/// <summary>
/// Calculates the depth in the color camera space at a user-specified
/// location using nearest-neighbor interpolation.
/// </summary>
/// <returns>
/// <c>true</c>, if a point is found is found successfully, <c>false</c> otherwise.
/// </returns>
/// <param name="pointCloud">
/// The point cloud. Cannot be null and must have at least three points.
/// </param>
/// <param name="colorCameraTimestamp">
/// Color camera's timestamp when UV is captured.
/// </param>
/// <param name="uvCoordinates">
/// The UV coordinates for the user selection. This is expected to be
/// in Unity viewport space. The bottom-left of the camera is (0,0);
/// the top-right is (1,1).
/// </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 static bool ScreenCoordinateToWorldNearestNeighbor(
TangoPointCloudData pointCloud,
double colorCameraTimestamp,
Vector2 uvCoordinates,
out Vector3 colorCameraPoint)
{
TangoPoseData depth_T_colorCameraPose = new TangoPoseData();
int returnValue = TangoSupportAPI.TangoSupport_calculateRelativePose(
pointCloud.m_timestamp,
TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_DEPTH,
colorCameraTimestamp,
TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR,
depth_T_colorCameraPose);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.LogError("TangoSupport_calculateRelativePose error. " + Environment.StackTrace);
colorCameraPoint = Vector3.zero;
return(false);
}
GCHandle pointCloudHandle = GCHandle.Alloc(pointCloud.m_points,
GCHandleType.Pinned);
TangoPointCloudIntPtr tangoPointCloudIntPtr = new TangoPointCloudIntPtr();
tangoPointCloudIntPtr.m_points = pointCloudHandle.AddrOfPinnedObject();
tangoPointCloudIntPtr.m_timestamp = pointCloud.m_timestamp;
tangoPointCloudIntPtr.m_numPoints = pointCloud.m_numPoints;
// Unity viewport space is: the bottom-left of the camera is (0,0);
// the top-right is (1,1).
// Tango (Android) defined UV space is: the top-left of the camera is (0,0);
// the bottom-right is (1,1).
Vector2 uvCoordinatesTango = new Vector2(uvCoordinates.x, 1.0f - uvCoordinates.y);
DVector4 pointCloudRotation = DVector4.IdentityQuaternion;
DVector3 pointCloudTranslation = DVector3.Zero;
returnValue = TangoSupportAPI.TangoSupport_getDepthAtPointNearestNeighbor(
ref tangoPointCloudIntPtr,
ref pointCloudTranslation,
ref pointCloudRotation,
ref uvCoordinatesTango,
AndroidHelper.GetDisplayRotation(),
ref depth_T_colorCameraPose.translation,
ref depth_T_colorCameraPose.orientation,
out colorCameraPoint);
pointCloudHandle.Free();
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.LogError("TangoSupport_getDepthAtPointNearestNeighbor error. " + Environment.StackTrace);
colorCameraPoint = Vector3.zero;
return(false);
}
return(true);
}
/// <summary>
/// Calculates the depth in the color camera space at a user-specified
/// location using bilateral filtering weighted by both spatial distance
/// from the user coordinate and by intensity similarity.
/// </summary>
/// <returns>
/// Common.ErrorType.TANGO_SUCCESS on success,
/// Common.ErrorType.TANGO_INVALID on invalid input, and
/// Common.ErrorType.TANGO_ERROR on failure.
/// </returns>
/// <param name="pointCloud">
/// The point cloud. Cannot be null and must have at least one point.
/// </param>
/// <param name="pointCount">
/// The number of points to read from the point cloud.
/// </param>
/// <param name="timestamp">The timestamp of the depth points.</param>
/// <param name="cameraIntrinsics">
/// The camera intrinsics for the color camera. Cannot be null.
/// </param>
/// <param name="colorImage">
/// The color image buffer. Cannot be null.
/// </param>
/// <param name="matrix">
/// Transformation matrix of the color camera with respect to the Unity
/// World frame.
/// </param>
/// <param name="uvCoordinates">
/// The UV coordinates for the user selection. This is expected to be
/// between (0.0, 0.0) and (1.0, 1.0).
/// </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>
/// <param name="isValidPoint">
/// A flag valued true if there is a point cloud point close to the user
/// selection after projection onto the image plane and valued false
/// otherwise.
