public static LogErrorFormat ( string format ) : void | ||
format | string | The string format. |
return | void |
public bool GetAllCameraMetadataTags(IntPtr cameraMetadataHandle, List <CameraMetadataTag> resultList) { IntPtr ndkMetadataHandle = IntPtr.Zero; ExternApi.ArImageMetadata_getNdkCameraMetadata(m_NativeSession.SessionHandle, cameraMetadataHandle, ref ndkMetadataHandle); IntPtr tagsHandle = IntPtr.Zero; int tagsCount = 0; NdkCameraStatus status = ExternApi.ACameraMetadata_getAllTags(ndkMetadataHandle, ref tagsCount, ref tagsHandle); if (status != NdkCameraStatus.Ok) { ARDebug.LogErrorFormat("ACameraMetadata_getAllTags error with native camera error code: {0}", status); return(false); } for (int i = 0; i < tagsCount; i++) { resultList.Add((CameraMetadataTag)Marshal.PtrToStructure( MarshalingHelper.GetPtrToUnmanagedArrayElement <int>(tagsHandle, i), typeof(int))); } return(true); }
/// <summary> /// Gets a unity PoseData equivalent to the ApiPoseData. /// </summary> /// <returns>A unity PoseData equivalent to the ApiPoseData.</returns> public UnityTango.PoseData ToUnityType() { UnityTango.PoseData unityPose = new UnityTango.PoseData(); unityPose.version = (uint)version; unityPose.timestamp = timestamp; unityPose.statusCode = statusCode.ToUnityType(); unityPose.frame = framePair.ToUnityType(); unityPose.confidence = (uint)confidence; unityPose.accuracy = accuracy; if (framePair.baseFrame != ApiCoordinateFrameType.StartOfService) { ARDebug.LogErrorFormat("apiPlaneData's base frame is not supported."); unityPose.translation_x = translation.x; unityPose.translation_y = translation.y; unityPose.translation_z = translation.z; unityPose.orientation_x = orientation.x; unityPose.orientation_y = orientation.y; unityPose.orientation_z = orientation.z; unityPose.orientation_w = orientation.w; return(unityPose); } Matrix4x4 startService_T_plane = Matrix4x4.TRS(translation.ToVector3(), orientation.ToQuaternion(), Vector3.one); Matrix4x4 unityTransform = Constants.UNITY_WORLD_T_START_SERVICE * startService_T_plane * Constants.UNITY_WORLD_T_START_SERVICE.inverse; Vector3 position = unityTransform.GetColumn(3); unityPose.translation_x = position.x; unityPose.translation_y = position.y; unityPose.translation_z = position.z; Quaternion rotation = Quaternion.LookRotation(unityTransform.GetColumn(2), unityTransform.GetColumn(1)); unityPose.orientation_x = rotation.x; unityPose.orientation_y = rotation.y; unityPose.orientation_z = rotation.z; unityPose.orientation_w = rotation.w; return(unityPose); }
private bool _UpdateMostRecentApiPlanes() { IntPtr apiPlanesPtr = IntPtr.Zero; int planeCount = 0; if (TangoClientApi.TangoService_Experimental_getPlanes(ref apiPlanesPtr, ref planeCount).IsTangoFailure()) { for (int i = 0; i < m_mostRecentApiPlanes.Count; i++) { ApiPlaneData planeData = m_mostRecentApiPlanes[i]; planeData.isValid = false; m_mostRecentApiPlanes[i] = planeData; } return(true); } // The planes api is handling a COM reset, and the current state is not available. Leave the most recent // Api planes collection unchanged. if (apiPlanesPtr == null) { return(false); } // Marshal the most recent planes returned from the Api into m_mostRecentApiPlanes. m_mostRecentApiPlanes.Clear(); MarshalingHelper.AddUnmanagedStructArrayToList <ApiPlaneData>(apiPlanesPtr, planeCount, m_mostRecentApiPlanes); if (TangoClientApi.TangoPlaneData_free(apiPlanesPtr, planeCount).IsTangoFailure()) { ARDebug.LogErrorFormat("Failed to deallocate planes from the ARCore API."); } return(false); }
