public override void Localize()
{
XRCpuImage image;
ARCameraManager cameraManager = m_Sdk.cameraManager;
var cameraSubsystem = cameraManager.subsystem;
if (cameraSubsystem != null && cameraSubsystem.TryAcquireLatestCpuImage(out image))
{
CoroutineJobLocalize j = new CoroutineJobLocalize();
Camera cam = this.mainCamera;
Vector3 camPos = cam.transform.position;
Quaternion camRot = cam.transform.rotation;
j.intrinsics = ARHelper.GetIntrinsics();
j.width = image.width;
j.height = image.height;
j.rotation = camRot;
j.position = camPos;
j.OnSuccess += (int mapId, Vector3 position, Quaternion rotation) =>
{
this.stats.locSucc++;
Debug.Log("*************************** Localization Succeeded ***************************");
Matrix4x4 cloudSpace = Matrix4x4.TRS(position, rotation, Vector3.one);
Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
Debug.Log("id " + mapId + "\n" +
"fc 4x4\n" + cloudSpace + "\n" +
"ft 4x4\n" + trackerSpace);
Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
LocalizerPose lastLocalizedPose;
LocalizerBase.GetLocalizerPose(out lastLocalizedPose, mapId, position, rotation, m.inverse);
this.lastLocalizedPose = lastLocalizedPose;
foreach (PointCloudRenderer p in this.pcr.Values)
{
if (p.mapId == mapId)
{
p.go.transform.position = m.GetColumn(3);
p.go.transform.rotation = m.rotation;
break;
}
}
};
j.OnFail += () =>
{
this.stats.locFail++;
Debug.Log("*************************** Localization Failed ***************************");
};
ARHelper.GetPlaneData(out j.pixels, image);
m_Jobs.Add(j);
image.Dispose();
}
}
public override void Localize()
{
XRCameraImage image;
ARCameraManager cameraManager = m_Sdk.cameraManager;
var cameraSubsystem = cameraManager.subsystem;
if (cameraSubsystem != null && cameraSubsystem.TryGetLatestImage(out image))
{
CoroutineJobLocalize j = new CoroutineJobLocalize();
Camera cam = this.mainCamera;
j.intrinsics = ARHelper.GetIntrinsics();
j.width = image.width;
j.height = image.height;
j.rotation = cam.transform.rotation;
j.position = cam.transform.position;
j.host = this;
ARHelper.GetPlaneData(out j.pixels, image);
m_Jobs.Add(j);
image.Dispose();
}
}
public void Localize()
{
XRCameraImage image;
if (m_CameraManager.TryGetLatestImage(out image))
{
CoroutineJobLocalize j = new CoroutineJobLocalize();
Camera cam = Camera.main;
j.rotation = cam.transform.rotation;
j.position = cam.transform.position;
j.intrinsics = ARHelper.GetIntrinsics(m_CameraManager);
j.width = image.width;
j.height = image.height;
j.stats = this.stats;
j.pcr = this.pcr;
XRCameraImagePlane plane = image.GetPlane(0); // use the Y plane
j.pixels = new byte[plane.data.Length];
plane.data.CopyTo(j.pixels);
jobs.Add(j);
image.Dispose();
}
}
