/// <summary>
/// Renders the latest frame.
/// </summary>
/// <param name="cameraId">Camera identifier.</param>
public static void RenderLatestFrame(TangoEnums.TangoCameraId cameraId)
{
double timestamp = 0.0f;
int returnValue = VideoOverlayAPI.TangoService_updateTexture(cameraId, ref timestamp);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("VideoOverlayProvider.UpdateTexture() Texture was not updated by camera!");
}
}
/// <summary>
/// Get the camera/sensor intrinsics.
/// </summary>
/// <param name="cameraId">Camera identifier.</param>
/// <param name="intrinsics">Camera intrinsics data.</param>
public static void GetIntrinsics(TangoEnums.TangoCameraId cameraId, [Out] TangoCameraIntrinsics intrinsics)
{
int returnValue = VideoOverlayAPI.TangoService_getCameraIntrinsics(cameraId, intrinsics);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("IntrinsicsProviderAPI.TangoService_getCameraIntrinsics() failed!");
}
}
/// <summary>
/// Connects the texture.
/// </summary>
/// <param name="cameraId">Camera identifier.</param>
/// <param name="textureId">Texture identifier.</param>
public static void ConnectTexture(TangoEnums.TangoCameraId cameraId, int textureId)
{
int returnValue = VideoOverlayAPI.TangoService_connectTextureId(cameraId, textureId);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("VideoOverlayProvider.ConnectTexture() Texture was not connected to camera!");
}
}
public static void ExperimentalConnectTexture(TangoEnums.TangoCameraId cameraId, int textureId, TangoService_onUnityFrameAvailable onUnityFrameAvailable)
{
int returnValue = VideoOverlayAPI.TangoService_Experimental_connectTextureIdUnity(cameraId, (uint)textureId, callbackContext, onUnityFrameAvailable);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("VideoOverlayProvider.ConnectTexture() Texture was not connected to camera!");
}
}
/// <summary>
/// Sets the callback for notifications when image data is ready.
/// </summary>
/// <param name="cameraId">Camera identifier.</param>
/// <param name="onImageAvailable">On image available callback handler.</param>
public static void SetCallback(TangoEnums.TangoCameraId cameraId, TangoService_onImageAvailable onImageAvailable)
{
int returnValue = VideoOverlayAPI.TangoService_connectOnFrameAvailable(cameraId, callbackContext, onImageAvailable);
if(returnValue == Tango.Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(CLASS_NAME + ".SetCallback() Callback was set.");
}
else
{
Debug.Log(CLASS_NAME + ".SetCallback() Callback was not set!");
}
}
public static extern int TangoService_Experimental_connectTextureIdUnity(TangoEnums.TangoCameraId id,
uint tex,
IntPtr context,
TangoService_onUnityFrameAvailable onUnityFrameAvailable);
public static int TangoService_Experimental_connectTextureIdUnity(
TangoEnums.TangoCameraId id, UInt32 texture_y, UInt32 texture_Cb, UInt32 texture_Cr,
IntPtr context, APIOnTextureAvailable callback)
{
return Common.ErrorType.TANGO_SUCCESS;
}
public static int TangoService_getCameraIntrinsics(
TangoEnums.TangoCameraId cameraId, [Out] TangoCameraIntrinsics intrinsics)
{
return Common.ErrorType.TANGO_SUCCESS;
}
public static int TangoService_updateTexture(TangoEnums.TangoCameraId cameraId, ref double timestamp)
{
return Common.ErrorType.TANGO_SUCCESS;
}
public static extern int TangoService_connectOnTextureAvailable(
TangoEnums.TangoCameraId cameraId, IntPtr ContextMenu, APIOnTextureAvailable callback);
public static extern int TangoService_getCameraIntrinsics(
TangoEnums.TangoCameraId cameraId, [Out] TangoCameraIntrinsics intrinsics);
public static extern int TangoService_updateTexture(
TangoEnums.TangoCameraId cameraId, ref double timestamp);
public static int TangoService_Experimental_connectTextureIdUnity(TangoEnums.TangoCameraId id,
uint tex,
IntPtr context,
TangoService_onUnityFrameAvailable onUnityFrameAvailable)
{
return Tango.Common.ErrorType.TANGO_SUCCESS;
}
public static int TangoService_connectOnFrameAvailable(TangoEnums.TangoCameraId cameraId,
IntPtr context,
[In,Out] TangoService_onImageAvailable onImageAvailable)
{
return Tango.Common.ErrorType.TANGO_SUCCESS;
}
public static int TangoService_connectTextureId(TangoEnums.TangoCameraId cameraId, int textureHandle)
{
return Tango.Common.ErrorType.TANGO_SUCCESS;
}
/// <summary>
/// Connect a callback to a camera for texture updates.
