/// <summary>
/// Raises the tango depth available event.
/// </summary>
/// <param name="tangoDepth">Tango depth.</param>
public void OnTangoDepthAvailable(Tango.TangoUnityDepth tangoDepth)
{
if (m_enableUXLibrary)
{
AndroidHelper.ParseTangoDepthPointCount(tangoDepth.m_pointCount);
}
}
/// <summary>
/// Pose callback from Project Tango.
/// </summary>
/// <param name="pose">Tango pose data.</param>
public void OnTangoPoseAvailable(Tango.TangoPoseData pose)
{
if (pose == null)
{
Debug.Log("TangoPostData is null.");
return;
}
if (pose.framePair.baseFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE &&
pose.framePair.targetFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE)
{
if (pose.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
m_tangoPosition = new Vector3((float)pose.translation[0],
(float)pose.translation[1],
(float)pose.translation[2]);
m_tangoRotation = new Quaternion((float)pose.orientation[0],
(float)pose.orientation[1],
(float)pose.orientation[2],
(float)pose.orientation[3]);
}
else
{
m_tangoPosition = Vector3.zero;
m_tangoRotation = Quaternion.identity;
}
}
}
/// <summary>
/// Register to get Tango image events.
///
/// NOTE: Tango image events happen on a different thread than the main
/// Unity thread.
/// </summary>
/// <param name="cameraId">Camera identifier to get events for.</param>
/// <param name="useExperimentalOverlay">If true, use the experimental video overlay.</param>
/// <param name="videoOverlayTexture">The video overlay texture to use. Only used in experimental mode.</param>
internal virtual void SetCallback(Tango.TangoEnums.TangoCameraId cameraId, bool useExperimentalOverlay, YUVTexture videoOverlayTexture)
{
m_usingExperimentalOverlay = useExperimentalOverlay;
if (!useExperimentalOverlay)
{
m_previousImageBuffer = new TangoUnityImageData();
m_onImageAvailable = new Tango.VideoOverlayProvider.TangoService_onImageAvailable(_OnImageAvailable);
Tango.VideoOverlayProvider.SetCallback(cameraId, m_onImageAvailable);
}
else
{
if (videoOverlayTexture != null)
{
m_onUnityFrameAvailable = new Tango.VideoOverlayProvider.TangoService_onUnityFrameAvailable(_OnExperimentalUnityFrameAvailable);
VideoOverlayProvider.ExperimentalConnectTexture(cameraId,
videoOverlayTexture,
m_onUnityFrameAvailable);
Debug.Log("VideoOverlayListener.SetCallback() : Experimental Overlay listener hooked up");
}
else
{
Debug.Log("VideoOverlayListener.SetCallback() : No Texture2D found!");
}
}
}
/// <summary>
/// Handle the callback sent by the Tango Service
/// when a new pose is sampled.
/// </summary>
/// <param name="pose">Pose.</param>
public void OnTangoPoseAvailable(Tango.TangoPoseData pose)
{
// The callback pose is for device with respect to start of service pose.
if (pose.framePair.baseFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE &&
pose.framePair.targetFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE)
{
if (pose.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
popManager.tangoInitialized = true;
popManager.TriggerAPICallbackFPS();
UpdateInterpolationData(pose);
if (enableInterpolation)
{
if (unityTimestampOffset > float.Epsilon)
{
UpdateUsingInterpolatedPose(Time.realtimeSinceStartup + unityTimestampOffset);
}
}
else
{
UpdateUsingInterpolatedPose(currPose.timestamp);
}
}
}
}
/// <summary>
/// Handle the callback sent by the Tango Service
/// when a new pose is sampled.
