/// <summary>
/// Returns the RGB value at a given theta and phi given a TangoImageBuffer.
/// </summary>
/// <param name="buffer">The TangoImageBuffer to sample.</param>
/// <param name="i">Range from [0..height].</param>
/// <param name="j">Range from [0..width].</param>
/// <returns>The RGB value on the buffer at the given theta and phi.</returns>
private Vector3 _GetRgbFromImageBuffer(Tango.TangoUnityImageData buffer, int i, int j)
{
int width = (int)buffer.width;
int height = (int)buffer.height;
int uv_buffer_offset = width * height;
int x_index = j;
if (j % 2 != 0)
{
x_index = j - 1;
}
// Get the YUV color for this pixel.
int yValue = buffer.data[(i * width) + j];
int uValue = buffer.data[uv_buffer_offset + ((i / 2) * width) + x_index + 1];
int vValue = buffer.data[uv_buffer_offset + ((i / 2) * width) + x_index];
// Convert the YUV value to RGB.
float r = yValue + (1.370705f * (vValue - 128));
float g = yValue - (0.689001f * (vValue - 128)) - (0.337633f * (uValue - 128));
float b = yValue + (1.732446f * (uValue - 128));
Vector3 result = new Vector3(r / 255.0f, g / 255.0f, b / 255.0f);
// Gamma correct color to linear scale.
result.x = Mathf.Pow(Mathf.Max(0.0f, result.x), 2.2f);
result.y = Mathf.Pow(Mathf.Max(0.0f, result.y), 2.2f);
result.z = Mathf.Pow(Mathf.Max(0.0f, result.z), 2.2f);
return(result);
}
/// <summary>
/// Register to get Tango image events.
///
/// NOTE: Tango image events happen on a different thread than the main
/// Unity thread.
/// </summary>
/// <param name="cameraId">Camera identifier to get events for.</param>
/// <param name="useExperimentalOverlay">If true, use the experimental video overlay.</param>
/// <param name="videoOverlayTexture">The video overlay texture to use. Only used in experimental mode.</param>
internal virtual void SetCallback(Tango.TangoEnums.TangoCameraId cameraId, bool useExperimentalOverlay, YUVTexture videoOverlayTexture)
{
m_usingExperimentalOverlay = useExperimentalOverlay;
if (!useExperimentalOverlay)
{
m_previousImageBuffer = new TangoUnityImageData();
m_onImageAvailable = new Tango.VideoOverlayProvider.TangoService_onImageAvailable(_OnImageAvailable);
Tango.VideoOverlayProvider.SetCallback(cameraId, m_onImageAvailable);
}
else
{
if (videoOverlayTexture != null)
{
m_onUnityFrameAvailable = new Tango.VideoOverlayProvider.TangoService_onUnityFrameAvailable(_OnExperimentalUnityFrameAvailable);
VideoOverlayProvider.ExperimentalConnectTexture(cameraId,
videoOverlayTexture,
m_onUnityFrameAvailable);
Debug.Log("VideoOverlayListener.SetCallback() : Experimental Overlay listener hooked up");
}
else
{
Debug.Log("VideoOverlayListener.SetCallback() : No Texture2D found!");
}
}
}
/// <summary>
/// Register to get Tango image events.
///
/// NOTE: Tango image events happen on a different thread than the main
/// Unity thread.
/// </summary>
/// <param name="cameraId">Camera identifier to get events for.</param>
/// <param name="useExperimentalOverlay">If true, use the experimental video overlay.</param>
/// <param name="videoOverlayTexture">The video overlay texture to use. Only used in experimental mode.</param>
internal virtual void SetCallback(Tango.TangoEnums.TangoCameraId cameraId, bool useExperimentalOverlay, YUVTexture videoOverlayTexture)
{
m_usingExperimentalOverlay = useExperimentalOverlay;
if (!useExperimentalOverlay)
{
m_previousImageBuffer = new TangoUnityImageData();
m_onImageAvailable = new Tango.VideoOverlayProvider.TangoService_onImageAvailable(_OnImageAvailable);
Tango.VideoOverlayProvider.SetCallback(cameraId, m_onImageAvailable);
}
else
{
if (videoOverlayTexture != null)
{
m_onUnityFrameAvailable = new Tango.VideoOverlayProvider.TangoService_onUnityFrameAvailable(_OnExperimentalUnityFrameAvailable);
VideoOverlayProvider.ExperimentalConnectTexture(cameraId,
videoOverlayTexture,
m_onUnityFrameAvailable);
Debug.Log("VideoOverlayListener.SetCallback() : Experimental Overlay listener hooked up");
}
else
{
Debug.Log("VideoOverlayListener.SetCallback() : No Texture2D found!");
}
}
}
/// <summary>
/// INTERNAL USE: Fill out most recent color data for Tango emulation.
