static SRWork_SeeThrough()
{
SRWorkModule_API.GetSeeThrougParameterBool((int)Vive.Plugin.SR.SeeThroughParam.OUTPUT_4K_READY, ref b4KImageReady);
SRWorkModule_API.GetSeeThrougParameterInt((int)Vive.Plugin.SR.SeeThroughParam.OUTPUT_DISTORTED_WIDTH, ref DistortedImageWidth);
SRWorkModule_API.GetSeeThrougParameterInt((int)Vive.Plugin.SR.SeeThroughParam.OUTPUT_DISTORTED_HEIGHT, ref DistortedImageHeight);
SRWorkModule_API.GetSeeThrougParameterInt((int)Vive.Plugin.SR.SeeThroughParam.OUTPUT_DISTORTED_CHANNEL, ref DistortedImageChannel);
SRWorkModule_API.GetSeeThrougParameterInt((int)Vive.Plugin.SR.SeeThroughParam.OUTPUT_UNDISTORTED_WIDTH, ref UndistortedImageWidth);
SRWorkModule_API.GetSeeThrougParameterInt((int)Vive.Plugin.SR.SeeThroughParam.OUTPUT_UNDISTORTED_HEIGHT, ref UndistortedImageHeight);
SRWorkModule_API.GetSeeThrougParameterInt((int)Vive.Plugin.SR.SeeThroughParam.OUTPUT_UNDISTORTED_CHANNEL, ref UndistortedImageChannel);
//b4KImageReady = false;
SRWorkModule_API.GetSeeThroug4KParameterInt((int)Vive.Plugin.SR.SeeThrough4KParam.OUTPUT_DISTORTED_4K_WIDTH, ref Distorted4KImageWidth);
SRWorkModule_API.GetSeeThroug4KParameterInt((int)Vive.Plugin.SR.SeeThrough4KParam.OUTPUT_DISTORTED_4K_HEIGHT, ref Distorted4KImageHeight);
SRWorkModule_API.GetSeeThroug4KParameterInt((int)Vive.Plugin.SR.SeeThrough4KParam.OUTPUT_DISTORTED_4K_CHANNEL, ref Distorted4KImageChannel);
SRWorkModule_API.GetSeeThroug4KParameterInt((int)Vive.Plugin.SR.SeeThrough4KParam.OUTPUT_UNDISTORTED_4K_WIDTH, ref Undistorted4KImageWidth);
SRWorkModule_API.GetSeeThroug4KParameterInt((int)Vive.Plugin.SR.SeeThrough4KParam.OUTPUT_UNDISTORTED_4K_HEIGHT, ref Undistorted4KImageHeight);
SRWorkModule_API.GetSeeThroug4KParameterInt((int)Vive.Plugin.SR.SeeThrough4KParam.OUTPUT_UNDISTORTED_4K_CHANNEL, ref Undistorted4KImageChannel);
//IntPtr.Zero; //
see_through_data_.distorted_frame_left = IntPtr.Zero;
see_through_data_.distorted_frame_right = IntPtr.Zero;
see_through_data_.undistorted_frame_left = IntPtr.Zero;
see_through_data_.undistorted_frame_right = IntPtr.Zero;
SeeThroughDataLeftDistort = Marshal.AllocCoTaskMem(sizeof(char) * DistortedImageWidth * DistortedImageHeight * DistortedImageChannel);
SeeThroughDataRighttDistort = Marshal.AllocCoTaskMem(sizeof(char) * DistortedImageWidth * DistortedImageHeight * DistortedImageChannel);
see_through_data_.pose_left = Marshal.AllocCoTaskMem(sizeof(float) * 16);
see_through_data_.pose_right = Marshal.AllocCoTaskMem(sizeof(float) * 16);
see_through_data_.Camera_params = Marshal.AllocCoTaskMem(sizeof(char) * 1032);
see_through_data_.d3d11_texture2d_shared_handle_left = Marshal.AllocCoTaskMem(IntPtr.Size);
see_through_data_.d3d11_texture2d_shared_handle_right = Marshal.AllocCoTaskMem(IntPtr.Size);
see_through_4k_data_.distorted_4k_frame_left = IntPtr.Zero;
see_through_4k_data_.distorted_4k_frame_right = IntPtr.Zero;
see_through_4k_data_.undistorted_4k_frame_left = IntPtr.Zero;
see_through_4k_data_.undistorted_4k_frame_right = IntPtr.Zero;
