public static void InitialDepthCollider(int depthImageWidth, int depthImageHeight)
{
InitialDepthColliderPtrSize = false;
RawDepthColliderVertices = new float[depthImageWidth * depthImageHeight * 3];
RawDepthColliderIndices = new int[depthImageWidth * depthImageHeight * 6];
// To use enum DepthDataMask, It needs to assign each type.
DataInfoDepthCollider = ViveSR_Framework.CreateDataInfo(new IntPtr[] {
IntPtr.Zero, //
IntPtr.Zero, //
IntPtr.Zero, //
Marshal.AllocCoTaskMem(sizeof(uint)), // TIME_STP
IntPtr.Zero, //
Marshal.AllocCoTaskMem(sizeof(uint)), // NUM_VERTICES
Marshal.AllocCoTaskMem(sizeof(uint)), // BYTEPERVERT
Marshal.AllocCoTaskMem(sizeof(float) * 640 * 480 * 3), // VERTICES
Marshal.AllocCoTaskMem(sizeof(uint)), // NUM_INDICES
Marshal.AllocCoTaskMem(sizeof(int) * 640 * 480 * 6),
}); // INDICES
}
public static void AllocOutputDataMemory()
{
InitialPointCloudPtrSize = false;
OutVertex = new float[8 * 2500000];
OutIndex = new int[2500000];
TrackedPose = new float[16];
//ExternalPose = new float[16];
SectorIDList = new int[1000000];
SectorVertNum = new int[1000000];
SectorMeshIdNum = new int[1000000];
Debug.Log("[ViveSR] [RigidReconstruction] AllocOutputMemory Done");
ExportAdaptiveMesh = true;
LiveAdaptiveMaxGridSize = ExportAdaptiveMaxGridSize = 64;
LiveAdaptiveMinGridSize = ExportAdaptiveMinGridSize = 4;
LiveAdaptiveErrorThres = ExportAdaptiveErrorThres = 0.4f;
// To use enum ReconstructionDataMask, It needs to assign each type.
DataInfoPointCloud = ViveSR_Framework.CreateDataInfo(new IntPtr[] {
Marshal.AllocCoTaskMem(sizeof(uint)), // FRAME_SEQ
Marshal.AllocCoTaskMem(sizeof(float) * 16), // POSEMTX44
Marshal.AllocCoTaskMem(sizeof(int)), // NUM_VERTICES
Marshal.AllocCoTaskMem(sizeof(int)), // BYTEPERVERT
Marshal.AllocCoTaskMem(sizeof(float) * 8 * 2500000), // VERTICES
Marshal.AllocCoTaskMem(sizeof(int)), // NUM_INDICES
Marshal.AllocCoTaskMem(sizeof(int) * 2500000), // INDICES
IntPtr.Zero, // CLDTYPE
IntPtr.Zero, // COLLIDERNUM
IntPtr.Zero, // CLD_NUM_VERTS
IntPtr.Zero, // CLD_NUMIDX
IntPtr.Zero, // CLD_VERTICES
IntPtr.Zero, // CLD_INDICES
Marshal.AllocCoTaskMem(sizeof(int)), // SECTOR_NUM
Marshal.AllocCoTaskMem(sizeof(int) * 1000000), // SECTOR_ID_LIST
Marshal.AllocCoTaskMem(sizeof(int) * 1000000), // SECTOR_VERT_NUM
Marshal.AllocCoTaskMem(sizeof(int) * 1000000)
}); // SECTOR_IDX_NUM
}
/// <summary>
/// Initialize the image capturing tool.
