/// <summary>
/// This callback function is called after user appoved or declined the permission to use Motion Tracking.
/// </summary>
private void _OnTangoApplicationPermissionsEvent(bool permissionsGranted)
{
if (permissionsGranted)
{
m_tangoApplication.InitApplication();
m_tangoApplication.InitProviders(string.Empty);
m_tangoApplication.ConnectToService();
// Ask ARScreen to query the camera intrinsics from Tango Service.
m_arScreen.SetCameraIntrinsics();
// The following code is querying the camera extrinsic, for example: the transformation between
// IMU and device frame. These extrinsics is used to transform the pose from the device frame
// to the color camera frame. Because the extrinsic is being queried using the GetPoseAtTime()
// with a desired frame pair, it can only be queried after the ConnectToService() is called.
//
// The device with respect to IMU frame is not directly queryable from API, so we use the IMU
// frame as a temporary value to get the device frame with respect to IMU frame.
double timestamp = 0.0;
TangoCoordinateFramePair pair;
TangoPoseData poseData = new TangoPoseData();
// Getting the transformation of device frame with respect to IMU frame.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
Vector3 position = new Vector3((float)poseData.translation[0],
(float)poseData.translation[1],
(float)poseData.translation[2]);
Quaternion 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, new Vector3(1.0f, 1.0f, 1.0f));
// Getting the transformation of IMU frame with respect to 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_imuTc = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
}
else
{
AndroidHelper.ShowAndroidToastMessage("Motion Tracking Permissions Needed", true);
}
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
if (m_shouldInitTango)
{
m_tangoApplication.InitApplication();
m_tangoApplication.InitProviders(string.Empty);
m_tangoApplication.ConnectToService();
m_shouldInitTango = false;
double timestamp = 0.0;
TangoCoordinateFramePair pair;
TangoPoseData poseData = new TangoPoseData();
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
Vector3 position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
Quaternion 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, new Vector3(1.0f, 1.0f, 1.0f));
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_imuTc = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
}
if (m_isDirty)
{
Matrix4x4 ssTd = Matrix4x4.TRS(m_tangoPosition, m_tangoRotation, Vector3.one);
Matrix4x4 uwTuc = m_uwTss * ssTd * Matrix4x4.Inverse(m_imuTd) * m_imuTc * m_cTuc;
// Extract new local position
transform.position = uwTuc.GetColumn(3);
// Extract new local rotation
transform.rotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1));
}
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
#if UNITY_ANDROID && !UNITY_EDITOR
if (m_isDirty)
{
// This rotation needs to be put into Unity coordinate space.
Quaternion rotationFix = Quaternion.Euler(90.0f, 0.0f, 0.0f);
if (!m_isRelocalized)
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[0].eulerAngles.x,
-m_tangoRotation[0].eulerAngles.z,
m_tangoRotation[0].eulerAngles.y);
transform.rotation = m_startingRotation * (rotationFix * axisFix);
transform.position = (m_startingRotation * (m_tangoPosition[0] * m_movementScale)) + m_startingOffset;
}
else
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[1].eulerAngles.x,
-m_tangoRotation[1].eulerAngles.z,
m_tangoRotation[1].eulerAngles.y);
transform.rotation = m_startingRotation * (rotationFix * axisFix);
transform.position = (m_startingRotation * (m_tangoPosition[1] * m_movementScale)) + m_startingOffset;
}
m_isDirty = false;
}
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
#else
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = tempPosition;
#endif
}
/// @endcond
/// <summary>
/// Update the transformation to the pose for that timestamp.
/// </summary>
/// <param name="timestamp">Time in seconds to update the transformation to.</param>
private void _UpdateTransformation(double timestamp)
{
TangoPoseData pose = new TangoPoseData();
TangoCoordinateFramePair pair;
if (!m_useAreaDescriptionPose)
{
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
}
else
{
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
}
PoseProvider.GetPoseAtTime(pose, timestamp, pair);
// The callback pose is for device with respect to start of service pose.
if (pose.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
// Construct matrix for the start of service with respect to device from the pose.
Matrix4x4 ssTd = pose.ToMatrix4x4();
// Calculate matrix for the camera in the Unity world, taking into account offsets.
Matrix4x4 uwTuc = m_uwTss * ssTd * m_dTuc;
// Extract final position, rotation.
m_tangoPosition = uwTuc.GetColumn(3);
m_tangoRotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1));
// Other pose data -- Pose count gets reset if pose status just became valid.
if (pose.status_code != m_poseStatus)
{
m_poseCount = 0;
}
m_poseCount++;
// Other pose data -- Pose time.
m_poseTimestamp = timestamp;
}
m_poseStatus = pose.status_code;
// Apply final position and rotation.
transform.position = m_tangoPosition;
transform.rotation = m_tangoRotation;
}
private void _OnTangoApplicationPermissionsEvent(bool permissionsGranted)
{
if (permissionsGranted && !m_alreadyInitialized)
{
Debug.Log("SampleController._OnApplicationPermissionsEvent()");
m_tangoApplication.InitApplication();
if (m_useADF)
{
// Query the full adf list.
