/// <summary>
/// Fill the projection matrix with the parameters of the ZED, needs to be called only once. This projection matrix is off center.
/// </summary>
/// <param name="zFar"></param>
/// <param name="zNear"></param>
public void FillProjectionMatrix(float zFar = 500, float zNear = 0.2f)
{
CalibrationParameters parameters = GetCameraInformation().calibParameters;
float fovx = parameters.leftCam.hFOV * Mathf.Deg2Rad;
float fovy = parameters.leftCam.vFOV * Mathf.Deg2Rad;
projection[0, 0] = 1.0f / Mathf.Tan(fovx * 0.5f);
projection[0, 1] = 0;
projection[0, 2] = 2 * ((ImageWidth - 1 * parameters.leftCam.cx) / ImageWidth) - 1.0f;
projection[0, 3] = 0;
projection[1, 0] = 0;
projection[1, 1] = 1.0f / Mathf.Tan(fovy * 0.5f);
projection[1, 2] = -(2 * ((ImageHeight - 1 * parameters.leftCam.cy) / ImageHeight) - 1.0f);
projection[1, 3] = 0;
projection[2, 0] = 0;
projection[2, 1] = 0;
projection[2, 2] = -(zFar + zNear) / (zFar - zNear);
projection[2, 3] = -(2.0f * zFar * zNear) / (zFar - zNear);
projection[3, 0] = 0;
projection[3, 1] = 0;
projection[3, 2] = -1;
projection[3, 3] = 0.0f;
}
void ZEDReady()
{
Vector2 scaleFromZED;
halfBaselineOffset.x = zedCamera.Baseline / 2.0f;
float perception_distance = 1.0f;
float zed2eye_distance = 0.1f;
hasVRDevice = UnityEngine.XR.XRDevice.isPresent;
if (hasVRDevice)
{
sl.CalibrationParameters parameters = zedCamera.CalibrationParametersRectified;
scaleFromZED = ComputeSizePlaneWithGamma(new sl.Resolution((uint)zedCamera.ImageWidth, (uint)zedCamera.ImageHeight),
perception_distance, zed2eye_distance, offset.z,
ComputeFocal(new sl.Resolution((uint)UnityEngine.XR.XRSettings.eyeTextureWidth, (uint)UnityEngine.XR.XRSettings.eyeTextureHeight)),//571.677612f,
parameters.leftCam.fx);
scale(quadLeft.gameObject, finalLeftEye, scaleFromZED);
scale(quadRight.gameObject, finalRightEye, scaleFromZED);
ready = false;
}
zedReady = true;
}
void OnGUI()
{
FirstInit();
defaultColor = GUI.color;
if (zedCamera != null && zedCamera.IsCameraReady)
{
GUI.color = Color.green;
}
else
{
GUI.color = Color.red;
}
GUILayout.BeginHorizontal(EditorStyles.helpBox);
GUILayout.FlexibleSpace();
if (zedCamera != null && zedCamera.IsCameraReady)
{
style.normal.textColor = Color.black;
GUILayout.Label("Online", style);
}
else
{
style.normal.textColor = Color.black;
if (!launched)
{
GUILayout.Label("To access information, please launch your scene once", style);
}
else
{
GUILayout.Label("Offline", style);
}
}
GUILayout.FlexibleSpace();
GUILayout.EndHorizontal();
GUI.color = defaultColor;
EditorGUI.BeginChangeCheck();
tab = GUILayout.Toolbar(tab, new string[] { "Camera Control", "Calibration" });
if (EditorGUI.EndChangeCheck())
{
if (zedCamera != null && zedCamera.IsCameraReady)
{
parameters = zedCamera.GetCalibrationParameters(false);
}
}
switch (tab)
{
case 0:
CameraSettingsView();
break;
case 1:
CalibrationSettingsView();
break;
default:
CameraSettingsView();
break;
}
}
/// <summary>
/// Updates values from the camera and redraws the elements.
