C# Class Tango.TangoApplication

Main entry point for the Tango Service. This component handles nearly all communication with the underlying TangoService. You must have one of these in your scene for Tango to work. Customization of the Tango connection can be done in the Unity editor or by programatically setting the member flags. This sends out events to Components that derive from the ITangoPose, ITangoDepth, etc. interfaces and register themselves via Register. This also sends out events to callbacks passed in through RegisterOnTangoConnect, RegisterOnTangoDisconnect, and RegisterPermissionsCallback. Note: To connect to the Tango Service, you should call InitApplication after properly registering everything.

Inheritance: UnityEngine.MonoBehaviour

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

Public Properties

Property	Type	Description
m_3drGenerateColor	bool
m_3drGenerateNormal	bool
m_3drGenerateTexCoord	bool
m_3drResolutionMeters	float
m_3drSpaceClearing	bool
m_3drUseAreaDescriptionPose	bool
m_allowOutOfDateTangoAPI	bool
m_autoConnectToService	bool
m_enable3DReconstruction	bool
m_enableADFLoading	bool
m_enableAreaLearning	bool
m_enableDepth	bool
m_enableMotionTracking	bool
m_enableVideoOverlay	bool
m_motionTrackingAutoReset	bool
m_videoOverlayUseByteBufferMethod	bool

Private Properties

Property	Type	Description
Awake	void
OnDestroy	void
SendCloudEvent	void
Update	void
_CheckTangoVersion	void
_FlipBitAndCheckPermissions	void
_InitializeMotionTracking	void
_PermissionWasDenied	void
_RegisterOnAreaDescriptionEvent	void
_RegisterOnExperimentalTangoVideoOverlay	void
_RegisterOnTangoCloudEvent	void
_RegisterOnTangoConnect	void
_RegisterOnTangoDepthEvent	void
_RegisterOnTangoDisconnect	void
_RegisterOnTangoEvent	void
_RegisterOnTangoEventMultithreaded	void
_RegisterOnTangoPoseEvent	void
_RegisterOnTangoVideoOverlay	void
_RegisterPermissionsCallback	void
_RequestNextPermission	void
_ResetPermissionsFlags	void
_ResumeTangoServices	void
_SendPermissionEvent	void
_SetDepthCallbacks	void
_SetEventCallbacks	void
_SetMotionTrackingCallbacks	void
_SetVideoOverlayCallbacks	void
_SuspendTangoServices	void
_TangoConnect	void
_TangoDisconnect	void
_UnregisterOnAreaDescriptionEvent	void
_UnregisterOnExperimentalTangoVideoOverlay	void
_UnregisterOnTangoCloudEvent	void
_UnregisterOnTangoConnect	void
_UnregisterOnTangoDepthEvent	void
_UnregisterOnTangoDisconnect	void
_UnregisterOnTangoEvent	void
_UnregisterOnTangoEventMultithreaded	void
_UnregisterOnTangoPoseEvent	void
_UnregisterOnTangoVideoOverlay	void
_UnregisterPermissionsCallback	void
_androidOnActivityResult	void
_androidOnPause	void
_androidOnResume	void
_androidOnScreenOrientationChanged	void

Public Methods

Method	Description
GetTangoServiceVersion ( ) : string	Get the Tango service version name.
GetVideoOverlayTextureYUV ( ) : YUVTexture	Get the video overlay texture.
HasRequestedPermissions ( ) : bool	Check if all requested permissions have been granted.
Register ( object tangoObject ) : void	Register to get Tango callbacks. The object should derive from one of ITangoDepth, ITangoEvent, ITangoPos, ITangoVideoOverlay, or ITangoExperimentalTangoVideoOverlay. You will get callback during Update until you unregister.
RequestPermissions ( ) : void	Manual initialization step 1: Call this to request Tango permissions. To know the result of the permissions request, implement the interface ITangoLifecycle and register yourself before calling this. Once all permissions have been granted, you can call TangoApplication.Startup, optionally passing in the AreaDescription to load. You can get the list of AreaDescriptions once the appropriate permission is granted.
Set3DReconstructionEnabled ( bool enabled ) : void	Enable or disable the 3D reconstruction.
SetDepthCameraRate ( TangoEnums rate ) : void	Set the framerate of the depth camera. Disabling or reducing the framerate of the depth camera when it is running can save a significant amount of battery.
SetDepthCameraRate ( int rate ) : void	Set the framerate of the depth camera. Disabling or reducing the framerate of the depth camera when it is running can save a significant amount of battery.
Shutdown ( ) : void	Disconnect from the Tango service. This is called automatically when the TangoApplication goes away. You only need to call this to disconnect from the Tango service before the TangoApplication goes away.
Startup ( AreaDescription areaDescription ) : void	Manual initalization step 2: Call this to connect to the Tango service. After connecting to the Tango service, you will get updates for Motion Tracking, Depth Sensing, and Area Learning. If you have a specific Area Description you want to localize too, pass that Area Description in here.
Tango3DRClear ( ) : void	Clear the 3D reconstruction data. The reconstruction will start fresh.
Tango3DRExtractMeshSegment ( Tango3DReconstruction gridIndex, Vector3 vertices, Vector3 normals, Color32 colors, int triangles, int &numVertices, int &numTriangles ) : Tango3DReconstruction.Status	Extract a single grid cell's mesh.
Tango3DRExtractWholeMesh ( Vector3 vertices, Vector3 normals, Color32 colors, int triangles, int &numVertices, int &numTriangles ) : Tango3DReconstruction.Status	Extract a single mesh for the entire 3D reconstruction state.
Unregister ( System tangoObject ) : void	Unregister from Tango callbacks. See TangoApplication.Register for more details.

