/// <summary>
/// Called when device orientation is changed.
/// </summary>
/// <param name="displayRotation">Orientation of current activity. Index enum is same as Android screen
/// rotation standard.</param>
/// <param name="colorCameraRotation">Orientation of current color camera sensor. Index enum is same as Android
/// camera rotation standard.</param>
private void _OnDisplayChanged(OrientationManager.Rotation displayRotation,
OrientationManager.Rotation colorCameraRotation)
{
if (IsRendering)
{
_SetRenderAndCamera(displayRotation, colorCameraRotation);
}
}
public static extern int TangoSupport_getDepthAtPointNearestNeighbor(
ref TangoPointCloudIntPtr point_cloud,
ref DVector3 poitnCloudTranslation,
ref DVector4 pointCloudOrientation,
ref Vector2 uvCoordinatesInColorCamera,
OrientationManager.Rotation display_rotation,
ref DVector3 colorCameraTranslation,
ref DVector4 colorCameraOrientation,
out Vector3 outputPoint);
public static extern int TangoSupport_fitPlaneModelNearPoint(
ref TangoPointCloudIntPtr pointCloud,
ref DVector3 pointCloudTranslation,
ref DVector4 pointCloundOrientation,
ref Vector2 uvCoordinates,
OrientationManager.Rotation rotation,
ref DVector3 cameraTranslation,
ref DVector4 cameraOrientation,
out DVector3 intersectionPoint,
out DVector4 planeModel);
public static int TangoSupport_getDepthAtPointNearestNeighbor(
ref TangoPointCloudIntPtr point_cloud,
ref DVector3 poitnCloudTranslation,
ref DVector4 pointCloudOrientation,
ref Vector2 uvCoordinatesInColorCamera,
OrientationManager.Rotation display_rotation,
ref DVector3 colorCameraTranslation,
ref DVector4 colorCameraOrientation,
out Vector3 outputPoint)
{
outputPoint = Vector3.zero;
return(Common.ErrorType.TANGO_SUCCESS);
}
public static int TangoSupport_fitPlaneModelNearPoint(
ref TangoPointCloudIntPtr pointCloud,
ref DVector3 pointCloudTranslation,
ref DVector4 pointCloundOrientation,
ref Vector2 uvCoordinates,
OrientationManager.Rotation rotation,
ref DVector3 cameraTranslation,
ref DVector4 cameraOrientation,
out DVector3 intersectionPoint,
out DVector4 planeModel)
{
intersectionPoint = new DVector3();
planeModel = new DVector4();
return(Common.ErrorType.TANGO_SUCCESS);
}
/// <summary>
/// Update AR screen material with camera texture size data
/// (and distortion parameters if using distortion post-process filter).
/// </summary>
/// <param name="uOffset">U texcoord offset.</param>
/// <param name="vOffset">V texcoord offset.</param>
/// <param name="colorCameraRDisplay">Rotation of the display with respect to the color camera.</param>
private static void _MaterialUpdateForIntrinsics(
float uOffset, float vOffset, OrientationManager.Rotation colorCameraRDisplay)
{
Vector2[] uvs = new Vector2[4];
uvs[0] = new Vector2(0 + uOffset, 0 + vOffset);
uvs[1] = new Vector2(0 + uOffset, 1 - vOffset);
uvs[2] = new Vector2(1 - uOffset, 0 + vOffset);
uvs[3] = new Vector2(1 - uOffset, 1 - vOffset);
for (int i = 0; i < 4; ++i)
{
uvs[i] = _GetUnityUvBasedOnRotation(uvs[i], colorCameraRDisplay);
}
VideoOverlayProvider.SetARScreenUVs(uvs);
}
/// @endcond
/// <summary>
/// Rotate color camera render material's UV based on the color camera orientation and current activity orientation.
/// </summary>
/// <param name="uv">Input UV.</param>
/// <param name="colorCamerRDisplay">Combined rotation index with color camera sensor and activity rotation.</param>
/// <returns>Converted UV in Vector2.</returns>
private static Vector2 _GetUnityUvBasedOnRotation(Vector2 uv, OrientationManager.Rotation colorCamerRDisplay)
{
switch (colorCamerRDisplay)
{
case OrientationManager.Rotation.ROTATION_270:
return(new Vector2(1 - uv.y, 1 - uv.x));
case OrientationManager.Rotation.ROTATION_180:
return(new Vector2(1 - uv.x, 0 + uv.y));
case OrientationManager.Rotation.ROTATION_90:
return(new Vector2(0 + uv.y, 0 + uv.x));
default:
return(new Vector2(0 + uv.x, 1 - uv.y));
}
}
/// <summary>
/// Update current additional rotation matrix based on the display orientation and color camera orientation.
///
/// Not that m_colorCameraPoseRotation will need to compensate the rotation with physical color camera.
