public static int TangoSupport_detectMarkers(ref TangoImageBuffer image,
TangoEnums.TangoCameraId cameraId, ref DVector3 translation, ref DVector4 orientation,
ref APIMarkerParam param, ref APIMarkerList apiMarkerList)
{
apiMarkerList = new APIMarkerList();
return(Common.ErrorType.TANGO_SUCCESS);
}
/// <summary>
/// Raise a Tango image event if there is new data.
/// </summary>
internal void SendIfVideoOverlayAvailable()
{
#if UNITY_EDITOR
lock (m_lockObject)
{
if (VideoOverlayProvider.m_emulationIsDirty)
{
VideoOverlayProvider.m_emulationIsDirty = false;
if (m_onTangoYUVTextureAvailable != null)
{
m_shouldSendYUVTextureIdMethodEvent = true;
}
if (m_onTangoCameraTextureAvailable != null)
{
m_shouldSendTextureMethodEvent = true;
}
if (m_onTangoImageAvailable != null || m_onTangoImageMultithreadedAvailable != null)
{
_FillEmulatedColorCameraData(m_previousImageBuffer);
}
if (m_onTangoImageMultithreadedAvailable != null)
{
GCHandle pinnedColorBuffer = GCHandle.Alloc(m_previousImageBuffer.data, GCHandleType.Pinned);
TangoImageBuffer emulatedImageBuffer = _GetEmulatedTangoImageBuffer(m_previousImageBuffer, pinnedColorBuffer);
m_onTangoImageMultithreadedAvailable(COLOR_CAMERA_ID, emulatedImageBuffer);
}
if (m_onTangoImageAvailable != null)
{
m_shouldSendByteBufferMethodEvent = true;
}
}
}
#endif
lock (m_lockObject)
{
if (m_onTangoYUVTextureAvailable != null && m_shouldSendYUVTextureIdMethodEvent)
{
m_onTangoYUVTextureAvailable(COLOR_CAMERA_ID);
m_shouldSendYUVTextureIdMethodEvent = false;
}
if (m_onTangoCameraTextureAvailable != null & m_shouldSendTextureMethodEvent)
{
m_onTangoCameraTextureAvailable(COLOR_CAMERA_ID);
m_shouldSendTextureMethodEvent = false;
}
if (m_onTangoImageAvailable != null && m_shouldSendByteBufferMethodEvent)
{
m_onTangoImageAvailable(COLOR_CAMERA_ID, m_previousImageBuffer);
m_shouldSendByteBufferMethodEvent = false;
}
}
}
/// <summary>
/// Handle the callback sent by the Tango Service when a new image is sampled.
/// </summary>
/// <param name="callbackContext">Callback context.</param>
/// <param name="cameraId">Camera identifier.</param>
/// <param name="imageBuffer">Image buffer.</param>
private void _OnImageAvailable(IntPtr callbackContext, TangoEnums.TangoCameraId cameraId,
TangoImageBuffer imageBuffer)
{
if (m_onTangoImageMultithreadedAvailable != null)
{
m_onTangoImageMultithreadedAvailable(cameraId, imageBuffer);
}
lock (m_lockObject)
{
m_previousCameraId = cameraId;
if (m_previousImageBuffer.data == null)
{
m_previousImageBuffer.data = new byte[(imageBuffer.width * imageBuffer.height * 3) / 2];
}
m_previousImageBuffer.width = imageBuffer.width;
m_previousImageBuffer.height = imageBuffer.height;
m_previousImageBuffer.stride = imageBuffer.stride;
m_previousImageBuffer.timestamp = imageBuffer.timestamp;
m_previousImageBuffer.format = imageBuffer.format;
m_previousImageBuffer.frame_number = imageBuffer.frame_number;
Marshal.Copy(imageBuffer.data, m_previousImageBuffer.data, 0, m_previousImageBuffer.data.Length);
m_shouldSendByteBufferMethodEvent = true;
}
}
/// <summary>
/// Calculates the depth in the color camera space at a user-specified
/// location using bilateral filtering weighted by both spatial distance
/// from the user coordinate and by intensity similarity.
