void SetRenderingCameraTransformation()
{
if (!m_useCalibratedProjector)
{
// Normal Camera -> Use Normal Transformation from UI Panel
Camera.main.gameObject.transform.eulerAngles = new Vector3(90, 0, 0);
if (m_projectorHeight != default)
{
Camera.main.gameObject.transform.position = new Vector3(0, m_projectorHeight * 0.01f, 0); // m_cameraHeight -> cm
}
}
else
{
// Calibrated Camera -> Use Calibrated Transformation / Projection by calculation.
if (m_cameraTransform_Unity_Mat4x4 != default)
{
Camera.main.gameObject.transform.rotation = DanbiComputeShaderHelper.GetRotation(m_cameraTransform_Unity_Mat4x4);
}
if (m_unityCamPos != default)
{
Camera.main.gameObject.transform.position = m_unityCamPos;
}
}
}
// TODO:
// bool CheckAllInternalValuesValid()
// {
// // return (DanbiManager.instance.screen.screenResolution.x != m_errorVal &&
// // DanbiManager.instance.screen.screenResolution.y != m_errorVal &&
// // m_cameraInternalData.focalLength.x != m_errorVal &&
// }
// bool CheckAllExternalValuesValid()
// {
// }
void PrepareInternalParametersToMatrix()
{
// 3. 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.focalLength.x;
float scaleFactorY = m_cameraInternalData.focalLength.y;
float cx = m_cameraInternalData.principalPoint.x;
float cy = m_cameraInternalData.principalPoint.y;
// 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);
m_calibratedProjectionMatrixGL = NDCMatrix_OpenGL * OpenCVCameraToOpenGLCamera * KMatrixFromOpenCVToOpenGL;
SetRenderingCameraTransformation();
}
public void RebuildMeshInfo()
{
var control = DanbiManager.instance.shaderControl;
switch (m_texType)
{
case EDanbiTextureType.Regular:
m_panoramaRegular.RebuildMeshInfoForComputeShader(ref m_panoramaShapeData);
break;
case EDanbiTextureType.Faces4:
m_panorama4faces.RebuildMeshInfoForComputeShader(ref m_panoramaShapeData);
break;
case EDanbiTextureType.Panorama:
m_panorama360.RebuildMeshInfoForComputeShader(ref m_panoramaShapeData);
break;
}
m_reflector.RebuildMeshInfoForComputeShader(ref m_reflectorShapeData);
// 5. reflector mesh shape data
switch (m_meshType)
{
// case EDanbiPrewarperSetting_MeshType.Custom_Cone:
// // control.buffersDic.Add("_", DanbiComputeShaderHelper.CreateComputeBuffer_Ret<DanbiConeData_struct>((reflectorShapeData as DanbiConeData).asStruct, 1));
// break;
// case EDanbiPrewarperSetting_MeshType.Custom_Cylinder:
// // control.buffersDic.Add("_", DanbiComputeShaderHelper.CreateComputeBuffer_Ret<DanbiCylinderData_struct>((reflectorShapeData as DanbiCylinderData).asStruct, 1));
// break;
case EDanbiPrewarperSetting_MeshType.Custom_Dome:
var domeData = m_reflectorShapeData as DanbiDomeData;
var domeDataComputeBuffer = DanbiComputeShaderHelper.CreateComputeBuffer_Ret(domeData.asStruct, domeData.stride);
control.bufferDict.AddBuffer_NoDuplicate("_DomeData", domeDataComputeBuffer);
break;
}
// 6. panorama mesh shape data
// since panorama shares same shape data, there's no need to make overlaps.
var panoramaData = m_panoramaShapeData as DanbiPanoramaData;
var panoramaDataComputeBuffer = DanbiComputeShaderHelper.CreateComputeBuffer_Ret(panoramaData.asStruct, panoramaData.stride);
control.bufferDict.AddBuffer_NoDuplicate("_PanoramaData", panoramaDataComputeBuffer);
}
public void RebuildMeshShape()
{
var control = DanbiManager.instance.shaderControl;
m_panoramaMeshData.Clear();
m_reflectorMeshData.Clear();
m_meshData.Clear();
// fill out with the meshData for mesh data and the shape data for Shader.
switch (m_texType)
{
case EDanbiTextureType.Regular:
m_panoramaRegular.RebuildMeshShapeForComputeShader(ref m_panoramaMeshData);
break;
case EDanbiTextureType.Faces4:
m_panorama4faces.RebuildMeshShapeForComputeShader(ref m_panoramaMeshData);
break;
case EDanbiTextureType.Panorama:
m_panorama360.RebuildMeshShapeForComputeShader(ref m_panoramaMeshData);
break;
}
m_reflector.RebuildMeshShapeForComputeShader(ref m_reflectorMeshData);
m_meshData.JoinData(m_panoramaMeshData, m_reflectorMeshData);
// 3. Find Kernel and set it as a current kernel.
