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update to 1.10
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@jguomoto
jguomoto committed Mar 26, 2015
1 parent fd7c662 commit 587a85c
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Showing 22 changed files with 82 additions and 130 deletions.
Binary file removed AreaLearningUnity/Assets/Plugins/Android/libtango_client_api.so
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4 changes: 0 additions & 4 deletions AreaLearningUnity/Assets/Plugins/Android/libtango_client_api.so.meta
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2 changes: 2 additions & 0 deletions AreaLearningUnity/Assets/TangoSDK/Core/Prefabs/Tango Manager.prefab
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Expand Up @@ -43,6 +43,8 @@ MonoBehaviour:
m_enableDepth: 0
m_motionTrackingAutoReset: 1
m_enableAreaLearning: 0
m_enableADFSaveLoad: 0
m_enableUXLibrary: 0
--- !u!1001 &100100000
Prefab:
m_ObjectHideFlags: 1
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30 changes: 6 additions & 24 deletions AreaLearningUnity/Assets/TangoSDK/Core/Scripts/Common/EventController.cs
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Expand Up @@ -13,14 +13,15 @@
* See the License for the specific language governing permissions and
* limitations under the License.
*/
using UnityEngine;
using System;
using UnityEngine;
using Tango;

/// <summary>
/// Get Tango events from Tango Service and log on GUI.
/// </summary>
public class EventController : TangoEventListener {
public class EventController : TangoEventListener
{
private string m_eventString;
private TangoApplication m_tangoApplication;
private TangoEvent m_previousEvent;
Expand All @@ -37,6 +38,9 @@ void Start ()
m_previousEvent = new TangoEvent();
}

/// <summary>
/// Send tango event to be parsed by the UX library.
/// </summary>
private void Update()
{
if(m_dirty)
Expand All @@ -55,32 +59,10 @@ private void Update()
/// <param name="tangoEvent">Tango event.</param>
protected override void _onEventAvailable(IntPtr callbackContext, TangoEvent tangoEvent)
{
//m_eventString = tangoEvent.event_key + ": " + tangoEvent.event_value;

m_previousEvent.timestamp = tangoEvent.timestamp;
m_previousEvent.type = tangoEvent.type;
m_previousEvent.event_key = tangoEvent.event_key;
m_previousEvent.event_value = tangoEvent.event_value;
m_dirty = true;

//Debug.Log(m_eventString);
}

/// <summary>
/// GUI function logs Tango event on screen.
/// </summary>
void OnGUI()
{
Color oldColor = GUI.color;
GUI.color = Color.black;
if (m_tangoApplication.HasRequestedPermissions())
{
// Event logging.
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_EVENT_LABEL_START_Y,
Common.UI_LABEL_SIZE_X ,
Common.UI_LABEL_SIZE_Y), Common.UI_FONT_SIZE + String.Format(Common.UX_TANGO_SYSTEM_EVENT, m_eventString) + "</size>");
GUI.color = oldColor;
}
}
}
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Binary file removed MotionTrackingUnity/Assets/Plugins/Android/libtango_client_api.so
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4 changes: 0 additions & 4 deletions MotionTrackingUnity/Assets/Plugins/Android/libtango_client_api.so.meta
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21 changes: 18 additions & 3 deletions MotionTrackingUnity/Assets/Scripts/PoseController.cs
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Expand Up @@ -51,10 +51,20 @@ public enum TrackingTypes
private Vector3 m_tangoPosition;
private bool m_isDirty = false;

// Matrix for Tango coordinate frame to Unity coordinate frame conversion.
// Start of service frame with respect to Unity world frame.
// We use couple of matrix transformation to convert the pose from Tango coordinate
// frame to Unity coordinate frame.
// The full equation is:
// Matrix4x4 uwTuc = m_uwTss * ssTd * m_dTuc;
//
// uwTuc: Unity camera with respect to Unity world, this is the desired matrix.
// m_uwTss: Constant matrix converting start of service frame to Unity world frame.
// ssTd: Device frame with repect to start of service frame, this matrix denotes the
// pose transform we get from pose callback.
// m_dTuc: Constant matrix converting Unity world frame frame to device frame.
//
// Please see the coordinate system section online for more information:
// https://developers.google.com/project-tango/overview/coordinate-systems
private Matrix4x4 m_uwTss;
// Unity camera frame with respect to device frame.
private Matrix4x4 m_dTuc;