/// </summary>
/// <returns>
/// Common.ErrorType.TANGO_SUCCESS on success,
/// Common.ErrorType.TANGO_INVALID on invalid input, and
/// Common.ErrorType.TANGO_ERROR on failure.
/// </returns>
/// <param name="pointCloud">
/// The point cloud. Cannot be null and must have at least one point.
/// </param>
/// <param name="pointCount">
/// The number of points to read from the point cloud.
/// </param>
/// <param name="timestamp">The timestamp of the depth points.</param>
/// <param name="cameraIntrinsics">
/// The camera intrinsics for the color camera. Cannot be null.
/// </param>
/// <param name="colorImage">
/// The color image buffer. Cannot be null.
/// </param>
/// <param name="matrix">
/// Transformation matrix of the color camera with respect to the Unity
/// World frame.
/// </param>
/// <param name="uvCoordinates">
/// The UV coordinates for the user selection. This is expected to be
/// between (0.0, 0.0) and (1.0, 1.0).
/// </param>
/// <param name="colorCameraPoint">
/// The point (x, y, z), where (x, y) is the back-projection of the UV
/// coordinates to the color camera space and z is the z coordinate of
/// the point in the point cloud nearest to the user selection after
/// projection onto the image plane. If there is not a point cloud point
/// close to the user selection after projection onto the image plane,
/// then the point will be set to (0.0, 0.0, 0.0) and isValidPoint will
/// be set to false.
/// </param>
/// <param name="isValidPoint">
/// A flag valued true if there is a point cloud point close to the user
/// selection after projection onto the image plane and valued false
/// otherwise.
/// </param>
public static int ScreenCoordinateToWorldBilateral(
Vector3[] pointCloud, int pointCount, double timestamp,
TangoCameraIntrinsics cameraIntrinsics, TangoImageBuffer colorImage,
ref Matrix4x4 matrix, Vector2 uvCoordinates,
out Vector3 colorCameraPoint, out bool isValidPoint)
{
GCHandle pointCloudHandle = GCHandle.Alloc(pointCloud,
GCHandleType.Pinned);
TangoXYZij pointCloudXyzIj = new TangoXYZij();
pointCloudXyzIj.timestamp = timestamp;
pointCloudXyzIj.xyz_count = pointCount;
pointCloudXyzIj.xyz = pointCloudHandle.AddrOfPinnedObject();
DMatrix4x4 doubleMatrix = new DMatrix4x4(matrix);
// Unity has Y pointing screen up; Tango camera has Y pointing
// screen down.
Vector2 uvCoordinatesTango = new Vector2(uvCoordinates.x,
1.0f - uvCoordinates.y);
int isValidPointInteger;
int returnValue = TangoSupportAPI.TangoSupport_getDepthAtPointBilateralCameraIntrinsicsMatrixTransform(
pointCloudXyzIj, cameraIntrinsics, colorImage, ref doubleMatrix,
ref uvCoordinatesTango, out colorCameraPoint,
out isValidPointInteger);
isValidPoint = isValidPointInteger != 0;
pointCloudHandle.Free();
return(returnValue);
}
/// <summary>
/// Update the 3D Reconstruction with a new image and pose.
///
/// It is expected this will get called in from the Tango binder thread.
/// </summary>
/// <param name="image">Color image from Tango.</param>
/// <param name="imagePose">Pose matrix the color image corresponds too.</param>
private void _UpdateColor(TangoImageBuffer image, Matrix4x4 imagePose)
{
if (!m_sendColorToUpdate)
{
// There is no depth cloud to process.
