/// <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>
/// 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>
internal static void SetCallbackByteBufferMethod()
{
if (m_onImageAvailable != null)
{
Debug.Log("VideoOverlayProvider.SetCallbackByteBufferMethod() called when a callback is already set.");
return;
}
Debug.Log("VideoOverlayProvider.SetCallbackByteBufferMethod()");
m_onImageAvailable = new VideoOverlayProvider.APIOnImageAvailable(_OnImageAvailable);
VideoOverlayProvider.SetCallback(COLOR_CAMERA_ID, m_onImageAvailable);
}
/// <summary>
/// Register to get Tango texture events when the camera is updated.
///
/// NOTE: Tango texture events happen on a different thread than the main Unity thread.
/// </summary>
internal static void SetCallbackTextureMethod()
{
if (m_onTextureAvailable != null)
{
Debug.Log("VideoOverlayProvider.SetCallbackTextureMethod() called when a callback is already set.");
return;
}
Debug.Log("VideoOverlayProvider.SetCallbackTextureMethod()");
m_onTextureAvailable = new VideoOverlayProvider.APIOnTextureAvailable(_OnTangoCameraTextureAvailable);
VideoOverlayProvider.SetCallback(COLOR_CAMERA_ID, m_onTextureAvailable);
}
/// <summary>
/// Calculate the camera extrinsics for this device.
/// </summary>
private void _UpdateExtrinsics()
{
TangoCoordinateFramePair pair;
TangoPoseData imu_T_devicePose = new TangoPoseData();
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(imu_T_devicePose, 0, pair);
TangoPoseData imu_T_depthCameraPose = new TangoPoseData();
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_DEPTH;
PoseProvider.GetPoseAtTime(imu_T_depthCameraPose, 0, pair);
TangoPoseData imu_T_colorCameraPose = new TangoPoseData();
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR;
PoseProvider.GetPoseAtTime(imu_T_colorCameraPose, 0, pair);
// Convert into matrix form to combine the poses.
Matrix4x4 device_T_imu = Matrix4x4.Inverse(imu_T_devicePose.ToMatrix4x4());
m_device_T_depthCamera = device_T_imu * imu_T_depthCameraPose.ToMatrix4x4();
m_device_T_colorCamera = device_T_imu * imu_T_colorCameraPose.ToMatrix4x4();
m_unityWorld_T_startService.SetColumn(0, new Vector4(1, 0, 0, 0));
m_unityWorld_T_startService.SetColumn(1, new Vector4(0, 0, 1, 0));
m_unityWorld_T_startService.SetColumn(2, new Vector4(0, 1, 0, 0));
m_unityWorld_T_startService.SetColumn(3, new Vector4(0, 0, 0, 1));
// Update the camera intrinsics too.
TangoCameraIntrinsics colorCameraIntrinsics = new TangoCameraIntrinsics();
VideoOverlayProvider.GetIntrinsics(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, colorCameraIntrinsics);
m_colorCameraIntrinsics.calibration_type = (int)colorCameraIntrinsics.calibration_type;
m_colorCameraIntrinsics.width = colorCameraIntrinsics.width;
m_colorCameraIntrinsics.height = colorCameraIntrinsics.height;
m_colorCameraIntrinsics.cx = colorCameraIntrinsics.cx;
m_colorCameraIntrinsics.cy = colorCameraIntrinsics.cy;
m_colorCameraIntrinsics.fx = colorCameraIntrinsics.fx;
m_colorCameraIntrinsics.fy = colorCameraIntrinsics.fy;
m_colorCameraIntrinsics.distortion0 = colorCameraIntrinsics.distortion0;
m_colorCameraIntrinsics.distortion1 = colorCameraIntrinsics.distortion1;
m_colorCameraIntrinsics.distortion2 = colorCameraIntrinsics.distortion2;
m_colorCameraIntrinsics.distortion3 = colorCameraIntrinsics.distortion3;
m_colorCameraIntrinsics.distortion4 = colorCameraIntrinsics.distortion4;
}
/// <summary>
/// DEPRECATED: Register to get Tango texture events for the texture ID is updated.
///
/// NOTE: Tango texture events happen on a different thread than the main
/// Unity thread.
/// </summary>
/// <param name="videoOverlayTexture">The video overlay texture to use.</param>
internal void SetCallbackYUVTextureIdMethod(YUVTexture videoOverlayTexture)
{
if (videoOverlayTexture != null)
{
m_onYUVTextureAvailable =
new VideoOverlayProvider.TangoService_onTextureAvailable(_OnTangoYUVTextureAvailable);
VideoOverlayProvider.ExperimentalConnectTexture(
COLOR_CAMERA_ID, videoOverlayTexture, m_onYUVTextureAvailable);
Debug.Log("VideoOverlayListener.SetCallback() : YUVTexture listener hooked up");
}
else
{
Debug.Log("VideoOverlayListener.SetCallback() : No Texture2D found!");
}
}
/// <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!");
}
}
/// <summary>
/// Stop getting Tango image or texture callbacks.
/// </summary>
internal static void Reset()
{
// Avoid calling into tango_client_api before the correct library is loaded.
if (m_onImageAvailable != null || m_onTextureAvailable != null || m_onYUVTextureAvailable != null)
{
VideoOverlayProvider.ClearCallback(COLOR_CAMERA_ID);
}
m_onImageAvailable = null;
m_onTextureAvailable = null;
m_onYUVTextureAvailable = null;
m_previousImageBuffer = new TangoUnityImageData();
m_shouldSendTextureMethodEvent = false;
m_shouldSendByteBufferMethodEvent = false;
m_shouldSendYUVTextureIdMethodEvent = false;
m_onTangoImageAvailable = null;
m_onTangoCameraTextureAvailable = null;
m_onTangoYUVTextureAvailable = null;
m_onTangoImageMultithreadedAvailable = null;
}
/// <summary>
/// DEPRECATED: Register to get Tango texture events for the texture ID is updated.
///
/// NOTE: Tango texture events happen on a different thread than the main
/// Unity thread.
/// </summary>
/// <param name="videoOverlayTexture">The video overlay texture to use.</param>
internal static void SetCallbackYUVTextureIdMethod(YUVTexture videoOverlayTexture)
{
if (videoOverlayTexture != null)
{
if (m_onYUVTextureAvailable != null)
{
Debug.Log("VideoOverlayProvider.SetCallbackYUVTextureIdMethod() called when a callback is already set.");
return;
}
Debug.Log("VideoOverlayProvider.SetCallbackYUVTextureIdMethod()");
m_onYUVTextureAvailable =
new VideoOverlayProvider.APIOnTextureAvailable(_OnTangoYUVTextureAvailable);
VideoOverlayProvider.ExperimentalConnectTexture(
COLOR_CAMERA_ID, videoOverlayTexture, m_onYUVTextureAvailable);
}
else
{
Debug.Log("VideoOverlayListener.SetCallbackYUVTextureIdMethod() : No Texture2D found!");
}
}
/// <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;
}
/// <summary>
/// Fill out <c>colorCameraData</c> with emulated values from Tango.
/// </summary>
/// <param name="colorCameraData">The image data to fill out.</param>
private static void _FillEmulatedColorCameraData(TangoUnityImageData colorCameraData)
{
VideoOverlayProvider.GetTangoEmulation(colorCameraData);
}
/// <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>
internal void SetCallbackByteBufferMethod()
{
m_previousImageBuffer = new TangoUnityImageData();
m_onImageAvailable = new VideoOverlayProvider.TangoService_onImageAvailable(_OnImageAvailable);
VideoOverlayProvider.SetCallback(COLOR_CAMERA_ID, m_onImageAvailable);
}
/// <summary>
/// Register to get Tango texture events when the camera is updated.
///
/// NOTE: Tango texture events happen on a different thread than the main Unity thread.
/// </summary>
internal void SetCallbackTextureMethod()
{
m_onTextureAvailable = new VideoOverlayProvider.TangoService_onTextureAvailable(_OnTangoCameraTextureAvailable);
VideoOverlayProvider.SetCallback(COLOR_CAMERA_ID, m_onTextureAvailable);
Debug.Log("VideoOverlayListener.SetCallback() : Texture listener hooked up");
}