/// </summary>
/// <param name="cameraId">
/// The ID of the camera to connect this texture to. Only <code>TANGO_CAMERA_COLOR</code> and
/// <code>TANGO_CAMERA_FISHEYE</code> are supported.
/// </param>
/// <param name="callback">Function called when a new frame is available from the camera.</param>
internal static void SetCallback(TangoEnums.TangoCameraId cameraId, APIOnTextureAvailable callback)
{
int returnValue = API.TangoService_connectOnTextureAvailable(cameraId, IntPtr.Zero, callback);
if (returnValue == Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(CLASS_NAME + ".SetCallback(OnTextureAvailable) Callback was set.");
}
else
{
Debug.Log(CLASS_NAME + ".SetCallback(OnTextureAvailable) Callback was not set!");
}
}
/// <summary>
/// Clear all camera callbacks.
/// </summary>
/// <param name="cameraId">Camera identifier.</param>
internal static void ClearCallback(TangoEnums.TangoCameraId cameraId)
{
int returnValue = API.TangoService_Experimental_connectTextureIdUnity(cameraId, 0, 0, 0,
IntPtr.Zero, null);
if (returnValue == Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(CLASS_NAME + ".ClearCallback() Unity callback was cleared.");
}
else
{
Debug.Log(CLASS_NAME + ".ClearCallback() Unity callback was not cleared!");
}
returnValue = API.TangoService_connectOnFrameAvailable(cameraId, IntPtr.Zero, null);
if (returnValue == Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(CLASS_NAME + ".ClearCallback() Frame callback was cleared.");
}
else
{
Debug.Log(CLASS_NAME + ".ClearCallback() Frame callback was not cleared!");
}
returnValue = API.TangoService_connectOnTextureAvailable(cameraId, IntPtr.Zero, null);
if (returnValue == Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log(CLASS_NAME + ".ClearCallback() Texture callback was cleared.");
}
else
{
Debug.Log(CLASS_NAME + ".ClearCallback() Texture callback was not cleared!");
}
}
/// <summary>
/// Handle the callback sent by the Tango Service
/// when a new image is sampled.
/// </summary>
/// <param name="cameraId">Camera identifier.</param>
/// <param name="callbackContext">Callback context.</param>
/// <param name="imageBuffer">Image buffer.</param>
protected void _OnImageAvailable(IntPtr callbackContext,
TangoEnums.TangoCameraId cameraId,
TangoImageBuffer imageBuffer)
{
m_previousCameraId = cameraId;
if(m_previousImageBuffer.data == null)
{
m_previousImageBuffer.data = new byte[imageBuffer.width * imageBuffer.height * 2];
}
m_previousImageBuffer.width = imageBuffer.width;
m_previousImageBuffer.height = imageBuffer.height;
m_previousImageBuffer.stride = imageBuffer.stride;
m_previousImageBuffer.timestamp = imageBuffer.timestamp;
m_previousImageBuffer.format = imageBuffer.format;
m_previousImageBuffer.frame_number = imageBuffer.frame_number;
Marshal.Copy(imageBuffer.data, m_previousImageBuffer.data, 0, m_previousImageBuffer.data.Length);
m_shouldSendEvent = true;
}
public static extern int TangoService_updateTextureExternalOes(
TangoEnums.TangoCameraId cameraId, UInt32 glTextureId, out double timestamp);
/// <summary>
/// This will be called when a new frame is available from the camera.