/// NOTE: Does not emulate first line of metadata in color buffer.
/// </summary>
/// <param name="colorImageData">TangoUnityImageData structure to update with emulated data.</param>
internal static void GetTangoEmulation(TangoUnityImageData colorImageData)
{
int yDataSize = EMULATED_CAMERA_WIDTH * EMULATED_CAMERA_HEIGHT;
int cbCrDataSize = yDataSize / 2;
int dataSize = yDataSize + cbCrDataSize;
if (colorImageData.data == null || colorImageData.data.Length != dataSize)
{
colorImageData.data = new byte[dataSize];
}
RenderTexture yRT = RenderTexture.GetTemporary(EMULATED_CAMERA_PACKED_WIDTH,
EMULATED_CAMERA_PACKED_Y_HEIGHT,
0, RenderTextureFormat.ARGB32);
RenderTexture cbCrRT = RenderTexture.GetTemporary(EMULATED_CAMERA_PACKED_WIDTH,
EMULATED_CAMERA_PACKED_UV_HEIGHT,
0, RenderTextureFormat.ARGB32);
Graphics.Blit(m_emulatedColorRenderTexture, yRT, m_yuvFilterY);
m_emulationByteBufferCaptureTextures[0].ReadPixels(new Rect(0, 0, yRT.width, yRT.height), 0, 0);
Graphics.Blit(m_emulatedColorRenderTexture, cbCrRT, m_yuvFilterCbCr);
m_emulationByteBufferCaptureTextures[1].ReadPixels(new Rect(0, 0, cbCrRT.width, cbCrRT.height), 0, 0);
Color32[] colors = m_emulationByteBufferCaptureTextures[0].GetPixels32();
for (int i = 0; i < yDataSize / 4; i++)
{
colorImageData.data[(i * 4)] = colors[i].r;
colorImageData.data[(i * 4) + 1] = colors[i].g;
colorImageData.data[(i * 4) + 2] = colors[i].b;
colorImageData.data[(i * 4) + 3] = colors[i].a;
}
int startOffset = colors.Length * 4;
colors = m_emulationByteBufferCaptureTextures[1].GetPixels32();
for (int i = 0; i < cbCrDataSize / 4; i++)
{
colorImageData.data[(i * 4) + startOffset] = colors[i].r;
colorImageData.data[(i * 4) + startOffset + 1] = colors[i].g;
colorImageData.data[(i * 4) + startOffset + 2] = colors[i].b;
colorImageData.data[(i * 4) + startOffset + 3] = colors[i].a;
}
RenderTexture.ReleaseTemporary(yRT);
RenderTexture.ReleaseTemporary(cbCrRT);
colorImageData.format = TangoEnums.TangoImageFormatType.TANGO_HAL_PIXEL_FORMAT_YV12;
colorImageData.width = EMULATED_CAMERA_WIDTH;
colorImageData.height = EMULATED_CAMERA_HEIGHT;
colorImageData.stride = EMULATED_CAMERA_WIDTH;
colorImageData.timestamp = m_lastColorEmulationTime;
}
/// <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>
private static TangoImageBuffer _GetEmulatedTangoImageBuffer(TangoUnityImageData colorImageData, GCHandle pinnedColorBuffer)
{
TangoImageBuffer imageBuffer = new TangoImageBuffer();
imageBuffer.data = pinnedColorBuffer.AddrOfPinnedObject();
imageBuffer.width = colorImageData.width;
imageBuffer.height = colorImageData.height;
imageBuffer.stride = colorImageData.stride;
imageBuffer.format = colorImageData.format;
imageBuffer.timestamp = colorImageData.timestamp;
imageBuffer.frame_number = colorImageData.frame_number;
return(imageBuffer);
}
public void OnTangoImageAvailableEventHandler(Tango.TangoEnums.TangoCameraId cameraId,
Tango.TangoUnityImageData imageBuffer)
{
TangoSupport.DetectMarkers(imageBuffer, cameraId,
TangoSupport.MarkerType.QRCODE, MARKER_SIZE, markerList);
if (markerList.Count > 0)
{
TangoSupport.Marker marker = markerList[0];
qrcodePlane.transform.position = marker.m_translation;
qrcodePlane.transform.rotation = marker.m_orientation;
var bottomToTop = marker.m_corner3DP3 - marker.m_corner3DP0;
var leftToRight = marker.m_corner3DP1 - marker.m_corner3DP0;
plane.transform.localScale = new Vector3(leftToRight.magnitude, 1, bottomToTop.magnitude) * 0.1f;
}
}
/// <summary>
/// Stop getting Tango image or texture callbacks.
