diff --git a/CHANGELOG.md b/CHANGELOG.md
index f3f5a374771d79b22857a7c702efb05664a6979c..991a3f1f1ec396cb636bfa7e55bce43e8d5e579b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,7 +7,14 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
## [Unreleased]
+## 1.0.1 - 2025-06-24
+### Added
+
+- Public property `isActivated` in `AprilTagDetector`
+- Public method `AddTag`, `RemoveTag`, and `SetTagSizes` in `AprilTagDetector`
+- Tooltip for `AprilTagDetector` serialized fields
+- `DebugLog` utility based on custom scripting symbols
## 1.0.0 - 2025-06-17
diff --git a/README.md b/README.md
index df2b8e9f81c52e2106065665af3e258e505ddf88..bbc7ab9975a823572f84544da87d5cee61f71475 100644
--- a/README.md
+++ b/README.md
@@ -23,12 +23,18 @@ This package is available in the `HYPER` scoped registry.
Please follow [this snippet] to add the registry to your project.
+## How to use
+
+### Enable debug messages
+
+Add `HYPER_PCA_APRILTAG_DEBUG_LOG` to **Project Settings** > **Player** > **Script Compilation** > **Scripting Define Symbols**.
+
+## Attribution
+
+- Correct Blips by CogFireStudios -- https://freesound.org/s/531510/ -- License: Creative Commons 0
+
[jp.keijiro.apriltag]: https://github.com/keijiro/jp.keijiro.apriltag
[LICENSE.BSD-2-Clause]: https://git-st.inf.tu-dresden.de/hyper/pca-apriltag/-/blob/main/LICENSE.BSD-2-Clause
[Unity-PassthroughCameraApiSamples]: https://github.com/oculus-samples/Unity-PassthroughCameraApiSamples/tree/main/Assets/PassthroughCameraApiSamples
[LICENSE.MIT]: https://git-st.inf.tu-dresden.de/hyper/pca-apriltag/-/blob/main/LICENSE.MIT
[this snippet]: https://git-st.inf.tu-dresden.de/hyper/core/-/snippets/14
-
-## Attribution
-
-- Correct Blips by CogFireStudios -- https://freesound.org/s/531510/ -- License: Creative Commons 0
diff --git a/Runtime/Scripts/AprilTagDetector.cs b/Runtime/Scripts/AprilTagDetector.cs
index eb4efff43d7a3c0a222595074241a031ea593093..f52ebac63cfe8c9859d344bf5e4e31cabe0a863c 100644
--- a/Runtime/Scripts/AprilTagDetector.cs
+++ b/Runtime/Scripts/AprilTagDetector.cs
@@ -10,18 +10,46 @@ namespace Hyper.PCAAprilTag
{
public class AprilTagDetector : MonoBehaviour
{
+ /// <summary>
+ /// Indicates whether the AprilTag detector is currently activated.
+ /// </summary>
+ public bool isActivated { get; private set; }
+
public static event Action<IEnumerable<TagPoseSize>> OnTagsDetected;
- [SerializeField] private bool isContinuous;
- [SerializeField] private List<IdSizePair> tagSizes = new();
- [SerializeField] private int frameDelay = 7;
- [SerializeField] private int numAveragedPoses = 10;
- [SerializeField] private float maxLinearSpeed = 0.1f; // meters per second
- [SerializeField] private float maxAngularSpeed = 10f; // degrees per second
- [SerializeField] private float timeout = 2f;
- [SerializeField] private int decimation = 4;
+ [SerializeField, Tooltip("If true, the detector will continuously search for tags until Deactivate() is called.")]
+ private bool isContinuous;
+
+ [SerializeField, Tooltip("If true, plays a sound when tags are detected.")]
+ private bool playSuccessSound = true;
+
+ [SerializeField, Tooltip("List of tag IDs and their sizes. " +
+ "Only tags listed here will be processed by the AprilTag detector.")]
+ private List<IdSizePair> tagSizes = new();
+
+ [SerializeField, Tooltip("Use the past frameDelay camera poses when detecting tags " +
+ "to compensate for WebCamTexture latency.")]
+ private int frameDelay = 7;
+
+ [SerializeField, Tooltip("Number of poses to average for each detected tag. " +
+ "Higher values can improve stability but may introduce latency.")]
+ private int numAveragedPoses = 10;
+
+ [SerializeField, Tooltip("Maximum linear speed of the headset before detection is skipped. " +
+ "This is to avoid bad detections when the headset is moving too fast.")]
+ private float maxLinearSpeed = 0.1f; // meters per second
+
+ [SerializeField, Tooltip("Maximum angular speed of the headset before detection is skipped. " +
+ "This is to avoid bad detections when the headset is rotating too fast.")]
+ private float maxAngularSpeed = 10f; // degrees per second
+
+ // [SerializeField] private float timeout = 2f; // TODO
+
+ [SerializeField, Tooltip("Decimation factor for the image processing. " +
+ "Higher values reduce the resolution of the input image, " +
+ "which can speed up processing but may reduce accuracy.")]
+ private int decimation = 1;
- private bool _isActivated;
private float _verticalFOV;
private TagDetector _detector;
private WebCamTextureManager _webCamTextureManager;
@@ -30,14 +58,13 @@ namespace Hyper.PCAAprilTag
private Thread _detectorProcessImageThread;
private List<TagPoseSize> _detectedTags = new();
private Lifo<Pose> _cameraPoses;
- private Dictionary<int, Lifo<TagPoseSize>> _tagPoseSizeDict = new();
+ private readonly Dictionary<int, Lifo<TagPoseSize>> _tagPoseSizeDict = new();
private AudioSource _doneAudioSource;
- private Vector3 lastPosition;
- private Quaternion lastRotation;
- private float lastTime;
-
- private Transform headset;
+ private Transform _headset;
+ private Vector3 _lastPosition;
+ private Quaternion _lastRotation;
+ private float _lastTime;
private void Awake()
{
@@ -65,10 +92,10 @@ namespace Hyper.PCAAprilTag
var cameraIntrinsics = PassthroughCameraUtils.GetCameraIntrinsics(CameraEye);
_verticalFOV = 2 * Mathf.Atan2(cameraIntrinsics.Resolution.y, 2 * cameraIntrinsics.FocalLength.y);
- headset = Camera.main!.transform;
- lastPosition = headset.position;
- lastRotation = headset.rotation;
- lastTime = Time.time;
+ _headset = Camera.main!.transform;
+ _lastPosition = _headset.position;
+ _lastRotation = _headset.rotation;
+ _lastTime = Time.time;
}
private void OnDestroy()
@@ -85,6 +112,7 @@ namespace Hyper.PCAAprilTag
private void LateUpdate()
{
+ // TODO. This might be a problem if the Camera Rig is moved.
_cameraPoses.Push(PassthroughCameraUtils.GetCameraPoseInWorld(CameraEye));
if (_detectedTags.Any())
@@ -103,44 +131,44 @@ namespace Hyper.PCAAprilTag
if (!isContinuous && _tagPoseSizeDict.First().Value.Count >= numAveragedPoses)
{
Deactivate();
- _doneAudioSource.Play();
+ if (playSuccessSound) _doneAudioSource.Play();
_tagPoseSizeDict.Clear();
}
OnTagsDetected?.Invoke(AvgDetectedTags());
}
- if (!_isActivated || !_webCamTextureManager.WebCamTexture ||
+ if (!isActivated || !_webCamTextureManager.WebCamTexture ||
_detectorProcessImageThread is { IsAlive: true }) return;
var currentTime = Time.time;
- var deltaTime = currentTime - lastTime;
+ var deltaTime = currentTime - _lastTime;
if (deltaTime > 0f)
{
// Linear velocity
- float linearSpeed = Vector3.Distance(headset.position, lastPosition) / deltaTime;
+ var linearSpeed = Vector3.Distance(_headset.position, _lastPosition) / deltaTime;
// Angular velocity
- Quaternion deltaRotation = headset.rotation * Quaternion.Inverse(lastRotation);
+ var deltaRotation = _headset.rotation * Quaternion.Inverse(_lastRotation);
deltaRotation.ToAngleAxis(out float angleInDegrees, out _);
- float angularSpeed = angleInDegrees / deltaTime;
+ var angularSpeed = angleInDegrees / deltaTime;
// Update
- lastPosition = headset.position;
- lastRotation = headset.rotation;
- lastTime = currentTime;
+ _lastPosition = _headset.position;
+ _lastRotation = _headset.rotation;
+ _lastTime = currentTime;
// Check thresholds
if (linearSpeed > maxLinearSpeed)
{
- Debug.LogWarning($"[Camera] Headset moving too fast (linear): {linearSpeed:F2} m/s");
+ DebugLog.Log(LogType.Warning, $"[Camera] Headset moving too fast (linear): {linearSpeed:F2} m/s");
return;
}
if (angularSpeed > maxAngularSpeed)
{
- Debug.LogWarning($"[Camera] Headset rotating too fast: {angularSpeed:F2} deg/s");
+ DebugLog.Log(LogType.Warning, $"[Camera] Headset rotating too fast: {angularSpeed:F2} deg/s");
return;
}
}
@@ -160,28 +188,28 @@ namespace Hyper.PCAAprilTag
_detectorProcessImageThread.Start();
}
- private void ProcessImage(Color32[] image, Matrix4x4 cameraToWorldMatrix)
- {
- _detector.ProcessImage(image, _verticalFOV, _tagSizes, cameraToWorldMatrix);
- _detectedTags = _detector.GetDetectedTagsCopy();
- }
-
+ /// <summary>
+ /// Activate the AprilTag detector and start the WebCamTexture.
