/// <summary>
/// Internal callback when a permissions event happens.
/// </summary>
/// <param name="permissionsGranted">If set to <c>true</c> permissions granted.</param>
private void _OnTangoApplicationPermissionsEvent(bool permissionsGranted)
{
if (permissionsGranted)
{
m_tangoApplication.InitApplication();
// Load the most recent ADF.
PoseProvider.RefreshADFList();
UUIDUnityHolder latestAreaDescription = PoseProvider.GetLatestADFUUID();
if (latestAreaDescription != null)
{
string uuid = latestAreaDescription.GetStringDataUUID();
m_tangoApplication.InitProviders(uuid);
}
else
{
m_tangoApplication.InitProviders(null);
}
m_tangoApplication.ConnectToService();
}
else
{
AndroidHelper.ShowAndroidToastMessage("Motion Tracking and Area Learning Permissions Needed", true);
}
}
private void _OnTangoApplicationPermissionsEvent(bool permissionsGranted)
{
if (permissionsGranted)
{
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 if (!permissionsGranted)
{
AndroidHelper.ShowAndroidToastMessage("Motion Tracking and Area Learning Permissions Needed", true);
}
}
/// <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.");
}
}
private void _OnTangoApplicationPermissionsEvent(bool permissionsGranted)
{
if (permissionsGranted && !m_alreadyInitialized)
{
Debug.Log("SampleController._OnApplicationPermissionsEvent()");
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();
// Query extrinsics constant tranformations.
TangoPoseData poseData = new TangoPoseData();
double timestamp = 0.0;
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
Vector3 position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
Quaternion quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
m_deviceToIMUMatrix = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
m_cameraToIMUMatrix = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
m_alreadyInitialized = true;
}
else if (!permissionsGranted)
{
AndroidHelper.ShowAndroidToastMessage("Motion Tracking Permissions Needed", true);
}
}
/// <summary>
/// This callback function is called after user appoved or declined the permission to use Motion Tracking.
/// </summary>
private void _OnTangoApplicationPermissionsEvent(bool permissionsGranted)
{
if (permissionsGranted)
{
m_tangoApplication.InitApplication();
m_tangoApplication.InitProviders(string.Empty);
m_tangoApplication.ConnectToService();
// Ask ARScreen to query the camera intrinsics from Tango Service.
m_arScreen.SetCameraIntrinsics();
// The following code is querying the camera extrinsic, for example: the transformation between
// IMU and device frame. These extrinsics is used to transform the pose from the device frame
// to the color camera frame. Because the extrinsic is being queried using the GetPoseAtTime()
// with a desired frame pair, it can only be queried after the ConnectToService() is called.
//
// The device with respect to IMU frame is not directly queryable from API, so we use the IMU
// frame as a temporary value to get the device frame with respect to IMU frame.
double timestamp = 0.0;
TangoCoordinateFramePair pair;
TangoPoseData poseData = new TangoPoseData();
// Getting the transformation of device frame with respect to IMU frame.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
Vector3 position = new Vector3((float)poseData.translation[0],
(float)poseData.translation[1],
(float)poseData.translation[2]);
Quaternion quat = new Quaternion((float)poseData.orientation[0],
(float)poseData.orientation[1],
(float)poseData.orientation[2],
(float)poseData.orientation[3]);
m_imuTd = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
// Getting the transformation of IMU frame with respect to color camera frame.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
position = new Vector3((float)poseData.translation[0],
(float)poseData.translation[1],
(float)poseData.translation[2]);
quat = new Quaternion((float)poseData.orientation[0],
(float)poseData.orientation[1],
(float)poseData.orientation[2],
(float)poseData.orientation[3]);
m_imuTc = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
}
else
{
AndroidHelper.ShowAndroidToastMessage("Motion Tracking Permissions Needed", true);
}
}
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>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
if (m_shouldInitTango)
{
m_tangoApplication.InitApplication();
m_tangoApplication.InitProviders(string.Empty);
m_tangoApplication.ConnectToService();
m_shouldInitTango = false;
double timestamp = 0.0;
TangoCoordinateFramePair pair;
TangoPoseData poseData = new TangoPoseData();
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
Vector3 position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
Quaternion quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
m_imuTd = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
m_imuTc = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
}
if (m_isDirty)
{
Matrix4x4 ssTd = Matrix4x4.TRS(m_tangoPosition, m_tangoRotation, Vector3.one);
Matrix4x4 uwTuc = m_uwTss * ssTd * Matrix4x4.Inverse(m_imuTd) * m_imuTc * m_cTuc;
// Extract new local position
transform.position = uwTuc.GetColumn(3);
// Extract new local rotation
transform.rotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1));
}
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
}
private void _OnTangoApplicationPermissionsEvent(bool permissionsGranted)
{
if (permissionsGranted)
{
m_tangoApplication.InitApplication();
m_tangoApplication.InitProviders(string.Empty);
m_tangoApplication.ConnectToService();
}
else
{
AndroidHelper.ShowAndroidToastMessage("Motion Tracking Permissions Needed", true);
}
}
/// <summary>
/// Permissions callback.