///
/// The first scan-line of the color image is reserved for metadata instead of image pixels.
/// </summary>
/// <param name="cameraId">Camera identifier.</param>
public void OnExperimentalTangoImageAvailable(TangoEnums.TangoCameraId cameraId)
{
if (cameraId == TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR)
{
m_screenUpdateTime = VideoOverlayProvider.RenderLatestFrame(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR);
// Rendering the latest frame changes a bunch of OpenGL state. Ensure Unity knows the current OpenGL state.
GL.InvalidateState();
}
}
public static extern int TangoService_connectOnFrameAvailable(
TangoEnums.TangoCameraId cameraId, IntPtr context,
[In, Out] APIOnImageAvailable callback);
/// <summary>
/// DEPRECATED: Update the texture that has been connected to camera referenced by TangoCameraId with the latest image
/// from the camera.
/// </summary>
/// <returns>The timestamp of the image that has been pushed to the connected texture.</returns>
/// <param name="cameraId">
/// The ID of the camera to connect this texture to. Only <c>TANGO_CAMERA_COLOR</c> is supported.
/// </param>
public static double RenderLatestFrame(TangoEnums.TangoCameraId cameraId)
{
#if UNITY_EDITOR
if (m_emulatedExpId_Y != null && m_emulatedExpId_CbCr != null)
{
m_emulatedExpId_Y.DiscardContents();
m_emulatedExpId_CbCr.DiscardContents();
Graphics.Blit(m_emulatedColorRenderTexture, m_emulatedExpId_Y, m_yuvFilterY);
Graphics.Blit(m_emulatedColorRenderTexture, m_emulatedExpId_CbCr, m_yuvFilterCbCr);
}
return m_lastColorEmulationTime;
#else
double timestamp = 0.0;
int returnValue = API.TangoService_updateTexture(cameraId, ref timestamp);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("VideoOverlayProvider.UpdateTexture() Texture was not updated by camera!");
}
return timestamp;
#endif
}
public static extern int TangoService_Experimental_connectTextureIdUnity(
TangoEnums.TangoCameraId id, UInt32 texture_y, UInt32 texture_Cb, UInt32 texture_Cr, IntPtr context,
APIOnTextureAvailable callback);
/// <summary>
/// Update the AR screen's texture to the most recent state of the specified camera.
/// </summary>
/// <returns>The timestamp of the image that has been pushed to the AR screen's texture.</returns>
/// <param name="cameraId">
/// The ID of the camera to connect this texture to. Only <c>TANGO_CAMERA_COLOR</c> is supported.
/// </param>
public static double UpdateARScreen(TangoEnums.TangoCameraId cameraId)
{
#if UNITY_EDITOR
if (m_emulatedARScreenTexture != null)
{
m_emulatedARScreenTexture.DiscardContents();
Graphics.Blit(m_emulatedColorRenderTexture, m_emulatedARScreenTexture);
}
return m_lastColorEmulationTime;
#else
double timestamp = 0.0;
uint tex = API.TangoUnity_getArTexture();
int returnValue = API.TangoService_updateTextureExternalOes(cameraId, tex, out timestamp);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("Unable to update texture. " + Environment.StackTrace);
}
// Rendering the latest frame changes a bunch of OpenGL state. Ensure Unity knows the current OpenGL
// state.
GL.InvalidateState();
return timestamp;
#endif
}
public static int TangoService_updateTextureExternalOes(
TangoEnums.TangoCameraId cameraId, UInt32 glTextureId, out double timestamp)
{
timestamp = 0;
return Common.ErrorType.TANGO_SUCCESS;
}
/// <summary>
/// Get the intrinsic calibration parameters for a given camera, this also aligns the camera intrinsics based
/// on device orientation.
///
/// For example, if the device orientation is portrait and camera intrinsics is in
/// landscape. This function will inverse the intrinsic x and y, and report intrinsics in portrait mode.