/// </summary>
/// <param name="pose">Pose.</param>
public void OnTangoPoseAvailable(Tango.TangoPoseData pose)
{
// Get out of here if the pose is null
if (pose == null)
{
Debug.Log("TangoPoseDate is null.");
return;
}
// The callback pose is for device with respect to start of service pose.
if (pose.framePair.baseFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE &&
pose.framePair.targetFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE)
{
// Update the stats for the pose for the debug text
if (pose.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
// Create new Quaternion and Vec3 from the pose data received in the event.
m_tangoPosition = new Vector3((float)pose.translation[0],
(float)pose.translation[1],
(float)pose.translation[2]);
m_tangoRotation = new Quaternion((float)pose.orientation[0],
(float)pose.orientation[1],
(float)pose.orientation[2],
(float)pose.orientation[3]);
// Reset the current status frame count if the status code changed.
if (pose.status_code != m_status)
{
m_frameCount = 0;
}
m_frameCount++;
// Compute delta frame timestamp.
m_frameDeltaTime = (float)pose.timestamp - m_prevFrameTimestamp;
m_prevFrameTimestamp = (float)pose.timestamp;
// Construct the start of service with respect to device matrix from the pose.
Matrix4x4 matrixssTd = Matrix4x4.TRS(m_tangoPosition, m_tangoRotation, Vector3.one);
// Converting from Tango coordinate frame to Unity coodinate frame.
Matrix4x4 matrixuwTuc = m_matrixuwTss * matrixssTd * m_matrixdTuc;
// Extract new local position
transform.position = matrixuwTuc.GetColumn(3);
// Extract new local rotation
transform.rotation = Quaternion.LookRotation(matrixuwTuc.GetColumn(2), matrixuwTuc.GetColumn(1));
}
else
{
// if the current pose is not valid we set the pose to identity
m_tangoPosition = Vector3.zero;
m_tangoRotation = Quaternion.identity;
}
// Finally, apply the new pose status
m_status = pose.status_code;
}
}
/// <summary>
/// Raises the tango pose available event.
/// </summary>
/// <param name="poseData">Pose data.</param>
public void OnTangoPoseAvailable(Tango.TangoPoseData poseData)
{
if(m_enableUXLibrary)
{
AndroidHelper.ParseTangoPoseStatus((int)poseData.status_code);
}
}
public bool GuessTango(Tango tango)
{
if (GameState != GameState.Playing)
{
throw new ServiceException("Invalid state");
}
_tryNumber++;
if (tango.Honyaku == _currentCard.Tango.Honyaku)
{
if (_currentWrong)
{
return(true);
}
_tangoService.Mark(_currentCard.Tango, Mark.Answer);
_currentGuessed = true;
_correctNumber++;
return(true);
}
_currentWrong = true;
_wrongNumber++;
_tangoService.Mark(_currentCard.Tango, Mark.Wrong);
return(false);
}
/// <summary>
/// Raises the tango depth available event.
/// </summary>
/// <param name="tangoDepth">Tango depth.</param>
public void OnTangoDepthMultithreadedAvailable(Tango.TangoXYZij tangoDepth)
{
if (m_enableUXLibrary)
{
AndroidHelper.ParseTangoDepthPointCount(tangoDepth.xyz_count);
}
}
// Pose callbacks from Project Tango
public void OnTangoPoseAvailable(Tango.TangoPoseData pose)
{
// Do nothing if we don't get a pose
if (pose == null)
{
Debug.Log("TangoPoseData is null.");
return;
}
// The callback pose is for device with respect to start of service pose.
if (pose.framePair.baseFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE &&
pose.framePair.targetFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE)
{
if (pose.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
// Cache the position and rotation to be set in the update function.
