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);
}
public bool GetAllCameraMetadataTags(
IntPtr cameraMetadataHandle, List <CameraMetadataTag> resultList)
{
if (InstantPreviewManager.IsProvidingPlatform)
{
InstantPreviewManager.LogLimitedSupportMessage("access camera metadata tags");
return(false);
}
IntPtr tagsHandle = IntPtr.Zero;
int tagsCount = 0;
ExternApi.ArImageMetadata_getAllKeys(
_nativeSession.SessionHandle, cameraMetadataHandle, ref tagsCount, ref tagsHandle);
if (tagsCount == 0 || tagsHandle == IntPtr.Zero)
{
ARDebug.LogError(
"ArImageMetadata_getAllKeys error with empty metadata keys list.");
return(false);
}
for (int i = 0; i < tagsCount; i++)
{
resultList.Add((CameraMetadataTag)Marshal.PtrToStructure(
MarshalingHelper.GetPtrToUnmanagedArrayElement <int>(tagsHandle, i),
typeof(int)));
}
return(true);
}
/// <summary>
/// Check if a ray hit point with the point cloud.
/// </summary>
/// <param name="ray">A ray start from tracked position.</param>
/// <param name="pointcloud">A point cloud to hit aginst.</param>
/// <param name="hitPoint">The hit point's position.</param>
private static bool _IsRayIntersectingPoint(Ray ray, PointCloud pointcloud, ref Vector3 hitPoint)
{
int pointcloudCount = pointcloud.PointCount;
if (pointcloudCount == 0)
{
ARDebug.LogError("point cloud count is zero");
return(false);
}
float min = float.MaxValue;
bool isPointFound = false;
for (int i = 0; i < pointcloudCount; ++i)
{
Vector3 point = pointcloud.GetPoint(i);
Vector3 v0 = point - ray.origin;
Vector3 v1 = ray.direction;
float angle = Vector3.Angle(v0, v1);
const float TOUCH_SEARCH_ANGLE_DEGREE = 5.0f;
if (angle < TOUCH_SEARCH_ANGLE_DEGREE && angle < min)
{
isPointFound = true;
hitPoint = point;
}
}
return(isPointFound);
}
/// <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);
}
public static FeaturePointOrientationMode ToFeaturePointOrientationMode(
this ApiFeaturePointOrientationMode apiMode)
{
switch (apiMode)
{
case ApiFeaturePointOrientationMode.Identity:
return(FeaturePointOrientationMode.Identity);
case ApiFeaturePointOrientationMode.SurfaceNormal:
return(FeaturePointOrientationMode.SurfaceNormal);
default:
ARDebug.LogError("Invalid value for ApiFeaturePointOrientationMode.");
return(FeaturePointOrientationMode.Identity);
}
}
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);
}
private void _UpdatePlanes(List <ApiPlaneData> latestPlaneData, List <TrackedPlaneRecord> newPlaneRecords,
List <TrackedPlaneRecord> planeRecords, bool forceUpdate)
{
// Add latest planedata to a convenient hash on ID (note: not hashing plane itself to avoid potential boxing
// of the struct on comparison overloads).
m_tmpLastestPlanesHash.Clear();
for (int i = 0; i < latestPlaneData.Count; i++)
{
m_tmpLastestPlanesHash.Add(latestPlaneData[i].id);
}
// Create or update all planes that appear in latestPlaneData.
newPlaneRecords.Clear();
for (int i = 0; i < latestPlaneData.Count; i++)
{
int planeRecordIndex = _FindPlaneRecordById(latestPlaneData[i].id, planeRecords);
if (planeRecordIndex != -1)
{
planeRecords[planeRecordIndex] = new TrackedPlaneRecord(planeRecords[planeRecordIndex].m_plane,
latestPlaneData[i], planeRecords[planeRecordIndex].m_updatePlane);
planeRecords[planeRecordIndex].m_updatePlane(latestPlaneData[i], null, forceUpdate);
}
else
{
Action <ApiPlaneData, TrackedPlane, bool> updatePlane;
var trackedPlane = new TrackedPlane(latestPlaneData[i], out updatePlane);
newPlaneRecords.Add(new TrackedPlaneRecord(trackedPlane, latestPlaneData[i], updatePlane));
}
}
// Add new planes into plane records
for (int i = 0; i < newPlaneRecords.Count; i++)
{
planeRecords.Add(newPlaneRecords[i]);
}
// Invalidate planes that were previously tracking but not present in latestPlaneData. Delete planes that
// are invalid or subsumed.
for (int i = planeRecords.Count - 1; i >= 0; i--)
{
if (!m_tmpLastestPlanesHash.Contains(planeRecords[i].m_planeData.id))
{
ApiPlaneData invalidPlane = new ApiPlaneData();
invalidPlane.id = planeRecords[i].m_planeData.id;
planeRecords[i].m_updatePlane(invalidPlane, null, true);
planeRecords.RemoveAt(i);
}
else if (planeRecords[i].m_planeData.subsumedBy > -1)
{
int subsumerIndex = _FindPlaneRecordById(planeRecords[i].m_planeData.subsumedBy, planeRecords);
if (subsumerIndex == -1)
{
ARDebug.LogError("Failed to find a record of the subsuming plane.");
continue;
}
planeRecords[i].m_updatePlane(planeRecords[i].m_planeData, planeRecords[subsumerIndex].m_plane,
true);
planeRecords.RemoveAt(i);
}
}
}