/// </param>
public static int ScreenCoordinateToWorldBilateral(
Vector3[] pointCloud, int pointCount, double timestamp,
TangoCameraIntrinsics cameraIntrinsics, TangoImageBuffer colorImage,
ref Matrix4x4 matrix, Vector2 uvCoordinates,
out Vector3 colorCameraPoint, out bool isValidPoint)
{
GCHandle pointCloudHandle = GCHandle.Alloc(pointCloud,
GCHandleType.Pinned);
TangoXYZij pointCloudXyzIj = new TangoXYZij();
pointCloudXyzIj.timestamp = timestamp;
pointCloudXyzIj.xyz_count = pointCount;
pointCloudXyzIj.xyz = pointCloudHandle.AddrOfPinnedObject();
DMatrix4x4 doubleMatrix = new DMatrix4x4(matrix);
// Unity has Y pointing screen up; Tango camera has Y pointing
// screen down.
Vector2 uvCoordinatesTango = new Vector2(uvCoordinates.x,
1.0f - uvCoordinates.y);
int isValidPointInteger;
int returnValue = TangoSupportAPI.TangoSupport_getDepthAtPointBilateralCameraIntrinsicsMatrixTransform(
pointCloudXyzIj, cameraIntrinsics, colorImage, ref doubleMatrix,
ref uvCoordinatesTango, out colorCameraPoint,
out isValidPointInteger);
isValidPoint = isValidPointInteger != 0;
pointCloudHandle.Free();
return(returnValue);
}
/// <summary>
/// Calculates the depth in the color camera space at a user-specified
/// location using nearest-neighbor interpolation.
/// </summary>
/// <returns>
/// Common.ErrorType.TANGO_SUCCESS on success and
/// Common.ErrorType.TANGO_INVALID on invalid input.
/// </returns>
/// <param name="pointCloud">
/// The point cloud. Cannot be null and must have at least one point.
/// </param>
/// <param name="pointCount">
/// The number of points to read from the point cloud.
/// </param>
/// <param name="timestamp">The timestamp of the depth points.</param>
/// <param name="cameraIntrinsics">
/// The camera intrinsics for the color camera. Cannot be null.
/// </param>
/// <param name="matrix">
/// Transformation matrix of the color camera with respect to the Unity
/// World frame.
/// </param>
/// <param name="uvCoordinates">
/// The UV coordinates for the user selection. This is expected to be
/// between (0.0, 0.0) and (1.0, 1.0).
/// </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 0.
/// </param>
/// <param name="isValidPoint">
/// A flag valued 1 if there is a point cloud point close to the user
/// selection after projection onto the image plane and valued 0
/// otherwise.
/// </param>
public static int GetDepthAtPointNearestNeighbor(
Vector3[] pointCloud, int pointCount, double timestamp,
TangoCameraIntrinsics cameraIntrinsics, ref Matrix4x4 matrix,
Vector2 uvCoordinates, out Vector3 colorCameraPoint,
out bool isValidPoint)
{
GCHandle pointCloudHandle = GCHandle.Alloc(pointCloud, GCHandleType.Pinned);
TangoXYZij pointCloudXyzIj = new TangoXYZij();
pointCloudXyzIj.timestamp = timestamp;
pointCloudXyzIj.xyz_count = pointCount;
pointCloudXyzIj.xyz = pointCloudHandle.AddrOfPinnedObject();
DMatrix4x4 doubleMatrix = new DMatrix4x4(matrix);
// Unity has Y pointing screen up; Tango camera has Y pointing
// screen down.
float[] uvCoordinatesArray = new float[2];
uvCoordinatesArray[0] = uvCoordinates.x;
uvCoordinatesArray[1] = 1.0f - uvCoordinates.y;
int isValidPointInteger;
int returnValue = TangoSupportAPI.TangoSupport_getDepthAtPointNearestNeighborMatrixTransform(
pointCloudXyzIj, cameraIntrinsics, ref doubleMatrix,
uvCoordinatesArray, out colorCameraPoint, out isValidPointInteger);
isValidPoint = isValidPointInteger != 0;
pointCloudHandle.Free();
return(returnValue);
}
/// <summary>
/// Fits a plane to a point cloud near a user-specified location. This
/// occurs in two passes. First, all points in cloud within
/// <c>maxPixelDistance</c> to <c>uvCoordinates</c> after projection are kept. Then a
/// plane is fit to the subset cloud using RANSAC. After the initial fit
/// all inliers from the original cloud are used to refine the plane
/// model.
/// </summary>
/// <returns>
/// Common.ErrorType.TANGO_SUCCESS on success,
/// Common.ErrorType.TANGO_INVALID on invalid input, and
/// Common.ErrorType.TANGO_ERROR on failure.