m_tangoPosition = new Vector3((float)pose.translation [0],
(float)pose.translation [1],
(float)pose.translation [2]);
m_tangoRotation = new Quaternion((float)pose.orientation [0],
(float)pose.orientation [1],
(float)pose.orientation [2],
(float)pose.orientation [3]);
}
else // if the current pose is not valid we set the pose to identity
{
m_tangoPosition = Vector3.zero;
m_tangoRotation = Quaternion.identity;
}
}
}
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;
}
}
private void StartTango()
{
tango = new Tango(this, new Runnable(() =>
{
Log.Debug(Tag, "TangoRunnable");
try
{
TangoSupport.Initialize();
var tangoConfig = GetTangoConfig(tango);
tango.Connect(tangoConfig);
TangoAddListeners();
tango.ConnectTextureId(TangoCameraIntrinsics.TangoCameraColor, -1);
}
catch (TangoOutOfDateException e)
{
Log.Error(Tag, "TangoOutOfDateException", e);
}
catch (TangoErrorException e)
{
Log.Error(Tag, "TangoErrorException", e);
}
catch (TangoInvalidException e)
{
Log.Error(Tag, "TangoInvalidException", e);
}
}));
}
public TangoEditor(Window parent, int id) : this(parent)
{
_tango = _tangoService.Get(id);
_idEntry.Text = _tango.Id.ToString();
_tangoEntry.Text = _tango.Namae;
_furiganaEntry.Text = _tango.Furigana;
_romajiEntry.Text = _tango.Romaji;
_honyakuEntry.Text = _tango.Honyaku;
}
public Tango Insert(string namae, string furigana, string romaji, string honyaku)
{
var tango = new Tango {
Namae = namae, Furigana = furigana, Romaji = romaji, Honyaku = honyaku
};
_context.Conn.Insert(tango);
return(tango);
}
protected override void OnCreate(Bundle savedInstanceState)
{
base.OnCreate(savedInstanceState);
SetContentView(Resource.Layout.activity_main);
surfaceView = (SurfaceView)FindViewById(Resource.Id.cameraView);
surfaceHolder = surfaceView.Holder;
surfaceHolder.AddCallback(this);
mTango = new Tango(this);
}
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;
}
/// <summary>
/// Raises the tango event available event handler event.
/// </summary>
/// <param name="tangoEvent">Tango event.</param>
public void OnTangoEventMultithreadedAvailableEventHandler(Tango.TangoEvent tangoEvent)
{
if (m_enableUXLibrary)
{
AndroidHelper.ParseTangoEvent(tangoEvent.timestamp,
(int)tangoEvent.type,
tangoEvent.event_key,
tangoEvent.event_value);
}
}
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);
}
protected override void OnCreate(Bundle savedInstanceState)
{
base.OnCreate(savedInstanceState);
// Set our view from the "main" layout resource
SetContentView(Resource.Layout.Main);
//_pointCloudManager = new TangoPointCloudManager();
//_windowManager = ApplicationContext.GetSystemService(Context.WindowService).JavaCast<IWindowManager>();
var intent = Tango.GetRequestPermissionIntent(Tango.PermissiontypeAdfLoadSave);
StartActivityForResult(intent, 1);
}
public static TangoConfig SetupTangoConfigForNavigating(Tango tango, string uuid)
{
var config = tango.GetConfig(TangoConfig.ConfigTypeDefault);
config.PutBoolean(TangoConfig.KeyBooleanMotiontracking, true);
config.PutString(TangoConfig.KeyStringAreadescription, uuid);
// is this next one are learning mode?
config.PutBoolean(TangoConfig.KeyBooleanLearningmode, false);
config.PutBoolean(TangoConfig.KeyBooleanLowlatencyimuintegration, true);
config.PutBoolean(TangoConfig.KeyBooleanAutorecovery, true);
return(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);
}
/// <summary>
/// Register to get Tango image events for the texture ID is updated.
///
/// NOTE: Tango image events happen on a different thread than the main
/// Unity thread.
