C# Class Tango.Tango3DReconstruction

Manages a single instance of the Tango 3D Reconstruction library, updating a single 3D model based on depth and color information.

Inheritance: IDisposable, ITangoLifecycle, ITangoDepthMultithreaded, ITangoVideoOverlayMultithreaded

Show file Open project: stetro/project-tango-poc Class Usage Examples

Public Methods

Method	Description
Dispose ( ) : void	Releases all resource used by the Tango3DReconstruction object. Call Dispose when you are finished using the Tango3DReconstruction. The Dispose method leaves the Tango3DReconstruction in an unusable state. After calling Dispose, you must release all references to the Tango3DReconstruction so the garbage collector can reclaim the memory that the Tango3DReconstruction was occupying.
OnTangoDepthMultithreadedAvailable ( TangoXYZij tangoDepth ) : void	This is called each time new depth data is available. On the Tango tablet, the depth callback occurs at 5 Hz.
OnTangoImageMultithreadedAvailable ( TangoEnums cameraId, TangoImageBuffer imageBuffer ) : void	This will be called when a new frame is available from the camera. The first scan-line of the color image is reserved for metadata instead of image pixels.
OnTangoPermissions ( bool permissionsGranted ) : void	This is called when the permission granting process is finished.
OnTangoServiceConnected ( ) : void	This is called when succesfully connected to the Tango service.
OnTangoServiceDisconnected ( ) : void	This is called when disconnected from the Tango service.

Private Methods

Method	Description
Clear ( ) : void	Clear the current mesh in the 3D reconstruction.
ExtractMeshSegment ( GridIndex gridIndex, Vector3 vertices, Vector3 normals, Color32 colors, int triangles, int &numVertices, int &numTriangles ) : Status	Extract a mesh for a single grid index, into a suitable format for Unity Mesh.
ExtractWholeMesh ( Vector3 vertices, Vector3 normals, Color32 colors, int triangles, int &numVertices, int &numTriangles ) : Status	Extract a mesh for the entire 3D reconstruction, into a suitable format for Unity Mesh.
RegisterGridIndicesDirty ( OnTango3DReconstructionGridIndiciesDirtyEventHandler handler ) : void	Register a Unity main thread handler for the GridIndicesDirty event.
SendEventIfAvailable ( ) : void	Raise ITango3DReconstruction events if there is new data.
SetEnabled ( bool enabled ) : void	Set if the 3DReconstruction is enabled or not. If disabled, the 3D reconstruction will not get updated.
Tango3DReconstruction ( float resolution, bool generateColor, bool spaceClearing ) : System	Initializes a new instance of the Tango3DReconstruction class.
UnregisterGridIndicesDirty ( OnTango3DReconstructionGridIndiciesDirtyEventHandler handler ) : void	Unregister a Unity main thread handler for the Tango depth event.
_AddUpdatedIndices ( IntPtr rawUpdatedIndices ) : void	Add to the list of updated GridIndex objects that gets sent to the main thread.
_UpdateColor ( TangoImageBuffer image, Matrix4x4 imagePose ) : void	Update the 3D Reconstruction with a new image and pose. It is expected this will get called in from the Tango binder thread.
_UpdateDepth ( TangoXYZij depth, Matrix4x4 depthPose ) : void	Update the 3D Reconstruction with a new point cloud and pose. It is expected this will get called in from the Tango binder thread.
_UpdateExtrinsics ( ) : void	Calculate the camera extrinsics for this device.

Method Details

Dispose() public method

Releases all resource used by the Tango3DReconstruction object.

Call Dispose when you are finished using the Tango3DReconstruction. The Dispose method leaves the Tango3DReconstruction in an unusable state. After calling Dispose, you must release all references to the Tango3DReconstruction so the garbage collector can reclaim the memory that the Tango3DReconstruction was occupying.

public Dispose ( ) : void
return	void

OnTangoDepthMultithreadedAvailable() public method

This is called each time new depth data is available. On the Tango tablet, the depth callback occurs at 5 Hz.

public OnTangoDepthMultithreadedAvailable ( TangoXYZij tangoDepth ) : void
tangoDepth	TangoXYZij	Tango depth.
return	void

OnTangoImageMultithreadedAvailable() public method

This will be called when a new frame is available from the camera. The first scan-line of the color image is reserved for metadata instead of image pixels.

public OnTangoImageMultithreadedAvailable ( TangoEnums cameraId, TangoImageBuffer imageBuffer ) : void
cameraId	TangoEnums	Camera identifier.
imageBuffer	TangoImageBuffer	Image buffer.
return	void

OnTangoPermissions() public method

This is called when the permission granting process is finished.

public OnTangoPermissions ( bool permissionsGranted ) : void
permissionsGranted	bool	true if permissions were granted, otherwise false.
return	void

OnTangoServiceConnected() public method

This is called when succesfully connected to the Tango service.

public OnTangoServiceConnected ( ) : void
return	void

OnTangoServiceDisconnected() public method

This is called when disconnected from the Tango service.

public OnTangoServiceDisconnected ( ) : void
return	void