return;
}
if (m_context == IntPtr.Zero)
{
Debug.Log("Update called before creating a reconstruction context." + Environment.StackTrace);
return;
}
lock (m_lockObject)
{
if (!m_mostRecentDepthIsValid)
{
return;
}
APIImageBuffer apiImage;
apiImage.width = image.width;
apiImage.height = image.height;
apiImage.stride = image.stride;
apiImage.timestamp = image.timestamp;
apiImage.format = (int)image.format;
apiImage.data = image.data;
APIPose apiImagePose = APIPose.FromMatrix4x4(ref imagePose);
// Update the depth points to have the right value
GCHandle mostRecentDepthPointsHandle = GCHandle.Alloc(m_mostRecentDepthPoints, GCHandleType.Pinned);
m_mostRecentDepth.points = Marshal.UnsafeAddrOfPinnedArrayElement(m_mostRecentDepthPoints, 0);
GCHandle thisHandle = GCHandle.Alloc(this, GCHandleType.Pinned);
IntPtr rawUpdatedIndices;
Status result = (Status)API.Tango3DR_update(
m_context, ref m_mostRecentDepth, ref m_mostRecentDepthPose,
ref apiImage, ref apiImagePose, ref m_colorCameraIntrinsics,
out rawUpdatedIndices);
m_mostRecentDepthIsValid = false;
thisHandle.Free();
mostRecentDepthPointsHandle.Free();
if (result != Status.SUCCESS)
{
Debug.Log("Tango3DR_update returned non-success." + Environment.StackTrace);
return;
}
_AddUpdatedIndices(rawUpdatedIndices);
API.Tango3DR_GridIndexArray_destroy(rawUpdatedIndices);
}
}
public static int TangoSupport_getDepthAtPointBilateralCameraIntrinsicsMatrixTransform(
TangoXYZij pointCloud, TangoCameraIntrinsics cameraIntrinsics,
TangoImageBuffer colorImage, ref DMatrix4x4 matrix,
ref Vector2 uvCoordinates, out Vector3 colorCameraPoint,
out int isValidPoint)
{
colorCameraPoint = Vector3.zero;
isValidPoint = 1;
return(Common.ErrorType.TANGO_SUCCESS);
}
/// <summary>
/// It's backwards, but fill tango image buffer data with already-emulated data.
/// It is the responsibility of the caller to GC pin/free the colorImageData's data array.
/// </summary>
/// <returns>Emulated raw color buffer.</returns>
/// <param name="colorImageData">Emulated color buffer data.</param>>
/// <param name="pinnedColorBuffer">Pinned array of imageBuffer.data.</param>
private static TangoImageBuffer _GetEmulatedTangoImageBuffer(TangoUnityImageData colorImageData, GCHandle pinnedColorBuffer)
{
TangoImageBuffer imageBuffer = new TangoImageBuffer();
imageBuffer.data = pinnedColorBuffer.AddrOfPinnedObject();
imageBuffer.width = colorImageData.width;
imageBuffer.height = colorImageData.height;
imageBuffer.stride = colorImageData.stride;
imageBuffer.format = colorImageData.format;
imageBuffer.timestamp = colorImageData.timestamp;
imageBuffer.frame_number = colorImageData.frame_number;
return(imageBuffer);
}
/// <summary>
/// Handle the callback sent by the Tango Service when a new image is sampled.
/// </summary>
/// <param name="callbackContext">Callback context.</param>
/// <param name="cameraId">Camera identifier.</param>
/// <param name="imageBuffer">Image buffer.</param>
private void _OnImageAvailable(IntPtr callbackContext, TangoEnums.TangoCameraId cameraId,
TangoImageBuffer imageBuffer)
{
m_previousCameraId = cameraId;
if (m_previousImageBuffer.data == null)
{
m_previousImageBuffer.data = new byte[imageBuffer.width * imageBuffer.height * 2];
}
m_previousImageBuffer.width = imageBuffer.width;
m_previousImageBuffer.height = imageBuffer.height;
m_previousImageBuffer.stride = imageBuffer.stride;
m_previousImageBuffer.timestamp = imageBuffer.timestamp;
m_previousImageBuffer.format = imageBuffer.format;
m_previousImageBuffer.frame_number = imageBuffer.frame_number;
Marshal.Copy(imageBuffer.data, m_previousImageBuffer.data, 0, m_previousImageBuffer.data.Length);
m_shouldSendEvent = true;
}
public static extern int TangoSupport_getDepthAtPointBilateralCameraIntrinsicsMatrixTransform(
TangoXYZij pointCloud, TangoCameraIntrinsics cameraIntrinsics,
TangoImageBuffer colorImage, ref DMatrix4x4 matrix,
ref Vector2 uvCoordinates, out Vector3 colorCameraPoint,
[Out, MarshalAs(UnmanagedType.I4)] out int isValidPoint);
/// <summary>
/// Handle the callback sent by the Tango Service
/// when a new image is sampled.