/// </summary>
/// <param name="cameraId">Camera identifier to get events for.</param>
/// <param name="videoOverlayTexture">The video overlay texture to use.</param>
internal virtual void SetCallbackTextureIdMethod(Tango.TangoEnums.TangoCameraId cameraId,
YUVTexture videoOverlayTexture)
{
if (videoOverlayTexture != null)
{
m_onUnityFrameAvailable =
new Tango.VideoOverlayProvider.TangoService_onUnityFrameAvailable(_OnExperimentalUnityFrameAvailable);
VideoOverlayProvider.ExperimentalConnectTexture(cameraId,
videoOverlayTexture,
m_onUnityFrameAvailable);
Debug.Log("VideoOverlayListener.SetCallback() : Experimental Overlay listener hooked up");
}
else
{
Debug.Log("VideoOverlayListener.SetCallback() : No Texture2D found!");
}
}
public void Mark(Tango tango, Mark mark)
{
switch (mark)
{
case Services.Mark.Answer:
tango.Answer++;
break;
case Services.Mark.Wrong:
tango.Wrong++;
break;
case Services.Mark.Seen:
tango.Seen++;
break;
}
_context.Conn.Update(tango);
}
protected override void OnCreate(Bundle savedInstanceState)
{
base.OnCreate(savedInstanceState);
SetContentView(Resource.Layout.activity_navigate_route);
var button = (Button)FindViewById(Resource.Id.back);
button.Click += delegate
{
DisconnectTango();
var intent = new Intent(this, typeof(MainActivity));
StartActivity(intent);
};
tango = new Tango(this, new Runnable(() =>
{
// now load the latest adf...
StartTango();
}));
}
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)
// ;
//}
}));
}
protected override void OnCreate(Bundle savedInstanceState)
{
base.OnCreate(savedInstanceState);
StartActivityForResult(Tango.GetRequestPermissionIntent(Tango.PermissiontypeAdfLoadSave), 0);
SetContentView(Resource.Layout.activity_main);
var button = (Button)FindViewById(Resource.Id.listadfs);
button.Click += delegate
{
var intent = new Intent(this, typeof(ListAdfsActivity));
StartActivity(intent);
};
var buttonRec = (Button)FindViewById(Resource.Id.recording);
buttonRec.Click += delegate
{
var intent = new Intent(this, typeof(CreateRouteActivity));
StartActivity(intent);
};
var buttonNav = (Button)FindViewById(Resource.Id.navigating);
buttonNav.Click += delegate
{
var intent = new Intent(this, typeof(NavigateRouteActivity));
StartActivity(intent);
};
var buttonUrho = (Button)FindViewById(Resource.Id.urho);
buttonUrho.Click += delegate
{
var intent = new Intent(this, typeof(UrhoActivity));
StartActivity(intent);
};
}
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);
}
}));
}
private void ShowAdfs()
{
var adfs = new List <string>();
tango = new Tango(this, new Runnable(() =>
{
var listAdfs = tango.ListAreaDescriptions();
foreach (var uuid in listAdfs)
{
var metadata = tango.LoadAreaDescriptionMetaData(uuid);
var name = new String(metadata.Get(TangoAreaDescriptionMetaData.KeyName)).ToString();
var uuid_in = new String(metadata.Get(TangoAreaDescriptionMetaData.KeyUuid)).ToString();
adfs.Add(name);
}
RunOnUiThread(() =>
{
var lv = (ListView)FindViewById(Resource.Id.listView1);
var adapter = new ArrayAdapter(this, Android.Resource.Layout.SimpleListItem1, adfs);
lv.Adapter = adapter;
});
}));
}
public FlashCard(Tango tango)
{
Tango = tango;
}
/// <summary>
/// OnTangoPoseAvailable event from Tango.
///
/// In this function, we only listen to the Start-Of-Service with respect to Area-Description frame pair. This pair
/// indicates a relocalization or loop closure event happened, base on that, we either start the initialize the
/// interaction or begin meshing if applicable.
/// </summary>
/// <param name="poseData">Returned pose data from TangoService.</param>
public void OnTangoPoseAvailable(Tango.TangoPoseData poseData)
{
// This frame pair's callback indicates that a loop closure or relocalization has happened.
