private void Start()
{
CalibrationDataHelper.Initialize();
dslrIntrinsics = CalibrationDataHelper.LoadCameraIntrinsics(cameraIntrinsicsPath);
if (dslrIntrinsics == null)
{
throw new Exception("Failed to load the camera intrinsics file.");
}
else
{
Debug.Log($"Successfully loaded the provided camera intrinsics file: {dslrIntrinsics}");
}
networkingService = NetworkingService as INetworkingService;
if (networkingService != null)
{
networkingService.DataReceived += OnDataReceived;
}
matchMakingService = MatchMakingService as IMatchMakingService;
if (matchMakingService != null)
{
matchMakingService.Connect();
}
if (headsetCalibration != null)
{
headsetCalibration.Updated += OnHeadsetCalibrationUpdated;
}
var arucoDatasetFileNames = CalibrationDataHelper.GetArUcoDatasetFileNames();
foreach (var fileName in arucoDatasetFileNames)
{
var dslrTexture = CalibrationDataHelper.LoadDSLRArUcoImage(fileName);
var headsetData = CalibrationDataHelper.LoadHeadsetData(fileName);
if (dslrTexture == null ||
headsetData == null)
{
Debug.LogWarning($"Failed to locate dataset: {fileName}");
}
else if (!ProcessArUcoData(headsetData, dslrTexture))
{
Debug.LogWarning($"Failed to process dataset: {fileName}");
}
else
{
CalibrationDataHelper.SaveDSLRArUcoDetectedImage(dslrTexture, fileName);
CreateVisual(headsetData, fileName);
}
}
}
private void Update()
{
if (feedImage != null &&
feedImage.texture == null)
{
feedImage.texture = CompositorWrapper.Instance.GetVideoCameraFeed();
}
if (Input.GetKeyDown(KeyCode.Space))
{
RequestHeadsetData();
}
if (headsetData != null)
{
lastDetectedMarkersCount = headsetData.markers.Count;
if (headsetData.markers.Count < MinimumNumberOfDetectedMarkers)
{
Debug.Log("Data set did not contain enough markers to use.");
}
else
{
var dslrTexture = CompositorWrapper.Instance.GetVideoCameraTexture();
var fileName = CalibrationDataHelper.GetUniqueFileName();
CalibrationDataHelper.SaveDSLRArUcoImage(dslrTexture, fileName);
CalibrationDataHelper.SaveHeadsetData(headsetData, fileName);
if (ProcessArUcoData(headsetData, dslrTexture))
{
processedDatasetCount++;
CalibrationDataHelper.SaveDSLRArUcoDetectedImage(dslrTexture, fileName);
CreateVisual(headsetData, fileName);
}
}
headsetData = null;
}
if (Input.GetKeyDown(KeyCode.Return))
{
CalculateExtrinsics();
}
}
private void Start()
{
holographicCameraObserver.RegisterCommandHandler(HeadsetCalibration.CalibrationDataReceivedCommandHeader, OnCalibrationDataReceived);
holographicCameraObserver.RegisterCommandHandler(HeadsetCalibration.UploadCalibrationResultCommandHeader, OnCalibrationResultReceived);
CalibrationAPI.Instance.Reset();
CalibrationDataHelper.Initialize();
dslrIntrinsics = CalibrationDataHelper.LoadCameraIntrinsics(cameraIntrinsicsPath);
if (dslrIntrinsics == null)
{
throw new Exception("Failed to load the camera intrinsics file.");
}
else
{
Debug.Log($"Successfully loaded the provided camera intrinsics file: {dslrIntrinsics}");
}
var arucoDatasetFileNames = CalibrationDataHelper.GetArUcoDatasetFileNames();
foreach (var fileName in arucoDatasetFileNames)
{
var dslrTexture = CalibrationDataHelper.LoadDSLRArUcoImage(fileName);
var headsetData = CalibrationDataHelper.LoadHeadsetData(fileName);
if (dslrTexture == null ||
headsetData == null)
{
Debug.LogWarning($"Failed to locate dataset: {fileName}");
}
else if (!ProcessArUcoData(headsetData, dslrTexture))
{
Debug.LogWarning($"Failed to process dataset: {fileName}");
}
else
{
processedDatasetCount++;
CalibrationDataHelper.SaveDSLRArUcoDetectedImage(dslrTexture, fileName);
CreateVisual(headsetData, fileName);
}
}
}
private void Update()
{
if (feedImage != null &&
feedImage.texture == null)
{
feedImage.texture = CompositorWrapper.Instance.GetVideoCameraFeed();
}
if (Input.GetKeyDown(KeyCode.Space))
{
if (networkingService != null &&
matchMakingService != null)
{
var request = new HeadsetCalibrationDataRequest();
request.timestamp = Time.time;
var payload = request.Serialize();
if (networkingService.SendData(payload, NetworkPriority.Critical))
{
Debug.Log($"Sent headset calibration data request to HoloLens at {request.timestamp}");
}
else
{
Debug.LogWarning("Failed to send headset calibration data request to HoloLens");
}
}
if (headsetCalibration != null)
{
Debug.Log("Requesting headset calibration data from VR Headset");
headsetCalibration.UpdateHeadsetCalibrationData();
}
}
if (headsetData != null)
{
if (headsetData.markers.Count != expectedNumberOfMarkers)
{
Debug.Log("Headset has not yet detected all of the markers on the calibration board, dropping payload from headset.");
}
else
{
var dslrTexture = CompositorWrapper.Instance.GetVideoCameraTexture();
var fileName = CalibrationDataHelper.GetUniqueFileName();
CalibrationDataHelper.SaveDSLRArUcoImage(dslrTexture, fileName);
CalibrationDataHelper.SaveHeadsetData(headsetData, fileName);
if (ProcessArUcoData(headsetData, dslrTexture))
{
CalibrationDataHelper.SaveDSLRArUcoDetectedImage(dslrTexture, fileName);
CreateVisual(headsetData, fileName);
}
}
headsetData = null;
}
if (Input.GetKeyDown(KeyCode.Return))
{
Debug.Log("Starting Individual Camera Extrinsics calculations.");
cameraExtrinsics = CalibrationAPI.Instance.CalculateIndividualArUcoExtrinsics(dslrIntrinsics, parentVisuals.Count);
if (cameraExtrinsics != null)
{
foreach (var extrinsic in cameraExtrinsics)
{
Debug.Log($"Calculated extrinsics: {extrinsic}");
}
CreateExtrinsicsVisual(cameraExtrinsics);
}
Debug.Log("Starting the Global Camera Extrinsics calculation.");
globalExtrinsics = CalibrationAPI.Instance.CalculateGlobalArUcoExtrinsics(dslrIntrinsics);
if (globalExtrinsics != null)
{
var fileName = CalibrationDataHelper.SaveCameraExtrinsics(globalExtrinsics);
Debug.Log($"Saved global extrinsics: {fileName}");
Debug.Log($"Found global extrinsics: {globalExtrinsics}");
var position = globalExtrinsics.ViewFromWorld.GetColumn(3);
var rotation = Quaternion.LookRotation(globalExtrinsics.ViewFromWorld.GetColumn(2), globalExtrinsics.ViewFromWorld.GetColumn(1));
GameObject camera = null;
cameraVisualHelper.CreateOrUpdateVisual(ref camera, position, rotation);
camera.name = "Global Extrinsics";
GameObject hololens = null;
cameraVisualHelper.CreateOrUpdateVisual(ref hololens, Vector3.zero, Quaternion.identity);
hololens.name = "Global HoloLens";
}
}
}