/// <summary>
/// Initializes a new instance of the FusionImageFrame class.
/// </summary>
/// <param name="imageType">The type of image frame to create.</param>
/// <param name="width">The width of the image to create.</param>
/// <param name="height">The height of the image to create.</param>
/// <param name="cameraParameters">The Camera Parameters of the image.</param>
internal FusionImageFrame(FusionImageType imageType, int width, int height, CameraParameters cameraParameters)
{
NativeFrameHandle handle;
ExceptionHelper.ThrowIfFailed(
NativeMethods.NuiFusionCreateImageFrame(
imageType,
(uint)width,
(uint)height,
cameraParameters,
out handle));
Handle = handle;
}
// ArucoCamera methods
/// <summary>
/// Configure the VR input tracking, the Ovrvision plugin, and auto-start the cameras. The cameras need to be stopped before configured.
/// </summary>
public override void Configure()
{
if (IsStarted)
{
return;
}
// Reset state
IsConfigured = false;
// Update VR tracking
UnityEngine.VR.InputTracking.Recenter();
// Try to load the camera parameters
if (CameraParametersFilePath != null && CameraParametersFilePath.Length > 0)
{
string fullCameraParametersFilePath = Path.Combine((Application.isEditor) ? Application.dataPath : Application.persistentDataPath, CameraParametersFilePath);
CameraParameters = CameraParameters.LoadFromXmlFile(fullCameraParametersFilePath);
}
base.Configure();
}
// Use this for initialization
void Start()
{
Resolution cameraResolution = PhotoCapture.SupportedResolutions.OrderByDescending((res) => res.width * res.height).First();
targetTexture = new Texture2D(cameraResolution.width, cameraResolution.height);
// Create a PhotoCapture object
PhotoCapture.CreateAsync(false, delegate(PhotoCapture captureObject) {
photoCaptureObject = captureObject;
CameraParameters cameraParameters = new CameraParameters();
cameraParameters.hologramOpacity = 0.0f;
cameraParameters.cameraResolutionWidth = cameraResolution.width;
cameraParameters.cameraResolutionHeight = cameraResolution.height;
cameraParameters.pixelFormat = CapturePixelFormat.BGRA32;
// Activate the camera
photoCaptureObject.StartPhotoModeAsync(cameraParameters, delegate(PhotoCapture.PhotoCaptureResult result) {
// Take a picture
photoCaptureObject.TakePhotoAsync(OnCapturedPhotoToMemory);
});
});
}
public PhotoCaptureController()
{
filePath = System.IO.Path.Combine(Application.persistentDataPath, filename);
#if UNITY_METRO && !UNITY_EDITOR
try
{
Resolution cameraResolution = PhotoCapture.SupportedResolutions.OrderByDescending((res) => res.width * res.height).First();
width = cameraResolution.width;
height = cameraResolution.height;
targetTexture = new Texture2D(width, height);
//TakeAPicture();
cameraParameters = new CameraParameters();
cameraParameters.hologramOpacity = 1.0f;
cameraParameters.cameraResolutionWidth = width;
cameraParameters.cameraResolutionHeight = height;
cameraParameters.pixelFormat = CapturePixelFormat.BGRA32;
}
catch (System.Exception e)
{
}
#endif
}
public void OnInputClicked(InputClickedEventData eventData)
{
PhotoCapture.CreateAsync(false, delegate(PhotoCapture captureObject)
{
photoCaptureObj = captureObject;
CameraParameters cameraParameters = new CameraParameters();
cameraParameters.hologramOpacity = 0.0f;
cameraParameters.cameraResolutionWidth = cameraResolution.width;
cameraParameters.cameraResolutionHeight = cameraResolution.height;
cameraParameters.pixelFormat = CapturePixelFormat.BGRA32;
photoCaptureObj.StartPhotoModeAsync(cameraParameters, delegate(PhotoCapture.PhotoCaptureResult result)
{
photoCaptureObj.TakePhotoAsync(OnCapturedPhotoToMemory);
});
});
Debug.Log("Photo Capture CreateAsync Succeed!");
}
/// <summary>
/// <see cref="ArucoObjectTracker.Draw(int, Dictionary, HashSet{ArucoObject})"/>
/// </summary>
public override void Draw(int cameraId, Aruco.Dictionary dictionary)
{
if (!IsActivated)
{
return;
}
bool updatedCameraImage = false;
Cv.Core.Mat[] cameraImages = arucoTracker.ArucoCamera.Images;
CameraParameters cameraParameters = arucoTracker.ArucoCamera.CameraParameters;