PoseProvider.RefreshADFList();
// loading last recorded ADF
string uuid = PoseProvider.GetLatestADFUUID().GetStringDataUUID();
m_tangoApplication.InitProviders(uuid);
}
else
{
m_tangoApplication.InitProviders(string.Empty);
}
m_tangoApplication.ConnectToService();
// Query extrinsics constant tranformations.
TangoPoseData poseData = new TangoPoseData();
double timestamp = 0.0;
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
Vector3 position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
Quaternion quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
m_deviceToIMUMatrix = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
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_cameraToIMUMatrix = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
m_alreadyInitialized = true;
}
else if (!permissionsGranted)
{
AndroidHelper.ShowAndroidToastMessage("Motion Tracking Permissions Needed", true);
}
}
/// <summary>
/// Thread method to save an ADF. Make this the ThreadFunc.
/// </summary>
/// <param name="rawName">Name of the ADF. Must be a string.</param>
private void _SaveADFInBackground(object rawName)
{
UUIDUnityHolder adfUnityHolder = new UUIDUnityHolder();
string name = (string)rawName;
if (PoseProvider.SaveAreaDescription(adfUnityHolder) == Common.ErrorType.TANGO_SUCCESS)
{
PoseProvider.GetAreaDescriptionMetaData(adfUnityHolder);
PoseProvider.AreaDescriptionMetaData_set(Common.MetaDataKeyType.KEY_NAME, name, adfUnityHolder);
PoseProvider.SaveAreaDescriptionMetaData(adfUnityHolder);
}
else
{
// Setting a bool is atomic.
m_adfSaveFailed = true;
}
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
#if UNITY_ANDROID && !UNITY_EDITOR
if (m_shouldInitTango)
{
m_tangoApplication.InitApplication();
m_tangoApplication.InitProviders(string.Empty);
m_tangoApplication.ConnectToService();
m_shouldInitTango = false;
}
if (m_isDirty)
{
// Construct the start of service with respect to device matrix from the pose.
Matrix4x4 ssTd = Matrix4x4.TRS(m_tangoPosition, m_tangoRotation, Vector3.one);
// Converting from Tango coordinate frame to Unity coodinate frame.
Matrix4x4 uwTuc = m_uwTss * ssTd * m_dTuc;
// Extract new local position
transform.position = uwTuc.GetColumn(3);
// Extract new local rotation
transform.rotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1));
}
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
#else
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = tempPosition;
#endif
}
/// <summary>
/// Internal callback when a permissions event happens.
/// </summary>
/// <param name="permissionsGranted">If set to <c>true</c> permissions granted.</param>
private void _OnTangoApplicationPermissionsEvent(bool permissionsGranted)
{
if (permissionsGranted)
{
m_tangoApplication.InitApplication();
// Load the most recent ADF.
PoseProvider.RefreshADFList();
string uuid = PoseProvider.GetLatestADFUUID().GetStringDataUUID();
m_tangoApplication.InitProviders(uuid);
m_tangoApplication.ConnectToService();
}
else
{
AndroidHelper.ShowAndroidToastMessage("Motion Tracking and Area Learning Permissions Needed", true);
}
}
// Update is called once per frame
void Update()
{
// Debug.Log("Tango update: " + m_tangoPosition + " " + m_tangoRotation);
#if UNITY_EDITOR
PoseProvider.GetMouseEmulation(ref m_tangoPosition, ref m_tangoRotation);
transform.position = m_tangoPosition + m_startPosition;
transform.rotation = m_tangoRotation;
#else
Matrix4x4 uwTuc = TransformTangoPoseToUnityCoordinateSystem(m_tangoPosition, m_tangoRotation, Vector3.one);
// Extract new local position
transform.position = (uwTuc.GetColumn(3));
transform.position = transform.position + m_startPosition;
// Extract new local rotation
transform.rotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1));
#endif
}
/// <summary>
/// Sets up extrinsic matrixes and camera intrinsics for this hardware.
