private TangoConfig SetupTangoConfig(Tango tango)
{
try
{
// Create a new Tango Configuration and enable the MotionTrackingActivity API.
TangoConfig config = tango.GetConfig(TangoConfig.ConfigTypeDefault);
config.PutBoolean(TangoConfig.KeyBooleanMotiontracking, true);
// Tango service should automatically attempt to recover when it enters an invalid state.
config.PutBoolean(TangoConfig.KeyBooleanAutorecovery, true);
config.PutBoolean(TangoConfig.KeyBooleanColorcamera, true);
config.PutBoolean(TangoConfig.KeyBooleanDepth, true);
// NOTE: Low latency integration is necessary to achieve a precise alignment of
// virtual objects with the RBG image and produce a good AR effect.
config.PutBoolean(TangoConfig.KeyBooleanLowlatencyimuintegration, true);
// Drift correction allows motion tracking to recover after it loses tracking.
// The drift corrected pose is is available through the frame pair with
// base frame AREA_DESCRIPTION and target frame DEVICE.
config.PutBoolean(TangoConfig.KeyBooleanDriftCorrection, true);
var c = config.GetString(TangoConfig.KeyStringDatasetsPath);
config.PutInt(TangoConfig.KeyIntDepthMode, TangoConfig.TangoDepthModePointCloud);
return(config);
}
catch (TangoErrorException e)
{
Log.Debug("gaat iets mis", "TangoErrorException", e);
throw;
}
}
protected override void OnCreate(Bundle savedInstanceState)
{
base.OnCreate(savedInstanceState);
SetContentView(Resource.Layout.activity_jpoint_cloud);
Title = GetString(Resource.String.app_name);
mPoseTextView = (TextView)FindViewById(Resource.Id.pose);
mQuatTextView = (TextView)FindViewById(Resource.Id.quat);
mPoseCountTextView = (TextView)FindViewById(Resource.Id.posecount);
mDeltaTextView = (TextView)FindViewById(Resource.Id.deltatime);
mTangoEventTextView = (TextView)FindViewById(Resource.Id.tangoevent);
mPoseStatusTextView = (TextView)FindViewById(Resource.Id.status);
mPointCountTextView = (TextView)FindViewById(Resource.Id.pointCount);
mTangoServiceVersionTextView = (TextView)FindViewById(Resource.Id.version);
mApplicationVersionTextView = (TextView)FindViewById(Resource.Id.appversion);
mAverageZTextView = (TextView)FindViewById(Resource.Id.averageZ);
mFrequencyTextView = (TextView)FindViewById(Resource.Id.frameDelta);
mFirstPersonButton = (Button)FindViewById(Resource.Id.first_person_button);
mFirstPersonButton.SetOnClickListener(this);
mThirdPersonButton = (Button)FindViewById(Resource.Id.third_person_button);
mThirdPersonButton.SetOnClickListener(this);
mTopDownButton = (Button)FindViewById(Resource.Id.top_down_button);
mTopDownButton.SetOnClickListener(this);
mTango = new Tango(this);
mConfig = new TangoConfig();
mConfig = mTango.GetConfig(TangoConfig.ConfigTypeCurrent);
mConfig.PutBoolean(TangoConfig.KeyBooleanDepth, true);
int maxDepthPoints = mConfig.GetInt("max_point_cloud_elements");
mRenderer = new PCRenderer(maxDepthPoints);
mGLView = (GLSurfaceView)FindViewById(Resource.Id.gl_surface_view);
mGLView.SetEGLContextClientVersion(2);
mGLView.SetRenderer(mRenderer);
mGLView.RenderMode = Rendermode.WhenDirty;
PackageInfo packageInfo;
try
{
packageInfo = this.PackageManager.GetPackageInfo(this.PackageName, 0);
mApplicationVersionTextView.Text = packageInfo.VersionName;
}
catch (Exception e)
{
System.Diagnostics.Debug.WriteLine(e.ToString());
System.Diagnostics.Debug.WriteLine(e.StackTrace);
}
// Display the version of Tango Service
mServiceVersion = mConfig.GetString("tango_service_library_version");
mTangoServiceVersionTextView.Text = mServiceVersion;
mIsTangoServiceConnected = false;
}
private TangoConfig SetupTangoConfig(Tango tango)
{
// Create a new Tango Configuration and enable the MotionTrackingActivity API.
