/// <summary>
/// Init VIO service.
/// </summary>
/// <param name="operationMode">Operation Mode.</param>
/// <param name="sparseMapPath">Sparse map path.
/// If it's null, the application will run in loop closure mode.</param>
public static void Init(Mode operationMode, string sparseMapPath)
{
int withSparseMapping =
(operationMode == Mode.VisualIntertialNavigationAndMapping) ? 1 : 0;
Common.RetCodes retCode = (Common.RetCodes)TangoVIOAPI.VIOInitialize(TangoApplication.Instance.Handle,
withSparseMapping,
sparseMapPath);
if (retCode != Common.RetCodes.kCAPISuccess)
{
Debug.Log("VIO initialization failed: " + retCode);
}
else
{
m_isInit = true;
}
}
void Start()
{
#if (UNITY_EDITOR)
DebugLogger.WriteToLog(DebugLogger.EDebugLevel.DEBUG_INFO, typeof(Camera).Name + " : Adding input controls to run in editor.");
gameObject.AddComponent <TangoFlyCam>();
#elif (UNITY_STANDALONE_OSX || UNITY_IPHONE || UNITY_ANDROID)
#else
#error platform is not supported
#endif
Synchronizer sync = gameObject.GetComponent <Synchronizer>();
int withSparseMapping = (operationMode == Mode.VisualIntertialNavigaitionAndMapping)?1:0;
mVIOHandler = TangoVIOAPI.VIOInitialize(sync.handler, withSparseMapping, sparseMapPath);
if (mVIOHandler == System.IntPtr.Zero)
{
ErrorHandler.instance.presentErrorMessage("VIO initialization failed");
}
}
/// <summary>
/// Save current recorded sparse map to file.
/// </summary>
/// <param name="sparseMapPath">Absolute location on phone.</param>
/// <returns>If the function call succeed.</returns>
public static bool SaveSparseMap(string sparseMapPath)
{
if (!m_isInit)
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_WARN,
"VIOProvider.SaveSparseMap : Not Initialized!");
return(false);
}
Common.RetCodes ret_code =
(Common.RetCodes)TangoVIOAPI.VIOSaveSparseMap(
TangoApplication.Instance.Handle, sparseMapPath);
if (ret_code != Common.RetCodes.kCAPISuccess)
{
ErrorHandler.instance.presentErrorMessage(
"Application initialization failed" + ret_code);
return(false);
}
return(true);
}
/// <summary>
/// Get latest vioStatus.
/// </summary>
/// <param name="vioStatus">Reference to vioStatus,
/// need caller to allocate.</param>
/// <returns>If the function call succeed.</returns>
public static bool GetLatestPose(ref VIOStatus vioStatus)
{
if (!m_isInit)
{
DebugLogger.GetInstance.WriteToLog(DebugLogger.EDebugLevel.DEBUG_WARN, "VIOProvider.GetLatestPose : Not Initialized!");
return(false);
}
Common.RetCodes ret_code =
(Common.RetCodes)TangoVIOAPI.VIOGetLatestPose(
TangoApplication.Instance.Handle, ref vioStatus);
if (ret_code != Common.RetCodes.kCAPISuccess)
{
Debug.Log("get latest vio pose failed:" + ret_code);
return(false);
}
// Convert the estimator format to unity format
Utilities.TangoUtilAPI.UtilConvertPoseToUnityFormat(
ref vioStatus.rotation, ref vioStatus.translation,
ref vioStatus.rotation, ref vioStatus.translation);
return(true);
}
void Update()
{
Quaternion rotation = Quaternion.identity;
Vector3 position = Vector3.zero;
#if (UNITY_EDITOR)
DebugLogger.WriteToLog(DebugLogger.EDebugLevel.DEBUG_ERROR, "Navigator.Update() : Updating TangoFlyCam");
gameObject.GetComponent <TangoFlyCam>().GetRawTransformData(ref position, ref rotation);
#elif (UNITY_STANDALONE_OSX || UNITY_IPHONE || UNITY_ANDROID)
if (mVIOHandler == System.IntPtr.Zero)
{
DebugLogger.WriteToLog(DebugLogger.EDebugLevel.DEBUG_ERROR, "Navigator.Update() : VIO Handler is not initialized");
return;
}
float [] unityFormatRotation = new float [4];
float [] unityFormatPosition = new float [3];
if ((Common.RetCodes)TangoVIOAPI.VIOGetCameraPoseUnity(mVIOHandler, unityFormatRotation, unityFormatPosition) == Common.RetCodes.kCAPISuccess)
{
//we don't have IMU to narrow field of view camera calibration, so lets + 10cm to camera position to compencate that
//until we have calibrarion.
position = new Vector3((float)unityFormatPosition [0], (float)unityFormatPosition [1], (float)unityFormatPosition [2]);
//position = new Vector3(0f, 0f, 0f) ;
rotation = new Quaternion((float)unityFormatRotation [0], (float)unityFormatRotation [1], (float)unityFormatRotation [2], (float)unityFormatRotation [3]);
}
else
{
//DebugLogger.WriteToLog(DebugLogger.EDebugLevel.DEBUG_INFO, typeof(Camera).Name + " :Pose is not available");
}
#else
#error platform is not supported
#endif
gameObject.transform.position = position;
gameObject.transform.rotation = rotation;
}
/// <summary>
/// Shut down VIO service.
/// </summary>
public static void ShutDown()
{
m_isInit = false;
TangoVIOAPI.VIOShutdown(TangoApplication.Instance.Handle);
}
/// <summary>
/// Reset VIO tracking.
/// </summary>
public static void Reset()
{
TangoVIOAPI.VIOReset(TangoApplication.Instance.Handle);
}
/// <summary>
/// Set VIO Auto reset flag. If true, VIO will start to recover from a
/// fatal tracking failure immediately.
/// </summary>
/// <param name="autoReset">Enable auto reset.</param>
public static void SetAutoReset(bool autoReset)
{
TangoVIOAPI.VIOSetAutoReset(autoReset ? 1 : 0);
}
public bool SaveSparseMap(string sparseMapPath)
{
return((Common.RetCodes)TangoVIOAPI.VIOSaveSparseMap(mVIOHandler, sparseMapPath) == Common.RetCodes.kCAPISuccess);
}
