public void Release(IntPtr imageHandle)
{
ExternApi.ArImage_release(imageHandle);
}
/// <summary>
/// Creates the texture reader instance.
/// </summary>
/// <param name="format">Format of the output image pixel. Can be either eImageFormat_RGBA
/// or eImageFormat_I8.</param>
/// <param name="width">Width of the output image, in pixels.</param>
/// <param name="height">Height of the output image, in pixels.</param>
/// <param name="keepAspectRatio">Indicate whether or not to keep aspect ratio. If true, the
/// output image may be cropped if the image aspect ratio is different from the texture
/// aspect ratio. If false, the output image covers the entire texture scope and no cropping
/// is applied.</param>
public void Create(ImageFormatType format, int width, int height, bool keepAspectRatio)
{
ExternApi.TextureReader_create((int)format, width, height, keepAspectRatio);
}
private bool HitResultListGetItemAt(IntPtr hitResultListHandle, int index, out TrackableHit outTrackableHit)
{
outTrackableHit = new TrackableHit();
// Query the hit result.
IntPtr hitResultHandle = IntPtr.Zero;
ExternApi.ArHitResult_create(m_NativeSession.SessionHandle, ref hitResultHandle);
ExternApi.ArHitResultList_getItem(m_NativeSession.SessionHandle, hitResultListHandle, index, hitResultHandle);
if (hitResultHandle == IntPtr.Zero)
{
ExternApi.ArHitResult_destroy(hitResultHandle);
return(false);
}
// Query the pose from hit result.
IntPtr poseHandle = m_NativeSession.PoseApi.Create();
ExternApi.ArHitResult_getHitPose(m_NativeSession.SessionHandle, hitResultHandle, poseHandle);
Pose hitPose = m_NativeSession.PoseApi.ExtractPoseValue(poseHandle);
// Query the distance from hit result.
float hitDistance = 0.0f;
ExternApi.ArHitResult_getDistance(m_NativeSession.SessionHandle, hitResultHandle, ref hitDistance);
// Query the trackable from hit result.
IntPtr trackableHandle = IntPtr.Zero;
ExternApi.ArHitResult_acquireTrackable(m_NativeSession.SessionHandle, hitResultHandle, ref trackableHandle);
Trackable trackable = m_NativeSession.TrackableFactory(trackableHandle);
m_NativeSession.TrackableApi.Release(trackableHandle);
// Calculate trackable hit flags.
TrackableHitFlags flag = TrackableHitFlags.None;
if (trackable == null)
{
Debug.Log("Could not create trackable from hit result.");
m_NativeSession.PoseApi.Destroy(poseHandle);
return(false);
}
else if (trackable is DetectedPlane)
{
if (m_NativeSession.PlaneApi.IsPoseInPolygon(trackableHandle, poseHandle))
{
flag |= TrackableHitFlags.PlaneWithinPolygon;
}
if (m_NativeSession.PlaneApi.IsPoseInExtents(trackableHandle, poseHandle))
{
flag |= TrackableHitFlags.PlaneWithinBounds;
}
flag |= TrackableHitFlags.PlaneWithinInfinity;
}
else if (trackable is FeaturePoint)
{
var point = trackable as FeaturePoint;
flag |= TrackableHitFlags.FeaturePoint;
if (point.OrientationMode == FeaturePointOrientationMode.SurfaceNormal)
{
flag |= TrackableHitFlags.FeaturePointWithSurfaceNormal;
}
}
else
{
m_NativeSession.PoseApi.Destroy(poseHandle);
return(false);
}
outTrackableHit = new TrackableHit(hitPose, hitDistance, flag, trackable);
m_NativeSession.PoseApi.Destroy(poseHandle);
return(true);
}
public void DestroyList(IntPtr anchorListHandle)
{
ExternApi.ArAnchorList_destroy(anchorListHandle);
}
/// <summary>
/// Acquires the output image pixels from a previous reading request.