/// </summary>
private void _SetUpCameraData()
{
if (m_cameraDataSetUp)
{
return;
}
double timestamp = 0.0;
TangoCoordinateFramePair pair;
TangoPoseData poseData = new TangoPoseData();
// 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);
Vector3 position = new Vector3((float)poseData.translation[0],
(float)poseData.translation[1],
(float)poseData.translation[2]);
Quaternion quat = new Quaternion((float)poseData.orientation[0],
(float)poseData.orientation[1],
(float)poseData.orientation[2],
(float)poseData.orientation[3]);
m_imuTDevice = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
// Query the extrinsics between IMU and depth 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_imuTDepthCamera = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
// Also get the camera intrinsics
m_colorCameraIntrinsics = new TangoCameraIntrinsics();
VideoOverlayProvider.GetIntrinsics(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, m_colorCameraIntrinsics);
m_cameraDataSetUp = true;
}
void OnGUI()
{
if (m_tangoApplication.HasRequestedPermissions())
{
Color oldColor = GUI.color;
GUI.color = Color.white;
if (GUI.Button(new Rect(UI_BUTTON_GAP_X,
Screen.height - (UI_BUTTON_SIZE_Y + UI_LABEL_GAP_Y),
UI_BUTTON_SIZE_X + 100,
UI_BUTTON_SIZE_Y), "<size=20>Reset motion tracking</size>"))
{
PoseProvider.ResetMotionTracking();
}
GUI.color = Color.black;
GUI.Label(new Rect(UI_LABEL_START_X,
UI_LABEL_START_Y,
UI_LABEL_SIZE_X,
UI_LABEL_SIZE_Y), UI_FONT_SIZE + String.Format(UX_TANGO_SERVICE_VERSION, m_tangoPoseController.m_tangoServiceVersionName) + "</size>");
GUI.Label(new Rect(UI_LABEL_START_X,
UI_FPS_LABEL_START_Y,
UI_LABEL_SIZE_X,
UI_LABEL_SIZE_Y), UI_FONT_SIZE + m_FPSText + "</size>");
// MOTION TRACKING
GUI.Label(new Rect(UI_LABEL_START_X,
UI_POSE_LABEL_START_Y - UI_LABEL_OFFSET,
UI_LABEL_SIZE_X,
UI_LABEL_SIZE_Y), UI_FONT_SIZE + String.Format(UX_TARGET_TO_BASE_FRAME,
"Device",
"Start") + "</size>");
GUI.Label(new Rect(UI_LABEL_START_X,
UI_POSE_LABEL_START_Y,
UI_LABEL_SIZE_X,
UI_LABEL_SIZE_Y), UI_FONT_SIZE + String.Format(UX_STATUS,
_GetLoggingStringFromPoseStatus(m_tangoPoseController.m_status),
_GetLoggingStringFromFrameCount(m_tangoPoseController.m_frameCount),
_GetLoggingStringFromVec3(m_tangoPoseController.transform.position),
_GetLoggingStringFromQuaternion(m_tangoPoseController.transform.rotation)) + "</size>");
GUI.color = oldColor;
}
}
/// <summary>
/// Sets up extrinsic matrixes and camera intrinsics for this hardware.
/// </summary>
private void _SetUpCameraData()
{
if (m_cameraDataSetUp)
{
return;
}
double timestamp = 0.0;
TangoCoordinateFramePair pair;
TangoPoseData poseData = new TangoPoseData();
#if UNITY_EDITOR
// Constant matrixes representing just the convention swap.
m_imuTDevice.SetColumn(0, new Vector4(0.0f, 1.0f, 0.0f, 0.0f));
m_imuTDevice.SetColumn(1, new Vector4(-1.0f, 0.0f, 0.0f, 0.0f));
m_imuTDevice.SetColumn(2, new Vector4(0.0f, 0.0f, 1.0f, 0.0f));
m_imuTDevice.SetColumn(3, new Vector4(0.0f, 0.0f, 0.0f, 1.0f));
m_imuTDepthCamera.SetColumn(0, new Vector4(0.0f, 1.0f, 0.0f, 0.0f));
m_imuTDepthCamera.SetColumn(1, new Vector4(1.0f, 0.0f, 0.0f, 0.0f));
m_imuTDepthCamera.SetColumn(2, new Vector4(0.0f, 0.0f, -1.0f, 0.0f));
m_imuTDepthCamera.SetColumn(3, new Vector4(0.0f, 0.0f, 0.0f, 1.0f));
#else
// 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);
m_imuTDevice = poseData.ToMatrix4x4();
// Query the extrinsics between IMU and depth camera frame.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_DEPTH;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
m_imuTDepthCamera = poseData.ToMatrix4x4();
#endif
// Also get the camera intrinsics
m_colorCameraIntrinsics = new TangoCameraIntrinsics();
VideoOverlayProvider.GetIntrinsics(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, m_colorCameraIntrinsics);
m_cameraDataSetUp = true;
}
/// <summary>
/// The function is for querying the camera extrinsic, for example: the transformation between
/// IMU and device frame. These extrinsics is used to transform the pose from the color camera frame
/// to the device frame. Because the extrinsic is being queried using the GetPoseAtTime()
/// with a desired frame pair, it can only be queried after the ConnectToService() is called.
///
/// The device with respect to IMU frame is not directly queryable from API, so we use the IMU
/// frame as a temporary value to get the device frame with respect to IMU frame.
/// </summary>
private void _SetCameraExtrinsics()
{
double timestamp = 0.0;
TangoCoordinateFramePair pair;
TangoPoseData poseData = new TangoPoseData();
// Get the transformation of device frame with respect to IMU frame.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
Vector3 position = new Vector3((float)poseData.translation[0],
(float)poseData.translation[1],
(float)poseData.translation[2]);
Quaternion quat = new Quaternion((float)poseData.orientation[0],
(float)poseData.orientation[1],
(float)poseData.orientation[2],
(float)poseData.orientation[3]);
Matrix4x4 imuTd = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
// Get the transformation of IMU frame with respect to 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]);
Matrix4x4 imuTc = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
// Get the transform of the Unity Camera frame with respect to the Color Camera frame.
