/// <summary>
/// Register to get Tango image events.
///
/// NOTE: Tango image events happen on a different thread than the main
/// Unity thread.
/// </summary>
/// <param name="cameraId">Camera identifier to get events for.</param>
/// <param name="useExperimentalOverlay">If true, use the experimental video overlay.</param>
/// <param name="videoOverlayTexture">The video overlay texture to use. Only used in experimental mode.</param>
internal virtual void SetCallback(Tango.TangoEnums.TangoCameraId cameraId, bool useExperimentalOverlay, YUVTexture videoOverlayTexture)
{
m_usingExperimentalOverlay = useExperimentalOverlay;
if (!useExperimentalOverlay)
{
m_previousImageBuffer = new TangoUnityImageData();
m_onImageAvailable = new Tango.VideoOverlayProvider.TangoService_onImageAvailable(_OnImageAvailable);
Tango.VideoOverlayProvider.SetCallback(cameraId, m_onImageAvailable);
}
else
{
if (videoOverlayTexture != null)
{
m_onUnityFrameAvailable = new Tango.VideoOverlayProvider.TangoService_onUnityFrameAvailable(_OnExperimentalUnityFrameAvailable);
VideoOverlayProvider.ExperimentalConnectTexture(cameraId,
videoOverlayTexture,
m_onUnityFrameAvailable);
Debug.Log("VideoOverlayListener.SetCallback() : Experimental Overlay listener hooked up");
}
else
{
Debug.Log("VideoOverlayListener.SetCallback() : No Texture2D found!");
}
}
}
/// <summary>
/// Awake this instance.
/// </summary>
private void Awake()
{
AndroidHelper.RegisterPauseEvent(_androidOnPause);
AndroidHelper.RegisterResumeEvent(_androidOnResume);
AndroidHelper.RegisterOnActivityResultEvent(_androidOnActivityResult);
if (m_enableMotionTracking)
{
m_poseListener = new PoseListener();
}
if (m_enableDepth)
{
m_depthListener = new DepthListener();
}
if (m_enableUXLibrary)
{
m_tangoEventListener = new TangoEventListener();
}
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();
}
}
/// <summary>
/// Experimental API only, subject to change. Connect a Texture IDs to a camera.
///
/// The camera is selected via TangoCameraId. Currently only TANGO_CAMERA_COLOR is supported. The texture
/// handles will be regenerated by the API on startup after which the application can use them, and will be
/// packed RGBA8888 data containing bytes of the image (so a single RGBA8888 will pack 4 neighbouring pixels).
/// If the config flag experimental_image_pixel_format is set to HAL_PIXEL_FORMAT_YCrCb_420_SP, texture_y will
/// pack 1280x720 pixels into a 320x720 RGBA8888 texture. texture_Cb and texture_Cr will contain copies of
/// the 2x2 downsampled interleaved UV planes packed similarly. If experimental_image_pixel_format is set to
/// HAL_PIXEL_FORMAT_YV12 then texture_y will have a stride of 1536 containing 1280 columns of data, packed
/// similarly in a RGBA8888 texture. texture_Cb and texture_Cr will be 2x2 downsampled versions of the same.
/// See YV12 and NV21 formats for details.
///
/// Note: The first scan-line of the color image is reserved for metadata instead of image pixels.
/// </summary>
/// <param name="cameraId">
/// The ID of the camera to connect this texture to. Only TANGO_CAMERA_COLOR and TANGO_CAMERA_FISHEYE are
/// supported.
