/// <summary>
/// Initialize Tango Service and Config.
/// </summary>
public void InitApplication()
{
Debug.Log("-----------------------------------Initializing Tango");
_TangoInitialize();
TangoConfig.InitConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_DEFAULT);
if (m_enableVideoOverlay && m_useExperimentalVideoOverlay)
{
int yTextureWidth = 0;
int yTextureHeight = 0;
int uvTextureWidth = 0;
int uvTextureHeight = 0;
TangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_Y_TEXTURE_WIDTH, ref yTextureWidth);
TangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_Y_TEXTURE_HEIGHT, ref yTextureHeight);
TangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_UV_TEXTURE_WIDTH, ref uvTextureWidth);
TangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_UV_TEXTURE_HEIGHT, ref uvTextureHeight);
if (yTextureWidth == 0 ||
yTextureHeight == 0 ||
uvTextureWidth == 0 ||
uvTextureHeight == 0)
{
Debug.Log("Video overlay texture sizes were not set properly");
}
m_yuvTexture.ResizeAll(yTextureWidth, yTextureHeight, uvTextureWidth, uvTextureHeight);
}
}
/// <summary>
/// Initialize depth perception.
/// </summary>
private void _InitializeDepth()
{
if (TangoConfig.SetBool(TangoConfig.Keys.ENABLE_DEPTH_PERCEPTION_BOOL, m_enableDepth) && m_enableDepth)
{
_SetDepthCallbacks();
}
}
/// <summary>
/// Initialize depth perception.
/// </summary>
private void _InitializeDepth()
{
if (TangoConfig.SetBool(TangoConfig.Keys.ENABLE_DEPTH_PERCEPTION_BOOL, m_enableDepth) && m_enableDepth)
{
_SetDepthCallbacks();
}
bool depthConfigValue = false;
TangoConfig.GetBool(TangoConfig.Keys.ENABLE_DEPTH_PERCEPTION_BOOL, ref depthConfigValue);
Debug.Log("TangoConfig bool for key: " + TangoConfig.Keys.ENABLE_DEPTH_PERCEPTION_BOOL
+ " has value set of: " + depthConfigValue);
}
/// <summary>
/// Initialize depth perception.
/// </summary>
private void _InitializeDepth()
{
if (TangoConfig.SetBool(TangoConfig.Keys.ENABLE_DEPTH_PERCEPTION_BOOL, m_enableDepth) && m_enableDepth)
{
_SetDepthCallbacks();
}
bool depthConfigValue = false;
TangoConfig.GetBool(TangoConfig.Keys.ENABLE_DEPTH_PERCEPTION_BOOL, ref depthConfigValue);
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_INFO, "TangoConfig bool for key: " + TangoConfig.Keys.ENABLE_DEPTH_PERCEPTION_BOOL
+ " has value set of: " + depthConfigValue);
}
/// <summary>
/// Connect to the Tango Service.
/// </summary>
private void _TangoConnect()
{
if (TangoServiceAPI.TangoService_connect(m_callbackContext, TangoConfig.GetConfig()) != Common.ErrorType.TANGO_SUCCESS)
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_CRITICAL,
CLASS_NAME + ".Connect() Could not connect to the Tango Service!");
}
else
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_INFO,
CLASS_NAME + ".Connect() Tango client connected to service!");
}
}
/// <summary>
/// Connect to the Tango Service.
/// </summary>
private void _TangoConnect()
{
if (!m_isServiceConnected)
{
m_isServiceConnected = true;
if (TangoServiceAPI.TangoService_connect(m_callbackContext, TangoConfig.GetConfig()) != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(CLASS_NAME + ".Connect() Could not connect to the Tango Service!");
}
else
{
Debug.Log(CLASS_NAME + ".Connect() Tango client connected to service!");
}
}
}
/// <summary>
/// Disconnect from the Tango service.
///
/// This is called automatically when the TangoApplication goes away. You only need
/// to call this to disconnect from the Tango service before the TangoApplication goes
/// away.
/// </summary>
public void Shutdown()
{
Debug.Log("Tango Shutdown");
if (m_tangoConfig != null)
{
m_tangoConfig.Dispose();
m_tangoConfig = null;
}
if (m_tangoRuntimeConfig != null)
{
m_tangoRuntimeConfig.Dispose();
m_tangoRuntimeConfig = null;
}
_TangoDisconnect();
}
/// <summary>
/// Connect to the Tango Service.