Private Methods

Method	Description
Awake ( ) : void	Awake this instance.
OnDestroy ( ) : void	Unity callback when this object is destroyed.
SendCloudEvent ( string message ) : void	Propagates an event from the java plugin connected to the Cloud Service through UnitySendMessage().
Update ( ) : void	Disperse any events related to Tango functionality.
_CheckTangoVersion ( ) : void	Validate the TangoService version is supported.
_FlipBitAndCheckPermissions ( PermissionsTypes permission ) : void	Flip a permission bit and check to see if all permissions were accepted.
_InitializeMotionTracking ( string uuid ) : void	Initialize motion tracking.
_PermissionWasDenied ( ) : void	A Tango permission was denied.
_RegisterOnAreaDescriptionEvent ( OnAreaDescriptionImportEventHandler import, OnAreaDescriptionExportEventHandler export ) : void	Register to get Tango event callbacks. See TangoApplication.Register for details.
_RegisterOnExperimentalTangoVideoOverlay ( OnExperimentalTangoImageAvailableEventHandler handler ) : void	Experimental API only, subject to change. Register to get Tango video overlay callbacks.
_RegisterOnTangoCloudEvent ( OnTangoCloudEventAvailableEventHandler handler ) : void	Register to get Tango cloud event callbacks. See TangoApplication.Register for details.
_RegisterOnTangoConnect ( OnTangoConnectEventHandler handler ) : void	Register to get an event callback when connected to the Tango service. The passed event will get called once connected to the Tango service. Registering after already connected will cause the event to not fire until disconnected and then connecting again.
_RegisterOnTangoDepthEvent ( OnTangoDepthAvailableEventHandler handler ) : void	Register to get Tango depth callbacks. See TangoApplication.Register for more details.
_RegisterOnTangoDisconnect ( OnTangoDisconnectEventHandler handler ) : void	Register to get an event callback when disconnected from the Tango service. The passed event will get called when disconnected from the Tango service.
_RegisterOnTangoEvent ( OnTangoEventAvailableEventHandler handler ) : void	Register to get Tango event callbacks. See TangoApplication.Register for details.
_RegisterOnTangoEventMultithreaded ( OnTangoEventAvailableEventHandler handler ) : void	Register to get Tango event callbacks. See TangoApplication.Register for details.
_RegisterOnTangoPoseEvent ( OnTangoPoseAvailableEventHandler handler ) : void	Register to get Tango pose callbacks. See TangoApplication.Register for more details.
_RegisterOnTangoVideoOverlay ( OnTangoImageAvailableEventHandler handler ) : void	Register to get Tango video overlay callbacks. See TangoApplication.Register for details.
_RegisterPermissionsCallback ( PermissionsEvent permissionsEventHandler ) : void	Register to get an event callback when all permissions are granted. The passed event will get called once all Tango permissions have been granted. Registering after all permissions have already been granted will cause the event to never fire.
_RequestNextPermission ( ) : void	Request next permission.
_ResetPermissionsFlags ( ) : void	Reset permissions flags.
_ResumeTangoServices ( ) : void	Helper method that will resume the tango services on App Resume. Locks the config again and connects the service.
