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);
}
}
public void OnSurfaceCreated(IGL10 gl, Javax.Microedition.Khronos.Egl.EGLConfig config)
{
GLES20.GlClearColor(0.9f, 0.1f, 0.1f, 1.0f);
// GLES20.GlViewport(0, 0, glSurfaceView.Width, glSurfaceView.Height);
textureSize = arSession.CameraConfig.TextureSize;
arSession.SetDisplayGeometry(1, targetResolution.Width, targetResolution.Height);
int[] glObjs = new int[1];
GLES20.GlGenFramebuffers(1, glObjs, 0);
fboId = glObjs[0];
GLES20.GlBindFramebuffer(GLES20.GlFramebuffer, fboId);
GLES20.GlViewport(0, 0, targetResolution.Width, targetResolution.Height);
GLES20.GlGenTextures(1, glObjs, 0);
renderTextureId = glObjs[0];;
GLES20.GlBindTexture(GLES20.GlTexture2d, renderTextureId);
GLES20.GlTexParameteri(GLES20.GlTexture2d, GLES20.GlTextureWrapS, GLES20.GlClampToEdge);
GLES20.GlTexParameteri(GLES20.GlTexture2d, GLES20.GlTextureWrapT, GLES20.GlClampToEdge);
GLES20.GlTexParameteri(GLES20.GlTexture2d, GLES20.GlTextureMinFilter, GLES20.GlNearest);
GLES20.GlTexParameteri(GLES20.GlTexture2d, GLES20.GlTextureMagFilter, GLES20.GlNearest);
GLES20.GlTexImage2D(GLES20.GlTexture2d, 0, GLES20.GlRgba, targetResolution.Width, targetResolution.Height, 0, GLES20.GlRgba, GLES20.GlUnsignedByte, null);
GLES20.GlBindTexture(GLES20.GlTexture2d, 0);
GLES20.GlFramebufferTexture2D(GLES20.GlFramebuffer, GLES20.GlColorAttachment0, GLES20.GlTexture2d, renderTextureId, 0);
GLES20.GlBindFramebuffer(GLES20.GlFramebuffer, 0);
GlUtil.CheckNoGLES2Error("Create render texture.");
// Create the texture and pass it to ARCore session to be filled during update().
backgroundRenderer.CreateOnGlThread(/*context=*/ this);
if (arSession != null)
{
arSession.SetCameraTextureName(BackgroundRenderer.TextureId);
}
// Prepare the other rendering objects.
try
{
virtualObject.CreateOnGlThread(/*context=*/ this, "andy.obj", "andy.png");
virtualObject.setMaterialProperties(0.0f, 3.5f, 1.0f, 6.0f);
virtualObjectShadow.CreateOnGlThread(/*context=*/ this,
"andy_shadow.obj", "andy_shadow.png");
virtualObjectShadow.SetBlendMode(ObjectRenderer.BlendMode.Shadow);
virtualObjectShadow.setMaterialProperties(1.0f, 0.0f, 0.0f, 1.0f);
}
catch (Java.IO.IOException e)
{
Log.Error(TAG, "Failed to read obj file");
}
try
{
planeRenderer.CreateOnGlThread(/*context=*/ this, "trigrid.png");
}
catch (Java.IO.IOException e)
{
Log.Error(TAG, "Failed to read plane texture");
}
pointCloudRenderer.CreateOnGlThread(/*context=*/ this);
}