/// <summary>
/// Set the grid index as having been observed from the given direction.
/// </summary>
/// <param name="gridIndex">Grid index to observe.</param>
private void _ViewGridIndex(Tango3DReconstruction.GridIndex gridIndex)
{
// This update may occur somewhat later than the actual time of the camera pose observation.
Vector3 dir = Camera.main.transform.forward;
dir = new Vector3(dir.x, 0.0f, dir.z).normalized;
Vector3[] directions = new Vector3[]
{
new Vector3(0, 0, 1),
new Vector3(0, 0, -1),
new Vector3(1, 0, 0),
new Vector3(-1, 0, 0)
};
for (int i = 0; i < 4; i++)
{
// If the camera is facing one of 4 directions (every 90 degrees) within a 45 degree spread,
// set that direction as seen.
float dot = Vector3.Dot(dir, directions[i]);
if (dot > m_minDirectionCheck)
{
// Bitwise OR new and old directions to show that the mesh has been observed from the new direction.
byte direction = (byte)(1 << i);
m_meshes[gridIndex].m_directions = (byte)(m_meshes[gridIndex].m_directions | direction);
break;
}
}
}
/// <summary>
/// Update the bounding box.
/// </summary>
/// <param name="gridIndex">Grid index to include in bounds.</param>
private void _UpdateBounds(Tango3DReconstruction.GridIndex gridIndex)
{
float gridIndexSize = m_tangoApplication.m_3drResolutionMeters * 16;
Vector3 pointToCompare = gridIndexSize * new Vector3(gridIndex.x, gridIndex.y, gridIndex.z);
Vector3 min = m_bounds.min;
Vector3 max = m_bounds.max;
if (m_bounds.min.x > pointToCompare.x)
{
min.x = pointToCompare.x;
}
if (m_bounds.min.y > pointToCompare.y)
{
min.y = pointToCompare.y;
}
if (m_bounds.min.z > pointToCompare.z)
{
min.z = pointToCompare.z;
}
if (m_bounds.max.x < pointToCompare.x)
{
max.x = pointToCompare.x;
}
if (m_bounds.max.y < pointToCompare.y)
{
max.y = pointToCompare.y;
}
if (m_bounds.max.z < pointToCompare.z)
{
max.z = pointToCompare.z;
}
m_bounds.SetMinMax(min, max);
}
/// <summary>
/// Extract and update (or create, if it doesn't exist) the mesh at the given grid index.
/// </summary>
/// <param name="gridIndex">Grid index.</param>
/// <param name="needsResize">List to which indices needing a future resize will be added.</param>
private void _UpdateMeshAtGridIndex(Tango3DReconstruction.GridIndex gridIndex, List<Tango3DReconstruction.GridIndex> needsResize)
{
TangoSingleDynamicMesh dynamicMesh;
if (!m_meshes.TryGetValue(gridIndex, out dynamicMesh))
{
// build a dynamic mesh as a child of this game object.
GameObject newObj = new GameObject();
newObj.transform.parent = transform;
newObj.name = string.Format("{0},{1},{2}", gridIndex.x, gridIndex.y, gridIndex.z);
newObj.layer = gameObject.layer;
dynamicMesh = newObj.AddComponent<TangoSingleDynamicMesh>();
dynamicMesh.m_vertices = new Vector3[INITIAL_VERTEX_COUNT];
if (m_tangoApplication.m_3drGenerateTexCoord)
{
dynamicMesh.m_uv = new Vector2[INITIAL_VERTEX_COUNT];
}
if (m_tangoApplication.m_3drGenerateColor)
{
dynamicMesh.m_colors = new Color32[INITIAL_VERTEX_COUNT];
}
dynamicMesh.m_triangles = new int[INITIAL_INDEX_COUNT];
// Update debug info too.
