffer.set(pointCloud.points)
+                lastPointCloudTimestamp = pointCloud.timestamp
+            }
+            Matrix.multiplyMM(modelViewProjectionMatrix, 0, projectionMatrix, 0, viewMatrix, 0)
+            pointCloudShader.setMat4("u_ModelViewProjection", modelViewProjectionMatrix)
+            render.draw(pointCloudMesh, pointCloudShader)
+        }
+
+        planeRenderer.drawPlanes(
+            render,
+            currentSession.getAllTrackables(Plane::class.java),
+            camera.displayOrientedPose,
+            projectionMatrix
+        )
+
+        render.clear(virtualSceneFramebuffer, 0f, 0f, 0f, 0f)
+
+        if (isRenderStreetscapeGeometry) {
+            var index = 0
+            for ((streetscapeGeometry, mesh) in streetscapeGeometryToMeshes) {
+                if (streetscapeGeometry.trackingState != TrackingState.TRACKING) continue
+                val pose: Pose = streetscapeGeometry.meshPose
+                pose.toMatrix(modelMatrix, 0)
+                Matrix.multiplyMM(modelViewMatrix, 0, viewMatrix, 0, modelMatrix, 0)
+                Matrix.multiplyMM(modelViewProjectionMatrix, 0, projectionMatrix, 0, modelViewMatrix, 0)
+
+                if (streetscapeGeometry.type == StreetscapeGeometry.Type.BUILDING) {
+                    val color = wallsColor[index % wallsColor.size]
+                    index++
+                    streetscapeGeometryBuildingShader
+                        .setVec4("u_Color", floatArrayOf(color[0], color[1], color[2], color[3]))
+                        .setMat4("u_ModelViewProjection", modelViewProjectionMatrix)
+                    render.draw(mesh, streetscapeGeometryBuildingShader)
+                } else if (streetscapeGeometry.type == StreetscapeGeometry.Type.TERRAIN) {
+                    streetscapeGeometryTerrainShader
+                        .setVec4("u_Color", floatArrayOf(0f, 0.5f, 0f, 0.3f))
+                        .setMat4("u_ModelViewProjection", modelViewProjectionMatrix)
+                    render.draw(mesh, streetscapeGeometryTerrainShader)
+                }
+            }
+        }
+
+        render.clear(virtualSceneFramebuffer, 0f, 0f, 0f, 0f)
+        synchronized(anchorsLock) {
+            for (anchor in anchors) {
+                if (anchor.trackingState != TrackingState.TRACKING) continue
+
+                anchor.pose.toMatrix(modelMatrix, 0)
+                val scaleMatrix = FloatArray(16)
+                Matrix.setIdentityM(scaleMatrix, 0)
+                val scale = getScale(anchor.pose, camera.displayOrientedPose)
+                scaleMatrix[0] = scale; scaleMatrix[5] = scale; scaleMatrix[10] = scale
+                Matrix.multiplyMM(modelMatrix, 0, modelMatrix, 0, scaleMatrix, 0)
+
+                val rotationMatrix = FloatArray(16)
+                Matrix.setRotateM(rotationMatrix, 0, 180f, 0f, 1f, 0f)
+                val rotationModelMatrix = FloatArray(16)
+                Matrix.multiplyMM(rotationModelMatrix, 0, modelMatrix, 0, rotationMatrix, 0)
+
+                Matrix.multiplyMM(modelViewMatrix, 0, viewMatrix, 0, rotationModelMatrix, 0)
+                Matrix.multiplyMM(modelViewProjectionMatrix, 0, projectionMatrix, 0, modelViewMatrix, 0)
+
+                if (terrainAnchors.contains(anchor) || rooftopAnchors.contains(anchor)) {
+                    terrainAnchorVirtualObjectShader.setMat4("u_ModelViewProjection", modelViewProjectionMatrix)
+                    render.draw(virtualObjectMesh, terrainAnchorVirtualObjectShader, virtualSceneFramebuffer)
+                } else {
+                    geospatialAnchorVirtualObjectShader.setMat4("u_ModelViewProjection", modelViewProjectionMatrix)
+                    render.draw(virtualObjectMesh, geospatialAnchorVirtualObjectShader, virtualSceneFramebuffer)
+                }
+            }
+
+            if (anchors.size > 0) {
+                val anchorMessage = resources.getQuantityString(
+                    R.plurals.status_anchors_set, anchors.size, anchors.size, MAXIMUM_ANCHORS
+                )
+                runOnUiThread {
+                    statusTextView.visibility = View.VISIBLE
+                    statusTextView.text = anchorMessage
+                }
+            }
+        }
+
+        backgroundRenderer.drawVirtualScene(render, virtualSceneFramebuffer, Z_NEAR, Z_FAR)
+    }
+
+    // Streetscape geometry
+
+    private fun updateStreetscapeGeometries(streetscapeGeometries: Collection<StreetscapeGeometry>) {
+        for (streetscapeGeometry in streetscapeGeometries) {
+            if (!streetscapeGeometryToMeshes.containsKey(streetscapeGeometry)) {
+                streetscapeGeometryToMeshes[streetscapeGeometry] = getSampleRenderMesh(streetscapeGeometry)
+            }
+        }
+    }
+
+    private fun getSampleRenderMesh(streetscapeGeometry: StreetscapeGeometry): Mesh {