TangoConfig config = tango.GetConfig(TangoConfig.ConfigTypeDefault);
config.PutBoolean(TangoConfig.KeyBooleanMotiontracking, true);
// Tango service should automatically attempt to recover when it enters an invalid state.
config.PutBoolean(TangoConfig.KeyBooleanAutorecovery, true);
return(config);
}
public void SurfaceCreated(ISurfaceHolder holder)
{
Surface surface = holder.Surface;
if (surface.IsValid)
{
TangoConfig config = new TangoConfig();
config = mTango.GetConfig(TangoConfig.ConfigTypeCurrent);
// TODO : Verify Connect doesn't require new set up without ConnectSurface
//mTango.ConnectSurface(0, surface);
mTango.Connect(config);
}
}
protected override void OnCreate(Bundle savedInstanceState)
{
base.OnCreate(savedInstanceState);
SetContentView(Resource.Layout.activity_main);
mTranslationTextView = (TextView)FindViewById(Resource.Id.translation_text_view);
mRotationTextView = (TextView)FindViewById(Resource.Id.rotation_text_view);
// Instantiate Tango client
mTango = new Tango(this);
// Set up Tango configuration for motion tracking
// If you want to use other APIs, add more appropriate to the config
// like: mConfig.PutBoolean(TangoConfig.KEY_BOOLEAN_DEPTH, true)
mConfig = new TangoConfig();
mConfig = mTango.GetConfig(TangoConfig.ConfigTypeCurrent);
mConfig.PutBoolean(TangoConfig.KeyBooleanMotiontracking, true);
}
protected override void OnResume()
{
Log.Debug(Tag, "OnResume");
base.OnResume();
_tango = new Tango(this, new Runnable(() =>
{
Log.Debug(Tag, "TangoRunnable");
//try
//{
TangoSupport.Initialize();
_tangoConfig = SetupTangoConfig(_tango);
_tango.Connect(_tangoConfig);
startupTango();
//}
//catch (TangoOutOfDateException e)
//{
// Log.Error(Tag, GetString(R.
// string.exception_out_of_date),
// e)
// ;
//}
//catch (TangoErrorException e)
//{
// Log.Error(Tag, GetString(R.
// string.exception_tango_error),
// e)
// ;
//}
//catch (TangoInvalidException e)
//{
// Log.Error(Tag, GetString(R.
// string.exception_tango_invalid),
// e)
// ;
//}
}));
}
private void SetTangoConfig()
{
mConfig = new TangoConfig();
mConfig = mTango.GetConfig(TangoConfig.ConfigTypeCurrent);
// Check if learning mode
if (mIsLearningMode)
{
// Set learning mode to config.
mConfig.PutBoolean(TangoConfig.KeyBooleanLearningmode, true);
// Set the ADF save button visible.
mSaveAdf.Visibility = Android.Views.ViewStates.Visible; // TODO: Check to see if ViewStates is correct
mSaveAdf.SetOnClickListener(this);
}
// Check for Load ADF/Constant Space relocalization mode
if (mIsConstantSpaceRelocalize)
{
IList <string> fullUUIDList = new List <string>();
// Returns a list of ADFs with their UUIDs
fullUUIDList = mTango.ListAreaDescriptions();
if (fullUUIDList.Count == 0)
{
mUUIDTextView.Text = GetString(Resource.String.no_uuid);
}
// Load the latest ADF if ADFs are found.
if (fullUUIDList.Count > 0)
{
mConfig.PutString(TangoConfig.KeyStringAreadescription, fullUUIDList[fullUUIDList.Count - 1]);
mUUIDTextView.Text = GetString(Resource.String.number_of_adfs) + fullUUIDList.Count + GetString(Resource.String.latest_adf_is) + fullUUIDList[fullUUIDList.Count - 1];
}
}
// Set the number of loop closures to zero at start.
mStart2DevicePoseCount = 0;
mAdf2DevicePoseCount = 0;
mAdf2StartPoseCount = 0;
mTangoServiceVersionTextView.Text = mConfig.GetString("tango_service_library_version");
}
protected override void OnResume()
{
base.OnResume();
_tango = new Tango(this, new Runnable(() =>
{
Log.Debug(Tag, "TangoRunnable");
try
{
TangoSupport.Initialize();
_tangoConfig = SetupTangoConfig(_tango);
_tango.Connect(_tangoConfig);
_isConnected = true;
var adfs = _tango.ListAreaDescriptions();
// get the number of adfs
var nr = adfs.Count;
var textView = FindViewById <TextView>(Resource.Id.textView2);
RunOnUiThread(() => textView.Text = nr.ToString());
}
catch (TangoOutOfDateException e)
{
Log.Error(Tag, "TangoOutOfDateException", e);
}
catch (TangoErrorException e)
{
// this exception gets thrown
Log.Error(Tag, "TangoErrorException", e);
}
catch (TangoInvalidException e)
{
Log.Error(Tag, "TangoInvalidException", e);
}
}));
}
/// <summary>
/// Unity callback when this object is destroyed.
