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>
/// 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;
}
