/// <summary>
/// Use this for initialization.
/// </summary>
public void Start()
{
// get the reference of mesh
MeshFilter mf = gameObject.GetComponent <MeshFilter>();
if (mf == null)
{
MeshFilter meshFilter = (MeshFilter)gameObject.AddComponent(typeof(MeshFilter));
meshFilter.mesh = m_mesh = new Mesh();
MeshRenderer renderer = gameObject.AddComponent(typeof(MeshRenderer)) as MeshRenderer;
renderer.material.shader = Shader.Find("Mobile/Unlit (Supports Lightmap)");
}
else
{
m_mesh = mf.mesh;
}
m_isDirty = false;
_CreateMesh();
transform.localScale = new Vector3(transform.localScale.x,
transform.localScale.y * -1.0f,
transform.localScale.z);
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
{
UnityEngine.Debug.Log("Tango can't be initialized because of invalid permissions");
}
}
else
{
UnityEngine.Debug.Log("No Tango Manager found in scene.");
}
}
/// <summary>
/// GUI for switch getting data API and status.
/// </summary>
private void OnGUI()
{
if (TangoApplication.HasRequestedPermissions())
{
Color oldColor = GUI.color;
GUI.color = Color.gray;
if (!TangoApplication.HasGrantedPermissions())
{
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_LABEL_START_Y,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), "<size=15>" + Common.TANGO_NO_PERMISSIONS_ERROR + "</size>");
return;
}
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_LABEL_START_Y,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), "<size=15>" + String.Format(Common.UX_TANGO_SERVICE_VERSION, TangoApplication.GetTangoServiceVersion()) + "</size>");
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_LABEL_START_Y + Common.UI_LABEL_OFFSET,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), "<size=15>Point Count: " + pointcloud.m_pointsCount.ToString() + "</size>");
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_LABEL_START_Y + Common.UI_LABEL_OFFSET * 2.0f,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), "<size=15>Average Depth (m): " + pointcloud.m_overallZ.ToString() + "</size>");
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_LABEL_START_Y + Common.UI_LABEL_OFFSET * 3.0f,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), "<size=15>Frame Delta Time (ms): " + pointcloud.GetTimeSinceLastFrame().ToString("0.") + "</size>");
GUI.color = oldColor;
}
}
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>
/// Data logging GUI.
/// </summary>
private void OnGUI()
{
Color oldColor = GUI.color;
GUI.color = Color.black;
if (TangoApplication.HasRequestedPermissions())
{
if (!TangoApplication.HasGrantedPermissions())
{
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_LABEL_START_Y,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), Common.UI_FONT_SIZE + Common.TANGO_NO_PERMISSIONS_ERROR + "</size>");
return;
}
int guiIndex = 1;
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_LABEL_START_Y,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), Common.UI_FONT_SIZE + String.Format(Common.UX_TANGO_SERVICE_VERSION, m_tangoServiceVersionName) + "</size>");
// MOTION TRACKING
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_POSE_LABEL_START_Y,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), Common.UI_FONT_SIZE + String.Format(Common.UX_TARGET_TO_BASE_FRAME,
"Device",
"Start") + "</size>");
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_POSE_LABEL_START_Y + Common.UI_LABEL_OFFSET * guiIndex,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), Common.UI_FONT_SIZE + String.Format(Common.UX_STATUS,
_GetLoggingStringFromPoseStatus(m_status[DEVICE_TO_START]),
_GetLoggingStringFromFrameCount(m_frameCount[DEVICE_TO_START]),
_GetLogginStringFromFrameDeltaTime(m_frameDeltaTime[DEVICE_TO_START]),
_GetLoggingStringFromVec3(m_tangoPosition[DEVICE_TO_START]),
_GetLoggingStringFromQuaternion(m_tangoRotation[DEVICE_TO_START])) + "</size>");
if (m_useADF || m_tangoApplication.m_enableAreaLearning)
{
// ADF
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_POSE_LABEL_START_Y + Common.UI_LABEL_OFFSET * (++guiIndex),
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), Common.UI_FONT_SIZE + String.Format(Common.UX_TARGET_TO_BASE_FRAME,
