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);
}
