/// <summary>
/// Sets up extrinsic matrixes and camera intrinsics for this hardware.
/// </summary>
private void _SetUpCameraData()
{
if (m_cameraDataSetUp)
{
return;
}
double timestamp = 0.0;
TangoCoordinateFramePair pair;
TangoPoseData poseData = new TangoPoseData();
// Query the extrinsics between IMU and device frame.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
m_imuTDevice = DMatrix4x4.FromMatrix4x4(poseData.ToMatrix4x4());
// Query the extrinsics between IMU and depth camera frame.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_DEPTH;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
m_imuTDepthCamera = DMatrix4x4.FromMatrix4x4(poseData.ToMatrix4x4());
m_deviceTDepthCamera = m_imuTDevice.Inverse * m_imuTDepthCamera;
// Also get the camera intrinsics
m_colorCameraIntrinsics = new TangoCameraIntrinsics();
VideoOverlayProvider.GetIntrinsics(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, m_colorCameraIntrinsics);
m_cameraDataSetUp = true;
}
/// <summary>
/// The function is for querying the camera extrinsic, for example: the transformation between
/// IMU and device frame. These extrinsics is used to transform the pose from the color camera frame
/// to the device frame. Because the extrinsic is being queried using the GetPoseAtTime()
/// with a desired frame pair, it can only be queried after the ConnectToService() is called.
///
/// The device with respect to IMU frame is not directly queryable from API, so we use the IMU
/// frame as a temporary value to get the device frame with respect to IMU frame.
/// </summary>
private void _SetCameraExtrinsics()
{
double timestamp = 0.0;
TangoCoordinateFramePair pair;
TangoPoseData poseData = new TangoPoseData();
// Get the transformation of device frame with respect to IMU frame.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
Matrix4x4 imuTd = poseData.ToMatrix4x4();
// Get the transformation of IMU frame with respect to color camera frame.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
Matrix4x4 imuTc = poseData.ToMatrix4x4();
// Get the transform of the Unity Camera frame with respect to the Color Camera frame.
Matrix4x4 cTuc = new Matrix4x4();
cTuc.SetColumn(0, new Vector4(1.0f, 0.0f, 0.0f, 0.0f));
cTuc.SetColumn(1, new Vector4(0.0f, -1.0f, 0.0f, 0.0f));
cTuc.SetColumn(2, new Vector4(0.0f, 0.0f, 1.0f, 0.0f));
cTuc.SetColumn(3, new Vector4(0.0f, 0.0f, 0.0f, 1.0f));
m_dTuc = Matrix4x4.Inverse(imuTd) * imuTc * cTuc;
}
/// <summary>
/// Correct all saved marks when loop closure happens.
///
/// When Tango Service is in learning mode, the drift will accumulate overtime, but when the system sees a
/// preexisting area, it will do a operation to correct all previously saved poses
/// (the pose you can query with GetPoseAtTime). This operation is called loop closure. When loop closure happens,
/// we will need to re-query all previously saved marker position in order to achieve the best result.
/// This function is doing the querying job based on timestamp.
/// </summary>
private void _UpdateMarkersForLoopClosures()
{
// Adjust mark's position each time we have a loop closure detected.
foreach (GameObject obj in m_markerList)
{
ARMarker tempMarker = obj.GetComponent <ARMarker>();
if (tempMarker.m_timestamp != -1.0f)
{
TangoCoordinateFramePair pair;
TangoPoseData relocalizedPose = new TangoPoseData();
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(relocalizedPose, tempMarker.m_timestamp, pair);
Matrix4x4 uwTDevice = m_poseController.m_uwTss
* relocalizedPose.ToMatrix4x4()
* m_poseController.m_dTuc;
Matrix4x4 uwTMarker = uwTDevice * tempMarker.m_deviceTMarker;
obj.transform.position = uwTMarker.GetColumn(3);
obj.transform.rotation = Quaternion.LookRotation(uwTMarker.GetColumn(2), uwTMarker.GetColumn(1));
}
}
}
/// <summary>
/// 当闭环发生时, 校正已保存的 marker.