/// </returns>
/// <param name="pointCloud">
/// The point cloud. Cannot be null and must have at least three points.
/// </param>
/// <param name="pointCount">
/// The number of points to read from the point cloud.
/// </param>
/// <param name="timestamp">The timestamp of the point cloud.</param>
/// <param name="cameraIntrinsics">
/// The camera intrinsics for the color camera. Cannot be null.
/// </param>
/// <param name="matrix">
/// Transformation matrix of the color camera with respect to the Unity
/// World frame.
/// </param>
/// <param name="uvCoordinates">
/// The UV coordinates for the user selection. This is expected to be
/// between (0.0, 0.0) and (1.0, 1.0).
/// </param>
/// <param name="intersectionPoint">
/// The output point in depth camera coordinates that the user selected.
/// </param>
/// <param name="plane">The plane fit.</param>
public static int FitPlaneModelNearClick(
Vector3[] pointCloud, int pointCount, double timestamp,
TangoCameraIntrinsics cameraIntrinsics, ref Matrix4x4 matrix,
Vector2 uvCoordinates, out Vector3 intersectionPoint,
out Plane plane)
{
GCHandle pointCloudHandle = GCHandle.Alloc(pointCloud,
GCHandleType.Pinned);
TangoXYZij pointCloudXyzIj = new TangoXYZij();
pointCloudXyzIj.timestamp = timestamp;
pointCloudXyzIj.xyz_count = pointCount;
pointCloudXyzIj.xyz = pointCloudHandle.AddrOfPinnedObject();
DMatrix4x4 doubleMatrix = new DMatrix4x4(matrix);
// Unity has Y pointing screen up; Tango camera has Y pointing
// screen down.
Vector2 uvCoordinatesTango = new Vector2(uvCoordinates.x,
1.0f - uvCoordinates.y);
DVector3 doubleIntersectionPoint = new DVector3();
double[] planeArray = new double[4];
int returnValue = TangoSupportAPI.TangoSupport_fitPlaneModelNearPointMatrixTransform(
pointCloudXyzIj, cameraIntrinsics, ref doubleMatrix,
ref uvCoordinatesTango,
out doubleIntersectionPoint, planeArray);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
intersectionPoint = new Vector3(0.0f, 0.0f, 0.0f);
plane = new Plane(new Vector3(0.0f, 0.0f, 0.0f), 0.0f);
}
else
{
intersectionPoint = doubleIntersectionPoint.ToVector3();
Vector3 normal = new Vector3((float)planeArray[0],
(float)planeArray[1],
(float)planeArray[2]);
float distance = (float)planeArray[3] / normal.magnitude;
plane = new Plane(normal, distance);
}
pointCloudHandle.Free();
return(returnValue);
}
/// <summary>
/// Detect one or more markers in the input image.
/// </summary>
/// <param name="imageBuffer">
/// The input image buffer.
/// </param>
/// <param name="cameraId">
/// Camera that is used for detecting markers, can be TangoEnums.TangoCameraId.TANGO_CAMERA_FISHEYE or
/// TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR.
/// </param>
/// <param name="markerType">
/// Target marker's type. Current support marker types are QR marker and Alvar marker.
/// </param>
/// <param name="markerSize">
/// Physical size of marker's length.
/// </param>
/// <param name="markers">
/// The returned marker list.
/// </param>
/// <returns>
/// Common.ErrorType.TANGO_SUCCESS on success, Common.ErrorType.TANGO_INVALID on invalid input, and
/// Common.ErrorType.TANGO_ERROR on failure.
/// </returns>
public static bool DetectMarkers(TangoUnityImageData imageBuffer,
TangoEnums.TangoCameraId cameraId,
MarkerType markerType,
double markerSize,
List <Marker> markers)
{
if (markers == null)
{
Debug.Log("markers is null. " + Environment.StackTrace);
return(false);
}
// Clear any existing marker
markers.Clear();
// Detect marker.
TangoImageBuffer buffer = new TangoImageBuffer();
GCHandle gchandle = GCHandle.Alloc(imageBuffer.data, GCHandleType.Pinned);
IntPtr ptr = gchandle.AddrOfPinnedObject();
buffer.data = ptr;
buffer.format = imageBuffer.format;
buffer.frame_number = imageBuffer.frame_number;
buffer.height = imageBuffer.height;
buffer.stride = imageBuffer.stride;
buffer.timestamp = imageBuffer.timestamp;
buffer.width = imageBuffer.width;
// Get Pose.
