Give us as much detail as possible regarding the issue you're experiencing.
Unity Editor version: 2022.2.18f1
ML2 OS version: 1.2.0
MLSDK version: 1.6.0
Host OS: (Windows/MacOS) Windows 11
Error messages from logs (syntax-highlighting is supported via Markdown): No error caught.
Hello I am trying to modify the depth example and read depth only.
This is the code that I am using.
using System.Collections;
using System.Collections.Generic;
using System.Linq.Expressions;
using UnityEngine;
using UnityEngine.Android;
using UnityEngine.XR.MagicLeap;
using UnityEngine.UI;
using System;
public class DepthManager : MonoBehaviour
{
private readonly MLPermissions.Callbacks permissionCallbacks = new();
private bool permissionGranted;
private bool isFrameAvailable = false;
// private MLDepthCamera depthCamera = null;
private MLDepthCamera.Data lastData = null;
// value goes from 0 to 7.5
public float depthImgMinDist = 0f;
public float depthImgMaxDist = 7.5f;
public float ambientRawImgMinDist = 0f;
public float ambientRawImgMaxDist = 2000f;
public float confidenceMinDist = 0f;
public float confidenceMaxDist = 100f;
[SerializeField, Tooltip("Timeout in milliseconds for data retrieval.")]
private ulong timeout = 1000;
[SerializeField]
private Renderer imgRenderer;
[SerializeField]
private Renderer confidenceRenderer;
private Texture2D ImageTexture = null;
private readonly int minDepthMatPropId = Shader.PropertyToID("_MinDepth");
private readonly int maxDepthMatPropId = Shader.PropertyToID("_MaxDepth");
private readonly int mapTexMatPropId = Shader.PropertyToID("_MapTex");
private Vector2 scale = new Vector2(1.0f, -1.0f);
/// Under normal operations long range mode has a maximum frequency of 5fps and a range of up to 5m, in some cases this can go as far 7.5m.
private MLDepthCamera.Mode mode = MLDepthCamera.Mode.LongRange;
/// Flags used to specify what kind of data to request from Depth Camera
private MLDepthCamera.CaptureFlags captureFlag = MLDepthCamera.CaptureFlags.DepthImage;
[SerializeField, Tooltip("The text used to display error.")]
private Text statusText = null;
void Awake()
{
permissionCallbacks.OnPermissionGranted += OnPermissionGranted;
permissionCallbacks.OnPermissionDenied += OnPermissionDenied;
permissionCallbacks.OnPermissionDeniedAndDontAskAgain += OnPermissionDenied;
/*cameraModeDropdown.AddOptions(
MLDepthCamera.Mode.LongRange
);
captureFlagsDropdown.AddOptions(
MLDepthCamera.CaptureFlags.DepthImage,
MLDepthCamera.CaptureFlags.Confidence,
MLDepthCamera.CaptureFlags.AmbientRawDepthImage
);*/
}
void Start()
{
var settings = new MLDepthCamera.Settings()
{
Mode = mode,
Flags = captureFlag
};
// public static void SetSettings(Settings settings) => CurrentSettings = settings;
// depthCamera = new MLDepthCamera();
// depthCamera = new MLDepthCamera();
MLDepthCamera.SetSettings(settings);
MLPermissions.RequestPermission(MLPermission.DepthCamera, permissionCallbacks);
}
void Update()
{
try
{
if (!permissionGranted || !MLDepthCamera.IsConnected)
{
return;
}
var result = MLDepthCamera.GetLatestDepthData(timeout, out MLDepthCamera.Data data);
isFrameAvailable = result.IsOk;
if (result.IsOk)
{
lastData = data;
// statusText.text += "Data retrived";
}
switch (captureFlag)
{
case MLDepthCamera.CaptureFlags.AmbientRawDepthImage:
if (lastData.AmbientRawDepthImage != null)
{
CheckAndCreateTexture((int)lastData.AmbientRawDepthImage.Value.Width, (int)lastData.AmbientRawDepthImage.Value.Height);
// ambientRawImgMinDist = ambientDepthMin.GetComponentInChildren<Slider>().value;
// ambientRawImgMaxDist = ambientDepthMax.GetComponentInChildren<Slider>().value;
AdjustRendererFloats(imgRenderer, ambientRawImgMinDist, ambientRawImgMaxDist);
ImageTexture.LoadRawTextureData(lastData.AmbientRawDepthImage.Value.Data);
ImageTexture.Apply();
}
break;
case MLDepthCamera.CaptureFlags.DepthImage:
if (lastData.DepthImage != null)
{
CheckAndCreateTexture((int)lastData.DepthImage.Value.Width, (int)lastData.DepthImage.Value.Height);
statusText.text += "Texture created";