/// </summary>
/// <param name="cameraId">Camera identifier.</param>
/// <param name="callbackContext">Callback context.</param>
/// <param name="imageBuffer">Image buffer.</param>
protected void _OnImageAvailable(IntPtr callbackContext,
TangoEnums.TangoCameraId cameraId,
TangoImageBuffer imageBuffer)
{
m_previousCameraId = cameraId;
if(m_previousImageBuffer.data == null)
{
m_previousImageBuffer.data = new byte[imageBuffer.width * imageBuffer.height * 2];
}
m_previousImageBuffer.width = imageBuffer.width;
m_previousImageBuffer.height = imageBuffer.height;
m_previousImageBuffer.stride = imageBuffer.stride;
m_previousImageBuffer.timestamp = imageBuffer.timestamp;
m_previousImageBuffer.format = imageBuffer.format;
m_previousImageBuffer.frame_number = imageBuffer.frame_number;
Marshal.Copy(imageBuffer.data, m_previousImageBuffer.data, 0, m_previousImageBuffer.data.Length);
m_shouldSendEvent = true;
}
/// <summary>
/// This will be called when a new frame is available from the camera.
///
/// The first scan-line of the color image is reserved for metadata instead of image pixels.
/// </summary>
/// <param name="cameraId">Camera identifier.</param>
/// <param name="imageBuffer">Image buffer.</param>
public void OnTangoImageMultithreadedAvailable(TangoEnums.TangoCameraId cameraId, TangoImageBuffer imageBuffer)
{
if (!m_enabled)
{
return;
}
if (cameraId != TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR)
{
return;
}
// Build World T depth camera
TangoPoseData world_T_devicePose = new TangoPoseData();
if (m_useAreaDescriptionPose)
{
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(world_T_devicePose, imageBuffer.timestamp, pair);
}
else
{
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(world_T_devicePose, imageBuffer.timestamp, pair);
}
if (world_T_devicePose.status_code != TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
Debug.Log(string.Format("Time {0} has bad status code {1}",
imageBuffer.timestamp, world_T_devicePose.status_code)
+ Environment.StackTrace);
return;
}
// The 3D Reconstruction library can not handle a left handed transformation during update. Instead,
// transform into the Unity world space via the external_T_tango config.
Matrix4x4 world_T_colorCamera = world_T_devicePose.ToMatrix4x4() * m_device_T_colorCamera;
_UpdateColor(imageBuffer, world_T_colorCamera);
}
/// <summary>
/// Update the 3D Reconstruction with a new image and pose.
///
/// It is expected this will get called in from the Tango binder thread.
/// </summary>
/// <param name="image">Color image from Tango.</param>
/// <param name="imagePose">Pose matrix the color image corresponds too.</param>
private void _UpdateColor(TangoImageBuffer image, Matrix4x4 imagePose)
{
if (!m_sendColorToUpdate)
{
// There is no depth cloud to process.