/// </summary>
private void OnDestroy()
{
Shutdown();
// Clean up configs.
if (m_tangoConfig != null)
{
m_tangoConfig.Dispose();
m_tangoConfig = null;
}
if (m_tangoRuntimeConfig != null)
{
m_tangoRuntimeConfig.Dispose();
m_tangoRuntimeConfig = null;
}
}
/// <summary>
/// Awake this instance.
/// </summary>
private void Awake()
{
AndroidHelper.RegisterPauseEvent(_androidOnPause);
AndroidHelper.RegisterResumeEvent(_androidOnResume);
AndroidHelper.RegisterOnActivityResultEvent(_androidOnActivityResult);
// Setup listeners.
m_tangoEventListener = new TangoEventListener();
m_areaDescriptionEventListener = new AreaDescriptionEventListener();
if (m_enableCloudADF)
{
m_tangoCloudEventListener = new TangoCloudEventListener();
}
if (m_enableMotionTracking)
{
m_poseListener = new PoseListener();
}
if (m_enableDepth)
{
m_depthListener = new DepthListener();
}
if (m_enableVideoOverlay)
{
int yTextureWidth = 0;
int yTextureHeight = 0;
int uvTextureWidth = 0;
int uvTextureHeight = 0;
m_yuvTexture = new YUVTexture(yTextureWidth, yTextureHeight, uvTextureWidth, uvTextureHeight, TextureFormat.RGBA32, false);
m_videoOverlayListener = new VideoOverlayListener();
}
// Setup configs.
m_tangoConfig = new TangoConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_DEFAULT);
m_tangoRuntimeConfig = new TangoConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_RUNTIME);
}
/// <summary>
/// Disconnect from the Tango service.
///
/// This is called automatically when the TangoApplication goes away. You only need
/// to call this to disconnect from the Tango service before the TangoApplication goes
/// away.
/// </summary>
public void Shutdown()
{
Debug.Log("Tango Shutdown");
if (m_tangoConfig != null)
{
m_tangoConfig.Dispose();
m_tangoConfig = null;
}
if (m_tangoRuntimeConfig != null)
{
m_tangoRuntimeConfig.Dispose();
m_tangoRuntimeConfig = null;
}
_TangoDisconnect();
}
/// <summary>
/// Init step 2. Call this to initialize internal state on TangoApplication.
///
/// Call this in the permissions callback if all permissions have been granted.
///
/// Also see TangoApplication.RequestNecessaryPermissionsandConnect, TangoApplication.InitProviders, and
/// TangoApplication.ConnectToService.
/// </summary>
public void InitApplication()
{
Debug.Log("-----------------------------------Initializing Tango");
_CheckTangoVersion();
if (m_tangoConfig == null)
{
m_tangoConfig = new TangoConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_DEFAULT);
}
if (m_tangoRuntimeConfig == null)
{
m_tangoRuntimeConfig = new TangoConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_RUNTIME);
}
if (m_enableVideoOverlay && m_useExperimentalVideoOverlay)
{
int yTextureWidth = 0;
int yTextureHeight = 0;
int uvTextureWidth = 0;
int uvTextureHeight = 0;
m_tangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_Y_TEXTURE_WIDTH, ref yTextureWidth);
m_tangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_Y_TEXTURE_HEIGHT, ref yTextureHeight);
m_tangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_UV_TEXTURE_WIDTH, ref uvTextureWidth);
m_tangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_UV_TEXTURE_HEIGHT, ref uvTextureHeight);
if (yTextureWidth == 0 || yTextureHeight == 0 || uvTextureWidth == 0 || uvTextureHeight == 0)
{
Debug.Log("Video overlay texture sizes were not set properly");
}
m_yuvTexture.ResizeAll(yTextureWidth, yTextureHeight, uvTextureWidth, uvTextureHeight);
}
}
/// <summary>
/// Awake this instance.