/// </summary>
internal static void Reset()
{
// Avoid calling into tango_client_api before the correct library is loaded.
if (m_onImageAvailable != null || m_onTextureAvailable != null || m_onYUVTextureAvailable != null)
{
VideoOverlayProvider.ClearCallback(COLOR_CAMERA_ID);
}
m_onImageAvailable = null;
m_onTextureAvailable = null;
m_onYUVTextureAvailable = null;
m_previousImageBuffer = new TangoUnityImageData();
m_shouldSendTextureMethodEvent = false;
m_shouldSendByteBufferMethodEvent = false;
m_shouldSendYUVTextureIdMethodEvent = false;
m_onTangoImageAvailable = null;
m_onTangoCameraTextureAvailable = null;
m_onTangoYUVTextureAvailable = null;
m_onTangoImageMultithreadedAvailable = null;
}
/// <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;
}
/// <summary>
/// Computes the spherical harmonic diffuse coefficients for a given
/// TangoImageBuffer.
/// </summary>
/// <param name="imageBuffer">The TangoImageBuffer to sample.</param>
private void _ComputeDiffuseCoefficients(TangoUnityImageData imageBuffer)
{
if (m_enableEnvironmentalLighting)
{
// Compute SH Coefficients.
float weight = 4.0f * Mathf.PI;
int numSamples = m_samples.Length;
int numCoefficients = m_coefficients.Length;
for (int coeffIdx = 0; coeffIdx < numCoefficients; ++coeffIdx)
{
m_coefficients[coeffIdx] = Vector3.zero;
}
for (int sampleIdx = 0; sampleIdx < numSamples; ++sampleIdx)
{
float theta = m_samples[sampleIdx].sph.x;
float phi = m_samples[sampleIdx].sph.y;
// Normalize between 0 and 1.
float x = 1.0f - Mathf.Pow(Mathf.Cos(theta / 2.0f), 2.0f);
float y = phi / Mathf.PI / 2.0f;
int i = (int)(imageBuffer.height * x);
int j = (int)(imageBuffer.width * y);
Vector3 rgb = _GetRgbFromImageBuffer(imageBuffer, i, j);
for (int coeffIdx = 0; coeffIdx < numCoefficients; ++coeffIdx)
{
m_coefficients[coeffIdx] += rgb * m_samples[sampleIdx].coeff[coeffIdx];
}
}
// Divide the result by weight and number of samples.
float factor = weight / numSamples;
for (int coeffIdx = 0; coeffIdx < numCoefficients; ++coeffIdx)
{
m_coefficients[coeffIdx] *= factor;
}
Shader.SetGlobalMatrix("_TangoLightingSphericalHarmonicMatrixR", _SetShmMatrix(0));
Shader.SetGlobalMatrix("_TangoLightingSphericalHarmonicMatrixG", _SetShmMatrix(1));
Shader.SetGlobalMatrix("_TangoLightingSphericalHarmonicMatrixB", _SetShmMatrix(2));
Shader.SetGlobalFloat("_TangoLightingExposure", m_coefficients[0].magnitude);
}
}
/// <summary>
/// Stop getting Tango image or texture callbacks.