return;
}
if (m_context == IntPtr.Zero)
{
Debug.Log("Update called before creating a reconstruction context." + Environment.StackTrace);
return;
}
lock (m_lockObject)
{
if (!m_mostRecentDepthIsValid)
{
return;
}
APIImageBuffer apiImage;
apiImage.width = image.width;
apiImage.height = image.height;
apiImage.stride = image.stride;
apiImage.timestamp = image.timestamp;
apiImage.format = (int)image.format;
apiImage.data = image.data;
APIPose apiImagePose = APIPose.FromMatrix4x4(ref imagePose);
// Update the depth points to have the right value
GCHandle mostRecentDepthPointsHandle = GCHandle.Alloc(m_mostRecentDepthPoints, GCHandleType.Pinned);
m_mostRecentDepth.points = Marshal.UnsafeAddrOfPinnedArrayElement(m_mostRecentDepthPoints, 0);
GCHandle thisHandle = GCHandle.Alloc(this, GCHandleType.Pinned);
IntPtr rawUpdatedIndices;
Status result = (Status)API.Tango3DR_update(
m_context, ref m_mostRecentDepth, ref m_mostRecentDepthPose,
ref apiImage, ref apiImagePose, ref m_colorCameraIntrinsics,
out rawUpdatedIndices);
m_mostRecentDepthIsValid = false;
thisHandle.Free();
mostRecentDepthPointsHandle.Free();
if (result != Status.SUCCESS)
{
Debug.Log("Tango3DR_update returned non-success." + Environment.StackTrace);
return;
}
_AddUpdatedIndices(rawUpdatedIndices);
API.Tango3DR_GridIndexArray_destroy(rawUpdatedIndices);
}
}
public static extern int TangoSupport_detectMarkers(ref TangoImageBuffer image,
TangoEnums.TangoCameraId cameraId,
ref DVector3 translation,
ref DVector4 orientation,
ref APIMarkerParam param,
ref APIMarkerList apiMarkerList);
/// <summary>
/// Calculates the depth in the color camera space at a user-specified
/// location using bilateral filtering weighted by both spatial distance
/// from the user coordinate and by intensity similarity.
/// </summary>
/// <returns>
/// Common.ErrorType.TANGO_SUCCESS on success,
/// Common.ErrorType.TANGO_INVALID on invalid input, and
/// Common.ErrorType.TANGO_ERROR on failure.
/// </returns>
/// <param name="pointCloud">
/// The point cloud. Cannot be null and must have at least one point.
/// </param>
/// <param name="pointCount">
/// The number of points to read from the point cloud.
/// </param>
/// <param name="timestamp">The timestamp of the depth points.</param>
/// <param name="cameraIntrinsics">
/// The camera intrinsics for the color camera. Cannot be null.
/// </param>
/// <param name="colorImage">
/// The color image buffer. Cannot be null.
/// </param>
/// <param name="matrix">
/// Transformation matrix of the color camera with respect to the Unity
/// World frame.
/// </param>
/// <param name="uvCoordinates">
/// The UV coordinates for the user selection. This is expected to be
/// between (0.0, 0.0) and (1.0, 1.0).
/// </param>
/// <param name="colorCameraPoint">
/// The point (x, y, z), where (x, y) is the back-projection of the UV
/// coordinates to the color camera space and z is the z coordinate of
/// the point in the point cloud nearest to the user selection after
/// projection onto the image plane. If there is not a point cloud point
/// close to the user selection after projection onto the image plane,
/// then the point will be set to (0.0, 0.0, 0.0) and isValidPoint will
/// be set to false.
/// </param>
/// <param name="isValidPoint">
/// A flag valued true if there is a point cloud point close to the user
/// selection after projection onto the image plane and valued false
/// otherwise.
/// </param>
public static int ScreenCoordinateToWorldBilateral(
Vector3[] pointCloud, int pointCount, double timestamp,
TangoCameraIntrinsics cameraIntrinsics, TangoImageBuffer colorImage,
ref Matrix4x4 matrix, Vector2 uvCoordinates,
out Vector3 colorCameraPoint, out bool isValidPoint)
{
GCHandle pointCloudHandle = GCHandle.Alloc(pointCloud,
GCHandleType.Pinned);
TangoXYZij pointCloudXyzIj = new TangoXYZij();
pointCloudXyzIj.timestamp = timestamp;
pointCloudXyzIj.xyz_count = pointCount;
pointCloudXyzIj.xyz = pointCloudHandle.AddrOfPinnedObject();
DMatrix4x4 doubleMatrix = new DMatrix4x4(matrix);
// Unity has Y pointing screen up; Tango camera has Y pointing
// screen down.
