| public ViewportPointToCameraImagePoint ( Vector2 pos ) : Vector2 | ||
| pos | Vector2 | Normalized position for the 3D viewport. |
| return | Vector2 | |
/// <summary>
/// Estimates the depth of a point on a screen, based on nearest neighbors.
/// </summary>
/// <returns>
/// <c>true</c> if a successful depth estimate was obtained.
/// </returns>
/// <param name="cam">The Unity camera.</param>
/// <param name="pos">The point in pixel coordinates to perform depth estimation.</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>
public bool EstimateDepthOnScreen(Camera cam, Vector2 pos, out Vector3 colorCameraPoint)
{
// Set up parameters
Matrix4x4 colorCameraTUnityWorld = m_colorCameraTUnityCamera * cam.transform.worldToLocalMatrix;
Vector2 normalizedPos = cam.ScreenToViewportPoint(pos);
// If the camera has a TangoARScreen attached, it is not displaying the entire color camera image. Correct
// the normalized coordinates by taking the clipping into account.
TangoARScreen arScreen = cam.gameObject.GetComponent <TangoARScreen>();
if (arScreen != null)
{
normalizedPos = arScreen.ViewportPointToCameraImagePoint(normalizedPos);
}
bool isValidPoint;
int returnType = TangoSupport.ScreenCoordinateToWorldNearestNeighbor(
m_points,
m_pointsCount,
m_depthTimestamp,
m_colorCameraIntrinsics,
ref colorCameraTUnityWorld,
normalizedPos,
out colorCameraPoint,
out isValidPoint);
if (returnType != Common.ErrorType.TANGO_SUCCESS)
{
Debug.LogErrorFormat("TangoSupport.ScreenCoordinateToWorldNearestNeighbor failed with error code {0}.",
returnType);
}
return((returnType == Common.ErrorType.TANGO_SUCCESS) && isValidPoint);
}
/// <summary>
/// Given a screen coordinate, find a plane that most closely fits depth values in that area.
///
/// This assumes you are using this in an AR context.
/// </summary>
/// <returns><c>true</c>, if plane was found, <c>false</c> otherwise.</returns>
/// <param name="cam">The Unity camera.</param>
/// <param name="pos">The point in screen space to perform detection on.</param>
/// <param name="planeCenter">Filled in with the center of the plane in Unity world space.</param>
/// <param name="plane">Filled in with a model of the plane in Unity world space.</param>
public bool FindPlane(Camera cam, Vector2 pos, out Vector3 planeCenter, out Plane plane)
{
Matrix4x4 colorCameraTUnityWorld = m_colorCameraTUnityCamera * cam.transform.worldToLocalMatrix;
Vector2 normalizedPos = cam.ScreenToViewportPoint(pos);
// If the camera has a TangoARScreen attached, it is not displaying the entire color camera image. Correct
// the normalized coordinates by taking the clipping into account.
TangoARScreen arScreen = cam.gameObject.GetComponent <TangoARScreen>();
if (arScreen != null)
{
normalizedPos = arScreen.ViewportPointToCameraImagePoint(normalizedPos);
}
int returnValue = TangoSupport.FitPlaneModelNearClick(
m_points, m_pointsCount, m_depthTimestamp, m_colorCameraIntrinsics, ref colorCameraTUnityWorld, normalizedPos,
out planeCenter, out plane);
if (returnValue == Common.ErrorType.TANGO_SUCCESS)
{
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// Given a screen coordinate, finds a plane that most closely fits the
/// depth values in that area.
///
/// This function is slow, as it looks at every single point in the point
/// cloud. Avoid calling this more than once a frame. This also assumes the
/// Unity camera intrinsics match the device's color camera.
