public override unsafe XRPointCloudData GetPointCloudData(
TrackableId trackableId,
Allocator allocator)
{
void *positionsPtr, identifiersPtr;
int numPoints;
var pointCloud = UnityARKit_depth_acquirePointCloud(
trackableId,
out positionsPtr, out identifiersPtr, out numPoints);
try
{
var positions = new NativeArray <Vector3>(numPoints, allocator);
var positionsHandle = new TransformPositionsJob
{
positionsIn = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray <Quaternion>(positionsPtr, numPoints, Allocator.None),
positionsOut = positions
}.Schedule(numPoints, 32);
var identifiers = new NativeArray <ulong>(numPoints, allocator);
identifiers.CopyFrom(NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray <ulong>(identifiersPtr, numPoints, Allocator.None));
positionsHandle.Complete();
return(new XRPointCloudData
{
positions = positions,
identifiers = identifiers
});
}
finally
{
UnityARKit_depth_releasePointCloud(pointCloud);
}
}
public override unsafe XRPointCloudData GetPointCloudData(
TrackableId trackableId,
Allocator allocator)
{
void *dataPtr, identifierPtr;
int numPoints = NativeApi.UnityARCore_depth_getPointCloudPtrs(
trackableId,
out dataPtr, out identifierPtr);
var data = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray <Quaternion>(dataPtr, numPoints, Allocator.None);
var positions = new NativeArray <Vector3>(numPoints, allocator);
var positionsJob = new TransformPositionsJob
{
positionsIn = data,
positionsOut = positions
};
var positionsHandle = positionsJob.Schedule(numPoints, 32);
var confidenceValues = new NativeArray <float>(numPoints, allocator);
var confidenceJob = new ExtractConfidenceValuesJob
{
confidenceIn = data,
confidenceOut = confidenceValues
};
var confidenceHandle = confidenceJob.Schedule(numPoints, 32);
var identifiers = new NativeArray <ulong>(numPoints, allocator);
var identifiersJob = new CopyIdentifiersJob
{
identifiersIn = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray <int>(identifierPtr, numPoints, Allocator.None),
identifiersOut = identifiers
};
var identifiersHandle = identifiersJob.Schedule(numPoints, 32);
JobHandle.CombineDependencies(positionsHandle, confidenceHandle, identifiersHandle).Complete();
return(new XRPointCloudData
{
positions = positions,
identifiers = identifiers,
confidenceValues = confidenceValues
});
}