/// <summary>
/// Get the version of Tango API.
/// </summary>
/// <returns> String representing the current version of the API.</returns>
public static string GetVersionString()
{
IntPtr buf = IntPtr.Zero;
string versionString = string.Empty;
try
{
const int BufferSize = 1024;
buf = Marshal.AllocHGlobal(BufferSize);
TangoUtilAPI.UtilAPIVersionString(buf, BufferSize);
versionString = Marshal.PtrToStringAnsi(buf);
}
catch (Exception ex)
{
Console.WriteLine(ex);
}
finally
{
if (buf != IntPtr.Zero)
{
Marshal.FreeHGlobal(buf);
}
}
return(versionString);
}
void Awake()
{
TangoUtilAPI.UtilSetDepthNoiseLevel(2);
TangoUtilAPI.UtilSetDepthConfidenceLevel(2);
mApplicationHandler = TangoApplicationAPI.ApplicationInitialize("[Superframes Small-Peanut]");
if (mApplicationHandler == System.IntPtr.Zero)
{
ErrorHandler.instance.presentErrorMessage("Application initialization failed");
}
//let's hardcode depth image reoslution
//but eventially we can get resolution using VideoMode interface
mDepthBufferResolution = new Resolution();
mDepthBufferResolution.width = 320;
mDepthBufferResolution.height = 180;
mDepthBufferResolution.refreshRate = 5;
}
public bool getDepthBuffer(ref int [] buffer, ref double timestamp)
{
if (buffer.Length < getDepthBufferSize())
{
DebugLogger.WriteToLog(DebugLogger.EDebugLevel.DEBUG_WARN, "Wrong depth buffer size");
return(false);
}
GCHandle bufferHandler = GCHandle.Alloc(buffer, GCHandleType.Pinned);
Common.RetCodes retCode = (Common.RetCodes)TangoUtilAPI.UtilGetDepthFrame(mApplicationHandler, bufferHandler.AddrOfPinnedObject(),
mDepthBufferResolution.width * mDepthBufferResolution.height,
ref timestamp);
if (retCode != Common.RetCodes.kCAPISuccess)
{
DebugLogger.WriteToLog(DebugLogger.EDebugLevel.DEBUG_WARN, "Failed to get depth buffer with error:" + retCode);
}
bufferHandler.Free();
return(retCode == Common.RetCodes.kCAPISuccess);
}
public int getDepthConfidenceLevel()
{
return(TangoUtilAPI.UtilGetDepthConfidenceLevel());
}
public int getDepthNoiseLevel()
{
return(TangoUtilAPI.UtilGetDepthNoiseLevel());
}
