/// <summary>
/// Shutdown this instance.
/// </summary>
private void OnDestroy()
{
if (m_applicationHandle != System.IntPtr.Zero)
{
TangoApplicationAPI.ApplicationShutdown(m_applicationHandle);
}
}
void LateUpdate()
{
//load next frame
if (mApplicationHandler != System.IntPtr.Zero)
{
Common.RetCodes retCode = (Common.RetCodes)TangoApplicationAPI.ApplicationDoStep(mApplicationHandler);
mValid = (retCode == Common.RetCodes.kCAPISuccess);
// if(retCode != Common.RetCodes.kCAPISuccess)
// ErrorHandler.instance.presentErrorMessage("Application step failed with error code:" + retCode);
// else
// Debug.Log("Do step succeed");
}
}
void Awake()
{
TangoUtilAPI.UtilSetDepthNoiseLevel(2);
TangoUtilAPI.UtilSetDepthConfidenceLevel(2);
mApplicationHandler = TangoApplicationAPI.ApplicationInitialize("[Superframes Small-Peanut]");
if (mApplicationHandler == System.IntPtr.Zero)
{
ErrorHandler.instance.presentErrorMessage("Application initialization failed");
}
//let's hardcode depth image reoslution
//but eventially we can get resolution using VideoMode interface
mDepthBufferResolution = new Resolution();
mDepthBufferResolution.width = 320;
mDepthBufferResolution.height = 180;
mDepthBufferResolution.refreshRate = 5;
}
/// <summary>
/// Perform updates for the next frame after the
/// normal update has run. This loads next frame.
/// </summary>
private void LateUpdate()
{
if (m_applicationHandle != System.IntPtr.Zero)
{
Common.RetCodes retCode = (Common.RetCodes)TangoApplicationAPI.ApplicationDoStep(m_applicationHandle);
if (retCode != Common.RetCodes.kCAPISuccess)
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_ERROR,
"Application do step error: " + retCode);
}
m_valid = retCode == Common.RetCodes.kCAPISuccess;
}
if (Input.GetKeyDown(KeyCode.Escape))
{
Application.Quit();
}
}
/// <summary>
/// Initialize application and providers.
/// </summary>
public void InitApplication()
{
if (m_applicationHandle != System.IntPtr.Zero)
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_ERROR,
"Duplicated application handler");
return;
}
// let's hardcode depth image reoslution
// but eventially we can get resolution using VideoMode interface
Resolution imageResolution = new Resolution();
imageResolution.width = 320;
imageResolution.height = 180;
imageResolution.refreshRate = 5;
Common.DepthFrameResolution = imageResolution;
Common.DepthBufferSize = 320 * 180;
m_applicationHandle = TangoApplicationAPI.ApplicationInitialize("[Superframes Small-Peanut]");
if (m_applicationHandle == System.IntPtr.Zero)
{
ErrorHandler.instance.presentErrorMessage("Application initialization failed");
}
if (m_enableVio)
{
VIOProvider.SetAutoReset(m_vioAutoReset);
VIOProvider.Init(m_operationMode, m_sparseMapPath);
}
if (m_enableDepth)
{
DepthProvider.Init();
}
if (m_enableVideoOverlay)
{
VideoOverlayProvider.Init();
}
}
/// <summary>
/// Shut down the providers and application.
/// </summary>
public void ShutDownApplication()
{
if (m_enableVio)
{
VIOProvider.ShutDown();
}
if (m_enableDepth)
{
DepthProvider.ShutDown();
}
if (m_enableVideoOverlay)
{
VideoOverlayProvider.Shutdown();
}
if (m_applicationHandle == System.IntPtr.Zero)
{
DebugLogger.GetInstance.WriteToLog(
DebugLogger.EDebugLevel.DEBUG_ERROR, "No application initialized");
return;
}
TangoApplicationAPI.ApplicationShutdown(m_applicationHandle);
m_applicationHandle = System.IntPtr.Zero;
}