/// </summary>
private void Awake()
{
AndroidHelper.RegisterPauseEvent(_androidOnPause);
AndroidHelper.RegisterResumeEvent(_androidOnResume);
AndroidHelper.RegisterOnActivityResultEvent(_androidOnActivityResult);
AndroidHelper.RegisterOnScreenOrientationChangedEvent(_androidOnScreenOrientationChanged);
// Setup listeners.
m_tangoEventListener = new TangoEventListener();
m_areaDescriptionEventListener = new AreaDescriptionEventListener();
if (m_enableCloudADF)
{
m_tangoCloudEventListener = new TangoCloudEventListener();
}
if (m_enableMotionTracking)
{
m_poseListener = new PoseListener();
}
if (m_enableDepth)
{
m_depthListener = new DepthListener();
}
if (m_enableVideoOverlay)
{
int yTextureWidth = 0;
int yTextureHeight = 0;
int uvTextureWidth = 0;
int uvTextureHeight = 0;
m_yuvTexture = new YUVTexture(yTextureWidth, yTextureHeight, uvTextureWidth, uvTextureHeight, TextureFormat.RGBA32, false);
m_videoOverlayListener = new VideoOverlayListener();
}
if (m_enable3DReconstruction)
{
m_tango3DReconstruction = new Tango3DReconstruction(m_3drResolutionMeters, m_3drGenerateColor, m_3drSpaceClearing);
m_tango3DReconstruction.m_useAreaDescriptionPose = m_3drUseAreaDescriptionPose;
m_tango3DReconstruction.m_sendColorToUpdate = m_3drGenerateColor;
}
// Setup configs.
m_tangoConfig = new TangoConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_DEFAULT);
m_tangoRuntimeConfig = new TangoConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_RUNTIME);
TangoSupport.UpdateCurrentRotationIndex();
}
protected override void OnCreate(Bundle savedInstanceState)
{
base.OnCreate(savedInstanceState);
var layOut = Resource.Layout.activity_motion_tracking;
_TAG = this.GetType().Name;
SetContentView(layOut);
Intent intent = Intent;
mIsAutoRecovery = intent.GetBooleanExtra(KEY_MOTIONTRACKING_AUTORECOVER, false);
// Text views for displaying translation and rotation data
mPoseTextView = (TextView)FindViewById(Resource.Id.pose);
mQuatTextView = (TextView)FindViewById(Resource.Id.quat);
mPoseCountTextView = (TextView)FindViewById(Resource.Id.posecount);
mDeltaTextView = (TextView)FindViewById(Resource.Id.deltatime);
mTangoEventTextView = (TextView)FindViewById(Resource.Id.tangoevent);
// Buttons for selecting camera view and Set up button click listeners
FindViewById(Resource.Id.first_person_button).SetOnClickListener(this);
FindViewById(Resource.Id.third_person_button).SetOnClickListener(this);
FindViewById(Resource.Id.top_down_button).SetOnClickListener(this);
// Button to reset motion tracking
mMotionResetButton = (Button)FindViewById(Resource.Id.resetmotion);
// Text views for the status of the pose data and Tango library versions
mPoseStatusTextView = (TextView)FindViewById(Resource.Id.status);
mTangoServiceVersionTextView = (TextView)FindViewById(Resource.Id.version);
mApplicationVersionTextView = (TextView)FindViewById(Resource.Id.appversion);
// OpenGL view where all of the graphics are drawn
mGLView = (GLSurfaceView)FindViewById(Resource.Id.gl_surface_view);
// Set up button click listeners
mMotionResetButton.Click += mMotionResetButton_Click;
// Configure OpenGL renderer
mRenderer = new MTGLRenderer();
mGLView.SetEGLContextClientVersion(2);
mGLView.SetRenderer(mRenderer);
mGLView.RenderMode = Rendermode.WhenDirty;
// Instantiate the Tango service
mTango = new Tango(this);
// Create a new Tango Configuration and enable the MotionTracking API
mConfig = new TangoConfig();
mConfig = mTango.GetConfig(TangoConfig.ConfigTypeCurrent);
mConfig.PutBoolean(TangoConfig.KeyBooleanMotiontracking, true);
// The Auto-Recovery ToggleButton Sets a boolean variable to determine
// if the
// Tango service should automatically attempt to recover when
// / MotionTracking enters an invalid state.