+ /// </summary>
public void Activate()
{
- if (_isActivated) return;
+ if (isActivated) return;
- _isActivated = true;
+ isActivated = true;
_webCamTextureManager.WebCamTexture.Play();
}
+ /// <summary>
+ /// Deactivate the AprilTag detector and stop the WebCamTexture.
+ /// </summary>
public void Deactivate()
{
- _isActivated = false;
+ isActivated = false;
_webCamTextureManager.WebCamTexture.Stop();
}
/// <summary>
- /// Method to wait for the camera to be ready and then activate the AprilTag detector.
+ /// Wait for the camera to be ready and then activate the AprilTag detector.
/// Useful if AprilTag detection should run when the application starts.
/// </summary>
public void WaitForCamReadyAndActivate() =>
@@ -199,6 +227,72 @@ namespace Hyper.PCAAprilTag
}
}
+ /// <summary>
+ /// Add a new tag with its ID and size.
+ /// </summary>
+ /// <param name="id">Tag ID.</param>
+ /// <param name="size">Tag size.</param>
+ /// <returns>Success boolean.</returns>
+ public bool AddTag(int id, float size)
+ {
+ if (tagSizes.Any(pair => pair.id == id))
+ {
+ DebugLog.Log(LogType.Warning, $"Tag with ID {id} already exists.");
+ return false;
+ }
+
+ tagSizes.Add(new IdSizePair(id, size));
+ _tagSizes = TagSizesDictionary();
+ return true;
+ }
+
+ /// <summary>
+ /// Remove a tag by its ID.
+ /// </summary>
+ /// <param name="id">Tag ID.</param>
+ /// <returns></returns>
+ public bool RemoveTag(int id)
+ {
+ if (tagSizes.Any(pair => pair.id == id))
+ {
+ tagSizes.Remove(tagSizes.First(pair => pair.id == id));
+ _tagSizes = TagSizesDictionary();
+ return true;
+ }
+
+ DebugLog.Log(LogType.Warning, $"Tag with ID {id} does not exist.");
+ return false;
+ }
+
+ /// <summary>
+ /// Set the tagSizes list.
+ /// </summary>
+ /// <param name="ids">Array of tag IDs.</param>
+ /// <param name="sizes">Array of tag sizes.</param>
+ /// <returns>Success boolean.</returns>
+ public bool SetTagSizes(int[] ids, float[] sizes)
+ {
+ if (ids.Length != sizes.Length)
+ {
+ DebugLog.Log(LogType.Error, "IDs and sizes arrays must have the same length.");
+ return false;
+ }
+
+ tagSizes.Clear();
+ for (var i = 0; i < ids.Length; i++)
+ {
+ tagSizes.Add(new IdSizePair(ids[i], sizes[i]));
+ }
+ _tagSizes = TagSizesDictionary();
+ return true;
+ }
+
+ private void ProcessImage(Color32[] image, Matrix4x4 cameraToWorldMatrix)
+ {
+ _detector.ProcessImage(image, _verticalFOV, _tagSizes, cameraToWorldMatrix);
+ _detectedTags = _detector.GetDetectedTagsCopy();
+ }
+
private Dictionary<int, float> TagSizesDictionary()
{
var dict = new Dictionary<int, float>();
diff --git a/Runtime/Scripts/DebugLog.cs b/Runtime/Scripts/DebugLog.cs
new file mode 100644
index 0000000000000000000000000000000000000000..f63b85faa700955c50b56c9a8c76c3ccd1eb25b4
--- /dev/null
+++ b/Runtime/Scripts/DebugLog.cs
@@ -0,0 +1,34 @@
+using Debug = UnityEngine.Debug;
+using System;
+using System.Diagnostics;
+using UnityEngine;
+
+namespace Hyper.PCAAprilTag
+{
+ /// <summary>
+ /// A utility class for logging debug messages.
+ /// To enable, add "HYPER_PCA_APRILTAG_DEBUG_LOG"
+ /// to Project Settings > Player > Script Compilation > Scripting Define Symbols
+ /// </summary>
+ public static class DebugLog
+ {
+ [Conditional("HYPER_PCA_APRILTAG_DEBUG_LOG")]
+ public static void Log(LogType mType, string message)
+ {
+ switch (mType)
+ {
+ case LogType.Error:
+ Debug.LogError(message);
+ break;
+ case LogType.Warning:
+ Debug.LogWarning(message);
+ break;
+ case LogType.Log:
+ Debug.Log(message);
+ break;
+ default:
+ throw new ArgumentOutOfRangeException(nameof(mType), mType, null);
+ }
+ }
+ }
+}
diff --git a/Runtime/Scripts/DebugLog.cs.meta b/Runtime/Scripts/DebugLog.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..99eabe4531c930f120d44ea4ea9b5c9aa0fca919
--- /dev/null
+++ b/Runtime/Scripts/DebugLog.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 28ff872694bba47d899df394223ec8d0
\ No newline at end of file
diff --git a/Runtime/Scripts/IdSizePair.cs b/Runtime/Scripts/IdSizePair.cs
index 892c12bab2e3373b63bcad951c50f4f144e79fc2..73a374fc2aee1234a443e9ba51b12b29286e563b 100644
--- a/Runtime/Scripts/IdSizePair.cs
+++ b/Runtime/Scripts/IdSizePair.cs
@@ -3,9 +3,30 @@ using System;
namespace Hyper.PCAAprilTag
{
[Serializable]
- public struct IdSizePair
+ public struct IdSizePair : IEquatable<IdSizePair>
{
public int id;
public float size;
+
+ public IdSizePair(int id, float size)
+ {
+ this.id = id;
+ this.size = size;
+ }
+
+ public bool Equals(IdSizePair other)
+ {
+ return id == other.id;
+ }
+
+ public override bool Equals(object obj)
+ {
+ return obj is IdSizePair other && Equals(other);
+ }
+
+ public override int GetHashCode()
+ {
+ return id;
+ }
}
}
diff --git a/Runtime/Scripts/KeijiroAprilTag/Utils.cs b/Runtime/Scripts/KeijiroAprilTag/Utils.cs
index 150920c28551d09a92761eb2844f4992b41667bc..69c7c60fe0d68e2c0f713dc539db1c6995b32d7d 100644
--- a/Runtime/Scripts/KeijiroAprilTag/Utils.cs
+++ b/Runtime/Scripts/KeijiroAprilTag/Utils.cs
@@ -1,4 +1,3 @@
-using AprilTag;
using System.Collections.Generic;
using Unity.Collections;
using Unity.Mathematics;
diff --git a/Runtime/Scripts/Lifo.cs b/Runtime/Scripts/Lifo.cs
index 480ec6df4577b8b0122ab5a97ca2df92609afc86..8988e45c0af051438e75f76d8eb20e81806fc435 100644
--- a/Runtime/Scripts/Lifo.cs
+++ b/Runtime/Scripts/Lifo.cs
@@ -1,45 +1,52 @@
using System.Collections.Generic;
using System.Linq;
-// LIFO (Last-In-First-Out) List
-public class Lifo<T>
+namespace Hyper.PCAAprilTag
{
- private readonly int _capacity;
- private readonly List<T> _list;
-
- public Lifo(int capacity)
+ /// <summary>
+ /// LIFO (Last-In-First-Out) List
+ /// </summary>
+ /// <typeparam name="T"></typeparam>
+ public class Lifo<T>
{
- _capacity = capacity;
- _list = new List<T>(capacity);
- }
+ private readonly int _capacity;
+ private readonly List<T> _list;
- public void Push(T item)
- {
- if (_list.Count >= _capacity)
+ public Lifo(int capacity)
{
- _list.RemoveAt(0);
+ _capacity = capacity;
+ _list = new List<T>(capacity);
}
- _list.Add(item);
- }
- public T Pop()
- {
- if (_list.Count == 0) return default;
+ public void Push(T item)
+ {
+ if (_list.Count >= _capacity)
+ {
+ _list.RemoveAt(0);
+ }
- var item = _list[0];
- _list.RemoveAt(0);
- return item;
- }
+ _list.Add(item);
+ }
- public T Top => _list.Last();
+ public T Pop()
+ {
+ if (_list.Count == 0) return default;
- public T this[int index] => _list[index];
+ var item = _list[0];
+ _list.RemoveAt(0);
+ return item;
+ }
- public bool IsEmpty => _list.Count == 0;
+ public T Top => _list.Last();
- public bool IsFull => _list.Count >= _capacity;
+ public T this[int index] => _list[index];
- public int Count => _list.Count;
+ public bool IsEmpty => _list.Count == 0;
- public List<T> ToList() => new List<T>(_list);
+ public bool IsFull => _list.Count >= _capacity;
+
+ public int Count => _list.Count;
+
+ public List<T> ToList() => new List<T>(_list);
+ }
}
diff --git a/Runtime/Scripts/PassthroughCameraAPISample/PassthroughCameraDebugger.cs b/Runtime/Scripts/PassthroughCameraAPISample/PassthroughCameraDebugger.cs
deleted file mode 100644
index 67b1e2fc1e4c050ba74e8ed3fe4f4c878998034a..0000000000000000000000000000000000000000
--- a/Runtime/Scripts/PassthroughCameraAPISample/PassthroughCameraDebugger.cs
+++ /dev/null
@@ -1,47 +0,0 @@
-// Copyright (c) Meta Platforms, Inc. and affiliates.
