private void FreeInternData()
{
video.Close();
if (nb_frame > parameters.starting_frame)
{
if (parameters.use_detection == true)
{
CARDSVideoPlugin.FreeCopyFrameWrapped(ref frame_buffer_background);
}
unsafe
{
fixed(Target *out_targets = targets)
{
Debug.Log("Free targets");
CARDSTrackingPlugin.CloseWrapped(out_targets, ref nb_targets, max_targets);
}
}
}
}
private void SetEstimateWorldPosition(Target t)
{
if (t.state != StateTracker.Undefined)
{
Matrix4x4f mat = CARDSTrackingPlugin.EstimatePoseWrapped(ref t, ref parameters.calibration);
//float depth = mat.c_23 * parameters.calibration.dist_cam;
//TODO Debug purpose
float depth = parameters.calibration.dist_cam;
Vector2 screenpoint = GetCenterScreenTarget(t);
Vector3 worldPoint = GetScreenToWorldSpace(screenpoint, depth);
/* REAL POSE TODO
* Vector3 worldPoint = new Vector3(mat.c_03, mat.c_23, mat.c_13);
*/
//Debug.Log(worldPoint);
if (!estimate_pos.ContainsKey(t.id))
{
estimate_pos[t.id] = Vector3.zero;
}
estimate_pos[t.id] = Vector3.Slerp(estimate_pos[t.id], worldPoint, 0.4f);
}
}
/// <summary>
/// Start point.
/// </summary>
protected void OnEnable()
{
DebugTargets[] debugs = gameObject.GetComponents <DebugTargets>();
if (debugs.Length > 0)
{
Debug.LogError("Debug create dynamically, component will be removed.");
foreach (DebugTargets debug in debugs)
{
DestroyImmediate(debug);
}
}
Debug.Log("Start tracking.");
//File calibration
if (parameters.use_file_calibration)
{
string path = Path.Combine(Application.streamingAssetsPath, parameters.path_subfolder_calibration);
if (!Directory.Exists(path))
{
throw new System.Exception("Folder " + path + " does not exist.");
}
if (!CARDSCalibrationPlugin.GetPoseParametersWrapped(path, ref parameters.calibration))
{
throw new System.Exception("Loading parameters " + path + " failed.");
}
}
else if (parameters.device_index != -1)
{
Debug.LogWarning("Not recommended to not use calibrtation file in other context than virtual.");
}
// Init video
if (parameters.UseWebcam)
{
video = new WebcamTexture();
gameObject.AddComponent <DebugTargetsWebcam>();
}
else if (parameters.device_index == -1)
{
video = new VirtualCameraTexture();
gameObject.AddComponent <DebugTargetsVirtual>();
}
else if (parameters.device_index == -2)
{
video = new VideoFileTexture();
gameObject.AddComponent <DebugTargetsVideo>();
}
video.Init(parameters);
// Init plugin
unsafe
{
fixed(Target *outTargets = targets)
{
CARDSTrackingPlugin.InitWrapped(outTargets, ref nb_targets, max_targets);
}
}
//Init detection
if (parameters.use_detection)
{
zone_detection = ConvertUnityScreenToRect(parameters.rect_detection);
}
nb_frame = -1;
}
/// <summary>
/// Implementation in one thread.
/// </summary>
protected override void InternalTrackingLoop()
{
if (!video.GetFrame(out frame_buffer))
{
Debug.LogWarning("Empty frames.");
return;
}
//Bakground
if (parameters.use_detection && nb_frame == parameters.saving_background)
{
Debug.Log("Register background");
CARDSVideoPlugin.GetCopyFrameWrapped(ref frame_buffer, ref frame_buffer_background);
}
if (nb_frame == parameters.starting_frame)
{
unsafe
{
fixed(Target *out_targets = targets)
{
//Debug.Log("Register manual");
Time.timeScale = 0;
CARDSUtilitiesPlugin.ManualRegisterWrapped(ref frame_buffer, out_targets, ref nb_targets, max_targets);
Time.timeScale = 1;
}
}
}
else if (nb_frame > parameters.starting_frame)
{
//DETECTION
if (parameters.use_detection)
{
if (((nb_frame % parameters.detection_frequency) == 0) && (frame_buffer_background.raw_data != null))
{
unsafe
{
fixed(Target *out_targets = targets)
{
have_detected = CARDSTrackingPlugin.DetectWrapped(ref frame_buffer, ref frame_buffer_background, ref zone_detection, out_targets, ref nb_targets, max_targets, have_detected ? 1 : 0);
if (have_detected)
{
Debug.Log("New detect");
}
}
}
}
}
//CHECK TRACK
if ((nb_frame % parameters.checktrack_frequency) == 0)
{
unsafe
{
fixed(Target *out_targets = targets)
{
//Debug.Log("CheckTrack");
CARDSTrackingPlugin.CheckTrackWrapped(ref frame_buffer, out_targets, max_targets);
if (parameters.debug_cv)
{
CARDSUtilitiesPlugin.DebugTargetsWrapped(ref frame_buffer, out_targets, max_targets);
}
}
}
}
else // TRACK
{
unsafe
{
fixed(Target *out_targets = targets)
{
//Debug.Log("Track");
CARDSTrackingPlugin.TrackWrapped(ref frame_buffer, out_targets, max_targets);
if (parameters.debug_cv)
{
CARDSUtilitiesPlugin.DebugTargetsWrapped(ref frame_buffer, out_targets, max_targets);
}
}
}
}
}
nb_frame++;
}
