private void InitCamera()
{
//Debug.Log ("ServiceManager: Initializing Camera");
int videoWidth, videoHeight;
bool okVP = DSHUnityPlugin.GetColorCamParams(out videoWidth, out videoHeight);
if (!okVP)
{
//Debug.LogWarning ("Failed to get Camera parameter, please make sure you have Color camera connected");
return;
}
else
{
//Debug.Log ("Color camera Params: " + videoWidth + "x" + videoHeight);
}
_videoColor32Array = null;
_videoColor32Array = new Color32[videoWidth * videoHeight];
_videoTexture = null;
_videoTexture = new Texture2D(videoWidth, videoHeight, TextureFormat.RGB24, false);
_videoTexture.hideFlags = HideFlags.HideAndDontSave;
_videoTexture.filterMode = FilterMode.Bilinear;
_videoTexture.wrapMode = TextureWrapMode.Clamp;
_videoTexture.anisoLevel = 0;
if (_useNativeGLTexture)
{
DAQRI.DSHUnityAbstraction.SetUnityColorRenderEventTextureID(_videoTexture.GetNativeTexturePtr());
}
_visionAspectRatio = (float)videoWidth / (float)videoHeight;
// This is temporary until we've decoupled the vision projection matrix from tracking
_visionProjectionMatrix = Matrix4x4.Perspective(_visionFieldOfView, _visionAspectRatio, _nearPlane, _farPlane);
}
/// <summary>
/// Creates a new monoscopic camera.
/// </summary>
/// <param name="preserveAspectRatio">Preserves the aspect ratio of the video
/// background and augmentations as the screen size changes.</param>
public MonoCamera(DisplayManager displayManager, bool preserveAspectRatio) : base(displayManager)
{
this.preserveAspectRatio = preserveAspectRatio;
this.opticalSeeThrough = false;
gameObject = new GameObject("Mono Camera");
// set camera pose
gameObject.transform.SetParent(displayManager.transform, false);
if (useImuPose)
{
gameObject.transform.localPosition = Vector3.zero;
gameObject.transform.localRotation = Quaternion.identity;
}
else
{
float[] posRaw = new float[3];
float[] rotRaw = new float[4];
DSHUnityPlugin.CameraGetPose(posRaw, rotRaw);
gameObject.transform.localPosition = ServiceManager.Vector3FromFloatArray(posRaw);
#if !UNITY_EDITOR
gameObject.transform.localRotation = ServiceManager.QuaternionFromFloatArray(rotRaw);
#endif
}
camera = gameObject.AddComponent <Camera> ();
InitCamera(camera);
ServiceManager.Instance.VisionParametersAvailable += Resize;
DisplayManager.Instance.ScreenSizeChanged += Resize;
}
private void StopPositionMonitor()
{
//Debug.Log ("ServiceManager: Stop VIO IMU");
DSHUnityPlugin.StopPositionMonitor();
_enablePose = false;
_hasPoseData = false;
}
private void StopIMU()
{
//Debug.Log ("ServiceManager: Stop IMU");
DSHUnityPlugin.StopIMU();
_enableIMU = false;
_hasIMUData = false;
}
private void InitThermal()
{
//Debug.Log ("ServiceManager: Initializing Thermal Camera");
int thermalWidth, thermalHeight;
bool okVP = DSHUnityPlugin.GetThermalCamParams(out thermalWidth, out thermalHeight);
if (!okVP || !_enableThermalUpdates)
{
//Debug.LogWarning ("Failed in InitThermal(), please make sure you have Thermal camera connected");
return;
}
else
{
//Debug.Log ("Thermal camera Params: " + thermalWidth + "x" + thermalHeight);
}
_thermalTexture = null;
_thermalColor32Array = new Color32[thermalWidth * thermalHeight];
_thermalTexture = null;
_thermalTexture = new Texture2D(thermalWidth, thermalHeight, TextureFormat.RGBA32, false);
_thermalTexture.hideFlags = HideFlags.None;
_thermalTexture.filterMode = FilterMode.Bilinear;
_thermalTexture.wrapMode = TextureWrapMode.Clamp;
_thermalTexture.anisoLevel = 0;
if (_useNativeGLTexture)
{
DAQRI.DSHUnityAbstraction.SetUnityThermalRenderEventTextureID(_thermalTexture.GetNativeTexturePtr());
}
_thermalAspectRatio = (float)thermalWidth / (float)thermalHeight;
}
private bool StartCamera()
{
//Debug.Log ("ServiceManager: Start Camera");
bool status = DSHUnityPlugin.StartCamera();
_enableVideoTextureUpdates = status;
InitCamera();
return(status);
}
private bool StartPositionMonitor()
{
//Debug.Log ("ServiceManager: Start VIO IMU");
bool status = DSHUnityPlugin.StartPositionMonitor();
if (status)
{
_enablePose = true;
}
return(status);
}
private bool StartIMU()
{
//Debug.Log ("ServiceManager: Start IMU");
bool status = DSHUnityPlugin.StartIMU();
if (status)
{
_enableIMU = true;
}
return(status);
}
void Awake()
