/// <summary>
/// Wait for the next depth update, then find the nearest edge in the point
/// cloud.
/// </summary>
/// <param name="touchPosition">Touch position on the screen.</param>
/// <returns>Coroutine IEnumerator.</returns>
private IEnumerator _WaitForDepth(Vector2 touchPosition)
{
m_waitingForDepth = true;
// Turn on the camera and wait for a single depth update
m_tangoApplication.SetDepthCameraRate(
TangoEnums.TangoDepthCameraRate.MAXIMUM);
while (m_waitingForDepth)
{
yield return(null);
}
m_tangoApplication.SetDepthCameraRate(
TangoEnums.TangoDepthCameraRate.DISABLED);
m_camera = Camera.main;
int pointIndex = m_pointCloud.FindClosestPoint(m_camera, touchPosition, 10);
if (pointIndex > -1)
{
m_currTouch = m_pointCloud.m_points[pointIndex];
//_RenderCustomize(m_currTouch, new Vector3(m_currTouch[0] + 0.005f, m_currTouch[1], m_currTouch[2]));
Debug.Log("<<<<<<<<<<<<<<<< mouse position: " + m_currTouch[0] + ", " + m_currTouch[1] + ", " + m_currTouch[2]);
}
TangoSupport.TangoSupportEdge[] edges;
int num_edges;
bool edgeResult = m_pointCloud.FindEdges(m_imagebuffer, m_camera, touchPosition,
out edges, out num_edges);
Debug.Log("<<<<<<<<<<< Edge result: " + edgeResult);
if (edgeResult == true)
{
m_edgeCount = num_edges;
m_startPoint = new Vector3[num_edges];
m_endPoint = new Vector3[num_edges];
m_nearestPoint = new Vector3[num_edges];
for (int i = 0; i < num_edges; i++)
{
Debug.Log("<<<<<<<<< starting point's x: " + edges[i].end_points_x1);
m_startPoint[i] = new Vector3(edges[i].end_points_x1,
edges[i].end_points_y1,
edges[i].end_points_z1);
Debug.Log("<<<<<<<<<< " + m_startPoint[i][0] + ", " + m_startPoint[i][1] + ", " + m_startPoint[i][2]);
m_endPoint[i] = new Vector3(edges[i].end_points_x2,
edges[i].end_points_y2,
edges[i].end_points_z2);
Debug.Log("<<<<<<<<<< " + m_endPoint[i][0] + ", " + m_endPoint[i][1] + ", " + m_endPoint[i][2]);
m_nearestPoint[i] = new Vector3(edges[i].closest_point_on_edge_x,
edges[i].closest_point_on_edge_y,
edges[i].closest_point_on_edge_z);
Debug.Log("<<<<<<<<<< " + m_nearestPoint[i][0] + ", " + m_nearestPoint[i][1] + ", " + m_nearestPoint[i][2]);
}
_RenderLine();
}
}
