public static int TangoSupport_detectMarkers(ref TangoImageBuffer image, TangoEnums.TangoCameraId cameraId, ref DVector3 translation, ref DVector4 orientation, ref APIMarkerParam param, ref APIMarkerList apiMarkerList) { apiMarkerList = new APIMarkerList(); return(Common.ErrorType.TANGO_SUCCESS); }
public static extern int TangoSupport_detectMarkers(ref TangoImageBuffer image, TangoEnums.TangoCameraId cameraId, ref DVector3 translation, ref DVector4 orientation, ref APIMarkerParam param, ref APIMarkerList apiMarkerList);
/// <summary> /// Detect one or more markers in the input image. /// </summary> /// <param name="imageBuffer"> /// The input image buffer. /// </param> /// <param name="cameraId"> /// Camera that is used for detecting markers, can be TangoEnums.TangoCameraId.TANGO_CAMERA_FISHEYE or /// TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR. /// </param> /// <param name="markerType"> /// Target marker's type. Current support marker types are QR marker and Alvar marker. /// </param> /// <param name="markerSize"> /// Physical size of marker's length. /// </param> /// <param name="markers"> /// The returned marker list. /// </param> /// <returns> /// Common.ErrorType.TANGO_SUCCESS on success, Common.ErrorType.TANGO_INVALID on invalid input, and /// Common.ErrorType.TANGO_ERROR on failure. /// </returns> public static bool DetectMarkers(TangoUnityImageData imageBuffer, TangoEnums.TangoCameraId cameraId, MarkerType markerType, double markerSize, List <Marker> markers) { if (markers == null) { Debug.Log("markers is null. " + Environment.StackTrace); return(false); } // Clear any existing marker markers.Clear(); // Detect marker. TangoImageBuffer buffer = new TangoImageBuffer(); GCHandle gchandle = GCHandle.Alloc(imageBuffer.data, GCHandleType.Pinned); IntPtr ptr = gchandle.AddrOfPinnedObject(); buffer.data = ptr; buffer.format = imageBuffer.format; buffer.frame_number = imageBuffer.frame_number; buffer.height = imageBuffer.height; buffer.stride = imageBuffer.stride; buffer.timestamp = imageBuffer.timestamp; buffer.width = imageBuffer.width; // Get Pose. TangoPoseData poseData = new TangoPoseData(); TangoCoordinateFramePair pair; pair.baseFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_START_OF_SERVICE; pair.targetFrame = TangoEnums.TangoCoordinateFrameType.TANGO_COORDINATE_FRAME_CAMERA_COLOR; PoseProvider.GetPoseAtTime(poseData, buffer.timestamp, pair); APIMarkerList rawAPIMarkerList = new APIMarkerList(); APIMarkerParam rawMarkerParam = new APIMarkerParam(markerType, markerSize); int ret = TangoSupportAPI.TangoSupport_detectMarkers(ref buffer, cameraId, ref poseData.translation, ref poseData.orientation, ref rawMarkerParam, ref rawAPIMarkerList); gchandle.Free(); if (ret != Common.ErrorType.TANGO_SUCCESS) { return(false); } if (rawAPIMarkerList.markerCount != 0) { List <APIMarker> apiMarkers = new List <APIMarker>(); MarshallingHelper.MarshalUnmanagedStructArrayToList <TangoSupport.APIMarker>( rawAPIMarkerList.markers, rawAPIMarkerList.markerCount, apiMarkers); for (int i = 0; i < apiMarkers.Count; ++i) { APIMarker apiMarker = apiMarkers[i]; Marker marker = new Marker(); marker.m_type = apiMarker.m_type; marker.m_timestamp = apiMarker.m_timestamp; marker.m_content = apiMarker.m_content; // Covert 2D corner points from pixel space to UV space. marker.m_corner2DP0.x = apiMarker.m_corner2DP0.x / buffer.width; marker.m_corner2DP0.y = apiMarker.m_corner2DP0.y / buffer.height; marker.m_corner2DP1.x = apiMarker.m_corner2DP1.x / buffer.width; marker.m_corner2DP1.y = apiMarker.m_corner2DP1.y / buffer.height; marker.m_corner2DP2.x = apiMarker.m_corner2DP2.x / buffer.width; marker.m_corner2DP2.y = apiMarker.m_corner2DP2.y / buffer.height; marker.m_corner2DP3.x = apiMarker.m_corner2DP3.x / buffer.width; marker.m_corner2DP3.y = apiMarker.m_corner2DP3.y / buffer.height; // Convert 3D corner points from Start of Service space to Unity World space. marker.m_corner3DP0 = GetMarkerInUnitySpace(apiMarker.m_corner3DP0); marker.m_corner3DP1 = GetMarkerInUnitySpace(apiMarker.m_corner3DP1); marker.m_corner3DP2 = GetMarkerInUnitySpace(apiMarker.m_corner3DP2); marker.m_corner3DP3 = GetMarkerInUnitySpace(apiMarker.m_corner3DP3); // Convert pose from Start of Service to Unity World space. Vector3 translation = new Vector3( (float)apiMarker.m_translation.x, (float)apiMarker.m_translation.y, (float)apiMarker.m_translation.z); Quaternion orientation = new Quaternion( (float)apiMarker.m_rotation.x, (float)apiMarker.m_rotation.y, (float)apiMarker.m_rotation.z, (float)apiMarker.m_rotation.w); Matrix4x4 ss_T_marker = Matrix4x4.TRS(translation, orientation, Vector3.one); // Note that UNITY_WORLD_T_START_SERVICE is involutory matrix. The actually transform // we wanted to multiply on the right hand side is START_SERVICE_T_UNITY_WORLD. Matrix4x4 uw_T_u_marker = TangoSupport.UNITY_WORLD_T_START_SERVICE * ss_T_marker * TangoSupport.UNITY_WORLD_T_START_SERVICE; marker.m_translation = uw_T_u_marker.GetColumn(3); marker.m_orientation = Quaternion.LookRotation(uw_T_u_marker.GetColumn(2), uw_T_u_marker.GetColumn(1)); // Add the marker to the output list markers.Add(marker); } } TangoSupportAPI.TangoSupport_freeMarkerList(ref rawAPIMarkerList); return(false); }