/// </summary>
/// <param name="displayRotation">Orientation of current activity. Index enum is same same as Android screen
/// orientation standard.</param>
/// <param name="colorCameraRotation">Orientation of current color camera sensor. Index enum is same as Android
/// camera orientation standard.</param>
public static void UpdatePoseMatrixFromDeviceRotation(OrientationManager.Rotation displayRotation,
OrientationManager.Rotation colorCameraRotation)
{
Tango.OrientationManager.Rotation r = RotateFromAToB(displayRotation, colorCameraRotation);
switch (r)
{
case Tango.OrientationManager.Rotation.ROTATION_90:
m_colorCameraPoseRotation = ROTATION90_T_DEFAULT;
break;
case Tango.OrientationManager.Rotation.ROTATION_180:
m_colorCameraPoseRotation = ROTATION180_T_DEFAULT;
break;
case Tango.OrientationManager.Rotation.ROTATION_270:
m_colorCameraPoseRotation = ROTATION270_T_DEFAULT;
break;
default:
m_colorCameraPoseRotation = Matrix4x4.identity;
break;
}
switch (displayRotation)
{
case Tango.OrientationManager.Rotation.ROTATION_90:
m_devicePoseRotation = ROTATION90_T_DEFAULT;
break;
case Tango.OrientationManager.Rotation.ROTATION_180:
m_devicePoseRotation = ROTATION180_T_DEFAULT;
break;
case Tango.OrientationManager.Rotation.ROTATION_270:
m_devicePoseRotation = ROTATION270_T_DEFAULT;
break;
default:
m_devicePoseRotation = Matrix4x4.identity;
break;
}
}
/// <summary>
/// Update AR screen rendering and attached Camera's projection matrix.
/// </summary>
/// <param name="displayRotation">Activity (screen) rotation.</param>
/// <param name="colorCameraRotation">Color camera sensor rotation.</param>
private void _SetRenderAndCamera(OrientationManager.Rotation displayRotation,
OrientationManager.Rotation colorCameraRotation)
{
float cameraWidth = (float)Screen.width;
float cameraHeight = (float)Screen.height;
#pragma warning disable 0219
// Here we are computing if current display orientation is landscape or portrait.
// AndroidHelper.GetAndroidDefaultOrientation() returns 1 if device default orientation is in portrait,
// returns 2 if device default orientation is landscape. Adding device default orientation with
// how much the display is rotated from default orientation will get us the result of current display
// orientation. (landscape vs. portrait)
bool isLandscape = (AndroidHelper.GetDefaultOrientation() + (int)displayRotation) % 2 == 0;
bool needToFlipCameraRatio = false;
float cameraRatio = (float)Screen.width / (float)Screen.height;
#pragma warning restore 0219
#if !UNITY_EDITOR
// In most cases, we don't need to flip the camera width and height. However, in some cases Unity camera
// only updates a couple of frames after the display changed callback from Android; thus, we need to flip the width
// and height in this case.
//
// This does not happen in the editor, because the emulated device does not ever rotate.
needToFlipCameraRatio = (!isLandscape & (cameraRatio > 1.0f)) || (isLandscape & (cameraRatio < 1.0f));
if (needToFlipCameraRatio)
{
cameraRatio = 1.0f / cameraRatio;
float tmp = cameraWidth;
cameraWidth = cameraHeight;
cameraHeight = tmp;
}
#endif
TangoCameraIntrinsics alignedIntrinsics = new TangoCameraIntrinsics();
TangoCameraIntrinsics intrinsics = new TangoCameraIntrinsics();
VideoOverlayProvider.GetDeviceOrientationAlignedIntrinsics(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR,
alignedIntrinsics);
VideoOverlayProvider.GetIntrinsics(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR,
intrinsics);
if (alignedIntrinsics.width != 0 && alignedIntrinsics.height != 0)
{
// The camera to which this script is attached is an Augmented Reality camera. The color camera
// image must fill that camera's viewport. That means we must clip the color camera image to make
// its ratio the same as the Unity camera. If we don't do this the color camera image will be
// stretched non-uniformly, making a circle into an ellipse.
float widthRatio = (float)cameraWidth / (float)alignedIntrinsics.width;
float heightRatio = (float)cameraHeight / (float)alignedIntrinsics.height;
if (widthRatio >= heightRatio)
{
m_uOffset = 0;
m_vOffset = (1 - (heightRatio / widthRatio)) / 2;
}
else
{
m_uOffset = (1 - (widthRatio / heightRatio)) / 2;
m_vOffset = 0;
}
// Note that here we are passing in non-inverted intrinsics, because the YUV conversion is still operating
// on native buffer layout.
OrientationManager.Rotation rotation = TangoSupport.RotateFromAToB(displayRotation, colorCameraRotation);
_MaterialUpdateForIntrinsics(m_uOffset, m_vOffset, rotation);
_CameraUpdateForIntrinsics(m_camera, alignedIntrinsics, m_uOffset, m_vOffset);
if (m_arCameraPostProcess != null)
{
m_arCameraPostProcess.SetupIntrinsic(intrinsics);
}
}
else
{
Debug.LogError("AR Camera intrinsic is not valid.");
}
}