Matrix4x4 cTuc = new Matrix4x4();
cTuc.SetColumn(0, new Vector4(1.0f, 0.0f, 0.0f, 0.0f));
cTuc.SetColumn(1, new Vector4(0.0f, -1.0f, 0.0f, 0.0f));
cTuc.SetColumn(2, new Vector4(0.0f, 0.0f, 1.0f, 0.0f));
cTuc.SetColumn(3, new Vector4(0.0f, 0.0f, 0.0f, 1.0f));
m_dTuc = Matrix4x4.Inverse(imuTd) * imuTc * cTuc;
}
/// <summary>
/// The function is for querying the camera extrinsic, for example: the transformation between
/// IMU and device frame. These extrinsics is used to transform the pose from the color camera frame
/// to the device frame. Because the extrinsic is being queried using the GetPoseAtTime()
/// with a desired frame pair, it can only be queried after the ConnectToService() is called.
///
/// The device with respect to IMU frame is not directly queryable from API, so we use the IMU
/// frame as a temporary value to get the device frame with respect to IMU frame.
/// </summary>
private void _SetCameraExtrinsics()
{
double timestamp = 0.0;
TangoCoordinateFramePair pair;
TangoPoseData poseData = new TangoPoseData();
// Getting the transformation of device frame with respect to IMU frame.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
Vector3 position = new Vector3((float)poseData.translation[0],
(float)poseData.translation[1],
(float)poseData.translation[2]);
Quaternion 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, new Vector3(1.0f, 1.0f, 1.0f));
// Getting the transformation of IMU frame with respect to 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]);
//transform.right;
//testPosition = position
Vector3 right = Vector3.right * 1000;
position += right;
m_imuTc = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
m_dTuc = Matrix4x4.Inverse(m_imuTd) * m_imuTc * m_cTuc;
}
/// <summary>
/// An event notifying when new depth data is available. OnTangoDepthAvailable events are thread safe.
/// </summary>
/// <param name="tangoDepth">Depth data that we get from API.</param>
public void OnTangoDepthAvailable(TangoUnityDepth tangoDepth)
{
// Fill in the data to draw the point cloud.
if (tangoDepth != null)
{
m_occupancyManager.depthPointCount = tangoDepth.m_pointCount;
for (int i = 0; i < tangoDepth.m_pointCount; i += 3)
{
m_depthPoints[3 * i] = tangoDepth.m_points[i * 3];
m_depthPoints[3 * i + 1] = tangoDepth.m_points[i * 3 + 1];
m_depthPoints[3 * i + 2] = tangoDepth.m_points[i * 3 + 2];
}
m_currTangoDepth.m_timestamp = tangoDepth.m_timestamp;
m_currTangoDepth.m_pointCount = tangoDepth.m_pointCount;
PoseProvider.GetPoseAtTime(m_poseAtDepthTimestamp, m_currTangoDepth.m_timestamp, m_coordinatePair);
m_isDirty = true;
}
return;
}
private void Start()
{
m_tangoApplication = FindObjectOfType <TangoApplication>();
if (m_tangoApplication != null)
{
// Request Tango permissions
m_tangoApplication.RequestNecessaryPermissions();
if (TangoApplication.HasGrantedPermissions())
{
m_tangoApplication.InitApplication();
if (m_useADF)
{
// Query the full adf list.
PoseProvider.RefreshADFList();
// loading last recorded ADF
string uuid = PoseProvider.GetLatestADFUUID().GetStringDataUUID();
m_tangoApplication.InitProviders(uuid);
}
else
{
m_tangoApplication.InitProviders(string.Empty);
}
m_tangoApplication.ConnectToService();
}
else
{
Debug.Log("Tango can't be initialized because of invalid permissions");
}
}
else
{
Debug.Log("No Tango Manager found in scene.");
}
m_tangoServiceVersionName = TangoApplication.GetTangoServiceVersion();
}
/// <summary>
/// Update the camera gameobject's transformation to the pose that on current timestamp.
/// </summary>
private void _UpdateTransformation(double timestamp)
{
TangoPoseData pose = new TangoPoseData();
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(pose, timestamp, pair);
m_status = pose.status_code;
if (pose.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
Vector3 m_tangoPosition = new Vector3((float)pose.translation [0],
(float)pose.translation [1],
(float)pose.translation [2]);
Quaternion m_tangoRotation = new Quaternion((float)pose.orientation [0],
(float)pose.orientation [1],
(float)pose.orientation [2],
(float)pose.orientation [3]);
Matrix4x4 ssTd = Matrix4x4.TRS(m_tangoPosition, m_tangoRotation, Vector3.one);
// Here we are getting the pose of Unity camera frame with respect to Unity world.
// This is the transformation of our current pose within the Unity coordinate frame.