if (DetectedDiamonds[cameraId][dictionary] > 0)
{
// Draw detected diamonds
if (arucoTracker.DrawDetectedDiamonds)
{
Aruco.DrawDetectedDiamonds(cameraImages[cameraId], DiamondCorners[cameraId][dictionary], DiamondIds[cameraId][dictionary]);
updatedCameraImage = true;
}
// Draw axes of detected diamonds
if (arucoTracker.DrawAxes && cameraParameters != null && DiamondRvecs[cameraId][dictionary] != null)
{
for (uint i = 0; i < DetectedDiamonds[cameraId][dictionary]; i++)
{
Aruco.DrawAxis(cameraImages[cameraId], cameraParameters.CamerasMatrix[cameraId], cameraParameters.DistCoeffs[cameraId],
DiamondRvecs[cameraId][dictionary].At(i), DiamondTvecs[cameraId][dictionary].At(i), DRAW_AXIS_LENGTH);
updatedCameraImage = true;
}
}
}
if (updatedCameraImage)
{
arucoTracker.ArucoCamera.Images = cameraImages;
}
}
private void OnPhotoCaptureCreated(PhotoCapture captureObject)
{
_photoCapture = captureObject;
Resolution cameraResolution = PhotoCapture.SupportedResolutions.OrderByDescending((res) => res.width * res.height).First();
CameraParameters c = new CameraParameters
{
hologramOpacity = 0.0f,
cameraResolutionWidth = cameraResolution.width,
cameraResolutionHeight = cameraResolution.height,
pixelFormat = CapturePixelFormat.BGRA32
};
try
{
captureObject.StartPhotoModeAsync(c, OnPhotoModeStarted);
}
catch (Exception e)
{
Debug.Log(e.Message);
}
}
void OnPhotoCaptureCreated(PhotoCapture captureObject)
{
photoCaptureObject = captureObject;
//Resolution: 2048x1152 at 0Hz.
//Resolution: 1408x792 at 0Hz.
//Resolution: 1344x756 at 0Hz.
//Resolution: 1280x720 at 0Hz.
//Resolution: 896x504 at 0Hz.
//Might effect recognization accuracy, especially there's requirment for different detection. but fast for upload to server.
Resolution cameraResolution = PhotoCapture.SupportedResolutions.OrderByDescending((res) => res.width * res.height).Skip(4).First();
CameraParameters c = new CameraParameters();
c.hologramOpacity = 0.0f;
c.cameraResolutionWidth = cameraResolution.width;
c.cameraResolutionHeight = cameraResolution.height;
c.pixelFormat = CapturePixelFormat.PNG;
photoCaptureObject.StartPhotoModeAsync(c, false, OnPhotoModeStartedForBinary);
}
public void TakePicture()
{
CameraParameters cameraParameters = new CameraParameters();
cameraParameters.hologramOpacity = 0.0f;
cameraParameters.cameraResolutionWidth = cameraResolution.width;
cameraParameters.cameraResolutionHeight = cameraResolution.height;
cameraParameters.pixelFormat = CapturePixelFormat.BGRA32;
// Activate the camera
if (photoCaptureObject != null)
{
if (shutterSound != null)
{
shutterSound.Play();
}
photoCaptureObject.StartPhotoModeAsync(cameraParameters, delegate(PhotoCapture.PhotoCaptureResult result)
{
// Take a picture
photoCaptureObject.TakePhotoAsync(OnCapturedPhotoToMemory);
});
}
}
private void ExecuteImageCaptureAndAnalysis()
{
Resolution cameraResolution = PhotoCapture.SupportedResolutions.OrderByDescending((res) => res.width * res.height).First();
Texture2D targetTexture = new Texture2D(cameraResolution.width, cameraResolution.height);
PhotoCapture.CreateAsync(false, delegate(PhotoCapture captureObject)
{
photoCaptureObject = captureObject;
CameraParameters camParameters = new CameraParameters();
camParameters.hologramOpacity = 0.0f; // for MR 0.9f
camParameters.cameraResolutionWidth = targetTexture.width;
camParameters.cameraResolutionHeight = targetTexture.height;
camParameters.pixelFormat = CapturePixelFormat.BGRA32;
captureObject.StartPhotoModeAsync(camParameters, delegate(PhotoCapture.PhotoCaptureResult result)
{
string filename = string.Format(@"CapturedImage{0}.jpg", tapsCount);
string filePath = Path.Combine(Application.persistentDataPath, filename);
RecognizeTextManager.instance.imagePath = filePath;
photoCaptureObject.TakePhotoAsync(filePath, PhotoCaptureFileOutputFormat.JPG, OnCapturedPhotoToDisk);
currentlyCapturing = false;
});
});
}
/// <summary>
/// Run logic for initializing Hololens web camera for taking pictures
/// for texturing the room mesh.