_SendPermissionEvent ( bool permissions ) : void	Sends the permission event.
_SetDepthCallbacks ( ) : void	Set callbacks for all DepthListener objects.
_SetEventCallbacks ( ) : void	Set callbacks for all TangoEventListener objects.
_SetMotionTrackingCallbacks ( TangoCoordinateFramePair framePairs ) : void	Set callbacks on all PoseListener objects.
_SetVideoOverlayCallbacks ( ) : void	Set callbacks for all VideoOverlayListener objects.
_SuspendTangoServices ( ) : void	Helper method that will suspend the tango services on App Suspend. Unlocks the tango config and disconnects the service.
_TangoConnect ( ) : void	Connect to the Tango Service.
_TangoDisconnect ( ) : void	Disconnect from the Tango Service.
_UnregisterOnAreaDescriptionEvent ( OnAreaDescriptionImportEventHandler import, OnAreaDescriptionExportEventHandler export ) : void	Unregister from the Tango event callbacks. See TangoApplication.Register for more details.
_UnregisterOnExperimentalTangoVideoOverlay ( OnExperimentalTangoImageAvailableEventHandler handler ) : void	Experimental API only, subject to change. Unregister from the Tango video overlay callbacks. See TangoApplication.Register for more details.
_UnregisterOnTangoCloudEvent ( OnTangoCloudEventAvailableEventHandler handler ) : void	Unregister from the Tango cloud event callbacks. See TangoApplication.Register for more details.
_UnregisterOnTangoConnect ( OnTangoConnectEventHandler handler ) : void	Unregister from the callback when connected to the Tango service. See TangoApplication.RegisterOnTangoConnect for more details.
_UnregisterOnTangoDepthEvent ( OnTangoDepthAvailableEventHandler handler ) : void	Unregister from the Tango depth callbacks. See TangoApplication.Register for more details.
_UnregisterOnTangoDisconnect ( OnTangoDisconnectEventHandler handler ) : void	Unregister from the callback when disconnected from the Tango service. See TangoApplication.RegisterOnTangoDisconnect for more details.
_UnregisterOnTangoEvent ( OnTangoEventAvailableEventHandler handler ) : void	Unregister from the Tango event callbacks. See TangoApplication.Register for more details.
_UnregisterOnTangoEventMultithreaded ( OnTangoEventAvailableEventHandler handler ) : void	Unregister from the Tango event callbacks. See TangoApplication.Register for more details.
_UnregisterOnTangoPoseEvent ( OnTangoPoseAvailableEventHandler handler ) : void	Unregister from the Tango pose callbacks. See TangoApplication.Register for more details.
_UnregisterOnTangoVideoOverlay ( OnTangoImageAvailableEventHandler handler ) : void	Unregister from the Tango video overlay callbacks. See TangoApplication.Register for more details.
_UnregisterPermissionsCallback ( PermissionsEvent permissionsEventHandler ) : void	Unregister from the permission callbacks. See TangoApplication.RegisterPermissionsCallback for more details.
_androidOnActivityResult ( int requestCode, int resultCode, AndroidJavaObject data ) : void	EventHandler for Android's on activity result.
_androidOnPause ( ) : void	Android on pause.
_androidOnResume ( ) : void	Android on resume.
_androidOnScreenOrientationChanged ( AndroidScreenRotation newOrientation ) : void	Delegate for the Android screen orientation changed.