see_through_4k_data_.output4k_pose_left = Marshal.AllocCoTaskMem(sizeof(float) * 16);
see_through_4k_data_.output4k_pose_right = Marshal.AllocCoTaskMem(sizeof(float) * 16);
see_through_4k_data_.Camera4k_params = Marshal.AllocCoTaskMem(sizeof(char) * 1032);
see_through_4k_data_.d3d11_texture2d_shared_handle_left = Marshal.AllocCoTaskMem(IntPtr.Size);
see_through_4k_data_.d3d11_texture2d_shared_handle_right = Marshal.AllocCoTaskMem(IntPtr.Size);
//RegisterDistortedCallback();
}
private static void GetParameters()
{
double[] cameraparams = new double[(int)CAMERA_Param.CAMERA_PARAMS_MAX];
if (SeeThrough.SRWork_SeeThrough.b4KImageReady)
{
SRWorkModule_API.Get4KCameraParams(cameraparams);
}
else
{
SRWorkModule_API.GetCameraParams(cameraparams);
}
DistortedCx_L = cameraparams[0];
DistortedCy_L = cameraparams[2];
DistortedCx_R = cameraparams[1];
DistortedCy_R = cameraparams[3];
FocalLength_L = cameraparams[4];
FocalLength_R = cameraparams[5];
if (SeeThrough.SRWork_SeeThrough.b4KImageReady)
{
SRWorkModule_API.GetSeeThroug4KParameterInt((int)SeeThrough4KParam.OUTPUT_DISTORTED_4K_WIDTH, ref DistortedImageWidth);
SRWorkModule_API.GetSeeThroug4KParameterInt((int)SeeThrough4KParam.OUTPUT_DISTORTED_4K_HEIGHT, ref DistortedImageHeight);
SRWorkModule_API.GetSeeThroug4KParameterInt((int)SeeThrough4KParam.OUTPUT_DISTORTED_4K_CHANNEL, ref DistortedImageChannel);
SRWorkModule_API.GetSeeThroug4KParameterInt((int)SeeThrough4KParam.OUTPUT_UNDISTORTED_4K_WIDTH, ref UndistortedImageWidth);
SRWorkModule_API.GetSeeThroug4KParameterInt((int)SeeThrough4KParam.OUTPUT_UNDISTORTED_4K_HEIGHT, ref UndistortedImageHeight);
SRWorkModule_API.GetSeeThroug4KParameterInt((int)SeeThrough4KParam.OUTPUT_UNDISTORTED_4K_CHANNEL, ref UndistortedImageChannel);
}
else
{
SRWorkModule_API.GetSeeThrougParameterInt((int)SeeThroughParam.OUTPUT_DISTORTED_WIDTH, ref DistortedImageWidth);
SRWorkModule_API.GetSeeThrougParameterInt((int)SeeThroughParam.OUTPUT_DISTORTED_HEIGHT, ref DistortedImageHeight);
SRWorkModule_API.GetSeeThrougParameterInt((int)SeeThroughParam.OUTPUT_DISTORTED_CHANNEL, ref DistortedImageChannel);
SRWorkModule_API.GetSeeThrougParameterInt((int)SeeThroughParam.OUTPUT_UNDISTORTED_WIDTH, ref UndistortedImageWidth);
SRWorkModule_API.GetSeeThrougParameterInt((int)SeeThroughParam.OUTPUT_UNDISTORTED_HEIGHT, ref UndistortedImageHeight);
SRWorkModule_API.GetSeeThrougParameterInt((int)SeeThroughParam.OUTPUT_UNDISTORTED_CHANNEL, ref UndistortedImageChannel);
}
if (ViveSR.Instance.EnableDepthModule)
{
SRWorkModule_API.GetDepthParameterInt((int)DepthParam.OUTPUT_WIDTH, ref DepthImageWidth);
SRWorkModule_API.GetDepthParameterInt((int)DepthParam.OUTPUT_HEIGHT, ref DepthImageHeight);
SRWorkModule_API.GetDepthParameterInt((int)DepthParam.OUTPUT_CHAANEL_1, ref DepthImageChannel);
SRWorkModule_API.GetDepthParameterDouble((int)DepthParam.BASELINE, ref Baseline);
}
int undistortionMapSize = 0;
SRWorkModule_API.GetSeeThrougParameterInt((int)SeeThroughParam.UNDISTORTION_MAP_SIZE, ref undistortionMapSize);
//Todo : Runtime support structure data passing to client.