/// </summary>
private static void InitCamera()
{
#if UNITY_WSA_10_0
// Set camera resolution (documented default of 1280 x 720)
List <Resolution> resolutions = new List <Resolution>(PhotoCapture.SupportedResolutions);
CameraResolution = resolutions[0];
// Set other camera parameters
m_CameraParameters = new CameraParameters(WebCamMode.PhotoMode);
#endif
m_CameraParameters.cameraResolutionWidth = CameraResolution.width;
m_CameraParameters.cameraResolutionHeight = CameraResolution.height;
m_CameraParameters.hologramOpacity = 0.0f;
#if UNITY_WSA_10_0
m_CameraParameters.pixelFormat = CapturePixelFormat.BGRA32;
#endif
// Set the Texture2DArray-compatible texture settings
UtilizedResolution = DowngradeTextureResolution(CameraResolution);
// Create texture array
CreateTexture2DArray();
}
// Use this for initialization
void Create()
{
if (photoCaptureObject != null)
{
Debug.LogError("The NRPhotoCapture has already been created.");
return;
}
// Create a PhotoCapture object
NRPhotoCapture.CreateAsync(false, delegate(NRPhotoCapture captureObject)
{
cameraResolution = NRPhotoCapture.SupportedResolutions.OrderByDescending((res) => res.width * res.height).First();
targetTexture = new Texture2D(cameraResolution.width, cameraResolution.height);
if (captureObject != null)
{
photoCaptureObject = captureObject;
}
else
{
Debug.LogError("Can not get a captureObject.");
}
CameraParameters cameraParameters = new CameraParameters();
cameraParameters.hologramOpacity = 0.0f;
cameraParameters.cameraResolutionWidth = cameraResolution.width;
cameraParameters.cameraResolutionHeight = cameraResolution.height;
cameraParameters.pixelFormat = CapturePixelFormat.BGRA32;
cameraParameters.blendMode = BlendMode.Blend;
// Activate the camera
photoCaptureObject.StartPhotoModeAsync(cameraParameters, delegate(NRPhotoCapture.PhotoCaptureResult result)
{
Debug.Log("Start PhotoMode Async");
});
});
}
// 写真撮影する
public void TakePhoto()
{
if (photoTaking)
{
Debug.Log("写真撮影中");
return;
}
photoTaking = true;
debug.text = "写真撮影開始";
try
{
// PhotoCapture オブジェクトを作成します
PhotoCapture.CreateAsync(false, delegate(PhotoCapture captureObject)
{
photoCaptureObject = captureObject;
CameraParameters cameraParameters = new CameraParameters();
cameraParameters.hologramOpacity = 0.0f;
cameraParameters.cameraResolutionWidth = cameraResolution.width;
cameraParameters.cameraResolutionHeight = cameraResolution.height;
cameraParameters.pixelFormat = CapturePixelFormat.BGRA32;
// カメラをアクティベートします
photoCaptureObject.StartPhotoModeAsync(cameraParameters,
delegate(PhotoCapture.PhotoCaptureResult result)
{
// 写真を撮ります
photoCaptureObject.TakePhotoAsync(OnCapturedPhotoToMemory);
});
});
}
catch (Exception ex)
{
Debug.Log(ex.Message);
debug.text = ex.Message;
}
}
/// <summary>
/// Begin process of Image Capturing and send To Azure Custom Vision Service.
/// </summary>
private void ExecuteImageCaptureAndAnalysis()
{
// Update camera status to analysis.
SceneOrganiser.Instance.SetCameraStatus("Analysis");
// Create a label in world space using the SceneOrganiser class
// Invisible at this point but correctly positioned where the image was taken
SceneOrganiser.Instance.PlaceAnalysisLabel();
// Set the camera resolution to be the highest possible
Resolution cameraResolution = PhotoCapture.SupportedResolutions.OrderByDescending((res) => res.width * res.height).First();
Texture2D targetTexture = new Texture2D(cameraResolution.width, cameraResolution.height);
// Begin capture process, set the image format
PhotoCapture.CreateAsync(false, delegate(PhotoCapture captureObject)
{
photoCaptureObject = captureObject;
CameraParameters camParameters = new CameraParameters
{
hologramOpacity = 0.0f,
cameraResolutionWidth = targetTexture.width,
cameraResolutionHeight = targetTexture.height,
pixelFormat = CapturePixelFormat.BGRA32
};
// Capture the image from the camera and save it in the App internal folder
captureObject.StartPhotoModeAsync(camParameters, delegate(PhotoCapture.PhotoCaptureResult result)
{
string filename = string.Format(@"CapturedImage{0}.jpg", captureCount);
filePath = Path.Combine(Application.persistentDataPath, filename);
captureCount++;
photoCaptureObject.TakePhotoAsync(filePath, PhotoCaptureFileOutputFormat.JPG, OnCapturedPhotoToDisk);
});
});
}
public void TakePicture()
{
// Create a PhotoCapture object
PhotoCapture.CreateAsync(false, delegate(PhotoCapture captureObject)
{
if (captureObject != null)
{
_photoCaptureObject = captureObject;
CameraParameters cameraParameters = new CameraParameters();
cameraParameters.hologramOpacity = 0.0f;
cameraParameters.cameraResolutionWidth = _cameraResolution.width;
cameraParameters.cameraResolutionHeight = _cameraResolution.height;
cameraParameters.pixelFormat = CapturePixelFormat.BGRA32;
if (!Directory.Exists(_mediaPath))
{
Directory.CreateDirectory(_mediaPath);
}