//
// When learning mode is off, and an Area Description is loaded, this callback indicates a relocalization event.
// In our case, when the device is relocalized, user interaction is allowed and meshing starts if applicable.
if (poseData.framePair.baseFrame ==
TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION &&
poseData.framePair.targetFrame ==
TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE &&
poseData.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
// When we get the first loop closure/ relocalization event, we initialized all the in-game interactions.
if (!m_initialized)
{
Debug.Log("First loop closure/relocalization");
m_initialized = true;
m_relocalizeImage.gameObject.SetActive(false);
if (m_3dReconstruction)
{
m_tangoApplication.Set3DReconstructionEnabled(true);
}
else
{
m_tangoApplication.Set3DReconstructionEnabled(false);
}
}
}
}
/// <summary>
/// Compute a rotation from rotation a to rotation b, in form of the OrientationManager.Rotation enum.
/// </summary>
/// <param name="b">Target rotation frame.</param>
/// <param name="a">Start rotation frame.</param>
/// <returns>The orientation index that follows Android screen rotation standard.</returns>
public static Tango.OrientationManager.Rotation RotateFromAToB(Tango.OrientationManager.Rotation b,
Tango.OrientationManager.Rotation a)
{
int ret = (int)b - (int)a;
if (ret < 0)
{
ret += 4;
}
return (Tango.OrientationManager.Rotation)(ret % 4);
}
public SaveAdfTask(Context context, Tango tango, string adfName)
{
this.context = context;
this.adfName = adfName;
this.tango = tango;
}
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>
/// OnTangoPoseAvailable event from Tango.
///
/// In this function, we only listen to the Start-Of-Service with respect to Area-Description frame pair. This pair
/// indicates a relocalization or loop closure event happened, base on that, we either start the initialize the
/// interaction or do a bundle adjustment for all marker position.
/// </summary>
/// <param name="poseData">Returned pose data from TangoService.</param>
public void OnTangoPoseAvailable(Tango.TangoPoseData poseData)
{
// This frame pair's callback indicates that a loop closure or relocalization has happened.
//
// When learning mode is on, this callback indicates the loop closure event. Loop closure will happen when the
// system recognizes a pre-visited area, the loop closure operation will correct the previously saved pose
// to achieve more accurate result. (pose can be queried through GetPoseAtTime based on previously saved
// timestamp).
// Loop closure definition: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping#Loop_closure
//
// When learning mode is off, and an Area Description is loaded, this callback indicates a
// relocalization event. Relocalization is when the device finds out where it is with respect to the loaded
// Area Description. In our case, when the device is relocalized, the markers will be loaded because we
// know the relatvie device location to the markers.
if (poseData.framePair.baseFrame ==
TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION &&
poseData.framePair.targetFrame ==
TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE &&
poseData.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
// When we get the first loop closure/ relocalization event, we initialized all the in-game interactions.
if (!m_initialized)
{
m_initialized = true;
if (m_curAreaDescription == null)
{
Debug.Log("AndroidInGameController.OnTangoPoseAvailable(): m_curAreaDescription is null");
return;
}
_LoadMarkerFromDisk();
}
}
}
/// <summary>
/// OnTangoPoseAvailable event from Tango.
///
/// In this function, we only listen to the Start-Of-Service with respect to Area-Description frame pair. This pair
/// indicates a relocalization or loop closure event happened, base on that, we either start the initialize the
/// interaction or do a bundle adjustment for all marker position.
/// </summary>
/// <param name="poseData">Returned pose data from TangoService.</param>
public void OnTangoPoseAvailable(Tango.TangoPoseData poseData)
{
// This frame pair's callback indicates that a loop closure or relocalization has happened.
//
// When learning mode is on, this callback indicates the loop closure event. Loop closure will happen when the
// system recognizes a pre-visited area, the loop closure operation will correct the previously saved pose
// to achieve more accurate result. (pose can be queried through GetPoseAtTime based on previously saved
// timestamp).
