public SessionManager()
{
AnchorManager = new AnchorManager();
LightEstimateManager = new LightEstimateManager();
MotionTrackingManager = new MotionTrackingManager();
PointCloudManager = new PointCloudManager();
RaycastManager = new RaycastManager();
TrackedPlaneManager = new TrackedPlaneManager();
TangoEvents = new List <ApiTangoEvent>();
TangoClientApi.ConnectOnEventAvailable(m_eventQueue, m_eventQueueLockObject);
}
public MotionTrackingManager()
{
ApiCoordinateFramePair[] framePairs = new ApiCoordinateFramePair[]
{
new ApiCoordinateFramePair()
{
baseFrame = ApiCoordinateFrameType.AreaDescription,
targetFrame = ApiCoordinateFrameType.StartOfService,
}
};
TangoClientApi.ConnectOnPoseAvailable(framePairs, m_poseQueue, m_poseQueueLock);
}
/// <summary>
/// Get the most recent light estimate.
/// </summary>
/// <returns></returns>
public LightEstimate GetLatestLightEstimate()
{
// Maintain frame consistency.
if (Time.frameCount == m_latestLightEstimateFrame)
{
return(m_latestLightEstimate);
}
m_latestLightEstimateFrame = Time.frameCount;
UnityTango.NativeImage nativeImage = new UnityTango.NativeImage();
if (!UnityTango.Device.TryAcquireLatestImageBuffer(ref nativeImage))
{
Debug.LogError("Unable to acquire image buffer.");
return(m_latestLightEstimate);
}
// The Y plane is always the first one.
var yPlaneInfo = nativeImage.planeInfos[0];
IntPtr yPlaneStart = new IntPtr(nativeImage.planeData.ToInt64() + yPlaneInfo.offset);
float intensity;
ApiServiceErrorStatus status = TangoClientApi.TangoService_getPixelIntensity(
yPlaneStart,
(int)nativeImage.width,
(int)nativeImage.height,
nativeImage.planeInfos[0].rowStride,
out intensity);
if (status != ApiServiceErrorStatus.Success)
{
Debug.LogErrorFormat("Call to getPixelIntensity failed: {0}.", status);
return(m_latestLightEstimate);
}
m_latestLightEstimate = new LightEstimate(intensity);
UnityTango.Device.ReleaseImageBuffer(nativeImage);
return(m_latestLightEstimate);
}
private bool _UpdateMostRecentApiPlanes()
{
IntPtr apiPlanesPtr = IntPtr.Zero;
int planeCount = 0;
if (TangoClientApi.TangoService_Experimental_getPlanes(ref apiPlanesPtr, ref planeCount).IsTangoFailure())
{
for (int i = 0; i < m_mostRecentApiPlanes.Count; i++)
{
ApiPlaneData planeData = m_mostRecentApiPlanes[i];
planeData.isValid = false;
m_mostRecentApiPlanes[i] = planeData;
}
return(true);
}
// The planes api is handling a COM reset, and the current state is not available. Leave the most recent
// Api planes collection unchanged.
if (apiPlanesPtr == null)
{
return(false);
}
// Marshal the most recent planes returned from the Api into m_mostRecentApiPlanes.
m_mostRecentApiPlanes.Clear();
MarshalingHelper.AddUnmanagedStructArrayToList <ApiPlaneData>(apiPlanesPtr, planeCount,
m_mostRecentApiPlanes);
if (TangoClientApi.TangoPlaneData_free(apiPlanesPtr, planeCount).IsTangoFailure())
{
ARDebug.LogErrorFormat("Failed to deallocate planes from the ARCore API.");
}
return(false);
}