public static bool GetDepthColliderFrameInfo()
{
int result = (int)Error.FAILED;
if (!InitialDepthColliderPtrSize)
{
result = ViveSR_Framework.GetMultiDataSize(ViveSR_Framework.MODULE_ID_DEPTH, DataInfoDepthCollider, DataInfoDepthCollider.Length);
InitialDepthColliderPtrSize = (result == (int)Error.WORK);
}
DataInfo[] dataInfoFrame = new DataInfo[] { DataInfoDepthCollider[(int)DepthDataMask.TIME_STP] };
result = ViveSR_Framework.GetMultiData(ViveSR_Framework.MODULE_ID_DEPTH, dataInfoFrame, dataInfoFrame.Length);
if (result != (int)Error.WORK)
{
return(false);
}
Marshal.Copy(DataInfoDepthCollider[(int)DepthDataMask.TIME_STP].ptr, RawDepthColliderTimeIndex, 0, RawDepthColliderTimeIndex.Length);
if (LastDepthColliderTimeIndex == DepthColliderTimeIndex)
{
return(false);
}
else
{
LastDepthColliderTimeIndex = DepthColliderTimeIndex;
}
return(true);
}
/// <summary>
/// Update the buffer of depth texture, frame index and time index.
/// </summary>
public static void UpdateDepthImage()
{
int result = (int)Error.FAILED;
if (!InitialDepthPtrSize)
{
result = ViveSR_Framework.GetMultiDataSize(ViveSR_Framework.MODULE_ID_DEPTH, DataInfoDepth, DataInfoDepth.Length);
InitialDepthPtrSize = (result == (int)Error.WORK);
}
DataInfo[] dataInfoFrame = new DataInfo[] { DataInfoDepth[(int)DepthDataMask.FRAME_SEQ] };
result = ViveSR_Framework.GetMultiData(ViveSR_Framework.MODULE_ID_DEPTH, dataInfoFrame, dataInfoFrame.Length);
if (result != (int)Error.WORK)
{
return;
}
Marshal.Copy(DataInfoDepth[(int)DepthDataMask.FRAME_SEQ].ptr, RawDepthFrameIndex, 0, RawDepthFrameIndex.Length);
if (LastDepthFrameIndex == DepthFrameIndex)
{
return;
}
else
{
LastDepthFrameIndex = DepthFrameIndex;
}
result = ViveSR_Framework.GetMultiData(ViveSR_Framework.MODULE_ID_DEPTH, DataInfoDepth, DataInfoDepth.Length);
if (result == (int)Error.WORK)
{
ParseDepthPtrData();
}
}
/// <summary>
/// Update the buffer of undistorted texture, frame index and time index.
/// </summary>
public static void UpdateUndistortedImage()
{
int result = (int)Error.FAILED;
if (!InitialUndistortedPtrSize)
{
result = ViveSR_Framework.GetMultiDataSize(ViveSR_Framework.MODULE_ID_SEETHROUGH, DataInfoUndistorted, DataInfoUndistorted.Length);
InitialUndistortedPtrSize = (result == (int)Error.WORK);
}
DataInfo[] dataInfoFrame = new DataInfo[] { DataInfoUndistorted[(int)SeeThroughDataMask.FRAME_SEQ] };
result = ViveSR_Framework.GetMultiData(ViveSR_Framework.MODULE_ID_SEETHROUGH, dataInfoFrame, dataInfoFrame.Length);
if (result != (int)Error.WORK)
{
return;
}
Marshal.Copy(DataInfoUndistorted[(int)SeeThroughDataMask.FRAME_SEQ].ptr, RawUndistortedFrameIndex, 0, RawUndistortedFrameIndex.Length);
if (LastUndistortedFrameIndex == UndistortedFrameIndex)
{
return;
}
else
{
LastUndistortedFrameIndex = UndistortedFrameIndex;
}
result = ViveSR_Framework.GetMultiData(ViveSR_Framework.MODULE_ID_SEETHROUGH, DataInfoUndistorted, DataInfoUndistorted.Length);
if (result == (int)Error.WORK)
{
ParseUndistortedPtrData();
}
}
public static bool GetRigidReconstructionData(ref int frame,
out float[] pose,
ref int verticesNum,
out float[] verticesBuff,
