public static int Tango3DR_update(IntPtr context, ref APIPointCloud cloud, ref APIPose cloud_pose,
IntPtr image, IntPtr image_pose, IntPtr calibration,
out IntPtr updated_indices)
{
updated_indices = IntPtr.Zero;
return((int)Status.SUCCESS);
}
public static extern int Tango3DR_update(IntPtr context, ref APIPointCloud cloud, ref APIPose cloud_pose,
ref APIImageBuffer image, ref APIPose image_pose,
ref APICameraCalibration calibration, out IntPtr updated_indices);
public static extern int Tango3DR_update(IntPtr context, ref APIPointCloud cloud, ref APIPose cloud_pose,
IntPtr image, IntPtr image_pose, IntPtr calibration,
out IntPtr updated_indices);
public static int Tango3DR_update(IntPtr context, ref APIPointCloud cloud, ref APIPose cloud_pose,
IntPtr image, IntPtr image_pose, IntPtr calibration,
out IntPtr updated_indices)
{
updated_indices = IntPtr.Zero;
return (int)Status.SUCCESS;
}
public static extern int Tango3DR_update(IntPtr context, ref APIPointCloud cloud, ref APIPose cloud_pose,
IntPtr image, IntPtr image_pose, IntPtr calibration,
out IntPtr updated_indices);
public static extern int Tango3DR_update(IntPtr context, ref APIPointCloud cloud, ref APIPose cloud_pose,
ref APIImageBuffer image, ref APIPose image_pose,
ref APICameraCalibration calibration, out IntPtr updated_indices);
/// <summary>
/// Update the 3D Reconstruction with a new point cloud and pose.
///
/// It is expected this will get called in from the Tango binder thread.
/// </summary>
/// <param name="depth">Point cloud from Tango.</param>
/// <param name="depthPose">Pose matrix the point cloud corresponds too.</param>
private void _UpdateDepth(TangoXYZij depth, Matrix4x4 depthPose)
{
if (m_context == IntPtr.Zero)
{
Debug.Log("Update called before creating a reconstruction context." + Environment.StackTrace);
return;
}
APIPointCloud apiCloud;
apiCloud.numPoints = depth.xyz_count;
apiCloud.points = depth.xyz;
apiCloud.timestamp = depth.timestamp;
APIPose apiDepthPose = APIPose.FromMatrix4x4(ref depthPose);
if (!m_sendColorToUpdate)
{
// No need to wait for a color image, update reconstruction immediately.
IntPtr rawUpdatedIndices;
Status result = (Status)API.Tango3DR_update(
m_context, ref apiCloud, ref apiDepthPose, IntPtr.Zero, IntPtr.Zero, IntPtr.Zero,
out rawUpdatedIndices);
if (result != Status.SUCCESS)
{
Debug.Log("Tango3DR_update returned non-success." + Environment.StackTrace);
return;
}
_AddUpdatedIndices(rawUpdatedIndices);
API.Tango3DR_GridIndexArray_destroy(rawUpdatedIndices);
}
else
{
lock (m_lockObject)
{
// We need both a color image and a depth cloud to update reconstruction. Cache the depth cloud
// because there are much less depth points than pixels.
m_mostRecentDepth = apiCloud;
m_mostRecentDepth.points = IntPtr.Zero;
m_mostRecentDepthPose = apiDepthPose;
Marshal.Copy(apiCloud.points, m_mostRecentDepthPoints, 0, apiCloud.numPoints * 3);
m_mostRecentDepthIsValid = true;
}
}
}