Matrix4x4 uwTuc = m_uwTss * ssTd * m_dTuc;
// Extract new local position
m_renderCamera.transform.position = uwTuc.GetColumn(3);
// Extract new local rotation
m_renderCamera.transform.rotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1));
m_frameCount++;
}
else
{
m_frameCount = 0;
}
}
/// <summary>
/// Callback that gets called when depth is available
/// from the Tango Service.
/// DO NOT USE THE UNITY API FROM INSIDE THIS FUNCTION!
/// </summary>
/// <param name="callbackContext">Callback context.</param>
/// <param name="xyzij">Xyzij.</param>
public void OnTangoDepthAvailable(TangoUnityDepth tangoDepth)
{
// Fill in the data to draw the point cloud.
if (tangoDepth != null)
{
occupancyManager.depthPointCount = tangoDepth.m_pointCount;
for (int i = 0; i < tangoDepth.m_pointCount; i += 3)
{
depthPoints[3 * i] = tangoDepth.m_vertices[i].x;
depthPoints[3 * i + 1] = tangoDepth.m_vertices[i].y;
depthPoints[3 * i + 2] = tangoDepth.m_vertices[i].z;
}
currXYZij.timestamp = tangoDepth.m_timestamp;
currXYZij.xyz_count = tangoDepth.m_pointCount;
PoseProvider.GetPoseAtTime(poseAtDepthTimestamp, currXYZij.timestamp, coordinatePair);
//minimize things happening in the callback
isDirty = true;
}
return;
}
void Update()
{
if (startedSaving)
{
if (keyboard.done)
{
savedAdfHolder = new UUIDUnityHolder();
keyboardString = keyboard.text;
PoseProvider.SaveAreaDescription(savedAdfHolder);
PoseProvider.GetAreaDescriptionMetaData(savedAdfHolder);
PoseProvider.AreaDescriptionMetaData_set(Common.MetaDataKeyType.KEY_NAME, keyboardString, savedAdfHolder);
PoseProvider.SaveAreaDescriptionMetaData(savedAdfHolder);
// Null terminator will cause invalid argument in the file system.
string uuid = savedAdfHolder.GetStringDataUUID().Replace("\0", "");
string path = Application.persistentDataPath + "/" + uuid;
FileParser.SaveBuildingDataToPath(BuildingManager.instance.buildingList, path);
EventManager.instance.GameDataSaved(true);
startedSaving = false;
}
}
}
/// <summary>
/// An event notifying when new depth data is available. OnTangoDepthAvailable events are thread safe.
/// </summary>
/// <param name="tangoDepth">Depth data that we get from API.</param>
public void OnTangoDepthAvailable(TangoUnityDepth tangoDepth)
{
// Fill in the data to draw the point cloud.
if (tangoDepth != null)
{
if (tangoDepth.m_points == null)
{
Debug.Log("Depth points are null");
return;
}
if (tangoDepth.m_pointCount > m_currTangoDepth.m_points.Length)
{
m_currTangoDepth.m_points = new float[3 * (int)(1.5f * tangoDepth.m_pointCount)];
}
for (int i = 0; i < tangoDepth.m_pointCount; i += 3)
{
m_currTangoDepth.m_points[(3 * i) + 0] = tangoDepth.m_points[(i * 3) + 0];
m_currTangoDepth.m_points[(3 * i) + 1] = tangoDepth.m_points[(i * 3) + 1];
m_currTangoDepth.m_points[(3 * i) + 2] = tangoDepth.m_points[(i * 3) + 2];
}
m_currTangoDepth.m_timestamp = tangoDepth.m_timestamp;
m_currTangoDepth.m_pointCount = tangoDepth.m_pointCount;
PoseProvider.GetPoseAtTime(m_poseAtDepthTimestamp, m_currTangoDepth.m_timestamp, m_coordinatePair);
if (m_poseAtDepthTimestamp.status_code != TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
return;
}
m_isDirty = true;
}
return;
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
#if UNITY_ANDROID && !UNITY_EDITOR
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
#else
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = tempPosition;
#endif
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
#if UNITY_ANDROID && !UNITY_EDITOR
if (m_isDirty)
{
// This rotation needs to be put into Unity coordinate space.
Quaternion rotationFix = Quaternion.Euler(90.0f, 0.0f, 0.0f);
if (!m_isRelocalized)
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[0].eulerAngles.x,
-m_tangoRotation[0].eulerAngles.z,
m_tangoRotation[0].eulerAngles.y);
transform.rotation = rotationFix * axisFix;
transform.position = (m_tangoPosition[0] * m_movementScale) + m_startingOffset;
}
else
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[1].eulerAngles.x,
-m_tangoRotation[1].eulerAngles.z,
m_tangoRotation[1].eulerAngles.y);
transform.rotation = rotationFix * axisFix;
transform.position = (m_tangoPosition[1] * m_movementScale) + m_startingOffset;
}
m_isDirty = false;
}
#else
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = tempPosition;
#endif
}
/// <summary>
/// Update is called once per frame.