// Flag for initilizing Tango.
Expand All @@ -65,12 +75,14 @@ public enum TrackingTypes
/// </summary>
private void Awake()
{
// Constant matrix converting start of service frame to Unity world frame.
m_uwTss = new Matrix4x4();
m_uwTss.SetColumn (0, new Vector4 (1.0f, 0.0f, 0.0f, 0.0f));
m_uwTss.SetColumn (1, new Vector4 (0.0f, 0.0f, 1.0f, 0.0f));
m_uwTss.SetColumn (2, new Vector4 (0.0f, 1.0f, 0.0f, 0.0f));
m_uwTss.SetColumn (3, new Vector4 (0.0f, 0.0f, 0.0f, 1.0f));

// Constant matrix converting Unity world frame frame to device frame.
m_dTuc = new Matrix4x4();
m_dTuc.SetColumn (0, new Vector4 (1.0f, 0.0f, 0.0f, 0.0f));
m_dTuc.SetColumn (1, new Vector4 (0.0f, 1.0f, 0.0f, 0.0f));
Expand Down Expand Up @@ -139,7 +151,10 @@ private void Update()
}
if (m_isDirty)
{
// Construct the start of service with respect to device matrix from the pose.
Matrix4x4 ssTd = Matrix4x4.TRS(m_tangoPosition, m_tangoRotation, Vector3.one);

// Converting from Tango coordinate frame to Unity coodinate frame.
Matrix4x4 uwTuc = m_uwTss * ssTd * m_dTuc;

// Extract new local position
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2 changes: 2 additions & 0 deletions MotionTrackingUnity/Assets/TangoSDK/Core/Prefabs/Tango Manager.prefab
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Expand Up @@ -43,6 +43,8 @@ MonoBehaviour:
m_enableDepth: 0
m_motionTrackingAutoReset: 1
m_enableAreaLearning: 0
m_enableADFSaveLoad: 0
m_enableUXLibrary: 0
--- !u!1001 &100100000
Prefab:
m_ObjectHideFlags: 1
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30 changes: 6 additions & 24 deletions MotionTrackingUnity/Assets/TangoSDK/Core/Scripts/Common/EventController.cs
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Expand Up @@ -13,14 +13,15 @@
* See the License for the specific language governing permissions and
* limitations under the License.
*/
using UnityEngine;
using System;
using UnityEngine;
using Tango;

/// <summary>
/// Get Tango events from Tango Service and log on GUI.
/// </summary>
public class EventController : TangoEventListener {
public class EventController : TangoEventListener
{
private string m_eventString;
private TangoApplication m_tangoApplication;
private TangoEvent m_previousEvent;
Expand All @@ -37,6 +38,9 @@ void Start ()
m_previousEvent = new TangoEvent();
}

/// <summary>
/// Send tango event to be parsed by the UX library.
/// </summary>
private void Update()
{
if(m_dirty)
Expand All @@ -55,32 +59,10 @@ private void Update()
/// <param name="tangoEvent">Tango event.</param>
protected override void _onEventAvailable(IntPtr callbackContext, TangoEvent tangoEvent)
{
//m_eventString = tangoEvent.event_key + ": " + tangoEvent.event_value;

m_previousEvent.timestamp = tangoEvent.timestamp;
m_previousEvent.type = tangoEvent.type;
m_previousEvent.event_key = tangoEvent.event_key;
m_previousEvent.event_value = tangoEvent.event_value;
m_dirty = true;

