/// <summary>
/// The following function sets the buffers related to the projector which plays the role of the
/// camera for rendering the scene.
/// called on SetBuffersAndRenderTextures()
/// </summary>
/// <param name="width"></param>
/// <param name="imageResolution"></param>
/// <param name="shaderControl"></param>
public void SetCameraParametersToComputeShader(DanbiComputeShader shaderControl)
{
shaderControl.NullFinally(() => Debug.LogError($"<color=red>ComputeShaderControl is null!</color>"));
var rayTracingShader = shaderControl.danbiShader;
// TODO: Logic error
this.CreateCameraBuffers(DanbiManager.instance.shaderControl);
rayTracingShader.SetBuffer(DanbiKernelHelper.CurrentKernelIndex, "_CameraInternalData", shaderControl.bufferDict.GetBuffer("_CameraInternalData"));
// rayTracingShader.SetInt("_LensUndistortMode", (int)m_lensUndistortMode);
// rayTracingShader.SetBool("_UseCalibratedCamera", m_useCalibratedProjector);
// 2. Set Camera Transform the compute shader variables.
rayTracingShader.SetMatrix("_CameraToWorldMat", Camera.main.cameraToWorldMatrix);
rayTracingShader.SetVector("_CameraViewDirectionInUnitySpace", Camera.main.transform.forward);
// 3. Set Projection Matrix the compute shader variables.
// Camera.main.projectionMatrix and its inverse varied from the calibrated camera setting.
if (!m_useCalibratedProjector)
{
rayTracingShader.SetMatrix("_Projection", Camera.main.projectionMatrix);
rayTracingShader.SetMatrix("_CameraInverseProjection", Camera.main.projectionMatrix.inverse);
}
else
{
rayTracingShader.SetMatrix("_Projection", m_calibratedProjectionMatrixGL);
rayTracingShader.SetMatrix("_CameraInverseProjection", m_calibratedProjectionMatrixGL.inverse);
}
#region test unused
// if (m_useCalibratedProjector)
// {
// // 1. Create Camera Transform
// // Camera.main.gameObject.transform.eulerAngles = new Vector3(90, 0, 0);
// // Camera.main.gameObject.transform.position = new Vector3(0, m_cameraHeight * 0.01f, 0); // m_cameraHeight -> cm
// // Debug.Log($"camera position={ Camera.main.gameObject.transform.position.y}");
// // Debug.Log($"localToWorldMatrix =\n{ Camera.main.gameObject.transform.localToWorldMatrix}, " +
// // $"\nQuaternion Mat4x4: { Camera.main.gameObject.transform.rotation} ");
// }
// else // m_useCalibratedProjector == true
// {
// if (m_lensUndistortMode == EDanbiLensUndistortMode.NotUsing)
// {
// // 1. Create Camera Transform
// // Camera.main.gameObject.transform.eulerAngles = new Vector3(90, 0, 0);
// // Camera.main.gameObject.transform.position = new Vector3(0, m_cameraHeight * 0.01f, 0); // m_cameraHeight -> cm
// // Debug.Log($"camera position={ Camera.main.gameObject.transform.position.y}");
// // Debug.Log($"localToWorldMatrix =\n{ Camera.main.gameObject.transform.localToWorldMatrix}, " +
// // $"\nQuaternion Mat4x4: { Camera.main.gameObject.transform.rotation} ");
// // 3. Set Projection Matrix the compute shader variables.