/// </summary>
private void Update()
{
if (m_isDirty)
{
// Query pose to transform point cloud to world coordinates.
TangoPoseData poseData = new TangoPoseData();
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, m_previousDepthDeltaTime, pair);
Vector3 position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
Quaternion quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
m_deviceToStartServiceMatrix = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
Matrix4x4 pointcloudTRS = m_startServiceToUnityWorldMatrix * m_deviceToStartServiceMatrix *
Matrix4x4.Inverse(m_poseController.m_deviceToIMUMatrix) * m_poseController.m_cameraToIMUMatrix * m_unityCameraToCameraMatrix;
renderer.material.SetMatrix("local_transformation", pointcloudTRS);
// Update the point cloud.
_UpdateMesh();
m_isDirty = false;
}
}
/// <summary>
/// Enables keyboard when the save button is pressed and saves the ADF with required metadata when Keyboard is
/// done.
/// </summary>
private void KeyBoardBehaviour()
{
if (m_keyboardState == KeyboardState.OPEN)
{
m_keyboard = TouchScreenKeyboard.Open(m_keyboardString, TouchScreenKeyboardType.Default, false);
m_keyboardState = KeyboardState.ACTIVE;
}
if (m_keyboard != null)
{
if (m_keyboard.done && m_keyboardState != KeyboardState.DONE)
{
m_keyboardState = KeyboardState.DONE;
m_keyboardString = m_keyboard.text;
PoseProvider.SaveAreaDescription(m_adfUnityHolder);
PoseProvider.GetAreaDescriptionMetaData(m_adfUnityHolder);
PoseProvider.AreaDescriptionMetaData_set(Common.MetaDataKeyType.KEY_NAME, m_keyboardString, m_adfUnityHolder);
PoseProvider.SaveAreaDescriptionMetaData(m_adfUnityHolder);
}
else
{
m_keyboardString = m_keyboard.text;
}
}
}
/// <summary>
/// Callback that gets called when depth is available from the Tango Service.
/// </summary>
/// <param name="tangoDepth">Depth information from Tango.</param>
public void OnTangoDepthAvailable(TangoUnityDepth tangoDepth)
{
// Calculate the time since the last successful depth data
// collection.
if (m_previousDepthDeltaTime == 0.0)
{
m_previousDepthDeltaTime = tangoDepth.m_timestamp;
}
else
{
m_depthDeltaTime = (float)((tangoDepth.m_timestamp - m_previousDepthDeltaTime) * 1000.0);
m_previousDepthDeltaTime = tangoDepth.m_timestamp;
}
// Fill in the data to draw the point cloud.
if (tangoDepth != null && tangoDepth.m_points != null)
{
m_pointsCount = tangoDepth.m_pointCount;
if (m_pointsCount > 0)
{
_SetUpExtrinsics();
TangoCoordinateFramePair pair;
TangoPoseData poseData = new TangoPoseData();
// Query pose to transform point cloud to world coordinates, here we are using the timestamp
// that we get from depth.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, m_previousDepthDeltaTime, pair);
if (poseData.status_code != TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
return;
}
Vector3 position = new Vector3((float)poseData.translation[0],
(float)poseData.translation[1],
(float)poseData.translation[2]);
Quaternion quat = new Quaternion((float)poseData.orientation[0],
(float)poseData.orientation[1],
(float)poseData.orientation[2],
(float)poseData.orientation[3]);
m_startServiceTDevice = Matrix4x4.TRS(position, quat, Vector3.one);
// The transformation matrix that represents the pointcloud's pose.
// Explanation:
// The pointcloud which is in Depth camera's frame, is put in unity world's
// coordinate system(wrt unity world).
// Then we are extracting the position and rotation from uwTuc matrix and applying it to
// the PointCloud's transform.
Matrix4x4 unityWorldTDepthCamera = m_unityWorldTStartService * m_startServiceTDevice * Matrix4x4.Inverse(m_imuTDevice) * m_imuTDepthCamera;
transform.position = Vector3.zero;
transform.rotation = Quaternion.identity;
// Converting points array to world space.
m_overallZ = 0;
for (int i = 0; i < m_pointsCount; ++i)
{
float x = tangoDepth.m_points[(i * 3) + 0];
float y = tangoDepth.m_points[(i * 3) + 1];
float z = tangoDepth.m_points[(i * 3) + 2];
m_points[i] = unityWorldTDepthCamera.MultiplyPoint(new Vector3(x, y, z));
m_overallZ += z;
}
m_overallZ = m_overallZ / m_pointsCount;
if (m_updatePointsMesh)
{
// Need to update indicies too!
int[] indices = new int[m_pointsCount];
for (int i = 0; i < m_pointsCount; ++i)
{
indices[i] = i;
}
m_mesh.Clear();
m_mesh.vertices = m_points;
m_mesh.SetIndices(indices, MeshTopology.Points, 0);
}
// The color should be pose relative, we need to store enough info to go back to pose values.
m_renderer.material.SetMatrix("depthCameraTUnityWorld", unityWorldTDepthCamera.inverse);
}
else
{
m_overallZ = 0;
}
}
}
/// @endcond
/// <summary>
/// Updates the transformation to the pose for that timestamp.