_fileName = DateTime.Now.ToString("yyyy-MM-dd-hh-mm-ss") + ".jpg";
_fullPathFileName = Path.Combine(_mediaPath, _fileName);
_cameraBorderController.SetRecordingMaterial();
// Activate the camera
_photoCaptureObject.StartPhotoModeAsync(cameraParameters, delegate(PhotoCapture.PhotoCaptureResult result)
{
// Take a picture
_photoCaptureObject.TakePhotoAsync(_fullPathFileName, PhotoCaptureFileOutputFormat.JPG, OnCapturedPhotoToDisk);
});
}
else
{
Debug.LogError("Failed to create PhotoCapture Instance!");
OnPhotoFinished?.Invoke("Error");
}
});
}
async void Start()
{
// Initialize camera and camera parameters
_captureResolution = PhotoCapture.SupportedResolutions.OrderBy((res) => res.width * res.height).First();
_cameraPara = new CameraParameters();
_cameraPara.hologramOpacity = 0.0f;
_cameraPara.cameraResolutionWidth = _captureResolution.width;
_cameraPara.cameraResolutionHeight = _captureResolution.height;
_cameraPara.pixelFormat = CapturePixelFormat.JPEG;
if (Const.HOLO_CAPTURE)
{
PhotoCapture.CreateAsync(true, OnPhotoCaptureCreatedHOLO);
}
else
{
PhotoCapture.CreateAsync(false, OnPhotoCaptureCreated);
}
// Initialize logger
_myLogger = new MyLogger("latency-" + Const.SERVER_IP + "-" + Const.TOKEN_SIZE + ".txt");
await _myLogger.InitializeLogger();
// Initialize token control
_tokenController = new TokenController(Const.TOKEN_SIZE, _myLogger);
// Initialize file loaders
await InitializeFileLoading();
// Initialize network
await InitializeNetworkAsync();
await GetServerTimeOffsetAsync();
_isInitialized = true;
_startTime = GetTimeMillis();
}
/// <summary>
/// Begin process of Image Capturing and send To Azure Custom Vision Service.
/// </summary>
private void ExecuteImageCaptureAndAnalysis()
{
if (!cameraResolutionSet)
{
cameraResolution = PhotoCapture.SupportedResolutions.OrderByDescending((res) => res.width * res.height).First();
cameraResolutionSet = true;
}
{
// Set the camera resolution to be the highest possible
//Texture2D targetTexture = new Texture2D(cameraResolution.width, cameraResolution.height);
// Begin capture process, set the image format
PhotoCapture.CreateAsync(false, delegate(PhotoCapture captureObject)
{
photoCaptureObject = captureObject;
CameraParameters camParameters = new CameraParameters
{
hologramOpacity = 0.0f,
cameraResolutionWidth = cameraResolution.width,
cameraResolutionHeight = cameraResolution.height,
pixelFormat = CapturePixelFormat.BGRA32
};
// Capture the image from the camera and save it in the App internal folder
captureObject.StartPhotoModeAsync(camParameters, delegate(PhotoCapture.PhotoCaptureResult result)
{
string filename = string.Format(@"CapturedImage{0}.jpg", captureCount);
filePath = Path.Combine(Path.Combine(Application.persistentDataPath, "bathroom"), filename);
captureCount++;
photoCaptureObject.TakePhotoAsync(filePath, PhotoCaptureFileOutputFormat.JPG, OnCapturedPhotoToDisk);
});
});
}
}
void InitializeFusion()
{
// Reconstruction Parameters
float voxelPerMeter = 256;
int voxelsX = 512;
int voxelsY = 384;
int voxelsZ = 512;
reconstructionParameters = new ReconstructionParameters(voxelPerMeter, voxelsX, voxelsY, voxelsZ);
//カメラ座標の初期値をワールド座標に設定
worldToCameraTransform = Matrix4.Identity;
//FusionのReconstructionオブジェクトを作成
reconstruction = ColorReconstruction.FusionCreateReconstruction(reconstructionParameters, ReconstructionProcessor.Amp, -1, worldToCameraTransform);
// Fusionのイメージフレームを作成
cameraParameters = CameraParameters.Defaults;
depthImageFrame = new FusionFloatImageFrame(depthWidth, depthHeight, cameraParameters);
smoothDepthImageFrame = new FusionFloatImageFrame(depthWidth, depthHeight, cameraParameters);
colorImageFrame = new FusionColorImageFrame(depthWidth, depthHeight, cameraParameters);
pointCloudImageFrame = new FusionPointCloudImageFrame(depthWidth, depthHeight, cameraParameters);
surfaceImageFrame = new FusionColorImageFrame(depthWidth, depthHeight, cameraParameters);
}
/*
* Initializes settings that the web camera will use
* Function called by TakePhoto
*/
void OnPhotoCaptureCreated(PhotoCapture captureObject)
{
Debug.Log("Photocapture");
photoCaptureObject = captureObject;
/* setting up camera resolution */
Resolution cameraResolution = PhotoCapture.SupportedResolutions.OrderByDescending((res) => res.width * res.height).First();
CameraParameters c = new CameraParameters();
/* setting the opacity of captured holograms */
c.hologramOpacity = 0.0f;
/* valid resolutions for use with the web camera */
c.cameraResolutionWidth = cameraResolution.width;
c.cameraResolutionHeight = cameraResolution.height;
/* pixel format to capture & record image data */
c.pixelFormat = CapturePixelFormat.BGRA32;
/* Activate mode to take photo */
captureObject.StartPhotoModeAsync(c, OnPhotoModeStarted);
}
/// <summary>
/// Begin process of Image Capturing and send To Azure
/// Computer Vision service.
