private static void _OnImageAvailable(
IntPtr callbackContext, TangoEnums.TangoCameraId cameraId, ref TangoImage image,
ref TangoCameraMetadata cameraMetadata)
{
if (cameraId != COLOR_CAMERA_ID)
{
return;
}
if (m_onTangoImageMultithreadedAvailable != null)
{
m_onTangoImageMultithreadedAvailable(cameraId, image, cameraMetadata);
}
lock (m_lockObject)
{
// This is correct because Tango is required to support YUV888 as Y plane, UV interleaved plane.
int uvPlaneSize = image.m_planeSize2 + 1;
if (m_previousImageBuffer.data == null)
{
m_previousImageBuffer.data = new byte[image.m_planeSize0 + uvPlaneSize];
}
m_previousImageBuffer.width = image.m_width;
m_previousImageBuffer.height = image.m_height;
m_previousImageBuffer.stride = (uint)image.m_planeRowStride0;
m_previousImageBuffer.timestamp = ((double)image.m_timestampNs) * Common.SECS_PER_NANOSECS;
m_previousImageBuffer.format = image.m_format;
m_previousImageBuffer.frame_number = cameraMetadata.m_frameNumber;
//// Convert from YUV888 to NV21.
//// Get Ys.
Marshal.Copy(image.m_planeData0, m_previousImageBuffer.data, 0, image.m_planeSize0);
//// Size of UV plane is image.plane_2_size + 1, since Tango guarantees that YUV888 has UV interleaved.
Marshal.Copy(image.m_planeData2, m_previousImageBuffer.data, image.m_planeSize0, uvPlaneSize);
m_shouldSendByteBufferMethodEvent = true;
// ERROR TESTING - ADDED IN
GameObject.FindObjectOfType <CloakingBox.PoseImageCreator>().BufferCameraImage(callbackContext, cameraId, ref image, ref cameraMetadata);
}
}
/// <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>
/// <param name="image"> TangoImage populated with emulator image data.</param>
/// <param name="cameraMetadata">Camera metadata for emulated image.</param>
private static void _GetEmulatedTangoImage(TangoUnityImageData colorImageData, GCHandle pinnedColorBuffer,
out TangoImage image, out TangoCameraMetadata cameraMetadata)
{
image = new TangoImage();
cameraMetadata = new TangoCameraMetadata();
image.m_planeData0 = pinnedColorBuffer.AddrOfPinnedObject();
image.m_planeData2 = new IntPtr(pinnedColorBuffer.AddrOfPinnedObject().ToInt64() + image.m_width * image.m_height);
image.m_planeData1 = new IntPtr(image.m_planeData2.ToInt64() + 1);
image.m_width = colorImageData.width;
image.m_height = colorImageData.height;
// The existing system assumes the whole image has the same row stride across all planes.
int stride = (int)colorImageData.stride;
image.m_planeRowStride0 = stride;
image.m_planeRowStride1 = stride;
image.m_planeRowStride2 = stride;
image.m_planeRowStride3 = stride;
image.m_format = colorImageData.format;
image.m_timestampNs = Convert.ToInt64(colorImageData.timestamp / Common.SECS_PER_NANOSECS);
cameraMetadata.m_frameNumber = colorImageData.frame_number;
cameraMetadata.m_timestampNs = image.m_timestampNs;
}