///
/// 当 Tango 服务在学习模式时, 漂移会随时间积累, 但当系统看到一个已存在区域时, 它将校正先前保存的姿态.
/// 这个操作称为闭环. 当闭环发生时, 我们需要重新查询先前保存的 marker 位置以获得最好结果.
/// </summary>
private void _UpdateUnitsForLoopClosures()
{
// 每当一个闭环事件时, 调整 marker 位置.
foreach (SceneUnit unit in MapSceneManager.Instance.GetAllUnit())
{
if (unit.m_timestamp != -1.0f)
{
TangoCoordinateFramePair pair;
TangoPoseData relocalizedPose = new TangoPoseData();
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(relocalizedPose, unit.m_timestamp, pair);
Matrix4x4 uwTDevice = m_poseController.m_uwTss
* relocalizedPose.ToMatrix4x4()
* m_poseController.m_dTuc;
Matrix4x4 uwTMarker = uwTDevice * unit.m_deviceT;
unit.thisT.position = uwTMarker.GetColumn(3);
unit.thisT.rotation = Quaternion.LookRotation(uwTMarker.GetColumn(2), uwTMarker.GetColumn(1));
}
}
}
/// <summary>
/// Sets up extrinsic matrixes and camera intrinsics for this hardware.
/// </summary>
private void _SetUpCameraData()
{
if (m_cameraDataSetUp)
{
return;
}
double timestamp = 0.0;
TangoCoordinateFramePair pair;
TangoPoseData poseData = new TangoPoseData();
#if UNITY_EDITOR
// Constant matrixes representing just the convention swap.
m_imuTDevice.SetColumn(0, new Vector4(0.0f, 1.0f, 0.0f, 0.0f));
m_imuTDevice.SetColumn(1, new Vector4(-1.0f, 0.0f, 0.0f, 0.0f));
m_imuTDevice.SetColumn(2, new Vector4(0.0f, 0.0f, 1.0f, 0.0f));
m_imuTDevice.SetColumn(3, new Vector4(0.0f, 0.0f, 0.0f, 1.0f));
m_imuTDepthCamera.SetColumn(0, new Vector4(0.0f, 1.0f, 0.0f, 0.0f));
m_imuTDepthCamera.SetColumn(1, new Vector4(1.0f, 0.0f, 0.0f, 0.0f));
m_imuTDepthCamera.SetColumn(2, new Vector4(0.0f, 0.0f, -1.0f, 0.0f));
m_imuTDepthCamera.SetColumn(3, new Vector4(0.0f, 0.0f, 0.0f, 1.0f));
#else
// Query the extrinsics between IMU and device frame.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
m_imuTDevice = poseData.ToMatrix4x4();
// Query the extrinsics between IMU and depth camera frame.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_IMU;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_DEPTH;
PoseProvider.GetPoseAtTime(poseData, timestamp, pair);
m_imuTDepthCamera = poseData.ToMatrix4x4();
#endif
// Also get the camera intrinsics
m_colorCameraIntrinsics = new TangoCameraIntrinsics();
VideoOverlayProvider.GetIntrinsics(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, m_colorCameraIntrinsics);
m_cameraDataSetUp = true;
}
/// @endcond
/// <summary>
/// Update the transformation to the pose for that timestamp.
/// </summary>
/// <param name="timestamp">Time in seconds to update the transformation to.</param>
private void _UpdateTransformation(double timestamp)
{
TangoPoseData pose = new TangoPoseData();
TangoCoordinateFramePair pair;
if (!m_useAreaDescriptionPose)
{
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
}
else
{
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
}
PoseProvider.GetPoseAtTime(pose, timestamp, pair);
// The callback pose is for device with respect to start of service pose.
if (pose.status_code == TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
// Construct matrix for the start of service with respect to device from the pose.