/// Called whenever the application play state changes.
/// </summary>
void Draw()
{
if (zedCamera != null && Application.isPlaying)
{
parameters = zedCamera.GetCalibrationParameters(false);
zed_serial_number = zedCamera.GetZEDSerialNumber();
zed_fw_version = zedCamera.GetZEDFirmwareVersion();
zed_model = zedCamera.GetCameraModel();
}
this.Repaint();
}
/// <summary>
/// Initializes all the starting values, and gets current values from the ZED.
/// </summary>
void FirstInit()
{
if (!isInit)
{
zedCamera = sl.ZEDCamera.GetInstance();
EditorApplication.playmodeStateChanged += Draw;
if (zedCamera != null && zedCamera.IsCameraReady)
{
isInit = true;
if (!loaded)
{
if (resetWanted)
{
ResetValues(groupAuto);
resetWanted = false;
}
zedCamera.RetrieveCameraSettings();
ZEDCameraSettingsManager.CameraSettings settings = zedCamera.GetCameraSettings();
groupAuto = zedCamera.GetExposureUpdateType();
whiteBalanceAuto = zedCamera.GetWhiteBalanceUpdateType();
hue = settings.Hue;
brightness = settings.Brightness;
contrast = settings.Contrast;
saturation = settings.Saturation;
exposure = settings.Exposure;
gain = settings.Gain;
zedCamera.SetCameraSettings(sl.CAMERA_SETTINGS.GAIN, gain, groupAuto);
zedCamera.SetCameraSettings(sl.CAMERA_SETTINGS.EXPOSURE, exposure, groupAuto);
zedCamera.SetCameraSettings(sl.CAMERA_SETTINGS.WHITEBALANCE, whiteBalance, whiteBalanceAuto);
}
else
{
LoadCameraSettings();
}
parameters = zedCamera.GetCalibrationParameters(false);
zed_serial_number = zedCamera.GetZEDSerialNumber();
zed_fw_version = zedCamera.GetZEDFirmwareVersion();
zed_model = zedCamera.GetCameraModel();
}
}
}
/// <summary>
/// Refreshes data. Called by Unity when this window gets focus, such as when
/// it's clicked on or alt-tabbed to.
/// </summary>
void OnFocus()
{
if (zedCamera != null && zedCamera.IsCameraReady)
{
parameters = zedCamera.GetCalibrationParameters(false);
zed_serial_number = zedCamera.GetZEDSerialNumber();
zed_fw_version = zedCamera.GetZEDFirmwareVersion();
zed_model = zedCamera.GetCameraModel();
if (!loaded)
{
zedCamera.RetrieveCameraSettings();
UpdateValuesCameraSettings();
}
}
}
void ZEDReady()
{
Vector2 scaleFromZED;
halfBaselineOffset.x = zedCamera.Baseline / 2.0f;
float perception_distance = 1.0f;
float zed2eye_distance = 0.1f;
hasVRDevice = VRDevice.isPresent;
if (hasVRDevice)
{
sl.CalibrationParameters parameters = zedCamera.CalibrationParametersRectified;
scaleFromZED = ComputeSizePlaneWithGamma(new sl.Resolution((uint)zedCamera.ImageWidth, (uint)zedCamera.ImageHeight),
perception_distance, zed2eye_distance, offset.z,
ComputeFocal(new sl.Resolution((uint)UnityEngine.VR.VRSettings.eyeTextureWidth, (uint)UnityEngine.VR.VRSettings.eyeTextureHeight)),//571.677612f,
parameters.leftCam.fx);
scale(quadLeft.gameObject, finalLeftEye, scaleFromZED);
scale(quadRight.gameObject, finalRightEye, scaleFromZED);
ready = false;
}
// Only for vive... some image adjustment
if (VRDevice.model.ToLower().Contains("vive"))
{
zedCamera.SetCameraSettings(sl.CAMERA_SETTINGS.CONTRAST, 3);
zedCamera.SetCameraSettings(sl.CAMERA_SETTINGS.SATURATION, 3);
}
//Set eye layers to respective eyes. They were each set to Both during the loading screen to avoid one eye going blank at some rotations.
