C# Class TangoPointCloud, project-tango-poc

Point cloud visualize using depth frame API.

Inheritance: MonoBehaviour, ITangoDepth

Mostrar archivo Open project: stetro/project-tango-poc Class Usage Examples

Public Properties

Property	Type	Description
m_updatePointsMesh	bool
m_useAreaDescriptionPose	bool

Public Methods

Method	Description
FindClosestPoint ( Camera cam, Vector2 pos, int maxDist ) : int	Finds the closest point from a point cloud to a position on screen. NOTE: This is slow because it looks at every single point in the point cloud. Avoid calling this more than once a frame.
FindPlane ( Camera cam, Vector2 pos, Vector3 &planeCenter, Plane &plane ) : bool	Given a screen coordinate, find a plane that most closely fits depth values in that area. This assumes you are using this in an AR context.
OnTangoDepthAvailable ( TangoUnityDepth tangoDepth ) : void	Callback that gets called when depth is available from the Tango Service.
Start ( ) : void	Use this for initialization.

Private Methods

Method	Description
_SetUpCameraData ( ) : void	Sets up extrinsic matrixes and camera intrinsics for this hardware.

Method Details

FindClosestPoint() public method

Finds the closest point from a point cloud to a position on screen. NOTE: This is slow because it looks at every single point in the point cloud. Avoid calling this more than once a frame.

public FindClosestPoint ( Camera cam, Vector2 pos, int maxDist ) : int
cam	Camera	The current camera.
pos	Vector2	Position on screen (in pixels).
maxDist	int	The maximum pixel distance to allow.
return	int

FindPlane() public method

Given a screen coordinate, find a plane that most closely fits depth values in that area. This assumes you are using this in an AR context.

public FindPlane ( Camera cam, Vector2 pos, Vector3 &planeCenter, Plane &plane ) : bool
cam	Camera	The Unity camera.
pos	Vector2	The point in screen space to perform detection on.
planeCenter	Vector3	Filled in with the center of the plane in Unity world space.
plane	Plane	Filled in with a model of the plane in Unity world space.
return	bool

OnTangoDepthAvailable() public method

Callback that gets called when depth is available from the Tango Service.

public OnTangoDepthAvailable ( TangoUnityDepth tangoDepth ) : void
tangoDepth	Tango.TangoUnityDepth	Depth information from Tango.
return	void

Start() public method

Use this for initialization.

public Start ( ) : void
return	void

Property Details

m_updatePointsMesh public_oe property

If set, the point cloud's mesh gets updated (much slower, useful for debugging).

public bool m_updatePointsMesh
return	bool

m_useAreaDescriptionPose public_oe property

If set, the point cloud will be transformed using ADF pose (device with respect to ADF).

public bool m_useAreaDescriptionPose
return	bool