///
/// The intrinsics are as specified by the TangoCameraIntrinsics struct. Intrinsics are read from the
/// on-device intrinsics file (typically <code>/sdcard/config/calibration.xml</code>, but to ensure
/// compatibility applications should only access these parameters via the API), or default internal model
/// parameters corresponding to the device are used if the calibration.xml file is not found.
/// </summary>
/// <param name="cameraId">The camera ID to retrieve the calibration intrinsics for.</param>
/// <param name="alignedIntrinsics">
/// A TangoCameraIntrinsics filled with calibration intrinsics for the camera, this intrinsics is also
/// aligned with device orientation.
/// </param>
public static void GetDeviceOientationAlignedIntrinsics(TangoEnums.TangoCameraId cameraId,
TangoCameraIntrinsics alignedIntrinsics)
{
TangoCameraIntrinsics intrinsics = new TangoCameraIntrinsics();
GetIntrinsics(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, intrinsics);
float intrinsicsRatio = (float)intrinsics.width / (float)intrinsics.height;
bool isLandscape = (AndroidHelper.GetDefaultOrientation() +
(int)AndroidHelper.GetDisplayRotation()) % 2 == 0;
// If the intrinsics ratio and camera render ratio don't agree with each other, we invert the intrinsics
// reading to align to camera render orientation.
if ((!isLandscape && intrinsicsRatio > 1.0f) || (isLandscape && intrinsicsRatio < 1.0f))
{
alignedIntrinsics.cx = intrinsics.cy;
alignedIntrinsics.cy = intrinsics.cx;
alignedIntrinsics.fx = intrinsics.fy;
alignedIntrinsics.fy = intrinsics.fx;
alignedIntrinsics.height = intrinsics.width;
alignedIntrinsics.width = intrinsics.height;
}
else
{
alignedIntrinsics.cx = intrinsics.cx;
alignedIntrinsics.cy = intrinsics.cy;
alignedIntrinsics.fx = intrinsics.fx;
alignedIntrinsics.fy = intrinsics.fy;
alignedIntrinsics.height = intrinsics.height;
alignedIntrinsics.width = intrinsics.width;
}
alignedIntrinsics.distortion0 = intrinsics.distortion0;
alignedIntrinsics.distortion1 = intrinsics.distortion1;
alignedIntrinsics.distortion2 = intrinsics.distortion2;
alignedIntrinsics.distortion3 = intrinsics.distortion3;
alignedIntrinsics.distortion4 = intrinsics.distortion4;
alignedIntrinsics.camera_id = intrinsics.camera_id;
alignedIntrinsics.calibration_type = intrinsics.calibration_type;
}
public static int TangoService_connectOnTextureAvailable(
TangoEnums.TangoCameraId cameraId, IntPtr context, APIOnTextureAvailable callback)
{
return Common.ErrorType.TANGO_SUCCESS;
}
/// <summary>
/// Get the intrinsic calibration parameters for a given camera.
///
/// The intrinsics are as specified by the TangoCameraIntrinsics struct. Intrinsics are read from the
/// on-device intrinsics file (typically <code>/sdcard/config/calibration.xml</code>, but to ensure
/// compatibility applications should only access these parameters via the API), or default internal model
/// parameters corresponding to the device are used if the calibration.xml file is not found.
/// </summary>
/// <param name="cameraId">The camera ID to retrieve the calibration intrinsics for.</param>
/// <param name="intrinsics">A TangoCameraIntrinsics filled with calibration intrinsics for the camera.</param>
public static void GetIntrinsics(TangoEnums.TangoCameraId cameraId, TangoCameraIntrinsics intrinsics)
{
int returnValue = API.TangoService_getCameraIntrinsics(cameraId, intrinsics);
#if UNITY_EDITOR
// In editor, base 'intrinsics' off of properties of emulation camera.
if (cameraId == TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR && EmulatedEnvironmentRenderHelper.m_emulationCamera != null)
{
// Instantiate any resources that we haven't yet.