/// </summary>
/// <param name="bufferIndex">The buffer index required by previous call to
/// SubmitFrame().</param>
/// <param name="bufferSize">The size of the output image pixel buffer, in bytes.</param>
/// <returns>The pointer to the raw buffer of the output image. null if fails.</returns>
public IntPtr AcquireFrame(int bufferIndex, ref int bufferSize)
{
IntPtr pixelBuffer = ExternApi.TextureReader_acquireFrame(bufferIndex, ref bufferSize);
return(pixelBuffer);
}
public Cubemap GetReflectionCubemap(IntPtr sessionHandle, IntPtr lightEstimateHandle)
{
int size = 0;
bool usingGammaWorkflow = QualitySettings.activeColorSpace == ColorSpace.Gamma;
#if UNITY_2017_2_OR_NEWER
// Cubemap.CreateExternalTexture only exists in Unity 2017 above.
int textureId = 0;
ApiTextureDataType dataType =
SystemInfo.graphicsDeviceType == GraphicsDeviceType.OpenGLES3 ?
ApiTextureDataType.Half : ApiTextureDataType.Byte;
TextureFormat format = dataType == ApiTextureDataType.Half ?
TextureFormat.RGBAHalf : TextureFormat.RGBA32;
if (!_pluginInitialized)
{
ExternApi.ARCoreRenderingUtils_SetTextureDataType(dataType, true);
ExternApi.ARCoreRenderingUtils_SetActiveColorSpace(usingGammaWorkflow);
_pluginInitialized = true;
}
ExternApi.ARCoreRenderingUtils_GetCubemapTexture(ref textureId, ref size);
if (textureId != 0 && (_hdrCubemap == null || textureId != _cubemapTextureId))
{
_hdrCubemap = Cubemap.CreateExternalTexture(size, format, true,
new IntPtr(textureId));
_cubemapTextureId = textureId;
}
long timestamp = GetTimestamp(sessionHandle, lightEstimateHandle);
if (_cubemapTimestamp != timestamp)
{
ExternApi.ARCoreRenderingUtils_SetARCoreLightEstimation(sessionHandle,
lightEstimateHandle);
_cubemapTimestamp = timestamp;
}
// Issue plugin event to update cubemap texture.
GL.IssuePluginEvent(ExternApi.ARCoreRenderingUtils_GetRenderEventFunc(),
(int)ApiRenderEvent.UpdateCubemapTexture);
#else
// Gets raw color data from native plugin then update cubemap textures by
// Cubemap.SetPixel().
// Note, no GL texture will be created in this scenario.
if (!_pluginInitialized)
{
ExternApi.ARCoreRenderingUtils_SetTextureDataType(
ApiTextureDataType.Float, false);
ExternApi.ARCoreRenderingUtils_SetActiveColorSpace(usingGammaWorkflow);
_pluginInitialized = true;
}
ExternApi.ARCoreRenderingUtils_GetCubemapTexture(ref _cubemapTextureId, ref size);
if (size > 0)
{
if (_hdrCubemap == null)
{
_hdrCubemap = new Cubemap(size, TextureFormat.RGBAHalf, true);
}
if (_tempCubemapFacePixels.Length != size)
{
Array.Resize(ref _tempCubemapFacePixels, size * size);
}
}
long timestamp = GetTimestamp(sessionHandle, lightEstimateHandle);
if (_cubemapTimestamp != timestamp)
{
ExternApi.ARCoreRenderingUtils_SetARCoreLightEstimation(sessionHandle,
lightEstimateHandle);
_cubemapTimestamp = timestamp;
if (_hdrCubemap != null)
{
for (int i = 0; i < 6; i++)
{
ExternApi.ARCoreRenderingUtils_GetCubemapRawColors(i,
_tempCubemapFacePixels);
_hdrCubemap.SetPixels(_tempCubemapFacePixels, CubemapFace.PositiveX + i);
}
// This operation is very expensive, only update cubemap texture when
// the light estimate is updated in this frame.
