internal void LoadCalibrationData()
{
cam = this.GetComponent <Camera>();
projConfig = null;
if (hasCalibration)
{
ProjectorCameraEnsemble ensembleConfig = calibrationData.GetEnsemble();
foreach (ProjectorCameraEnsemble.Projector pc in ensembleConfig.projectors)
{
if (pc.name == nameInConfiguration)
{
projConfig = pc;
}
}
}
else
{
projConfig = null;
}
if (projConfig != null)
{
if (displayIndex < 0)
{
displayIndex = projConfig.displayIndex;
}
//Debug.Log("Projective Rendering - Loading projector calibration information.");
imageWidth = projConfig.width;
imageHeight = projConfig.height;
//// used by shadow etc...
//// this is the vertical field of view - fy
cam.aspect = (float)imageWidth / imageHeight;
float fieldOfViewRad = 2.0f * (float)Math.Atan((((double)(imageHeight)) / 2.0) / projConfig.cameraMatrix[1, 1]);
float fieldOfViewDeg = fieldOfViewRad / 3.14159265359f * 180.0f;
cam.fieldOfView = fieldOfViewDeg;
Matrix4x4 opencvProjMat = GetProjectionMatrix(projConfig.cameraMatrix, cam.nearClipPlane, cam.farClipPlane);
cam.projectionMatrix = UnityUtilities.ConvertRHtoLH(opencvProjMat);
//var irCoef = projConfig.lensDistortion.AsFloatArray();
//! jolaur -- looks like this is not being used and is now 2 elements instead of four in the new xml format
//! lensDist = new Vector4(irCoef[0], irCoef[1], irCoef[2], irCoef[3]);
lensDist = new Vector4();
Matrix4x4 worldToLocal = RAT2Unity.Convert(projConfig.pose);
worldToLocal = UnityUtilities.ConvertRHtoLH(worldToLocal);
this.transform.localPosition = worldToLocal.ExtractTranslation();
this.transform.localRotation = worldToLocal.ExtractRotation();
}
else
{
Debug.Log("Projective Rendering - Using default camera calibration information.");
lensDist = new Vector4();
}
}
public void BuildSceneComponents()
{
if (calibrationData.IsValid())
{
ProjectorCameraEnsemble ensemble = calibrationData.GetEnsemble();
foreach (ProjectorCameraEnsemble.Camera cam in ensemble.cameras)
{
GameObject kinectGameObject = new GameObject("Kinect_" + cam.name);
kinectGameObject.transform.parent = transform;
RATKinectClient kinect = kinectGameObject.AddComponent <RATKinectClient>();
kinect.calibrationData = calibrationData;
kinect.nameInConfiguration = cam.name;
kinect.UpdateFromCalibrationData();
GameObject deptMeshGameObject = new GameObject("DepthMesh");
deptMeshGameObject.transform.parent = kinectGameObject.transform;
deptMeshGameObject.AddComponent <RATDepthMesh>();
RATDepthMesh dm = deptMeshGameObject.GetComponent <RATDepthMesh>();
dm.kinectClient = kinect;
Shader s = Shader.Find("RoomAlive/DepthMeshSurfaceShader");
dm.surfaceMaterial = new Material(s);
deptMeshGameObject.transform.localPosition = Vector3.zero;
deptMeshGameObject.transform.localRotation = Quaternion.identity;
//this is purely for visualization purposes
if (kinectModel != null)
{
GameObject model = Instantiate(kinectModel);
model.name = "Kinect3DModel";
model.transform.parent = kinectGameObject.transform;
model.transform.localPosition = Vector3.zero;
model.transform.localRotation = Quaternion.identity;
}
}
foreach (ProjectorCameraEnsemble.Projector proj in ensemble.projectors)
{
GameObject projectorGameObject = new GameObject("Projector_" + proj.name);
//Instantiate(projectorGameObject);
projectorGameObject.transform.parent = transform;
Camera cam = projectorGameObject.AddComponent <Camera>();
cam.clearFlags = CameraClearFlags.SolidColor;
cam.backgroundColor = Color.black;
cam.cullingMask = 0; //should likely be set to render only the real world
RATProjector projrend = projectorGameObject.AddComponent <RATProjector>();
projrend.calibrationData = calibrationData;
projrend.nameInConfiguration = proj.name;
projrend.LoadCalibrationData();
//uncomment this if you want to add the option of Dynamic Masking the projection output
//projectorGameObject.AddComponent<RATDynamicMask>();
//this is purely for visualization purposes
if (projectorModel != null)
{
GameObject model = Instantiate(projectorModel);
model.name = "Projector3DModel";
model.transform.parent = projectorGameObject.transform;
model.transform.localPosition = Vector3.zero;
model.transform.localRotation = Quaternion.identity;
}
}
//add projection manager and setup appropriate viewports
RATProjectionManager projManager = transform.gameObject.AddComponent <RATProjectionManager>();
projManager.FindProjectionsDepthMeshesAndUsers();
int n = ensemble.projectors.Count;
float dx = 1f / n;
projManager.screenViewports = new Rect[ensemble.projectors.Count];
for (int i = 0; i < n; i++)
{
projManager.screenViewports[i] = new Rect(i * dx, 0, dx, 1); // this is a default configuration and it needs to be edited manually if the displays are aranged differently
}
int cnt = 0;
foreach (RATProjector proj in projManager.projections)
{
proj.GetComponent <Camera>().rect = projManager.screenViewports[cnt++];
}
}
}