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Bring back true depth

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This commit is contained in:
Georg Hagen
2025-01-23 23:25:49 +01:00
parent 5d67a906b5
commit 7187005871
2 changed files with 33 additions and 2 deletions
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25
openVulkanoCpp/AR/Provider/ArKit/ArFrameArKit.mm
View File

@@ -42,6 +42,10 @@ namespace OpenVulkano::AR::ArKit
{ {
return GetSize(arKitFrame.smoothedSceneDepth.depthMap); return GetSize(arKitFrame.smoothedSceneDepth.depthMap);
} }
if(arKitFrame.capturedDepthData)
{
return GetSize(arKitFrame.capturedDepthData.depthDataMap);
}
} }
return { -1, -1 }; return { -1, -1 };
} }
@@ -113,6 +117,15 @@ namespace OpenVulkano::AR::ArKit
m_depthImage.format = ArDepthFormat::METER_FP32; m_depthImage.format = ArDepthFormat::METER_FP32;
m_depthImage.confidence.resolution = m_depthImage.depth.resolution; m_depthImage.confidence.resolution = m_depthImage.depth.resolution;
} }
else if (m_arKitFrame.capturedDepthData)
{
auto depthFormat = arKitFrame.capturedDepthData.depthDataType;
if (arKitFrame.capturedDepthData.depthDataType == kCVPixelFormatType_DepthFloat32) m_depthImage.format = ArDepthFormat::METER_FP32;
else if (arKitFrame.capturedDepthData.depthDataType == kCVPixelFormatType_DepthFloat16) m_depthImage.format = ArDepthFormat::METER_FP16;
else Logger::AR->info("Received depth frame with unsuported format: {} ({})",
depthFormat == kCVPixelFormatType_DisparityFloat16 ? "DisparityFloat16" : (depthFormat == kCVPixelFormatType_DisparityFloat32 ? "DisparityFloat32" : "Unknown"), depthFormat);
m_depthImage.confidence.resolution = { 1, 1 };
}
m_depthImage.intrinsic = frameMetadata.intrinsic.GetForResolution(m_depthImage.depth.resolution); m_depthImage.intrinsic = frameMetadata.intrinsic.GetForResolution(m_depthImage.depth.resolution);
} }
@@ -134,6 +147,10 @@ namespace OpenVulkano::AR::ArKit
CVPixelBufferUnlockBaseAddress(m_arKitFrame.smoothedSceneDepth.depthMap, kCVPixelBufferLock_ReadOnly); CVPixelBufferUnlockBaseAddress(m_arKitFrame.smoothedSceneDepth.depthMap, kCVPixelBufferLock_ReadOnly);
CVPixelBufferUnlockBaseAddress(m_arKitFrame.smoothedSceneDepth.confidenceMap, kCVPixelBufferLock_ReadOnly); CVPixelBufferUnlockBaseAddress(m_arKitFrame.smoothedSceneDepth.confidenceMap, kCVPixelBufferLock_ReadOnly);
} }
else
{
CVPixelBufferUnlockBaseAddress(m_arKitFrame.capturedDepthData.depthDataMap, kCVPixelBufferLock_ReadOnly);
}
} }
[m_arKitFrame release]; [m_arKitFrame release];
} }
@@ -184,6 +201,14 @@ namespace OpenVulkano::AR::ArKit
m_depthImage.confidence.data = CVPixelBufferGetBaseAddress(m_arKitFrame.smoothedSceneDepth.confidenceMap); m_depthImage.confidence.data = CVPixelBufferGetBaseAddress(m_arKitFrame.smoothedSceneDepth.confidenceMap);
m_lockedDepth = true; m_lockedDepth = true;
} }
else if(m_arKitFrame.capturedDepthData)
{
CVPixelBufferLockBaseAddress(m_arKitFrame.capturedDepthData.depthDataMap, kCVPixelBufferLock_ReadOnly);
m_depthImage.depth.data = CVPixelBufferGetBaseAddress(m_arKitFrame.capturedDepthData.depthDataMap);
m_frameDepthQuality = static_cast<uint8_t>(m_arKitFrame.capturedDepthData.depthDataQuality) + static_cast<uint8_t>(m_arKitFrame.capturedDepthData.depthDataAccuracy);
m_depthImage.confidence.data = &m_frameDepthQuality;
m_lockedDepth = true;
}
} }
} }
return m_depthImage; return m_depthImage;

10
openVulkanoCpp/AR/Provider/ArKit/ArSessionArKitInternal.mm
View File

@@ -35,7 +35,7 @@ namespace OpenVulkano::AR::ArKit
std::string SupportedVideoFormatsToString(bool frontCam) std::string SupportedVideoFormatsToString(bool frontCam)
{ {
std::stringstream ss("[ "); std::stringstream ss("[ ");
auto vidFormats = [ARWorldTrackingConfiguration supportedVideoFormats]; auto vidFormats = frontCam ? [ARFaceTrackingConfiguration supportedVideoFormats] : [ARWorldTrackingConfiguration supportedVideoFormats];
for (ARVideoFormat* format: vidFormats) for (ARVideoFormat* format: vidFormats)
{ {
if (ss.tellp() > std::streampos(5)) ss << ", "; if (ss.tellp() > std::streampos(5)) ss << ", ";
@@ -69,7 +69,13 @@ namespace OpenVulkano::AR::ArKit
: m_frameId(0) : m_frameId(0)
{ {
m_arKitDelegate = [[ArKitDelegate alloc] initWithFrameHandler:this]; m_arKitDelegate = [[ArKitDelegate alloc] initWithFrameHandler:this];
if (config.useFrontCamera)
{
ARFaceTrackingConfiguration* arConfig = [ARFaceTrackingConfiguration new];
arConfig.worldTrackingEnabled = true;
m_arConfig = arConfig;
}
else
{ {
ARWorldTrackingConfiguration* arConfig = [ARWorldTrackingConfiguration new]; ARWorldTrackingConfiguration* arConfig = [ARWorldTrackingConfiguration new];
if (config.enableDepth) if (config.enableDepth)