Vector2 uvCoordinatesTango = new Vector2(uvCoordinates.x,
1.0f - uvCoordinates.y);
int isValidPointInteger;
int returnValue = TangoSupportAPI.TangoSupport_getDepthAtPointBilateralCameraIntrinsicsMatrixTransform(
pointCloudXyzIj, cameraIntrinsics, colorImage, ref doubleMatrix,
ref uvCoordinatesTango, out colorCameraPoint,
out isValidPointInteger);
isValidPoint = isValidPointInteger != 0;
pointCloudHandle.Free();
return returnValue;
}
/// <summary>
/// Handle the callback sent by the Tango Service
/// when a new image is sampled.
/// </summary>
/// <param name="cameraId">Camera identifier.</param>
/// <param name="callbackContext">Callback context.</param>
/// <param name="imageBuffer">Image buffer.</param>
protected abstract void _OnImageAvailable(IntPtr callbackContext,
Tango.TangoEnums.TangoCameraId cameraId,
Tango.TangoImageBuffer imageBuffer);
/// <summary>
/// It's backwards, but fill tango image buffer data with already-emulated data.
/// It is the responsibility of the caller to GC pin/free the colorImageData's data array.
/// </summary>
/// <returns>Emulated raw color buffer.</returns>
/// <param name="colorImageData">Emulated color buffer data.</param>>
/// <param name="pinnedColorBuffer">Pinned array of imageBuffer.data.</param>
private static TangoImageBuffer _GetEmulatedTangoImageBuffer(TangoUnityImageData colorImageData, GCHandle pinnedColorBuffer)
{
TangoImageBuffer imageBuffer = new TangoImageBuffer();
imageBuffer.data = pinnedColorBuffer.AddrOfPinnedObject();
imageBuffer.width = colorImageData.width;
imageBuffer.height = colorImageData.height;
imageBuffer.stride = colorImageData.stride;
imageBuffer.format = colorImageData.format;
imageBuffer.timestamp = colorImageData.timestamp;
imageBuffer.frame_number = colorImageData.frame_number;
return imageBuffer;
}
private static void _OnImageAvailable(
IntPtr callbackContext, TangoEnums.TangoCameraId cameraId, TangoImageBuffer imageBuffer)
{
if (cameraId != COLOR_CAMERA_ID)
{
return;
}
if (m_onTangoImageMultithreadedAvailable != null)
{
m_onTangoImageMultithreadedAvailable(cameraId, imageBuffer);
}
lock (m_lockObject)
{
if (m_previousImageBuffer.data == null)
{
m_previousImageBuffer.data = new byte[(imageBuffer.width * imageBuffer.height * 3) / 2];
}
m_previousImageBuffer.width = imageBuffer.width;
m_previousImageBuffer.height = imageBuffer.height;
m_previousImageBuffer.stride = imageBuffer.stride;
m_previousImageBuffer.timestamp = imageBuffer.timestamp;
m_previousImageBuffer.format = imageBuffer.format;
m_previousImageBuffer.frame_number = imageBuffer.frame_number;
Marshal.Copy(imageBuffer.data, m_previousImageBuffer.data, 0, m_previousImageBuffer.data.Length);
m_shouldSendByteBufferMethodEvent = true;
}
}
public void OnTangoImageMultithreadedAvailable(Tango.TangoEnums.TangoCameraId id, Tango.TangoImageBuffer buf)
{
if (fCount == 0)
{
JLog("ExperimentalTangoImageAvailable on " + id.ToString());
}
fCount++;
}
/// <summary>
/// Detect one or more markers in the input image.
/// </summary>
/// <param name="imageBuffer">
/// The input image buffer.