-
-using UnityEngine;
-
-public static class PassthroughCameraDebugger
-{
- public enum DebuglevelEnum
- {
- ALL,
- NONE,
- ONLY_ERROR,
- ONLY_LOG,
- ONLY_WARNING
- }
-
- public static DebuglevelEnum DebugLevel = DebuglevelEnum.ALL;
-
- /// <summary>
- /// Send debug information to Unity console based on DebugType and DebugLevel
- /// </summary>
- /// <param name="mType"></param>
- /// <param name="message"></param>
- public static void DebugMessage(LogType mType, string message)
- {
- switch (mType)
- {
- case LogType.Error:
- if (DebugLevel is DebuglevelEnum.ALL or DebuglevelEnum.ONLY_ERROR)
- {
- Debug.LogError(message);
- }
- break;
- case LogType.Log:
- if (DebugLevel is DebuglevelEnum.ALL or DebuglevelEnum.ONLY_LOG)
- {
- Debug.Log(message);
- }
- break;
- case LogType.Warning:
- if (DebugLevel is DebuglevelEnum.ALL or DebuglevelEnum.ONLY_WARNING)
- {
- Debug.LogWarning(message);
- }
- break;
- }
- }
-}
diff --git a/Runtime/Scripts/PassthroughCameraAPISample/PassthroughCameraDebugger.cs.meta b/Runtime/Scripts/PassthroughCameraAPISample/PassthroughCameraDebugger.cs.meta
deleted file mode 100644
index 89ad076bd4b424d46834c221f4b7d144aa5c639c..0000000000000000000000000000000000000000
--- a/Runtime/Scripts/PassthroughCameraAPISample/PassthroughCameraDebugger.cs.meta
+++ /dev/null
@@ -1,2 +0,0 @@
-fileFormatVersion: 2
-guid: 3a8ac5b7682fa4c2491fe8382784bad5
\ No newline at end of file
diff --git a/Runtime/Scripts/PassthroughCameraAPISample/PassthroughCameraPermissions.cs b/Runtime/Scripts/PassthroughCameraAPISample/PassthroughCameraPermissions.cs
index fb166ba29c4d37f24e36eec121497a42a22affb1..9d816289d2b3686bdf37db1323aa12cf6eae4ad6 100644
--- a/Runtime/Scripts/PassthroughCameraAPISample/PassthroughCameraPermissions.cs
+++ b/Runtime/Scripts/PassthroughCameraAPISample/PassthroughCameraPermissions.cs
@@ -5,84 +5,89 @@ using System.Linq;
using UnityEngine;
#if UNITY_ANDROID
using UnityEngine.Android;
-using PCD = PassthroughCameraDebugger;
#pragma warning disable CS0618 // Type or member is obsolete
#endif
-/// <summary>
-/// PLEASE NOTE: Unity doesn't support requesting multiple permissions at the same time with <see cref="Permission.RequestUserPermissions"/> on Android.
-/// This component is a sample and shouldn't be used simultaneously with other scripts that manage Android permissions.
-/// </summary>
-public class PassthroughCameraPermissions : MonoBehaviour
+namespace Hyper.PCAAprilTag
{
- [SerializeField] public List<string> PermissionRequestsOnStartup = new() { OVRPermissionsRequester.ScenePermission };
-
- public static readonly string[] CameraPermissions =
- {
- "android.permission.CAMERA", // Required to use WebCamTexture object.
- "horizonos.permission.HEADSET_CAMERA" // Required to access the Passthrough Camera API in Horizon OS v74 and above.
- };
-
- public static bool? HasCameraPermission { get; private set; }
- private static bool s_askedOnce;
-
-#if UNITY_ANDROID
/// <summary>
- /// Request camera permission if the permission is not authorized by the user.
+ /// PLEASE NOTE: Unity doesn't support requesting multiple permissions at the same time with <see cref="Permission.RequestUserPermissions"/> on Android.
+ /// This component is a sample and shouldn't be used simultaneously with other scripts that manage Android permissions.
/// </summary>
- public void AskCameraPermissions()
+ public class PassthroughCameraPermissions : MonoBehaviour
{
- if (s_askedOnce)
- {
- return;
- }
- s_askedOnce = true;
- if (IsAllCameraPermissionsGranted())
+ [SerializeField]
+ public List<string> PermissionRequestsOnStartup = new() { OVRPermissionsRequester.ScenePermission };
+
+ public static readonly string[] CameraPermissions =
{
- HasCameraPermission = true;
- PCD.DebugMessage(LogType.Log, "PCA: All camera permissions granted.");
- }
- else
+ "android.permission.CAMERA", // Required to use WebCamTexture object.
+ "horizonos.permission.HEADSET_CAMERA" // Required to access the Passthrough Camera API in Horizon OS v74 and above.
+ };
+
+ public static bool? HasCameraPermission { get; private set; }
+ private static bool s_askedOnce;
+
+#if UNITY_ANDROID
+ /// <summary>
+ /// Request camera permission if the permission is not authorized by the user.
+ /// </summary>
+ public void AskCameraPermissions()
{
- PCD.DebugMessage(LogType.Log, "PCA: Requesting camera permissions.");
+ if (s_askedOnce)
+ {
+ return;
+ }
- var callbacks = new PermissionCallbacks();
- callbacks.PermissionDenied += PermissionCallbacksPermissionDenied;
- callbacks.PermissionGranted += PermissionCallbacksPermissionGranted;
- callbacks.PermissionDeniedAndDontAskAgain += PermissionCallbacksPermissionDenied;
+ s_askedOnce = true;
+ if (IsAllCameraPermissionsGranted())
+ {
+ HasCameraPermission = true;
+ DebugLog.Log(LogType.Log, "PCA: All camera permissions granted.");
+ }
+ else
+ {
+ DebugLog.Log(LogType.Log, "PCA: Requesting camera permissions.");
- // It's important to request all necessary permissions in one request because only one 'PermissionCallbacks' instance is supported at a time.
- var allPermissions = CameraPermissions.Concat(PermissionRequestsOnStartup).ToArray();
- Permission.RequestUserPermissions(allPermissions, callbacks);
- }
- }
+ var callbacks = new PermissionCallbacks();
+ callbacks.PermissionDenied += PermissionCallbacksPermissionDenied;
+ callbacks.PermissionGranted += PermissionCallbacksPermissionGranted;
+ callbacks.PermissionDeniedAndDontAskAgain += PermissionCallbacksPermissionDenied;
- /// <summary>
- /// Permission Granted callback
- /// </summary>
- /// <param name="permissionName"></param>
- private static void PermissionCallbacksPermissionGranted(string permissionName)
- {
- PCD.DebugMessage(LogType.Log, $"PCA: Permission {permissionName} Granted");
+ // It's important to request all necessary permissions in one request because only one 'PermissionCallbacks' instance is supported at a time.
+ var allPermissions = CameraPermissions.Concat(PermissionRequestsOnStartup).ToArray();
+ Permission.RequestUserPermissions(allPermissions, callbacks);
+ }
+ }
- // Only initialize the WebCamTexture object if both permissions are granted
- if (IsAllCameraPermissionsGranted())
+ /// <summary>
+ /// Permission Granted callback
+ /// </summary>
+ /// <param name="permissionName"></param>
+ private static void PermissionCallbacksPermissionGranted(string permissionName)
{
- HasCameraPermission = true;
+ DebugLog.Log(LogType.Log, $"PCA: Permission {permissionName} Granted");
+
+ // Only initialize the WebCamTexture object if both permissions are granted
+ if (IsAllCameraPermissionsGranted())
+ {
+ HasCameraPermission = true;
+ }
}
- }
- /// <summary>
- /// Permission Denied callback.