+        val buffer = streetscapeGeometry.mesh.vertexList.also { it.rewind() }
+        val meshVertexBuffer = VertexBuffer(render, 3, buffer)
+        val meshIndexBuffer = IndexBuffer(render, streetscapeGeometry.mesh.indexList)
+        return Mesh(render, Mesh.PrimitiveMode.TRIANGLES, meshIndexBuffer, arrayOf(meshVertexBuffer))
+    }
+
+    // Geospatial state machine
+
+    private fun updateGeospatialState(earth: Earth) {
+        if (earth.earthState != Earth.EarthState.ENABLED) {
+            state = State.EARTH_STATE_ERROR
+            return
+        }
+        if (earth.trackingState != TrackingState.TRACKING) {
+            state = State.PRETRACKING
+            return
+        }
+        when (state) {
+            State.PRETRACKING -> updatePretrackingState(earth)
+            State.LOCALIZING -> updateLocalizingState(earth)
+            State.LOCALIZED -> updateLocalizedState(earth)
+            else -> Unit
+        }
+    }
+
+    private fun updatePretrackingState(earth: Earth) {
+        if (earth.trackingState == TrackingState.TRACKING) {
+            state = State.LOCALIZING
+            return
+        }
+        runOnUiThread { geospatialPoseTextView.setText(R.string.geospatial_pose_not_tracking) }
+    }
+
+    private fun updateLocalizingState(earth: Earth) {
+        val geospatialPose = earth.cameraGeospatialPose
+        if (geospatialPose.horizontalAccuracy <= LOCALIZING_HORIZONTAL_ACCURACY_THRESHOLD_METERS
+            && geospatialPose.orientationYawAccuracy <= LOCALIZING_ORIENTATION_YAW_ACCURACY_THRESHOLD_DEGREES
+        ) {
+            state = State.LOCALIZED
+            synchronized(anchorsLock) {
+                val anchorNum = anchors.size
+                if (anchorNum == 0) createAnchorFromSharedPreferences(earth)
+                if (anchorNum < MAXIMUM_ANCHORS) {
+                    runOnUiThread {
+                        setAnchorButton.visibility = View.VISIBLE
+                        tapScreenTextView.visibility = View.VISIBLE
+                        if (anchorNum > 0) clearAnchorsButton.visibility = View.VISIBLE
+                    }
+                }
+            }
+            return
+        }
+
+        if (TimeUnit.MILLISECONDS.toSeconds(System.currentTimeMillis() - localizingStartTimestamp)
+            > LOCALIZING_TIMEOUT_SECONDS
+        ) {
+            state = State.LOCALIZING_FAILED
+            return
+        }
+
+        updateGeospatialPoseText(geospatialPose)
+    }
+
+    private fun updateLocalizedState(earth: Earth) {
+        val geospatialPose = earth.cameraGeospatialPose
+        if (geospatialPose.horizontalAccuracy > LOCALIZING_HORIZONTAL_ACCURACY_THRESHOLD_METERS + LOCALIZED_HORIZONTAL_ACCURACY_HYSTERESIS_METERS
+            || geospatialPose.orientationYawAccuracy > LOCALIZING_ORIENTATION_YAW_ACCURACY_THRESHOLD_DEGREES + LOCALIZED_ORIENTATION_YAW_ACCURACY_HYSTERESIS_DEGREES
+        ) {
+            state = State.LOCALIZING
+            localizingStartTimestamp = System.currentTimeMillis()
+            runOnUiThread {
+                setAnchorButton.visibility = View.INVISIBLE
+                tapScreenTextView.visibility = View.INVISIBLE
+                clearAnchorsButton.visibility = View.INVISIBLE
+            }
+            return
+        }
+        updateGeospatialPoseText(geospatialPose)
+    }
+
+    private fun updateGeospatialPoseText(geospatialPose: GeospatialPose) {
+        val quaternion = geospatialPose.eastUpSouthQuaternion
+        val poseText = resources.getString(
+            R.string.geospatial_pose,
+            geospatialPose.latitude,
+            geospatialPose.longitude,
+            geospatialPose.horizontalAccuracy,
+            geospatialPose.altitude,
+            geospatialPose.verticalAccuracy,
+            quaternion[0], quaternion[1], quaternion[2], quaternion[3],
+            geospatialPose.orientationYawAccuracy
+        )
+        runOnUiThread { geospatialPoseTextView.text = poseText }
+    }
+
+    // Tap / anchor handling
+
+    private fun handleTap(frame: Frame, cameraTrackingState: TrackingState) {
+        synchronized(singleTapLock) {
+            synchronized(anchorsLock) {
+                if (queuedSingleTap == null || anchors.size >= MAXIMUM_ANCHORS
+                    || cameraTrackingState != TrackingState.TRACKING
+                ) {
+                    queuedSingleTap = null
+                    return
+                }
+            }
+            val earth = session?.earth
+            if (earth == null || earth.trackingState != TrackingState.TRACKING) {
+                queuedSingleTap = null
+                return
+            }
+
+            for (hit in frame.hitTest(queuedSingleTap)) {
+                if (shouldCreateAnchorWithHit(hit)) {
+                    val geospatialPose = earth.getGeospatialPose(hit.hitPose)
+                    createAnchorWithGeospatialPose(earth, geospatialPose)