/// </summary>
private void ExecuteImageCaptureAndAnalysis()
{
// Set the camera resolution to be the highest possible
Resolution cameraResolution = PhotoCapture.SupportedResolutions.OrderByDescending((res) => res.width * res.height).First();
Texture2D targetTexture = new Texture2D(cameraResolution.width, cameraResolution.height);
// Debug.Log("execute image capture and analysis");
// Begin capture process, set the image format
PhotoCapture.CreateAsync(false, delegate(PhotoCapture captureObject)
{
photoCaptureObject = captureObject;
CameraParameters camParameters = new CameraParameters();
camParameters.hologramOpacity = 0.0f;
camParameters.cameraResolutionWidth = targetTexture.width;
camParameters.cameraResolutionHeight = targetTexture.height;
camParameters.pixelFormat = CapturePixelFormat.BGRA32;
// Capture the image from the camera and save it in the App internal folder
captureObject.StartPhotoModeAsync(camParameters, delegate(PhotoCapture.PhotoCaptureResult result)
{
string filename = @"current_image.jpg";
// Debug.Log(Application.persistentDataPath);
string filePath = Path.Combine(Application.persistentDataPath, filename);
VisionManager.instance.imagePath = filePath;
photoCaptureObject.TakePhotoAsync(filePath, PhotoCaptureFileOutputFormat.JPG, OnCapturedPhotoToDisk);
currentlyCapturing = false;
});
});
}
/// <summary>
/// Begin process of Image Capturing and send To Azure Computer Vision service.
/// </summary>
private void ExecuteImageCaptureAndAnalysis()
{
//Resolution cameraResolution = PhotoCapture.SupportedResolutions.OrderByDescending
// ((res) => res.width * res.height).First();
Resolution cameraResolution = PhotoCapture.SupportedResolutions.ElementAt(1);
Texture2D targetTexture = new Texture2D(cameraResolution.width, cameraResolution.height);
//tempText.text = "W: " + cameraResolution.width + " | H: " + cameraResolution.height;
PhotoCapture.CreateAsync(false, delegate(PhotoCapture captureObject)
{
photoCaptureObject = captureObject;
CameraParameters c = new CameraParameters();
c.hologramOpacity = 0.0f;
c.cameraResolutionWidth = targetTexture.width;
c.cameraResolutionHeight = targetTexture.height;
c.pixelFormat = CapturePixelFormat.BGRA32;
Debug.Log("before start photoasync");
captureObject.StartPhotoModeAsync(c, delegate(PhotoCapture.PhotoCaptureResult result)
{
string filename = string.Format(@"CapturedImages{0}.jpg", tapsCount);
string filePath = Path.Combine(Application.persistentDataPath, filename);
//tempText.GetComponent<TextMeshPro>().text = Application.persistentDataPath;
// Set the image path on the FaceAnalysis class
FaceAnalysis.Instance.imagePath = filePath;
photoCaptureObject.TakePhotoAsync(filePath, PhotoCaptureFileOutputFormat.JPG, OnCapturedPhotoToDisk);
});
});
}
private void OnPhotoCaptureCreated(PhotoCapture photoCapture)
{
_photoCapture = photoCapture;
IEnumerable <Resolution> cameraResolutions = PhotoCapture.SupportedResolutions;
//Resolution cameraResolution = cameraResolutions.ToArray()[15]; // 800x600 using the logicool webcam. Closest I could get to to HoloLens' 896x504 resolution
var reso = PhotoCapture.SupportedResolutions.OrderByDescending((res) => res.width * res.height).ToArray();
Resolution cameraResolution = reso.Last(); //reso[8]; //reso.Last();
Debug.Log(string.Format("Camera Resolution: {0}x{1}", cameraResolution.width, cameraResolution.height));
// GameObject source = GameObject.Find("Display");
_sourceTexture = new Texture2D(cameraResolution.width, cameraResolution.height, TextureFormat.RGB24, false);
// source.GetComponent<Renderer>().material.mainTexture = _sourceTexture;
CameraParameters c = new CameraParameters();
c.hologramOpacity = 0.0f;
c.cameraResolutionWidth = cameraResolution.width;
c.cameraResolutionHeight = cameraResolution.height;
c.pixelFormat = CapturePixelFormat.BGRA32;
_photoCapture.StartPhotoModeAsync(c, false, OnPhotoModeStarted);
}
void OnVideoCaptureCreated(VideoCapture videoCapture)
{
if (videoCapture == null)
{
Debug.LogError("Did not find a video capture object. You may not be using the HoloLens.");
return;
}
this._videoCapture = videoCapture;
_resolution = CameraStreamHelper.Instance.GetLowestResolution();
//float frameRate = CameraStreamHelper.Instance.GetHighestFrameRate(_resolution);
float frameRate = CameraStreamHelper.Instance.GetLowestFrameRate(_resolution);
videoCapture.FrameSampleAcquired += OnFrameSampleAcquired;
//You don't need to set all of these params.
