/// <summary>
/// Gets the latest pose estimation from VIO. If run in Unity Editor Simulates TangoFlyCam Experience.
/// </summary>
/// <param name="vioHandler"> Pointer to application context.</param>
/// <param name="vioStatus"> Data filled out by Tango API.</param>
/// <returns> Common.RetCodes.kCAPISuccess if successful.</returns>
public static int VIOGetLatestPose(System.IntPtr vioHandler, ref VIOStatus vioStatus)
{
Vector3 position = vioStatus.translation;
Quaternion rotation;
Vector3 directionForward, directionRight, directionUp;
float rotationX;
float rotationY;
rotationX = vioStatus.rotation.eulerAngles.x - Input.GetAxis("Mouse Y") * MOUSE_LOOK_SENSITIVITY * Time.deltaTime;
rotationY = vioStatus.rotation.eulerAngles.y + Input.GetAxis("Mouse X") * MOUSE_LOOK_SENSITIVITY * Time.deltaTime;
Vector3 eulerAngles = new Vector3(rotationX, rotationY, 0);
vioStatus.rotation.eulerAngles = eulerAngles;
rotation = Quaternion.Euler(eulerAngles);
directionForward = rotation * Vector3.forward;
directionRight = rotation * Vector3.right;
directionUp = rotation * Vector3.up;
position = position + Input.GetAxis("Vertical") * directionForward * TRANSLATION_SPEED * Time.deltaTime;
position = position + Input.GetAxis("Horizontal") * directionRight * TRANSLATION_SPEED * Time.deltaTime;
if (Input.GetKey(KeyCode.R)) // Go Up
{
position += directionUp * TRANSLATION_SPEED * Time.deltaTime;
}
if (Input.GetKey(KeyCode.F)) // Go Down
{
position -= directionUp * TRANSLATION_SPEED * Time.deltaTime;
}
vioStatus.translation = position;
return((int)Tango.Common.RetCodes.kCAPISuccess);
}
/// <summary>
/// Gets the pose estimation closest to the timestamp
/// given to the function.
/// </summary>
/// <param name="vioHandle"> Pointer to the application context.</param>
/// <param name="timestamp"> Time that will be used to recover a pose estimation.</param>
/// <param name="maxDelta"> Max difference between the given timestamp and returned
/// pose estimation.</param>
/// <param name="status"> Data to be filled out by Tango API.</param>
/// <returns> Common.RetCodes.kCAPISuccess if successful.</returns>
public static int VIOGetClosestPoseToTime(System.IntPtr vioHandle,
double timestamp,
double maxDelta,
ref VIOStatus status)
{
return((int)Tango.Common.RetCodes.kCAPISuccess);
}
/// <summary>
/// Get latest vioStatus.
/// </summary>
/// <param name="vioStatus">Reference to vioStatus,
/// need caller to allocate.</param>
/// <returns>If the function call succeed.</returns>
public static bool GetLatestPose(ref VIOStatus vioStatus)
{
if (!m_isInit)
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_WARN, "VIOProvider.GetLatestPose : Not Initialized!");
return(false);
}
Common.RetCodes ret_code =
(Common.RetCodes)TangoVIOAPI.VIOGetLatestPose(
TangoApplication.Instance.Handle, ref vioStatus);
if (ret_code != Common.RetCodes.kCAPISuccess)
{
Debug.Log("get latest vio pose failed:" + ret_code);
return(false);
}
// Convert the estimator format to unity format
Utilities.TangoUtilAPI.UtilConvertPoseToUnityFormat(
ref vioStatus.rotation, ref vioStatus.translation,
ref vioStatus.rotation, ref vioStatus.translation);
return(true);
}
public static extern int VIOGetClosestPoseToTime(
System.IntPtr vioHandle, double timestamp,
double maxDelta, ref VIOStatus status);
public static extern int VIOGetLatestPose(System.IntPtr vioHandle, ref VIOStatus vioStatus);