+                    break
+                }
+            }
+            queuedSingleTap = null
+        }
+    }
+
+    private fun shouldCreateAnchorWithHit(hit: HitResult): Boolean {
+        val trackable: Trackable = hit.trackable
+        if (isRenderStreetscapeGeometry && trackable is StreetscapeGeometry) return true
+        return when (trackable) {
+            is Plane -> trackable.isPoseInPolygon(hit.hitPose)
+            is Point -> trackable.orientationMode == OrientationMode.ESTIMATED_SURFACE_NORMAL
+            else -> false
+        }
+    }
+
+
+    protected fun settingsMenuClick(item: MenuItem): Boolean {
+        val itemId = item.itemId
+        if (itemId == R.id.anchor_reset) return true
+        item.isChecked = !item.isChecked
+        sharedPreferences.edit().putInt(ANCHOR_MODE, itemId).apply()
+        anchorType = when (itemId) {
+            R.id.geospatial -> AnchorType.GEOSPATIAL
+            R.id.terrain -> AnchorType.TERRAIN
+            R.id.rooftop -> AnchorType.ROOFTOP
+            else -> return false
+        }
+        return true
+    }
+
+    private fun createAnchorWithGeospatialPose(earth: Earth, geospatialPose: GeospatialPose) {
+        val latitude = geospatialPose.latitude
+        val longitude = geospatialPose.longitude
+        val altitude = geospatialPose.altitude
+        val quaternion = geospatialPose.eastUpSouthQuaternion
+        when (anchorType) {
+            AnchorType.TERRAIN -> {
+                createTerrainAnchor(earth, latitude, longitude, identityQuaternion)
+                storeAnchorParameters(latitude, longitude, 0.0, identityQuaternion)
+            }
+            AnchorType.GEOSPATIAL -> {
+                createAnchor(earth, latitude, longitude, altitude, quaternion)
+                storeAnchorParameters(latitude, longitude, altitude, quaternion)
+            }
+            AnchorType.ROOFTOP -> {
+                createRooftopAnchor(earth, latitude, longitude, identityQuaternion)
+                storeAnchorParameters(latitude, longitude, 0.0, identityQuaternion)
+            }
+        }
+        runOnUiThread { clearAnchorsButton.visibility = View.VISIBLE }
+        clearedAnchorsAmount = null
+    }
+
+    private fun handleClearAnchorsButton() {
+        synchronized(anchorsLock) {
+            clearedAnchorsAmount = anchors.size
+            val message = resources.getQuantityString(
+                R.plurals.status_anchors_cleared, clearedAnchorsAmount!!, clearedAnchorsAmount
+            )
+            statusTextView.visibility = View.VISIBLE
+            statusTextView.text = message
+            anchors.forEach { it.detach() }
+            anchors.clear()
+        }
+        clearAnchorsFromSharedPreferences()
+        clearAnchorsButton.visibility = View.INVISIBLE
+        setAnchorButton.visibility = View.VISIBLE
+        tapScreenTextView.visibility = View.VISIBLE
+    }
+
+    // Anchor creation helpers
+
+    private fun createAnchor(earth: Earth, latitude: Double, longitude: Double, altitude: Double, quaternion: FloatArray) {
+        val anchor = earth.createAnchor(latitude, longitude, altitude, quaternion[0], quaternion[1], quaternion[2], quaternion[3])
+        synchronized(anchorsLock) { anchors.add(anchor) }
+    }
+
+    private fun createTerrainAnchor(earth: Earth, latitude: Double, longitude: Double, quaternion: FloatArray) {
+        earth.resolveAnchorOnTerrainAsync(
+            latitude, longitude, 0.0,
+            quaternion[0], quaternion[1], quaternion[2], quaternion[3]
+        ) { anchor, anchorState ->
+            if (anchorState == TerrainAnchorState.SUCCESS) {
+                synchronized(anchorsLock) { anchors.add(anchor); terrainAnchors.add(anchor) }
+            } else {
+                statusTextView.visibility = View.VISIBLE
+                statusTextView.text = getString(R.string.status_terrain_anchor, anchorState)
+            }
+        }
+    }
+
+    private fun createRooftopAnchor(earth: Earth, latitude: Double, longitude: Double, quaternion: FloatArray) {
+        earth.resolveAnchorOnRooftopAsync(
+            latitude, longitude, 0.0,
+            quaternion[0], quaternion[1], quaternion[2], quaternion[3]
+        ) { anchor, anchorState ->
+            if (anchorState == RooftopAnchorState.SUCCESS) {
+                synchronized(anchorsLock) { anchors.add(anchor); rooftopAnchors.add(anchor) }
+            } else {
+                statusTextView.visibility = View.VISIBLE
+                statusTextView.text = getString(R.string.status_rooftop_anchor, anchorState)
+            }
+        }
+    }
+
+    // SharedPreferences helpers
+
+    private fun storeAnchorParameters(latitude: Double, longitude: Double, altitude: Double, quaternion: FloatArray) {
+        val existing = sharedPreferences.getStringSet(SHARED_PREFERENCES_SAVED_ANCHORS, emptySet())!!
+        val updated = HashSet<String>(existing)
+        val prefix = when (anchorType) {
+            AnchorType.TERRAIN -> "Terrain"
+            AnchorType.ROOFTOP -> "Rooftop"
+            else -> ""
+        }
+        updated.add(
+            String.format(
+                "${prefix}%.6f,%.6f,%.6f,%.6f,%.6f,%.6f,%.6f",
+                latitude, longitude, altitude,
+                quaternion[0], quaternion[1], quaternion[2], quaternion[3]
+            )
+        )
+        sharedPreferences.edit().putStringSet(SHARED_PREFERENCES_SAVED_ANCHORS, updated).apply()
+    }
+
+    private fun clearAnchorsFromSharedPreferences() {
+        sharedPreferences.edit().putStringSet(SHARED_PREFERENCES_SAVED_ANCHORS, null).apply()
+    }
+
+    private fun createAnchorFromSharedPreferences(earth: Earth) {
+        val anchorParameterSet = sharedPreferences.getStringSet(SHARED_PREFERENCES_SAVED_ANCHORS, null) ?: return
+        for (rawParams in anchorParameterSet) {
+            var params = rawParams
+            val type = when {
+                params.contains("Terrain") -> { params = params.replace("Terrain", ""); AnchorType.TERRAIN }
+                params.contains("Rooftop") -> { params = params.replace("Rooftop", ""); AnchorType.ROOFTOP }
+                else -> AnchorType.GEOSPATIAL
+            }
+            val parts = params.split(",")
+            if (parts.size != 7) {
+                Log.d(TAG, "Invalid number of anchor parameters. Expected four, found ${parts.size}")
+                continue
+            }
+            val latitude = parts[0].toDouble()
+            val longitude = parts[1].toDouble()
+            val altitude = parts[2].toDouble()
+            val quaternion = floatArrayOf(parts[3].toFloat(), parts[4].toFloat(), parts[5].toFloat(), parts[6].toFloat())
+            when (type) {
+                AnchorType.TERRAIN -> createTerrainAnchor(earth, latitude, longitude, quaternion)
+                AnchorType.ROOFTOP -> createRooftopAnchor(earth, latitude, longitude, quaternion)
+                else -> createAnchor(earth, latitude, longitude, altitude, quaternion)
+            }
+        }
+        runOnUiThread { clearAnchorsButton.visibility = View.VISIBLE }
+    }
+
+    // Scale helper
+
+    private fun getScale(anchorPose: Pose, cameraPose: Pose): Float {
+        val distance = Math.sqrt(
+            Math.pow((anchorPose.tx() - cameraPose.tx()).toDouble(), 2.0)
+                    + Math.pow((anchorPose.ty() - cameraPose.ty()).toDouble(), 2.0)
+                    + Math.pow((anchorPose.tz() - cameraPose.tz()).toDouble(), 2.0)
+        )
+        val mapDistance = distance.coerceIn(2.0, 20.0)
+        return ((mapDistance - 2) / (20 - 2) + 1).toFloat()
+    }
+
+    // Dialog callbacks
+
+    override fun onDialogPositiveClick(dialog: DialogFragment) {
+        if (!sharedPreferences.edit().putBoolean(ALLOW_GEOSPATIAL_ACCESS_KEY, true).commit()) {
+            throw AssertionError("Could not save the user preference to SharedPreferences!")
+        }
+        createSession()
+    }
+
+    override fun onDialogContinueClick(dialog: DialogFragment) {
+        dialog.dismiss()
+    }
+
+    private fun onRenderStreetscapeGeometryChanged(button: CompoundButton, isChecked: Boolean) {
+        if (session == null) return
+        isRenderStreetscapeGeometry = isChecked
+    }
+}
\ No newline at end of file
diff --git a/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/kotlin/geospatial/PrivacyNoticeDialogFragment.kt b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/kotlin/geospatial/PrivacyNoticeDialogFragment.kt
new file mode 100644
index 0000000000..570465ead7
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/kotlin/geospatial/PrivacyNoticeDialogFragment.kt
@@ -0,0 +1,68 @@
+package com.google.ar.core.examples.kotlin.geospatial
+
+/*
+ * Copyright 2022 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.
