/// <summary>
/// Initialize motion tracking.
/// </summary>
private void _InitializeMotionTracking(string UUID)
{
System.Collections.Generic.List <TangoCoordinateFramePair> framePairs = new System.Collections.Generic.List <TangoCoordinateFramePair>();
if (TangoConfig.SetBool(TangoConfig.Keys.ENABLE_AREA_LEARNING_BOOL, m_enableAreaLearning) && m_enableAreaLearning)
{
m_areaLearningSetSucces = true;
}
else
{
m_areaLearningSetSucces = false;
}
if (TangoConfig.SetBool(TangoConfig.Keys.ENABLE_MOTION_TRACKING_BOOL, m_enableMotionTracking) && m_enableMotionTracking)
{
TangoCoordinateFramePair motionTracking;
motionTracking.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
motionTracking.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
if (!string.IsNullOrEmpty(UUID))
{
TangoConfig.SetString(TangoConfig.Keys.LOAD_AREA_DESCRIPTION_UUID_STRING, UUID);
TangoCoordinateFramePair areaDescription;
areaDescription.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
areaDescription.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
TangoCoordinateFramePair startToADF;
startToADF.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
startToADF.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
framePairs.Add(areaDescription);
framePairs.Add(startToADF);
}
framePairs.Add(motionTracking);
}
if (framePairs.Count > 0)
{
_SetMotionTrackingCallbacks(framePairs.ToArray());
}
TangoConfig.SetBool(TangoConfig.Keys.ENABLE_MOTION_TRACKING_AUTO_RECOVERY_BOOL, m_motionTrackingAutoReset);
}
/// <summary>
/// Initialize motion tracking.
/// </summary>
private void _InitializeMotionTracking(string UUID)
{
System.Collections.Generic.List <TangoCoordinateFramePair> framePairs = new System.Collections.Generic.List <TangoCoordinateFramePair>();
if (TangoConfig.SetBool(TangoConfig.Keys.ENABLE_MOTION_TRACKING_BOOL, m_enableMotionTracking) && m_enableMotionTracking)
{
TangoCoordinateFramePair motionTracking;
motionTracking.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
motionTracking.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
framePairs.Add(motionTracking);
if (TangoConfig.SetBool(TangoConfig.Keys.ENABLE_AREA_LEARNING_BOOL, m_enableAreaLearning) && m_enableAreaLearning)
{
Debug.Log("Area Learning is enabled.");
if (!string.IsNullOrEmpty(UUID))
{
TangoConfig.SetBool("config_experimental_high_accuracy_small_scale_adf", m_useExperimentalADF);
TangoConfig.SetString(TangoConfig.Keys.LOAD_AREA_DESCRIPTION_UUID_STRING, UUID);
}
TangoCoordinateFramePair areaDescription;
areaDescription.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
areaDescription.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
TangoCoordinateFramePair startToADF;
startToADF.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
startToADF.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
framePairs.Add(areaDescription);
framePairs.Add(startToADF);
}
}
if (framePairs.Count > 0)
{
_SetMotionTrackingCallbacks(framePairs.ToArray());
}
// The C API does not default this to on, but it is locked down.
TangoConfig.SetBool(TangoConfig.Keys.ENABLE_LOW_LATENCY_IMU_INTEGRATION, true);
TangoConfig.SetBool(TangoConfig.Keys.ENABLE_MOTION_TRACKING_AUTO_RECOVERY_BOOL, m_motionTrackingAutoReset);
}