C# 클래스 AreaLearningInGameController, project-tango-poc

Applicaiton onPause / onResume callback.

Unity OnGUI function. Mainly for removing markers.

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

This is called each time a Tango event happens.

OnTangoPoseAvailable event from Tango. In this function, we only listen to the Start-Of-Service with respect to Area-Description frame pair. This pair indicates a relocalization or loop closure event happened, base on that, we either start the initialize the interaction or do a bundle adjustment for all marker position.

Save the game. Save will trigger 3 things: 1. Save the Area Description if the learning mode is on. 2. Bundle adjustment for all markers's position, please see _UpdateMarkersForLoopClosures() function header for more details. 3. Save all markers to xml, save the Area Description if the learning mode is on. 4. Reload the scene.

Set the marker type.

Unity Start function. We find and assign pose controller and tango applicaiton, and register this class to callback events.

Unity Update function. Mainly handle the touch event and place mark in place.

Actually do the Area Description save.

Load marker list xml from application storage.

Write marker list to an xml file stored in application storage.

Correct all saved marks when loop closure happens. When Tango Service is in learning mode, the drift will accumulate overtime, but when the system sees a pre-exsiting area, it will do a operation to correct all previously saved poses (the pose you can query with GetPoseAtTime). This operation is called loop closure. When loop closure happens, we will need to re-query all previously saved marker position in order to achieve the best result. This function is doing the querying job based on timestamp.

Wait for the next depth update, then find the plane at the touch position.

Convert a 3D bounding box into a 2D Rect.