// rayTracingShader.SetMatrix("_Projection", Camera.main.projectionMatrix);
// rayTracingShader.SetMatrix("_CameraInverseProjection", Camera.main.projectionMatrix.inverse);
// }
// else
// {
// #region detach logic test
// // // 1. Create the Camera Transform
// // float4x4 ViewTransform_OpenCV = new float4x4(new float4(m_cameraExternalData.xAxis, 0),
// // new float4(m_cameraExternalData.yAxis, 0),
// // new float4(m_cameraExternalData.zAxis, 0),
// // new float4(m_cameraExternalData.projectorPosition * 0.001f, 1)
// // );
// // // Debug.Log($"ViewTransform =\n{ ViewTransform_OpenCV }");
// // float3x3 ViewTransform_Rot_OpenCV = new float3x3(
// // ViewTransform_OpenCV.c0.xyz, ViewTransform_OpenCV.c1.xyz, ViewTransform_OpenCV.c2.xyz);
// // float3 ViewTransform_Trans_OpenCV = ViewTransform_OpenCV.c3.xyz;
// // float3x3 CameraTransformation_Rot_OpenCV = math.transpose(ViewTransform_Rot_OpenCV);
// // // float4x4 CameraTransformation_OpenCV = new float4x4(CameraTransformation_Rot_OpenCV,
// // // -math.mul(CameraTransformation_Rot_OpenCV, ViewTransform_Trans_OpenCV));
// // float4x4 CameraTransformation_OpenCV = new float4x4(new float4(CameraTransformation_Rot_OpenCV.c0, 0.0f),
// // new float4(CameraTransformation_Rot_OpenCV.c1, 0.0f),
// // new float4(CameraTransformation_Rot_OpenCV.c2, 0.0f),
// // new float4(-math.mul(CameraTransformation_Rot_OpenCV, ViewTransform_Trans_OpenCV), 1.0f));
// // // Debug.Log($"CameraTransformation_OpenCV (obtained by transpose) =\n{ CameraTransformation_OpenCV }");
// // float4x4 CameraTransform_OpenCV = math.inverse(ViewTransform_OpenCV);
// // // Debug.Log($" CameraTransform_OpenCV (obtained by inverse)=\n{ CameraTransform_OpenCV }");
// // // https://stackoverflow.com/questions/1263072/changing-a-matrix-from-right-handed-to-left-handed-coordinate-system
// // // UnityToOpenMat is a change of basis matrix, a swap of axes, with a determinmant -1, which is
// // // improper rotation, and so a well-defined quaternion does not exist for it.
// // float4 externalData_column0 = new float4(DanbiCameraExternalData.UnityToOpenCVMat.c0, 0);
// // float4 externalData_column1 = new float4(DanbiCameraExternalData.UnityToOpenCVMat.c1, 0);
// // float4 externalData_column2 = new float4(DanbiCameraExternalData.UnityToOpenCVMat.c2, 0);
// // float4 externalData_column3 = new float4(0, 0, 0, 1);
// // float4x4 UnityToOpenCV = new float4x4(externalData_column0, externalData_column1, externalData_column2, externalData_column3);
// // float3x3 UnityToOpenCV_Rot = new float3x3(UnityToOpenCV.c0.xyz,
// // UnityToOpenCV.c1.xyz,
// // UnityToOpenCV.c2.xyz);
// // float3x3 OpenCVToUnity_Rot = math.transpose(UnityToOpenCV_Rot);
// // float3 UnityToOpenCV_Trans = UnityToOpenCV.c3.xyz;
// // float4x4 OpenCVToUnity = new float4x4(OpenCVToUnity_Rot, -math.mul(OpenCVToUnity_Rot, UnityToOpenCV_Trans));
// // // Debug.Log($" UnityToOpenCV inverse = \n {math.inverse(UnityToOpenCV)} ");
// // // Debug.Log($" UnityToOpenCV transpose = \n {OpenCVToUnity}");
// // float4x4 MatForObjectFrame = new float4x4(
// // new float4(1, 0, 0, 0),
// // new float4(0, 0, 1, 0),
// // new float4(0, -1, 0, 0),
// // new float4(0, 0, 0, 1));
// // float4x4 CameraTransform_Unity = math.mul(
// // math.mul(
// // math.mul(UnityToOpenCV,
// // CameraTransformation_OpenCV
// // ),
// // OpenCVToUnity),
// // MatForObjectFrame
// // );
// // Matrix4x4 m_cameraTransform_Unity_Mat4x4 = CameraTransform_Unity;
// // // Debug.Log($"Determinimant of m_cameraTransform_Unity_Mat4x4=\n{m_cameraTransform_Unity_Mat4x4.determinant}");
// // // 2. Set the Camera.main.transform.