/// </summary>
/// <returns></returns>
public static int Initial()
{
GetParameters();
InitialDistortedPtrSize = false;
InitialUndistortedPtrSize = false;
InitialDepthPtrSize = false;
TextureDistortedLeft = new Texture2D(DistortedImageWidth, DistortedImageHeight, TextureFormat.RGBA32, false);
TextureDistortedRight = new Texture2D(DistortedImageWidth, DistortedImageHeight, TextureFormat.RGBA32, false);
TextureUndistortedLeft = new Texture2D(UndistortedImageWidth, UndistortedImageHeight, TextureFormat.RGBA32, false);
TextureUndistortedRight = new Texture2D(UndistortedImageWidth, UndistortedImageHeight, TextureFormat.RGBA32, false);
TextureDepth = new Texture2D(DepthImageWidth, DepthImageHeight, TextureFormat.RFloat, false);
#if USE_DISTORT_TEX_NATIVE_BUFFER
DistortTextureIsNative = true;
var deviceTexture = new Texture2D(2, 2);
ViveSR_Framework.SetParameterNativePtr(ViveSR_Framework.MODULE_ID_SEETHROUGH, (int)SeeThroughParam.VIDEO_RES_NATIVE_PTR, deviceTexture.GetNativeTexturePtr());
ViveSR_Framework.SetParameterNativePtr(ViveSR_Framework.MODULE_ID_SEETHROUGH, (int)SeeThroughParam.VIDEO_RES_VIEW_NATIVE_PTR, nativeTex);
#endif
#if USE_UNDISTORT_TEX_NATIVE_BUFFER
UndistortTextureIsNative = true;
TextureUndistortedLeft.Apply();
TextureUndistortedRight.Apply();
ViveSR_Framework.SetParameterNativePtr(ViveSR_Framework.MODULE_ID_SEETHROUGH, (int)SeeThroughParam.IMAGE_NATIVE_TEXTURE_PTR_L, TextureUndistortedLeft.GetNativeTexturePtr());
ViveSR_Framework.SetParameterNativePtr(ViveSR_Framework.MODULE_ID_SEETHROUGH, (int)SeeThroughParam.IMAGE_NATIVE_TEXTURE_PTR_R, TextureUndistortedRight.GetNativeTexturePtr());
#endif
DataInfoDistorted = ViveSR_Framework.CreateDataInfo(new IntPtr[] {
#if USE_DISTORT_TEX_NATIVE_BUFFER
IntPtr.Zero, // DISTORTED_FRAME_LEFT
IntPtr.Zero, // DISTORTED_FRAME_RIGHT
IntPtr.Zero, // UNDISTORTED_FRAME_LEFT
IntPtr.Zero, // UNDISTORTED_FRAME_RIGHT
#else
Marshal.AllocCoTaskMem(DistortedImageWidth * DistortedImageHeight * DistortedImageChannel), // LEFT_FRAME
Marshal.AllocCoTaskMem(DistortedImageWidth * DistortedImageHeight * DistortedImageChannel), // RIGHT_FRAME
IntPtr.Zero, // UNDISTORTED_FRAME_LEFT
IntPtr.Zero, // UNDISTORTED_FRAME_RIGHT
#endif
Marshal.AllocCoTaskMem(sizeof(int)), // FRAME_SEQ
Marshal.AllocCoTaskMem(sizeof(int)), // TIME_STP
Marshal.AllocCoTaskMem(sizeof(float) * 16), // LEFT_POSE
Marshal.AllocCoTaskMem(sizeof(float) * 16),
}); // RIGHT_POSE
DataInfoUndistorted = ViveSR_Framework.CreateDataInfo(new IntPtr[] {
#if USE_UNDISTORT_TEX_NATIVE_BUFFER
IntPtr.Zero, // DISTORTED_FRAME_LEFT
IntPtr.Zero, // DISTORTED_FRAME_RIGHT
IntPtr.Zero, // UNDISTORTED_FRAME_LEFT
IntPtr.Zero, // UNDISTORTED_FRAME_RIGHT
#else
IntPtr.Zero, // DISTORTED_FRAME_LEFT
IntPtr.Zero, // DISTORTED_FRAME_RIGHT
Marshal.AllocCoTaskMem(UndistortedImageWidth * UndistortedImageHeight * UndistortedImageChannel), // UNDISTORTED_FRAME_LEFT
Marshal.AllocCoTaskMem(UndistortedImageWidth * UndistortedImageHeight * UndistortedImageChannel), // UNDISTORTED_FRAME_RIGHT
#endif
Marshal.AllocCoTaskMem(sizeof(int)), // FRAME_SEQ
Marshal.AllocCoTaskMem(sizeof(int)), // TIME_STP
Marshal.AllocCoTaskMem(sizeof(float) * 16), // LEFT_POSE
Marshal.AllocCoTaskMem(sizeof(float) * 16),
}); // RIGHT_POSE
// To use enum DepthDataMask, It needs to assign each type.
DataInfoDepth = ViveSR_Framework.CreateDataInfo(new IntPtr[] {
IntPtr.Zero, // LEFT_FRAME
Marshal.AllocCoTaskMem(DepthImageWidth * DepthImageHeight * DepthImageChannel * DepthDataSize), // DEPTH_MAP
Marshal.AllocCoTaskMem(sizeof(int)), // FRAME_SEQ
Marshal.AllocCoTaskMem(sizeof(int)), // TIME_STP
Marshal.AllocCoTaskMem(sizeof(float) * 16)
}); // POSE
return((int)Error.WORK);
}