/// </summary>
/// <param name="timestamp">Time in seconds to update the transformation to.</param>
private void _UpdateTransformation(double timestamp)
{
TangoPoseData pose = new TangoPoseData();
TangoCoordinateFramePair pair;
// Choose the proper pair according to the properties of this controller
if (m_useAreaDescriptionPose)
{
if (m_tangoApplication.m_enableCloudADF)
{
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_GLOBAL_WGS84;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
}
else
{
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
}
}
else
{
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
}
PoseProvider.GetPoseAtTime(pose, timestamp, pair);
// Update properties from pose
if (pose.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
DMatrix4x4 globalTLocal;
bool success = m_tangoApplication.GetGlobalTLocal(out globalTLocal);
if (!success)
{
Debug.LogError("Unable to obtain GlobalTLocal from TangoApplication.");
return;
}
DMatrix4x4 uwTDevice = DMatrix4x4.FromMatrix4x4(TangoSupport.UNITY_WORLD_T_START_SERVICE) *
globalTLocal.Inverse * DMatrix4x4.TR(pose.translation, pose.orientation);
// Calculate matrix for the camera in the Unity world, taking into account offsets.
Matrix4x4 uwTuc = uwTDevice.ToMatrix4x4() * m_dTuc * TangoSupport.m_colorCameraPoseRotation;
// Extract final position, rotation.
m_tangoPosition = uwTuc.GetColumn(3);
m_tangoRotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1));
// Other pose data -- Pose count gets reset if pose status just became valid.
if (pose.status_code != m_poseStatus)
{
m_poseCount = 0;
}
m_poseCount++;
// Other pose data -- Pose time.
m_poseTimestamp = timestamp;
}
m_poseStatus = pose.status_code;
// Apply final position and rotation.
transform.position = m_tangoPosition;
transform.rotation = m_tangoRotation;
}
/// <summary>
/// Callback when the Tango service is initialized.
/// </summary>
private void HandleEventTangoInitialized()
{
PoseProvider.RefreshADFList();
RefreshADFPickerList(PoseProvider.GetCachedADFList());
}
/// <summary>
/// Updates the transformation to the latest pose.
/// </summary>
private void _UpdatePose()
{
// Query a new pose.
TangoPoseData pose = new TangoPoseData();
double queryTimestamp = IsTargetingColorCamera ? m_tangoARScreen.m_screenUpdateTime : 0.0f;
PoseProvider.GetPoseAtTime(pose, queryTimestamp, _GetFramePair());
// Do not update with invalide poses.
if (pose.status_code != TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
return;
}
// Do not update if the last update was for the same timestamp.
if (pose.timestamp == LastPoseTimestamp)
{
return;
}
LastPoseTimestamp = pose.timestamp;
DMatrix4x4 globalTLocal;
if (!m_tangoApplication.GetGlobalTLocal(out globalTLocal))
{
Debug.LogError("Unable to obtain GlobalTLocal from TangoApplication.");
return;
}
DMatrix4x4 unityWorld_T_device =
DMatrix4x4.FromMatrix4x4(TangoSupport.UNITY_WORLD_T_START_SERVICE) * globalTLocal.Inverse * DMatrix4x4.TR(pose.translation, pose.orientation);
// Calculate matrix for the camera in the Unity world
if (IsTargetingColorCamera)
{
m_unityWorld_T_unityCamera =
unityWorld_T_device.ToMatrix4x4() * TangoSupport.COLOR_CAMERA_T_UNITY_CAMERA * TangoSupport.m_colorCameraPoseRotation;
}
else
{
m_unityWorld_T_unityCamera =
unityWorld_T_device.ToMatrix4x4() * TangoSupport.DEVICE_T_UNITY_CAMERA * TangoSupport.m_devicePoseRotation;
}
// Extract final position and rotation from matrix.
Matrix4x4 unityWorldOffset_T_unityCamera = m_unityWorldTransformOffset_T_unityWorld * m_unityWorld_T_unityCamera;
Vector3 finalPosition = unityWorldOffset_T_unityCamera.GetColumn(3);
Quaternion finalRotation = Quaternion.LookRotation(unityWorldOffset_T_unityCamera.GetColumn(2), unityWorldOffset_T_unityCamera.GetColumn(1));
// Filter out yaw if the clutch is enabled.
if (m_clutchEnabled)
{
finalPosition = transform.position;
finalRotation = Quaternion.Euler(finalRotation.eulerAngles.x, transform.eulerAngles.y, finalRotation.eulerAngles.z);
}
// Apply the final position.
if (m_characterController)
{
m_characterController.Move(finalPosition - transform.position);
}
else
{
transform.position = finalPosition;
}
transform.rotation = finalRotation;
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
#if UNITY_ANDROID && !UNITY_EDITOR
if (m_shouldInitTango)
{
m_tangoApplication.InitApplication();
if (m_useADF)
{
// Query the full adf list.