//I'm just adding them to show you that they exist.
CameraParameters cameraParams = new CameraParameters();
cameraParams.cameraResolutionHeight = _resolution.height;
cameraParams.cameraResolutionWidth = _resolution.width;
//new
frameRate = _videoPanelUI.requestedFrameRate;
cameraParams.frameRate = Mathf.RoundToInt(frameRate);
int finalFrameRate = Mathf.RoundToInt(frameRate);
cameraParams.pixelFormat = CapturePixelFormat.BGRA32;
cameraParams.rotateImage180Degrees = true; //If your image is upside down, remove this line.
cameraParams.enableHolograms = false;
_videoPanelUI.SetResolution(_resolution.width, _resolution.height, finalFrameRate);
videoCapture.StartVideoModeAsync(cameraParams, OnVideoModeStarted);
}
void Start_take_picture(PhotoCapture captureObject)
{
photoCaptureObject = captureObject;
//ディスプレイの解像度を取得
Resolution cameraResolution = PhotoCapture.SupportedResolutions.OrderByDescending((res) => res.width * res.height).First();
//カメラパラメータを設定
CameraParameters c = new CameraParameters();
c.hologramOpacity = 0.0f;
c.cameraResolutionWidth = cameraResolution.width;
c.cameraResolutionHeight = cameraResolution.height;
c.pixelFormat = CapturePixelFormat.BGRA32;
//画像の縦、横を取得
Width = cameraResolution.width;
Height = cameraResolution.height;
//写真撮影
photoCaptureObject.StartPhotoModeAsync(c, delegate(PhotoCapture.PhotoCaptureResult result) {
photoCaptureObject.TakePhotoAsync(Publish_to_ROS);
});
}
/// <summary>
/// <see cref="ArucoObjectTracker.Draw(int, Dictionary, HashSet{ArucoObject})"/>
/// </summary>
public override void Draw(int cameraId, Aruco.Dictionary dictionary)
{
if (!IsActivated || arucoTracker.MarkerTracker.DetectedMarkers[cameraId][dictionary] <= 0)
{
return;
}
bool updatedCameraImage = false;
Cv.Core.Mat[] cameraImages = arucoTracker.ArucoCamera.Images;
CameraParameters cameraParameters = arucoTracker.ArucoCamera.CameraParameters;
foreach (var arucoCharucoBoard in arucoTracker.GetArucoObjects <ArucoCharucoBoard>(dictionary))
{
if (arucoCharucoBoard.InterpolatedCorners > 0 && arucoCharucoBoard.Rvec != null)
{
if (arucoTracker.DrawDetectedCharucoMarkers)
{
Aruco.DrawDetectedCornersCharuco(cameraImages[cameraId], arucoCharucoBoard.DetectedCorners, arucoCharucoBoard.DetectedIds);
updatedCameraImage = true;
}
if (arucoTracker.DrawAxes && cameraParameters != null && arucoCharucoBoard.ValidTransform)
{
Aruco.DrawAxis(cameraImages[cameraId], cameraParameters.CamerasMatrix[cameraId], cameraParameters.DistCoeffs[cameraId],
arucoCharucoBoard.Rvec, arucoCharucoBoard.Tvec, arucoCharucoBoard.AxisLength);
updatedCameraImage = true;
}
}
}
if (updatedCameraImage)
{
arucoTracker.ArucoCamera.Images = cameraImages;
}
}
void OnPhotoCaptureCreated(PhotoCapture captureObject)
{
photoCaptureObject = captureObject;
Resolution cameraResolution = PhotoCapture.SupportedResolutions.OrderByDescending((res) => res.width * res.height).First();
CameraParameters c = new CameraParameters();
c.hologramOpacity = 0.0f;
c.cameraResolutionWidth = cameraResolution.width;
c.cameraResolutionHeight = cameraResolution.height;
c.pixelFormat = CapturePixelFormat.BGRA32;
Width = cameraResolution.width;
Height = cameraResolution.height;
//Debug.Log(String.Format("width={0}, height={1}", Width, Height));
//captureObject.StartPhotoModeAsync(c, OnPhotoModeStarted);
// Activate the camera
photoCaptureObject.StartPhotoModeAsync(c, delegate(PhotoCapture.PhotoCaptureResult result) {
// Take a picture
photoCaptureObject.TakePhotoAsync(OnCapturedPhotoToMemory);
});
}
private bool TakeScreenshotHololens()
{
// Set the camera resolution to be the highest possible
Resolution cameraResolution = PhotoCapture.SupportedResolutions.OrderByDescending((res) => res.width * res.height).First();
Texture2D targetTexture = new Texture2D(cameraResolution.width, cameraResolution.height);