+ */
+
+
+import android.app.AlertDialog
+import android.app.Dialog
+import android.content.Context
+import android.content.Intent
+import android.net.Uri
+import android.os.Bundle
+import androidx.fragment.app.DialogFragment
+
+/** A DialogFragment for the Privacy Notice Dialog Box. */
+class PrivacyNoticeDialogFragment : DialogFragment() {
+
+    /** Listener for a privacy notice response. */
+    interface NoticeDialogListener {
+        /** Invoked when the user accepts sharing experience. */
+        fun onDialogPositiveClick(dialog: DialogFragment)
+    }
+
+    private var noticeDialogListener: NoticeDialogListener? = null
+
+    override fun onAttach(context: Context) {
+        super.onAttach(context)
+        // Verify that the host activity implements the callback interface
+        noticeDialogListener = context as? NoticeDialogListener
+            ?: throw AssertionError("Must implement NoticeDialogListener")
+    }
+
+    override fun onDetach() {
+        super.onDetach()
+        noticeDialogListener = null
+    }
+
+    override fun onCreateDialog(savedInstanceState: Bundle?): Dialog {
+        return AlertDialog.Builder(requireActivity(), R.style.AlertDialogCustom)
+            .setTitle(R.string.share_experience_title)
+            .setMessage(R.string.share_experience_message)
+            .setPositiveButton(R.string.agree_to_share) { _, _ ->
+                noticeDialogListener?.onDialogPositiveClick(this)
+            }
+            .setNegativeButton(R.string.learn_more) { _, _ ->
+                val browserIntent = Intent(Intent.ACTION_VIEW, Uri.parse(getString(R.string.learn_more_url)))
+                requireActivity().startActivity(browserIntent)
+            }
+            .create()
+    }
+
+    companion object {
+        fun createDialog(): PrivacyNoticeDialogFragment = PrivacyNoticeDialogFragment()
+    }
+}
\ No newline at end of file
diff --git a/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/kotlin/geospatial/VpsAvailabilityNoticeDialogFragment.kt b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/kotlin/geospatial/VpsAvailabilityNoticeDialogFragment.kt
new file mode 100644
index 0000000000..e4b9b69f7b
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/java/com/google/ar/core/examples/kotlin/geospatial/VpsAvailabilityNoticeDialogFragment.kt
@@ -0,0 +1,65 @@
+package com.google.ar.core.examples.kotlin.geospatial
+
+/*
+ * Copyright 2022 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.
+ */
+
+
+import android.app.AlertDialog
+import android.app.Dialog
+import android.content.Context
+import android.os.Bundle
+import androidx.fragment.app.DialogFragment
+
+/** A DialogFragment for the VPS availability Notice Dialog Box. */
+class VpsAvailabilityNoticeDialogFragment : DialogFragment() {
+
+    /** Listener for a VPS availability notice response. */
+    interface NoticeDialogListener {
+        /** Invoked when the user accepts sharing experience. */
+        fun onDialogContinueClick(dialog: DialogFragment)
+    }
+
+    private var noticeDialogListener: NoticeDialogListener? = null
+
+    override fun onAttach(context: Context) {
+        super.onAttach(context)
+        // Verify that the host activity implements the callback interface
+        noticeDialogListener = context as? NoticeDialogListener
+            ?: throw AssertionError("Must implement NoticeDialogListener")
+    }
+
+    override fun onDetach() {
+        super.onDetach()
+        noticeDialogListener = null
+    }
+
+    override fun onCreateDialog(savedInstanceState: Bundle?): Dialog {
+        val dialog = AlertDialog.Builder(requireActivity(), R.style.AlertDialogCustom)
+            .setTitle(R.string.vps_unavailable_title)
+            .setMessage(R.string.vps_unavailable_message)
+            .setCancelable(false)
+            .setPositiveButton(R.string.continue_button) { _, _ ->
+                noticeDialogListener?.onDialogContinueClick(this)
+            }
+            .create()
+        dialog.setCanceledOnTouchOutside(false)
+        return dialog
+    }
+
+    companion object {
+        fun createDialog(): VpsAvailabilityNoticeDialogFragment = VpsAvailabilityNoticeDialogFragment()
+    }
+}
\ No newline at end of file
diff --git a/samples/geospatial_kotlin/app/src/main/res/drawable-xxhdpi/button_bg.xml b/samples/geospatial_kotlin/app/src/main/res/drawable-xxhdpi/button_bg.xml
new file mode 100644
index 0000000000..7184dc9844
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/res/drawable-xxhdpi/button_bg.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+   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.
+-->
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <solid android:color="#039be5"/>
+    <corners android:radius="10dp"/>
+    <padding
+        android:left="2dp"
+        android:right="2dp"/>
+
+</shape>
diff --git a/samples/geospatial_kotlin/app/src/main/res/drawable-xxhdpi/dialog_bg.xml b/samples/geospatial_kotlin/app/src/main/res/drawable-xxhdpi/dialog_bg.xml
new file mode 100644
index 0000000000..03aab404f5
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/res/drawable-xxhdpi/dialog_bg.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+   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.
