上传YomovSDK
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Sora丶kong
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#if !PICO_XR
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using System;
|
||||
using System.Collections;
|
||||
using System.Linq;
|
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using System.Runtime.InteropServices;
|
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using Unity.XR.OpenXR.Features.PICOSupport;
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using Unity.XR.PICO.TOBSupport;
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using UnityEngine;
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using UnityEngine.UI;
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#if UNITY_XR_COMPOSITIONLAYERS
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using Unity.XR.CompositionLayers;
|
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using Unity.XR.OpenXR.Features.PICOSupport;
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using UnityEngine.XR.OpenXR.CompositionLayers;
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#endif
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public class EnterpriseAPI_OpenXR : MonoBehaviour
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{
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private string tag = "CaptureLib ----";
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#if UNITY_XR_COMPOSITIONLAYERS
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private CompositionLayer _overlay = null;
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#endif
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private PXRCaptureRenderMode Mode = PXRCaptureRenderMode.PXRCapture_RenderMode_LEFT;
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byte[] imgByte ;
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private int width=2048;
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private int height=1536;
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public Material videoMaterial;
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public Transform FrameTarget;
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public Transform RenderTarget;
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public Text CanshuText;
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public Toggle showtime;
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public Text showtimeText;
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private bool isRuning=false;
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// 将视频帧转换为 Unity 纹理
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Texture2D texture;
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public Text fpsText;
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private void Awake()
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{
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Debug.Log($"{tag} Awake ");
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_overlay = GetComponent<CompositionLayer>();
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if (_overlay == null)
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{
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_overlay = gameObject.AddComponent<CompositionLayer>();
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}
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#endif
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imgByte = new byte[width*height*4];
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texture = new Texture2D((int)width, (int)height, TextureFormat.RGBA32, false);
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videoMaterial.SetTexture("_MainTex", texture);
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PXR_Enterprise.Configurefor4U();
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PXR_Enterprise.OpenCameraAsyncfor4U(ret =>
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{
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Debug.Log($"{tag} OpenCameraAsync ret= {ret}");
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});
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}
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public void SetTrackingMode(int listChoice)
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{
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Debug.Log($"{tag} SetMode ret= {listChoice}");
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// if (listChoice > 0)
|
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{
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switch (listChoice)
|
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{
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case 0:
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Mode = PXRCaptureRenderMode.PXRCapture_RenderMode_LEFT;
|
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break;
|
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case 1:
|
||||
Mode = PXRCaptureRenderMode.PXRCapture_RenderMode_RIGHT;
|
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break;
|
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case 2:
|
||||
Mode = PXRCaptureRenderMode.PXRCapture_RenderMode_3D;
|
||||
break;
|
||||
case 3:
|
||||
Mode = PXRCaptureRenderMode.PXRCapture_RenderMode_Interlace;
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
float outputFovHorizontal=76.35f;
|
||||
float outputFovVertical=61.05f;
|
||||
public void getCameraParameters()
|
||||
{
|
||||
Debug.Log($"{tag} getCamera ");
|
||||
double[] CameraIntrinsics=PXR_Enterprise.GetCameraIntrinsicsfor4U(width, height, outputFovHorizontal, outputFovVertical);
|
||||
PXR_Enterprise.GetCameraExtrinsicsfor4U(out Matrix4x4 leftExtrinsics, out Matrix4x4 rightExtrinsics);