/// </summary>
/// <returns><c>true</c>, if a plane was found; <c>false</c> otherwise.</returns>
/// <param name="cam">The Unity camera.</param>
/// <param name="pos">The point in screen space to perform detection on.</param>
/// <param name="planeCenter">Filled in with the center of the plane in Unity world space.</param>
/// <param name="plane">Filled in with a model of the plane in Unity world space.</param>
public bool FindPlane(Camera cam, Vector2 pos, out Vector3 planeCenter, out Plane plane)
{
if (m_pointsCount == 0)
{
// No points to check, maybe not connected to the service yet
planeCenter = Vector3.zero;
plane = new Plane();
return(false);
}
Vector2 normalizedPos = cam.ScreenToViewportPoint(pos);
// If the camera has a TangoARScreen attached, it is not displaying the entire color camera image. Correct
// the normalized coordinates by taking the clipping into account.
TangoARScreen arScreen = cam.gameObject.GetComponent <TangoARScreen>();
if (arScreen != null)
{
normalizedPos = arScreen.ViewportPointToCameraImagePoint(normalizedPos);
}
DVector4 planeModel = new DVector4();
bool returnValue = TangoSupport.FitPlaneModelNearClick(
m_mostRecentPointCloud,
arScreen.m_screenUpdateTime,
normalizedPos,
out planeCenter,
out planeModel);
planeCenter = m_mostRecentUnityWorldTDepthCamera.MultiplyPoint3x4(planeCenter);
Vector3 normal = new Vector3((float)planeModel.x,
(float)planeModel.y,
(float)planeModel.z);
normal = m_mostRecentUnityWorldTDepthCamera.MultiplyVector(normal);
Vector3.Normalize(normal);
float distance = (float)planeModel.w / normal.magnitude;
plane = new Plane(normal, distance);
return(returnValue);
}
/// <summary>
/// Given a screen coordinate, finds a plane that most closely fits the
/// depth values in that area.
///
/// This function is slow, as it looks at every single point in the point
/// cloud. Avoid calling this more than once a frame. This also assumes the
/// Unity camera intrinsics match the device's color camera.
/// </summary>
/// <returns><c>true</c>, if a plane was found; <c>false</c> otherwise.</returns>
/// <param name="cam">The Unity camera.</param>
/// <param name="pos">The point in screen space to perform detection on.</param>
/// <param name="planeCenter">Filled in with the center of the plane in Unity world space.</param>
/// <param name="plane">Filled in with a model of the plane in Unity world space.</param>
public bool FindPlane(Camera cam, Vector2 pos, out Vector3 planeCenter, out Plane plane)
{
if (m_pointsCount == 0)
{
// No points to check, maybe not connected to the service yet
planeCenter = Vector3.zero;
plane = new Plane();
return(false);
}
Matrix4x4 colorCameraTUnityWorld = m_colorCameraTUnityCamera * cam.transform.worldToLocalMatrix;
Vector2 normalizedPos = cam.ScreenToViewportPoint(pos);
// If the camera has a TangoARScreen attached, it is not displaying the entire color camera image. Correct
// the normalized coordinates by taking the clipping into account.
TangoARScreen arScreen = cam.gameObject.GetComponent <TangoARScreen>();
if (arScreen != null)
{
normalizedPos = arScreen.ViewportPointToCameraImagePoint(normalizedPos);
}
TangoCameraIntrinsics alignedIntrinsics = new TangoCameraIntrinsics();
VideoOverlayProvider.GetDeviceOrientationAlignedIntrinsics(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR,
alignedIntrinsics);
int returnValue = TangoSupport.FitPlaneModelNearClick(
m_points, m_pointsCount, m_depthTimestamp, alignedIntrinsics, ref colorCameraTUnityWorld,
normalizedPos, out planeCenter, out plane);
if (returnValue == Common.ErrorType.TANGO_SUCCESS)
{
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// Estimates the depth of a point on a screen, based on nearest neighbors.
/// </summary>
/// <returns>
/// <c>true</c> if a successful depth estimate was obtained.
/// </returns>
/// <param name="cam">The Unity camera.</param>
/// <param name="pos">The point in pixel coordinates to perform depth estimation.</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>
public bool EstimateDepthOnScreen(Camera cam, Vector2 pos, out Vector3 colorCameraPoint)
{
// Set up parameters
Matrix4x4 colorCameraTUnityWorld = TangoSupport.COLOR_CAMERA_T_UNITY_CAMERA * cam.transform.worldToLocalMatrix;
Vector2 normalizedPos = cam.ScreenToViewportPoint(pos);
// If the camera has a TangoARScreen attached, it is not displaying the entire color camera image. Correct
// the normalized coordinates by taking the clipping into account.
TangoARScreen arScreen = cam.gameObject.GetComponent <TangoARScreen>();
if (arScreen != null)
{
normalizedPos = arScreen.ViewportPointToCameraImagePoint(normalizedPos);
}
bool returnValue = TangoSupport.ScreenCoordinateToWorldNearestNeighbor(
m_mostRecentPointCloud,
arScreen.m_screenUpdateTime,
normalizedPos,
out colorCameraPoint);
return(returnValue);
}
/// <summary>
/// Minji Kim 2017.09.25
/// Find Edge Wrapper
/// call FindEdgesNearPoint
/// TangoSupport_findEdgesNearPoint
/// </summary>
/// <param name="cam"></param>
/// <param name="pos"></param>
/// <returns></returns>
public bool FindEdges(TangoUnityImageData imageBuffer,
Camera cam, Vector2 pos, out TangoSupport.TangoSupportEdge[] edges, out int num_edges)
//out Vector3[] end_points, out Vector3 nearest_on_edge)
{
if (m_pointsCount == 0)
{
// No points to check, maybe not connected to the service yet
edges = new TangoSupport.TangoSupportEdge[1];
num_edges = 0;
return(false);
}
Vector2 normalizedPos = cam.ScreenToViewportPoint(pos);
// If the camera has a TangoARScreen attached, it is not displaying the entire color camera image. Correct
// the normalized coordinates by taking the clipping into account.
TangoARScreen arScreen = cam.gameObject.GetComponent <TangoARScreen>();
if (arScreen != null)
{
normalizedPos = arScreen.ViewportPointToCameraImagePoint(normalizedPos);
}
// if the image data has not been updated, update it manually
if (imageBuffer.data == null)
{
GetTangoUnityImageData(ref imageBuffer);
}
bool returnValue = TangoSupport.FindEdgesNearPoint(
imageBuffer,
m_mostRecentPointCloud,
arScreen.m_screenUpdateTime,
normalizedPos,
out edges,
out num_edges
);
Vector3[] start = new Vector3[num_edges];
Vector3[] end = new Vector3[num_edges];
Vector3[] near = new Vector3[num_edges];
TangoSupport.TangoSupportEdge[] n_edges = new TangoSupport.TangoSupportEdge[num_edges];
for (int j = 0; j < num_edges; j++)
{
start[j] = new Vector3(edges[j].end_points_x1, edges[j].end_points_y1, edges[j].end_points_z1);
end[j] = new Vector3(edges[j].end_points_x2, edges[j].end_points_y2, edges[j].end_points_z2);
near[j] = new Vector3(edges[j].closest_point_on_edge_x, edges[j].closest_point_on_edge_y,
edges[j].closest_point_on_edge_z);
start[j] = m_mostRecentUnityWorldTDepthCamera.MultiplyVector(start[j]);
end[j] = m_mostRecentUnityWorldTDepthCamera.MultiplyVector(end[j]);
near[j] = m_mostRecentUnityWorldTDepthCamera.MultiplyVector(near[j]);
Vector3.Normalize(start[j]);
Vector3.Normalize(end[j]);
Vector3.Normalize(near[j]);
n_edges[j].end_points_x1 = start[j][0];
n_edges[j].end_points_y1 = start[j][1];
n_edges[j].end_points_z1 = start[j][2];
n_edges[j].end_points_x2 = end[j][0];
n_edges[j].end_points_y2 = end[j][1];
n_edges[j].end_points_z2 = end[j][2];
n_edges[j].closest_point_on_edge_x = near[j][0];
n_edges[j].closest_point_on_edge_y = near[j][1];
n_edges[j].closest_point_on_edge_z = near[j][2];
}
edges = n_edges;
return(returnValue);
}