- /// </summary>
- /// <param name="permissionName"></param>
- private static void PermissionCallbacksPermissionDenied(string permissionName)
- {
- PCD.DebugMessage(LogType.Warning, $"PCA: Permission {permissionName} Denied");
- HasCameraPermission = false;
- s_askedOnce = false;
- }
+ /// <summary>
+ /// Permission Denied callback.
+ /// </summary>
+ /// <param name="permissionName"></param>
+ private static void PermissionCallbacksPermissionDenied(string permissionName)
+ {
+ DebugLog.Log(LogType.Warning, $"PCA: Permission {permissionName} Denied");
+ HasCameraPermission = false;
+ s_askedOnce = false;
+ }
- private static bool IsAllCameraPermissionsGranted() => CameraPermissions.All(Permission.HasUserAuthorizedPermission);
+ private static bool IsAllCameraPermissionsGranted() =>
+ CameraPermissions.All(Permission.HasUserAuthorizedPermission);
#endif
+ }
}
diff --git a/Runtime/Scripts/PassthroughCameraAPISample/PassthroughCameraUtils.cs b/Runtime/Scripts/PassthroughCameraAPISample/PassthroughCameraUtils.cs
index b5ae67f1c3168dd37cf23f886fecc3131a055a3e..93cc547cbc3371bea62a9fb01017aa2d627ab739 100644
--- a/Runtime/Scripts/PassthroughCameraAPISample/PassthroughCameraUtils.cs
+++ b/Runtime/Scripts/PassthroughCameraAPISample/PassthroughCameraUtils.cs
@@ -6,362 +6,378 @@ using System.Collections.Generic;
using UnityEngine;
using UnityEngine.Assertions;
-public static class PassthroughCameraUtils
+namespace Hyper.PCAAprilTag
{
- // The Horizon OS starts supporting PCA with v74.
- public const int MINSUPPORTOSVERSION = 74;
+ public static class PassthroughCameraUtils
+ {
+ // The Horizon OS starts supporting PCA with v74.
+ public const int MINSUPPORTOSVERSION = 74;
- // The only pixel format supported atm
- private const int YUV_420_888 = 0x00000023;
+ // The only pixel format supported atm
+ private const int YUV_420_888 = 0x00000023;
- private static AndroidJavaObject s_currentActivity;
- private static AndroidJavaObject s_cameraManager;
- private static bool? s_isSupported;
- private static int? s_horizonOsVersion;
+ private static AndroidJavaObject s_currentActivity;
+ private static AndroidJavaObject s_cameraManager;
+ private static bool? s_isSupported;
+ private static int? s_horizonOsVersion;
- // Caches
- internal static readonly Dictionary<PassthroughCameraEye, (string id, int index)> CameraEyeToCameraIdMap = new();
- private static readonly ConcurrentDictionary<PassthroughCameraEye, List<Vector2Int>> s_cameraOutputSizes = new();
- private static readonly ConcurrentDictionary<string, AndroidJavaObject> s_cameraCharacteristicsMap = new();
- private static readonly OVRPose?[] s_cachedCameraPosesRelativeToHead = new OVRPose?[2];
+ // Caches
+ internal static readonly Dictionary<PassthroughCameraEye, (string id, int index)>
+ CameraEyeToCameraIdMap = new();
- /// <summary>
- /// Get the Horizon OS version number on the headset
- /// </summary>
- public static int? HorizonOSVersion
- {
- get
+ private static readonly ConcurrentDictionary<PassthroughCameraEye, List<Vector2Int>>
+ s_cameraOutputSizes = new();
+
+ private static readonly ConcurrentDictionary<string, AndroidJavaObject> s_cameraCharacteristicsMap = new();
+ private static readonly OVRPose?[] s_cachedCameraPosesRelativeToHead = new OVRPose?[2];
+
+ /// <summary>
+ /// Get the Horizon OS version number on the headset
+ /// </summary>
+ public static int? HorizonOSVersion
{
- if (!s_horizonOsVersion.HasValue)
+ get
{
- var vrosClass = new AndroidJavaClass("vros.os.VrosBuild");
- s_horizonOsVersion = vrosClass.CallStatic<int>("getSdkVersion");
+ if (!s_horizonOsVersion.HasValue)
+ {
+ var vrosClass = new AndroidJavaClass("vros.os.VrosBuild");
+ s_horizonOsVersion = vrosClass.CallStatic<int>("getSdkVersion");
#if OVR_INTERNAL_CODE
// 10000 means that the build doesn't have a proper release version, and it is still in Mainline,
// not in a release branch.
#endif // OVR_INTERNAL_CODE
- if (s_horizonOsVersion == 10000)
- {
- s_horizonOsVersion = -1;
+ if (s_horizonOsVersion == 10000)
+ {
+ s_horizonOsVersion = -1;
+ }
}
- }
- return s_horizonOsVersion.Value != -1 ? s_horizonOsVersion.Value : null;
+ return s_horizonOsVersion.Value != -1 ? s_horizonOsVersion.Value : null;
+ }
}
- }
- /// <summary>
- /// Returns true if the current headset supports Passthrough Camera API
- /// </summary>
- public static bool IsSupported
- {
- get
+ /// <summary>
+ /// Returns true if the current headset supports Passthrough Camera API
+ /// </summary>
+ public static bool IsSupported
{
- if (!s_isSupported.HasValue)
+ get
{
- var headset = OVRPlugin.GetSystemHeadsetType();
- return (headset == OVRPlugin.SystemHeadset.Meta_Quest_3 ||
- headset == OVRPlugin.SystemHeadset.Meta_Quest_3S) &&
- (!HorizonOSVersion.HasValue || HorizonOSVersion >= MINSUPPORTOSVERSION);
- }
+ if (!s_isSupported.HasValue)
+ {
+ var headset = OVRPlugin.GetSystemHeadsetType();
+ return (headset == OVRPlugin.SystemHeadset.Meta_Quest_3 ||
+ headset == OVRPlugin.SystemHeadset.Meta_Quest_3S) &&
+ (!HorizonOSVersion.HasValue || HorizonOSVersion >= MINSUPPORTOSVERSION);
+ }
- return s_isSupported.Value;
+ return s_isSupported.Value;
+ }
}
- }
-
- /// <summary>
- /// Provides a list of resolutions supported by the passthrough camera. Developers should use one of those
- /// when initializing the camera.
- /// </summary>
- /// <param name="cameraEye">The passthrough camera</param>
- public static List<Vector2Int> GetOutputSizes(PassthroughCameraEye cameraEye)
- {
- return s_cameraOutputSizes.GetOrAdd(cameraEye, GetOutputSizesInternal(cameraEye));
- }
-
- /// <summary>
- /// Returns the camera intrinsics for a specified passthrough camera. All the intrinsics values are provided
- /// in pixels. The resolution value is the maximum resolution available for the camera.
- /// </summary>
- /// <param name="cameraEye">The passthrough camera</param>
- public static PassthroughCameraIntrinsics GetCameraIntrinsics(PassthroughCameraEye cameraEye)
- {
- var cameraCharacteristics = GetCameraCharacteristics(cameraEye);
- var intrinsicsArr = GetCameraValueByKey<float[]>(cameraCharacteristics, "LENS_INTRINSIC_CALIBRATION");
-
- // Querying the camera resolution for which the intrinsics are provided
- // https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics#SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE
- // This is a Rect of 4 elements: [bottom, left, right, top] with (0,0) at top-left corner.
- using var sensorSize = GetCameraValueByKey<AndroidJavaObject>(cameraCharacteristics, "SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE");
- return new PassthroughCameraIntrinsics
+ /// <summary>
+ /// Provides a list of resolutions supported by the passthrough camera. Developers should use one of those
+ /// when initializing the camera.
+ /// </summary>
+ /// <param name="cameraEye">The passthrough camera</param>
+ public static List<Vector2Int> GetOutputSizes(PassthroughCameraEye cameraEye)
{
- FocalLength = new Vector2(intrinsicsArr[0], intrinsicsArr[1]),
- PrincipalPoint = new Vector2(intrinsicsArr[2], intrinsicsArr[3]),
- Resolution = new Vector2Int(sensorSize.Get<int>("right"), sensorSize.Get<int>("bottom")),
- Skew = intrinsicsArr[4]
- };
- }
+ return s_cameraOutputSizes.GetOrAdd(cameraEye, GetOutputSizesInternal(cameraEye));
+ }
- /// <summary>
- /// Returns an Android Camera2 API's cameraId associated with the passthrough camera specified in the argument.
- /// </summary>
- /// <param name="cameraEye">The passthrough camera</param>
- /// <exception cref="ApplicationException">Throws an exception if the code was not able to find cameraId</exception>
- public static string GetCameraIdByEye(PassthroughCameraEye cameraEye)
- {
- _ = EnsureInitialized();
+ /// <summary>
+ /// Returns the camera intrinsics for a specified passthrough camera. All the intrinsics values are provided
+ /// in pixels. The resolution value is the maximum resolution available for the camera.