/// </param>
/// <param name="textures">The texture IDs to use for the Y, Cb, and Cr planes.</param>
/// <param name="onUnityFrameAvailable">Callback method.</param>
internal static void ExperimentalConnectTexture(TangoEnums.TangoCameraId cameraId, YUVTexture textures, TangoService_onUnityFrameAvailable onUnityFrameAvailable)
{
#if UNITY_EDITOR
if (cameraId == TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR)
{
// Resize textures to to simulated width.
textures.ResizeAll(EMULATED_CAMERA_PACKED_WIDTH, EMULATED_CAMERA_PACKED_Y_HEIGHT,
EMULATED_CAMERA_PACKED_WIDTH, EMULATED_CAMERA_PACKED_UV_HEIGHT);
if (!m_emulationIsInitialized)
{
_InitializeResourcesForEmulation();
m_emulationIsInitialized = true;
}
#if !UNITY_EDITOR_WIN
// Rebind Texture2Ds to the underlying OpenGL texture ids of our render textures
// Which is more or less the inverse of what the acutal tango service does but has the same effect.
textures.m_videoOverlayTextureY.UpdateExternalTexture(m_emulatedExpId_Y.GetNativeTexturePtr());
textures.m_videoOverlayTextureCb.UpdateExternalTexture(m_emulatedExpId_CbCr.GetNativeTexturePtr());
textures.m_videoOverlayTextureCr.UpdateExternalTexture(m_emulatedExpId_CbCr.GetNativeTexturePtr());
#else // !UNITY_EDITOR_WIN
// A crash occurs when assigning the pointer of a Unity RenderTexture to a Texture2D (as above)
// in a DirectX environment. Instead, size the Texture2D's correctly and copy render targets
// with ReadPixels() when updating experimental textures.
// Keeping separate paths because ReadPixels() is a significant performance hit.
textures.m_videoOverlayTextureY.Resize(m_emulatedExpId_Y.width, m_emulatedExpId_Y.height);
textures.m_videoOverlayTextureCb.Resize(m_emulatedExpId_CbCr.width, m_emulatedExpId_CbCr.height);
m_emulationTexIdCaptureTextures = textures;
#endif // !UNITY_EDITOR_WIN
}
#else
int returnValue = VideoOverlayAPI.TangoService_Experimental_connectTextureIdUnity(
cameraId,
(uint)textures.m_videoOverlayTextureY.GetNativeTexturePtr().ToInt64(),
(uint)textures.m_videoOverlayTextureCb.GetNativeTexturePtr().ToInt64(),
(uint)textures.m_videoOverlayTextureCr.GetNativeTexturePtr().ToInt64(),
callbackContext,
onUnityFrameAvailable);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("VideoOverlayProvider.ConnectTexture() Texture was not connected to camera!");
}
#endif
}
/// <summary>
/// DEPRECATED: Register to get Tango texture events for the texture ID is updated.
///
/// NOTE: Tango texture events happen on a different thread than the main
/// Unity thread.
/// </summary>
/// <param name="videoOverlayTexture">The video overlay texture to use.</param>
internal void SetCallbackYUVTextureIdMethod(YUVTexture videoOverlayTexture)
{
if (videoOverlayTexture != null)
{
m_onYUVTextureAvailable =
new VideoOverlayProvider.TangoService_onTextureAvailable(_OnTangoYUVTextureAvailable);
VideoOverlayProvider.ExperimentalConnectTexture(
COLOR_CAMERA_ID, videoOverlayTexture, m_onYUVTextureAvailable);
Debug.Log("VideoOverlayListener.SetCallback() : YUVTexture listener hooked up");
}
else
{
Debug.Log("VideoOverlayListener.SetCallback() : No Texture2D found!");
}
}
/// <summary>
/// Set up cameras.
/// </summary>
private void Start()
{
Application.targetFrameRate = 60;
EnableCamera();
m_tangoApplication = FindObjectOfType<TangoApplication>();
m_textures = m_tangoApplication.GetVideoOverlayTextureYUV();
// Pass YUV textures to shader for process.
m_screenMaterial.SetTexture("_YTex", m_textures.m_videoOverlayTextureY);
m_screenMaterial.SetTexture("_UTex", m_textures.m_videoOverlayTextureCb);
m_screenMaterial.SetTexture("_VTex", m_textures.m_videoOverlayTextureCr);
m_tangoApplication.Register(this);
}
/// <summary>
/// Initialize the AR Screen.