m_debugTotalVertices = dynamicMesh.m_vertices.Length;
m_debugTotalTriangles = dynamicMesh.m_triangles.Length;
// Add the other necessary objects
MeshFilter meshFilter = newObj.AddComponent<MeshFilter>();
dynamicMesh.m_mesh = meshFilter.mesh;
if (m_meshRenderer != null)
{
MeshRenderer meshRenderer = newObj.AddComponent<MeshRenderer>();
#if UNITY_5
meshRenderer.shadowCastingMode = m_meshRenderer.shadowCastingMode;
meshRenderer.receiveShadows = m_meshRenderer.receiveShadows;
meshRenderer.sharedMaterials = m_meshRenderer.sharedMaterials;
meshRenderer.useLightProbes = m_meshRenderer.useLightProbes;
meshRenderer.reflectionProbeUsage = m_meshRenderer.reflectionProbeUsage;
meshRenderer.probeAnchor = m_meshRenderer.probeAnchor;
#elif UNITY_4_6
meshRenderer.castShadows = m_meshRenderer.castShadows;
meshRenderer.receiveShadows = m_meshRenderer.receiveShadows;
meshRenderer.sharedMaterials = m_meshRenderer.sharedMaterials;
meshRenderer.useLightProbes = m_meshRenderer.useLightProbes;
meshRenderer.lightProbeAnchor = m_meshRenderer.lightProbeAnchor;
#endif
}
if (m_meshCollider != null)
{
MeshCollider meshCollider = newObj.AddComponent<MeshCollider>();
meshCollider.convex = m_meshCollider.convex;
meshCollider.isTrigger = m_meshCollider.isTrigger;
meshCollider.sharedMaterial = m_meshCollider.sharedMaterial;
meshCollider.sharedMesh = dynamicMesh.m_mesh;
dynamicMesh.m_meshCollider = meshCollider;
}
m_meshes.Add(gridIndex, dynamicMesh);
_UpdateBounds(gridIndex);
}
// Skip updating this grid index if it is considered completed.
if (m_enableSelectiveMeshing)
{
if (dynamicMesh.m_completed)
{
return;
}
_ObserveGridIndex(gridIndex, dynamicMesh);
}
// Last frame the mesh needed more space. Give it more room now.
if (dynamicMesh.m_needsToGrow)
{
int newVertexSize = (int)(dynamicMesh.m_vertices.Length * GROWTH_FACTOR);
int newTriangleSize = (int)(dynamicMesh.m_triangles.Length * GROWTH_FACTOR);
newTriangleSize -= newTriangleSize % 3;
// Remove the old size, add the new size.
m_debugTotalVertices += newVertexSize - dynamicMesh.m_vertices.Length;
m_debugTotalTriangles += newTriangleSize - dynamicMesh.m_triangles.Length;
dynamicMesh.m_vertices = new Vector3[newVertexSize];
if (m_tangoApplication.m_3drGenerateTexCoord)
{
dynamicMesh.m_uv = new Vector2[newVertexSize];
}
if (m_tangoApplication.m_3drGenerateColor)
{
dynamicMesh.m_colors = new Color32[newVertexSize];
}
dynamicMesh.m_triangles = new int[newTriangleSize];
dynamicMesh.m_needsToGrow = false;
}
int numVertices;
int numTriangles;
Tango3DReconstruction.Status status = m_tangoApplication.Tango3DRExtractMeshSegment(
gridIndex, dynamicMesh.m_vertices, null, dynamicMesh.m_colors, dynamicMesh.m_triangles,
out numVertices, out numTriangles);
if (status != Tango3DReconstruction.Status.INSUFFICIENT_SPACE
&& status != Tango3DReconstruction.Status.SUCCESS)
{
Debug.Log("Tango3DR extraction failed, status code = " + status + Environment.StackTrace);
return;
}
else if (status == Tango3DReconstruction.Status.INSUFFICIENT_SPACE)
{
// We already spent the time extracting this mesh, let's not spend any more time this frame
// to extract the mesh.