// Begin capture process, set the image format
PhotoCapture.CreateAsync(false, delegate(PhotoCapture captureObject)
{
photoCaptureObject = captureObject;
CameraParameters camParameters = new CameraParameters();
camParameters.hologramOpacity = 0.0f;
camParameters.cameraResolutionWidth = targetTexture.width;
camParameters.cameraResolutionHeight = targetTexture.height;
camParameters.pixelFormat = CapturePixelFormat.BGRA32;
// Capture the image from the camera and save it in the App internal folder
captureObject.StartPhotoModeAsync(camParameters, delegate(PhotoCapture.PhotoCaptureResult result)
{
string filename = string.Format(@"CapturedImage.jpg");
string filePath = Path.Combine(Application.persistentDataPath, filename);
//SEt the filePath for the Api call to find
//VisionManager.instance.imagePath = filePath;
//take picture and save to file.
//photoCaptureObject.TakePhotoAsync(filePath, PhotoCaptureFileOutputFormat.JPG, OnCapturedPhotoToDisk);
//stop capturing
//currentlyCapturing = false;
});
});
return(true);
}
/// <inheritdoc /> public void Visit(CameraParameters parameters) => _cameraParameters = parameters;
public CameraDrag(CameraParameters cameraParameters)
: base(cameraParameters)
{
}
/// <summary>
/// Initializes this instance by coroutine.
/// </summary>
protected override IEnumerator _Initialize()
{
if (hasInitDone)
{
ReleaseResources();
if (onDisposed != null)
{
onDisposed.Invoke();
}
}
isInitWaiting = true;
while (isChangeVideoModeWaiting)
{
yield return(null);
}
isChangeVideoModeWaiting = true;
if (videoCapture != null)
{
videoCapture.StopVideoModeAsync(result1 => {
cameraParams = CreateCameraParams(videoCapture);
videoCapture.StartVideoModeAsync(cameraParams, result2 => {
if (!result2.success)
{
isChangeVideoModeWaiting = false;
isInitWaiting = false;
CancelInitCoroutine();
if (onErrorOccurred != null)
{
onErrorOccurred.Invoke(ErrorCode.UNKNOWN);
}
}
else
{
isChangeVideoModeWaiting = false;
}
});
});
}
else
{
//Fetch a pointer to Unity's spatial coordinate system if you need pixel mapping
spatialCoordinateSystemPtr = UnityEngine.VR.WSA.WorldManager.GetNativeISpatialCoordinateSystemPtr();
HoloLensCameraStream.VideoCapture.CreateAync(videoCapture => {
if (initCoroutine == null)
{
return;
}
if (videoCapture == null)
{
Debug.LogError("Did not find a video capture object. You may not be using the HoloLens.");
isChangeVideoModeWaiting = false;
isInitWaiting = false;
CancelInitCoroutine();
if (onErrorOccurred != null)
{
onErrorOccurred.Invoke(ErrorCode.CAMERA_DEVICE_NOT_EXIST);
}
return;
}
this.videoCapture = videoCapture;
//Request the spatial coordinate ptr if you want fetch the camera and set it if you need to
videoCapture.WorldOriginPtr = spatialCoordinateSystemPtr;
cameraParams = CreateCameraParams(videoCapture);
videoCapture.FrameSampleAcquired -= OnFrameSampleAcquired;
videoCapture.FrameSampleAcquired += OnFrameSampleAcquired;
videoCapture.StartVideoModeAsync(cameraParams, result => {
if (!result.success)
{
isChangeVideoModeWaiting = false;
isInitWaiting = false;
CancelInitCoroutine();
if (onErrorOccurred != null)
{
onErrorOccurred.Invoke(ErrorCode.UNKNOWN);
}
}
else
{
isChangeVideoModeWaiting = false;
}
});
});
}
int initFrameCount = 0;
bool isTimeout = false;
while (true)
{
if (initFrameCount > _timeoutFrameCount)
{
isTimeout = true;
break;
}
else if (didUpdateThisFrame)
{
Debug.Log("HololensCameraStreamToMatHelper:: " + "name:" + "" + " width:" + cameraParams.cameraResolutionWidth + " height:" + cameraParams.cameraResolutionHeight + " fps:" + cameraParams.frameRate);
if (colors == null || colors.Length != cameraParams.cameraResolutionWidth * cameraParams.cameraResolutionHeight)
{
colors = new Color32[cameraParams.cameraResolutionWidth * cameraParams.cameraResolutionHeight];
}