/// </summary>
private void Start()
{
// Constant matrix converting start of service frame to Unity world frame.
m_uwTss = new Matrix4x4();
m_uwTss.SetColumn( 0, new Vector4( 1.0f, 0.0f, 0.0f, 0.0f ) );
m_uwTss.SetColumn( 1, new Vector4( 0.0f, 0.0f, 1.0f, 0.0f ) );
m_uwTss.SetColumn( 2, new Vector4( 0.0f, 1.0f, 0.0f, 0.0f ) );
m_uwTss.SetColumn( 3, new Vector4( 0.0f, 0.0f, 0.0f, 1.0f ) );
// Constant matrix converting Unity world frame frame to device frame.
m_cTuc.SetColumn( 0, new Vector4( 1.0f, 0.0f, 0.0f, 0.0f ) );
m_cTuc.SetColumn( 1, new Vector4( 0.0f, -1.0f, 0.0f, 0.0f ) );
m_cTuc.SetColumn( 2, new Vector4( 0.0f, 0.0f, 1.0f, 0.0f ) );
m_cTuc.SetColumn( 3, new Vector4( 0.0f, 0.0f, 0.0f, 1.0f ) );
//register for data callbacks
m_tangoApplication = FindObjectOfType<TangoApplication>();
if( m_tangoApplication != null ) {
if( AndroidHelper.IsTangoCorePresent() ) {
// Request Tango permissions
m_tangoApplication.RegisterPermissionsCallback( _OnTangoApplicationPermissionsEvent );
m_tangoApplication.RequestNecessaryPermissionsAndConnect();
m_tangoApplication.Register( this );
} else {
// If no Tango Core is present let's tell the user to install it.
Debug.Log( "Tango Core is outdated." );
}
} else {
Debug.Log( "No Tango Manager found in scene." );
}
if( m_tangoApplication != null ) {
m_textures = m_tangoApplication.GetVideoOverlayTextureYUV();
lumaTexture.texture = m_textures.m_videoOverlayTextureY;
chromaBlueTexture.texture = m_textures.m_videoOverlayTextureCb;
chromaRedTexture.texture = m_textures.m_videoOverlayTextureCr;
// Pass YUV textures to shader for process.
//m_screenMaterial.SetTexture( "_YTex", m_textures.m_videoOverlayTextureY );
//m_screenMaterial.SetTexture( "_UTex", m_textures.m_videoOverlayTextureCb );
//m_screenMaterial.SetTexture( "_VTex", m_textures.m_videoOverlayTextureCr );
}
m_tangoApplication.Register( this );
}
/// <summary>
/// Register to get Tango image events for the texture ID is updated.
///
/// NOTE: Tango image events happen on a different thread than the main
/// Unity thread.
/// </summary>
/// <param name="cameraId">Camera identifier to get events for.</param>
/// <param name="videoOverlayTexture">The video overlay texture to use.</param>
internal virtual void SetCallbackTextureIdMethod(Tango.TangoEnums.TangoCameraId cameraId,
YUVTexture videoOverlayTexture)
{
if (videoOverlayTexture != null)
{
m_onUnityFrameAvailable =
new Tango.VideoOverlayProvider.TangoService_onUnityFrameAvailable(_OnExperimentalUnityFrameAvailable);
VideoOverlayProvider.ExperimentalConnectTexture(cameraId,
videoOverlayTexture,
m_onUnityFrameAvailable);
Debug.Log("VideoOverlayListener.SetCallback() : Experimental Overlay listener hooked up");
}
else
{
Debug.Log("VideoOverlayListener.SetCallback() : No Texture2D found!");
}
}
/// <summary>
/// Register to get Tango image events for the texture ID is updated.
///
/// NOTE: Tango image events happen on a different thread than the main
/// Unity thread.