ref int vertStrideInFloat,
out int[] sectorIDList,
ref int sectorNum,
out int[] sectorVertNum,
out int[] sectorMeshIdNum,
ref int indicesNum,
out int[] indicesBuff)
{
if (!UsingCallback)
{
int result = (int)Error.FAILED;
if (!InitialPointCloudPtrSize)
{
result = ViveSR_Framework.GetMultiDataSize(ViveSR_Framework.MODULE_ID_RIGID_RECONSTRUCTION, DataInfoPointCloud, DataInfoPointCloud.Length);
InitialPointCloudPtrSize = (result == (int)Error.WORK);
}
result = ViveSR_Framework.GetMultiData(ViveSR_Framework.MODULE_ID_RIGID_RECONSTRUCTION, DataInfoPointCloud, DataInfoPointCloud.Length);
if (result == (int)Error.WORK)
{
ParseReconstructionPtrData();
}
}
bool isUpdated = (verticesNum != VertNum);
verticesNum = VertNum;
indicesNum = IdxNum;
frame = FrameSeq;
vertStrideInFloat = VertStrideInByte / 4;
verticesBuff = OutVertex;
indicesBuff = OutIndex;
pose = TrackedPose;
sectorIDList = SectorIDList;
sectorNum = SectorNum;
sectorVertNum = SectorVertNum;
sectorMeshIdNum = SectorMeshIdNum;
return(isUpdated);
}
public static bool GetRigidReconstructionFrame(ref int frame)
{
int result = (int)Error.FAILED;
if (!UsingCallback)
{
if (!InitialPointCloudPtrSize)
{
result = ViveSR_Framework.GetMultiDataSize(ViveSR_Framework.MODULE_ID_RIGID_RECONSTRUCTION, DataInfoPointCloud, DataInfoPointCloud.Length);
InitialPointCloudPtrSize = (result == (int)Error.WORK);
}
DataInfo[] dataInfoFrame = new DataInfo[] { DataInfoPointCloud[(int)ReconstructionDataMask.FRAME_SEQ] };
result = ViveSR_Framework.GetMultiData(ViveSR_Framework.MODULE_ID_RIGID_RECONSTRUCTION, dataInfoFrame, dataInfoFrame.Length);
if (result != (int)Error.WORK)
{
return(false);
}
Marshal.Copy(DataInfoPointCloud[(int)ReconstructionDataMask.FRAME_SEQ].ptr, RawPointCloudFrameIndex, 0, RawPointCloudFrameIndex.Length);
}
frame = RawPointCloudFrameIndex[0];
return(true);
}
public static bool GetDepthColliderData(ref int verticesNum, out float[] verticesBuff, ref int indicesNum, out int[] indicesBuff)
{
int result = ViveSR_Framework.GetMultiData(ViveSR_Framework.MODULE_ID_DEPTH, DataInfoDepthCollider, DataInfoDepthCollider.Length);
if (result == (int)Error.WORK)
{
Marshal.Copy(DataInfoDepthCollider[(int)DepthDataMask.NUM_VERTICES].ptr, RawDepthColliderVerticesNum, 0, RawDepthColliderVerticesNum.Length);
Marshal.Copy(DataInfoDepthCollider[(int)DepthDataMask.BYTEPERVERT].ptr, RawDepthColliderBytePervert, 0, RawDepthColliderBytePervert.Length);
Marshal.Copy(DataInfoDepthCollider[(int)DepthDataMask.VERTICES].ptr, RawDepthColliderVertices, 0, ColliderVerticeNum * ColliderBytePervert / 3);
Marshal.Copy(DataInfoDepthCollider[(int)DepthDataMask.NUM_INDICES].ptr, RawDepthColliderIndicesNum, 0, RawDepthColliderIndicesNum.Length);
Marshal.Copy(DataInfoDepthCollider[(int)DepthDataMask.INDICES].ptr, RawDepthColliderIndices, 0, ColliderIndicesNum);
}
else
{
RawDepthColliderVerticesNum[0] = 0;
RawDepthColliderBytePervert[0] = 0;
RawDepthColliderIndicesNum[0] = 0;
}
verticesNum = ColliderVerticeNum;
indicesNum = ColliderIndicesNum;
verticesBuff = RawDepthColliderVertices;
indicesBuff = RawDepthColliderIndices;
return(true);
}