/// </summary>
internal static void Reset()
{
// Avoid calling into tango_client_api before the correct library is loaded.
if (m_onImageAvailable != null || m_onTextureAvailable != null || m_onYUVTextureAvailable != null)
{
VideoOverlayProvider.ClearCallback(COLOR_CAMERA_ID);
}
m_onImageAvailable = null;
m_onTextureAvailable = null;
m_onYUVTextureAvailable = null;
m_previousImageBuffer = new TangoUnityImageData();
m_shouldSendTextureMethodEvent = false;
m_shouldSendByteBufferMethodEvent = false;
m_shouldSendYUVTextureIdMethodEvent = false;
m_onTangoImageAvailable = null;
m_onTangoCameraTextureAvailable = null;
m_onTangoYUVTextureAvailable = null;
m_onTangoImageMultithreadedAvailable = null;
}
/// <summary>
/// Register to get Tango image events for getting the texture byte buffer callback.
///
/// NOTE: Tango image events happen on a different thread than the main
/// Unity thread.
/// </summary>
/// <param name="cameraId">Camera identifier to get events for.</param>
internal virtual void SetCallbackByteBufferMethod(Tango.TangoEnums.TangoCameraId cameraId)
{
m_previousImageBuffer = new TangoUnityImageData();
m_onImageAvailable = new Tango.VideoOverlayProvider.TangoService_onImageAvailable(_OnImageAvailable);
Tango.VideoOverlayProvider.SetCallback(cameraId, m_onImageAvailable);
}
/// <summary>
/// This will be called when a new frame is available from the camera.
/// </summary>
/// <param name="cameraId">Camera identifier.</param>
/// <param name="imageBuffer">Tango camera image buffer.</param>
public void OnTangoImageAvailableEventHandler(TangoEnums.TangoCameraId cameraId, TangoUnityImageData imageBuffer)
{
_ComputeDiffuseCoefficients(imageBuffer);
}
/// <summary>
/// Register to get Tango image events for getting the texture byte buffer callback.
///
/// NOTE: Tango image events happen on a different thread than the main
/// Unity thread.
/// </summary>
/// <param name="cameraId">Camera identifier to get events for.</param>
internal virtual void SetCallbackByteBufferMethod(Tango.TangoEnums.TangoCameraId cameraId)
{
m_previousImageBuffer = new TangoUnityImageData();
m_onImageAvailable = new Tango.VideoOverlayProvider.TangoService_onImageAvailable(_OnImageAvailable);
Tango.VideoOverlayProvider.SetCallback(cameraId, m_onImageAvailable);
}
/// <summary>
/// Register to get Tango image events for getting the texture byte buffer callback.
///
/// NOTE: Tango image events happen on a different thread than the main
/// Unity thread.
/// </summary>
internal void SetCallbackByteBufferMethod()
{
m_previousImageBuffer = new TangoUnityImageData();
m_onImageAvailable = new VideoOverlayProvider.TangoService_onImageAvailable(_OnImageAvailable);
VideoOverlayProvider.SetCallback(COLOR_CAMERA_ID, m_onImageAvailable);
}
/// <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>
private static TangoImageBuffer _GetEmulatedTangoImageBuffer(TangoUnityImageData colorImageData, GCHandle pinnedColorBuffer)
{
TangoImageBuffer imageBuffer = new TangoImageBuffer();
imageBuffer.data = pinnedColorBuffer.AddrOfPinnedObject();
imageBuffer.width = colorImageData.width;
imageBuffer.height = colorImageData.height;
imageBuffer.stride = colorImageData.stride;
imageBuffer.format = colorImageData.format;
imageBuffer.timestamp = colorImageData.timestamp;
imageBuffer.frame_number = colorImageData.frame_number;
return imageBuffer;
}
/// <summary>
/// Fill out <c>colorCameraData</c> with emulated values from Tango.