/// </summary>
/// <param name="cameraId">Camera identifier to get events for.</param>
/// <param name="videoOverlayTexture">The video overlay texture to use.</param>
internal virtual void SetCallbackTextureIdMethod(Tango.TangoEnums.TangoCameraId cameraId,
YUVTexture videoOverlayTexture)
{
if (videoOverlayTexture != null)
{
m_onUnityFrameAvailable =
new Tango.VideoOverlayProvider.TangoService_onUnityFrameAvailable(_OnExperimentalUnityFrameAvailable);
VideoOverlayProvider.ExperimentalConnectTexture(cameraId,
videoOverlayTexture,
m_onUnityFrameAvailable);
Debug.Log("VideoOverlayListener.SetCallback() : Experimental Overlay listener hooked up");
}
else
{
Debug.Log("VideoOverlayListener.SetCallback() : No Texture2D found!");
}
}
/// <summary>
/// DEPRECATED: Register to get Tango texture events for the texture ID is updated.
///
/// NOTE: Tango texture events happen on a different thread than the main
/// Unity thread.
/// </summary>
/// <param name="videoOverlayTexture">The video overlay texture to use.</param>
internal static void SetCallbackYUVTextureIdMethod(YUVTexture videoOverlayTexture)
{
if (videoOverlayTexture != null)
{
if (m_onYUVTextureAvailable != null)
{
Debug.Log("VideoOverlayProvider.SetCallbackYUVTextureIdMethod() called when a callback is already set.");
return;
}
Debug.Log("VideoOverlayProvider.SetCallbackYUVTextureIdMethod()");
m_onYUVTextureAvailable =
new VideoOverlayProvider.APIOnTextureAvailable(_OnTangoYUVTextureAvailable);
VideoOverlayProvider.ExperimentalConnectTexture(
COLOR_CAMERA_ID, videoOverlayTexture, m_onYUVTextureAvailable);
}
else
{
Debug.Log("VideoOverlayListener.SetCallbackYUVTextureIdMethod() : No Texture2D found!");
}
}
/// <summary>
/// Initialize the AR Screen.
/// </summary>
public void Start()
{
m_tangoApplication = FindObjectOfType<TangoApplication>();
m_arCameraPostProcess = gameObject.GetComponent<ARCameraPostProcess>();
if (m_tangoApplication != null)
{
m_tangoApplication.Register(this);
// Pass YUV textures to shader for process.
m_textures = m_tangoApplication.GetVideoOverlayTextureYUV();
m_screenMaterial.SetTexture("_YTex", m_textures.m_videoOverlayTextureY);
m_screenMaterial.SetTexture("_UTex", m_textures.m_videoOverlayTextureCb);
m_screenMaterial.SetTexture("_VTex", m_textures.m_videoOverlayTextureCr);
}
if (m_enableOcclusion)
{
TangoPointCloud pointCloud = FindObjectOfType<TangoPointCloud>();
if (pointCloud != null)
{
Renderer renderer = pointCloud.GetComponent<Renderer>();
renderer.enabled = true;
// Set the renderpass as background renderqueue's number minus one. YUV2RGB shader executes in
// Background queue which is 1000.
// But since we want to write depth data to Z buffer before YUV2RGB shader executes so that YUV2RGB
// data ignores Ztest from the depth data we set renderqueue of PointCloud as 999.
renderer.material.renderQueue = BACKGROUND_RENDER_QUEUE - 1;
renderer.material.SetFloat("point_size", POINTCLOUD_SPLATTER_UPSAMPLE_SIZE);
pointCloud.m_updatePointsMesh = true;
}
else
{
Debug.Log("Point Cloud data is not available, occlusion is not possible.");
}
}
}
/// <summary>
/// DEPRECATED: Connect a Texture IDs to a camera.
///
/// The camera is selected via TangoCameraId. Currently only TANGO_CAMERA_COLOR is supported. The texture
/// handles will be regenerated by the API on startup after which the application can use them, and will be
/// packed RGBA8888 data containing bytes of the image (so a single RGBA8888 will pack 4 neighboring pixels).
