/// <summary>
/// Calculates the depth in the color camera space at a user-specified
/// location using nearest-neighbor interpolation.
/// </summary>
/// <returns>
/// <c>true</c>, if a point is found is found successfully, <c>false</c> otherwise.
/// </returns>
/// <param name="pointCloud">
/// The point cloud. Cannot be null and must have at least three points.
/// </param>
/// <param name="colorCameraTimestamp">
/// Color camera's timestamp when UV is captured.
/// </param>
/// <param name="uvCoordinates">
/// The UV coordinates for the user selection. This is expected to be
/// in Unity viewport space. The bottom-left of the camera is (0,0);
/// the top-right is (1,1).
/// </param>
/// <param name="colorCameraPoint">
/// The point (x, y, z), where (x, y) is the back-projection of the UV
/// coordinates to the color camera space and z is the z coordinate of
/// the point in the point cloud nearest to the user selection after
/// projection onto the image plane. If there is not a point cloud point
/// close to the user selection after projection onto the image plane,
/// then the point will be set to (0.0, 0.0, 0.0) and isValidPoint will
/// be set to false.
/// </param>
public static bool ScreenCoordinateToWorldNearestNeighbor(
TangoPointCloudData pointCloud,
double colorCameraTimestamp,
Vector2 uvCoordinates,
out Vector3 colorCameraPoint)
{
TangoPoseData depth_T_colorCameraPose = new TangoPoseData();
int returnValue = TangoSupportAPI.TangoSupport_calculateRelativePose(
pointCloud.m_timestamp,
TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_DEPTH,
colorCameraTimestamp,
TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR,
depth_T_colorCameraPose);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.LogError("TangoSupport_calculateRelativePose error. " + Environment.StackTrace);
colorCameraPoint = Vector3.zero;
return(false);
}
GCHandle pointCloudHandle = GCHandle.Alloc(pointCloud.m_points,
GCHandleType.Pinned);
TangoPointCloudIntPtr tangoPointCloudIntPtr = new TangoPointCloudIntPtr();
tangoPointCloudIntPtr.m_points = pointCloudHandle.AddrOfPinnedObject();
tangoPointCloudIntPtr.m_timestamp = pointCloud.m_timestamp;
tangoPointCloudIntPtr.m_numPoints = pointCloud.m_numPoints;
// Unity viewport space is: the bottom-left of the camera is (0,0);
// the top-right is (1,1).
// Tango (Android) defined UV space is: the top-left of the camera is (0,0);
// the bottom-right is (1,1).
Vector2 uvCoordinatesTango = new Vector2(uvCoordinates.x, 1.0f - uvCoordinates.y);
DVector4 pointCloudRotation = DVector4.IdentityQuaternion;
DVector3 pointCloudTranslation = DVector3.Zero;
returnValue = TangoSupportAPI.TangoSupport_getDepthAtPointNearestNeighbor(
ref tangoPointCloudIntPtr,
ref pointCloudTranslation,
ref pointCloudRotation,
ref uvCoordinatesTango,
AndroidHelper.GetDisplayRotation(),
ref depth_T_colorCameraPose.translation,
ref depth_T_colorCameraPose.orientation,
out colorCameraPoint);
pointCloudHandle.Free();
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.LogError("TangoSupport_getDepthAtPointNearestNeighbor error. " + Environment.StackTrace);
colorCameraPoint = Vector3.zero;
return(false);
}
return(true);
}
/// <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 and are accessed via the API.
/// </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 GetDeviceOrientationAlignedIntrinsics(TangoEnums.TangoCameraId cameraId,
TangoCameraIntrinsics alignedIntrinsics)
{
TangoCameraIntrinsics intrinsics = new TangoCameraIntrinsics();
GetIntrinsics(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, intrinsics);
float intrinsicsRatio = (float)intrinsics.width / (float)intrinsics.height;
Tango.OrientationManager.Rotation rotation = TangoSupport.RotateFromAToB(
AndroidHelper.GetDisplayRotation(),
AndroidHelper.GetColorCameraRotation());
switch (rotation)
{
case Tango.OrientationManager.Rotation.ROTATION_90:
alignedIntrinsics.cx = intrinsics.cy;
alignedIntrinsics.cy = intrinsics.width - intrinsics.cx;
alignedIntrinsics.fx = intrinsics.fy;
alignedIntrinsics.fy = intrinsics.fx;
alignedIntrinsics.width = intrinsics.height;
alignedIntrinsics.height = intrinsics.width;
break;
case Tango.OrientationManager.Rotation.ROTATION_180:
alignedIntrinsics.cx = intrinsics.width - intrinsics.cx;
alignedIntrinsics.cy = intrinsics.height - intrinsics.cy;
alignedIntrinsics.fx = intrinsics.fx;
alignedIntrinsics.fy = intrinsics.fy;
alignedIntrinsics.width = intrinsics.width;
alignedIntrinsics.height = intrinsics.height;
break;
case Tango.OrientationManager.Rotation.ROTATION_270:
alignedIntrinsics.cx = intrinsics.height - intrinsics.cy;
alignedIntrinsics.cy = intrinsics.cx;
alignedIntrinsics.fx = intrinsics.fy;
alignedIntrinsics.fy = intrinsics.fx;
alignedIntrinsics.width = intrinsics.height;
alignedIntrinsics.height = intrinsics.width;
break;
default:
alignedIntrinsics.cx = intrinsics.cx;
alignedIntrinsics.cy = intrinsics.cy;
alignedIntrinsics.fx = intrinsics.fx;
alignedIntrinsics.fy = intrinsics.fy;
alignedIntrinsics.width = intrinsics.width;
alignedIntrinsics.height = intrinsics.height;
break;
}
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;
}
/// <summary>
/// This is called when successfully connected to the Tango service.
/// </summary>
public void OnTangoServiceConnected()
{
// Disable
if (!m_tangoApplication.EnableVideoOverlay)
{
IsRendering = false;
return;
}
CommandBuffer buf = VideoOverlayProvider.CreateARScreenCommandBuffer();
m_camera.AddCommandBuffer(CameraEvent.BeforeForwardOpaque, buf);
m_camera.AddCommandBuffer(CameraEvent.BeforeGBuffer, buf);
_SetRenderAndCamera(AndroidHelper.GetDisplayRotation(), AndroidHelper.GetColorCameraRotation());
IsRendering = true;
}
/// <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;
}
/// <summary>
/// This is called when successfully connected to the Tango service.
/// </summary>
public void OnTangoServiceConnected()
{
_SetRenderAndCamera(AndroidHelper.GetDisplayRotation(),
AndroidHelper.GetColorCameraRotation());
}
public Tango.OrientationManager.Rotation GetDisplayRotation()
{
return(AndroidHelper.GetDisplayRotation());
}
