コード例 #1
0
        /// <summary>
        /// Returns false if error.
        /// </summary>
        /// <returns></returns>
        public static void UpdateRgbFrame()
        {
            MetaCoreInterop.meta_get_rgb_frame(RawPixelBuffer, _translation, _new_rotation);   // The buffer is pre-allocated by constructor.

            // Check for a difference
            bool isEqual = true;

            // Check for a difference in pose (should change with each new RGB frame).
            for (int i = 0; i < _new_rotation.Length; ++i)
            {
                isEqual = _rotation[i] == _new_rotation[i];

                if (!isEqual)
                {
                    break;
                }
            }

            // If the two rotations are not equal, we have a new rgb frame.
            if (!isEqual)
            {
                // Copy new rotation if it's different.
                for (int i = 0; i < _new_rotation.Length; ++i)
                {
                    _rotation[i] = _new_rotation[i];
                }

                _rgbTexture.LoadRawTextureData(RawPixelBuffer, _totalBufferSize);
                _rgbTexture.Apply();
            }
        }
コード例 #2
0
    // Update is called once per frame
    void Update()
    {
        MetaCoreInterop.meta_get_point_cloud(ref _metaPointCloud, _translation, _rotation);
        //Added by Yuqi Ding

        MetaCoreInterop.meta_get_rgb_frame(RawPixelBuffer, _translation, _new_rotation);  // The buffer is pre-allocated by constructor.

        // Check for a difference
        bool isEqual = true;

        // Check for a difference in pose (should change with each new RGB frame).
        for (int i = 0; i < _new_rotation.Length; ++i)
        {
            isEqual = _rotation[i] == _new_rotation[i];

            if (!isEqual)
            {
                break;
            }
        }

        // If the two rotations are not equal, we have a new rgb frame.
        if (!isEqual)
        {
            // Copy new rotation if it's different.
            for (int i = 0; i < _new_rotation.Length; ++i)
            {
                _rotation[i] = _new_rotation[i];
            }

            _rgbTexture.LoadRawTextureData(RawPixelBuffer, _totalBufferSize);
            _rgbTexture.Apply();
            if (Time.frameCount % 48 == 0)
            {
                byte[] bytes   = _rgbTexture.EncodeToPNG();
                string rgbname = string.Format("{0}/{1:D04} shot.png", folder, Time.frameCount);
                File.WriteAllBytes(rgbname, bytes);
            }
        }
        // Added end

        SetDepthToWorldTransform();

        if (SavePointCloud && (Time.frameCount % 48 == 0))
        {
            MarshalMetaPointCloud();
            //UpdateMesh();
            int num = _metaPointCloud.num_points;
            Debug.Log(_translation[0].ToString());
            Debug.Log(_translation[1].ToString());
            Debug.Log(_translation[2].ToString());
            if (num != 0)
            {
                string Name1 = string.Format("{0}/{1:D04} shot.ply", folder, Time.frameCount);
                SavePointCloudToPly(Name1, _pointCloud);
            }
        }
    }
コード例 #3
0
    // Update is called once per frame
    void Update()
    {
        MetaCoreInterop.meta_get_point_cloud(ref _metaPointCloud, _translation, _rotation);

        SetDepthToWorldTransform();

        if (RenderPointCloud)
        {
            MarshalMetaPointCloud();
            UpdateMesh();
        }
    }
コード例 #4
0
    // Update is called once per frame
    void Update()
    {
        //Added by Yuqi Ding
        MetaCoreInterop.meta_get_point_cloud(ref _metaPointCloud, _translation, _rotation);

        // obtain the rgb data
        MetaCoreInterop.meta_get_rgb_frame(RawPixelBuffer, _translation_rgb, _new_rotation_rgb);  // The buffer is pre-allocated by constructor.

        // obtain the rgb data parameter
        MetaCoreInterop.meta_get_rgb_intrinsics(ref _camera_params);

        // Check for a difference
        bool isEqual = true;

        // Check for a difference in pose (should change with each new RGB frame).
        for (int i = 0; i < _new_rotation_rgb.Length; ++i)
        {
            isEqual = _rotation_rgb[i] == _new_rotation_rgb[i];

            if (!isEqual)
            {
                break;
            }
        }

        // If the two rotations are not equal, we have a new rgb frame.
        if (!isEqual)
        {
            // Copy new rotation if it's different.
            for (int i = 0; i < _new_rotation_rgb.Length; ++i)
            {
                _rotation_rgb[i] = _new_rotation_rgb[i];
            }

            _rgbTexture.LoadRawTextureData(RawPixelBuffer, _totalBufferSize);
            _rgbTexture.Apply();
        }

        SetDepthToWorldTransform();

        if (SavePointCloud && (Time.frameCount % 48 == 0))
        {
            MarshalMetaPointCloud();

            int num = _metaPointCloud.num_points;
            if (num != 0)
            {
                //save the point cloud
                string PointCloudName = string.Format("{0}/{1:D04} shot.ply", folder, Time.frameCount);
                SavePointCloudToPly(PointCloudName, _pointCloud);
                string PointCloudIntrName = string.Format("{0}/{1:D04} pointcloud_Intr.txt", folder, Time.frameCount);
                SavePointCloudPara(PointCloudIntrName, _translation, _rotation);

                //save the rgb frame
                Color[] color2dtemp = _rgbTexture.GetPixels();
                for (int i = 0; i < color2dtemp.Length; i++)
                {
                    float temp = 0.0f;
                    temp             = color2dtemp[i].r;
                    color2dtemp[i].r = color2dtemp[i].b;
                    color2dtemp[i].b = temp;
                }
                _rgbTexture.SetPixels(color2dtemp);
                //Debug.Log("Swap r and b");

                byte[] bytes   = _rgbTexture.EncodeToJPG();
                string rgbName = string.Format("{0}/{1:D04} shot.jpg", folder, Time.frameCount);
                File.WriteAllBytes(rgbName, bytes);
                string rgbIntrName = string.Format("{0}/{1:D04} shot_Intr.txt", folder, Time.frameCount);
                SaveRGBIntrinsics(rgbIntrName, _camera_params);
                string rgbParaName = string.Format("{0}/{1:D04} shot_Para.txt", folder, Time.frameCount);
                SaveRGBPara(rgbParaName, _translation_rgb, _rotation_rgb);
            }
            // Added end
        }
    }