/// If the config flag experimental_image_pixel_format is set to HAL_PIXEL_FORMAT_YCrCb_420_SP, texture_y will
/// pack 1280x720 pixels into a 320x720 RGBA8888 texture. texture_Cb and texture_Cr will contain copies of
/// the 2x2 downsampled interleaved UV planes packed similarly. If experimental_image_pixel_format is set to
/// HAL_PIXEL_FORMAT_YV12 then texture_y will have a stride of 1536 containing 1280 columns of data, packed
/// similarly in a RGBA8888 texture. texture_Cb and texture_Cr will be 2x2 downsampled versions of the same.
/// See YV12 and NV21 formats for details.
///
/// Note: The first scan-line of the color image is reserved for metadata instead of image pixels.
/// </summary>
/// <param name="cameraId">
/// The ID of the camera to connect this texture to. Only TANGO_CAMERA_COLOR and TANGO_CAMERA_FISHEYE are
/// supported.
/// </param>
/// <param name="textures">The texture IDs to use for the Y, Cb, and Cr planes.</param>
/// <param name="callback">Callback method.</param>
internal static void ExperimentalConnectTexture(
TangoEnums.TangoCameraId cameraId, YUVTexture textures, APIOnTextureAvailable callback)
{
#if UNITY_EDITOR
if (cameraId == TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR)
{
m_emulatedExpId_Y = (RenderTexture)textures.m_videoOverlayTextureY;
m_emulatedExpId_CbCr = (RenderTexture)textures.m_videoOverlayTextureCb;
}
#else
int returnValue = API.TangoService_Experimental_connectTextureIdUnity(
cameraId,
(uint)textures.m_videoOverlayTextureY.GetNativeTexturePtr().ToInt64(),
(uint)textures.m_videoOverlayTextureCb.GetNativeTexturePtr().ToInt64(),
(uint)textures.m_videoOverlayTextureCr.GetNativeTexturePtr().ToInt64(),
IntPtr.Zero,
callback);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("VideoOverlayProvider.ConnectTexture() Texture was not connected to camera!");
}
#endif
}
/// <summary>
/// DEPRECATED: Register to get Tango texture events for the texture ID is updated.
///
/// NOTE: Tango texture events happen on a different thread than the main
/// Unity thread.
/// </summary>
/// <param name="videoOverlayTexture">The video overlay texture to use.</param>
internal static void SetCallbackYUVTextureIdMethod(YUVTexture videoOverlayTexture)
{
if (videoOverlayTexture != null)
{
if (m_onYUVTextureAvailable != null)
{
Debug.Log("VideoOverlayProvider.SetCallbackYUVTextureIdMethod() called when a callback is already set.");
return;
}
Debug.Log("VideoOverlayProvider.SetCallbackYUVTextureIdMethod()");
m_onYUVTextureAvailable =
new VideoOverlayProvider.APIOnTextureAvailable(_OnTangoYUVTextureAvailable);
VideoOverlayProvider.ExperimentalConnectTexture(
COLOR_CAMERA_ID, videoOverlayTexture, m_onYUVTextureAvailable);
}
else
{
Debug.Log("VideoOverlayListener.SetCallbackYUVTextureIdMethod() : No Texture2D found!");
}
}
/// <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>
/// Awake this instance.
/// </summary>
private void Awake()
{
AndroidHelper.RegisterPauseEvent(_androidOnPause);
AndroidHelper.RegisterResumeEvent(_androidOnResume);
AndroidHelper.RegisterOnActivityResultEvent(_androidOnActivityResult);
if (m_enableMotionTracking)
{
m_poseListener = new PoseListener();
}
if (m_enableDepth)
{
m_depthListener = new DepthListener();
}
if (m_enableUXLibrary)
{
m_tangoEventListener = new TangoEventListener();
}
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();
}
}
/// <summary>
/// Awake this instance.
