public static void InitExtrinsics( TangoPoseRequest requests )
{
double timestamp = 0.0;
TangoCoordinateFramePair pair;
TangoPoseData poseData = new TangoPoseData();
Vector3 one = Vector3.one;
Vector3 position;
Quaternion quat;
//FIXME this could get called multiple times. Check for that shit.
if( (requests & TangoPoseRequest.IMU_TO_DEVICE) == TangoPoseRequest.IMU_TO_DEVICE ) {
// Query the extrinsics between IMU and device frame.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime( poseData, timestamp, pair );
position = new Vector3( (float)poseData.translation[0],
(float)poseData.translation[1],
(float)poseData.translation[2] );
quat = new Quaternion( (float)poseData.orientation[0],
(float)poseData.orientation[1],
(float)poseData.orientation[2],
(float)poseData.orientation[3] );
m_imuTd = Matrix4x4.TRS( position, quat, one );
}
if( (requests & TangoPoseRequest.IMU_TO_CAMERA_DEPTH) == TangoPoseRequest.IMU_TO_CAMERA_DEPTH ) {
// Query the extrinsics between IMU and color camera frame.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_DEPTH;
PoseProvider.GetPoseAtTime( poseData, timestamp, pair );
position = new Vector3( (float)poseData.translation[0],
(float)poseData.translation[1],
(float)poseData.translation[2] );
quat = new Quaternion( (float)poseData.orientation[0],
(float)poseData.orientation[1],
(float)poseData.orientation[2],
(float)poseData.orientation[3] );
m_imuTdc = Matrix4x4.TRS( position, quat, one );
}
if( (requests & TangoPoseRequest.IMU_TO_CAMERA_COLOR) == TangoPoseRequest.IMU_TO_CAMERA_COLOR ) {
// Query the extrinsics between IMU and color camera frame.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR;
PoseProvider.GetPoseAtTime( poseData, timestamp, pair );
position = new Vector3( (float)poseData.translation[0],
(float)poseData.translation[1],
(float)poseData.translation[2] );
quat = new Quaternion( (float)poseData.orientation[0],
(float)poseData.orientation[1],
(float)poseData.orientation[2],
(float)poseData.orientation[3] );
m_imuTcc = Matrix4x4.TRS( position, quat, one );
}
//m_dTuc = Matrix4x4.Inverse( m_imuTd ) * m_imuTcc * m_ccTuc;
}
// Use this for initialization
void Start()
{
m_tangoApplication = FindObjectOfType<TangoApplication>();
m_scanBounds = GetComponent<BoxCollider>();
m_exportLock = new Mutex();
m_progressLock = new Mutex();
m_tangoApplication.RegisterPermissionsCallback( _OnTangoApplicationPermissionsEvent );
m_tangoApplication.RequestNecessaryPermissionsAndConnect();
//m_tangoApplication.Register( this );
m_request = TangoPoseRequest.IMU_TO_DEVICE | TangoPoseRequest.IMU_TO_CAMERA_DEPTH | TangoPoseRequest.IMU_TO_CAMERA_COLOR;
m_yuvTexture = m_tangoApplication.GetVideoOverlayTextureYUV();
//// Pass YUV textures to shader for process.
//m_screenMaterial.SetTexture( "_YTex", m_yuvTexture.m_videoOverlayTextureY );
//m_screenMaterial.SetTexture( "_UTex", m_yuvTexture.m_videoOverlayTextureCb );
//m_screenMaterial.SetTexture( "_VTex", m_yuvTexture.m_videoOverlayTextureCr );
m_meshes = new Stack<MeshFilter>();
m_isExporting = false;
if( m_tangoApplication.m_useExperimentalVideoOverlay ) {
VideoOverlayProvider.ExperimentalConnectTexture( TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, m_yuvTexture, OnExperimentalFrameAvailable );
} else {
VideoOverlayProvider.ConnectTexture( TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, m_colourBuffer.GetNativeTextureID() );
}
TangoUtility.Init();
}