/// <summary>
/// Fill out <c>pointCloudData</c> with emulated values from Tango.
/// </summary>
/// <param name="pointCloudData">The point cloud data to fill out.</param>
private static void _FillEmulatedPointCloud(ref TangoPointCloudData pointCloud)
{
List <Vector3> emulated = DepthProvider.GetTangoEmulation(out pointCloud.m_timestamp);
pointCloud.m_numPoints = emulated.Count;
for (int it = 0; it < emulated.Count; ++it)
{
pointCloud.m_points[(it * 4) + 0] = emulated[it].x;
pointCloud.m_points[(it * 4) + 1] = emulated[it].y;
pointCloud.m_points[(it * 4) + 2] = emulated[it].z;
pointCloud.m_points[(it * 4) + 3] = 1;
}
}
/// <summary>
/// Fill out <c>pointCloudData</c> with emulated values from Tango.
/// </summary>
/// <param name="pointCloudData">The point cloud data to fill out.</param>
private void _FillEmulatedPointCloudData(TangoUnityDepth pointCloudData)
{
List <Vector3> pointCloud = DepthProvider.GetTangoEmulation(out pointCloudData.m_timestamp);
pointCloudData.m_version = 0; // Not actually used
pointCloudData.m_pointCount = pointCloud.Count;
for (int it = 0; it < pointCloud.Count; ++it)
{
pointCloudData.m_points[(it * 3) + 0] = pointCloud[it].x;
pointCloudData.m_points[(it * 3) + 1] = pointCloud[it].y;
pointCloudData.m_points[(it * 3) + 2] = pointCloud[it].z;
}
pointCloudData.m_ijRows = 0;
pointCloudData.m_ijColumns = 0;
for (int it = 0; it < pointCloudData.m_ij.Length; ++it)
{
pointCloudData.m_ij[it] = -1;
}
}
/// <summary>
/// Initialize application and providers.
/// </summary>
public void InitApplication()
{
if (m_applicationHandle != System.IntPtr.Zero)
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_ERROR,
"Duplicated application handler");
return;
}
// let's hardcode depth image reoslution
// but eventially we can get resolution using VideoMode interface
Resolution imageResolution = new Resolution();
imageResolution.width = 320;
imageResolution.height = 180;
imageResolution.refreshRate = 5;
Common.DepthFrameResolution = imageResolution;
Common.DepthBufferSize = 320 * 180;
m_applicationHandle = TangoApplicationAPI.ApplicationInitialize("[Superframes Small-Peanut]");
if (m_applicationHandle == System.IntPtr.Zero)
{
ErrorHandler.instance.presentErrorMessage("Application initialization failed");
}
if (m_enableVio)
{
VIOProvider.SetAutoReset(m_vioAutoReset);
VIOProvider.Init(m_operationMode, m_sparseMapPath);
}
if (m_enableDepth)
{
DepthProvider.Init();
}
if (m_enableVideoOverlay)
{
VideoOverlayProvider.Init();
}
}
/// <summary>
/// Shut down the providers and application.
/// </summary>
public void ShutDownApplication()
{
if (m_enableVio)
{
VIOProvider.ShutDown();
}
if (m_enableDepth)
{
DepthProvider.ShutDown();
}
if (m_enableVideoOverlay)
{
VideoOverlayProvider.Shutdown();
}
if (m_applicationHandle == System.IntPtr.Zero)
{
DebugLogger.GetInstance.WriteToLog(
DebugLogger.EDebugLevel.DEBUG_ERROR, "No application initialized");
return;
}
TangoApplicationAPI.ApplicationShutdown(m_applicationHandle);
m_applicationHandle = System.IntPtr.Zero;
}