/// </summary>
private void Awake()
{
AndroidHelper.RegisterPauseEvent(_androidOnPause);
AndroidHelper.RegisterResumeEvent(_androidOnResume);
AndroidHelper.RegisterOnActivityResultEvent(_androidOnActivityResult);
// 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();
}
// Setup configs.
m_tangoConfig = new TangoConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_DEFAULT);
m_tangoRuntimeConfig = new TangoConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_RUNTIME);
}
/// <summary>
/// Register to get Tango image events.
///
/// NOTE: Tango image events happen on a different thread than the main
/// Unity thread.
/// </summary>
/// <param name="cameraId">Camera identifier to get events for.</param>
/// <param name="useExperimentalOverlay">If true, use the experimental video overlay.</param>
/// <param name="videoOverlayTexture">The video overlay texture to use. Only used in experimental mode.</param>
internal virtual void SetCallback(Tango.TangoEnums.TangoCameraId cameraId, bool useExperimentalOverlay, YUVTexture videoOverlayTexture)
{
m_usingExperimentalOverlay = useExperimentalOverlay;
if (!useExperimentalOverlay)
{
m_previousImageBuffer = new TangoUnityImageData();
m_onImageAvailable = new Tango.VideoOverlayProvider.TangoService_onImageAvailable(_OnImageAvailable);
Tango.VideoOverlayProvider.SetCallback(cameraId, m_onImageAvailable);
}
else
{
if (videoOverlayTexture != null)
{
m_onUnityFrameAvailable = new Tango.VideoOverlayProvider.TangoService_onUnityFrameAvailable(_OnExperimentalUnityFrameAvailable);
VideoOverlayProvider.ExperimentalConnectTexture(cameraId,
videoOverlayTexture,
m_onUnityFrameAvailable);
Debug.Log("VideoOverlayListener.SetCallback() : Experimental Overlay listener hooked up");
}
else
{
Debug.Log("VideoOverlayListener.SetCallback() : No Texture2D found!");
}
}
}
// 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();
}
public static void ExperimentalConnectTexture(TangoEnums.TangoCameraId cameraId, YUVTexture textures, TangoService_onUnityFrameAvailable onUnityFrameAvailable)
{
int returnValue = VideoOverlayAPI.TangoService_Experimental_connectTextureIdUnity(cameraId,
(uint)textures.m_videoOverlayTextureY.GetNativeTextureID(),
(uint)textures.m_videoOverlayTextureCb.GetNativeTextureID(),
(uint)textures.m_videoOverlayTextureCr.GetNativeTextureID(),
callbackContext,
onUnityFrameAvailable);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("VideoOverlayProvider.ConnectTexture() Texture was not connected to camera!");
}
}
/// <summary>
/// Initialize the AR Screen.
/// </summary>
private void Start()
{
m_tangoApplication = FindObjectOfType<TangoApplication>();
if (m_tangoApplication != null)
{
m_tangoApplication.RegisterOnTangoConnect(_SetCameraIntrinsics);
// Pass YUV textures to shader for process.
m_textures = m_tangoApplication.GetVideoOverlayTextureYUV();
m_screenMaterial.SetTexture("_YTex", m_textures.m_videoOverlayTextureY);
m_screenMaterial.SetTexture("_UTex", m_textures.m_videoOverlayTextureCb);
m_screenMaterial.SetTexture("_VTex", m_textures.m_videoOverlayTextureCr);
}
}
/// <summary>
/// Experimental API only, subject to change. Connect a Texture IDs to a camera.
///
/// The camera is selected via TangoCameraId. Currently only TANGO_CAMERA_COLOR is supported. The texture
/// handles will be regenerated by the API on startup after which the application can use them, and will be
/// packed RGBA8888 data containing bytes of the image (so a single RGBA8888 will pack 4 neighbouring pixels).
/// If the config flag experimental_image_pixel_format is set to HAL_PIXEL_FORMAT_YCrCb_420_SP, texture_y will
/// pack 1280x720 pixels into a 320x720 RGBA8888 texture. texture_Cb and texture_Cr will contain copies of
/// the 2x2 downsampled interleaved UV planes packed similarly. If experimental_image_pixel_format is set to
/// HAL_PIXEL_FORMAT_YV12 then texture_y will have a stride of 1536 containing 1280 columns of data, packed
/// similarly in a RGBA8888 texture. texture_Cb and texture_Cr will be 2x2 downsampled versions of the same.