Matrix4x4 ssTd = pose.ToMatrix4x4();
// Calculate matrix for the camera in the Unity world, taking into account offsets.
Matrix4x4 uwTuc = m_uwTss * ssTd * m_dTuc;
// Extract final position, rotation.
m_tangoPosition = uwTuc.GetColumn(3);
m_tangoRotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1));
// Other pose data -- Pose count gets reset if pose status just became valid.
if (pose.status_code != m_poseStatus)
{
m_poseCount = 0;
}
m_poseCount++;
// Other pose data -- Pose time.
m_poseTimestamp = timestamp;
}
m_poseStatus = pose.status_code;
// Apply final position and rotation.
transform.position = m_tangoPosition;
transform.rotation = m_tangoRotation;
}
/// <summary>
/// Callback that gets called when depth is available from the Tango Service.
/// </summary>
/// <param name="pointCloud">Depth information from Tango.</param>
public void OnTangoPointCloudAvailable(TangoPointCloudData pointCloud)
{
// Calculate the time since the last successful depth data
// collection.
if (m_depthTimestamp != 0.0)
{
m_depthDeltaTime = (float)((pointCloud.m_timestamp - m_depthTimestamp) * 1000.0);
}
// Fill in the data to draw the point cloud.
m_pointsCount = pointCloud.m_numPoints;
if (m_pointsCount > 0)
{
_SetUpCameraData();
TangoCoordinateFramePair pair;
TangoPoseData poseData = new TangoPoseData();
// Query pose to transform point cloud to world coordinates, here we are using the timestamp
// that we get from depth.
if (m_useAreaDescriptionPose)
{
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
}
else
{
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
}
PoseProvider.GetPoseAtTime(poseData, pointCloud.m_timestamp, pair);
if (poseData.status_code != TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
return;
}
Matrix4x4 startServiceTDevice = poseData.ToMatrix4x4();
// The transformation matrix that represents the pointcloud's pose.
// Explanation:
// The pointcloud which is in Depth camera's frame, is put in unity world's
// coordinate system(wrt unity world).
// Then we are extracting the position and rotation from uwTuc matrix and applying it to
// the PointCloud's transform.
Matrix4x4 unityWorldTDepthCamera = m_unityWorldTStartService * startServiceTDevice * Matrix4x4.Inverse(m_imuTDevice) * m_imuTDepthCamera;
transform.position = Vector3.zero;
transform.rotation = Quaternion.identity;
// Add offset to the pointcloud depending on the offset from TangoDeltaPoseController
Matrix4x4 unityWorldOffsetTDepthCamera;
if (m_tangoDeltaPoseController != null)
{
unityWorldOffsetTDepthCamera = m_tangoDeltaPoseController.UnityWorldOffset * unityWorldTDepthCamera;
}
else
{
unityWorldOffsetTDepthCamera = unityWorldTDepthCamera;
}
// Converting points array to world space.
m_overallZ = 0;
for (int i = 0; i < m_pointsCount; ++i)
{
Vector3 point = pointCloud[i];
m_points[i] = unityWorldOffsetTDepthCamera.MultiplyPoint3x4(point);
m_overallZ += point.z;
}
m_overallZ = m_overallZ / m_pointsCount;
m_depthTimestamp = pointCloud.m_timestamp;
if (m_updatePointsMesh)
{
// Need to update indicies too!
int[] indices = new int[m_pointsCount];
for (int i = 0; i < m_pointsCount; ++i)
{
indices[i] = i;
}
m_mesh.Clear();
m_mesh.vertices = m_points;
m_mesh.SetIndices(indices, MeshTopology.Points, 0);
}
// The color should be pose relative, we need to store enough info to go back to pose values.
m_renderer.material.SetMatrix("depthCameraTUnityWorld", unityWorldOffsetTDepthCamera.inverse);
// Try to find the floor using this set of depth points if requested.
if (m_findFloorWithDepth)
{
_FindFloorWithDepth();
}
}
else
{
m_overallZ = 0;
}
}
