public void init()
{
IntrinsicsParameters parameters = load();
if (applyIntrinsics(parameters))
{
this.state = ServiceStatus.WORKING;
}
else
{
this.state = ServiceStatus.CONNECTED;
}
}
public bool applyIntrinsics(IntrinsicsParameters intrinsics)
{
if (intrinsics == null)
{
return(false);
}
float near = targetCamera.nearClipPlane;
float far = targetCamera.farClipPlane;
Matrix4x4 projectionMatrix = new Matrix4x4();
Vector4 row0 = new Vector4((2f * intrinsics.fx / intrinsics.width), 0f, -((float)intrinsics.cx / (float)intrinsics.width * 2f - 1f), 0f);
Vector4 row1 = new Vector4(0f, 2f * intrinsics.fy / intrinsics.height, -((float)intrinsics.cy / (float)intrinsics.height * 2f - 1f), 0f);
Vector4 row2 = new Vector4(0, 0, -(far + near) / (far - near), -near * (1 + (far + near) / (far - near)));
Vector4 row3 = new Vector4(0, 0, -1, 0);
projectionMatrix.SetRow(0, row0);
projectionMatrix.SetRow(1, row1);
projectionMatrix.SetRow(2, row2);
projectionMatrix.SetRow(3, row3);
targetCamera.projectionMatrix = projectionMatrix;
return(true);
}
