C# Class Tango.PoseProvider

Provide pose related functionality.
Show file Open project: ashomk/beerpong Class Usage Examples

Public Methods

Method Description
GetPoseAtTime ( [ poseData, double timeStamp, TangoCoordinateFramePair framePair ) : void

Get a pose at a given timestamp from the base to the target frame. All poses returned are marked as TANGO_POSE_VALID (in the status_code field on TangoPoseData ) even if they were marked as TANGO_POSE_INITIALIZING in the callback poses. If no pose can be returned, the status_code of the returned pose will be TANGO_POSE_INVALID.
ResetMotionTracking ( ) : void

Resets the motion tracking system. This reinitializes the TANGO_COORDINATE_FRAME_START_OF_SERVICE coordinate frame to where the device is when you call this function; afterwards, if you ask for the pose with relation to start of service, it uses this as the new origin. You can call this function at any time. If you are using Area Learning, the TANGO_COORDINATE_FRAME_AREA_DESCRIPTION coordinate frame is not affected by calling this function; however, the device needs to localize again before you can use the area description.

Private Methods

Method Description
GetTangoEmulation ( Vector3 &posePosition, Quaternion &poseRotation ) : void

INTERNAL USE: Get the most recent values for Tango emulation.
SetCallback ( TangoCoordinateFramePair framePairs, TangoService_onPoseAvailable callback ) : void

Set the C callback for the Tango pose interface.
UpdateTangoEmulation ( ) : void

INTERNAL USE: Update the Tango emulation state for pose data. Make this this is only called once per frame.

Method Details

GetPoseAtTime() public static method

Get a pose at a given timestamp from the base to the target frame. All poses returned are marked as TANGO_POSE_VALID (in the status_code field on TangoPoseData ) even if they were marked as TANGO_POSE_INITIALIZING in the callback poses. If no pose can be returned, the status_code of the returned pose will be TANGO_POSE_INVALID.
public static GetPoseAtTime ( [ poseData, double timeStamp, TangoCoordinateFramePair framePair ) : void
poseData [ The pose to return.
timeStamp double /// Time specified in seconds. /// /// If not set to 0.0, GetPoseAtTime retrieves the interpolated pose closest to this timestamp. If set to 0.0, /// the most recent pose estimate for the target-base pair is returned. The time of the returned pose is /// contained in the pose output structure and may differ from the queried timestamp. ///
framePair TangoCoordinateFramePair /// A pair of coordinate frames specifying the transformation to be queried for. /// /// For example, typical device motion is given by a target frame of TANGO_COORDINATE_FRAME_DEVICE and a base /// frame of TANGO_COORDINATE_FRAME_START_OF_SERVICE . ///
return void

ResetMotionTracking() public static method

Resets the motion tracking system. This reinitializes the TANGO_COORDINATE_FRAME_START_OF_SERVICE coordinate frame to where the device is when you call this function; afterwards, if you ask for the pose with relation to start of service, it uses this as the new origin. You can call this function at any time. If you are using Area Learning, the TANGO_COORDINATE_FRAME_AREA_DESCRIPTION coordinate frame is not affected by calling this function; however, the device needs to localize again before you can use the area description.
public static ResetMotionTracking ( ) : void
return void