public void WriteDepthToLogFile(TangoXYZij depth, float[] pointData, int[] indices, int rows, int cols)
{
if (!playbackData)
{
UpdatePoints(pointData, depth.xyz_count);
}
if (depthFileWriter == null)
{
return;
}
debugText2 = "Writing Depth: " + depth.xyz_count.ToString();
depthFileWriter.Write("depthframe\n");
depthFileWriter.Write(depth.timestamp + "\n");
depthFileWriter.Write(depth.xyz_count + "\n");
for (int i = 0; i < depth.xyz_count; i++)
{
depthFileWriter.Write(pointData[3 * i]);
depthFileWriter.Write(pointData[3 * i + 1]);
depthFileWriter.Write(pointData[3 * i + 2]);
}
depthFileWriter.Flush();
}
public int ReadDepthFromFile(BinaryReader reader, ref TangoXYZij depthFrame, ref float[] points)
{
string frameMarker;
try {
frameMarker = reader.ReadString();
} catch (EndOfStreamException x) {
reader.BaseStream.Position = 0;
Reset();
print("Restating log file: " + x.ToString());
frameMarker = reader.ReadString();
}
if (frameMarker.CompareTo("depthframe\n") != 0)
{
debugText = "Failed to read depth";
return(-1);
}
depthFrame.timestamp = double.Parse(reader.ReadString());
depthFrame.xyz_count = int.Parse(reader.ReadString());
//load up the data
for (int i = 0; i < depthFrame.xyz_count; i++)
{
points[3 * i] = reader.ReadSingle();
points[3 * i + 1] = reader.ReadSingle();
points[3 * i + 2] = reader.ReadSingle();
}
return(0);
}
public int LoadDepthFromLogFile(BinaryReader reader, ref TangoXYZij depthFrame, ref float[] points)
{
string frameMarker;
try {
frameMarker = reader.ReadString();
} catch (EndOfStreamException x) {
reader.BaseStream.Position = 0;
print("Restating log file: " + x.ToString());
frameMarker = reader.ReadString();
}
if (frameMarker.CompareTo("depthframe\n") != 0)
{
debugText = "Failed to load";
return(-1);
}
depthFrame.timestamp = double.Parse(reader.ReadString());
depthFrame.xyz_count = int.Parse(reader.ReadString());
debugText2 = depthFrame.timestamp.ToString();
debugText3 = depthFrame.xyz_count.ToString();
//if we are too small increase the memory array with some room to spare
if (depthFrame.xyz_count * 3 > loadedRawPoints.Length)
{
loadedRawPoints = new float[2 * 3 * depthFrame.xyz_count];
}
//load up the data
for (int i = 0; i < depthFrame.xyz_count; i++)
{
loadedRawPoints[3 * i] = reader.ReadSingle();
loadedRawPoints[3 * i + 1] = reader.ReadSingle();
loadedRawPoints[3 * i + 2] = reader.ReadSingle();
}
//randomly subsample
for (int i = 0; i < renderCount; i++)
{
int srcIndex = UnityEngine.Random.Range(0, depthFrame.xyz_count - 1);
points[3 * i] = loadedRawPoints[3 * srcIndex];
points[3 * i + 1] = loadedRawPoints[3 * srcIndex + 1];
points[3 * i + 2] = loadedRawPoints[3 * srcIndex + 2];
}
return(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>
protected override void _OnDepthAvailable(IntPtr callbackContext, TangoXYZij xyzij)
{
// Calculate the time since the last successful depth data
// collection.
if (m_previousDepthDeltaTime == 0.0)
{
m_previousDepthDeltaTime = xyzij.timestamp;
}
else
{
m_numberOfDepthSamples++;
m_timeSinceLastDepthFrame = xyzij.timestamp - m_previousDepthDeltaTime;
m_previousDepthDeltaTime = xyzij.timestamp;
}
// Fill in the data to draw the point cloud.
if (xyzij != null && m_vertices != null)
{
int numberOfActiveVertices = xyzij.xyz_count;
m_pointsCount = numberOfActiveVertices;
if (numberOfActiveVertices > 0)
{
float[] allPositions = new float[numberOfActiveVertices * 3];
Marshal.Copy(xyzij.xyz[0], allPositions, 0, allPositions.Length);
for (int i = 0; i < m_vertices.Length; ++i)
{
if (i < xyzij.xyz_count)
{
m_vertices[i].x = allPositions[i * 3];
m_vertices[i].y = allPositions[(i * 3) + 1];
m_vertices[i].z = allPositions[(i * 3) + 2];
}
else
{
m_vertices[i].x = m_vertices[i].y = m_vertices[i].z = 0.0f;
}
}
m_isDirty = true;
}
}
}
public void WriteDepthToFile(BinaryWriter writer, TangoXYZij depth, float[] pointData)
{
if (writer == null)
{
return;
}
writer.Write("depthframe\n");
writer.Write(depth.timestamp + "\n");
writer.Write(depth.xyz_count + "\n");
for (int i = 0; i < depth.xyz_count; i++)
{
writer.Write(pointData[3 * i]);
writer.Write(pointData[3 * i + 1]);
writer.Write(pointData[3 * i + 2]);
}
writer.Flush();
}
/// <summary> /// Callback that gets called when depth is available /// from the Tango Service. /// </summary> /// <param name="callbackContext">Callback context.</param> /// <param name="xyzij">Xyzij.</param> protected abstract void _OnDepthAvailable(IntPtr callbackContext, TangoXYZij xyzij);
public void LoadLogFile(string filename, ref TangoXYZij depthFrame, ref float[] points)
{
depthFileReader = new BinaryReader(File.Open(Application.persistentDataPath + "/" + filename, FileMode.Open));
debugText = "Loading from: " + filename + " " + depthFileReader.ToString();
LoadDepthFromLogFile(depthFileReader, ref depthFrame, ref points);
}
