Class AROcclusionManager

TryAcquireEnvironmentDepthCpuImage

Attempt to get the latest environment depth CPU image. This provides directly access to the raw pixel data.

unsafe void UpdateEnvironmentDepthImage() {
        if(!arOcclusionManager.TryAcquireEnvironmentDepthCpuImage(out XRCpuImage xrCpuImage)) {
            return;
        }

using(xrCpuImage) {
...

TryAcquireEnvironmentDepthConfidenceCpuImage

Attempt to get the latest environment depth confidence CPU image. This provides directly access to the raw pixel data.

unsafe void UpdateEnvironmentDepthConfidenceImage() {
        if(!arOcclusionManager.TryAcquireEnvironmentDepthConfidenceCpuImage(out XRCpuImage xrCpuImage)) {
            return;
        }

using(xrCpuImage) {
...

environmentDepthTexture

The environment depth texture.

environmentDepthConfidenceTexture

The environment depth confidence texture.

environment depth textureとenvironment depth confidence textureの違い

ARDepthData

• Every pixel in the depthMap maps to a region of the visible scene (capturedImage), where the pixel value defines that region’s distance from the plane of the camera in meters.

• The confidenceMap property measures the accuracy of the corresponding depth data in depthMap, and is useful in filtering out lower-accuracy depth values if an app’s algorithm required it.

Ref:ここから始まるお手軽地形計測 iPhoneへLiDARスキャナ搭載【ARKit】

信頼度マップのデータはARConfidenceLevelという列挙型で定義された範囲で出力され、最小値はARConfidenceLevel.lowの0、最大値がARConfidenceLevel.highの2です。 ですのでモノクロ画像として表示でよければ場合は0~255の範囲に変換してからUIImage化する必要があります。

つまり

• environment depth textureは、depth dataがtextureになったもの。その距離はfloat

• environment depth confidence textureは、depthの信頼度を0, 1, 2で示したもの。