/// </param>
/// <param name="cameraId">
/// Camera that is used for detecting markers, can be TangoEnums.TangoCameraId.TANGO_CAMERA_FISHEYE or
/// TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR.
/// </param>
/// <param name="markerType">
/// Target marker's type. Current support marker types are QR marker and Alvar marker.
/// </param>
/// <param name="markerSize">
/// Physical size of marker's length.
/// </param>
/// <param name="markers">
/// The returned marker list.
/// </param>
/// <returns>
/// Common.ErrorType.TANGO_SUCCESS on success, Common.ErrorType.TANGO_INVALID on invalid input, and
/// Common.ErrorType.TANGO_ERROR on failure.
/// </returns>
public static bool DetectMarkers(TangoUnityImageData imageBuffer,
TangoEnums.TangoCameraId cameraId,
MarkerType markerType,
double markerSize,
List <Marker> markers)
{
if (markers == null)
{
Debug.Log("markers is null. " + Environment.StackTrace);
return(false);
}
// Clear any existing marker
markers.Clear();
// Detect marker.
TangoImageBuffer buffer = new TangoImageBuffer();
GCHandle gchandle = GCHandle.Alloc(imageBuffer.data, GCHandleType.Pinned);
IntPtr ptr = gchandle.AddrOfPinnedObject();
buffer.data = ptr;
buffer.format = imageBuffer.format;
buffer.frame_number = imageBuffer.frame_number;
buffer.height = imageBuffer.height;
buffer.stride = imageBuffer.stride;
buffer.timestamp = imageBuffer.timestamp;
buffer.width = imageBuffer.width;
// Get Pose.
TangoPoseData poseData = new TangoPoseData();
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR;
PoseProvider.GetPoseAtTime(poseData, buffer.timestamp, pair);
APIMarkerList rawAPIMarkerList = new APIMarkerList();
APIMarkerParam rawMarkerParam = new APIMarkerParam(markerType, markerSize);
int ret = TangoSupportAPI.TangoSupport_detectMarkers(ref buffer, cameraId,
ref poseData.translation,
ref poseData.orientation,
ref rawMarkerParam,
ref rawAPIMarkerList);
gchandle.Free();
if (ret != Common.ErrorType.TANGO_SUCCESS)
{
return(false);
}
if (rawAPIMarkerList.markerCount != 0)
{
List <APIMarker> apiMarkers = new List <APIMarker>();
MarshallingHelper.MarshalUnmanagedStructArrayToList <TangoSupport.APIMarker>(
rawAPIMarkerList.markers,
rawAPIMarkerList.markerCount,
apiMarkers);
for (int i = 0; i < apiMarkers.Count; ++i)
{
APIMarker apiMarker = apiMarkers[i];
Marker marker = new Marker();
marker.m_type = apiMarker.m_type;
marker.m_timestamp = apiMarker.m_timestamp;
marker.m_content = apiMarker.m_content;
// Covert 2D corner points from pixel space to UV space.
marker.m_corner2DP0.x = apiMarker.m_corner2DP0.x / buffer.width;
marker.m_corner2DP0.y = apiMarker.m_corner2DP0.y / buffer.height;
marker.m_corner2DP1.x = apiMarker.m_corner2DP1.x / buffer.width;
marker.m_corner2DP1.y = apiMarker.m_corner2DP1.y / buffer.height;
marker.m_corner2DP2.x = apiMarker.m_corner2DP2.x / buffer.width;
marker.m_corner2DP2.y = apiMarker.m_corner2DP2.y / buffer.height;
marker.m_corner2DP3.x = apiMarker.m_corner2DP3.x / buffer.width;
marker.m_corner2DP3.y = apiMarker.m_corner2DP3.y / buffer.height;
// Convert 3D corner points from Start of Service space to Unity World space.
marker.m_corner3DP0 = GetMarkerInUnitySpace(apiMarker.m_corner3DP0);
marker.m_corner3DP1 = GetMarkerInUnitySpace(apiMarker.m_corner3DP1);
marker.m_corner3DP2 = GetMarkerInUnitySpace(apiMarker.m_corner3DP2);
marker.m_corner3DP3 = GetMarkerInUnitySpace(apiMarker.m_corner3DP3);
// Convert pose from Start of Service to Unity World space.