// // // Debug.Log($"Quaternion = m_cameraTransform_Unity_Mat4x4.rotation= \n {m_cameraTransform_Unity_Mat4x4.rotation}");
// // // Debug.Log($"QuaternionFromMatrix(MatForUnityCameraFrameMat4x4)\n{DanbiComputeShaderHelper.QuaternionFromMatrix(m_cameraTransform_Unity_Mat4x4)}");
// // // Camera.main.gameObject.transform.position = new Vector3(0.0f, m_cameraExternalData.projectorPosition.z * 0.001f, 0.0f); // m_cameraHeight -> cm
// // Vector3 m_unityCamPos = DanbiComputeShaderHelper.GetPosition(m_cameraTransform_Unity_Mat4x4);
// // m_unityCamPos.x = 0.0f;
// // m_unityCamPos.z = 0.0f;
// // Camera.main.gameObject.transform.position = m_unityCamPos;
// // Camera.main.gameObject.transform.rotation = DanbiComputeShaderHelper.GetRotation(m_cameraTransform_Unity_Mat4x4);
// // // Debug.Log($"m_cameraTransform_Unity_Mat4x4= \n {m_cameraTransform_Unity_Mat4x4}");
// // // Debug.Log($"localToWorldMatrix =\n{ Camera.main.gameObject.transform.localToWorldMatrix}, " +
// // // $"\nQuaternion Mat4x4: { Camera.main.gameObject.transform.rotation}, " +
// // // $"\neulerAngles ={ Camera.main.gameObject.transform.eulerAngles}");
// // // Debug.Log($"m_cameraTransform_Unity_Mat4x4= \n {m_cameraTransform_Unity_Mat4x4}");
// // // Debug.Log($"localToWorldMatrix =\n{ Camera.main.gameObject.transform.localToWorldMatrix}, " +
// // // $"\nQuaternion Mat4x4: { Camera.main.gameObject.transform.rotation}, " +
// // // $"\neulerAngles ={ Camera.main.gameObject.transform.eulerAngles}");
// // // 3. Set the transforms related to the camera to the compute shader variables.
// // rayTracingShader.SetMatrix("_CameraToWorldMat", Camera.main.cameraToWorldMatrix);
// // Vector4 cameraDirection = new Vector4(Camera.main.transform.forward.x, Camera.main.transform.forward.y,
// // Camera.main.transform.forward.z, 0f);
// // rayTracingShader.SetVector("_CameraViewDirectionInUnitySpace", Camera.main.transform.forward);
// // // 4. Create the Projection Matrix
// // float width = DanbiManager.instance.screen.screenResolution.x; // width = 3840 = Projector Width
// // float height = DanbiManager.instance.screen.screenResolution.y; // height = 2160 = Projector Height
// // float left = 0;
// // float right = width;
// // float bottom = 0;
// // float top = height;
// // float near = Camera.main.nearClipPlane; // near: positive
// // float far = Camera.main.farClipPlane; // far: positive
// // float aspectRatio = width / height;
// // float scaleFactorX = m_cameraInternalData.focalLengthX;
// // float scaleFactorY = m_cameraInternalData.focalLengthY;
// // float cx = m_cameraInternalData.principalPointX;
// // float cy = m_cameraInternalData.principalPointY;
// // // http://ksimek.github.io/2013/06/03/calibrated_cameras_in_opengl/
// // //we can think of the perspective transformation as converting
// // // a trapezoidal-prism - shaped viewing volume
// // // into a rectangular - prism - shaped viewing volume,
// // // which glOrtho() scales and translates into the 2x2x2 cube in Normalized Device Coordinates.
// // Matrix4x4 NDCMatrix_OpenGL = DanbiComputeShaderHelper.GetOrthoMat(left, right, bottom, top, near, far);
// // // // refer to to //http://ksimek.github.io/2012/08/14/decompose/ to understand the following code
// // Matrix4x4 KMatrixFromOpenCVToOpenGL =
// // DanbiComputeShaderHelper.OpenCVKMatrixToOpenGLKMatrix(scaleFactorX, scaleFactorY, cx, cy, near, far);
// // // our discussion of 2D coordinate conventions have referred to the coordinates used during calibration.
// // // If your application uses a different 2D coordinate convention,
// // // you'll need to transform K using 2D translation and reflection.