_hdrCubemap.Apply();
}
}
#endif
return(_hdrCubemap);
}
public static void Detach(
IntPtr sessionHandle,
IntPtr anchorHandle)
{
ExternApi.ArAnchor_detach(sessionHandle, anchorHandle);
}
public void Destory(IntPtr recordingConfigHandle)
{
ExternApi.ArRecordingConfig_destroy(recordingConfigHandle);
}
public void Destroy(IntPtr cameraConfigListHandle)
{
ExternApi.ArCameraConfigFilter_destroy(cameraConfigListHandle);
}
private void _OnEarlyUpdate()
{
// Update session activity before EarlyUpdate.
if (m_HaveDisableToEnableTransition)
{
_SetSessionEnabled(false);
// Refresh SessionStatus after first _SetSessionEnabled() to catch any changes to
// the SessionStatus that may affect the subsequent _SetSessionEnabled().
// This fixes an issue where the session does not get re-enabled properly when an
// unsupported configuration is fixed, and the ARCoreSession component's enabled
// state is toggled in the same frame;
ApiPrestoStatus refreshPrestoStatus = ApiPrestoStatus.Uninitialized;
ExternApi.ArPresto_getStatus(ref refreshPrestoStatus);
SessionStatus = refreshPrestoStatus.ToSessionStatus();
_SetSessionEnabled(true);
m_HaveDisableToEnableTransition = false;
// Avoid firing session enable event twice.
if (m_DesiredSessionState.HasValue && m_DesiredSessionState.Value)
{
m_DesiredSessionState = null;
}
}
if (m_DesiredSessionState.HasValue)
{
_SetSessionEnabled(m_DesiredSessionState.Value);
m_DesiredSessionState = null;
}
// Perform updates before calling ArPresto_update.
if (SessionComponent != null)
{
IntPtr previousSession = IntPtr.Zero;
ExternApi.ArPresto_getSession(ref previousSession);
if (UpdateSessionFeatures != null)
{
UpdateSessionFeatures();
}
_SetCameraDirection(SessionComponent.DeviceCameraDirection);
IntPtr currentSession = IntPtr.Zero;
ExternApi.ArPresto_getSession(ref currentSession);
// Fire the session enabled event when the underlying session has been changed
// due to session feature update(camera direction etc).
if (previousSession != currentSession)
{
_FireOnSessionSetEnabled(false);
_FireOnSessionSetEnabled(true);
}
_SetConfiguration(SessionComponent.SessionConfig);
}
_UpdateDisplayGeometry();
// Update ArPresto and potentially ArCore.
ExternApi.ArPresto_update();
SessionStatus previousSessionStatus = SessionStatus;
// Get state information from ARPresto.
ApiPrestoStatus prestoStatus = ApiPrestoStatus.Uninitialized;
ExternApi.ArPresto_getStatus(ref prestoStatus);
SessionStatus = prestoStatus.ToSessionStatus();
LostTrackingReason = LostTrackingReason.None;
if (NativeSession != null && SessionStatus == SessionStatus.LostTracking)
{
var cameraHandle = NativeSession.FrameApi.AcquireCamera();
LostTrackingReason = NativeSession.CameraApi.GetLostTrackingReason(cameraHandle);
NativeSession.CameraApi.Release(cameraHandle);
}
// If the current status is an error, check if the SessionStatus error state changed.
if (SessionStatus.IsError() &&
previousSessionStatus.IsError() != SessionStatus.IsError())
{
// Disable internal session bits so we properly pause the session due to error.
_FireOnSessionSetEnabled(false);
}
// Get the current session from presto and note if it has changed.
IntPtr sessionHandle = IntPtr.Zero;
ExternApi.ArPresto_getSession(ref sessionHandle);
IsSessionChangedThisFrame = m_CachedSessionHandle != sessionHandle;
m_CachedSessionHandle = sessionHandle;
ExternApi.ArPresto_getFrame(ref m_CachedFrameHandle);
// Update the native session with the newest frame.
if (NativeSession != null)
{
NativeSession.OnUpdate(m_CachedFrameHandle);
}
_UpdateTextureIfNeeded();
if (EarlyUpdate != null)
{
EarlyUpdate();
}
}
public void Release(IntPtr cameraHandle)
{
ExternApi.ArCamera_release(cameraHandle);
}
public void ResetSession()
{
_FireOnSessionSetEnabled(false);
_Initialize();
ExternApi.ArPresto_reset();
}
public void GetItemAt(IntPtr cameraConfigListHandle, int index, IntPtr cameraConfigHandle)
{
ExternApi.ArCameraConfigList_getItem(m_NativeSession.SessionHandle, cameraConfigListHandle,
index, cameraConfigHandle);
}
private void _OnEarlyUpdate()
{
_SetCameraTextureName();
// Update session activity before EarlyUpdate.
if (m_HaveDisableToEnableTransition)
{
_SetSessionEnabled(false);
_SetSessionEnabled(true);
m_HaveDisableToEnableTransition = false;
// Avoid firing session enable event twice.
if (m_DesiredSessionState.HasValue && m_DesiredSessionState.Value)
{
m_DesiredSessionState = null;
}
}
if (m_DesiredSessionState.HasValue)
{
_SetSessionEnabled(m_DesiredSessionState.Value);
m_DesiredSessionState = null;
}
// Perform updates before calling ArPresto_update.
if (SessionComponent != null)
{
IntPtr previousSession = IntPtr.Zero;
ExternApi.ArPresto_getSession(ref previousSession);
if (UpdateSessionFeatures != null)
{
UpdateSessionFeatures();
}
_SetCameraDirection(SessionComponent.DeviceCameraDirection);
IntPtr currentSession = IntPtr.Zero;
ExternApi.ArPresto_getSession(ref currentSession);
// Fire the session enabled event when the underlying session has been changed
// due to session feature update(camera direction etc).
if (previousSession != currentSession)
{
_FireOnSessionSetEnabled(false);
_FireOnSessionSetEnabled(true);
}
// Validate and convert the SessionConfig to a Instant Preview supported config by
// logging and disabling limited supported features.
if (InstantPreviewManager.IsProvidingPlatform &&
SessionComponent.SessionConfig != null &&
!InstantPreviewManager.ValidateSessionConfig(SessionComponent.SessionConfig))
{
// A new SessionConfig object will be created based on the original
// SessionConfig with all limited support features disabled.
SessionComponent.SessionConfig =
InstantPreviewManager.GenerateInstantPreviewSupportedConfig(
SessionComponent.SessionConfig);
}
_UpdateConfiguration(SessionComponent.SessionConfig);
}
_UpdateDisplayGeometry();
// Update ArPresto and potentially ArCore.
ExternApi.ArPresto_update();
if (SystemInfo.graphicsMultiThreaded && !InstantPreviewManager.IsProvidingPlatform)
{
// Synchronize render thread with update call.
ExternApi.ARCoreRenderingUtils_CreatePostUpdateFence();
}
SessionStatus previousSessionStatus = SessionStatus;
// Get state information from ARPresto.
ApiPrestoStatus prestoStatus = ApiPrestoStatus.Uninitialized;
ExternApi.ArPresto_getStatus(ref prestoStatus);
SessionStatus = prestoStatus.ToSessionStatus();
LostTrackingReason = LostTrackingReason.None;
if (NativeSession != null && SessionStatus == SessionStatus.LostTracking)
{
var cameraHandle = NativeSession.FrameApi.AcquireCamera();
LostTrackingReason = NativeSession.CameraApi.GetLostTrackingReason(cameraHandle);
NativeSession.CameraApi.Release(cameraHandle);
}
// If the current status is an error, check if the SessionStatus error state changed.
if (SessionStatus.IsError() &&
previousSessionStatus.IsError() != SessionStatus.IsError())
{
// Disable internal session bits so we properly pause the session due to error.