{
// Initialize the camera early so the textures are ready to be accessed
// by other classes on Start
DSHUnityPlugin.Initialize();
//Get the default parameters for color camera
//InitCamera ();
//Get the default parameters for thermal camera
//InitThermal ();
_visionProjectionMatrix = Matrix4x4.Perspective(_visionFieldOfView, _visionAspectRatio, _nearPlane, _farPlane);
}
private void UpdatePose()
{
if (DSHUnityPlugin.GetVIOData(ref viodata))
{
_imuQuaternion = viodata.Quat;
_imuWorldPosition = viodata.WorldPosition;
_imuWorldVelocity = viodata.WorldVelocity;
_hasPoseData = true;
}
if (isVIODataInvalid())
{
UpdateIMU();
}
}
private void UpdateIMU()
{
DSHUnityPlugin.GetIMUQuaternion(quatTemp);
_imuQuaternion.x = quatTemp [0];
_imuQuaternion.y = quatTemp [1];
_imuQuaternion.z = quatTemp [2];
_imuQuaternion.w = quatTemp [3];
DSHUnityPlugin.GetIMUGyro(gyroTemp);
_imuGyro.x = gyroTemp[0];
_imuGyro.y = gyroTemp[1];
_imuGyro.z = gyroTemp[2];
_hasIMUData = true;
}
private void UpdateVideoTexture()
{
if (_useNativeGLTexture)
{
GL.IssuePluginEvent(DAQRI.DSHUnityAbstraction.GetRenderEventFunc(), (int)DSHUnityPlugin.UNITY_RENDER_EVENTID.UPDATE_TEXTURE_GL_COLOR);
}
else if (_videoColor32Array != null)
{
bool updatedTexture = DSHUnityPlugin.GetColorCamData(_videoColor32Array);
if (updatedTexture)
{
_videoTexture.SetPixels32(_videoColor32Array);
_videoTexture.Apply();
}
}
}
private void UpdateThermalTexture()
{
if (_useNativeGLTexture)
{
GL.IssuePluginEvent(DAQRI.DSHUnityAbstraction.GetRenderEventFunc(), (int)DSHUnityPlugin.UNITY_RENDER_EVENTID.UPDATE_TEXTURE_GL_THERMAL);
}
else if (_thermalColor32Array != null)
{
bool updatedTexture = DSHUnityPlugin.GetThermalData(_thermalColor32Array);
if (updatedTexture)
{
_thermalTexture.SetPixels32(_thermalColor32Array);
_thermalTexture.Apply();
}
}
}
private bool StartThermal()
{
//Debug.Log ("ServiceManager: Start Thermal");
bool status = DSHUnityPlugin.StartThermal();
_enableThermalUpdates = status;
if (!status || VIOEmulation)
{
int defaultThermalWidth = 160;
int defaultThermalHeight = 120;
_thermalTexture = new Texture2D(defaultThermalWidth, defaultThermalHeight, TextureFormat.RGBA32, false);
_thermalTexture = LoadPNG("Texture/ThermalDefault"); //Application.dataPath + "/DAQRI/System/Textures/ThermalDefault.png");
}
else
{
InitThermal();
}
return(status);
}
void Setup()
{
GetComponent <MeshRenderer>().material = (Material)Resources.Load("Materials/CameraBackdrop", typeof(Material));
GetComponent <MeshRenderer>().material.SetTexture("_MainTex", ServiceManager.Instance.GetThermalCameraTexture());
float[] posRaw = new float[3]; float[] rotRaw = new float[4];
DSHUnityPlugin.ThermalGetPose(posRaw, rotRaw);
float thermalAspect = ServiceManager.Instance.GetThermalAspectRatio();
float dist = ServiceManager.Instance.GetFarClipPlane() * 0.95f;
float halfFov = Mathf.Deg2Rad * (ServiceManager.Instance.GetThermalFieldOfView() / 2.0f);
float height = Mathf.Tan(halfFov) * dist * 2.0f;
float width = thermalAspect * height;
//var rot = ServiceManager.QuaternionFromFloatArray (rotRaw);
transform.localPosition = /*ServiceManager.Vector3FromFloatArray(posRaw) + rot * */ (new Vector3(0.0f, 0.0f, dist));
//transform.localRotation = rot;
transform.localScale = new Vector3(width, -height, 1.0f);
}
void Setup()
{
float[] posRaw = new float[3]; float[] rotRaw = new float[4];
DSHUnityPlugin.CameraGetPose(posRaw, rotRaw);
float visionAspect = ServiceManager.Instance.GetVisionAspectRatio();
float dist = ServiceManager.Instance.GetFarClipPlane() * 0.95f;
float halfFov = Mathf.Deg2Rad * (ServiceManager.Instance.GetVisionFieldOfView() / 2.0f);
float height = Mathf.Tan(halfFov) * dist * 2.0f;
float width = visionAspect * height;
//var rot = ServiceManager.QuaternionFromFloatArray (rotRaw);
transform.localPosition = /*ServiceManager.Vector3FromFloatArray(posRaw) + rot * */ (new Vector3(0.0f, 0.0f, dist));
#if !UNITY_EDITOR
//transform.localRotation = rot;
#endif
transform.localScale = new Vector3(width, -height, 1.0f);
}
private void StopCamera()
{
//Debug.Log ("ServiceManager: Stop Camera");
DSHUnityPlugin.StopCamera();
_enableVideoTextureUpdates = false;
}
/// <summary>
/// Creates a new stereoscopic camera.
