/// <summary>
/// Initializes a new instance of the <see cref="Tango3DReconstruction"/> class.
/// </summary>
/// <param name="resolution">Size in meters of each grid cell.</param>
/// <param name="generateColor">If true the reconstruction will contain color information.</param>
/// <param name="spaceClearing">If true the reconstruction will clear empty space it detects.</param>
internal Tango3DReconstruction(float resolution, bool generateColor, bool spaceClearing)
{
IntPtr config = API.Tango3DR_Config_create((int)APIConfigType.Context);
API.Tango3DR_Config_setDouble(config, "resolution", resolution);
API.Tango3DR_Config_setBool(config, "generate_color", generateColor);
API.Tango3DR_Config_setBool(config, "use_space_clearing", spaceClearing);
// The 3D Reconstruction library can not handle a left handed transformation during update. Instead,
// transform into the Unity world space via the external_T_tango config.
APIMatrix3x3 unityWorld_T_startService = new APIMatrix3x3();
unityWorld_T_startService.SetRow(0, new Vector3(1, 0, 0));
unityWorld_T_startService.SetRow(1, new Vector3(0, 0, 1));
unityWorld_T_startService.SetRow(2, new Vector3(0, 1, 0));
API.Tango3DR_Config_setMatrix3x3(config, "external_T_tango", ref unityWorld_T_startService);
API.Tango3DR_Config_setBool(config, "use_clockwise_winding_order", true);
m_context = API.Tango3DR_create(config);
API.Tango3DR_Config_destroy(config);
}
public static int Tango3DR_Config_getMatrix3x3(IntPtr config, string key, out APIMatrix3x3 value)
{
value.r00 = value.r11 = value.r22 = 1;
value.r10 = value.r20 = value.r01 = value.r21 = value.r02 = value.r12 = 0;
return((int)Status.SUCCESS);
}
public static int Tango3DR_Config_setMatrix3x3(IntPtr config, string key, ref APIMatrix3x3 value)
{
return((int)Status.SUCCESS);
}
public static extern int Tango3DR_Config_getMatrix3x3(IntPtr config, string key, out APIMatrix3x3 value);
public static int Tango3DR_Config_getMatrix3x3(IntPtr config, string key, out APIMatrix3x3 value)
{
value.r00 = value.r11 = value.r22 = 1;
value.r10 = value.r20 = value.r01 = value.r21 = value.r02 = value.r12 = 0;
return (int)Status.SUCCESS;
}
public static int Tango3DR_Config_setMatrix3x3(IntPtr config, string key, ref APIMatrix3x3 value)
{
return (int)Status.SUCCESS;
}
/// <summary>
/// Initializes a new instance of the <see cref="Tango3DReconstruction"/> class.
/// </summary>
/// <param name="resolution">Size in meters of each grid cell.</param>
/// <param name="generateColor">If true the reconstruction will contain color information.</param>
/// <param name="spaceClearing">If true the reconstruction will clear empty space it detects.</param>
/// <param name="minNumVertices">
/// If non-zero, any submesh with less than this number of vertices will get removed, assumed to be noise.
/// </param>
/// <param name="updateMethod">Method used to update voxels.</param>
internal Tango3DReconstruction(float resolution, bool generateColor, bool spaceClearing, int minNumVertices,
UpdateMethod updateMethod)
{
IntPtr config = API.Tango3DR_Config_create((int)APIConfigType.Context);
API.Tango3DR_Config_setDouble(config, "resolution", resolution);
API.Tango3DR_Config_setBool(config, "generate_color", generateColor);
API.Tango3DR_Config_setBool(config, "use_space_clearing", spaceClearing);
API.Tango3DR_Config_setInt32(config, "min_num_vertices", minNumVertices);
API.Tango3DR_Config_setInt32(config, "update_method", (int)updateMethod);
// The 3D Reconstruction library can not handle a left handed transformation during update. Instead,
// transform into the Unity world space via the external_T_tango config.
APIMatrix3x3 unityWorld_T_startService = new APIMatrix3x3();
unityWorld_T_startService.SetRow(0, new Vector3(1, 0, 0));
unityWorld_T_startService.SetRow(1, new Vector3(0, 0, 1));
unityWorld_T_startService.SetRow(2, new Vector3(0, 1, 0));
API.Tango3DR_Config_setMatrix3x3(config, "external_T_tango", ref unityWorld_T_startService);
API.Tango3DR_Config_setBool(config, "use_clockwise_winding_order", true);
m_context = API.Tango3DR_create(config);
API.Tango3DR_Config_destroy(config);
}
public static extern int Tango3DR_Config_getMatrix3x3(IntPtr config, string key, out APIMatrix3x3 value);
