/// <summary>
/// Gets the latest point cloud from the depth camera.
/// </summary>
/// <returns>The latest point cloud from the depth camera.</returns>
public PointCloud GetLatestPointCloud()
{
// Maintain frame consistency.
if (Time.frameCount == m_latestPointCloudFrame)
{
return(m_latestRawPointCloud);
}
// Attempt to query latest point cloud.
UnityTango.PointCloudData rawPointCloud = new UnityTango.PointCloudData();
if (!UnityTango.Device.TryGetLatestPointCloud(ref rawPointCloud))
{
return(m_latestRawPointCloud);
}
// Update the latest point cloud.
m_latestRawPointCloud = new PointCloud(rawPointCloud);
m_latestPointCloudFrame = Time.frameCount;
return(m_latestRawPointCloud);
}
/// <summary>
/// Constructor for a new PointCloud wrapping <c>rawPointCloud</c>.
/// </summary>
/// <param name="rawPointCloud">The raw point cloud to wrap. If <c>rawPointCloud</c> is null, the
/// resulting PointCloud will have <c>IsValid</c> set to false.</param>
public PointCloud(UnityTango.PointCloudData?rawPointCloud)
{
if (rawPointCloud == null)
{
IsValid = false;
m_rawPointCloud = new UnityTango.PointCloudData();
Pose = new Pose();
m_unityWorldTDepthCamera = Matrix4x4.identity;
return;
}
IsValid = true;
m_rawPointCloud = rawPointCloud.Value;
Pose = new Pose();
m_unityWorldTDepthCamera = Matrix4x4.identity;
ApiPoseData apiPoseData = new ApiPoseData();
if (ExternApi.TangoService_getPoseAtTime(m_rawPointCloud.timestamp,
new ApiCoordinateFramePair(Constants.START_SERVICE_T_DEPTH_FRAME_PAIR),
ref apiPoseData) == ApiServiceErrorStatus.Success)
{
Matrix4x4 ss_T_depth = Matrix4x4.TRS(apiPoseData.translation.ToVector3(),
apiPoseData.orientation.ToQuaternion(), Vector3.one);
m_unityWorldTDepthCamera = Constants.UNITY_WORLD_T_START_SERVICE * ss_T_depth;
Vector3 translation = m_unityWorldTDepthCamera.GetColumn(3);
Quaternion rotation = Quaternion.LookRotation(m_unityWorldTDepthCamera.GetColumn(2),
m_unityWorldTDepthCamera.GetColumn(1));
Pose = new Pose(translation, rotation);
}
else
{
ARDebug.LogError("Could not retrieve a pose for the point cloud.");
Pose = new Pose();
m_unityWorldTDepthCamera = Matrix4x4.identity;
}
}