TangoPoseData poseData = new TangoPoseData();
TangoCoordinateFramePair pair;
pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR;
PoseProvider.GetPoseAtTime(poseData, buffer.timestamp, pair);
APIMarkerList rawAPIMarkerList = new APIMarkerList();
APIMarkerParam rawMarkerParam = new APIMarkerParam(markerType, markerSize);
int ret = TangoSupportAPI.TangoSupport_detectMarkers(ref buffer, cameraId,
ref poseData.translation,
ref poseData.orientation,
ref rawMarkerParam,
ref rawAPIMarkerList);
gchandle.Free();
if (ret != Common.ErrorType.TANGO_SUCCESS)
{
return(false);
}
if (rawAPIMarkerList.markerCount != 0)
{
List <APIMarker> apiMarkers = new List <APIMarker>();
MarshallingHelper.MarshalUnmanagedStructArrayToList <TangoSupport.APIMarker>(
rawAPIMarkerList.markers,
rawAPIMarkerList.markerCount,
apiMarkers);
for (int i = 0; i < apiMarkers.Count; ++i)
{
APIMarker apiMarker = apiMarkers[i];
Marker marker = new Marker();
marker.m_type = apiMarker.m_type;
marker.m_timestamp = apiMarker.m_timestamp;
marker.m_content = apiMarker.m_content;
// Covert 2D corner points from pixel space to UV space.
marker.m_corner2DP0.x = apiMarker.m_corner2DP0.x / buffer.width;
marker.m_corner2DP0.y = apiMarker.m_corner2DP0.y / buffer.height;
marker.m_corner2DP1.x = apiMarker.m_corner2DP1.x / buffer.width;
marker.m_corner2DP1.y = apiMarker.m_corner2DP1.y / buffer.height;
marker.m_corner2DP2.x = apiMarker.m_corner2DP2.x / buffer.width;
marker.m_corner2DP2.y = apiMarker.m_corner2DP2.y / buffer.height;
marker.m_corner2DP3.x = apiMarker.m_corner2DP3.x / buffer.width;
marker.m_corner2DP3.y = apiMarker.m_corner2DP3.y / buffer.height;
// Convert 3D corner points from Start of Service space to Unity World space.
marker.m_corner3DP0 = GetMarkerInUnitySpace(apiMarker.m_corner3DP0);
marker.m_corner3DP1 = GetMarkerInUnitySpace(apiMarker.m_corner3DP1);
marker.m_corner3DP2 = GetMarkerInUnitySpace(apiMarker.m_corner3DP2);
marker.m_corner3DP3 = GetMarkerInUnitySpace(apiMarker.m_corner3DP3);
// Convert pose from Start of Service to Unity World space.
Vector3 translation = new Vector3(
(float)apiMarker.m_translation.x,
(float)apiMarker.m_translation.y,
(float)apiMarker.m_translation.z);
Quaternion orientation = new Quaternion(
(float)apiMarker.m_rotation.x,
(float)apiMarker.m_rotation.y,
(float)apiMarker.m_rotation.z,
(float)apiMarker.m_rotation.w);
Matrix4x4 ss_T_marker = Matrix4x4.TRS(translation, orientation, Vector3.one);
// Note that UNITY_WORLD_T_START_SERVICE is involutory matrix. The actually transform
// we wanted to multiply on the right hand side is START_SERVICE_T_UNITY_WORLD.
Matrix4x4 uw_T_u_marker = TangoSupport.UNITY_WORLD_T_START_SERVICE *
ss_T_marker * TangoSupport.UNITY_WORLD_T_START_SERVICE;
marker.m_translation = uw_T_u_marker.GetColumn(3);
marker.m_orientation = Quaternion.LookRotation(uw_T_u_marker.GetColumn(2),
uw_T_u_marker.GetColumn(1));
// Add the marker to the output list
markers.Add(marker);
}
}
TangoSupportAPI.TangoSupport_freeMarkerList(ref rawAPIMarkerList);
return(false);
}
/// <summary>
/// Initialize the support library with function pointers required by
/// the library. Either this version or @c TangoSupport_initializeLibrary
/// should be called during application initialization, but not both. This
/// version requires each of the initialization parameters and should only be
/// used if specialized parameters are necessary.
/// NOTE: This function must be called after the Android service has been
/// bound.
/// </summary>
public static void Initialize()
{
TangoSupportAPI.TangoUnity_initializeTangoSupportLibrary();
}
