public void OnPoseAvailable(TangoPoseData pose)
{
// Update the text views with Pose info.
updateTextViewWith(pose);
bool updateRenderer = false;
if (mIsRelocalized)
{
if (pose.BaseFrame == TangoPoseData.CoordinateFrameAreaDescription && pose.TargetFrame == TangoPoseData.CoordinateFrameDevice)
{
updateRenderer = true;
}
}
else
{
if (pose.BaseFrame == TangoPoseData.CoordinateFrameStartOfService && pose.TargetFrame == TangoPoseData.CoordinateFrameDevice)
{
updateRenderer = true;
}
}
// Update the trajectory, model matrix, and view matrix, then
// render the scene again
if (updateRenderer && (mRenderer.Trajectory != null))
{
float[] translation = pose.GetTranslationAsFloats();
mRenderer.Trajectory.updateTrajectory(translation);
mRenderer.ModelMatCalculator.updateModelMatrix(translation, pose.GetRotationAsFloats());
mRenderer.updateViewMatrix();
mGLView.RequestRender();
}
}
public void OnPoseAvailable(TangoPoseData pose)
{
RunOnUiThread(() =>
{
// Log whenever Motion Tracking enters a n invalid state
if (!mIsAutoRecovery && (pose.StatusCode == TangoPoseData.PoseInvalid))
{
Log.Wtf(this.GetType().Name, "Invalid State");
}
mDeltaTime = (float)(pose.Timestamp - mPreviousTimeStamp) * SECS_TO_MILLISECS;
mPreviousTimeStamp = (float)pose.Timestamp;
Log.Info(_TAG, "Delta Time is: " + mDeltaTime);
count++;
// Update the OpenGL renderable objects with the new Tango Pose
// data
if (mRenderer.Trajectory != null)
{
float[] translation = pose.GetTranslationAsFloats();
mRenderer.Trajectory.updateTrajectory(translation);
mRenderer.ModelMatCalculator.updateModelMatrix(translation, pose.GetRotationAsFloats());
mRenderer.updateViewMatrix();
mGLView.RequestRender();
}
string translationString = "[" + threeDec.format(pose.Translation[0]) + ", " + threeDec.format(pose.Translation[1]) + ", " + threeDec.format(pose.Translation[2]) + "] ";
string quaternionString = "[" + threeDec.format(pose.Rotation[0]) + ", " + threeDec.format(pose.Rotation[1]) + ", " + threeDec.format(pose.Rotation[2]) + ", " + threeDec.format(pose.Rotation[3]) + "] ";
// Display pose data On screen in TextViews
mPoseTextView.Text = translationString;
mQuatTextView.Text = quaternionString;
mPoseCountTextView.Text = count.ToString();
mDeltaTextView.Text = threeDec.format(mDeltaTime);
if (pose.StatusCode == TangoPoseData.PoseValid)
{
mPoseStatusTextView.Text = "Valid";
}
else if (pose.StatusCode == TangoPoseData.PoseInvalid)
{
mPoseStatusTextView.Text = "Invalid";
}
else if (pose.StatusCode == TangoPoseData.PoseInitializing)
{
mPoseStatusTextView.Text = "Initializing";
}
else if (pose.StatusCode == TangoPoseData.PoseUnknown)
{
mPoseStatusTextView.Text = "Unknown";
}
});
}
public void OnPoseAvailable(TangoPoseData pose)
{
mDeltaTime = (float)(pose.Timestamp - mPosePreviousTimeStamp) * SECS_TO_MILLI;
mPosePreviousTimeStamp = (float)pose.Timestamp;
count++;
mRenderer.ModelMatCalculator.updateModelMatrix(pose.GetTranslationAsFloats(), pose.GetRotationAsFloats());
mRenderer.updateViewMatrix();
mGLView.RequestRender();
// Update the UI with TangoPose information
RunOnUiThread(() =>
{
string translationString = "[" + threeDec.format(pose.Translation[0]) + ", " + threeDec.format(pose.Translation[1]) + ", " + threeDec.format(pose.Translation[2]) + "] ";
string quaternionString = "[" + threeDec.format(pose.Rotation[0]) + ", " + threeDec.format(pose.Rotation[1]) + ", " + threeDec.format(pose.Rotation[2]) + ", " + threeDec.format(pose.Rotation[3]) + "] ";
// Display pose data On screen in TextViews
mPoseTextView.Text = translationString;
mQuatTextView.Text = quaternionString;
mPoseCountTextView.Text = Convert.ToString(count);
mDeltaTextView.Text = threeDec.format(mDeltaTime);
if (pose.StatusCode == TangoPoseData.PoseValid)
{
mPoseStatusTextView.Text = "Valid";
}
else if (pose.StatusCode == TangoPoseData.PoseInvalid)
{
mPoseStatusTextView.Text = "Invalid";
}
else if (pose.StatusCode == TangoPoseData.PoseInitializing)
{
mPoseStatusTextView.Text = "Initializing";
}
else if (pose.StatusCode == TangoPoseData.PoseUnknown)
{
mPoseStatusTextView.Text = "Unknown";
}
});
}