/// </summary>
public StereoCamera(DisplayManager displayManager, bool preserveAspectRatio) : base(displayManager)
{
this.preserveAspectRatio = false;
this.opticalSeeThrough = true;
gameObject = new GameObject("Stereo Camera");
gameObject.transform.SetParent(displayManager.transform, false);
GameObject leftCameraObject = new GameObject("Left Camera");
leftCameraObject.transform.SetParent(gameObject.transform, false);
leftCamera = leftCameraObject.AddComponent <Camera> ();
InitCamera(leftCamera);
GameObject rightCameraObject = new GameObject("Right Camera");
rightCameraObject.transform.SetParent(gameObject.transform, false);
rightCamera = rightCameraObject.AddComponent <Camera> ();
InitCamera(rightCamera);
leftCamera.rect = new Rect(0.0f, 0.0f, 0.5f, 1.0f);
rightCamera.rect = new Rect(0.5f, 0.0f, 0.5f, 1.0f);
float[] leftProjMatrixRaw = new float[16];
float[] rightProjMatrixRaw = new float[16];
float[] leftPosRaw = new float[3];
float[] leftRotRaw = new float[4];
float[] rightPosRaw = new float[3];
float[] rightRotRaw = new float[4];
DSHUnityPlugin.GetDisplayProjectionMatrices(ServiceManager.Instance.GetNearClipPlane(), ServiceManager.Instance.GetFarClipPlane(), leftProjMatrixRaw, rightProjMatrixRaw);
DSHUnityPlugin.GetDisplayPoses(leftPosRaw, leftRotRaw, rightPosRaw, rightRotRaw);
Matrix4x4 leftProjMatrix = ServiceManager.MatrixFromFloatArray(leftProjMatrixRaw);
Matrix4x4 rightProjMatrix = ServiceManager.MatrixFromFloatArray(rightProjMatrixRaw);
Vector3 leftPos = ServiceManager.Vector3FromFloatArray(leftPosRaw);
Quaternion leftRot = ServiceManager.QuaternionFromFloatArray(leftRotRaw);
Vector3 rightPos = ServiceManager.Vector3FromFloatArray(rightPosRaw);
Quaternion rightRot = ServiceManager.QuaternionFromFloatArray(rightRotRaw);
leftCamera.transform.localPosition = leftPos;
leftCamera.transform.localRotation = leftRot;
leftCamera.transform.localRotation = leftCamera.transform.localRotation;
rightCamera.transform.localPosition = rightPos;
rightCamera.transform.localRotation = rightRot;
rightCamera.transform.localRotation = rightCamera.transform.localRotation;
/*var eul = rightCamera.transform.localRotation.eulerAngles;
*
* eul.x = 0;
* eul.y = -0.2f;
* eul.z = 1.6f;
* rightCamera.transform.localRotation = Quaternion.Euler (eul);
*/
/*eul = leftCamera.transform.localRotation.eulerAngles;
*
* eul.x = 0;
* eul.y = 0.2f;
* eul.z = -1.6f;
* leftCamera.transform.localRotation = Quaternion.Euler (eul);
*/
leftCamera.projectionMatrix = leftProjMatrix;
rightCamera.projectionMatrix = rightProjMatrix;
ServiceManager.Instance.VisionParametersAvailable += Resize;
DisplayManager.Instance.ScreenSizeChanged += Resize;
}
private void StopThermal()
{
//Debug.Log ("ServiceManager: Stop Thermal");
DSHUnityPlugin.StopThermal();
_enableThermalUpdates = false;
}
