|
public static TangoPoseToWorldTransform ( |
||
| poseData | /// The input pose data that is going to be converted, please note that /// the pose data has to be in the start of service with respect to /// device frame. /// | |
| position | Vector3 | The result position data. |
| rotation | The result rotation data. | |
| return | void | |
/// <summary>
/// INTERNAL USE: Update the Tango emulation state for color camera data.
/// </summary>
/// <param name="useByteBufferMethod">Whether to update emulation for byte-buffer method.</param>
internal static void UpdateTangoEmulation(bool useByteBufferMethod)
{
// Get emulated position and rotation in Unity space.
TangoPoseData poseData = new TangoPoseData();
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
if (!PoseProvider.GetTimestampForColorEmulation(out m_lastColorEmulationTime))
{
Debug.LogError("Couldn't get a valid timestamp with which to emulate color camera. "
+ "Color camera emulation will be skipped this frame.");
return;
}
PoseProvider.GetPoseAtTime(poseData, m_lastColorEmulationTime, pair);
if (poseData.status_code != TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
return;
}
Vector3 position;
Quaternion rotation;
TangoSupport.TangoPoseToWorldTransform(poseData, out position, out rotation);
// Instantiate any resources that we haven't yet.
if (!m_emulationIsInitialized)
{
_InitializeResourcesForEmulation();
m_emulationIsInitialized = true;
}
// Render.
EmulatedEnvironmentRenderHelper.RenderEmulatedEnvironment(m_emulatedColorRenderTexture,
EmulatedEnvironmentRenderHelper.EmulatedDataType.COLOR_CAMERA,
position, rotation);
m_emulationIsDirty = true;
}
/// <summary>
/// INTERNAL USE: Update the Tango emulation state for depth data.
/// </summary>
internal static void UpdateTangoEmulation()
{
m_emulatedPointCloud.Clear();
// Timestamp shall be something in the past, and we'll emulate the depth cloud based on it.
if (!PoseProvider.GetTimestampForDepthEmulation(out m_lastDepthEmulationTime))
{
Debug.LogError("Couldn't get a valid timestamp with which to emulate depth data. "
+ "Depth emulation will be skipped this frame.");
return;
}
// Get emulated position and rotation in Unity space.
TangoPoseData poseData = new TangoPoseData();
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, m_lastDepthEmulationTime, pair);
if (poseData.status_code != TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
return;
}
Vector3 position;
Quaternion rotation;
TangoSupport.TangoPoseToWorldTransform(poseData, out position, out rotation);
// Instantiate any resources that we haven't yet.
_InternResourcesForEmulation();
// Render emulated depth camera data.
EmulatedEnvironmentRenderHelper.RenderEmulatedEnvironment(m_emulatedDepthTexture,
EmulatedEnvironmentRenderHelper.EmulatedDataType.DEPTH,
position, rotation);
// Capture rendered depth points from texture.
RenderTexture.active = m_emulatedDepthTexture;
m_emulationCaptureTexture.ReadPixels(new Rect(0, 0, m_emulatedDepthTexture.width, m_emulatedDepthTexture.height), 0, 0);
m_emulationCaptureTexture.Apply();
// Exctract captured data.
Color32[] depthDataAsColors = m_emulationCaptureTexture.GetPixels32();
// Convert depth texture to positions in camera space.
Matrix4x4 projectionMatrix = GL.GetGPUProjectionMatrix(EmulatedEnvironmentRenderHelper.m_emulationCamera.projectionMatrix, false);
Matrix4x4 reverseProjectionMatrix = projectionMatrix.inverse;
float width = m_emulationCaptureTexture.width;
float height = m_emulationCaptureTexture.height;
for (int yTexel = 0; yTexel < height; yTexel++)
{
for (int xTexel = 0; xTexel < width; xTexel++)
{
Color32 depthAsColor = depthDataAsColors[xTexel + (yTexel * m_emulationCaptureTexture.width)];
float clipSpaceZ = (depthAsColor.r - 128f) + (depthAsColor.g / 255f);
float ndcSpaceZ = (clipSpaceZ - projectionMatrix.m23) / projectionMatrix.m22;
float perspectiveDivisor = ndcSpaceZ * projectionMatrix.m32;
float ndcSpaceX = (((xTexel + 0.5f) / width) * 2f) - 1;
float ndcSpaceY = (((yTexel + 0.5f) / height) * 2f) - 1;
Vector4 clipSpacePos = new Vector4(ndcSpaceX * perspectiveDivisor, ndcSpaceY * perspectiveDivisor, clipSpaceZ, perspectiveDivisor);
Vector4 viewSpacePos = reverseProjectionMatrix * clipSpacePos;
Vector3 emulatedDepthPos = new Vector3(viewSpacePos.x, -viewSpacePos.y, -viewSpacePos.z);
if (emulatedDepthPos.z > MIN_POINT_DISTANCE && emulatedDepthPos.z < MAX_POINT_DISTANCE)
{
m_emulatedPointCloud.Add(emulatedDepthPos);
}
}
}
m_emulationIsDirty = true;
}
/// <summary>
/// INTERNAL USE: Update the Tango emulation state for depth data.
