public void SetupSphericalProjectionFilter(int N_theta, int N_phi, CameraFrustum cameraFrustum)
{
sphericalWidthRes = N_theta;
sphericalHeightRes = N_phi;
frustum = cameraFrustum;
filterCoordinates = SphericalPixelCoordinates(N_theta, N_phi);
SphericalProjectionFilterMask = SphericalPixelCoordinatesImage();
}
/// <summary>
/// Checks for when the given mesh render is in the fustrum of the camera
/// Returns true if in view.
/// </summary>
private bool IsMeshInFrustum(GLContext control, GenericPickableMesh mesh)
{
if (StayInFustrum)
{
return(true);
}
var msh = (BfresMeshAsset)mesh;
msh.BoundingNode.UpdateTransform(Transform.TransformMatrix);
return(CameraFrustum.CheckIntersection(control.Camera, msh.BoundingNode));
}
void Start()
{
// Setting User information
WidthRes /= NrOfCameras;
float lidarVerticalAngle = VerticalAngle;
HeightRes = (int)(WidthRes * Mathf.Tan(lidarVerticalAngle * Mathf.Deg2Rad / 2) / Mathf.Sin(Mathf.PI / NrOfCameras));
VerticalAngle = Mathf.Rad2Deg * 2 * Mathf.Atan(Mathf.Tan(lidarVerticalAngle * Mathf.Deg2Rad / 2) / Mathf.Cos(Mathf.PI / NrOfCameras));
NumberOfDepthPixels = (uint)WidthRes * (uint)HeightRes * (uint)NrOfCameras;
NumberOfLidarPoints = (uint)NrOfLasers * (uint)LidarHorisontalRes * (uint)NrOfCameras;
// Settup Game objects
pointCloud = GetComponent <PointCloudManager>();
pointCloud.SetupPointCloud((int)NumberOfLidarPoints);
var frustum = new CameraFrustum(WidthRes, MaxDistance, MinDistance, 2 * Mathf.PI / NrOfCameras, lidarVerticalAngle * Mathf.Deg2Rad);
depthCameras = new DepthCameras(NrOfCameras, frustum, this.transform, lidarShader, "CSMain");
lidarCameras = depthCameras.cameras;
projectionFilter = GetComponent <SphericalProjectionFilter>();
projectionFilter.SetupSphericalProjectionFilter(LidarHorisontalRes, NrOfLasers, frustum);
pixelCoordinatesBuffer = projectionFilter.filterCoordinates.buffer;
// Setting up Compute Buffers
kernelHandle = lidarShader.FindKernel("CSMain");
lidarShader.SetBuffer(kernelHandle, "sphericalPixelCoordinates", pixelCoordinatesBuffer);
lidarShader.SetInt("N_theta", LidarHorisontalRes);
lidarShader.SetInt("N_phi", NrOfLasers);
lidarShader.SetFloat("rayDropProbability", rayDropProbability);
UnifiedArray <uint> RandomStateVector = new UnifiedArray <uint>(NrOfCameras * NrOfLasers * LidarHorisontalRes, sizeof(float), "_state_xorshift");
RandomStateVector.SetBuffer(lidarShader, "CSMain");
RandomStateVector.SetBuffer(lidarShader, "RNG_Initialize");
RandomStateVector.SynchUpdate(lidarShader, "RNG_Initialize");
particleUnifiedArray = new UnifiedArray <Vector3>(NrOfCameras * NrOfLasers * LidarHorisontalRes, sizeof(float) * 3, "lines");
particleUnifiedArray.SetBuffer(lidarShader, "CSMain");
lidarDataByte = new UnifiedArray <byte>(NrOfCameras * NrOfLasers * LidarHorisontalRes, sizeof(float) * 6, "LidarData");
lidarDataByte.SetBuffer(lidarShader, "CSMain");
}
public void OnSurfaceCreated(IGL10 gl, Javax.Microedition.Khronos.Egl.EGLConfig config)
{
// Set background color and enable depth testing
GLES20.GlClearColor(1f, 1f, 1f, 1.0f);
GLES20.GlEnable(GLES20.GlDepthTest);
resetModelMatCalculator();
mCameraFrustum = new CameraFrustum();
mFloorGrid = new Grid();
mCameraFrustumAndAxis = new CameraFrustumAndAxis();
mTrajectory = new Trajectory(3);
// Construct the initial view matrix
Matrix.SetIdentityM(mViewMatrix, 0);
Matrix.SetLookAtM(mViewMatrix, 0, 5f, 5f, 5f, 0f, 0f, 0f, 0f, 1f, 0f);
mCameraFrustumAndAxis.ModelMatrix = ModelMatCalculator.ModelMatrix;
}
private void CameraSetup()
{
CameraFrustum frustums = new CameraFrustum(PixelWidth, PixelHeight, FarPlane, NearPlane, focalLengthMilliMeters, pixelSizeInMicroMeters);
_cameraBuffer = new RenderTexture(PixelWidth / ImageCrop, PixelHeight / ImageCrop, (int)DepthBufferPrecision, renderTextureFormat, 0);
camera = gameObject.GetComponent <Camera>();
camera.usePhysicalProperties = false;
camera.targetTexture = _cameraBuffer;
camera.aspect = frustums._aspectRatio; //Mathf.Tan(Mathf.PI / numbers) / Mathf.Tan(frustums._verticalAngle / 2.0f);
Debug.Log("Aspect Ratio RGB: " + frustums._aspectRatio.ToString());
camera.fieldOfView = frustums._verticalAngle * Mathf.Rad2Deg; //Camera.HorizontalToVerticalFieldOfView(360.0f / numbers, cam.aspect);
camera.farClipPlane = frustums._farPlane;
