/// <summary>
/// Gets the video mode from the hardware.
/// </summary>
/// <param name="videoMode"> Reference to be filled out by the Tango API.</param>
/// <returns> O if successful, otherwise it returns -1.</returns>
static public int LookupVideoMode(ref VideoModeAttributes videoMode)
{
int videoModeID = -1;
IntPtr videoModePtr = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(VideoModeAttributes)));
int numModes = Tango.HardwareParameters.HardwareParametersAPI.HardwareCameraNumberVideoModes();
if (numModes > 0)
{
// choose the very first video mode
Common.RetCodes res = (Common.RetCodes)Tango.HardwareParameters.HardwareParametersAPI.HardwareCameraGetVideoMode(0, videoModePtr);
if (res == Common.RetCodes.kCAPISuccess)
{
VideoModeAttributes supportedVideoMode = (VideoModeAttributes)Marshal.PtrToStructure(videoModePtr, typeof(VideoModeAttributes));
videoMode.frameRate = supportedVideoMode.frameRate;
videoMode.width = supportedVideoMode.width;
videoMode.height = supportedVideoMode.height;
videoModeID = 0;
}
else
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_ERROR, "Failed to get video mode with error:" + res);
}
}
else
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_ERROR, "Number of video modes:" + numModes);
}
Marshal.FreeHGlobal(videoModePtr);
return(videoModeID);
}
/// <summary>
/// Gets the latest depth frame.
/// </summary>
/// <param name="buffer"> Buffer to be filled out for depth.</param>
/// <param name="timestamp"> Gets filled with the current depth timestamp.</param>
/// <returns> True if the API returns success.</returns>
public static bool GetLatestFrame(ref int[] buffer, ref double timestamp)
{
if (!m_isInit)
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_WARN,
"DepthProvider.GetLatestFrame : Not Initialized!");
return(false);
}
if (buffer.Length < Common.DepthBufferSize)
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_WARN, "Wrong depth buffer size");
return(false);
}
GCHandle bufferHandler = GCHandle.Alloc(buffer, GCHandleType.Pinned);
Common.RetCodes retCode = (Common.RetCodes)TangoDepthAPI.DepthGetLatestFrame(TangoApplication.Instance.Handle,
bufferHandler.AddrOfPinnedObject(),
Common.DepthBufferSize,
ref timestamp);
if (retCode != Common.RetCodes.kCAPISuccess)
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_WARN,
"Failed to get depth buffer with error:" + retCode);
}
bufferHandler.Free();
return(retCode == Common.RetCodes.kCAPISuccess);
}
void LateUpdate()
{
//load next frame
if (mApplicationHandler != System.IntPtr.Zero)
{
Common.RetCodes retCode = (Common.RetCodes)TangoApplicationAPI.ApplicationDoStep(mApplicationHandler);
mValid = (retCode == Common.RetCodes.kCAPISuccess);
// if(retCode != Common.RetCodes.kCAPISuccess)
// ErrorHandler.instance.presentErrorMessage("Application step failed with error code:" + retCode);
// else
// Debug.Log("Do step succeed");
}
}
/// <summary>
/// Init VIO service.
/// </summary>
/// <param name="operationMode">Operation Mode.</param>
/// <param name="sparseMapPath">Sparse map path.
/// If it's null, the application will run in loop closure mode.</param>
public static void Init(Mode operationMode, string sparseMapPath)
{
int withSparseMapping =
(operationMode == Mode.VisualIntertialNavigationAndMapping) ? 1 : 0;
Common.RetCodes retCode = (Common.RetCodes)TangoVIOAPI.VIOInitialize(TangoApplication.Instance.Handle,
withSparseMapping,
sparseMapPath);
if (retCode != Common.RetCodes.kCAPISuccess)
{
Debug.Log("VIO initialization failed: " + retCode);
}
else
{
m_isInit = true;
}
}
/// <summary>
/// Perform updates for the next frame after the
/// normal update has run. This loads next frame.
/// </summary>
private void LateUpdate()
{
if (m_applicationHandle != System.IntPtr.Zero)
{
Common.RetCodes retCode = (Common.RetCodes)TangoApplicationAPI.ApplicationDoStep(m_applicationHandle);
if (retCode != Common.RetCodes.kCAPISuccess)
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_ERROR,
"Application do step error: " + retCode);
}
m_valid = retCode == Common.RetCodes.kCAPISuccess;
}
if (Input.GetKeyDown(KeyCode.Escape))
{
Application.Quit();
}
}
/// <summary>
/// Save current recorded sparse map to file.
/// </summary>
/// <param name="sparseMapPath">Absolute location on phone.</param>
/// <returns>If the function call succeed.</returns>
public static bool SaveSparseMap(string sparseMapPath)
{
if (!m_isInit)
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_WARN,
"VIOProvider.SaveSparseMap : Not Initialized!");
return(false);
}
Common.RetCodes ret_code =
(Common.RetCodes)TangoVIOAPI.VIOSaveSparseMap(
TangoApplication.Instance.Handle, sparseMapPath);
if (ret_code != Common.RetCodes.kCAPISuccess)
{
ErrorHandler.instance.presentErrorMessage(
"Application initialization failed" + ret_code);
return(false);
}
return(true);
}
public bool getDepthBuffer(ref int [] buffer, ref double timestamp)
{
if (buffer.Length < getDepthBufferSize())
{
DebugLogger.WriteToLog(DebugLogger.EDebugLevel.DEBUG_WARN, "Wrong depth buffer size");
return(false);
}
GCHandle bufferHandler = GCHandle.Alloc(buffer, GCHandleType.Pinned);
Common.RetCodes retCode = (Common.RetCodes)TangoUtilAPI.UtilGetDepthFrame(mApplicationHandler, bufferHandler.AddrOfPinnedObject(),
mDepthBufferResolution.width * mDepthBufferResolution.height,
ref timestamp);
if (retCode != Common.RetCodes.kCAPISuccess)
{
DebugLogger.WriteToLog(DebugLogger.EDebugLevel.DEBUG_WARN, "Failed to get depth buffer with error:" + retCode);
}
bufferHandler.Free();
return(retCode == Common.RetCodes.kCAPISuccess);
}
/// <summary>
/// Get latest vioStatus.
/// </summary>
/// <param name="vioStatus">Reference to vioStatus,
/// need caller to allocate.</param>
/// <returns>If the function call succeed.</returns>
public static bool GetLatestPose(ref VIOStatus vioStatus)
{
if (!m_isInit)
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_WARN, "VIOProvider.GetLatestPose : Not Initialized!");
return(false);
}
Common.RetCodes ret_code =
(Common.RetCodes)TangoVIOAPI.VIOGetLatestPose(
TangoApplication.Instance.Handle, ref vioStatus);
if (ret_code != Common.RetCodes.kCAPISuccess)
{
Debug.Log("get latest vio pose failed:" + ret_code);
return(false);
}
// Convert the estimator format to unity format
Utilities.TangoUtilAPI.UtilConvertPoseToUnityFormat(
ref vioStatus.rotation, ref vioStatus.translation,
ref vioStatus.rotation, ref vioStatus.translation);
return(true);
}
