private void InitARFrameBuffer()
{
mImage = new UnityARImageFrameData();
int yBufSize = mARCamera.videoParams.yWidth * mARCamera.videoParams.yHeight;
mImage.y.data = Marshal.AllocHGlobal(yBufSize);
mImage.y.width = (ulong)mARCamera.videoParams.yWidth;
mImage.y.height = (ulong)mARCamera.videoParams.yHeight;
mImage.y.stride = (ulong)mARCamera.videoParams.yWidth;
// This does assume the YUV_NV21 format
int vuBufSize = mARCamera.videoParams.yWidth * mARCamera.videoParams.yWidth / 2;
mImage.vu.data = Marshal.AllocHGlobal(vuBufSize);
mImage.vu.width = (ulong)mARCamera.videoParams.yWidth / 2;
mImage.vu.height = (ulong)mARCamera.videoParams.yHeight / 2;
mImage.vu.stride = (ulong)mARCamera.videoParams.yWidth;
mSession.SetCapturePixelData(true, mImage.y.data, mImage.vu.data);
}
/// <summary>
/// Sends an image frame and its corresponding camera pose to LibPlacenote mapping/localization module
/// </summary>
/// <param name="frameData">Image frame data.</param>
/// <param name="position">Position of the camera at the time frameData is captured</param>
/// <param name="rotation">Quaternion of the camera at the time frameData is captured.</param>
/// <param name="screenOrientation">
/// Fill in this parameter with screenOrientation from the current UnityVideoParams structure.
/// Used to correct for the extra rotation applied by the Unity ARKit Plugin on the ARKit pose transform.
/// </param>
public void SendARFrame(UnityARImageFrameData frameData, Vector3 position, Quaternion rotation, int screenOrientation)
{
Matrix4x4 orientRemovalMat = Matrix4x4.zero;
orientRemovalMat.m22 = orientRemovalMat.m33 = 1;
switch (screenOrientation)
{
// portrait
case 1:
orientRemovalMat.m01 = 1;
orientRemovalMat.m10 = -1;
break;
case 2:
orientRemovalMat.m01 = -1;
orientRemovalMat.m10 = 1;
break;
// landscape
case 3:
// do nothing
orientRemovalMat = Matrix4x4.identity;
break;
case 4:
orientRemovalMat.m00 = -1;
orientRemovalMat.m11 = -1;
break;
default:
Debug.LogError("Unrecognized screen orientation");
return;
}
Matrix4x4 rotationMat = Matrix4x4.TRS(new Vector3(0, 0, 0), rotation, new Vector3(1, 1, 1));
rotationMat = rotationMat * orientRemovalMat;
rotation = PNUtility.MatrixOps.QuaternionFromMatrix(rotationMat);
PNTransformUnity pose = new PNTransformUnity();
pose.position.x = position.x;
pose.position.y = position.y;
pose.position.z = position.z;
pose.rotation.x = rotation.x;
pose.rotation.y = rotation.y;
pose.rotation.z = rotation.z;
pose.rotation.w = rotation.w;
PNImagePlaneUnity yPlane = new PNImagePlaneUnity();
yPlane.width = (int)frameData.y.width;
yPlane.height = (int)frameData.y.height;
yPlane.stride = (int)frameData.y.stride;
yPlane.buf = frameData.y.data;
PNImagePlaneUnity vuPlane = new PNImagePlaneUnity();
vuPlane.width = (int)frameData.vu.width;
vuPlane.height = (int)frameData.vu.height;
vuPlane.stride = (int)frameData.vu.stride;
vuPlane.buf = frameData.vu.data;
#if !UNITY_EDITOR
PNSetFrame(ref yPlane, ref vuPlane, ref pose);
#endif
}
