adding pointcloud

ofxARCoreLib/src/main/java/cc/ofxarcorelib/ofxARCoreLib.java

@@ -33,6 +33,7 @@
 import com.google.ar.core.Pose;
 import com.google.ar.core.Session;
 import com.google.ar.core.TrackingState;
+import com.google.ar.core.PointCloud;
 import com.google.ar.core.exceptions.CameraNotAvailableException;
 import com.google.ar.core.exceptions.NotTrackingException;
 import com.google.ar.core.exceptions.UnavailableApkTooOldException;
@@ -76,6 +77,11 @@ public class ofxARCoreLib extends OFAndroidObject {
 	public float verticalAngle;
 	public float screenDpi;
 
+	// point cloud
+	private PointCloud pointcloud_data = null;
+	private FloatBuffer pcloud_buffer;
+	private float[] pcloud_array;
+
 
 	public void setup(int texId, final int width, final int height){
 		Context context = OFAndroid.getContext();
@@ -85,15 +91,13 @@ public void setup(int texId, final int width, final int height){
 
 		CameraManager manager = (CameraManager) context.getSystemService(Context.CAMERA_SERVICE);
 		calculateFOV(manager);
-		Log.d("DEBUG_ERWAN", "h : " + horizontalAngle + "      w : " + verticalAngle);
 
 		// calculate dpi
 		DisplayMetrics displaymetrics = new DisplayMetrics();
 
 		activity.getWindowManager().getDefaultDisplay().getMetrics(displaymetrics);
 
 		screenDpi = context.getResources().getDisplayMetrics().xdpi;
-		Log.d("DEBUG_ERWAN", "dpi : " + screenDpi);
 
 
 
@@ -160,7 +164,13 @@ public float[] getViewMatrix(){
 		return mViewMatrix;
 	}
 
-	public float[] getProjectionMatrix(float near, float far){
+    /* point cloud and plane @kashimAstro */
+    public float[] getPointCloud()
+    {
+        return pcloud_array;
+    }
+
+    public float[] getProjectionMatrix(float near, float far){
 		if(mIsReady) {
 			try {
 				mSession.update().getCamera().getProjectionMatrix(mProjectionMatrix, 0, near, far);
@@ -223,6 +233,13 @@ public void update(){
 			mPose = frame.getCamera().getPose();
 			frame.getCamera().getViewMatrix(mViewMatrix, 0);
 
+
+            /* point cloud @kashimAstro */
+            pointcloud_data = frame.acquirePointCloud();
+            pcloud_buffer   = pointcloud_data.getPoints();
+            pcloud_array 	=  new float[pcloud_buffer.limit()];
+            pcloud_buffer.get(pcloud_array);
+
 			mIsReady = true;
 
 //			final float lightIntensity = frame.getLightEstimate().getPixelIntensity();

src/ofxARCore.cpp

@@ -200,6 +200,20 @@ float ofxARCore::getCameraFOV() {
     return fov;
 }
 
+/* point cloud and plane */
+std::vector<float> ofxARCore::getPointCloud() {
+    JNIEnv *env = ofGetJNIEnv();
+    jfloatArray data = (jfloatArray) env->CallObjectMethod(javaTango,
+                                                           env->GetMethodID(javaClass,"getPointCloud","()[F"));
+
+    jsize size = env->GetArrayLength(data);
+    std::vector<float> result;
+    result.resize((int)size);
+    env->GetFloatArrayRegion(data, 0, size, (jfloat*)&result[0]);
+    return result;
+}
+
+
 float ofxARCore::getDpi() {
 
     JNIEnv *env = ofGetJNIEnv();

src/ofxARCore.h

@@ -54,6 +54,8 @@ class ofxARCore : ofThread{
     ofMatrix4x4 getViewMatrix();
     ofMatrix4x4 getProjectionMatrix(float near=0.1f, float far=100.0f);
 
+    std::vector<float> getPointCloud();     /* get point cloud arcore */
+
     ofTexture texture;
 
 private: