private void OnARFrameUpdated(Frame arFrame)
{
currentFrame = arFrame;
var anchors = arFrame.UpdatedAnchors;
var pointcloud = arFrame.AcquirePointCloud();
var capacity = pointcloud.Points.Capacity();
var points = pointcloud.Points;
for (var i = 0; i < capacity; i++)
{
var point = points.Get(i);
}
var timestamp = pointcloud.Timestamp;
fps.AdditionalText = "Capacity: " + capacity;
//TODO: visulize anchors (don't forget ARCore uses RHD coordinate system)
// Adjust our ambient light based on the light estimates ARCore provides each frame
var lightEstimate = arFrame.LightEstimate;
// fps.AdditionalText = "Intensity: " + lightEstimate?.PixelIntensity.ToString("F1");
zone.AmbientColor = new Color(1, 1, 1) * ((lightEstimate?.PixelIntensity ?? 0.2f) / 2f);
}
private bool RefreshPointCloud(Frame frame)
{
var pointCloud = frame.AcquirePointCloud();
if (pointCloud != null)
{
var points = pointCloud.Points;
var numPoints = points.Remaining() / 4; // Four floats: X,Y,Z,confidence.
var size = this.internalPointCloud?.Length ?? 0;
if (this.internalPointCloud != null)
{
if (numPoints != size)
{
Array.Resize(ref this.internalPointCloud, numPoints);
}
}
else
{
this.internalPointCloud = new Vector3[numPoints];
}
for (int i = 0; i < numPoints; i++)
{
this.internalPointCloud[i].X = points.Get();
this.internalPointCloud[i].Y = points.Get();
this.internalPointCloud[i].Z = points.Get();
points.Get(); // Confidence
}
// App is responsible for releasing point cloud resources after using it
pointCloud.Release();
}
return(pointCloud != null);
}
public void OnDrawFrame(IGL10 gl)
{
// Clear screen to notify driver it should not load any pixels from previous frame.
GLES20.GlClear(GLES20.GlColorBufferBit | GLES20.GlDepthBufferBit);
if (mSession == null)
{
return;
}
// Notify ARCore session that the view size changed so that the perspective matrix and the video background
// can be properly adjusted
mDisplayRotationHelper.UpdateSessionIfNeeded(mSession);
try
{
// Obtain the current frame from ARSession. When the configuration is set to
// UpdateMode.BLOCKING (it is by default), this will throttle the rendering to the
// camera framerate.
Frame frame = mSession.Update();
Camera camera = frame.Camera;
// Handle taps. Handling only one tap per frame, as taps are usually low frequency
// compared to frame rate.
MotionEvent tap = null;
mQueuedSingleTaps.TryDequeue(out tap);
if (tap != null && camera.TrackingState == TrackingState.Tracking)
{
foreach (var hit in frame.HitTest(tap))
{
var trackable = hit.Trackable;
// Check if any plane was hit, and if it was hit inside the plane polygon.
if (trackable is Plane && ((Plane)trackable).IsPoseInPolygon(hit.HitPose))
{
// Cap the number of objects created. This avoids overloading both the
// rendering system and ARCore.
if (mAnchors.Count >= 16)
{
mAnchors[0].Detach();
mAnchors.RemoveAt(0);
}
// Adding an Anchor tells ARCore that it should track this position in
// space. This anchor is created on the Plane to place the 3d model
// in the correct position relative to both the world and to the plane
mAnchors.Add(hit.CreateAnchor());
// Hits are sorted by depth. Consider only closest hit on a plane.
break;
}
}
}
// Draw background.
mBackgroundRenderer.Draw(frame);
// If not tracking, don't draw 3d objects.
if (camera.TrackingState == TrackingState.Paused)
{
return;
}
// Get projection matrix.
float[] projmtx = new float[16];
camera.GetProjectionMatrix(projmtx, 0, 0.1f, 100.0f);
// Get camera matrix and draw.
float[] viewmtx = new float[16];
camera.GetViewMatrix(viewmtx, 0);
// Compute lighting from average intensity of the image.