+-->
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid
+        android:color="@android:color/white"/>
+    <corners
+        android:radius="10dp" />
+    <padding
+        android:left="5dp"
+        android:top="10dp"
+        android:right="5dp"
+        android:bottom="10dp" />
+</shape>
diff --git a/samples/geospatial_kotlin/app/src/main/res/drawable-xxhdpi/ic_launcher.png b/samples/geospatial_kotlin/app/src/main/res/drawable-xxhdpi/ic_launcher.png
new file mode 100644
index 0000000000..0e5b5a8ad7
Binary files /dev/null and b/samples/geospatial_kotlin/app/src/main/res/drawable-xxhdpi/ic_launcher.png differ
diff --git a/samples/geospatial_kotlin/app/src/main/res/drawable-xxhdpi/ic_settings.png b/samples/geospatial_kotlin/app/src/main/res/drawable-xxhdpi/ic_settings.png
new file mode 100644
index 0000000000..76458c81fa
Binary files /dev/null and b/samples/geospatial_kotlin/app/src/main/res/drawable-xxhdpi/ic_settings.png differ
diff --git a/samples/geospatial_kotlin/app/src/main/res/drawable-xxhdpi/ic_settings_white.png b/samples/geospatial_kotlin/app/src/main/res/drawable-xxhdpi/ic_settings_white.png
new file mode 100644
index 0000000000..8909c35536
Binary files /dev/null and b/samples/geospatial_kotlin/app/src/main/res/drawable-xxhdpi/ic_settings_white.png differ
diff --git a/samples/geospatial_kotlin/app/src/main/res/layout/activity_main.xml b/samples/geospatial_kotlin/app/src/main/res/layout/activity_main.xml
new file mode 100644
index 0000000000..e9fe930704
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/res/layout/activity_main.xml
@@ -0,0 +1,88 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+   Copyright 2022 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.kotlin.geospatial.GeospatialActivity">
+
+  <android.opengl.GLSurfaceView
+      android:id="@+id/surfaceview"
+      android:layout_width="fill_parent"
+      android:layout_height="fill_parent"
+      android:layout_gravity="top"/>
+
+  <TextView
+      android:id="@+id/status_text_view"
+      android:layout_width="fill_parent"
+      android:layout_height="150dp"
+      android:layout_alignParentStart="true"
+      android:layout_alignParentBottom="true"
+      android:padding="20dp"
+      android:textColor="#ffffff"
+      android:background="#bf323232"/>
+
+  <TextView
+      android:id="@+id/geospatial_pose_view"
+      android:layout_width="fill_parent"
+      android:layout_height="wrap_content"
+      android:layout_gravity="top"
+      android:padding="20dp"
+      android:textColor="#ffffff"
+      android:background="#bf323232"/>
+
+  <TextView
+      android:id="@+id/tap_screen_text_view"
+      android:layout_width="wrap_content"
+      android:layout_height="wrap_content"
+      android:layout_above="@+id/status_text_view"
+      android:layout_centerInParent="true"
+      android:visibility="gone"
+      android:text="@string/tap_screen_text"
+      android:textColor="#ffffff"/>
+
+  <Button
+      android:id="@+id/set_anchor_button"
+      android:layout_width="wrap_content"
+      android:layout_height="wrap_content"
+      android:layout_above="@+id/streetscape_geometry_switch"
+      android:text="@string/button_text_set_anchor"
+      android:drawableRight="@drawable/ic_settings_white"
+      android:layout_alignParentRight="true"
+      android:visibility="invisible"/>
+
+  <Switch
+      android:id="@+id/streetscape_geometry_switch"
+      android:layout_width="wrap_content"
+      android:layout_height="wrap_content"
+      android:text="@string/switch_render_streetscaope_geometry"
+      android:layout_alignParentRight="true"
+      android:layout_alignParentBottom="true"
+      android:padding="10dp"
+      android:textOff="Off"
+      android:textOn="On" />
+
+  <Button
+      android:id="@+id/clear_anchors_button"
+      android:layout_width="wrap_content"
+      android:layout_height="wrap_content"
+      android:text="@string/button_text_clear_anchors"
+      android:layout_alignParentLeft="true"
+      android:layout_alignParentBottom="true"
+      android:visibility="invisible"/>
+
+</RelativeLayout>
diff --git a/samples/geospatial_kotlin/app/src/main/res/menu/settings_menu.xml b/samples/geospatial_kotlin/app/src/main/res/menu/settings_menu.xml
new file mode 100644
index 0000000000..5cc3a6ca78
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/res/menu/settings_menu.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="utf-8"?>
+<menu xmlns:android="http://schemas.android.com/apk/res/android">
+
+  <item
+      android:id="@+id/anchor_reset"
+      android:title="Anchor Setting" />
+
+  <group android:checkableBehavior="single">
+
+    <item
+        android:id="@+id/geospatial"
+        android:title="Geospatial" />
+
+    <item
+        android:id="@+id/terrain"
+        android:title="Terrain" />
+
+    <item
+        android:id="@+id/rooftop"
+        android:title="Rooftop" />
+
+  </group>
+
+</menu>
\ No newline at end of file
diff --git a/samples/geospatial_kotlin/app/src/main/res/values/dimens.xml b/samples/geospatial_kotlin/app/src/main/res/values/dimens.xml
new file mode 100644
index 0000000000..1f3284d017
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/res/values/dimens.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+   Copyright 2022 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>
+  <dimen name="dialog_btn_padding">8dp</dimen>
+
+</resources>
diff --git a/samples/geospatial_kotlin/app/src/main/res/values/strings.xml b/samples/geospatial_kotlin/app/src/main/res/values/strings.xml
new file mode 100644