//Debug.Log(m_eventString);
}

/// <summary>
/// GUI function logs Tango event on screen.
/// </summary>
void OnGUI()
{
Color oldColor = GUI.color;
GUI.color = Color.black;
if (m_tangoApplication.HasRequestedPermissions())
{
// Event logging.
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_EVENT_LABEL_START_Y,
Common.UI_LABEL_SIZE_X ,
Common.UI_LABEL_SIZE_Y), Common.UI_FONT_SIZE + String.Format(Common.UX_TANGO_SYSTEM_EVENT, m_eventString) + "</size>");
GUI.color = oldColor;
}
}
}
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Binary file removed PersistentState/Assets/Plugins/Android/libtango_client_api.so
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4 changes: 0 additions & 4 deletions PersistentState/Assets/Plugins/Android/libtango_client_api.so.meta
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2 changes: 2 additions & 0 deletions PersistentState/Assets/TangoSDK/Core/Prefabs/Tango Manager.prefab
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Expand Up @@ -43,6 +43,8 @@ MonoBehaviour:
m_enableDepth: 0
m_motionTrackingAutoReset: 1
m_enableAreaLearning: 0
m_enableADFSaveLoad: 0
m_enableUXLibrary: 0
--- !u!1001 &100100000
Prefab:
m_ObjectHideFlags: 1
Expand Down
30 changes: 6 additions & 24 deletions PersistentState/Assets/TangoSDK/Examples/Scripts/Controllers/EventController.cs
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Expand Up @@ -13,14 +13,15 @@
* See the License for the specific language governing permissions and
* limitations under the License.
*/
using UnityEngine;
using System;
using UnityEngine;
using Tango;

/// <summary>
/// Get Tango events from Tango Service and log on GUI.
/// </summary>
public class EventController : TangoEventListener {
public class EventController : TangoEventListener
{
private string m_eventString;
private TangoApplication m_tangoApplication;
private TangoEvent m_previousEvent;
Expand All @@ -37,6 +38,9 @@ void Start ()
m_previousEvent = new TangoEvent();
}

/// <summary>
/// Send tango event to be parsed by the UX library.
/// </summary>
private void Update()
{
if(m_dirty)
Expand All @@ -55,32 +59,10 @@ private void Update()
/// <param name="tangoEvent">Tango event.</param>
protected override void _onEventAvailable(IntPtr callbackContext, TangoEvent tangoEvent)
{
//m_eventString = tangoEvent.event_key + ": " + tangoEvent.event_value;

m_previousEvent.timestamp = tangoEvent.timestamp;
m_previousEvent.type = tangoEvent.type;
m_previousEvent.event_key = tangoEvent.event_key;
m_previousEvent.event_value = tangoEvent.event_value;
m_dirty = true;

//Debug.Log(m_eventString);
}

/// <summary>
/// GUI function logs Tango event on screen.
/// </summary>
void OnGUI()
{
Color oldColor = GUI.color;
GUI.color = Color.black;
if (m_tangoApplication.HasRequestedPermissions())
{
// Event logging.
GUI.Label(new Rect(Common.UI_LABEL_START_X,
Common.UI_EVENT_LABEL_START_Y,
Common.UI_LABEL_SIZE_X ,
Common.UI_LABEL_SIZE_Y), Common.UI_FONT_SIZE + String.Format(Common.UX_TANGO_SYSTEM_EVENT, m_eventString) + "</size>");
GUI.color = oldColor;
}
}
}
Binary file removed PointCloudUnity/Assets/Plugins/Android/libtango_client_api.so
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4 changes: 0 additions & 4 deletions PointCloudUnity/Assets/Plugins/Android/libtango_client_api.so.meta
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45 changes: 30 additions & 15 deletions PointCloudUnity/Assets/Scripts/Pointcloud.cs
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Expand Up @@ -35,6 +35,7 @@ public class Pointcloud : DepthListener
private TangoApplication m_tangoApplication;

// Matrices for transforming pointcloud to world coordinates.
// This equation will take account of the camera sensors extrinsic.
// Full equation is:
// Matrix4x4 uwTuc = m_uwTss * m_ssTd * Matrix4x4.Inverse(m_imuTd) * m_imuTc * m_cTuc;
private Matrix4x4 m_uwTss = new Matrix4x4 ();
Expand Down Expand Up @@ -104,37 +105,49 @@ private void Update()
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);
Vector3 position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
Quaternion quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
Vector3 position = new Vector3((float)poseData.translation[0],
(float)poseData.translation[1],
(float)poseData.translation[2]);
Quaternion quat = new Quaternion((float)poseData.orientation[0],
(float)poseData.orientation[1],
(float)poseData.orientation[2],
(float)poseData.orientation[3]);
m_imuTd = Matrix4x4.TRS(position, quat, new Vector3 (1.0f, 1.0f, 1.0f));