"Device",
"ADF") + "</size>");
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_POSE_LABEL_START_Y + Common.UI_LABEL_OFFSET * (++guiIndex),
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), Common.UI_FONT_SIZE + String.Format(Common.UX_STATUS,
_GetLoggingStringFromPoseStatus(m_status[DEVICE_TO_ADF]),
_GetLoggingStringFromFrameCount(m_frameCount[DEVICE_TO_ADF]),
_GetLogginStringFromFrameDeltaTime(m_frameDeltaTime[DEVICE_TO_ADF]),
_GetLoggingStringFromVec3(m_tangoPosition[DEVICE_TO_ADF]),
_GetLoggingStringFromQuaternion(m_tangoRotation[DEVICE_TO_ADF])) + "</size>");
// RELOCALIZATION
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_POSE_LABEL_START_Y + Common.UI_LABEL_OFFSET * (++guiIndex),
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), Common.UI_FONT_SIZE + String.Format(Common.UX_TARGET_TO_BASE_FRAME,
"Start",
"ADF") + "</size>");
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_POSE_LABEL_START_Y + Common.UI_LABEL_OFFSET * (++guiIndex),
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), Common.UI_FONT_SIZE + String.Format(Common.UX_STATUS,
_GetLoggingStringFromPoseStatus(m_status[START_TO_ADF]),
_GetLoggingStringFromFrameCount(m_frameCount[START_TO_ADF]),
_GetLogginStringFromFrameDeltaTime(m_frameDeltaTime[START_TO_ADF]),
_GetLoggingStringFromVec3(m_tangoPosition[START_TO_ADF]),
_GetLoggingStringFromQuaternion(m_tangoRotation[START_TO_ADF])) + "</size>");
}
}
GUI.color = oldColor;
}
private void OnGUI()
{
if (TangoApplication.HasRequestedPermissions())
{
Color oldColor = GUI.color;
GUI.color = Color.black;
if (!TangoApplication.HasGrantedPermissions())
{
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_LABEL_START_Y,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), "<size=15>" + Common.TANGO_NO_PERMISSIONS_ERROR + "</size>");
return;
}
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_LABEL_START_Y,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), "<size=15>" + String.Format(Common.UX_TANGO_SERVICE_VERSION, m_tangoServiceVersionName) + "</size>");
// MOTION TRACKING
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_LABEL_START_Y + Common.UI_LABEL_OFFSET,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), "<size=15>" + String.Format(Common.UX_TARGET_TO_BASE_FRAME,
TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE,
TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE) + "</size>");
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_LABEL_START_Y + Common.UI_LABEL_OFFSET * 2,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), "<size=15>" + String.Format(Common.UX_STATUS,
m_status[0],
m_frameCount[0],
m_frameDeltaTime[0],
m_tangoPosition[0],
m_tangoRotation[0]) + "</size>");
// ADF
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_LABEL_START_Y + Common.UI_LABEL_OFFSET * 3,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), "<size=15>" + String.Format(Common.UX_TARGET_TO_BASE_FRAME,
TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE,
TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION) + "</size>");
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_LABEL_START_Y + Common.UI_LABEL_OFFSET * 4,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), "<size=15>" + String.Format(Common.UX_STATUS,
m_status[1],
m_frameCount[1],
m_frameDeltaTime[1],
m_tangoPosition[1],
m_tangoRotation[1]) + "</size>");
// RELOCALIZATION
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_LABEL_START_Y + Common.UI_LABEL_OFFSET * 5,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), "<size=15>" + String.Format(Common.UX_TARGET_TO_BASE_FRAME,
TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION,
TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE) + "</size>");
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_LABEL_START_Y + Common.UI_LABEL_OFFSET * 6,
Common.UI_LABEL_SIZE_X,
Common.UI_LABEL_SIZE_Y), "<size=15>" + String.Format(Common.UX_STATUS,
m_status[2],
m_frameCount[2],
m_frameDeltaTime[2],
m_tangoPosition[2],
m_tangoRotation[2]) + "</size>");
GUI.color = oldColor;
}
}