// // // For example, consider a camera matrix that was calibrated with the origin in the top-left
// // // and the y - axis pointing downward, but you prefer a bottom-left origin with the y-axis pointing upward.
// // // To convert, you'll first negate the image y-coordinate and then translate upward by the image height, h.
// // // The resulting intrinsic matrix K' is given by:
// // // K' = [ 1 0 0; 0 1 h; 0 0 1] * [ 1 0 0; 0 -1 0; 0 0 1] * K
// // Vector4 column0 = new Vector4(1f, 0f, 0f, 0f);
// // Vector4 column1 = new Vector4(0f, -1f, 0f, 0f);
// // Vector4 column2 = new Vector4(0f, 0f, 1f, 0f);
// // Vector4 column3 = new Vector4(0f, height, 0f, 1f);
// // Matrix4x4 OpenCVCameraToOpenGLCamera = new Matrix4x4(column0, column1, column2, column3);
// // Matrix4x4 projectionMatrixGL1 = NDCMatrix_OpenGL * OpenCVCameraToOpenGLCamera * KMatrixFromOpenCVToOpenGL;
// // Debug.Log($"Reconstructed projection matrix, method 1:\n{projectionMatrixGL1}");
// // 5. Set the projection matrix to the compute shader variables.
// #endregion detach logic test
// // rayTracingShader.SetMatrix("_Projection", projectionMatrixGL1);
// rayTracingShader.SetMatrix("_Projection", Camera.main.projectionMatrix);
// rayTracingShader.SetMatrix("_CameraInverseProjection", Camera.main.projectionMatrix.inverse);
// #region dbg
// // float4x4 tmpCameraToWorld = Camera.main.cameraToWorldMatrix;
// // Debug.Log($"Camera World To Mat");
// // Debug.Log($"c0 : {tmpCameraToWorld.c0.x}, {tmpCameraToWorld.c0.y}, {tmpCameraToWorld.c0.z}, {tmpCameraToWorld.c0.w}");
// // Debug.Log($"c1 : {tmpCameraToWorld.c1.x}, {tmpCameraToWorld.c1.y}, {tmpCameraToWorld.c1.z}, {tmpCameraToWorld.c1.w}");
// // Debug.Log($"c2 : {tmpCameraToWorld.c2.x}, {tmpCameraToWorld.c2.y}, {tmpCameraToWorld.c2.z}, {tmpCameraToWorld.c2.w}");
// // Debug.Log($"c3 : {tmpCameraToWorld.c3.x}, {tmpCameraToWorld.c3.y}, {tmpCameraToWorld.c3.z}, {tmpCameraToWorld.c3.w}");
// // float4x4 tmpCameraInverseProjection = projectionMatrixGL1.inverse;
// // Debug.Log($"Camera Inverse Projection");
// // Debug.Log($"c0 : {tmpCameraInverseProjection.c0.x}, {tmpCameraInverseProjection.c0.y}, {tmpCameraInverseProjection.c0.z}, {tmpCameraInverseProjection.c0.w}");
// // Debug.Log($"c1 : {tmpCameraInverseProjection.c1.x}, {tmpCameraInverseProjection.c1.y}, {tmpCameraInverseProjection.c1.z}, {tmpCameraInverseProjection.c1.w}");
// // Debug.Log($"c2 : {tmpCameraInverseProjection.c2.x}, {tmpCameraInverseProjection.c2.y}, {tmpCameraInverseProjection.c2.z}, {tmpCameraInverseProjection.c2.w}");
// // Debug.Log($"c3 : {tmpCameraInverseProjection.c3.x}, {tmpCameraInverseProjection.c3.y}, {tmpCameraInverseProjection.c3.z}, {tmpCameraInverseProjection.c3.w}");
// #endregion dbg
// }
#endregion test unused
} // SetCameraParameters()
public void CreateCameraBuffers(DanbiComputeShader shaderControl)
{
shaderControl.bufferDict.AddBuffer_NoDuplicate("_CameraInternalData", DanbiComputeShaderHelper.CreateComputeBuffer_Ret(m_cameraInternalData.asStruct, m_cameraInternalData.stride));
}