/// </summary>
/// <param name="colorCameraData">The image data to fill out.</param>
private static void _FillEmulatedColorCameraData(TangoUnityImageData colorCameraData)
{
VideoOverlayProvider.GetTangoEmulation(colorCameraData);
}
public void OnTangoImageAvailableEventHandler(TangoEnums.TangoCameraId cameraId, TangoUnityImageData imageBuffer)
{
Debug.Log( "IMAGE DATA: " + cameraId + "; " + imageBuffer.format );
}
/// <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>
/// Fill out <c>colorCameraData</c> with emulated values from Tango.
/// </summary>
/// <param name="colorCameraData">The image data to fill out.</param>
private static void _FillEmulatedColorCameraData(TangoUnityImageData colorCameraData)
{
VideoOverlayProvider.GetTangoEmulation(colorCameraData);
}
/// <summary>
/// INTERNAL USE: Fill out most recent color data for Tango emulation.
/// NOTE: Does not emulate first line of metadata in color buffer.
/// </summary>
/// <param name="colorImageData">TangoUnityImageData structure to update with emulated data.</param>
internal static void GetTangoEmulation(TangoUnityImageData colorImageData)
{
int yDataSize = EMULATED_CAMERA_WIDTH * EMULATED_CAMERA_HEIGHT;
int cbCrDataSize = yDataSize / 2;
int dataSize = yDataSize + cbCrDataSize;
if (colorImageData.data == null || colorImageData.data.Length != dataSize)
{
colorImageData.data = new byte[dataSize];
}
RenderTexture yRT = RenderTexture.GetTemporary(EMULATED_CAMERA_PACKED_WIDTH,
EMULATED_CAMERA_PACKED_Y_HEIGHT,
0, RenderTextureFormat.ARGB32);
RenderTexture cbCrRT = RenderTexture.GetTemporary(EMULATED_CAMERA_PACKED_WIDTH,
EMULATED_CAMERA_PACKED_UV_HEIGHT,
0, RenderTextureFormat.ARGB32);
Graphics.Blit(m_emulatedColorRenderTexture, yRT, m_yuvFilterY);
m_emulationByteBufferCaptureTextures[0].ReadPixels(new Rect(0, 0, yRT.width, yRT.height), 0, 0);
Graphics.Blit(m_emulatedColorRenderTexture, cbCrRT, m_yuvFilterCbCr);
m_emulationByteBufferCaptureTextures[1].ReadPixels(new Rect(0, 0, cbCrRT.width, cbCrRT.height), 0, 0);
Color32[] colors = m_emulationByteBufferCaptureTextures[0].GetPixels32();
for (int i = 0; i < yDataSize / 4; i++)
{
colorImageData.data[(i * 4)] = colors[i].r;
colorImageData.data[(i * 4) + 1] = colors[i].g;
colorImageData.data[(i * 4) + 2] = colors[i].b;
colorImageData.data[(i * 4) + 3] = colors[i].a;
}
int startOffset = colors.Length * 4;
colors = m_emulationByteBufferCaptureTextures[1].GetPixels32();
for (int i = 0; i < cbCrDataSize / 4; i++)
{
colorImageData.data[(i * 4) + startOffset] = colors[i].r;
colorImageData.data[(i * 4) + startOffset + 1] = colors[i].g;
colorImageData.data[(i * 4) + startOffset + 2] = colors[i].b;
colorImageData.data[(i * 4) + startOffset + 3] = colors[i].a;
}
RenderTexture.ReleaseTemporary(yRT);
RenderTexture.ReleaseTemporary(cbCrRT);
colorImageData.format = TangoEnums.TangoImageFormatType.TANGO_HAL_PIXEL_FORMAT_YV12;
colorImageData.width = EMULATED_CAMERA_WIDTH;
colorImageData.height = EMULATED_CAMERA_HEIGHT;
colorImageData.stride = EMULATED_CAMERA_WIDTH;
colorImageData.timestamp = m_lastColorEmulationTime;
}
public void OnTangoImageAvailableEventHandler(Tango.TangoEnums.TangoCameraId cameraId, Tango.TangoUnityImageData imageBuffer)
{
if (imageBuffer != null)
{
videoImages.Add(imageBuffer);
}
}