_FireOnSessionSetEnabled(false);
m_DisabledSessionOnErrorState = true;
}
else if (SessionStatus.IsValid() && m_DisabledSessionOnErrorState)
{
if (SessionComponent.enabled)
{
_FireOnSessionSetEnabled(true);
}
m_DisabledSessionOnErrorState = false;
}
// Get the current session from presto and note if it has changed.
IntPtr sessionHandle = IntPtr.Zero;
ExternApi.ArPresto_getSession(ref sessionHandle);
IsSessionChangedThisFrame = m_CachedSessionHandle != sessionHandle;
m_CachedSessionHandle = sessionHandle;
ExternApi.ArPresto_getFrame(ref m_CachedFrameHandle);
// Update the native session with the newest frame.
if (NativeSession != null)
{
NativeSession.OnUpdate(m_CachedFrameHandle);
}
_UpdateTextureIfNeeded();
if (EarlyUpdate != null)
{
EarlyUpdate();
}
}
public ApiArStatus ResolveCloudAnchor(String cloudAnchorId, out IntPtr cloudAnchorHandle)
{
cloudAnchorHandle = IntPtr.Zero;
return(ExternApi.ArSession_resolveAndAcquireNewCloudAnchor(m_NativeSession.SessionHandle,
cloudAnchorId, ref cloudAnchorHandle));
}
public void Destroy(IntPtr nativePose)
{
ExternApi.ArPose_destroy(nativePose);
}
public void ReportEngineType()
{
ExternApi.ArSession_reportEngineType(m_NativeSession.SessionHandle, "Unity", Application.unityVersion);
}
public ApiArStatus SetCameraConfig(IntPtr cameraConfigHandle)
{
return(ExternApi.ArSession_setCameraConfig(
m_NativeSession.SessionHandle, cameraConfigHandle));
}
public void Destroy(IntPtr lightEstimateHandle)
{
ExternApi.ArLightEstimate_destroy(lightEstimateHandle);
}
public static bool HitTest(Vector2 screenPosition, out TrackableHit outTrackableHit)
{
outTrackableHit = new TrackableHit();
// The native session provides the session and frame handles.
var nativeSession = LifecycleManager.Instance.NativeSession;
if (nativeSession == null)
{
Debug.LogError("NativeSession is null.");
return(false);
}
IntPtr hitResultListHandle = IntPtr.Zero;
ExternApi.ArHitResultList_create(
nativeSession.SessionHandle, ref hitResultListHandle);
ExternApi.ArFrame_depthHitTest(
nativeSession.SessionHandle, nativeSession.FrameHandle, screenPosition.x,
screenPosition.y, hitResultListHandle);
int hitListSize = 0;
ExternApi.ArHitResultList_getSize(
nativeSession.SessionHandle, hitResultListHandle, ref hitListSize);
if (hitListSize == 0)
{
return(false);
}
// Depth hit test only returns one hit test per pixel referenced.
const int itemIndex = 0;
// Query the hit result.
IntPtr hitResultHandle = IntPtr.Zero;
ExternApi.ArHitResult_create(
nativeSession.SessionHandle, ref hitResultHandle);
ExternApi.ArHitResultList_getItem(
nativeSession.SessionHandle, hitResultListHandle, itemIndex, hitResultHandle);
if (hitResultHandle == IntPtr.Zero)
{
ExternApi.ArHitResult_destroy(hitResultHandle);
return(false);
}
// Query the pose from hit result.
IntPtr poseHandle = nativeSession.PoseApi.Create();
ExternApi.ArHitResult_getHitPose(
nativeSession.SessionHandle, hitResultHandle, poseHandle);
Pose hitPose = nativeSession.PoseApi.ExtractPoseValue(poseHandle);
// Query the distance from hit result.
float hitDistance = 0.0f;
ExternApi.ArHitResult_getDistance(
nativeSession.SessionHandle, hitResultHandle, ref hitDistance);
// Query the trackable from hit result.