Vector3 translation = new Vector3(
(float)apiMarker.m_translation.x,
(float)apiMarker.m_translation.y,
(float)apiMarker.m_translation.z);
Quaternion orientation = new Quaternion(
(float)apiMarker.m_rotation.x,
(float)apiMarker.m_rotation.y,
(float)apiMarker.m_rotation.z,
(float)apiMarker.m_rotation.w);
Matrix4x4 ss_T_marker = Matrix4x4.TRS(translation, orientation, Vector3.one);
// Note that UNITY_WORLD_T_START_SERVICE is involutory matrix. The actually transform
// we wanted to multiply on the right hand side is START_SERVICE_T_UNITY_WORLD.
Matrix4x4 uw_T_u_marker = TangoSupport.UNITY_WORLD_T_START_SERVICE *
ss_T_marker * TangoSupport.UNITY_WORLD_T_START_SERVICE;
marker.m_translation = uw_T_u_marker.GetColumn(3);
marker.m_orientation = Quaternion.LookRotation(uw_T_u_marker.GetColumn(2),
uw_T_u_marker.GetColumn(1));
// Add the marker to the output list
markers.Add(marker);
}
}
TangoSupportAPI.TangoSupport_freeMarkerList(ref rawAPIMarkerList);
return(false);
}
public static int TangoSupport_getDepthAtPointBilateralCameraIntrinsicsMatrixTransform(
TangoXYZij pointCloud, TangoCameraIntrinsics cameraIntrinsics,
TangoImageBuffer colorImage, ref DMatrix4x4 matrix,
ref Vector2 uvCoordinates, out Vector3 colorCameraPoint,
out int isValidPoint)
{
colorCameraPoint = Vector3.zero;
isValidPoint = 1;
return Common.ErrorType.TANGO_SUCCESS;
}
public static extern int TangoSupport_getDepthAtPointBilateralCameraIntrinsicsMatrixTransform(
TangoXYZij pointCloud, TangoCameraIntrinsics cameraIntrinsics,
TangoImageBuffer colorImage, ref DMatrix4x4 matrix,
ref Vector2 uvCoordinates, out Vector3 colorCameraPoint,
[Out, MarshalAs(UnmanagedType.I4)] out int isValidPoint);
/// <summary>
/// This will be called when a new frame is available from the camera.
///
/// The first scan-line of the color image is reserved for metadata instead of image pixels.
/// </summary>
/// <param name="cameraId">Camera identifier.</param>
/// <param name="imageBuffer">Image buffer.</param>
public void OnTangoImageMultithreadedAvailable(TangoEnums.TangoCameraId cameraId, TangoImageBuffer imageBuffer)
{
if (!m_enabled)
{
return;
}
if (cameraId != TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR)
{
return;
}
// Build World T depth camera
TangoPoseData world_T_devicePose = new TangoPoseData();
if (m_useAreaDescriptionPose)
{
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_AREA_DESCRIPTION;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(world_T_devicePose, imageBuffer.timestamp, pair);
}
else
{
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(world_T_devicePose, imageBuffer.timestamp, pair);
}
if (world_T_devicePose.status_code != TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
Debug.Log(string.Format("Time {0} has bad status code {1}",
imageBuffer.timestamp, world_T_devicePose.status_code)
+ Environment.StackTrace);
return;
}
// NOTE: The 3D Reconstruction library does not handle left handed matrices correctly. For now, transform
// into the Unity world space after extraction.
Matrix4x4 world_T_colorCamera = world_T_devicePose.ToMatrix4x4() * m_device_T_colorCamera;
_UpdateColor(imageBuffer, world_T_colorCamera);
}