/// <summary>
/// Returns false if error.
/// </summary>
/// <returns></returns>
public static void UpdateRgbFrame()
{
MetaCoreInterop.meta_get_rgb_frame(RawPixelBuffer, _translation, _new_rotation); // The buffer is pre-allocated by constructor.
// Check for a difference
bool isEqual = true;
// Check for a difference in pose (should change with each new RGB frame).
for (int i = 0; i < _new_rotation.Length; ++i)
{
isEqual = _rotation[i] == _new_rotation[i];
if (!isEqual)
{
break;
}
}
// If the two rotations are not equal, we have a new rgb frame.
if (!isEqual)
{
// Copy new rotation if it's different.
for (int i = 0; i < _new_rotation.Length; ++i)
{
_rotation[i] = _new_rotation[i];
}
_rgbTexture.LoadRawTextureData(RawPixelBuffer, _totalBufferSize);
_rgbTexture.Apply();
}
}
// Update is called once per frame
void Update()
{
MetaCoreInterop.meta_get_point_cloud(ref _metaPointCloud, _translation, _rotation);
//Added by Yuqi Ding
MetaCoreInterop.meta_get_rgb_frame(RawPixelBuffer, _translation, _new_rotation); // The buffer is pre-allocated by constructor.
// Check for a difference
bool isEqual = true;
// Check for a difference in pose (should change with each new RGB frame).
for (int i = 0; i < _new_rotation.Length; ++i)
{
isEqual = _rotation[i] == _new_rotation[i];
if (!isEqual)
{
break;
}
}
// If the two rotations are not equal, we have a new rgb frame.
if (!isEqual)
{
// Copy new rotation if it's different.
for (int i = 0; i < _new_rotation.Length; ++i)
{
_rotation[i] = _new_rotation[i];
}
_rgbTexture.LoadRawTextureData(RawPixelBuffer, _totalBufferSize);
_rgbTexture.Apply();
if (Time.frameCount % 48 == 0)
{
byte[] bytes = _rgbTexture.EncodeToPNG();
string rgbname = string.Format("{0}/{1:D04} shot.png", folder, Time.frameCount);
File.WriteAllBytes(rgbname, bytes);
}
}
// Added end
SetDepthToWorldTransform();
if (SavePointCloud && (Time.frameCount % 48 == 0))
{
MarshalMetaPointCloud();
//UpdateMesh();
int num = _metaPointCloud.num_points;
Debug.Log(_translation[0].ToString());
Debug.Log(_translation[1].ToString());
Debug.Log(_translation[2].ToString());
if (num != 0)
{
string Name1 = string.Format("{0}/{1:D04} shot.ply", folder, Time.frameCount);
SavePointCloudToPly(Name1, _pointCloud);
}
}
}
// Update is called once per frame
void Update()
{
MetaCoreInterop.meta_get_point_cloud(ref _metaPointCloud, _translation, _rotation);
SetDepthToWorldTransform();
if (RenderPointCloud)
{
MarshalMetaPointCloud();
UpdateMesh();
}
}
// Update is called once per frame
void Update()
{
//Added by Yuqi Ding
MetaCoreInterop.meta_get_point_cloud(ref _metaPointCloud, _translation, _rotation);
// obtain the rgb data
MetaCoreInterop.meta_get_rgb_frame(RawPixelBuffer, _translation_rgb, _new_rotation_rgb); // The buffer is pre-allocated by constructor.
// obtain the rgb data parameter
MetaCoreInterop.meta_get_rgb_intrinsics(ref _camera_params);
// Check for a difference
bool isEqual = true;
// Check for a difference in pose (should change with each new RGB frame).
for (int i = 0; i < _new_rotation_rgb.Length; ++i)
{
isEqual = _rotation_rgb[i] == _new_rotation_rgb[i];
if (!isEqual)
{
break;
}
}
// If the two rotations are not equal, we have a new rgb frame.
if (!isEqual)
{
// Copy new rotation if it's different.
for (int i = 0; i < _new_rotation_rgb.Length; ++i)
{
_rotation_rgb[i] = _new_rotation_rgb[i];
}
_rgbTexture.LoadRawTextureData(RawPixelBuffer, _totalBufferSize);
_rgbTexture.Apply();
}
SetDepthToWorldTransform();
if (SavePointCloud && (Time.frameCount % 48 == 0))
{
MarshalMetaPointCloud();
int num = _metaPointCloud.num_points;
if (num != 0)
{
//save the point cloud
string PointCloudName = string.Format("{0}/{1:D04} shot.ply", folder, Time.frameCount);
SavePointCloudToPly(PointCloudName, _pointCloud);
string PointCloudIntrName = string.Format("{0}/{1:D04} pointcloud_Intr.txt", folder, Time.frameCount);
SavePointCloudPara(PointCloudIntrName, _translation, _rotation);
//save the rgb frame
Color[] color2dtemp = _rgbTexture.GetPixels();
for (int i = 0; i < color2dtemp.Length; i++)
{
float temp = 0.0f;
temp = color2dtemp[i].r;
color2dtemp[i].r = color2dtemp[i].b;
color2dtemp[i].b = temp;
}
_rgbTexture.SetPixels(color2dtemp);
//Debug.Log("Swap r and b");
byte[] bytes = _rgbTexture.EncodeToJPG();
string rgbName = string.Format("{0}/{1:D04} shot.jpg", folder, Time.frameCount);
File.WriteAllBytes(rgbName, bytes);
string rgbIntrName = string.Format("{0}/{1:D04} shot_Intr.txt", folder, Time.frameCount);
SaveRGBIntrinsics(rgbIntrName, _camera_params);
string rgbParaName = string.Format("{0}/{1:D04} shot_Para.txt", folder, Time.frameCount);
SaveRGBPara(rgbParaName, _translation_rgb, _rotation_rgb);
}
// Added end
}
}