IntPtr trackableHandle = IntPtr.Zero;
ExternApi.ArHitResult_acquireTrackable(
nativeSession.SessionHandle, hitResultHandle, ref trackableHandle);
Trackable trackable = nativeSession.TrackableFactory(trackableHandle);
nativeSession.TrackableApi.Release(trackableHandle);
// Calculate trackable hit flags.
TrackableHitFlags flag = TrackableHitFlags.None;
if (trackable == null)
{
Debug.Log("Could not create trackable from hit result.");
nativeSession.PoseApi.Destroy(poseHandle);
return(false);
}
else if (trackable is FeaturePoint)
{
var point = trackable as FeaturePoint;
flag |= TrackableHitFlags.FeaturePoint;
if (point.OrientationMode == FeaturePointOrientationMode.SurfaceNormal)
{
flag |= TrackableHitFlags.FeaturePointWithSurfaceNormal;
}
}
outTrackableHit = new TrackableHit(hitPose, hitDistance, flag, trackable);
nativeSession.PoseApi.Destroy(poseHandle);
ExternApi.ArHitResultList_destroy(hitResultListHandle);
return(true);
}
public void Release(IntPtr pointCloudHandle)
{
ExternApi.ArPointCloud_release(pointCloudHandle);
}
/// <summary>
/// Queries the image delegate for a texture data and updates the given array and texture.
/// </summary>
/// <typeparam name="T">Can be either short (for depth) or byte (for confidence).</typeparam>
/// <param name="texture">The texture to update with new data.</param>
/// <param name="dataArray">The CPU array to update with new data.</param>
/// <param name="acquireImageDelegate">The function to call to obtain data.</param>
private void _UpdateTexture <T>(
ref Texture2D texture,
ref T[] dataArray,
AcquireDepthImageDelegate acquireImageDelegate)
{
// The native session provides the session and frame handles.
var nativeSession = LifecycleManager.Instance.NativeSession;
if (nativeSession == null)
{
Debug.LogError("NativeSession is null.");
return;
}
// Get the current depth image.
IntPtr imageHandle = IntPtr.Zero;
if (acquireImageDelegate(
nativeSession.SessionHandle,
nativeSession.FrameHandle,
ref imageHandle) == false)
{
return;
}
int previousDepthWidth = m_DepthWidth;
int previousDepthHeight = m_DepthHeight;
// Gets the size of the depth data.
ExternApi.ArImage_getWidth(
nativeSession.SessionHandle,
imageHandle,
out m_DepthWidth);
ExternApi.ArImage_getHeight(nativeSession.SessionHandle,
imageHandle,
out m_DepthHeight);
if (previousDepthWidth != m_DepthWidth || previousDepthHeight != m_DepthHeight)
{
_InitializeCameraIntrinsics();
}
// Accesses the depth image surface data.
IntPtr planeDoublePtr = IntPtr.Zero;
int planeSize = 0;
ExternApi.ArImage_getPlaneData(
nativeSession.SessionHandle,
imageHandle,
/*plane_index*/ 0,
ref planeDoublePtr,
ref planeSize);
IntPtr planeDataPtr = new IntPtr(planeDoublePtr.ToInt64());
int pixelStride = 0;
ExternApi.ArImage_getPlanePixelStride(nativeSession.SessionHandle,
imageHandle,
/*plane_index*/ 0,
ref pixelStride);
// Resizes the CPU data array based on the updated size.
if (dataArray.Length != planeSize / pixelStride)
{
Array.Resize(ref dataArray, planeSize / pixelStride);
}
// Copies the depth data into the provided CPU data array.
if (pixelStride == 1)
{
// Pixel stride is 2, used for confidence data.
Marshal.Copy(planeDataPtr, dataArray as byte[], 0, dataArray.Length);
}
else
{
// Pixel stride is 2, used for depth data.