// depthImgMinDist = depthImgMin.GetComponentInChildren<Slider>().value;
// depthImgMaxDist = depthImgMax.GetComponentInChildren<Slider>().value;
AdjustRendererFloats(imgRenderer, depthImgMinDist, depthImgMaxDist);
ImageTexture.LoadRawTextureData(lastData.DepthImage.Value.Data);
ImageTexture.Apply();
statusText.text += "Image Texture Applied";
}
break;
case MLDepthCamera.CaptureFlags.Confidence:
if (lastData.ConfidenceBuffer != null)
{
CheckAndCreateTexture((int)lastData.ConfidenceBuffer.Value.Width, (int)lastData.ConfidenceBuffer.Value.Height);
// confidenceMinDist = confidenceMin.GetComponentInChildren<Slider>().value;
// confidenceMaxDist = confidenceMax.GetComponentInChildren<Slider>().value;
// AdjustRendererFloats(confidenceRenderer, confidenceMinDist, confidenceMaxDist);
confidenceRenderer.material.SetTexture(mapTexMatPropId, ImageTexture);
ImageTexture.LoadRawTextureData(lastData.ConfidenceBuffer.Value.Data);
ImageTexture.Apply();
}
break;
}
statusText.text = "\nIs frame available: " + isFrameAvailable;
}
catch (Exception e)
{
statusText.text = e.Message +"\n" + e.ToString();
}
}
private void OnDestroy()
{
permissionCallbacks.OnPermissionGranted -= OnPermissionGranted;
permissionCallbacks.OnPermissionDenied -= OnPermissionDenied;
permissionCallbacks.OnPermissionDeniedAndDontAskAgain -= OnPermissionDenied;
DisonnectCamera();
}
private void OnPermissionDenied(string permission)
{
if (permission == MLPermission.Camera)
{
MLPluginLog.Error($"{permission} denied, example won't function.");
}
else if (permission == MLPermission.DepthCamera)
{
MLPluginLog.Error($"{permission} denied, example won't function.");
}
}
private void OnPermissionGranted(string permission)
{
MLPluginLog.Debug($"Granted {permission}.");
permissionGranted = true;
ConnectCamera();
}
private void ConnectCamera()
{
var result = MLDepthCamera.Connect();
if (result.IsOk && MLDepthCamera.IsConnected)
{
Debug.Log($"Connected to new depth camera with mode = {MLDepthCamera.CurrentSettings.Mode} and flags = {MLDepthCamera.CurrentSettings.Flags}");
}
else
{
Debug.LogError($"Failed to connect to camera: {result.Result}");
}
}
private void DisonnectCamera()
{
var result = MLDepthCamera.Disconnect();
if (result.IsOk && !MLDepthCamera.IsConnected)
{
Debug.Log($"Disconnected depth camera with mode = {MLDepthCamera.CurrentSettings.Mode} and flags = {MLDepthCamera.CurrentSettings.Flags}");
}
else
{
Debug.LogError($"Failed to disconnect to camera: {result.Result}");
}
}
private void CheckAndCreateTexture(int width, int height)
{
if (ImageTexture == null || ImageTexture.width != width || ImageTexture.height != height)
{
ImageTexture = new Texture2D(width, height, TextureFormat.RFloat, false);
ImageTexture.filterMode = FilterMode.Bilinear;
var material = confidenceRenderer.enabled ? confidenceRenderer.material : imgRenderer.material;
material.mainTexture = ImageTexture;
material.mainTextureScale = scale;
}
}
private void AdjustRendererFloats(Renderer renderer, float minValue, float maxValue)
{
renderer.material.SetFloat(minDepthMatPropId, minValue);
renderer.material.SetFloat(maxDepthMatPropId, maxValue);
renderer.material.SetTextureScale(mapTexMatPropId, scale);
}
// Update Setting is called after UI update.
private void UpdateSettings()
{
var settings = new MLDepthCamera.Settings()
{
Mode = mode,
Flags = captureFlag
};
MLDepthCamera.UpdateSettings(settings);
}
}
Nothing much changed from the Depth Camera Example. However, after I reference it to a quad, when it is built and ran, its texture is blue.
I did some debugging,
DEPTH_CAMERA Permission is approved.
isFrameAvailable is true which means the data is Ok.
Update is reaching the case MLDepthCamera.CaptureFlags.DepthImage:
ConnectCamera() is being called and the camera is being connected.
The quad is using Magic Leap/Depth Camera Shader.
The quad's Frame Data Map is assigned to an identical texture from the example.
No error was caught in Update.
I am not sure why is it not showing the texture that is being transferred from the depth camera.
How can we fix this?
