/// <summary> /// Sets up extrinsic matrixes and camera intrinsics for this hardware. /// </summary> private void _SetUpCameraData() { if (m_cameraDataSetUp) { return; } double timestamp = 0.0; TangoCoordinateFramePair pair; TangoPoseData poseData = new TangoPoseData(); // Query the extrinsics between IMU and device frame. pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU; pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE; PoseProvider.GetPoseAtTime(poseData, timestamp, pair); m_imuTDevice = DMatrix4x4.FromMatrix4x4(poseData.ToMatrix4x4()); // Query the extrinsics between IMU and depth camera frame. pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU; pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_DEPTH; PoseProvider.GetPoseAtTime(poseData, timestamp, pair); m_imuTDepthCamera = DMatrix4x4.FromMatrix4x4(poseData.ToMatrix4x4()); m_deviceTDepthCamera = m_imuTDevice.Inverse * m_imuTDepthCamera; // Also get the camera intrinsics m_colorCameraIntrinsics = new TangoCameraIntrinsics(); VideoOverlayProvider.GetIntrinsics(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, m_colorCameraIntrinsics); m_cameraDataSetUp = true; }
/// <summary> /// The function is for querying the camera extrinsic, for example: the transformation between /// IMU and device frame. These extrinsics is used to transform the pose from the color camera frame /// to the device 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. /// </summary> private void _SetCameraExtrinsics() { double timestamp = 0.0; TangoCoordinateFramePair pair; TangoPoseData poseData = new TangoPoseData(); // Get 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); Matrix4x4 imuTd = poseData.ToMatrix4x4(); // Get 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); Matrix4x4 imuTc = poseData.ToMatrix4x4(); // Get the transform of the Unity Camera frame with respect to the Color Camera frame. Matrix4x4 cTuc = new Matrix4x4(); cTuc.SetColumn(0, new Vector4(1.0f, 0.0f, 0.0f, 0.0f)); cTuc.SetColumn(1, new Vector4(0.0f, -1.0f, 0.0f, 0.0f)); cTuc.SetColumn(2, new Vector4(0.0f, 0.0f, 1.0f, 0.0f)); cTuc.SetColumn(3, new Vector4(0.0f, 0.0f, 0.0f, 1.0f)); m_dTuc = Matrix4x4.Inverse(imuTd) * imuTc * cTuc; }
/// <summary> /// Correct all saved marks when loop closure happens. /// /// When Tango Service is in learning mode, the drift will accumulate overtime, but when the system sees a /// preexisting area, it will do a operation to correct all previously saved poses /// (the pose you can query with GetPoseAtTime). This operation is called loop closure. When loop closure happens, /// we will need to re-query all previously saved marker position in order to achieve the best result. /// This function is doing the querying job based on timestamp. /// </summary> private void _UpdateMarkersForLoopClosures() { // Adjust mark's position each time we have a loop closure detected. foreach (GameObject obj in m_markerList) { ARMarker tempMarker = obj.GetComponent <ARMarker>(); if (tempMarker.m_timestamp != -1.0f) { TangoCoordinateFramePair pair; TangoPoseData relocalizedPose = new TangoPoseData(); pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION; pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE; PoseProvider.GetPoseAtTime(relocalizedPose, tempMarker.m_timestamp, pair); Matrix4x4 uwTDevice = m_poseController.m_uwTss * relocalizedPose.ToMatrix4x4() * m_poseController.m_dTuc; Matrix4x4 uwTMarker = uwTDevice * tempMarker.m_deviceTMarker; obj.transform.position = uwTMarker.GetColumn(3); obj.transform.rotation = Quaternion.LookRotation(uwTMarker.GetColumn(2), uwTMarker.GetColumn(1)); } } }
/// <summary> /// 当闭环发生时, 校正已保存的 marker. /// /// 当 Tango 服务在学习模式时, 漂移会随时间积累, 但当系统看到一个已存在区域时, 它将校正先前保存的姿态. /// 这个操作称为闭环. 当闭环发生时, 我们需要重新查询先前保存的 marker 位置以获得最好结果. /// </summary> private void _UpdateUnitsForLoopClosures() { // 每当一个闭环事件时, 调整 marker 位置. foreach (SceneUnit unit in MapSceneManager.Instance.GetAllUnit()) { if (unit.m_timestamp != -1.0f) { TangoCoordinateFramePair pair; TangoPoseData relocalizedPose = new TangoPoseData(); pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION; pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE; PoseProvider.GetPoseAtTime(relocalizedPose, unit.m_timestamp, pair); Matrix4x4 uwTDevice = m_poseController.m_uwTss * relocalizedPose.ToMatrix4x4() * m_poseController.m_dTuc; Matrix4x4 uwTMarker = uwTDevice * unit.m_deviceT; unit.thisT.position = uwTMarker.GetColumn(3); unit.thisT.rotation = Quaternion.LookRotation(uwTMarker.GetColumn(2), uwTMarker.GetColumn(1)); } } }
/// <summary> /// Sets up extrinsic matrixes and camera intrinsics for this hardware. /// </summary> private void _SetUpCameraData() { if (m_cameraDataSetUp) { return; } double timestamp = 0.0; TangoCoordinateFramePair pair; TangoPoseData poseData = new TangoPoseData(); #if UNITY_EDITOR // Constant matrixes representing just the convention swap. m_imuTDevice.SetColumn(0, new Vector4(0.0f, 1.0f, 0.0f, 0.0f)); m_imuTDevice.SetColumn(1, new Vector4(-1.0f, 0.0f, 0.0f, 0.0f)); m_imuTDevice.SetColumn(2, new Vector4(0.0f, 0.0f, 1.0f, 0.0f)); m_imuTDevice.SetColumn(3, new Vector4(0.0f, 0.0f, 0.0f, 1.0f)); m_imuTDepthCamera.SetColumn(0, new Vector4(0.0f, 1.0f, 0.0f, 0.0f)); m_imuTDepthCamera.SetColumn(1, new Vector4(1.0f, 0.0f, 0.0f, 0.0f)); m_imuTDepthCamera.SetColumn(2, new Vector4(0.0f, 0.0f, -1.0f, 0.0f)); m_imuTDepthCamera.SetColumn(3, new