DanbiKernelHelper.CurrentKernelIndex = DanbiKernelHelper.CalcCurrentKernelIndex(m_meshType, m_panoramaType);
// 4. Populate the compuate buffer dictionary.
var vtxComputeBuffer = DanbiComputeShaderHelper.CreateComputeBuffer_Ret(m_meshData.Vertices, 12);
control.bufferDict.AddBuffer_NoDuplicate("_Vertices", vtxComputeBuffer);
var idxComputeBuffer = DanbiComputeShaderHelper.CreateComputeBuffer_Ret(m_meshData.Indices, 4);
control.bufferDict.AddBuffer_NoDuplicate("_Indices", idxComputeBuffer);
var texcoordsComputeBuffer = DanbiComputeShaderHelper.CreateComputeBuffer_Ret(m_meshData.Texcoords, 8);
control.bufferDict.AddBuffer_NoDuplicate("_Texcoords", texcoordsComputeBuffer);
}
void Awake()
{
// query the hardward it supports the compute shader.
if (!SystemInfo.supportsComputeShaders)
{
Debug.LogError("This machine doesn't support Compute Shader!", this);
}
// Initialize the Screen Sampling shader.
m_addMaterial_ScreenSampling = new Material(Shader.Find("Hidden/AddShader"));
DanbiPanoramaScreenChanger.onCenterPosOfMeshUpdate_Panorama +=
(Vector3 newCenterOfPanoramaMesh) =>
{
m_centerOfPanoramaMesh = new Vector4(newCenterOfPanoramaMesh.x,
newCenterOfPanoramaMesh.y,
newCenterOfPanoramaMesh.z,
0.0f);
};
DanbiUIImageGeneratorTexturePanel.onTextureTypeChange +=
(EDanbiTextureType type) => m_isPanoramaTex = (int)type;
DanbiUIVideoGeneratorVideoPanel.onVideoTypeChange +=
(int isPanoramaTex) => m_isPanoramaTex = isPanoramaTex;
// Populate kernels index.
PopulateKernels();
m_maxNumOfBounce = 2;
m_samplingThreshold = 10;
#region dbg
// DanbiDbg.PrepareDbgBuffers();
// SetData is performed automatically when the buffer is created.
dbg_usedHeightBuf = DanbiComputeShaderHelper.CreateComputeBuffer_Ret(dbg_usedHeightArr, 4);
// dbg_centerOfPanoBuf = DanbiComputeShaderHelper.CreateComputeBuffer_Ret(dbg_centerOfPanoArr, 16);
// dbg_rayLengthBuf = DanbiComputeShaderHelper.CreateComputeBuffer_Ret(dbg_rayLengthArr, 12);
dbg_hitInfoBuf = DanbiComputeShaderHelper.CreateComputeBuffer_Ret(dbg_hitInfoArr, 16);
// dbg_cameraInternalDataBuf = DanbiComputeShaderHelper.CreateComputeBuffer_Ret(dbg_cameraInternalData, 40);
// dbg_cameraToWorldMatBuf = DanbiComputeShaderHelper.CreateComputeBuffer_Ret(dbg_cameraInverseProjectionArr, 64);
// dbg_cameraInverseProjectionBuf = DanbiComputeShaderHelper.CreateComputeBuffer_Ret(dbg_cameraInverseProjectionArr, 64);
#endregion dbg
}
void PrepareExternalParametersToMatrix()
{
// 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($" UnityToOpenCV transpose = \n {OpenCVToUnity}");
float4x4 MatForObjectFrame = new float4x4(
new float4(1, 0, 0, 0),
new float4(0, 0, 1, 0),
new float4(0, -1, 0, 0),
new float4(0, 0, 0, 1));
float4x4 CameraTransform_Unity = math.mul(
math.mul(
math.mul(UnityToOpenCV,
CameraTransformation_OpenCV
),
OpenCVToUnity),
MatForObjectFrame
);
m_cameraTransform_Unity_Mat4x4 = CameraTransform_Unity;
// Debug.Log($"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
m_unityCamPos = DanbiComputeShaderHelper.GetPosition(m_cameraTransform_Unity_Mat4x4);
m_unityCamPos.x = 0.0f;
m_unityCamPos.z = 0.0f;
SetRenderingCameraTransformation();
}
public void CreateCameraBuffers(DanbiComputeShader shaderControl)
{
shaderControl.bufferDict.AddBuffer_NoDuplicate("_CameraInternalData", DanbiComputeShaderHelper.CreateComputeBuffer_Ret(m_cameraInternalData.asStruct, m_cameraInternalData.stride));
}