// Loop closure definition: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping#Loop_closure
//
// When learning mode is off, and an Area Description is loaded, this callback indicates a
// relocalization event. Relocalization is when the device finds out where it is with respect to the loaded
// Area Description. In our case, when the device is relocalized, the markers will be loaded because we
// know the relatvie device location to the markers.
if (poseData.framePair.baseFrame ==
TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION &&
poseData.framePair.targetFrame ==
TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE &&
poseData.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
// When we get the first loop closure/ relocalization event, we initialized all the in-game interactions.
if (!m_initialized)
{
m_initialized = true;
if (m_curAreaDescription == null)
{
Debug.Log("AndroidInGameController.OnTangoPoseAvailable(): m_curAreaDescription is null");
return;
}
// Attempt to load the exsiting markers from storage.
List<MarkerData> xmlDataList = _ReadFromXml(m_curAreaDescription.m_uuid + ".xml");
if (xmlDataList == null)
{
Debug.Log("AndroidInGameController.OnTangoPoseAvailable(): xmlDataList is null");
return;
}
m_markerList.Clear();
foreach (MarkerData mark in xmlDataList)
{
// Instantiate all markers' gameobject.
GameObject temp = Instantiate(m_markPrefabs[mark.m_type],
mark.m_position,
mark.m_orientation) as GameObject;
m_markerList.Add(temp);
}
}
else
{
Debug.Log("AndroidInGameController.OnTangoPoseAvailable(): relocalized");
if (m_tangoApplication.m_enableAreaLearning)
{
_UpdateMarkersForLoopClosures();
}
}
}
}
/// <summary>
/// Returns the RGB value at a given theta and phi given a TangoImageBuffer.
/// </summary>
/// <param name="buffer">The TangoImageBuffer to sample.</param>
/// <param name="i">Range from [0..height].</param>
/// <param name="j">Range from [0..width].</param>
/// <returns>The RGB value on the buffer at the given theta and phi.</returns>
private Vector3 _GetRgbFromImageBuffer(Tango.TangoUnityImageData buffer, int i, int j)
{
int width = (int)buffer.width;
int height = (int)buffer.height;
int uv_buffer_offset = width * height;
int x_index = j;
if (j % 2 != 0)
{
x_index = j - 1;
}
// Get the YUV color for this pixel.
int yValue = buffer.data[(i * width) + j];
int uValue = buffer.data[uv_buffer_offset + ((i / 2) * width) + x_index + 1];
int vValue = buffer.data[uv_buffer_offset + ((i / 2) * width) + x_index];
// Convert the YUV value to RGB.
float r = yValue + (1.370705f * (vValue - 128));
float g = yValue - (0.689001f * (vValue - 128)) - (0.337633f * (uValue - 128));
float b = yValue + (1.732446f * (uValue - 128));
Vector3 result = new Vector3(r / 255.0f, g / 255.0f, b / 255.0f);
// Gamma correct color to linear scale.
result.x = Mathf.Pow(Mathf.Max(0.0f, result.x), 2.2f);
result.y = Mathf.Pow(Mathf.Max(0.0f, result.y), 2.2f);
result.z = Mathf.Pow(Mathf.Max(0.0f, result.z), 2.2f);
return result;
}
public void Update(Tango tango)
{
_context.Conn.Update(tango);
}
private TangoConfig GetTangoConfig(Tango tango)
{
var config = ConfigInitialize.SetupTangoConfigForRecording(tango);
return(config);
}
/// <summary>
/// Register to get Tango image events for getting the texture byte buffer callback.
///
/// NOTE: Tango image events happen on a different thread than the main
/// Unity thread.