Method Details

GetTangoServiceVersion() public static method

Get the Tango service version name.

public static GetTangoServiceVersion ( ) : string
return	string

GetVideoOverlayTextureYUV() public method

Get the video overlay texture.

public GetVideoOverlayTextureYUV ( ) : YUVTexture
return	YUVTexture

HasRequestedPermissions() public method

Check if all requested permissions have been granted.

public HasRequestedPermissions ( ) : bool
return	bool

Register() public method

Register to get Tango callbacks. The object should derive from one of ITangoDepth, ITangoEvent, ITangoPos, ITangoVideoOverlay, or ITangoExperimentalTangoVideoOverlay. You will get callback during Update until you unregister.

public Register ( object tangoObject ) : void
tangoObject	object	Object to get Tango callbacks from.
return	void

RequestPermissions() public method

Manual initialization step 1: Call this to request Tango permissions. To know the result of the permissions request, implement the interface ITangoLifecycle and register yourself before calling this. Once all permissions have been granted, you can call TangoApplication.Startup, optionally passing in the AreaDescription to load. You can get the list of AreaDescriptions once the appropriate permission is granted.

public RequestPermissions ( ) : void
return	void

Set3DReconstructionEnabled() public method

Enable or disable the 3D reconstruction.

public Set3DReconstructionEnabled ( bool enabled ) : void
enabled	bool	If set to true enabled.
return	void

SetDepthCameraRate() public method

Set the framerate of the depth camera. Disabling or reducing the framerate of the depth camera when it is running can save a significant amount of battery.

public SetDepthCameraRate ( TangoEnums rate ) : void
rate	TangoEnums	A special rate to set the depth camera to.
return	void

SetDepthCameraRate() public method

Set the framerate of the depth camera. Disabling or reducing the framerate of the depth camera when it is running can save a significant amount of battery.

public SetDepthCameraRate ( int rate ) : void
rate	int	The rate in frames per second, for the depth camera to run at.
return	void

Shutdown() public method

Disconnect from the Tango service. This is called automatically when the TangoApplication goes away. You only need to call this to disconnect from the Tango service before the TangoApplication goes away.

public Shutdown ( ) : void
return	void

Startup() public method

Manual initalization step 2: Call this to connect to the Tango service. After connecting to the Tango service, you will get updates for Motion Tracking, Depth Sensing, and Area Learning. If you have a specific Area Description you want to localize too, pass that Area Description in here.

public Startup ( AreaDescription areaDescription ) : void
areaDescription	AreaDescription	If not null, the Area Description to localize to.
return	void

Tango3DRClear() public method

Clear the 3D reconstruction data. The reconstruction will start fresh.

public Tango3DRClear ( ) : void
return	void

Tango3DRExtractMeshSegment() public method

Extract a single grid cell's mesh.

public Tango3DRExtractMeshSegment ( Tango3DReconstruction gridIndex, Vector3 vertices, Vector3 normals, Color32 colors, int triangles, int &numVertices, int &numTriangles ) : Tango3DReconstruction.Status
gridIndex	Tango3DReconstruction	Grid index to extract.
vertices	Vector3	Filled out with extracted vertices.
normals	Vector3	Filled out with extracted normals.
colors	UnityEngine.Color32	Filled out with extracted colors.
triangles	int	Filled out with extracted triangle indices.
numVertices	int	Filled out with the number of valid vertices.
numTriangles	int	Filled out with the number of valid triangles.
return	Tango3DReconstruction.Status

Tango3DRExtractWholeMesh() public method

Extract a single mesh for the entire 3D reconstruction state.

public Tango3DRExtractWholeMesh ( Vector3 vertices, Vector3 normals, Color32 colors, int triangles, int &numVertices, int &numTriangles ) : Tango3DReconstruction.Status
vertices	Vector3	Filled out with extracted vertices.
normals	Vector3	Filled out with extracted normals.
colors	UnityEngine.Color32	Filled out with extracted colors.
triangles	int	Filled out with extracted triangle indices.
numVertices	int	Filled out with the number of valid vertices.
numTriangles	int	Filled out with the number of valid triangles.
return	Tango3DReconstruction.Status

Unregister() public method

Unregister from Tango callbacks. See TangoApplication.Register for more details.

public Unregister ( System tangoObject ) : void
tangoObject	System	Object to stop getting Tango callbacks from.
return	void

Property Details

m_3drGenerateColor public property

public bool m_3drGenerateColor
return	bool

m_3drGenerateNormal public property

public bool m_3drGenerateNormal
return	bool

m_3drGenerateTexCoord public property

public bool m_3drGenerateTexCoord
return	bool

m_3drResolutionMeters public property

public float m_3drResolutionMeters
return	float

m_3drSpaceClearing public property

public bool m_3drSpaceClearing
return	bool

m_3drUseAreaDescriptionPose public property

public bool m_3drUseAreaDescriptionPose
return	bool

m_allowOutOfDateTangoAPI public property

public bool m_allowOutOfDateTangoAPI
return	bool

m_autoConnectToService public property

public bool m_autoConnectToService
return	bool

m_enable3DReconstruction public property

public bool m_enable3DReconstruction
return	bool

m_enableADFLoading public property

public bool m_enableADFLoading
return	bool

m_enableAreaLearning public property

public bool m_enableAreaLearning
return	bool

m_enableDepth public property

public bool m_enableDepth
return	bool

m_enableMotionTracking public property

public bool m_enableMotionTracking
return	bool

m_enableVideoOverlay public property

public bool m_enableVideoOverlay
return	bool

m_motionTrackingAutoReset public property

public bool m_motionTrackingAutoReset
return	bool

m_videoOverlayUseByteBufferMethod public property

public bool m_videoOverlayUseByteBufferMethod
return	bool