var lightIntensity = frame.LightEstimate.PixelIntensity;
// Visualize tracked points.
var pointCloud = frame.AcquirePointCloud();
mPointCloud.Update(pointCloud);
mPointCloud.Draw(camera.DisplayOrientedPose, viewmtx, projmtx);
// App is repsonsible for releasing point cloud resources after using it
pointCloud.Release();
var planes = new List <Plane>();
foreach (var p in mSession.GetAllTrackables(Java.Lang.Class.FromType(typeof(Plane))))
{
var plane = (Plane)p;
planes.Add(plane);
}
// Check if we detected at least one plane. If so, hide the loading message.
if (mLoadingMessageSnackbar != null)
{
foreach (var plane in planes)
{
if (plane.GetType() == Plane.Type.HorizontalUpwardFacing &&
plane.TrackingState == TrackingState.Tracking)
{
hideLoadingMessage();
break;
}
}
}
// Visualize planes.
mPlaneRenderer.DrawPlanes(planes, camera.DisplayOrientedPose, projmtx);
// Visualize anchors created by touch.
float scaleFactor = 1.0f;
foreach (var anchor in mAnchors)
{
if (anchor.TrackingState != TrackingState.Tracking)
{
continue;
}
// Get the current combined pose of an Anchor and Plane in world space. The Anchor
// and Plane poses are updated during calls to session.update() as ARCore refines
// its estimate of the world.
anchor.Pose.ToMatrix(mAnchorMatrix, 0);
// Update and draw the model and its shadow.
mVirtualObject.updateModelMatrix(mAnchorMatrix, scaleFactor);
mVirtualObjectShadow.updateModelMatrix(mAnchorMatrix, scaleFactor);
mVirtualObject.Draw(viewmtx, projmtx, lightIntensity);
mVirtualObjectShadow.Draw(viewmtx, projmtx, lightIntensity);
}
}
catch (System.Exception ex)
{
// Avoid crashing the application due to unhandled exceptions.
Log.Error(TAG, "Exception on the OpenGL thread", ex);
}
}
public void OnDrawFrame(IGL10 gl)
{
// Clear screen to notify driver it should not load any pixels from previous frame.
GLES20.GlBindFramebuffer(GLES20.GlFramebuffer, 0);
GLES20.GlViewport(0, 0, glSurfaceView.Width, glSurfaceView.Height);
GLES20.GlClear(GLES20.GlColorBufferBit | GLES20.GlDepthBufferBit);
if (arSession == null)
{
return;
}
// Notify ARCore session that the view size changed so that the perspective matrix and the video background
// can be properly adjusted
// displayRotationHelper.UpdateSessionIfNeeded(arSession);
try
{
// Obtain the current frame from ARSession. When the configuration is set to
// UpdateMode.BLOCKING (it is by default), this will throttle the rendering to the
// camera framerate.
Frame frame = arSession.Update();
Google.AR.Core.Camera camera = frame.Camera;
// Draw background.
GLES20.GlViewport(0, 0, glSurfaceView.Width, glSurfaceView.Height);
backgroundRenderer.Draw(frame);
GLES20.GlBindFramebuffer(GLES20.GlFramebuffer, fboId);
GLES20.GlViewport(0, 0, targetResolution.Width, targetResolution.Height);
GLES20.GlClear(GLES20.GlColorBufferBit | GLES20.GlDepthBufferBit);
backgroundRenderer.Draw(frame);
GLES20.GlBindFramebuffer(GLES20.GlFramebuffer, 0);
GLES20.GlViewport(0, 0, glSurfaceView.Width, glSurfaceView.Height);
GlUtil.CheckNoGLES2Error("Switch framebuffers.");
// Handle taps. Handling only one tap per frame, as taps are usually low frequency
// compared to frame rate.