camera.nearClipPlane = frustums._nearPlane;
//camera.enabled = false;
}
public void DistanceAndFrustumCulling(CameraFrustum frustum)
{
var viewPoint = frustum.ViewPoint;
var halfSize = _clusterDimensions / 2;
var minVisiblePosX = viewPoint.x - _cullingDistance;
var minVisiblePosZ = viewPoint.z - _cullingDistance;
var maxVisiblePosX = minVisiblePosX + _cullingDistance * 2;
var maxVisiblePosZ = minVisiblePosZ + _cullingDistance * 2;
int curVisibleStartX = Mathf.FloorToInt(minVisiblePosX / _clusterSize) + halfSize;
int curVisibleStartZ = Mathf.FloorToInt(minVisiblePosZ / _clusterSize) + halfSize;
int curVisibleEndX = Mathf.CeilToInt(maxVisiblePosX / _clusterSize) + halfSize;
int curVisibleEndZ = Mathf.CeilToInt(maxVisiblePosZ / _clusterSize) + halfSize;
bool enoughRoom = true;
for (int i = _lastVisibleStartX; i < _lastVisibleEndX; ++i)
{
for (int j = _lastVisibleStartZ; j < _lastVisibleEndZ; ++j)
{
if (i >= 0 && i < _clusterDimensions && j >= 0 && j < _clusterDimensions)
{
var cluster = _nodeClusters[i, j];
if (cluster == null)
{
continue;
}
var node = cluster.DistanceAndFrustumCulling(viewPoint, enoughRoom);
if (node != null && enoughRoom)
{
_curInstantiatingNode = node;
enoughRoom = false;
}
}
}
}
if (_lastVisibleStartX != curVisibleStartX || _lastVisibleEndX != curVisibleEndX ||
_lastVisibleStartZ != curVisibleStartZ || _lastVisibleEndZ != curVisibleEndZ)
{
for (int i = curVisibleStartX; i < curVisibleEndX; ++i)
{
for (int j = curVisibleStartZ; j < curVisibleEndZ; ++j)
{
if (i >= 0 && i < _clusterDimensions && j >= 0 && j < _clusterDimensions)
{
var cluster = _nodeClusters[i, j];
if (cluster == null)
{
continue;
}
var node = cluster.DistanceAndFrustumCulling(viewPoint, enoughRoom);
if (node != null && enoughRoom)
{
_curInstantiatingNode = node;
enoughRoom = false;
}
}
}
}
_lastVisibleStartX = curVisibleStartX;
_lastVisibleEndX = curVisibleEndX;
_lastVisibleStartZ = curVisibleStartZ;
_lastVisibleEndZ = curVisibleEndZ;
}
if (!enoughRoom)
{
_curInstantiatingNode.SetInstantiating();
_curInstantiatingNode.Node.BuildBuffer(_curInstantiatingNode.HeightBuffer());
}
for (int i = 0; i < _cachedNodesActualLength; ++i)
{
var node = _cachedNodes[i];
if (node != null && node.IsInstantiated)
{
node.IsActive = frustum.IsNodeVisible(node);
}
}
}
// Use this for initialization
void Start()
{
camPivot = GameObject.Find("camPivot");
_cameraFrustrum = GameObject.Find("mainCam").GetComponent<CameraFrustum>();
}
// Use this for initialization
void Start()
{
if(usefullData.lowTechnologie)
{
_cameraFrustrum = GameObject.Find("mainCam").GetComponent<CameraFrustum>();
Mesh mesh = GetComponent<MeshFilter> ().mesh;
Vector3[] vertices = mesh.vertices;
Vector2[] uvs = new Vector2[vertices.Length];
int i = 0;
while (i < uvs.Length) {
uvs[i] = new Vector2 (vertices[i].x, vertices[i].z);
//Debug.Log("mask Start : "+uvs[i]);
i++;
}
mesh.uv = uvs;
if(textureApply!=null)
{
textureApply.wrapMode = TextureWrapMode.Repeat;
GetComponent<Renderer>().material.SetTexture ("_MainTex", textureApply);
_guiText = GameObject.Find ("backgroundImage").GetComponent<GUITexture>();
}
mc = GameObject.Find("maskCam").GetComponent<MaskCreator>();
}
else
{
string originalShaderName = transform.GetComponent<Renderer>().material.shader.name;
if (originalShaderName.Contains("inverse"))
{
Shader shad = (Shader)Resources.Load("shaders/"+"Pointcube_maskInverse");
transform.GetComponent<Renderer>().material.shader = shad;
}
else
{
Shader shad = (Shader)Resources.Load("shaders/"+"Pointcube_mask");
transform.GetComponent<Renderer>().material.shader = shad;
}
}
}
//-----------------------------------------------------
// Use this for initialization
void Start()
{
// if(m_grassSky == null) Debug.LogError(DEBUGTAG+"Grass Sky"+PC.MISSING_REF);
if(m_grassGround == null) Debug.LogError(DEBUGTAG+"Grass Ground"+PC.MISSING_REF);
cam = Camera.main;
startHeight = cam.transform.position.y;
mainNode = GameObject.Find("MainNode");
mainScene = GameObject.Find("MainScene");
grid = GameObject.Find("grid");
avatar = GameObject.Find("_avatar");
_cameraFrustrum = GameObject.Find("mainCam").GetComponent<CameraFrustum>();
_iosShadows = GameObject.Find("iosShadows");
sceneCenter = grid.transform.position;
// dist = Mathf.Abs(cam.transform.localPosition.z)/2;
init();
}