+ /// </summary>
+ /// <param name="cameraEye">The passthrough camera</param>
+ public static PassthroughCameraIntrinsics GetCameraIntrinsics(PassthroughCameraEye cameraEye)
+ {
+ var cameraCharacteristics = GetCameraCharacteristics(cameraEye);
+ var intrinsicsArr = GetCameraValueByKey<float[]>(cameraCharacteristics, "LENS_INTRINSIC_CALIBRATION");
- return !CameraEyeToCameraIdMap.TryGetValue(cameraEye, out var value)
- ? throw new ApplicationException($"Cannot find cameraId for the eye {cameraEye}")
- : value.id;
- }
+ // Querying the camera resolution for which the intrinsics are provided
+ // https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics#SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE
+ // This is a Rect of 4 elements: [bottom, left, right, top] with (0,0) at top-left corner.
+ using var sensorSize = GetCameraValueByKey<AndroidJavaObject>(cameraCharacteristics,
+ "SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE");
- /// <summary>
- /// Returns the world pose of a passthrough camera at a given time.
- /// The LENS_POSE_TRANSLATION and LENS_POSE_ROTATION keys in 'android.hardware.camera2' are relative to the origin, so they can be cached to improve performance.
- /// </summary>
- /// <param name="cameraEye">The passthrough camera</param>
- /// <returns>The passthrough camera's world pose</returns>
- public static Pose GetCameraPoseInWorld(PassthroughCameraEye cameraEye)
- {
- var index = cameraEye == PassthroughCameraEye.Left ? 0 : 1;
+ return new PassthroughCameraIntrinsics
+ {
+ FocalLength = new Vector2(intrinsicsArr[0], intrinsicsArr[1]),
+ PrincipalPoint = new Vector2(intrinsicsArr[2], intrinsicsArr[3]),
+ Resolution = new Vector2Int(sensorSize.Get<int>("right"), sensorSize.Get<int>("bottom")),
+ Skew = intrinsicsArr[4]
+ };
+ }
- if (s_cachedCameraPosesRelativeToHead[index] == null)
+ /// <summary>
+ /// Returns an Android Camera2 API's cameraId associated with the passthrough camera specified in the argument.
+ /// </summary>
+ /// <param name="cameraEye">The passthrough camera</param>
+ /// <exception cref="ApplicationException">Throws an exception if the code was not able to find cameraId</exception>
+ public static string GetCameraIdByEye(PassthroughCameraEye cameraEye)
{
- var cameraId = GetCameraIdByEye(cameraEye);
- using var cameraCharacteristics = s_cameraManager.Call<AndroidJavaObject>("getCameraCharacteristics", cameraId);
+ _ = EnsureInitialized();
- var cameraTranslation = GetCameraValueByKey<float[]>(cameraCharacteristics, "LENS_POSE_TRANSLATION");
- var p_headFromCamera = new Vector3(cameraTranslation[0], cameraTranslation[1], -cameraTranslation[2]);
-
- var cameraRotation = GetCameraValueByKey<float[]>(cameraCharacteristics, "LENS_POSE_ROTATION");
- var q_cameraFromHead = new Quaternion(-cameraRotation[0], -cameraRotation[1], cameraRotation[2], cameraRotation[3]);
+ return !CameraEyeToCameraIdMap.TryGetValue(cameraEye, out var value)
+ ? throw new ApplicationException($"Cannot find cameraId for the eye {cameraEye}")
+ : value.id;
+ }
- var q_headFromCamera = Quaternion.Inverse(q_cameraFromHead);
+ /// <summary>
+ /// Returns the world pose of a passthrough camera at a given time.
+ /// The LENS_POSE_TRANSLATION and LENS_POSE_ROTATION keys in 'android.hardware.camera2' are relative to the origin, so they can be cached to improve performance.
+ /// </summary>
+ /// <param name="cameraEye">The passthrough camera</param>
+ /// <returns>The passthrough camera's world pose</returns>
+ public static Pose GetCameraPoseInWorld(PassthroughCameraEye cameraEye)
+ {
+ var index = cameraEye == PassthroughCameraEye.Left ? 0 : 1;
- s_cachedCameraPosesRelativeToHead[index] = new OVRPose
+ if (s_cachedCameraPosesRelativeToHead[index] == null)
{
- position = p_headFromCamera,
- orientation = q_headFromCamera
- };
- }
+ var cameraId = GetCameraIdByEye(cameraEye);
+ using var cameraCharacteristics =
+ s_cameraManager.Call<AndroidJavaObject>("getCameraCharacteristics", cameraId);
- var headFromCamera = s_cachedCameraPosesRelativeToHead[index].Value;
- var worldFromHead = OVRPlugin.GetNodePoseStateImmediate(OVRPlugin.Node.Head).Pose.ToOVRPose();
- var worldFromCamera = worldFromHead * headFromCamera;
- worldFromCamera.orientation *= Quaternion.Euler(180, 0, 0);
+ var cameraTranslation = GetCameraValueByKey<float[]>(cameraCharacteristics, "LENS_POSE_TRANSLATION");
+ var p_headFromCamera = new Vector3(cameraTranslation[0], cameraTranslation[1], -cameraTranslation[2]);
- return new Pose(worldFromCamera.position, worldFromCamera.orientation);
- }
+ var cameraRotation = GetCameraValueByKey<float[]>(cameraCharacteristics, "LENS_POSE_ROTATION");
+ var q_cameraFromHead = new Quaternion(-cameraRotation[0], -cameraRotation[1], cameraRotation[2],
+ cameraRotation[3]);
- /// <summary>
- /// Returns a 3D ray in the world space which starts from the passthrough camera origin and passes through the
- /// 2D camera pixel.
- /// </summary>
- /// <param name="cameraEye">The passthrough camera</param>
- /// <param name="screenPoint">A 2D point on the camera texture. The point is positioned relative to the
- /// maximum available camera resolution. This resolution can be obtained using <see cref="GetCameraIntrinsics"/>
- /// or <see cref="GetOutputSizes"/> methods.
- /// </param>
- public static Ray ScreenPointToRayInWorld(PassthroughCameraEye cameraEye, Vector2Int screenPoint)
- {
- var rayInCamera = ScreenPointToRayInCamera(cameraEye, screenPoint);
- var cameraPoseInWorld = GetCameraPoseInWorld(cameraEye);
- var rayDirectionInWorld = cameraPoseInWorld.rotation * rayInCamera.direction;
- return new Ray(cameraPoseInWorld.position, rayDirectionInWorld);
- }
+ var q_headFromCamera = Quaternion.Inverse(q_cameraFromHead);
- /// <summary>
- /// Returns a 3D ray in the camera space which starts from the passthrough camera origin - which is always
- /// (0, 0, 0) - and passes through the 2D camera pixel.
- /// </summary>
- /// <param name="cameraEye">The passthrough camera</param>
- /// <param name="screenPoint">A 2D point on the camera texture. The point is positioned relative to the
- /// maximum available camera resolution. This resolution can be obtained using <see cref="GetCameraIntrinsics"/>
- /// or <see cref="GetOutputSizes"/> methods.
- /// </param>
- public static Ray ScreenPointToRayInCamera(PassthroughCameraEye cameraEye, Vector2Int screenPoint)
- {
- var intrinsics = GetCameraIntrinsics(cameraEye);
- var directionInCamera = new Vector3
- {
- x = (screenPoint.x - intrinsics.PrincipalPoint.x) / intrinsics.FocalLength.x,
- y = (screenPoint.y - intrinsics.PrincipalPoint.y) / intrinsics.FocalLength.y,
- z = 1
- };
+ s_cachedCameraPosesRelativeToHead[index] = new OVRPose
+ {
+ position = p_headFromCamera,
+ orientation = q_headFromCamera
+ };
+ }
- return new Ray(Vector3.zero, directionInCamera);
- }
+ var headFromCamera = s_cachedCameraPosesRelativeToHead[index].Value;
+ var worldFromHead = OVRPlugin.GetNodePoseStateImmediate(OVRPlugin.Node.Head).Pose.ToOVRPose();
+ var worldFromCamera = worldFromHead * headFromCamera;
+ worldFromCamera.orientation *= Quaternion.Euler(180, 0, 0);
- #region Private methods
+ return new Pose(worldFromCamera.position, worldFromCamera.orientation);
+ }
- internal static bool EnsureInitialized()
- {
- if (CameraEyeToCameraIdMap.Count == 2)
+ /// <summary>
+ /// Returns a 3D ray in the world space which starts from the passthrough camera origin and passes through the
+ /// 2D camera pixel.
+ /// </summary>
+ /// <param name="cameraEye">The passthrough camera</param>
+ /// <param name="screenPoint">A 2D point on the camera texture. The point is positioned relative to the
+ /// maximum available camera resolution. This resolution can be obtained using <see cref="GetCameraIntrinsics"/>
+ /// or <see cref="GetOutputSizes"/> methods.