// Query the extrinsics between IMU and 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);
position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
position = new Vector3((float)poseData.translation[0],
(float)poseData.translation[1],
(float)poseData.translation[2]);
quat = new Quaternion((float)poseData.orientation[0],
(float)poseData.orientation[1],
(float)poseData.orientation[2],
(float)poseData.orientation[3]);
m_imuTc = Matrix4x4.TRS(position, quat, new Vector3 (1.0f, 1.0f, 1.0f));

// Query pose to transform point cloud to world coordinates.
// Query pose to transform point cloud to world coordinates, here we are using the timestamp
// that we get from depth.
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, m_previousDepthDeltaTime, pair);
position = new Vector3((float)poseData.translation[0], (float)poseData.translation[1], (float)poseData.translation[2]);
quat = new Quaternion((float)poseData.orientation[0], (float)poseData.orientation[1], (float)poseData.orientation[2], (float)poseData.orientation[3]);
position = new Vector3((float)poseData.translation[0],
(float)poseData.translation[1],
(float)poseData.translation[2]);
quat = new Quaternion((float)poseData.orientation[0],
(float)poseData.orientation[1],
(float)poseData.orientation[2],
(float)poseData.orientation[3]);
m_ssTd = Matrix4x4.TRS(position, quat, Vector3.one);

// The transformation matrix that represents the pointcloud's pose.
Matrix4x4 uwTuc = m_uwTss * m_ssTd * Matrix4x4.Inverse(m_imuTd) * m_imuTc * m_cTuc;
print("---------------------------------------------------------------");
print("uwTuc = " + uwTuc.ToString());
print("m_uwTss = " + m_uwTss.ToString());
print("m_ssTd = " + m_ssTd.ToString());
print("m_imuTd = " + m_imuTd.ToString());
print("m_imuTc = " + m_imuTc.ToString());
print("m_cTuc = " + m_cTuc.ToString());
print("---------------------------------------------------------------");

transform.position = uwTuc.GetColumn(3);
transform.rotation = Quaternion.LookRotation(uwTuc.GetColumn(2), uwTuc.GetColumn(1));

Expand Down Expand Up @@ -183,6 +196,8 @@ protected override void _OnDepthAvailable(IntPtr callbackContext, TangoXYZij xyz
{
if( i < xyzij.xyz_count )
{
// Note that we are doing a simple axis switch to convert the point from
// depth camera coordinate frame to Unity coordinate frame.
m_vertices[i].x = allPositions[i * 3];
m_vertices[i].y = -allPositions[(i * 3) + 1];
m_vertices[i].z = allPositions[(i * 3) + 2];
Expand Down
2 changes: 2 additions & 0 deletions PointCloudUnity/Assets/Scripts/PoseController.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -70,12 +70,14 @@ public enum TrackingTypes
/// </summary>
private void Awake()
{
// Constant matrix converting start of service frame to Unity world frame.
m_uwTss = new Matrix4x4();
m_uwTss.SetColumn (0, new Vector4 (1.0f, 0.0f, 0.0f, 0.0f));
m_uwTss.SetColumn (1, new Vector4 (0.0f, 0.0f, 1.0f, 0.0f));
m_uwTss.SetColumn (2, new Vector4 (0.0f, 1.0f, 0.0f, 0.0f));
m_uwTss.SetColumn (3, new Vector4 (0.0f, 0.0f, 0.0f, 1.0f));

// Constant matrix converting Unity world frame frame to device frame.
m_cTuc.SetColumn (0, new Vector4 (1.0f, 0.0f, 0.0f, 0.0f));
m_cTuc.SetColumn (1, new Vector4 (0.0f, -1.0f, 0.0f, 0.0f));
m_cTuc.SetColumn (2, new Vector4 (0.0f, 0.0f, 1.0f, 0.0f));
Expand Down
2 changes: 2 additions & 0 deletions PointCloudUnity/Assets/TangoSDK/Core/Prefabs/Tango Manager.prefab
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,8 @@ MonoBehaviour:
m_enableDepth: 0
m_motionTrackingAutoReset: 1
m_enableAreaLearning: 0
m_enableADFSaveLoad: 0
m_enableUXLibrary: 0
--- !u!1001 &100100000
Prefab:
m_ObjectHideFlags: 1
Expand Down
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