///
/// Make this this is only called once per frame.
/// </summary>
internal static void UpdateTangoEmulation()
{
m_emulatedPointCloud.Clear();
// Timestamp shall be something in the past, and we'll emulate the depth cloud based on it.
m_lastDepthEmulationTime = PoseProvider.GetTimestampForDepthEmulation();
// Get emulated position and rotation in Unity space.
TangoPoseData poseData = new TangoPoseData();
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_DEVICE;
PoseProvider.GetPoseAtTime(poseData, m_lastDepthEmulationTime, pair);
if (poseData.status_code != TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID)
{
return;
}
Vector3 position;
Quaternion rotation;
TangoSupport.TangoPoseToWorldTransform(poseData, out position, out rotation);
// Instantiate any resources that we haven't yet.
if (m_emulatedDepthTexture == null)
{
m_emulatedDepthTexture = new RenderTexture(NUM_X_DEPTH_SAMPLES, NUM_Y_DEPTH_SAMPLES, 24, RenderTextureFormat.ARGB32);
}
if (m_emulationCaptureTexture == null)
{
m_emulationCaptureTexture = new Texture2D(NUM_X_DEPTH_SAMPLES, NUM_Y_DEPTH_SAMPLES, TextureFormat.ARGB32, false);
}
if (m_emulatedDepthShader == null)
{
// Find depth shader by searching for it in project.
string[] foundAssetGuids = UnityEditor.AssetDatabase.FindAssets("DepthEmulation t:Shader");
if (foundAssetGuids.Length > 0)
{
string assetPath = UnityEditor.AssetDatabase.GUIDToAssetPath(foundAssetGuids[0]);
m_emulatedDepthShader = UnityEditor.AssetDatabase.LoadAssetAtPath(assetPath, typeof(Shader)) as Shader;
}
}
// Render emulated depth camera data.
EmulatedEnvironmentRenderHelper.RenderEmulatedEnvironment(m_emulatedDepthTexture, m_emulatedDepthShader,
position, rotation);
// Capture rendered depth points from texture.
RenderTexture.active = m_emulatedDepthTexture;
m_emulationCaptureTexture.ReadPixels(new Rect(0, 0, m_emulatedDepthTexture.width, m_emulatedDepthTexture.height), 0, 0);
m_emulationCaptureTexture.Apply();
// Exctract captured data.
Color32[] depthDataAsColors = m_emulationCaptureTexture.GetPixels32();
// Convert depth texture to positions in camera space.
Matrix4x4 projectionMatrix = GL.GetGPUProjectionMatrix(EmulatedEnvironmentRenderHelper.m_emulationCamera.projectionMatrix, false);
Matrix4x4 reverseProjectionMatrix = projectionMatrix.inverse;
float width = m_emulationCaptureTexture.width;
float height = m_emulationCaptureTexture.height;
for (int yTexel = 0; yTexel < height; yTexel++)
{
for (int xTexel = 0; xTexel < width; xTexel++)
{
Color32 depthAsColor = depthDataAsColors[xTexel + (yTexel * m_emulationCaptureTexture.width)];
float clipSpaceZ = (depthAsColor.r - 128f) + (depthAsColor.g / 255f);
float ndcSpaceZ = (clipSpaceZ - projectionMatrix.m23) / projectionMatrix.m22;
float perspectiveDivisor = ndcSpaceZ * projectionMatrix.m32;
float ndcSpaceX = (((xTexel + 0.5f) / width) * 2f) - 1;
float ndcSpaceY = (((yTexel + 0.5f) / height) * 2f) - 1;
Vector4 clipSpacePos = new Vector4(ndcSpaceX * perspectiveDivisor, ndcSpaceY * perspectiveDivisor, clipSpaceZ, perspectiveDivisor);
Vector4 viewSpacePos = reverseProjectionMatrix * clipSpacePos;
Vector3 emulatedDepthPos = new Vector3(viewSpacePos.x, -viewSpacePos.y, -viewSpacePos.z);
if (emulatedDepthPos.z > MIN_POINT_DISTANCE && emulatedDepthPos.z < MAX_POINT_DISTANCE)
{
m_emulatedPointCloud.Add(emulatedDepthPos);
}
}
}
}