+ /// </param>
+ public static Ray ScreenPointToRayInWorld(PassthroughCameraEye cameraEye, Vector2Int screenPoint)
{
- return true;
+ var rayInCamera = ScreenPointToRayInCamera(cameraEye, screenPoint);
+ var cameraPoseInWorld = GetCameraPoseInWorld(cameraEye);
+ var rayDirectionInWorld = cameraPoseInWorld.rotation * rayInCamera.direction;
+ return new Ray(cameraPoseInWorld.position, rayDirectionInWorld);
}
- Debug.Log($"PCA: PassthroughCamera - Initializing...");
- using var activityClass = new AndroidJavaClass("com.unity3d.player.UnityPlayer");
- s_currentActivity = activityClass.GetStatic<AndroidJavaObject>("currentActivity");
- s_cameraManager = s_currentActivity.Call<AndroidJavaObject>("getSystemService", "camera");
- Assert.IsNotNull(s_cameraManager, "Camera manager has not been provided by the Android system");
+ /// <summary>
+ /// Returns a 3D ray in the camera space which starts from the passthrough camera origin - which is always
+ /// (0, 0, 0) - and passes through the 2D camera pixel.
+ /// </summary>
+ /// <param name="cameraEye">The passthrough camera</param>
+ /// <param name="screenPoint">A 2D point on the camera texture. The point is positioned relative to the
+ /// maximum available camera resolution. This resolution can be obtained using <see cref="GetCameraIntrinsics"/>
+ /// or <see cref="GetOutputSizes"/> methods.
+ /// </param>
+ public static Ray ScreenPointToRayInCamera(PassthroughCameraEye cameraEye, Vector2Int screenPoint)
+ {
+ var intrinsics = GetCameraIntrinsics(cameraEye);
+ var directionInCamera = new Vector3
+ {
+ x = (screenPoint.x - intrinsics.PrincipalPoint.x) / intrinsics.FocalLength.x,
+ y = (screenPoint.y - intrinsics.PrincipalPoint.y) / intrinsics.FocalLength.y,
+ z = 1
+ };
+
+ return new Ray(Vector3.zero, directionInCamera);
+ }
- var cameraIds = GetCameraIdList();
- Debug.Log($"PCA: PassthroughCamera - cameraId list is {string.Join(", ", cameraIds)}");
+ #region Private methods
- for (var idIndex = 0; idIndex < cameraIds.Length; idIndex++)
+ internal static bool EnsureInitialized()
{
- var cameraId = cameraIds[idIndex];
- CameraSource? cameraSource = null;
- CameraPosition? cameraPosition = null;
-
- var cameraCharacteristics = GetCameraCharacteristics(cameraId);
- using var keysList = cameraCharacteristics.Call<AndroidJavaObject>("getKeys");
- var size = keysList.Call<int>("size");
- for (var i = 0; i < size; i++)
+ if (CameraEyeToCameraIdMap.Count == 2)
{
- using var key = keysList.Call<AndroidJavaObject>("get", i);
- var keyName = key.Call<string>("getName");
+ return true;
+ }
- if (string.Equals(keyName, "com.meta.extra_metadata.camera_source", StringComparison.OrdinalIgnoreCase))
+ DebugLog.Log(LogType.Log, $"PCA: PassthroughCamera - Initializing...");
+ using var activityClass = new AndroidJavaClass("com.unity3d.player.UnityPlayer");
+ s_currentActivity = activityClass.GetStatic<AndroidJavaObject>("currentActivity");
+ s_cameraManager = s_currentActivity.Call<AndroidJavaObject>("getSystemService", "camera");
+ Assert.IsNotNull(s_cameraManager, "Camera manager has not been provided by the Android system");
+
+ var cameraIds = GetCameraIdList();
+ DebugLog.Log(LogType.Log, $"PCA: PassthroughCamera - cameraId list is {string.Join(", ", cameraIds)}");
+
+ for (var idIndex = 0; idIndex < cameraIds.Length; idIndex++)
+ {
+ var cameraId = cameraIds[idIndex];
+ CameraSource? cameraSource = null;
+ CameraPosition? cameraPosition = null;
+
+ var cameraCharacteristics = GetCameraCharacteristics(cameraId);
+ using var keysList = cameraCharacteristics.Call<AndroidJavaObject>("getKeys");
+ var size = keysList.Call<int>("size");
+ for (var i = 0; i < size; i++)
{
- // Both `com.meta.extra_metadata.camera_source` and `com.meta.extra_metadata.camera_source` are
- // custom camera fields which are stored as arrays of size 1, instead of single values.
- // We have to read those values correspondingly
- var cameraSourceArr = GetCameraValueByKey<sbyte[]>(cameraCharacteristics, key);
- if (cameraSourceArr == null || cameraSourceArr.Length != 1)
- continue;
-
- cameraSource = (CameraSource)cameraSourceArr[0];
+ using var key = keysList.Call<AndroidJavaObject>("get", i);
+ var keyName = key.Call<string>("getName");
+
+ if (string.Equals(keyName, "com.meta.extra_metadata.camera_source",
+ StringComparison.OrdinalIgnoreCase))
+ {
+ // Both `com.meta.extra_metadata.camera_source` and `com.meta.extra_metadata.camera_source` are
+ // custom camera fields which are stored as arrays of size 1, instead of single values.
+ // We have to read those values correspondingly
+ var cameraSourceArr = GetCameraValueByKey<sbyte[]>(cameraCharacteristics, key);
+ if (cameraSourceArr == null || cameraSourceArr.Length != 1)
+ continue;
+
+ cameraSource = (CameraSource)cameraSourceArr[0];
+ }
+ else if (string.Equals(keyName, "com.meta.extra_metadata.position",
+ StringComparison.OrdinalIgnoreCase))
+ {
+ var cameraPositionArr = GetCameraValueByKey<sbyte[]>(cameraCharacteristics, key);
+ if (cameraPositionArr == null || cameraPositionArr.Length != 1)
+ continue;
+
+ cameraPosition = (CameraPosition)cameraPositionArr[0];
+ }
}
- else if (string.Equals(keyName, "com.meta.extra_metadata.position", StringComparison.OrdinalIgnoreCase))
- {
- var cameraPositionArr = GetCameraValueByKey<sbyte[]>(cameraCharacteristics, key);
- if (cameraPositionArr == null || cameraPositionArr.Length != 1)
- continue;
- cameraPosition = (CameraPosition)cameraPositionArr[0];
+ if (!cameraSource.HasValue || !cameraPosition.HasValue ||
+ cameraSource.Value != CameraSource.Passthrough)
+ continue;
+
+ switch (cameraPosition)
+ {
+ case CameraPosition.Left:
+ DebugLog.Log(LogType.Log, $"PCA: Found left passthrough cameraId = {cameraId}");
+ CameraEyeToCameraIdMap[PassthroughCameraEye.Left] = (cameraId, idIndex);
+ break;
+ case CameraPosition.Right:
+ DebugLog.Log(LogType.Log, $"PCA: Found right passthrough cameraId = {cameraId}");
+ CameraEyeToCameraIdMap[PassthroughCameraEye.Right] = (cameraId, idIndex);
+ break;
+ default:
+ throw new ApplicationException($"Cannot parse Camera Position value {cameraPosition}");
}
}
- if (!cameraSource.HasValue || !cameraPosition.HasValue || cameraSource.Value != CameraSource.Passthrough)
- continue;
+ return CameraEyeToCameraIdMap.Count == 2;
+ }
- switch (cameraPosition)
- {
- case CameraPosition.Left:
- Debug.Log($"PCA: Found left passthrough cameraId = {cameraId}");
- CameraEyeToCameraIdMap[PassthroughCameraEye.Left] = (cameraId, idIndex);
- break;
- case CameraPosition.Right:
- Debug.Log($"PCA: Found right passthrough cameraId = {cameraId}");
- CameraEyeToCameraIdMap[PassthroughCameraEye.Right] = (cameraId, idIndex);
- break;
- default:
- throw new ApplicationException($"Cannot parse Camera Position value {cameraPosition}");
- }
+ internal static bool IsPassthroughEnabled()
+ {
+ return OVRManager.IsInsightPassthroughSupported() &&
+ OVRManager.IsInsightPassthroughInitialized() &&
+ OVRManager.instance.isInsightPassthroughEnabled;
}
- return CameraEyeToCameraIdMap.Count == 2;
- }
+ private static string[] GetCameraIdList()
+ {
+ return s_cameraManager.Call<string[]>("getCameraIdList");
+ }
- internal static bool IsPassthroughEnabled()