/// See YV12 and NV21 formats for details.
///
/// Note: The first scan-line of the color image is reserved for metadata instead of image pixels.
/// </summary>
/// <param name="cameraId">
/// The ID of the camera to connect this texture to. Only TANGO_CAMERA_COLOR and TANGO_CAMERA_FISHEYE are
/// supported.
/// </param>
/// <param name="textures">The texture IDs to use for the Y, Cb, and Cr planes.</param>
/// <param name="onUnityFrameAvailable">Callback method.</param>
internal static void ExperimentalConnectTexture(TangoEnums.TangoCameraId cameraId, YUVTexture textures, TangoService_onUnityFrameAvailable onUnityFrameAvailable)
{
int returnValue = VideoOverlayAPI.TangoService_Experimental_connectTextureIdUnity(cameraId,
(uint)textures.m_videoOverlayTextureY.GetNativeTextureID(),
(uint)textures.m_videoOverlayTextureCb.GetNativeTextureID(),
(uint)textures.m_videoOverlayTextureCr.GetNativeTextureID(),
callbackContext,
onUnityFrameAvailable);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("VideoOverlayProvider.ConnectTexture() Texture was not connected to camera!");
}
}
/// <summary>
/// DEPRECATED: Connect a Texture IDs to a camera.
///
/// The camera is selected via TangoCameraId. Currently only TANGO_CAMERA_COLOR is supported. The texture
/// handles will be regenerated by the API on startup after which the application can use them, and will be
/// packed RGBA8888 data containing bytes of the image (so a single RGBA8888 will pack 4 neighboring pixels).
/// If the config flag experimental_image_pixel_format is set to HAL_PIXEL_FORMAT_YCrCb_420_SP, texture_y will
/// pack 1280x720 pixels into a 320x720 RGBA8888 texture. texture_Cb and texture_Cr will contain copies of
/// the 2x2 downsampled interleaved UV planes packed similarly. If experimental_image_pixel_format is set to
/// HAL_PIXEL_FORMAT_YV12 then texture_y will have a stride of 1536 containing 1280 columns of data, packed
/// similarly in a RGBA8888 texture. texture_Cb and texture_Cr will be 2x2 downsampled versions of the same.
/// See YV12 and NV21 formats for details.
///
/// Note: The first scan-line of the color image is reserved for metadata instead of image pixels.
/// </summary>
/// <param name="cameraId">
/// The ID of the camera to connect this texture to. Only TANGO_CAMERA_COLOR and TANGO_CAMERA_FISHEYE are
/// supported.
/// </param>
/// <param name="textures">The texture IDs to use for the Y, Cb, and Cr planes.</param>
/// <param name="callback">Callback method.</param>
internal static void ExperimentalConnectTexture(
TangoEnums.TangoCameraId cameraId, YUVTexture textures, APIOnTextureAvailable callback)
{
#if UNITY_EDITOR
if (cameraId == TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR)
{
m_emulatedExpId_Y = (RenderTexture)textures.m_videoOverlayTextureY;
m_emulatedExpId_CbCr = (RenderTexture)textures.m_videoOverlayTextureCb;
}
#else
int returnValue = API.TangoService_Experimental_connectTextureIdUnity(
cameraId,
(uint)textures.m_videoOverlayTextureY.GetNativeTexturePtr().ToInt64(),
(uint)textures.m_videoOverlayTextureCb.GetNativeTexturePtr().ToInt64(),
(uint)textures.m_videoOverlayTextureCr.GetNativeTexturePtr().ToInt64(),
IntPtr.Zero,
callback);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("VideoOverlayProvider.ConnectTexture() Texture was not connected to camera!");
}
#endif
}
/// <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
}