| 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);
}