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游戏糕手爱丽丝
2025-11-13 17:40:28 +08:00
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Packages/PICO Unity Integration SDK-3.3.2-20251111/Enterprise/Sample/CameraRendering/OpenXR/CameraRendering.unity Normal file
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Packages/PICO Unity Integration SDK-3.3.2-20251111/Enterprise/Sample/CameraRendering/OpenXR/EnterpriseAPI_OpenXR.cs Normal file
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#if PICO_OPENXR_SDK
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using Unity.XR.OpenXR.Features.PICOSupport;
using Unity.XR.PICO.TOBSupport;
using UnityEngine;
using UnityEngine.UI;
#if UNITY_XR_COMPOSITIONLAYERS
using Unity.XR.CompositionLayers;
using Unity.XR.OpenXR.Features.PICOSupport;
using UnityEngine.XR.OpenXR.CompositionLayers;
#endif
public class EnterpriseAPI_OpenXR : MonoBehaviour
{
private string tag = "CaptureLib ----";
#if UNITY_XR_COMPOSITIONLAYERS
private CompositionLayer _overlay = null;
#endif
private PXRCaptureRenderMode Mode = PXRCaptureRenderMode.PXRCapture_RenderMode_LEFT;
byte[] imgByte ;
private int width=2048;
private int height=1536;
public Material videoMaterial;
public Transform FrameTarget;
public Transform RenderTarget;
public Text CanshuText;
public Toggle showtime;
public Text showtimeText;
private bool isRuning=false;
// 将视频帧转换为 Unity 纹理
Texture2D texture;
public Text fpsText;
bool camera_raw_data=true;
private void Awake()
{
Debug.Log($"{tag} Awake ");
PassthroughFeature.EnableVideoSeeThrough=true;
#if UNITY_XR_COMPOSITIONLAYERS
_overlay = GetComponent<CompositionLayer>();
if (_overlay == null)
{
_overlay = gameObject.AddComponent<CompositionLayer>();
}
#endif
imgByte = new byte[width*height*4];
texture = new Texture2D((int)width, (int)height, TextureFormat.RGBA32, false);
videoMaterial.SetTexture("_MainTex", texture);
Dictionary<string, string> cameraParams1 = new Dictionary<string, string>();
cameraParams1.Add(PXRCapture.KEY_ENABLE_MVHEVC, PXRCapture.VALUE_FALSE);
cameraParams1.Add(PXRCapture.KEY_VIDEO_FPS, "30");
cameraParams1.Add(PXRCapture.KEY_OUTPUT_CAMERA_RAW_DATA, camera_raw_data?PXRCapture.VALUE_TRUE:PXRCapture.VALUE_FALSE);
PXR_Enterprise.Configurefor4U(cameraParams1);
Dictionary<string, string> cameraParams = new Dictionary<string, string>();
cameraParams.Add(PXRCapture.KEY_MCTF, PXRCapture.VALUE_TRUE);
cameraParams.Add(PXRCapture.KEY_EIS, PXRCapture.VALUE_FALSE);
cameraParams.Add(PXRCapture.KEY_MFNR, PXRCapture.VALUE_TRUE);
PXR_Enterprise.OpenCameraAsyncfor4U(ret =>
{
Debug.Log($"{tag} OpenCameraAsync ret= {ret}");
},cameraParams);
Invoke(nameof(getCameraParameters), 1f);
}
public void SetTrackingMode(int listChoice)
{
Debug.Log($"{tag} SetMode ret= {listChoice}");
// if (listChoice > 0)
{
switch (listChoice)
{
case 0:
Mode = PXRCaptureRenderMode.PXRCapture_RenderMode_LEFT;
break;
case 1:
Mode = PXRCaptureRenderMode.PXRCapture_RenderMode_RIGHT;
break;
case 2:
Mode = PXRCaptureRenderMode.PXRCapture_RenderMode_3D;
break;
case 3:
Mode = PXRCaptureRenderMode.PXRCapture_RenderMode_Interlace;
break;
}
}
}
float outputFovHorizontal=76.35f;
float outputFovVertical=61.05f;
public void getCameraParameters()
{
Debug.Log($"{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 =$"内参::[fx,fy,cx,cy]=[{param.fx},{param.fy},{param.cx},{param.cy}]\n"+ $"外参::L=[{param.l_pos},{param.l_rot}]\n"+$" R=[{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);
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;
});
}
}
}
}
#endif

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