/// </summary>
/// <param name="cameraId">Camera identifier to get events for.</param>
internal virtual void SetCallbackByteBufferMethod(Tango.TangoEnums.TangoCameraId cameraId)
{
m_previousImageBuffer = new TangoUnityImageData();
m_onImageAvailable = new Tango.VideoOverlayProvider.TangoService_onImageAvailable(_OnImageAvailable);
Tango.VideoOverlayProvider.SetCallback(cameraId, m_onImageAvailable);
}
/// <summary>
/// Handle the callback sent by the Tango Service
/// when a new pose is sampled.
/// DO NOT USE THE UNITY API FROM INSIDE THIS FUNCTION!
/// </summary>
/// <param name="callbackContext">Callback context.</param>
/// <param name="pose">Pose.</param>
public void OnTangoPoseAvailable(Tango.TangoPoseData pose)
{
// Get out of here if the pose is null
if (pose == null)
{
Debug.Log("TangoPoseDate is null.");
return;
}
// The callback pose is for device with respect to start of service pose.
if (pose.framePair.baseFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE &&
pose.framePair.targetFrame == TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE)
{
if(pose.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
// Cache the position and rotation to be set in the update function.
// This needs to be done because this callback does not
// happen in the main game thread.
m_tangoPosition = new Vector3((float)pose.translation [0],
(float)pose.translation [1],
(float)pose.translation [2]);
m_tangoRotation = new Quaternion((float)pose.orientation [0],
(float)pose.orientation [1],
(float)pose.orientation [2],
(float)pose.orientation [3]);
}
else // if the current pose is not valid we set the pose to identity
{
m_tangoPosition = Vector3.zero;
m_tangoRotation = Quaternion.identity;
}
}
// Reset the current status frame count if the status code changed.
if (pose.status_code != m_status)
{
m_frameCount = 0;
}
// Update the stats for the pose for the debug text
m_status = pose.status_code;
m_frameCount++;
// Compute delta frame timestamp.
m_frameDeltaTime = (float)pose.timestamp - m_prevFrameTimestamp;
m_prevFrameTimestamp = (float)pose.timestamp;
// Switch m_isDirty to true, so that the new pose get rendered in update.
m_isDirty = (pose.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID);
}
/// <summary>
/// This is called each time a Tango event happens.
/// </summary>
/// <param name="tangoEvent">Tango event.</param>
public void OnTangoEventAvailableEventHandler(Tango.TangoEvent tangoEvent)
{
// We will not have the saving progress when the learning mode is off.
if (!m_tangoApplication.m_areaDescriptionLearningMode)
{
return;
}
if (tangoEvent.type == TangoEnums.TangoEventType.TANGO_EVENT_AREA_LEARNING
&& tangoEvent.event_key == "AreaDescriptionSaveProgress")
{
m_savingText.text = "Saving... " + Mathf.RoundToInt(float.Parse(tangoEvent.event_value) * 100) + "%";
}
}
public void _OnExperimentalUnityFrameAvailable(IntPtr callbackContext, Tango.TangoEnums.TangoCameraId cameraId)
{
m_previousCameraId = cameraId;
m_shouldSendEvent = true;
}
/// <summary>
/// Sets the callback for image updates.