Vector4(0.0f, 0.0f, 0.0f, 1.0f)); #else // Query the extrinsics between IMU and device frame. pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU; pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE; PoseProvider.GetPoseAtTime(poseData, timestamp, pair); m_imuTDevice = poseData.ToMatrix4x4(); // Query the extrinsics between IMU and depth camera frame. pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU; pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_DEPTH; PoseProvider.GetPoseAtTime(poseData, timestamp, pair); m_imuTDepthCamera = poseData.ToMatrix4x4(); #endif // Also get the camera intrinsics m_colorCameraIntrinsics = new TangoCameraIntrinsics(); VideoOverlayProvider.GetIntrinsics(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, m_colorCameraIntrinsics); m_cameraDataSetUp = true; }
/// @endcond /// <summary> /// Update the transformation to the pose for that timestamp. /// </summary> /// <param name="timestamp">Time in seconds to update the transformation to.</param> private void _UpdateTransformation(double timestamp) { TangoPoseData pose = new TangoPoseData(); TangoCoordinateFramePair pair; if (!m_useAreaDescriptionPose) { pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE; pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE; } else { pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION; pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE; } PoseProvider.GetPoseAtTime(pose, timestamp, pair); // The callback pose is for device with respect to start of service pose. if (pose.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID) { // Construct matrix for the start of service with respect to device from the pose. Matrix4x4 ssTd = pose.ToMatrix4x4(); // Calculate matrix for the camera in the Unity world, taking into account offsets. Matrix4x4 uwTuc = m_uwTss * ssTd * m_dTuc; // Extract final position, rotation. m_tangoPosition = uwTuc.GetColumn(3); m_tangoRotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1)); // Other pose data -- Pose count gets reset if pose status just became valid. if (pose.status_code != m_poseStatus) { m_poseCount = 0; } m_poseCount++; // Other pose data -- Pose time. m_poseTimestamp = timestamp; } m_poseStatus = pose.status_code; // Apply final position and rotation. transform.position = m_tangoPosition; transform.rotation = m_tangoRotation; }
/// <summary> /// Callback that gets called when depth is available from the Tango Service. /// </summary> /// <param name="pointCloud">Depth information from Tango.</param> public void OnTangoPointCloudAvailable(TangoPointCloudData pointCloud) { // Calculate the time since the last successful depth data // collection. if (m_depthTimestamp != 0.0) { m_depthDeltaTime = (float)((pointCloud.m_timestamp - m_depthTimestamp) * 1000.0); } // Fill in the data to draw the point cloud. m_pointsCount = pointCloud.m_numPoints; if (m_pointsCount > 0) { _SetUpCameraData(); TangoCoordinateFramePair pair; TangoPoseData poseData = new TangoPoseData(); // Query pose to transform point cloud to world coordinates, here we are using the timestamp // that we get from depth. if (m_useAreaDescriptionPose) { pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION; pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE; } else { pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE; pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE; } PoseProvider.GetPoseAtTime(poseData, pointCloud.m_timestamp, pair); if (poseData.status_code != TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID) { return; } Matrix4x4 startServiceTDevice = poseData.ToMatrix4x4(); // The transformation matrix that represents the pointcloud's pose. // Explanation: // The pointcloud which is in Depth camera's frame, is put in unity world's // coordinate system(wrt unity world). // Then we are extracting the position and rotation from uwTuc matrix and applying it to // the PointCloud's transform. Matrix4x4 unityWorldTDepthCamera = m_unityWorldTStartService * startServiceTDevice * Matrix4x4.Inverse(m_imuTDevice) * m_imuTDepthCamera; transform.position = Vector3.zero; transform.rotation = Quaternion.identity; // Add offset to the pointcloud depending on the offset from TangoDeltaPoseController Matrix4x4 unityWorldOffsetTDepthCamera; if (m_tangoDeltaPoseController != null) { unityWorldOffsetTDepthCamera = m_tangoDeltaPoseController.UnityWorldOffset * unityWorldTDepthCamera; } else { unityWorldOffsetTDepthCamera = unityWorldTDepthCamera; } // Converting points array to world space. m_overallZ = 0; for (int i = 0; i < m_pointsCount; ++i) { Vector3 point = pointCloud[i]; m_points[i] = unityWorldOffsetTDepthCamera.MultiplyPoint3x4(point); m_overallZ += point.z; } m_overallZ = m_overallZ / m_pointsCount; m_depthTimestamp = pointCloud.m_timestamp; if (m_updatePointsMesh) { // Need to update indicies too! int[] indices = new int[m_pointsCount]; for (int i = 0; i < m_pointsCount; ++i) { indices[i] = i; } m_mesh.Clear(); m_mesh.vertices = m_points; m_mesh.SetIndices(indices, MeshTopology.Points, 0); } // The color should be pose relative, we need to store enough info to go back to pose values. m_renderer.material.SetMatrix("depthCameraTUnityWorld", unityWorldOffsetTDepthCamera.inverse); // Try to find the floor using this set of depth points if requested. if (m_findFloorWithDepth) { _FindFloorWithDepth(); } } else { m_overallZ = 0; } }