/// </summary>
private void _TangoConnect()
{
if (!m_isServiceConnected)
{
m_isServiceConnected = true;
AndroidHelper.PerformanceLog("Unity _TangoConnect start");
if (TangoServiceAPI.TangoService_connect(m_callbackContext, TangoConfig.GetConfig()) != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(CLASS_NAME + ".Connect() Could not connect to the Tango Service!");
}
else
{
AndroidHelper.PerformanceLog("Unity _TangoConnect end");
Debug.Log(CLASS_NAME + ".Connect() Tango client connected to service!");
}
}
}
/// <summary>
/// Initialize motion tracking.
/// </summary>
private void _InitializeMotionTracking(string UUID)
{
System.Collections.Generic.List <TangoCoordinateFramePair> framePairs = new System.Collections.Generic.List <TangoCoordinateFramePair>();
if (TangoConfig.SetBool(TangoConfig.Keys.ENABLE_AREA_LEARNING_BOOL, m_enableAreaLearning) && m_enableAreaLearning)
{
m_areaLearningSetSucces = true;
}
else
{
m_areaLearningSetSucces = false;
}
if (TangoConfig.SetBool(TangoConfig.Keys.ENABLE_MOTION_TRACKING_BOOL, m_enableMotionTracking) && m_enableMotionTracking)
{
TangoCoordinateFramePair motionTracking;
motionTracking.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
motionTracking.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
if (!string.IsNullOrEmpty(UUID))
{
TangoConfig.SetString(TangoConfig.Keys.LOAD_AREA_DESCRIPTION_UUID_STRING, UUID);
TangoCoordinateFramePair areaDescription;
areaDescription.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
areaDescription.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
TangoCoordinateFramePair startToADF;
startToADF.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
startToADF.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
framePairs.Add(areaDescription);
framePairs.Add(startToADF);
}
framePairs.Add(motionTracking);
}
if (framePairs.Count > 0)
{
_SetMotionTrackingCallbacks(framePairs.ToArray());
}
TangoConfig.SetBool(TangoConfig.Keys.ENABLE_MOTION_TRACKING_AUTO_RECOVERY_BOOL, m_motionTrackingAutoReset);
}
/// <summary>
/// Initialize motion tracking.
/// </summary>
private void _InitializeMotionTracking(string UUID)
{
System.Collections.Generic.List <TangoCoordinateFramePair> framePairs = new System.Collections.Generic.List <TangoCoordinateFramePair>();
if (TangoConfig.SetBool(TangoConfig.Keys.ENABLE_MOTION_TRACKING_BOOL, m_enableMotionTracking) && m_enableMotionTracking)
{
TangoCoordinateFramePair motionTracking;
motionTracking.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
motionTracking.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
framePairs.Add(motionTracking);
if (TangoConfig.SetBool(TangoConfig.Keys.ENABLE_AREA_LEARNING_BOOL, m_enableAreaLearning) && m_enableAreaLearning)
{
Debug.Log("Area Learning is enabled.");
if (!string.IsNullOrEmpty(UUID))
{
TangoConfig.SetBool("config_experimental_high_accuracy_small_scale_adf", m_useExperimentalADF);
TangoConfig.SetString(TangoConfig.Keys.LOAD_AREA_DESCRIPTION_UUID_STRING, UUID);
}
TangoCoordinateFramePair areaDescription;
areaDescription.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
areaDescription.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
TangoCoordinateFramePair startToADF;
startToADF.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
startToADF.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
framePairs.Add(areaDescription);
framePairs.Add(startToADF);
}
}
if (framePairs.Count > 0)
{
_SetMotionTrackingCallbacks(framePairs.ToArray());
}
// The C API does not default this to on, but it is locked down.
TangoConfig.SetBool(TangoConfig.Keys.ENABLE_LOW_LATENCY_IMU_INTEGRATION, true);
TangoConfig.SetBool(TangoConfig.Keys.ENABLE_MOTION_TRACKING_AUTO_RECOVERY_BOOL, m_motionTrackingAutoReset);
}
/// <summary>
/// Shutdown this instance.
/// </summary>
public void Shutdown()
{
Debug.Log("Tango Shutdown");
TangoConfig.Free();
_TangoDisconnect();
}
/// <summary>
/// Initialize Tango Service and Config.
/// </summary>
public void InitApplication()
{
Debug.Log("-----------------------------------Initializing Tango");
_TangoInitialize();
TangoConfig.InitConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_DEFAULT);
}
/// <summary>
/// Raises the destroy event.
/// </summary>
void OnDestroy()
{
Debug.Log("On Destroy");
TangoConfig.Free();
_TangoDisconnect();
}