/// </summary>
/// <param name="cameraId">Camera identifier.</param>
public virtual void SetCallback(Tango.TangoEnums.TangoCameraId cameraId)
{
m_onImageAvailable = new Tango.VideoOverlayProvider.TangoService_onImageAvailable(_OnImageAvailable);
Tango.VideoOverlayProvider.SetCallback(cameraId, m_onImageAvailable);
}
/// <summary> /// Handle the callback sent by the Tango Service /// when a new image is sampled. /// </summary> /// <param name="cameraId">Camera identifier.</param> /// <param name="callbackContext">Callback context.</param> /// <param name="imageBuffer">Image buffer.</param> protected abstract void _OnImageAvailable(IntPtr callbackContext, Tango.TangoEnums.TangoCameraId cameraId, Tango.TangoImageBuffer imageBuffer);
protected override void OnCreate(Bundle savedInstanceState)
{
base.OnCreate(savedInstanceState);
SetContentView(Resource.Layout.activity_area_learning);
mTangoEventTextView = (TextView)FindViewById(Resource.Id.tangoevent);
mAdf2DeviceTranslationTextView = (TextView)FindViewById(Resource.Id.adf2devicePose);
mStart2DeviceTranslationTextView = (TextView)FindViewById(Resource.Id.start2devicePose);
mAdf2StartTranslationTextView = (TextView)FindViewById(Resource.Id.adf2startPose);
mAdf2DeviceQuatTextView = (TextView)FindViewById(Resource.Id.adf2deviceQuat);
mStart2DeviceQuatTextView = (TextView)FindViewById(Resource.Id.start2deviceQuat);
mAdf2StartQuatTextView = (TextView)FindViewById(Resource.Id.adf2startQuat);
mAdf2DevicePoseStatusTextView = (TextView)FindViewById(Resource.Id.adf2deviceStatus);
mStart2DevicePoseStatusTextView = (TextView)FindViewById(Resource.Id.start2deviceStatus);
mAdf2StartPoseStatusTextView = (TextView)FindViewById(Resource.Id.adf2startStatus);
mAdf2DevicePoseCountTextView = (TextView)FindViewById(Resource.Id.adf2devicePosecount);
mStart2DevicePoseCountTextView = (TextView)FindViewById(Resource.Id.start2devicePosecount);
mAdf2StartPoseCountTextView = (TextView)FindViewById(Resource.Id.adf2startPosecount);
mAdf2DevicePoseDeltaTextView = (TextView)FindViewById(Resource.Id.adf2deviceDeltatime);
mStart2DevicePoseDeltaTextView = (TextView)FindViewById(Resource.Id.start2deviceDeltatime);
mAdf2StartPoseDeltaTextView = (TextView)FindViewById(Resource.Id.adf2startDeltatime);
mFirstPersonButton = (Button)FindViewById(Resource.Id.first_person_button);
mThirdPersonButton = (Button)FindViewById(Resource.Id.third_person_button);
mTopDownButton = (Button)FindViewById(Resource.Id.top_down_button);
mTangoServiceVersionTextView = (TextView)FindViewById(Resource.Id.version);
mApplicationVersionTextView = (TextView)FindViewById(Resource.Id.appversion);
mGLView = (GLSurfaceView)FindViewById(Resource.Id.gl_surface_view);
mSaveAdf = (Button)FindViewById(Resource.Id.saveAdf);
mUUIDTextView = (TextView)FindViewById(Resource.Id.uuid);
mSaveAdf.Visibility = Android.Views.ViewStates.Gone;
// Set up button click listeners
mFirstPersonButton.SetOnClickListener(this);
mThirdPersonButton.SetOnClickListener(this);
mTopDownButton.SetOnClickListener(this);
PackageInfo packageInfo;
try
{
packageInfo = this.PackageManager.GetPackageInfo(this.PackageName, 0);
mApplicationVersionTextView.Text = packageInfo.VersionName;
}
catch (Android.Content.PM.PackageManager.NameNotFoundException e)
{
System.Diagnostics.Debug.WriteLine(e.ToString());
System.Diagnostics.Debug.WriteLine(e.StackTrace);
}
// Configure OpenGL renderer
mRenderer = new ADRenderer();
mGLView.SetEGLContextClientVersion(2);
mGLView.SetRenderer(mRenderer as Android.Opengl.GLSurfaceView.IRenderer);
mGLView.RenderMode = Android.Opengl.Rendermode.WhenDirty;
// Instantiate the Tango service
mTango = new Tango(this);
mIsRelocalized = false;
Intent intent = Intent;
mIsLearningMode = intent.GetBooleanExtra(ADStartActivity.USE_AREA_LEARNING, false);
mIsConstantSpaceRelocalize = intent.GetBooleanExtra(ADStartActivity.LOAD_ADF, false);
SetTangoConfig();
}