Debug.Log(string.Format(
"TangoDynamicMesh.Update() extraction ran out of space with room for {0} vertexes, {1} indexes.",
dynamicMesh.m_vertices.Length, dynamicMesh.m_triangles.Length));
dynamicMesh.m_needsToGrow = true;
needsResize.Add(gridIndex);
}
// Make any leftover triangles degenerate.
for (int triangleIt = numTriangles * 3; triangleIt < dynamicMesh.m_triangles.Length; ++triangleIt)
{
dynamicMesh.m_triangles[triangleIt] = 0;
}
if (dynamicMesh.m_uv != null)
{
// Add texture coordinates.
for (int vertexIt = 0; vertexIt < numVertices; ++vertexIt)
{
Vector3 vertex = dynamicMesh.m_vertices[vertexIt];
dynamicMesh.m_uv[vertexIt].x = vertex.x * UV_PER_METERS;
dynamicMesh.m_uv[vertexIt].y = (vertex.z + vertex.y) * UV_PER_METERS;
}
}
dynamicMesh.m_mesh.Clear();
dynamicMesh.m_mesh.vertices = dynamicMesh.m_vertices;
dynamicMesh.m_mesh.uv = dynamicMesh.m_uv;
dynamicMesh.m_mesh.colors32 = dynamicMesh.m_colors;
dynamicMesh.m_mesh.triangles = dynamicMesh.m_triangles;
if (m_tangoApplication.m_3drGenerateNormal)
{
dynamicMesh.m_mesh.RecalculateNormals();
}
if (dynamicMesh.m_meshCollider != null)
{
// Force the mesh collider to update too.
dynamicMesh.m_meshCollider.sharedMesh = null;
dynamicMesh.m_meshCollider.sharedMesh = dynamicMesh.m_mesh;
}
}
/// <summary>
/// When the grid index has been updated, also determine whether it should be considered completed
/// based on its neighboring grid indices, number of observations, and mesh completeness.
///
/// When checking a grid index for completeness, the observation count of neighboring grid indices is checked.
/// If all grid indices contained in one of the configurations have a sufficient number of observations,
/// the grid index is considered complete.
/// </summary>
/// <param name="gridIndex">Grid index to observe.</param>
/// <param name="singleMesh">TangoSingleDynamicMesh to update and observe.</param>
private void _ObserveGridIndex(Tango3DReconstruction.GridIndex gridIndex, TangoSingleDynamicMesh singleMesh)
{
// Increment the observations made for this grid index.
singleMesh.m_observations++;
// Add observation based on the direction of the observation.
_ViewGridIndex(gridIndex);
// Exit if the grid index has not been observed from all 8 directions.
if (singleMesh.m_directions != DIRECTIONS_COMPLETE)
{
return;
}
// Run through each grid index configuration and check if the grid index is complete.
for (int i = 0; i < m_gridIndexConfigs.Length; i++)
{
Vector3[] config = m_gridIndexConfigs[i];
bool neighborsObserved = true;
foreach (Vector3 nPosition in config)
{
Tango3DReconstruction.GridIndex neighbor = new Tango3DReconstruction.GridIndex();
neighbor.x = (Int32)(nPosition.x + gridIndex.x);
neighbor.y = (Int32)(nPosition.y + gridIndex.y);
neighbor.z = (Int32)(nPosition.z + gridIndex.z);
TangoSingleDynamicMesh nSingleMesh;
if (m_meshes.TryGetValue(neighbor, out nSingleMesh))
{
if (nSingleMesh.m_observations < NUM_OBSERVATIONS_TO_COMPLETE)
{
neighborsObserved = false;
break;
}
}
}
// Complete using this configurations of the neighbors with sufficient observations.
if (neighborsObserved)
{
// Add the grid index to the completed list, so it will be skipped during next mesh update.
singleMesh.m_completed = true;
return;
}
}
}
/// <summary>
/// Gets each single dynamic mesh and fills out arrays with properties. Each mesh corresponds to the same index in each array.
