/// <summary>
/// Handles the event for raw capture data recieved, and forwards it to any listeners.
/// Sets the orientation of the framePoseTransform to the current frame pose.
/// </summary>
/// <param name="extras">Contains timestamp to use with GetFramePose, also forwarded to listeners.</param>
/// <param name="frameData">Forwarded to listeners.</param>
/// <param name="frameMetadata">Forwarded to listeners.</param>
private void OnRawCaptureDataReceived(MLCameraResultExtras extras, YUVFrameInfo frameData, MLCameraFrameMetadata frameMetadata)
{
Matrix4x4 matrix = Matrix4x4.identity;
MLResult result = MLCamera.GetFramePose(extras.VcamTimestampUs * 1000, out matrix);
_framePoseTransform.position = matrix.MultiplyPoint(Vector3.zero);
_framePoseTransform.rotation = matrix.rotation;
OnRawVideoDataReceived?.Invoke(extras, frameData, frameMetadata);
}
/// <summary>
/// Handles converting [frameData] from byte data into Unity Texture and gets frame pose, and
/// stores into [camera_pose]. OnImageCaptured triggered by this function.
/// </summary>
public void OnFrameCaptured(MLCameraResultExtras extras, YUVFrameInfo frameData, MLCameraFrameMetadata frameMetadata)
{
ulong vcamtimestamp = extras.VcamTimestampUs;
YUVBuffer yData = frameData.Y;
byte[] imageData = yData.Data;
Texture2D texture = new Texture2D((int)yData.Stride, (int)yData.Height, TextureFormat.R8, false);
texture.LoadRawTextureData(imageData);
texture.Apply();
MLCamera.GetFramePose(vcamtimestamp * 1000, out camera_pose);
OnImageCaptured(texture);
}
private void OnCaptureCompleted(MLCameraResultExtras extras, string extraString)
{
Matrix4x4 matrix4X4 = new Matrix4x4();
MLResult poseResult = MLCamera.GetFramePose(extras.VcamTimestampUs * 1000, out matrix4X4);
Pose pose = new Pose
{
rotation = matrix4X4.rotation,
translation = new Vector3(matrix4X4.m03, matrix4X4.m13, matrix4X4.m23)
};
String info = String.Format("OnCaptureCompleted.\n Frame number: {0}, Frame time: {1}\nExtra String: {2}", extras.FrameNumber, extras.VcamTimestampUs, extraString);
Debug.Log(info);
Debug.Log(String.Format("========\n{4}\n{3}\n{0}\nrotation:{1}\ntranslation:{2}\n===========\n", matrix4X4, pose.rotation.ToString("f4"), pose.translation.ToString("f4"), poseResult, info));
_text.text = String.Format("Frame#{0}, FrameTime: {1}\nRotation:{2}\nTranslation:{3}", extras.FrameNumber, extras.VcamTimestampUs / 1000, pose.rotation.ToString("f4"), pose.translation.ToString("f4"));
_results.images.Add(new ImageInfo
{
fileName = String.Format(@"image{0}.jpeg", _results.images.Count),
timestampSec = ((double)extras.VcamTimestampUs) / 1000000.0d,
poseStatus = poseResult.ToString(),
framePose = pose,
poseMatrix = matrix4X4
});
lock (_cameraLockObject)
{
_isCapturing = false;
}
if (_autoCapture)
{
TriggerAsyncCapture();
}
else
{
GenerateJsonReport();
}
}