_InternResourcesForEmulation();
EmulatedEnvironmentRenderHelper.m_emulationCamera.targetTexture = m_emulatedColorRenderTexture;
intrinsics.width = (uint)EMULATED_CAMERA_WIDTH;
intrinsics.height = (uint)EMULATED_CAMERA_HEIGHT;
float fov = EmulatedEnvironmentRenderHelper.m_emulationCamera.fieldOfView;
float focalLengthInPixels = (1 / Mathf.Tan(fov * 0.5f * Mathf.Deg2Rad)) * (intrinsics.height * 0.5f);
intrinsics.fy = intrinsics.fx = focalLengthInPixels;
intrinsics.cx = intrinsics.width / 2f;
intrinsics.cy = intrinsics.height / 2f;
}
#endif
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("IntrinsicsProviderAPI.TangoService_getCameraIntrinsics() failed!");
}
}
/// <summary>
/// Construct readable string from TangoPoseStatusType.
/// </summary>
/// <returns>Printable string.</returns>
/// <param name="status">Tango pose status.</param>
private string _GetLoggingStringFromPoseStatus(TangoEnums.TangoPoseStatusType status)
{
string statusString = string.Empty;
switch (status)
{
case TangoEnums.TangoPoseStatusType.TANGO_POSE_INITIALIZING:
statusString = "initializing";
break;
case TangoEnums.TangoPoseStatusType.TANGO_POSE_INVALID:
statusString = "invalid";
break;
case TangoEnums.TangoPoseStatusType.TANGO_POSE_UNKNOWN:
statusString = "unknown";
break;
case TangoEnums.TangoPoseStatusType.TANGO_POSE_VALID:
statusString = "valid";
break;
default:
statusString = "N/A";
break;
}
return statusString;
}
/// <summary>
/// DEPRECATED: Connect a Texture IDs to a camera.
///
/// The camera is selected via TangoCameraId. Currently only TANGO_CAMERA_COLOR is supported. The texture
/// handles will be regenerated by the API on startup after which the application can use them, and will be
/// packed RGBA8888 data containing bytes of the image (so a single RGBA8888 will pack 4 neighboring pixels).
/// If the config flag experimental_image_pixel_format is set to HAL_PIXEL_FORMAT_YCrCb_420_SP, texture_y will
/// pack 1280x720 pixels into a 320x720 RGBA8888 texture. texture_Cb and texture_Cr will contain copies of
/// the 2x2 downsampled interleaved UV planes packed similarly. If experimental_image_pixel_format is set to
/// HAL_PIXEL_FORMAT_YV12 then texture_y will have a stride of 1536 containing 1280 columns of data, packed
/// similarly in a RGBA8888 texture. texture_Cb and texture_Cr will be 2x2 downsampled versions of the same.
/// See YV12 and NV21 formats for details.
///
/// Note: The first scan-line of the color image is reserved for metadata instead of image pixels.
/// </summary>
/// <param name="cameraId">
/// The ID of the camera to connect this texture to. Only TANGO_CAMERA_COLOR and TANGO_CAMERA_FISHEYE are
/// supported.
/// </param>
/// <param name="textures">The texture IDs to use for the Y, Cb, and Cr planes.</param>
/// <param name="callback">Callback method.</param>
internal static void ExperimentalConnectTexture(
TangoEnums.TangoCameraId cameraId, YUVTexture textures, APIOnTextureAvailable callback)
{
#if UNITY_EDITOR
if (cameraId == TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR)
{
m_emulatedExpId_Y = (RenderTexture)textures.m_videoOverlayTextureY;
m_emulatedExpId_CbCr = (RenderTexture)textures.m_videoOverlayTextureCb;
}
#else
int returnValue = API.TangoService_Experimental_connectTextureIdUnity(
cameraId,
(uint)textures.m_videoOverlayTextureY.GetNativeTexturePtr().ToInt64(),
(uint)textures.m_videoOverlayTextureCb.GetNativeTexturePtr().ToInt64(),
(uint)textures.m_videoOverlayTextureCr.GetNativeTexturePtr().ToInt64(),
IntPtr.Zero,
callback);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("VideoOverlayProvider.ConnectTexture() Texture was not connected to camera!");
}
#endif
}