/// </summary>
/// <param name="gridIndices">Filled out with grid index of each mesh.</param>
/// <param name="completed">Filled out with completion state of each mesh.</param>
/// <param name="completionScale">Filled out with amount that each mesh has been completed.</param>
/// <param name="directions">Filled out with a byte representation of the observed directions of each mesh.</param>
public void GetSingleMeshProperties(out Tango3DReconstruction.GridIndex[] gridIndices, out bool[] completed, out float[] completionScale, out byte[] directions)
{
int numIndices = m_meshes.Count;
gridIndices = new Tango3DReconstruction.GridIndex[numIndices];
completed = new bool[numIndices];
completionScale = new float[numIndices];
directions = new byte[numIndices];
// Assign mesh properties to each index of the arrays.
m_meshes.Keys.CopyTo(gridIndices, 0);
for (int i = 0; i < numIndices; i++)
{
TangoSingleDynamicMesh mesh = m_meshes[gridIndices[i]];
completed[i] = mesh.m_completed;
completionScale[i] = 1.0f * mesh.m_observations / NUM_OBSERVATIONS_TO_COMPLETE;
directions[i] = mesh.m_directions;
}
}
/// <summary>
/// Awake this instance.
/// </summary>
private void Awake()
{
AndroidHelper.RegisterPauseEvent(_androidOnPause);
AndroidHelper.RegisterResumeEvent(_androidOnResume);
AndroidHelper.RegisterOnActivityResultEvent(_androidOnActivityResult);
AndroidHelper.RegisterOnScreenOrientationChangedEvent(_androidOnScreenOrientationChanged);
// Setup listeners.
m_tangoEventListener = new TangoEventListener();
m_areaDescriptionEventListener = new AreaDescriptionEventListener();
if (m_enableCloudADF)
{
m_tangoCloudEventListener = new TangoCloudEventListener();
}
if (m_enableMotionTracking)
{
m_poseListener = new PoseListener();
}
if (m_enableDepth)
{
m_depthListener = new DepthListener();
}
if (m_enableVideoOverlay)
{
int yTextureWidth = 0;
int yTextureHeight = 0;
int uvTextureWidth = 0;
int uvTextureHeight = 0;
m_yuvTexture = new YUVTexture(yTextureWidth, yTextureHeight, uvTextureWidth, uvTextureHeight, TextureFormat.RGBA32, false);
m_videoOverlayListener = new VideoOverlayListener();
}
if (m_enable3DReconstruction)
{
m_tango3DReconstruction = new Tango3DReconstruction(m_3drResolutionMeters, m_3drGenerateColor, m_3drSpaceClearing);
m_tango3DReconstruction.m_useAreaDescriptionPose = m_3drUseAreaDescriptionPose;
m_tango3DReconstruction.m_sendColorToUpdate = m_3drGenerateColor;
}
// Setup configs.
m_tangoConfig = new TangoConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_DEFAULT);
m_tangoRuntimeConfig = new TangoConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_RUNTIME);
TangoSupport.UpdateCurrentRotationIndex();
}
/// <summary>
/// Extract a single grid cell's mesh.
/// </summary>
/// <returns>Status of the extraction.</returns>
/// <param name="gridIndex">Grid index to extract.</param>
/// <param name="vertices">Filled out with extracted vertices.</param>
/// <param name="normals">Filled out with extracted normals.</param>
/// <param name="colors">Filled out with extracted colors.</param>
/// <param name="triangles">Filled out with extracted triangle indices.</param>
/// <param name="numVertices">Filled out with the number of valid vertices.</param>
/// <param name="numTriangles">Filled out with the number of valid triangles.</param>
public Tango3DReconstruction.Status Tango3DRExtractMeshSegment(
Tango3DReconstruction.GridIndex gridIndex, Vector3[] vertices, Vector3[] normals, Color32[] colors,
int[] triangles, out int numVertices, out int numTriangles)
{
if (m_tango3DReconstruction != null)
{
return m_tango3DReconstruction.ExtractMeshSegment(gridIndex, vertices, normals, colors, triangles,
out numVertices, out numTriangles);
}
numVertices = 0;
numTriangles = 0;
return Tango3DReconstruction.Status.INVALID;
}
/// <summary>
/// Extract an array of <c>SignedDistanceVoxel</c> objects.