index 0000000000..c7e9cbad4e
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/res/values/strings.xml
@@ -0,0 +1,61 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+   Copyright 2022 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">Geospatial Kotlin</string>
+  <string translatable="false" name="button_text_set_anchor">ANCHOR SETTING</string>
+  <string translatable="false" name="switch_render_streetscaope_geometry">SHOW GEOMETRY</string>
+  <string translatable="false" name="button_text_clear_anchors">CLEAR ALL ANCHORS</string>
+  <string translatable="false" name="tap_screen_text">TAP ON SCREEN TO CREATE ANCHOR</string>
+  <string translatable="false" name="status_unsupported">This device is not supported.</string>
+  <string translatable="false" name="status_pretracking">Localizing your device to set anchor.</string>
+  <string translatable="false" name="status_earth_state_error">There was an error state error, check that you have a valid authentication for the ARCore API.</string>
+  <string translatable="false" name="status_localize_hint">Point your camera at buildings, stores, and signs near you.</string>
+  <string translatable="false" name="status_localize_timeout">Localization not possible.\nClose and open the app to restart session.</string>
+  <string translatable="false" name="status_localize_complete">Localization complete.</string>
+  <string translatable="false" name="status_terrain_anchor">Terrain anchor state: %1$s</string>
+  <string translatable="false" name="status_rooftop_anchor">Rooftop anchor state: %1$s</string>
+  <string translatable="false" name="terrain_anchor_no_result_yet">Still resolving the terrain anchor. Please make sure you\'re in an area that has VPS coverage.</string>
+  <string translatable="false" name="terrain_anchor_resource_exhausted">Too many terrain anchors have already been held. Clear all anchors to create new ones.</string>
+  <plurals name="status_anchors_set">
+    <item quantity="one">%d / %d Anchor set</item>
+    <item quantity="other">%d / %d Anchors set</item>
+  </plurals>
+  <plurals name="status_anchors_cleared">
+    <item quantity="one">%d Anchor cleared</item>
+    <item quantity="other">%d Anchors cleared</item>
+  </plurals>
+  <string translatable="false" name="geospatial_pose_not_tracking">GEOSPATIAL POSE: Not tracking</string>
+  <string translatable="false" name="geospatial_pose">LAT/LNG: %.6f˚, %.6f˚\n\t\t\tACCURACY: %.2fm\nALTITUDE: %.2fm\n\t\t\tACCURACY: %.2fm\nORIENTATION: [%.1f, %.1f, %.1f, %.1f]\n\t\t\tYAW ACCURACY: %.1f˚</string>
+
+  <!-- Strings used in privacy notice dialog messages. [CHAR_LIMIT=NONE] -->
+  <string  name="share_experience_title">AR in the real world</string>
+  <!-- Privacy notice message. [CHAR_LIMIT=NONE] -->
+  <string name="share_experience_message">To power this session, Google will process visual data from your camera.</string>
+  <!-- Privacy notice accept. [CHAR_LIMIT=NONE] -->
+  <string name="agree_to_share">Get started</string>
+  <!-- Privacy notice learn more. [CHAR_LIMIT=NONE] -->
+  <string name="learn_more">Learn more</string>
+  <!-- Geospatial privacy website. [CHAR_LIMIT=NONE] -->
+  <string translatable="false" name="learn_more_url">https://developers.google.com/ar/data-privacy</string>
+
+  <!-- Strings used in VPS unavailable notice dialog messages. [CHAR_LIMIT=NONE] -->
+  <string  name="vps_unavailable_title">VPS not available</string>
+  <!-- VPS unavailable notice message. [CHAR_LIMIT=NONE] -->
+  <string name="vps_unavailable_message">Your current location does not have VPS coverage. Your session will be using your GPS signal only if VPS is not available.</string>
+  <!-- VPS unavailable notice continue. [CHAR_LIMIT=NONE] -->
+  <string name="continue_button">Continue</string>
+</resources>
diff --git a/samples/geospatial_kotlin/app/src/main/res/values/styles.xml b/samples/geospatial_kotlin/app/src/main/res/values/styles.xml
new file mode 100644
index 0000000000..88dc437f88
--- /dev/null
+++ b/samples/geospatial_kotlin/app/src/main/res/values/styles.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+   Copyright 2022 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>
+
+  <style name="AlertDialogCustom" parent="Theme.AppCompat.Light.Dialog.Alert">
+    <item name="android:gravity">center</item>
+    <item name="android:windowBackground">@drawable/dialog_bg</item>
+    <item name="android:buttonBarNegativeButtonStyle">@style/NegativeButtonStyle</item>
+    <item name="android:buttonBarPositiveButtonStyle">@style/PositiveButtonStyle</item>
+  </style>
+
+  <style name="NegativeButtonStyle" parent="Widget.AppCompat.Button.ButtonBar.AlertDialog">
+    <item name="android:textColor">@android:color/darker_gray</item>
+    <item name="android:paddingLeft">@dimen/dialog_btn_padding</item>
+    <item name="android:paddingRight">@dimen/dialog_btn_padding</item>
+
+  </style>
+
+  <style name="PositiveButtonStyle" parent="Widget.AppCompat.Button.ButtonBar.AlertDialog">
+    <item name="android:textColor">@android:color/white</item>
+    <item name="android:background">@drawable/button_bg</item>
+    <item name="android:paddingLeft">@dimen/dialog_btn_padding</item>
+    <item name="android:paddingRight">@dimen/dialog_btn_padding</item>
+  </style>
+</resources>
diff --git a/samples/geospatial_kotlin/build.gradle b/samples/geospatial_kotlin/build.gradle
new file mode 100644
index 0000000000..228a434706
--- /dev/null
+++ b/samples/geospatial_kotlin/build.gradle
@@ -0,0 +1,43 @@
+/*
+ * 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.