//UndistortionMap_L = new float[undistortionMapSize / sizeof(float)];
//UndistortionMap_R = new float[undistortionMapSize / sizeof(float)];
//ViveSR_Framework.GetParameterFloatArray(ViveSR_Framework.MODULE_ID_SEETHROUGH, (int)SeeThroughParam.UNDISTORTION_MAP_L, ref UndistortionMap_L);
//ViveSR_Framework.GetParameterFloatArray(ViveSR_Framework.MODULE_ID_SEETHROUGH, (int)SeeThroughParam.UNDISTORTION_MAP_R, ref UndistortionMap_R);
UndistortedCx_L = cameraparams[18];
UndistortedCy_L = cameraparams[19];
UndistortedCx_R = cameraparams[20];
UndistortedCy_R = cameraparams[21];
//Get offset head to camera from hardware design.
if (SeeThrough.SRWork_SeeThrough.b4KImageReady)
{
SRWorkModule_API.GetSeeThroug4KParameterFloat((int)SeeThrough4KParam.OFFSET_HEAD_TO_4K_CAMERA_x0, ref OffsetHeadToCamera[0]);
SRWorkModule_API.GetSeeThroug4KParameterFloat((int)SeeThrough4KParam.OFFSET_HEAD_TO_4K_CAMERA_y0, ref OffsetHeadToCamera[1]);
SRWorkModule_API.GetSeeThroug4KParameterFloat((int)SeeThrough4KParam.OFFSET_HEAD_TO_4K_CAMERA_z0, ref OffsetHeadToCamera[2]);
SRWorkModule_API.GetSeeThroug4KParameterFloat((int)SeeThrough4KParam.OFFSET_HEAD_TO_4K_CAMERA_x1, ref OffsetHeadToCamera[3]);
SRWorkModule_API.GetSeeThroug4KParameterFloat((int)SeeThrough4KParam.OFFSET_HEAD_TO_4K_CAMERA_y1, ref OffsetHeadToCamera[4]);
SRWorkModule_API.GetSeeThroug4KParameterFloat((int)SeeThrough4KParam.OFFSET_HEAD_TO_4K_CAMERA_z1, ref OffsetHeadToCamera[5]);
}
else
{
SRWorkModule_API.GetSeeThrougParameterFloat((int)SeeThroughParam.OFFSET_HEAD_TO_CAMERA_x0, ref OffsetHeadToCamera[0]);
SRWorkModule_API.GetSeeThrougParameterFloat((int)SeeThroughParam.OFFSET_HEAD_TO_CAMERA_y0, ref OffsetHeadToCamera[1]);
SRWorkModule_API.GetSeeThrougParameterFloat((int)SeeThroughParam.OFFSET_HEAD_TO_CAMERA_z0, ref OffsetHeadToCamera[2]);
SRWorkModule_API.GetSeeThrougParameterFloat((int)SeeThroughParam.OFFSET_HEAD_TO_CAMERA_x1, ref OffsetHeadToCamera[3]);
SRWorkModule_API.GetSeeThrougParameterFloat((int)SeeThroughParam.OFFSET_HEAD_TO_CAMERA_y1, ref OffsetHeadToCamera[4]);
SRWorkModule_API.GetSeeThrougParameterFloat((int)SeeThroughParam.OFFSET_HEAD_TO_CAMERA_z1, ref OffsetHeadToCamera[5]);
}
}