- {
- return OVRManager.IsInsightPassthroughSupported() &&
- OVRManager.IsInsightPassthroughInitialized() &&
- OVRManager.instance.isInsightPassthroughEnabled;
- }
+ private static List<Vector2Int> GetOutputSizesInternal(PassthroughCameraEye cameraEye)
+ {
+ _ = EnsureInitialized();
- private static string[] GetCameraIdList()
- {
- return s_cameraManager.Call<string[]>("getCameraIdList");
- }
+ var cameraId = GetCameraIdByEye(cameraEye);
+ var cameraCharacteristics = GetCameraCharacteristics(cameraId);
+ using var configurationMap =
+ GetCameraValueByKey<AndroidJavaObject>(cameraCharacteristics, "SCALER_STREAM_CONFIGURATION_MAP");
+ var outputSizes = configurationMap.Call<AndroidJavaObject[]>("getOutputSizes", YUV_420_888);
- private static List<Vector2Int> GetOutputSizesInternal(PassthroughCameraEye cameraEye)
- {
- _ = EnsureInitialized();
+ var result = new List<Vector2Int>();
+ foreach (var outputSize in outputSizes)
+ {
+ var width = outputSize.Call<int>("getWidth");
+ var height = outputSize.Call<int>("getHeight");
+ result.Add(new Vector2Int(width, height));
+ }
- var cameraId = GetCameraIdByEye(cameraEye);
- var cameraCharacteristics = GetCameraCharacteristics(cameraId);
- using var configurationMap =
- GetCameraValueByKey<AndroidJavaObject>(cameraCharacteristics, "SCALER_STREAM_CONFIGURATION_MAP");
- var outputSizes = configurationMap.Call<AndroidJavaObject[]>("getOutputSizes", YUV_420_888);
+ foreach (var obj in outputSizes)
+ {
+ obj?.Dispose();
+ }
- var result = new List<Vector2Int>();
- foreach (var outputSize in outputSizes)
- {
- var width = outputSize.Call<int>("getWidth");
- var height = outputSize.Call<int>("getHeight");
- result.Add(new Vector2Int(width, height));
+ return result;
}
- foreach (var obj in outputSizes)
+ private static AndroidJavaObject GetCameraCharacteristics(string cameraId)
{
- obj?.Dispose();
+ return s_cameraCharacteristicsMap.GetOrAdd(cameraId,
+ _ => s_cameraManager.Call<AndroidJavaObject>("getCameraCharacteristics", cameraId));
}
- return result;
- }
-
- private static AndroidJavaObject GetCameraCharacteristics(string cameraId)
- {
- return s_cameraCharacteristicsMap.GetOrAdd(cameraId,
- _ => s_cameraManager.Call<AndroidJavaObject>("getCameraCharacteristics", cameraId));
- }
+ private static AndroidJavaObject GetCameraCharacteristics(PassthroughCameraEye eye)
+ {
+ var cameraId = GetCameraIdByEye(eye);
+ return GetCameraCharacteristics(cameraId);
+ }
- private static AndroidJavaObject GetCameraCharacteristics(PassthroughCameraEye eye)
- {
- var cameraId = GetCameraIdByEye(eye);
- return GetCameraCharacteristics(cameraId);
- }
+ private static T GetCameraValueByKey<T>(AndroidJavaObject cameraCharacteristics, string keyStr)
+ {
+ using var key = cameraCharacteristics.GetStatic<AndroidJavaObject>(keyStr);
+ return GetCameraValueByKey<T>(cameraCharacteristics, key);
+ }
- private static T GetCameraValueByKey<T>(AndroidJavaObject cameraCharacteristics, string keyStr)
- {
- using var key = cameraCharacteristics.GetStatic<AndroidJavaObject>(keyStr);
- return GetCameraValueByKey<T>(cameraCharacteristics, key);
- }
+ private static T GetCameraValueByKey<T>(AndroidJavaObject cameraCharacteristics, AndroidJavaObject key)
+ {
+ return cameraCharacteristics.Call<T>("get", key);
+ }
- private static T GetCameraValueByKey<T>(AndroidJavaObject cameraCharacteristics, AndroidJavaObject key)
- {
- return cameraCharacteristics.Call<T>("get", key);
- }
+ private enum CameraSource
+ {
+ Passthrough = 0
+ }
- private enum CameraSource
- {
- Passthrough = 0
- }
+ private enum CameraPosition
+ {
+ Left = 0,
+ Right = 1
+ }
- private enum CameraPosition
- {
- Left = 0,
- Right = 1
+ #endregion Private methods
}
- #endregion Private methods
-}
-
-/// <summary>
-/// Contains camera intrinsics, which describe physical characteristics of a passthrough camera
-/// </summary>
-public struct PassthroughCameraIntrinsics
-{
/// <summary>
- /// The focal length in pixels
+ /// Contains camera intrinsics, which describe physical characteristics of a passthrough camera
/// </summary>
- public Vector2 FocalLength;
- /// <summary>
- /// The principal point from the top-left corner of the image, expressed in pixels
- /// </summary>
- public Vector2 PrincipalPoint;
- /// <summary>
- /// The resolution in pixels for which the intrinsics are defined
- /// </summary>
- public Vector2Int Resolution;
- /// <summary>
- /// The skew coefficient which represents the non-perpendicularity of the image sensor's x and y axes
- /// </summary>
- public float Skew;
+ public struct PassthroughCameraIntrinsics
+ {
+ /// <summary>
+ /// The focal length in pixels
+ /// </summary>
+ public Vector2 FocalLength;
+
+ /// <summary>
+ /// The principal point from the top-left corner of the image, expressed in pixels
+ /// </summary>
+ public Vector2 PrincipalPoint;
+
+ /// <summary>
+ /// The resolution in pixels for which the intrinsics are defined
+ /// </summary>
+ public Vector2Int Resolution;
+
+ /// <summary>
+ /// The skew coefficient which represents the non-perpendicularity of the image sensor's x and y axes
+ /// </summary>
+ public float Skew;
+ }
}
diff --git a/Runtime/Scripts/PassthroughCameraAPISample/WebCamTextureManager.cs b/Runtime/Scripts/PassthroughCameraAPISample/WebCamTextureManager.cs
index 6c2b1a89182b31c9f9c246c2f0c2e5634abc3634..40dfd1442fc9572dc7112d79999624d92966a17d 100644
--- a/Runtime/Scripts/PassthroughCameraAPISample/WebCamTextureManager.cs
+++ b/Runtime/Scripts/PassthroughCameraAPISample/WebCamTextureManager.cs
@@ -4,143 +4,157 @@ using System.Collections;
using System.Linq;
using UnityEngine;
using UnityEngine.Assertions;
-using PCD = PassthroughCameraDebugger;
-public class WebCamTextureManager : MonoBehaviour
+namespace Hyper.PCAAprilTag
{
- [SerializeField] public PassthroughCameraEye Eye = PassthroughCameraEye.Left;
- [SerializeField, Tooltip("The requested resolution of the camera may not be supported by the chosen camera. In such cases, the closest available values will be used.\n\n" +
- "When set to (0,0), the highest supported resolution will be used.")]
- public Vector2Int RequestedResolution;
- [SerializeField] public PassthroughCameraPermissions CameraPermissions;
+ public class WebCamTextureManager : MonoBehaviour
+ {
+ [SerializeField] public PassthroughCameraEye Eye = PassthroughCameraEye.Left;
- /// <summary>
- /// Returns <see cref="WebCamTexture"/> reference if required permissions were granted and this component is enabled. Else, returns null.
- /// </summary>
- public WebCamTexture WebCamTexture { get; private set; }
+ [SerializeField, Tooltip(
+ "The requested resolution of the camera may not be supported by the chosen camera. In such cases, the closest available values will be used.\n\n" +
+ "When set to (0,0), the highest supported resolution will be used.")]
+ public Vector2Int RequestedResolution;
- public bool IsReady { get; private set; }
+ [SerializeField] public PassthroughCameraPermissions CameraPermissions;
- private bool m_hasPermission;
+ /// <summary>
+ /// Returns <see cref="WebCamTexture"/> reference if required permissions were granted and this component is enabled. Else, returns null.