if (mIsAutoRecovery)
{
mConfig.PutBoolean(TangoConfig.KeyBooleanAutorecovery, true);
Log.Info(TAG, "Auto Recovery On");
}
else
{
mConfig.PutBoolean(TangoConfig.KeyBooleanAutorecovery, false);
Log.Info(TAG, "Auto Recovery Off");
}
PackageInfo packageInfo;
try
{
packageInfo = this.PackageManager.GetPackageInfo(this.PackageName, 0);
mApplicationVersionTextView.Text = packageInfo.VersionName;
}
catch (NameNotFoundException e)
{
Console.WriteLine(e.ToString());
Console.Write(e.StackTrace);
}
// Display the library version for debug purposes
mTangoServiceVersionTextView.Text = mConfig.GetString("tango_service_library_version");
}
/// <summary>
/// Manual initialization step 2: Call this to connect to the Tango service.
///
/// After connecting to the Tango service, you will get updates for Motion Tracking, Depth Sensing, and Area
/// Learning. If you have a specific Area Description you want to localize too, pass that Area Description in
/// here.
/// </summary>
/// <param name="areaDescription">If not null, the Area Description to localize to.</param>
public void Startup(AreaDescription areaDescription)
{
// Make sure all required permissions have been granted.
if (m_requiredPermissions != PermissionsTypes.NONE)
{
Debug.Log("TangoApplication.Startup() -- ERROR: Not all required permissions were accepted yet.");
return;
}
if (!_CheckTangoVersion())
{
// Error logged in _CheckTangoVersion function.
return;
}
// Setup configs.
m_tangoConfig = new TangoConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_DEFAULT);
m_tangoRuntimeConfig = new TangoConfig(TangoEnums.TangoConfigType.TANGO_CONFIG_RUNTIME);
if (m_enableVideoOverlay && m_videoOverlayUseYUVTextureIdMethod)
{
int yTextureWidth = 0;
int yTextureHeight = 0;
int uvTextureWidth = 0;
int uvTextureHeight = 0;
m_tangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_Y_TEXTURE_WIDTH, ref yTextureWidth);
m_tangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_Y_TEXTURE_HEIGHT, ref yTextureHeight);
m_tangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_UV_TEXTURE_WIDTH, ref uvTextureWidth);
m_tangoConfig.GetInt32(TangoConfig.Keys.EXPERIMENTAL_UV_TEXTURE_HEIGHT, ref uvTextureHeight);
if (yTextureWidth == 0 || yTextureHeight == 0 || uvTextureWidth == 0 || uvTextureHeight == 0)
{
Debug.Log("Video overlay texture sizes were not set properly");
}
m_yuvTexture.ResizeAll(yTextureWidth, yTextureHeight, uvTextureWidth, uvTextureHeight);
}
if (areaDescription != null)
{
_InitializeMotionTracking(areaDescription.m_uuid);
}
else
{
_InitializeMotionTracking(null);
}
if (m_tangoConfig.SetBool(TangoConfig.Keys.ENABLE_DEPTH_PERCEPTION_BOOL, m_enableDepth)
&& m_tangoConfig.SetInt32(TangoConfig.Keys.DEPTH_MODE, (int)TangoConfig.DepthMode.XYZC)
&& m_enableDepth)
{
DepthListener.SetCallback();
}
if (m_tangoConfig.SetBool(TangoConfig.Keys.ENABLE_COLOR_CAMERA_BOOL, m_enableVideoOverlay) &&
m_enableVideoOverlay)
{
_SetVideoOverlayCallbacks();
}
TangoEventListener.SetCallback();
if (m_enable3DReconstruction)
{
Register(m_tango3DReconstruction);
}
_TangoConnect();
}
/// <summary>
/// Unity callback when this object is destroyed.
/// </summary>
private void OnDestroy()
{
Debug.Log("TangoApplication.OnDestroy()");
PoseListener.Reset();
DepthListener.Reset();
VideoOverlayListener.Reset();
TangoEventListener.Reset();
AreaDescriptionEventListener.Reset();
Shutdown();
// Clean up configs.
if (m_tangoConfig != null)
{
m_tangoConfig.Dispose();
m_tangoConfig = null;
}
if (m_tangoRuntimeConfig != null)
{
m_tangoRuntimeConfig.Dispose();
m_tangoRuntimeConfig = null;
}
}
