// Set up Tango Configuration handle, and connecting all callbacks.
bool TangoData::SetConfig() {
// Get the default TangoConfig.
config_ = TangoService_getConfig(TANGO_CONFIG_DEFAULT);
if (config_ == NULL) {
LOGE("TangoService_getConfig(): Failed");
return false;
}
// Enable depth.
if (TangoConfig_setBool(config_, "config_enable_depth", true) !=
TANGO_SUCCESS) {
LOGE("config_enable_depth Failed");
return false;
}
// Enable color.
if (TangoConfig_setBool(config_, "config_enable_color_camera", true) !=
TANGO_SUCCESS) {
LOGE("config_enable_color_camera Failed");
return false;
}
// Get library version string from service.
if (TangoConfig_getString(
config_, "tango_service_library_version",
const_cast<char*>(
TangoData::GetInstance().lib_version_string.c_str()),
kVersionStringLength) != TANGO_SUCCESS) {
LOGE("Get tango_service_library_version Failed");
return false;
}
// Get max point cloud elements. The value is used for allocating
// the depth buffer.
int temp = 0;
if (TangoConfig_getInt32(config_, "max_point_cloud_elements", &temp) !=
TANGO_SUCCESS) {
LOGE("Get max_point_cloud_elements Failed");
return false;
}
max_vertex_count = static_cast<uint32_t>(temp);
// Forward allocate the maximum size of depth buffer.
// max_vertex_count is the vertices count, max_vertex_count*3 is
// the actual float buffer size.
depth_buffer = new float[3 * max_vertex_count];
return true;
}
TangoDevicePointCloud::TangoDevicePointCloud(
#if PLATFORM_ANDROID
TangoConfig config_
#endif
)
{
UE_LOG(ProjectTangoPlugin, Log, TEXT("TangoDevicePointCloud::TangoDevicePointCloud: Creating TangoDevicePointCloud!"));
//Setting up Point Cloud Buffers
#if PLATFORM_ANDROID
pthread_mutex_init(&xyzij_mutex,NULL);
int max_point_cloud_elements = 0;
bool success = TangoConfig_getInt32(config_, "max_point_cloud_elements", &max_point_cloud_elements) == TANGO_SUCCESS;
uint32_t MaxPointCloudVertexCount = static_cast<uint32_t>(max_point_cloud_elements);
if (success)
{
UE_LOG(ProjectTangoPlugin, Log, TEXT("TangoDevicePointCloud::TangoDevicePointCloud: allocations"));
pthread_mutex_lock(&xyzij_mutex);
VertCount = 0;
VertCapacity = MaxPointCloudVertexCount;
PointCloudValues.Reserve(static_cast<int32_t>(max_point_cloud_elements));
RawData = new float[MaxPointCloudVertexCount][3];
RawDataB = new float[MaxPointCloudVertexCount][3];
pthread_mutex_unlock(&xyzij_mutex);
}
else
{
UE_LOG(ProjectTangoPlugin, Warning, TEXT("TangoDevicePointCloud::TangoDevicePointCloud: construction failed because read of max_point_cloud_elements was not successful."));
}
#endif
UE_LOG(ProjectTangoPlugin, Log, TEXT("TangoDevicePointCloud::TangoDevicePointCloud: Creating TangoDevicePointCloud FINISHED"));
}