+ /// </summary>
+ public WebCamTexture WebCamTexture { get; private set; }
- private void Awake()
- {
- PCD.DebugMessage(LogType.Log, $"{nameof(WebCamTextureManager)}.{nameof(Awake)}() was called");
- Assert.AreEqual(1, FindObjectsByType<WebCamTextureManager>(FindObjectsInactive.Include, FindObjectsSortMode.None).Length,
- $"PCA: Passthrough Camera: more than one {nameof(WebCamTextureManager)} component. Only one instance is allowed at a time. Current instance: {name}");
-#if UNITY_ANDROID
- CameraPermissions.AskCameraPermissions();
-#endif
- }
+ public bool IsReady { get; private set; }
- private void OnEnable()
- {
- PCD.DebugMessage(LogType.Log, $"PCA: {nameof(OnEnable)}() was called");
- if (!PassthroughCameraUtils.IsSupported)
+ private bool m_hasPermission;
+
+ private void Awake()
{
- PCD.DebugMessage(LogType.Log, "PCA: Passthrough Camera functionality is not supported by the current device." +
- $" Disabling {nameof(WebCamTextureManager)} object");
- enabled = false;
- return;
+ DebugLog.Log(LogType.Log, $"{nameof(WebCamTextureManager)}.{nameof(Awake)}() was called");
+ Assert.AreEqual(1,
+ FindObjectsByType<WebCamTextureManager>(FindObjectsInactive.Include, FindObjectsSortMode.None).Length,
+ $"PCA: Passthrough Camera: more than one {nameof(WebCamTextureManager)} component. Only one instance is allowed at a time. Current instance: {name}");
+#if UNITY_ANDROID
+ CameraPermissions.AskCameraPermissions();
+#endif
}
- m_hasPermission = PassthroughCameraPermissions.HasCameraPermission == true;
- if (!m_hasPermission)
+ private void OnEnable()
{
- PCD.DebugMessage(LogType.Error,
- $"PCA: Passthrough Camera requires permission(s) {string.Join(" and ", PassthroughCameraPermissions.CameraPermissions)}. Waiting for them to be granted...");
- return;
- }
+ DebugLog.Log(LogType.Log, $"PCA: {nameof(OnEnable)}() was called");
+ if (!PassthroughCameraUtils.IsSupported)
+ {
+ DebugLog.Log(LogType.Log,
+ "PCA: Passthrough Camera functionality is not supported by the current device." +
+ $" Disabling {nameof(WebCamTextureManager)} object");
+ enabled = false;
+ return;
+ }
- PCD.DebugMessage(LogType.Log, "PCA: All permissions have been granted");
- _ = StartCoroutine(InitializeWebCamTexture());
- }
+ m_hasPermission = PassthroughCameraPermissions.HasCameraPermission == true;
+ if (!m_hasPermission)
+ {
+ DebugLog.Log(LogType.Error,
+ $"PCA: Passthrough Camera requires permission(s) {string.Join(" and ", PassthroughCameraPermissions.CameraPermissions)}. Waiting for them to be granted...");
+ return;
+ }
- private void OnDisable()
- {
- PCD.DebugMessage(LogType.Log, $"PCA: {nameof(OnDisable)}() was called");
- StopCoroutine(InitializeWebCamTexture());
- if (WebCamTexture != null)
+ DebugLog.Log(LogType.Log, "PCA: All permissions have been granted");
+ _ = StartCoroutine(InitializeWebCamTexture());
+ }
+
+ private void OnDisable()
{
- WebCamTexture.Stop();
- Destroy(WebCamTexture);
- WebCamTexture = null;
+ DebugLog.Log(LogType.Log, $"PCA: {nameof(OnDisable)}() was called");
+ StopCoroutine(InitializeWebCamTexture());
+ if (WebCamTexture != null)
+ {
+ WebCamTexture.Stop();
+ Destroy(WebCamTexture);
+ WebCamTexture = null;
+ }
}
- }
- private void Update()
- {
- if (!m_hasPermission)
+ private void Update()
{
- if (PassthroughCameraPermissions.HasCameraPermission != true)
- return;
+ if (!m_hasPermission)
+ {
+ if (PassthroughCameraPermissions.HasCameraPermission != true)
+ return;
- m_hasPermission = true;
- _ = StartCoroutine(InitializeWebCamTexture());
+ m_hasPermission = true;
+ _ = StartCoroutine(InitializeWebCamTexture());
+ }
}
- }
- private IEnumerator InitializeWebCamTexture()
- {
- // Check if Passhtrough is present in the scene and is enabled
- var ptLayer = FindAnyObjectByType<OVRPassthroughLayer>();
- if (ptLayer == null || !PassthroughCameraUtils.IsPassthroughEnabled())
+ private IEnumerator InitializeWebCamTexture()
{
- PCD.DebugMessage(LogType.Error, "Passthrough must be enabled to use the Passthrough Camera API.");
- yield break;
- }
+ // Check if Passhtrough is present in the scene and is enabled
+ var ptLayer = FindAnyObjectByType<OVRPassthroughLayer>();
+ if (ptLayer == null || !PassthroughCameraUtils.IsPassthroughEnabled())
+ {
+ DebugLog.Log(LogType.Error, "Passthrough must be enabled to use the Passthrough Camera API.");
+ yield break;
+ }
#if !UNITY_6000_OR_NEWER
- // There is a bug on Unity 2022 that causes a crash if you don't wait a frame before initializing the WebCamTexture.
- // Waiting for one frame is important and prevents the bug.
- yield return new WaitForEndOfFrame();
+ // There is a bug on Unity 2022 that causes a crash if you don't wait a frame before initializing the WebCamTexture.
+ // Waiting for one frame is important and prevents the bug.
+ yield return new WaitForEndOfFrame();
#endif
- while (true)
- {
- var devices = WebCamTexture.devices;
- if (PassthroughCameraUtils.EnsureInitialized() && PassthroughCameraUtils.CameraEyeToCameraIdMap.TryGetValue(Eye, out var cameraData))
+ while (true)
{
- if (cameraData.index < devices.Length)
+ var devices = WebCamTexture.devices;
+ if (PassthroughCameraUtils.EnsureInitialized() &&
+ PassthroughCameraUtils.CameraEyeToCameraIdMap.TryGetValue(Eye, out var cameraData))
{
- var deviceName = devices[cameraData.index].name;
- WebCamTexture webCamTexture;
- if (RequestedResolution == Vector2Int.zero)
- {
- var largestResolution = PassthroughCameraUtils.GetOutputSizes(Eye).OrderBy(static size => size.x * size.y).Last();
- webCamTexture = new WebCamTexture(deviceName, largestResolution.x, largestResolution.y);
- }
- else
+ if (cameraData.index < devices.Length)
{
- webCamTexture = new WebCamTexture(deviceName, RequestedResolution.x, RequestedResolution.y);
+ var deviceName = devices[cameraData.index].name;
+ WebCamTexture webCamTexture;
+ if (RequestedResolution == Vector2Int.zero)
+ {
+ var largestResolution = PassthroughCameraUtils.GetOutputSizes(Eye)
+ .OrderBy(static size => size.x * size.y).Last();
+ webCamTexture = new WebCamTexture(deviceName, largestResolution.x, largestResolution.y);
+ }
+ else
+ {
+ webCamTexture = new WebCamTexture(deviceName, RequestedResolution.x, RequestedResolution.y);
+ }
+
+ webCamTexture.Play();
+ var currentResolution = new Vector2Int(webCamTexture.width, webCamTexture.height);
+ if (RequestedResolution != Vector2Int.zero && RequestedResolution != currentResolution)
+ {
+ DebugLog.Log(LogType.Warning,
+ $"WebCamTexture created, but '{nameof(RequestedResolution)}' {RequestedResolution} is not supported. Current resolution: {currentResolution}.");
+ }
+
+ WebCamTexture = webCamTexture;
+ DebugLog.Log(LogType.Log,
+ $"WebCamTexture created, texturePtr: {WebCamTexture.GetNativeTexturePtr()}, size: {WebCamTexture.width}/{WebCamTexture.height}");
+
+ webCamTexture.Stop();
+ IsReady = true;
+
+ yield break;
}
- webCamTexture.Play();
- var currentResolution = new Vector2Int(webCamTexture.width, webCamTexture.height);
- if (RequestedResolution != Vector2Int.zero && RequestedResolution != currentResolution)
- {
- PCD.DebugMessage(LogType.Warning, $"WebCamTexture created, but '{nameof(RequestedResolution)}' {RequestedResolution} is not supported. Current resolution: {currentResolution}.");
- }
- WebCamTexture = webCamTexture;
- PCD.DebugMessage(LogType.Log, $"WebCamTexture created, texturePtr: {WebCamTexture.GetNativeTexturePtr()}, size: {WebCamTexture.width}/{WebCamTexture.height}");
-
- webCamTexture.Stop();
- IsReady = true;
-
- yield break;
}
- }
- PCD.DebugMessage(LogType.Error, $"Requested camera is not present in WebCamTexture.devices: {string.Join(", ", devices)}.");
- yield return null;
+ DebugLog.Log(LogType.Error,
+ $"Requested camera is not present in WebCamTexture.devices: {string.Join(", ", devices)}.");
+ yield return null;
+ }
}
}
-}
-/// <summary>
-/// Defines the position of a passthrough camera relative to the headset
-/// </summary>
-public enum PassthroughCameraEye
-{
- Left,
- Right
+ /// <summary>
+ /// Defines the position of a passthrough camera relative to the headset
+ /// </summary>
+ public enum PassthroughCameraEye
+ {
+ Left,
+ Right
+ }
}
diff --git a/package.json b/package.json
index e58fb13df48ae03dffafecc82e6fb51894b5941c..287e423581fdcd9d0bf3313266034446fc99cd04 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
{
"name": "de.tu-dresden.hyper.pca-apriltag",
- "version": "1.0.0",
+ "version": "1.0.1",
"displayName": "HYPER PCA AprilTag",
"description": "This package provides AprilTag detection using Passthrough Camera API.",
"unity": "6000.0",