MotionEvent tap = null;
queuedSingleTaps.TryDequeue(out tap);
if (tap != null && camera.TrackingState == TrackingState.Tracking)
{
foreach (var hit in frame.HitTest(tap))
{
var trackable = hit.Trackable;
// Check if any plane was hit, and if it was hit inside the plane polygon.
if (trackable is Plane && ((Plane)trackable).IsPoseInPolygon(hit.HitPose))
{
// Cap the number of objects created. This avoids overloading both the
// rendering system and ARCore.
if (anchors.Count >= 16)
{
anchors[0].Detach();
anchors.RemoveAt(0);
}
// Adding an Anchor tells ARCore that it should track this position in
// space. This anchor is created on the Plane to place the 3d model
// in the correct position relative to both the world and to the plane
anchors.Add(hit.CreateAnchor());
// Hits are sorted by depth. Consider only closest hit on a plane.
break;
}
}
}
// If not tracking, don't draw 3d objects.
if (camera.TrackingState == TrackingState.Paused)
{
return;
}
// Get projection matrix.
float[] projmtx = new float[16];
camera.GetProjectionMatrix(projmtx, 0, 0.1f, 100.0f);
// Get camera matrix and draw.
float[] viewmtx = new float[16];
camera.GetViewMatrix(viewmtx, 0);
// Compute lighting from average intensity of the image.
var lightIntensity = frame.LightEstimate.PixelIntensity;
// Visualize tracked points.
var pointCloud = frame.AcquirePointCloud();
pointCloudRenderer.Update(pointCloud);
// App is repsonsible for releasing point cloud resources after using it
pointCloud.Release();
var planes = new List <Plane>();
foreach (var p in arSession.GetAllTrackables(Java.Lang.Class.FromType(typeof(Plane))))
{
var plane = (Plane)p;
planes.Add(plane);
}
// Check if we detected at least one plane. If so, hide the loading message.
if (loadingMessageSnackbar != null)
{
foreach (var plane in planes)
{
if (plane.GetType() == Plane.Type.HorizontalUpwardFacing &&
plane.TrackingState == TrackingState.Tracking)
{
HideLoadingMessage();
break;
}
}
}
// Draw(frame, camera, projmtx, viewmtx, lightIntensity, planes);
GLES20.GlBindFramebuffer(GLES20.GlFramebuffer, fboId);
GLES20.GlViewport(0, 0, targetResolution.Width, targetResolution.Height);
// Restore the depth state for further drawing.
GLES20.GlDepthMask(true);
GLES20.GlEnable(GLES20.GlDepthTest);
// Draw(frame, camera, projmtx, viewmtx, lightIntensity, planes);
// DrawModels(projmtx, viewmtx, lightIntensity);
if (doCaptureCameraFrame)
{
var displayOrientedPose = camera.DisplayOrientedPose;
var pose = new VirtualStudio.Shared.DTOs.Tracking.Pose
{
Position = new System.Numerics.Vector3(displayOrientedPose.Tx(), displayOrientedPose.Ty(), displayOrientedPose.Tz()),
Orientation = new System.Numerics.Vector4(displayOrientedPose.Qx(), displayOrientedPose.Qy(), displayOrientedPose.Qz(), displayOrientedPose.Qw()),
Projection = new System.Numerics.Matrix4x4(
projmtx[0], projmtx[1], projmtx[2], projmtx[3],
projmtx[4], projmtx[5], projmtx[6], projmtx[7],
projmtx[8], projmtx[9], projmtx[10], projmtx[11],
projmtx[12], projmtx[13], projmtx[14], projmtx[15]
)
};
webRtcClient.SendMessage(pose.ToBinary());
counter = 0;
var textureBuffer = new TextureBufferImpl(targetResolution.Width, targetResolution.Height, VideoFrame.TextureBufferType.Rgb, renderTextureId, new Android.Graphics.Matrix(), null, null, null);
var i420Buffer = yuvConverter.Convert(textureBuffer);
VideoFrameAvailable?.Invoke(this, i420Buffer);
}
}
catch (System.Exception ex)
{
// Avoid crashing the application due to unhandled exceptions.
Log.Error(TAG, "Exception on the OpenGL thread", ex);
}
}