+ */
+
+// Top-level build file where you can add configuration options common to all sub-projects/modules.
+buildscript {
+    ext.kotlin_version = '1.6.10'
+    repositories {
+        google()
+        mavenCentral()
+    }
+    dependencies {
+        classpath 'com.android.tools.build:gradle:8.4.0'
+        classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:$kotlin_version"
+
+        // NOTE: Do not place your application dependencies here; they belong
+        // in the individual module build.gradle files
+    }
+}
+
+allprojects {
+    repositories {
+        google()
+        mavenCentral()
+        mavenLocal()
+    }
+}
+
+task clean(type: Delete) {
+    delete rootProject.buildDir
+}
diff --git a/samples/geospatial_kotlin/gradle.properties b/samples/geospatial_kotlin/gradle.properties
new file mode 100644
index 0000000000..95adfc1f9d
--- /dev/null
+++ b/samples/geospatial_kotlin/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/geospatial_kotlin/gradle/libs.versions.toml b/samples/geospatial_kotlin/gradle/libs.versions.toml
new file mode 100644
index 0000000000..4ac3234a6a
--- /dev/null
+++ b/samples/geospatial_kotlin/gradle/libs.versions.toml
@@ -0,0 +1,2 @@
+# This file was generated by the Gradle 'init' task.
+# https://docs.gradle.org/current/userguide/platforms.html#sub::toml-dependencies-format
diff --git a/samples/geospatial_kotlin/gradle/wrapper/gradle-wrapper.jar b/samples/geospatial_kotlin/gradle/wrapper/gradle-wrapper.jar
new file mode 100644
index 0000000000..1b33c55baa
Binary files /dev/null and b/samples/geospatial_kotlin/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/samples/geospatial_kotlin/gradle/wrapper/gradle-wrapper.properties b/samples/geospatial_kotlin/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000000..16da4ae610
--- /dev/null
+++ b/samples/geospatial_kotlin/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-8.6-bin.zip
diff --git a/samples/geospatial_kotlin/gradlew b/samples/geospatial_kotlin/gradlew
new file mode 100644
index 0000000000..23d15a9367
--- /dev/null
+++ b/samples/geospatial_kotlin/gradlew
@@ -0,0 +1,251 @@
+#!/bin/sh
+
+#
+# Copyright © 2015-2021 the original 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+##############################################################################
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
+##############################################################################
+
+# Attempt to set APP_HOME
+
+# Resolve links: $0 may be a link
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
+done
+
+# This is normally unused
+# shellcheck disable=SC2034
+APP_BASE_NAME=${0##*/}
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s\n' "$PWD" ) || exit
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD=maximum
+
+warn () {
+    echo "$*"
+} >&2
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+} >&2
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
+esac
+
+CLASSPATH="\\\"\\\""
+
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$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: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD=java
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+fi
+
+# Increase the maximum file descriptors if we can.
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
+    esac
+fi
+
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
+        fi
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
+    done
+fi
+
+
+# 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"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        -jar "$APP_HOME/gradle/wrapper/gradle-wrapper.jar" \
+        "$@"
+
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
+
+exec "$JAVACMD" "$@"
diff --git a/samples/geospatial_kotlin/gradlew.bat b/samples/geospatial_kotlin/gradlew.bat
new file mode 100644
index 0000000000..db3a6ac207
--- /dev/null
+++ b/samples/geospatial_kotlin/gradlew.bat
@@ -0,0 +1,94 @@
+@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
+@rem SPDX-License-Identifier: Apache-2.0
+@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=.
+@rem This is normally unused
+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% equ 0 goto execute
+
+echo. 1>&2
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo. 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" -jar "%APP_HOME%\gradle\wrapper\gradle-wrapper.jar" %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if %ERRORLEVEL% equ 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!
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/samples/geospatial_kotlin/settings.gradle b/samples/geospatial_kotlin/settings.gradle
new file mode 100644
index 0000000000..67f33c68b3
--- /dev/null
+++ b/samples/geospatial_kotlin/settings.gradle
@@ -0,0 +1,16 @@
+/*
+ * 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.
+ */
+include ':app'