/// <summary>
/// Function for unity3D code initialization
/// </summary>
void Start()
{
//Setup logger
//load previous settings
if (enable_logging)
{
StreamReader fileReader = null;
string logFile = Application.persistentDataPath + "/log.txt";
if (File.Exists(logFile))
{
fileReader = new StreamReader(logFile);
logFileData = fileReader.ReadToEnd();
fileReader.Close();
}
}
//first few frames is not valid, have to wait for valid frame
StartCoroutine(CheckTheValidityOfTexture());
//implement SlamFlex hooks
mSendStringDelegate = new SlamFlexWrapper.SendStringDelegate(ReciveStringFromPlugin);
mSendPoseDelegate = new SlamFlexWrapper.SendPoseDelegate(RecivePoseFromPlugin);
mSendLogDelegate = new SlamFlexWrapper.SendLogDelegate(Logging);
mSendArrayPointsDelegate = new SlamFlexWrapper.SendArrayPointsDelegate(ReciveArrayPointsFromPlugin);
//initialize SLAMflex plugin
SlamFlexWrapper.StartSlam(mSendStringDelegate, mSendPoseDelegate, mSendLogDelegate, mSendArrayPointsDelegate);
}
/// <summary>
/// Function for starting SLAMflex until enough points for generation of map is found
/// </summary>
/// <returns></returns>
private IEnumerator AutoEnd()
{
autoend = true;
while (autoend)
{
yield return(new WaitForSeconds(1f));
SlamFlexWrapper.StartPlaneDetection();
Debug.Log("AutoEnd finished");
}
}
void Update()
{
//we have valid texture as input, each update send one frame to plugin
if (textureOk && !planeRotationFound)
{
this._buf = (Color32[])this.w.GetPixels32();
m_PixelsHandle = GCHandle.Alloc(this._buf, GCHandleType.Pinned);
current_State = SlamFlexWrapper.SetNewFrame(m_PixelsHandle.AddrOfPinnedObject(), this.w.width, this.w.height);
m_PixelsHandle.Free();
}
}
/// <summary>
/// Function for unity3D GUI
/// </summary>
void OnGUI()
{
if (GUI.Button(new Rect(Screen.width * 0.9f, 0, Screen.width * 0.1f, Screen.width * 0.1f), "Exit"))
{
Debug.Log("Unity_ App exits");
Application.Quit();
}
if (GUI.Button(new Rect(Screen.width - (Screen.width * 0.3f), (Screen.height - (Screen.width * 0.3f)), Screen.width * 0.3f, Screen.width * 0.3f), "Start Plane Detection"))
{
Debug.Log("Unity_ Tracking started");
planeRotationFound = false;
this._ground_plane.SetActive(false);
Camera.main.transform.eulerAngles = Vector3.zero;
SlamFlexWrapper.StartPlaneDetection();
StartCoroutine(AutoEnd());
}
if (GUI.Button(new Rect(0, (Screen.height - (Screen.width * 0.3f)), Screen.width * 0.3f, Screen.width * 0.3f), "Stop Plane Detection"))
{
Debug.Log("Unity_ Tracking stoped");
planeRotationFound = false;
this._ground_plane.transform.position = orginalPlainePosition;
this._ground_plane.SetActive(false);
Camera.main.transform.eulerAngles = Vector3.zero;
SlamFlexWrapper.StopSlam();
}
string text = "";
if (autoend)
{
text = "\nMessages: " + userMessagesTextInstr + "\n" + userMessagesText + "\n" + userMessagesText1;
}
else
{
text = "\nMessages: " + userMessagesText + "\n" + userMessagesText1;
}
GUI.Label(new Rect(0f, 0f, 200, 200), "Current tracking state: " + current_State.ToString());
GUI.Label(new Rect(0, 100, 400, 400), text);
}
