/// <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;
}
}
void Start()
{
#if (UNITY_EDITOR)
DebugLogger.WriteToLog(DebugLogger.EDebugLevel.DEBUG_INFO, typeof(Camera).Name + " : Adding input controls to run in editor.");
gameObject.AddComponent <TangoFlyCam>();
#elif (UNITY_STANDALONE_OSX || UNITY_IPHONE || UNITY_ANDROID)
#else
#error platform is not supported
#endif
Synchronizer sync = gameObject.GetComponent <Synchronizer>();
int withSparseMapping = (operationMode == Mode.VisualIntertialNavigaitionAndMapping)?1:0;
mVIOHandler = TangoVIOAPI.VIOInitialize(sync.handler, withSparseMapping, sparseMapPath);
if (mVIOHandler == System.IntPtr.Zero)
{
ErrorHandler.instance.presentErrorMessage("VIO initialization failed");
}
}