finalLeftEye.stereoTargetEye = StereoTargetEyeMask.Left;
finalRightEye.stereoTargetEye = StereoTargetEyeMask.Right;
/// AR Passtrough is recommended in 1280x720 at 60, due to fov, fps, etc...;
/// Set Warning for user
if (zedCamera.ImageWidth != 1280 && zedCamera.ImageHeight != 720)
{
Debug.LogWarning("[ZED AR Passthrough] This resolution is not compatible with proper AR passthrough experience");
}
zedReady = true;
}
/// <summary>
/// Called once the ZED is finished initializing. Subscribed to ZEDManager.OnZEDReady in OnEnable.
/// Uses the newly-available ZED parameters to scale the final planes (quadLeft and quadRight) to appear
/// properly in the currently-connected headset.
/// </summary>
void ZEDReady()
{
Vector2 scaleFromZED;
halfBaselineOffset.x = zedCamera.Baseline / 2.0f;
float perception_distance = 1.0f;
float zed2eye_distance = 0.1f; //Estimating 10cm between your eye and physical location of the ZED Mini.
hasVRDevice = VRDevice.isPresent;
if (hasVRDevice)
{
sl.CalibrationParameters parameters = zedCamera.CalibrationParametersRectified;
scaleFromZED = ComputeSizePlaneWithGamma(new sl.Resolution((uint)zedCamera.ImageWidth, (uint)zedCamera.ImageHeight),
perception_distance, zed2eye_distance, offset.z,
ComputeFocal(new sl.Resolution((uint)UnityEngine.VR.VRSettings.eyeTextureWidth, (uint)UnityEngine.VR.VRSettings.eyeTextureHeight)),
parameters.leftCam.fx);
scale(quadLeft.gameObject, scaleFromZED);
scale(quadRight.gameObject, scaleFromZED);
ready = false;
}
// If using Vive, change ZED's settings to compensate for different screen.
if (VRDevice.model.ToLower().Contains("vive"))
{
zedCamera.SetCameraSettings(sl.CAMERA_SETTINGS.CONTRAST, 3);
zedCamera.SetCameraSettings(sl.CAMERA_SETTINGS.SATURATION, 3);
}
//Set eye layers to respective eyes. They were each set to Both during the loading screen to avoid one eye going blank at some rotations.
finalLeftEye.stereoTargetEye = StereoTargetEyeMask.Left;
finalRightEye.stereoTargetEye = StereoTargetEyeMask.Right;
/// AR Passtrough is recommended in 1280x720 at 60, due to FoV, FPS, etc.
/// If not set to this resolution, warn the user.
if (zedCamera.ImageWidth != 1280 && zedCamera.ImageHeight != 720)
{
Debug.LogWarning("[ZED AR Passthrough] This resolution is not ideal for a proper AR passthrough experience. Recommended resolution is 1280x720.");
}
zedReady = true;
}
static void Init()
{
//Gets existing open window or, if none exists, makes a new one.
ZEDCameraSettingsEditor window = (ZEDCameraSettingsEditor)EditorWindow.GetWindow(typeof(ZEDCameraSettingsEditor), false, "ZED Camera");
window.position = new Rect(window.position.x, window.position.y, 400, 400);
style.normal.textColor = Color.red;
style.fontSize = 15;
style.margin.left = 5;
parameters = new sl.CalibrationParameters();
window.Show();
Debug.Log("Camera S/N : " + zed_serial_number);
Debug.Log("Camera Model : " + zed_model);
Debug.Log("Camera FW : " + zed_fw_version);
}
public void setCameraCalibration(sl.CalibrationParameters calib)
{
camera_calibration = calib;
has_background_ready = false;
}