/// </summary>
/// <returns>
/// Returns Status.SUCCESS if the voxels are fully extracted and stared in the array. In this case, <c>numVoxels</c>
/// will say how many voxels are used, the rest of the array is untouched.
///
/// Returns Status.INVALID if the array length does not exactly equal the number of voxels in a single grid
/// index. By default, the number of voxels in a grid index is 16*16*16.
///
/// Returns Status.INVALID if some other error occurs.
/// </returns>
/// <param name="gridIndex">Grid index to extract.</param>
/// <param name="voxels">
/// On successful extraction this will get filled out with the signed distance voxels.
/// </param>
/// <param name="numVoxels">Number of voxels filled out.</param>
public Tango3DReconstruction.Status Tango3DRExtractSignedDistanceVoxel(
Tango3DReconstruction.GridIndex gridIndex, Tango3DReconstruction.SignedDistanceVoxel[] voxels,
out int numVoxels)
{
if (m_tango3DReconstruction != null)
{
return m_tango3DReconstruction.ExtractSignedDistanceVoxel(gridIndex, voxels, out numVoxels);
}
numVoxels = 0;
return Tango3DReconstruction.Status.INVALID;
}
/// <summary>
/// Awake this instance.
/// </summary>
private void Awake()
{
if (!AndroidHelper.LoadTangoLibrary())
{
Debug.Log("Unable to load Tango library. Things may not work.");
return;
}
AndroidHelper.RegisterPauseEvent(_androidOnPause);
AndroidHelper.RegisterResumeEvent(_androidOnResume);
AndroidHelper.RegisterOnActivityResultEvent(_androidOnActivityResult);
AndroidHelper.RegisterOnDisplayChangedEvent(_androidOnDisplayChanged);
AndroidHelper.RegisterOnTangoServiceConnected(_androidOnTangoServiceConnected);
AndroidHelper.RegisterOnTangoServiceDisconnected(_androidOnTangoServiceDisconnected);
if (m_enableDepth)
{
DepthListener.SetPointCloudLimit(m_initialPointCloudMaxPoints);
}
if (m_enableVideoOverlay)
{
int yTextureWidth = 0;
int yTextureHeight = 0;
int uvTextureWidth = 0;
int uvTextureHeight = 0;
m_yuvTexture = new YUVTexture(yTextureWidth, yTextureHeight, uvTextureWidth, uvTextureHeight, TextureFormat.RGBA32, false);
}
if (m_enable3DReconstruction)
{
m_tango3DReconstruction = new Tango3DReconstruction(
resolution: m_3drResolutionMeters,
generateColor: m_3drGenerateColor,
spaceClearing: m_3drSpaceClearing,
minNumVertices: m_3drMinNumVertices,
updateMethod: m_3drUpdateMethod);
m_tango3DReconstruction.m_useAreaDescriptionPose = m_3drUseAreaDescriptionPose;
m_tango3DReconstruction.m_sendColorToUpdate = m_3drGenerateColor;
}
TangoSupport.UpdatePoseMatrixFromDeviceRotation(AndroidHelper.GetDisplayRotation(),
AndroidHelper.GetColorCameraRotation());
if (m_adjustScreenResolution)
{
_ChangeResolutionForPerformance();
}
// Importing and exporting Area Descriptions can be done before you connect. We must
// propogate those events if they happen.
AreaDescriptionEventListener.SetCallback();
#if UNITY_EDITOR
if (m_doSlowEmulation && (m_enableDepth || m_enableVideoOverlay))
{
if (m_emulationEnvironment == null)
{
Debug.LogError("No Mesh for Emulation assigned on the Tango Application (commonly in the Tango Manager prefab)."
+ " Expect blank camera and/or depth frames.");
}
EmulatedEnvironmentRenderHelper.InitForEnvironment(m_emulationEnvironment, m_emulationEnvironmentTexture, m_emulationVideoOverlaySimpleLighting);
}
else
{
EmulatedEnvironmentRenderHelper.Clear();
}
#endif
}