Marshal.Copy(planeDataPtr, dataArray as short[], 0, dataArray.Length);
}
// Resize the depth texture if needed.
if (m_DepthWidth != texture.width || m_DepthHeight != texture.height)
{
if (pixelStride == 1)
{
texture.Resize(m_DepthWidth, m_DepthHeight, TextureFormat.R8, false);
}
else
{
texture.Resize(m_DepthWidth, m_DepthHeight, TextureFormat.RGB565, false);
}
}
// Copies the raw depth data to the texture.
texture.LoadRawTextureData(planeDataPtr, planeSize);
texture.Apply();
// Releases the depth image.
LifecycleManager.Instance.NativeSession.ImageApi.Release(imageHandle);
return;
}
public static void Release(IntPtr anchorHandle)
{
ExternApi.ArAnchor_release(anchorHandle);
}
private void _UpdateDepthArray <T>(
ref T[] dataArray,
AcquireDepthImageDelegate acquireImageDelegate)
{
// The native session provides the session and frame handles.
var nativeSession = LifecycleManager.Instance.NativeSession;
if (nativeSession == null)
{
Debug.LogError("NativeSession is null.");
return;
}
// Gets the current depth image.
IntPtr imageHandle = IntPtr.Zero;
if (acquireImageDelegate(
nativeSession.SessionHandle,
nativeSession.FrameHandle,
ref imageHandle) == false)
{
return;
}
// Gets the size of the depth data.
int width = 0;
int height = 0;
ExternApi.ArImage_getWidth(
nativeSession.SessionHandle,
imageHandle,
out width);
ExternApi.ArImage_getHeight(nativeSession.SessionHandle,
imageHandle,
out height);
// Accesses the depth image surface data.
IntPtr planeDoublePtr = IntPtr.Zero;
int planeSize = 0;
ExternApi.ArImage_getPlaneData(
nativeSession.SessionHandle,
imageHandle,
/*plane_index=*/ 0,
ref planeDoublePtr,
ref planeSize);
IntPtr planeDataPtr = new IntPtr(planeDoublePtr.ToInt32());
int depthPixelCount = width * height;
// Resizes the CPU depth array based on the updated size.
if (dataArray.Length != depthPixelCount)
{
Array.Resize(ref dataArray, depthPixelCount);
}
int pixelStride = 0;
ExternApi.ArImage_getPlanePixelStride(nativeSession.SessionHandle,
imageHandle,
/*plane_index*/ 0,
ref pixelStride);
// Copies the depth data into the provided CPU depth array.
if (pixelStride == 1)
{
Marshal.Copy(planeDataPtr, dataArray as byte[], 0, dataArray.Length);
}
else
{
Marshal.Copy(planeDataPtr, dataArray as short[], 0, dataArray.Length);
}
// Releases the depth image.
LifecycleManager.Instance.NativeSession.ImageApi.Release(imageHandle);
return;
}
/// <summary>
/// Releases a previously used frame buffer.
/// </summary>
/// <param name="bufferIndex">The buffer index required by previous call to
/// SubmitFrame().</param>
public void ReleaseFrame(int bufferIndex)
{
ExternApi.TextureReader_releaseFrame(bufferIndex);
}
public void SetReferenceImageDatabase(IntPtr configHandle, IntPtr imageDatabase)
{
ExternApi.arConfigSetReferenceImageDatabase(m_NativeSession.SessionHandle, configHandle, imageDatabase);
}
/// <summary>
/// Destroys the texture reader instance and release internal resources.
/// </summary>
public void Destroy()
{
ExternApi.TextureReader_destroy();
}
public void Destroy(IntPtr configHandle)
{
ExternApi.arConfigDestroy(configHandle);
}
public void Release(IntPtr frameHandle)
{
ExternApi.ArFrame_release(frameHandle);
}
public void GetPlaneData(IntPtr imageHandle, int planeIndex, ref IntPtr surfaceData,
ref int dataLength)
{
ExternApi.ArImage_getPlaneData(_nativeSession.SessionHandle, imageHandle, planeIndex,
ref surfaceData, ref dataLength);
}