frameMat = new Mat(cameraParams.cameraResolutionHeight, cameraParams.cameraResolutionWidth, CvType.CV_8UC4);
screenOrientation = Screen.orientation;
if (_requestedRotate90Degree)
{
rotatedFrameMat = new Mat(cameraParams.cameraResolutionWidth, cameraParams.cameraResolutionHeight, CvType.CV_8UC4);
}
isInitWaiting = false;
initCoroutine = null;
if (onInitialized != null)
{
onInitialized.Invoke();
}
hasInitDone = true;
break;
}
else
{
initFrameCount++;
yield return(null);
}
}
if (isTimeout)
{
if (videoCapture != null)
{
videoCapture.FrameSampleAcquired -= OnFrameSampleAcquired;
isChangeVideoModeWaiting = true;
videoCapture.StopVideoModeAsync(result => {
videoCapture.Dispose();
videoCapture = null;
isChangeVideoModeWaiting = false;
});
isInitWaiting = false;
initCoroutine = null;
if (onErrorOccurred != null)
{
onErrorOccurred.Invoke(ErrorCode.TIMEOUT);
}
}
else
{
isInitWaiting = false;
initCoroutine = null;
if (onErrorOccurred != null)
{
onErrorOccurred.Invoke(ErrorCode.TIMEOUT);
}
}
}
}
public CameraZoom(CameraParameters cameraParameters)
: base(cameraParameters)
{
}
public override void CopyFrom(CameraParameters other)
{
base.CopyFrom(other);
Dir.Control.Text = other.Dir;
InitialGain.Control.Value = other.InitialGain;
}
public override void CopyTo(CameraParameters other)
{
base.CopyTo(other);
other.Dir = Dir.Control.Text;
other.InitialGain = (int)InitialGain.Control.Value;
}
public CameraRotate(CameraParameters cameraParameters)
: base(cameraParameters)
{
}
/// <summary>
/// Initializes a new instance of the FusionFloatImageFrame class.
/// </summary>
/// <param name="width">Image width.</param>
/// <param name="height">Image height.</param>
/// <param name="cameraParameters">The camera parameters.</param>
public FusionFloatImageFrame(int width, int height, CameraParameters cameraParameters)
: base(FusionImageType.Float, width, height, cameraParameters)
{
}
/// <summary>
/// Initializes a new instance of the FusionColorImageFrame class.
/// </summary>
/// <param name="width">Image width.</param>
/// <param name="height">Image height.</param>
/// <param name="cameraParameters">The camera parameters.</param>
public FusionColorImageFrame(int width, int height, CameraParameters cameraParameters)
: base(FusionImageType.Color, width, height, cameraParameters)
{
}
protected CameraObject(CameraParameters cameraParameters)
{
cameraParams = cameraParameters;
}
/// <summary>
/// Initializes a new instance of the FusionPointCloudImageFrame class.
/// </summary>
/// <param name="width">Image width.</param>
/// <param name="height">Image height.</param>
/// <param name="cameraParameters">The camera parameters.</param>
public FusionPointCloudImageFrame(int width, int height, CameraParameters cameraParameters)
: base(FusionImageType.PointCloud, width, height, cameraParameters)
{
}
void InitializeFusion()
{
// Reconstruction Parameters
float voxelPerMeter = 256;
int voxelsX = 512;
int voxelsY = 384;
int voxelsZ = 512;
reconstructionParameters = new ReconstructionParameters( voxelPerMeter, voxelsX, voxelsY, voxelsZ );
//カメラ座標の初期値をワールド座標に設定
worldToCameraTransform = Matrix4.Identity;
//FusionのReconstructionオブジェクトを作成
reconstruction = ColorReconstruction.FusionCreateReconstruction( reconstructionParameters, ReconstructionProcessor.Amp, -1, worldToCameraTransform );
// Fusionのイメージフレームを作成
cameraParameters = CameraParameters.Defaults;
depthImageFrame = new FusionFloatImageFrame( depthWidth, depthHeight, cameraParameters );
smoothDepthImageFrame = new FusionFloatImageFrame( depthWidth, depthHeight, cameraParameters );
colorImageFrame = new FusionColorImageFrame( depthWidth, depthHeight, cameraParameters );
pointCloudImageFrame = new FusionPointCloudImageFrame( depthWidth, depthHeight, cameraParameters );
surfaceImageFrame = new FusionColorImageFrame( depthWidth, depthHeight, cameraParameters );
}