PoseProvider.RefreshADFList();
// loading last recorded ADF
string uuid = PoseProvider.GetLatestADFUUID().GetStringDataUUID();
m_tangoApplication.InitProviders(uuid);
}
else
{
m_tangoApplication.InitProviders(string.Empty);
}
// Query extrinsics constant tranformations.
TangoPoseData poseData = new TangoPoseData();
double timestamp = 0.0;
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
Vector3 position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
Quaternion quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
m_deviceToIMUMatrix = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
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_cameraToIMUMatrix = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
m_alreadyInitialized = true;
m_shouldInitTango = false;
m_tangoApplication.ConnectToService();
}
if (m_isDirty)
{
// This rotation needs to be put into Unity coordinate space.
Quaternion rotationFix = Quaternion.Euler(90.0f, 0.0f, 0.0f);
if (!m_isRelocalized)
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[0].eulerAngles.x,
-m_tangoRotation[0].eulerAngles.z,
m_tangoRotation[0].eulerAngles.y);
transform.rotation = m_startingRotation * (rotationFix * axisFix);
transform.position = (m_startingRotation * (m_tangoPosition[0] * m_movementScale)) + m_startingOffset;
}
else
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[1].eulerAngles.x,
-m_tangoRotation[1].eulerAngles.z,
m_tangoRotation[1].eulerAngles.y);
transform.rotation = m_startingRotation * (rotationFix * axisFix);
transform.position = (m_startingRotation * (m_tangoPosition[1] * m_movementScale)) + m_startingOffset;
}
m_isDirty = false;
}
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
#else
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = tempPosition;
#endif
}
/// <summary>
/// Callback that gets called when depth is available from the Tango Service.
/// </summary>
/// <param name="pointCloud">Depth information from Tango.</param>
public void OnTangoPointCloudAvailable(TangoPointCloudData pointCloud)
{
// Calculate the time since the last successful depth data
// collection.
if (m_depthTimestamp != 0.0)
{
m_depthDeltaTime = (float)((pointCloud.m_timestamp - m_depthTimestamp) * 1000.0);
}
// Fill in the data to draw the point cloud.
m_pointsCount = pointCloud.m_numPoints;
if (m_pointsCount > 0)
{
_SetUpCameraData();
TangoCoordinateFramePair pair;
TangoPoseData poseData = new TangoPoseData();
// Query pose to transform point cloud to world coordinates, here we are using the timestamp
// that we get from depth.
if (m_useAreaDescriptionPose)
{
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
}
else
{
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
}
PoseProvider.GetPoseAtTime(poseData, pointCloud.m_timestamp, pair);
if (poseData.status_code != TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
return;
}
Matrix4x4 startServiceTDevice = poseData.ToMatrix4x4();
// The transformation matrix that represents the pointcloud's pose.
// Explanation:
// The pointcloud which is in Depth camera's frame, is put in unity world's
// coordinate system(wrt unity world).
// Then we are extracting the position and rotation from uwTuc matrix and applying it to
// the PointCloud's transform.
Matrix4x4 unityWorldTDepthCamera = m_unityWorldTStartService * startServiceTDevice * Matrix4x4.Inverse(m_imuTDevice) * m_imuTDepthCamera;
transform.position = Vector3.zero;
transform.rotation = Quaternion.identity;
// Add offset to the pointcloud depending on the offset from TangoDeltaPoseController
Matrix4x4 unityWorldOffsetTDepthCamera;
if (m_tangoDeltaPoseController != null)
{
unityWorldOffsetTDepthCamera = m_tangoDeltaPoseController.UnityWorldOffset * unityWorldTDepthCamera;
}
else
{
unityWorldOffsetTDepthCamera = unityWorldTDepthCamera;
}
// Converting points array to world space.
m_overallZ = 0;
for (int i = 0; i < m_pointsCount; ++i)
{
Vector3 point = pointCloud[i];
m_points[i] = unityWorldOffsetTDepthCamera.MultiplyPoint3x4(point);
m_overallZ += point.z;
}
m_overallZ = m_overallZ / m_pointsCount;
m_depthTimestamp = pointCloud.m_timestamp;
if (m_updatePointsMesh)
{
// Need to update indicies too!
int[] indices = new int[m_pointsCount];
for (int i = 0; i < m_pointsCount; ++i)
{
indices[i] = i;
}
m_mesh.Clear();
m_mesh.vertices = m_points;
m_mesh.SetIndices(indices, MeshTopology.Points, 0);
}
// The color should be pose relative, we need to store enough info to go back to pose values.
m_renderer.material.SetMatrix("depthCameraTUnityWorld", unityWorldOffsetTDepthCamera.inverse);
// Try to find the floor using this set of depth points if requested.
if (m_findFloorWithDepth)
{
_FindFloorWithDepth();
}
}
else
{
m_overallZ = 0;
}
}