public bool TryGetValues(IntPtr cameraMetadataHandle, CameraMetadataTag tag, List <CameraMetadataValue> resultList) { IntPtr ndkMetadataHandle = IntPtr.Zero; ExternApi.ArImageMetadata_getNdkCameraMetadata(m_NativeSession.SessionHandle, cameraMetadataHandle, ref ndkMetadataHandle); resultList.Clear(); NdkCameraMetadata entry = new NdkCameraMetadata(); NdkCameraStatus status = ExternApi.ACameraMetadata_getConstEntry(ndkMetadataHandle, tag, ref entry); if (status != NdkCameraStatus.Ok) { ARDebug.LogErrorFormat("ACameraMetadata_getConstEntry error with native camera error code: {0}", status); return(false); } for (int i = 0; i < entry.Count; i++) { switch (entry.Type) { case NdkCameraMetadataType.Byte: sbyte byteValue = (sbyte)Marshal.PtrToStructure( MarshalingHelper.GetPtrToUnmanagedArrayElement <sbyte>(entry.Value, i), typeof(sbyte)); resultList.Add(new CameraMetadataValue(byteValue)); break; case NdkCameraMetadataType.Int32: int intValue = (int)Marshal.PtrToStructure( MarshalingHelper.GetPtrToUnmanagedArrayElement <int>(entry.Value, i), typeof(int)); resultList.Add(new CameraMetadataValue(intValue)); break; case NdkCameraMetadataType.Float: float floatValue = (float)Marshal.PtrToStructure( MarshalingHelper.GetPtrToUnmanagedArrayElement <float>(entry.Value, i), typeof(float)); resultList.Add(new CameraMetadataValue(floatValue)); break; case NdkCameraMetadataType.Int64: long longValue = (long)Marshal.PtrToStructure( MarshalingHelper.GetPtrToUnmanagedArrayElement <long>(entry.Value, i), typeof(long)); resultList.Add(new CameraMetadataValue(longValue)); break; case NdkCameraMetadataType.Double: double doubleValue = (double)Marshal.PtrToStructure( MarshalingHelper.GetPtrToUnmanagedArrayElement <double>(entry.Value, i), typeof(double)); resultList.Add(new CameraMetadataValue(doubleValue)); break; case NdkCameraMetadataType.Rational: CameraMetadataRational rationalValue = (CameraMetadataRational)Marshal.PtrToStructure( MarshalingHelper.GetPtrToUnmanagedArrayElement <CameraMetadataRational>(entry.Value, i), typeof(CameraMetadataRational)); resultList.Add(new CameraMetadataValue(rationalValue)); break; default: return(false); } } return(true); }
public bool TryGetValues(IntPtr cameraMetadataHandle, CameraMetadataTag tag, List <CameraMetadataValue> resultList) { resultList.Clear(); uint utag = (uint)tag; ArCameraMetadata entry = new ArCameraMetadata(); ApiArStatus status = ExternApi.ArImageMetadata_getConstEntry(_nativeSession.SessionHandle, cameraMetadataHandle, utag, ref entry); if (status != ApiArStatus.Success) { ARDebug.LogErrorFormat( "ArImageMetadata_getConstEntry error with native camera error code: {0}", status); return(false); } if (entry.Count > _maximumTagCountForWarning && !_warningTags.Contains((int)tag)) { Debug.LogWarningFormat( "TryGetValues for tag {0} has {1} values. Accessing tags with a large " + "number of values may impede performance.", tag, entry.Count); _warningTags.Add((int)tag); } for (int i = 0; i < entry.Count; i++) { switch (entry.Type) { case ArCameraMetadataType.Byte: sbyte byteValue = (sbyte)Marshal.PtrToStructure( MarshalingHelper.GetPtrToUnmanagedArrayElement <sbyte>(entry.Value, i), typeof(sbyte)); resultList.Add(new CameraMetadataValue(byteValue)); break; case ArCameraMetadataType.Int32: int intValue = (int)Marshal.PtrToStructure( MarshalingHelper.GetPtrToUnmanagedArrayElement <int>(entry.Value, i), typeof(int)); resultList.Add(new CameraMetadataValue(intValue)); break; case ArCameraMetadataType.Float: float floatValue = (float)Marshal.PtrToStructure( MarshalingHelper.GetPtrToUnmanagedArrayElement <float>(entry.Value, i), typeof(float)); resultList.Add(new CameraMetadataValue(floatValue)); break; case ArCameraMetadataType.Int64: long longValue = (long)Marshal.PtrToStructure( MarshalingHelper.GetPtrToUnmanagedArrayElement <long>(entry.Value, i), typeof(long)); resultList.Add(new CameraMetadataValue(longValue)); break; case ArCameraMetadataType.Double: double doubleValue = (double)Marshal.PtrToStructure( MarshalingHelper.GetPtrToUnmanagedArrayElement <double>(entry.Value, i), typeof(double)); resultList.Add(new CameraMetadataValue(doubleValue)); break; case ArCameraMetadataType.Rational: CameraMetadataRational rationalValue = (CameraMetadataRational)Marshal.PtrToStructure( MarshalingHelper .GetPtrToUnmanagedArrayElement <CameraMetadataRational>( entry.Value, i), typeof(CameraMetadataRational)); resultList.Add(new CameraMetadataValue(rationalValue)); break; default: return(false); } } return(true); }