/// </summary>
/// <param name="success">If set to <c>true</c> permissions are granted.</param>
private void PermissionsCallback(bool success)
{
if (success)
{
m_tangoApplication.InitApplication(); // Initialize Tango Client
m_tangoApplication.InitProviders(string.Empty); // Initialize listeners
m_tangoApplication.ConnectToService(); // Connect to Tango Service
}
else
{
AndroidHelper.ShowAndroidToastMessage("Motion Tracking Permissions Needed", true);
}
}
// Use this for initialization
void Start()
{
Statics.currentTangoState = TangoPoseStates.Connecting;
tangoApplication = FindObjectOfType <TangoApplication>();
if (tangoApplication == null)
{
tangoApplication = FindObjectOfType <TangoApplication>();
}
tangoApplication.InitProviders(Statics.curADFId);
tangoApplication.Register(this);
tangoApplication.ConnectToService();
startingRotation = transform.rotation;
}
/// <summary>
/// Internal callback when a permissions event happens.
/// </summary>
/// <param name="permissionsGranted">If set to <c>true</c> permissions granted.</param>
private void _OnTangoApplicationPermissionsEvent(bool permissionsGranted)
{
if (permissionsGranted)
{
m_tangoApplication.InitApplication();
m_tangoApplication.InitProviders(string.Empty);
m_tangoApplication.ConnectToService();
// Get camera extrinsics to form final matrix transforms
_SetCameraExtrinsics();
}
else
{
AndroidHelper.ShowAndroidToastMessage("Motion Tracking Permissions Needed", true);
}
}
/// <summary>
/// This callback function is called after user appoved or declined the permission to use Motion Tracking.
/// </summary>
private void _OnTangoApplicationPermissionsEvent(bool permissionsGranted)
{
if (permissionsGranted)
{
m_tangoApplication.InitApplication();
m_tangoApplication.InitProviders(string.Empty);
m_tangoApplication.ConnectToService();
// Ask ARScreen to query the camera intrinsics from Tango Service.
_SetCameraIntrinsics();
_SetCameraExtrinsics();
}
else
{
AndroidHelper.ShowAndroidToastMessage("Motion Tracking Permissions Needed", true);
}
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
#if UNITY_ANDROID && !UNITY_EDITOR
if (m_shouldInitTango)
{
m_tangoApplication.InitApplication();
m_tangoApplication.InitProviders(string.Empty);
m_tangoApplication.ConnectToService();
m_shouldInitTango = false;
}
if (m_isDirty)
{
// Construct the start of service with respect to device matrix from the pose.
Matrix4x4 ssTd = Matrix4x4.TRS(m_tangoPosition, m_tangoRotation, Vector3.one);
// Converting from Tango coordinate frame to Unity coodinate frame.
Matrix4x4 uwTuc = m_uwTss * ssTd * m_dTuc;
// Extract new local position
transform.position = uwTuc.GetColumn(3);
// Extract new local rotation
transform.rotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1));
}
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
#else
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = tempPosition;
#endif
}
/// <summary>
/// Apply any needed changes to the pose.
/// </summary>
private void Update()
{
#if UNITY_ANDROID && !UNITY_EDITOR
if (m_shouldInitTango)
{
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);
}
// Query extrinsics constant tranformations.
TangoPoseData poseData = new TangoPoseData();
double timestamp = 0.0;
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
Vector3 position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
Quaternion quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
m_deviceToIMUMatrix = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
m_cameraToIMUMatrix = Matrix4x4.TRS(position, quat, new Vector3(1.0f, 1.0f, 1.0f));
m_alreadyInitialized = true;
m_shouldInitTango = false;
m_tangoApplication.ConnectToService();
}
if (m_isDirty)
{
// This rotation needs to be put into Unity coordinate space.
Quaternion rotationFix = Quaternion.Euler(90.0f, 0.0f, 0.0f);
if (!m_isRelocalized)
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[0].eulerAngles.x,
-m_tangoRotation[0].eulerAngles.z,
m_tangoRotation[0].eulerAngles.y);
transform.rotation = m_startingRotation * (rotationFix * axisFix);
transform.position = (m_startingRotation * (m_tangoPosition[0] * m_movementScale)) + m_startingOffset;
}
else
{
Quaternion axisFix = Quaternion.Euler(-m_tangoRotation[1].eulerAngles.x,
-m_tangoRotation[1].eulerAngles.z,
m_tangoRotation[1].eulerAngles.y);
transform.rotation = m_startingRotation * (rotationFix * axisFix);
transform.position = (m_startingRotation * (m_tangoPosition[1] * m_movementScale)) + m_startingOffset;
}
m_isDirty = false;
}
if (Input.GetKeyDown(KeyCode.Escape))
{
if (m_tangoApplication != null)
{
m_tangoApplication.Shutdown();
}
// This is a temporary fix for a lifecycle issue where calling
// Application.Quit() here, and restarting the application immediately,
// results in a hard crash.
AndroidHelper.AndroidQuit();
}
#else
Vector3 tempPosition = transform.position;
Quaternion tempRotation = transform.rotation;
PoseProvider.GetMouseEmulation(ref tempPosition, ref tempRotation);
transform.rotation = tempRotation;
transform.position = tempPosition;
#endif
}