|
||||
Debug.Log($"getCamera-- GetCameraIntrinsics:[{CameraIntrinsics[0]},{CameraIntrinsics[1]},{CameraIntrinsics[2]},{CameraIntrinsics[3]}]");
|
||||
Debug.Log(tag+"getCamera-- GetCameraExtrinsics leftExtrinsics :\n"+leftExtrinsics);
|
||||
Debug.Log(tag+"getCamera-- GetCameraExtrinsics rightExtrinsics :\n"+rightExtrinsics);
|
||||
|
||||
RGBCameraParamsNew param = PXR_Enterprise.GetCameraParametersNewfor4U(width, height);
|
||||
// Debug.Log($"getCamera GetCameraIntrinsics:[{param.cx},{param.cy},{param.fx},{param.fy}]");
|
||||
// Debug.Log($"getCamera GetCameraExtrinsics leftExtrinsics::[{param.l_pos} ------ {param.l_rot}]");
|
||||
// Debug.Log($"getCamera GetCameraExtrinsics rightExtrinsics::[{param.r_pos} ------ {param.r_rot}]");
|
||||
CanshuText.text = $"外参::[{param.l_pos} ------ {param.l_rot}]\n"+$" [{param.r_pos} ------ {param.r_rot}]";
|
||||
}
|
||||
public void StartPreview()
|
||||
{
|
||||
Debug.Log($"{tag} StartPreview ");
|
||||
FrameTarget.position = new Vector3(0,0,0);
|
||||
FrameTarget.rotation = Quaternion.Euler(0,0,0);
|
||||
RenderTarget.position = new Vector3(0,0,0);
|
||||
RenderTarget.rotation = Quaternion.Euler(0,0,0);
|
||||
#if UNITY_XR_COMPOSITIONLAYERS
|
||||
_overlay.enabled = true;
|
||||
StartCoroutine(_StartPreview());
|
||||
#endif
|
||||
}
|
||||
|
||||
#if UNITY_XR_COMPOSITIONLAYERS
|
||||
private IEnumerator _StartPreview()
|
||||
{
|
||||
IntPtr surface = IntPtr.Zero;
|
||||
yield return new WaitUntil(() =>
|
||||
{
|
||||
surface = OpenXRLayerUtility.GetLayerAndroidSurfaceObject(_overlay.GetInstanceID());
|
||||
PXR_Enterprise.StartPreviewfor4U(surface,Mode);
|
||||
return (surface != IntPtr.Zero);
|
||||
});
|
||||
}
|
||||
#endif
|
||||
|
||||
public float showTime = 1f;
|
||||
|
||||
private int count = 0;
|
||||
private float deltaTime = 0f;
|
||||
public void StartGetImageData()
|
||||
{
|
||||
Debug.Log($"{tag} StartGetImageData ");
|
||||
#if UNITY_XR_COMPOSITIONLAYERS
|
||||
_overlay.enabled = false;
|
||||
#endif
|
||||
IntPtr data=Marshal.UnsafeAddrOfPinnedArrayElement(imgByte,0);
|
||||
PXR_Enterprise.SetCameraFrameBufferfor4U(width,height,ref data, (Frame frame) =>
|
||||
{
|
||||
// Debug.Log($"{tag} sensorState position:[{frame.sensorState.globalPose.position.x},{frame.sensorState.globalPose.position.y},{frame.sensorState.globalPose.position.z}]," +
|
||||
// $" orientation:[{frame.sensorState.globalPose.orientation.x},{frame.sensorState.globalPose.orientation.y},{frame.sensorState.globalPose.orientation.z},{frame.sensorState.globalPose.orientation.w}] ");
|
||||
// FrameTarget.position=frame.pose.position;
|
||||
// FrameTarget.rotation = frame.pose.rotation;
|
||||
// FrameTarget.position = new Vector3(frame.pose.position.x, frame.pose.position.y, -frame.pose.position.z);
|
||||
// FrameTarget.rotation = new Quaternion(frame.pose.rotation.x, frame.pose.rotation.y, -frame.pose.rotation.z, -frame.pose.rotation.w);
|
||||
FrameTarget.position = frame.pose.position;
|
||||
FrameTarget.rotation = frame.pose.rotation;
|
||||
if (showtime.isOn)
|
||||
{
|
||||
showtimeText.text = frame.timestamp+"";
|
||||
}
|
||||
else
|
||||
{
|
||||
showtimeText.text = frame.timestamp+"";
|
||||
texture.LoadRawTextureData(imgByte);
|
||||
texture.Apply();
|
||||
}
|
||||
|
||||
Debug.Log($"{tag} imageAvailable ");
|
||||
Debug.Log($"{tag} onImageAvailable cameraFramePredictedDisplayTime = "+frame.timestamp +" Time.deltaTime:"+Time.deltaTime);
|
||||
Debug.Log($"{tag} onImageAvailable size = "+frame.datasize);
|
||||
count++;
|
||||
});
|
||||
Debug.Log($"{tag} StartGetImageData Mode= {Mode}");
|
||||
bool ret=PXR_Enterprise.StartGetImageDatafor4U(Mode, width, height);
|
||||
isRuning=true;
|
||||
Debug.Log($"{tag} StartGetImageData ret= {ret}");
|
||||
}
|
||||
|
||||
|
||||
public void Release()
|
||||
{
|
||||
PXR_Enterprise.CloseCamerafor4U();
|
||||
isRuning=false;
|
||||
}
|
||||
|
||||
private double time = 0;
|
||||
private SensorState a;
|
||||
private void Update()
|
||||
{
|
||||
deltaTime += Time.deltaTime;
|
||||
if (deltaTime >= showTime) {
|
||||
if (count>0)
|
||||
{
|
||||
float fps = count / deltaTime;
|
||||
float milliSecond = deltaTime * 1000 / count;
|
||||
string strFpsInfo = string.Format("当前每帧渲染间隔：{0:0.0} ms ({1:0.} 帧每秒)", milliSecond, fps);
|
||||
fpsText.text = strFpsInfo;
|
||||
}
|
||||
count = 0;
|
||||
deltaTime = 0f;
|
||||
}
|
||||
if (reopen)
|
||||
{
|
||||
reopen = false;
|
||||
PXR_Enterprise.StartGetImageDatafor4U(Mode, width, height);
|
||||
isRuning=true;
|
||||
}
|
||||
|
||||
|
||||
time= PXR_Enterprise.GetPredictedDisplayTime();
|
||||
a=PXR_Enterprise.GetPredictedMainSensorState(time,false);
|
||||
RenderTarget.position = a.pose.position;
|
||||
RenderTarget.rotation = a.pose.rotation;
|
||||
// RenderTarget.position = new Vector3(a.pose.position.x, a.pose.position.y, -a.pose.position.z);
|
||||
// RenderTarget.rotation = new Quaternion(a.pose.rotation.x, a.pose.rotation.y, -a.pose.rotation.z, -a.pose.rotation.w);
|
||||
}
|
||||
static bool reopen = false;
|
||||
private void OnApplicationPause(bool pauseStatus)
|
||||
{
|
||||
if (isRuning)
|
||||
{
|
||||
// PXR_Enterprise.SetRunningState(pauseStatus);
|
||||
if (pauseStatus)
|
||||
{
|
||||
PXR_Enterprise.CloseCamerafor4U();
|
||||
}
|
||||
else
|
||||
{
|
||||
PXR_Enterprise.OpenCameraAsyncfor4U(ret =>
|
||||
{
|
||||
Debug.Log($"{tag} OpenCameraAsync reopen= {ret}");
|
||||
reopen = ret;
|
||||
});
|
||||
}
|
||||
}
|
||||
|
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}
|
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}
|
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#endif
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Reference in New Issue
Block a user