protected override void Process(SIGProcessingContext context)
{
if (!Assert(IsConnected(nameof(camera)), "A camera is required"))
{
return;
}
if (!Assert(IsConnected(nameof(image)), "An image is required"))
{
return;
}
var cam = camera.GetComponent <Camera>();
if (!Assert(cam != null, "A camera is required"))
{
return;
}
var keypoints = scene.GetComponents <ISIGKeypoint>(true);
imageKeypoints = new List <ImageKeypoint>();
using (new CameraContext(cam, new CameraContext.CameraProps
{
aspect = image.Width / image.Height
}))
{
foreach (var keypoint in keypoints)
{
var point = cam.WorldToViewportPoint(keypoint.Position);
if (culling)
{
if (point.x < 0 || point.x > 1 || point.y < 0 || point.y > 1)
{
continue;
}
}
imageKeypoints.Add(new ImageKeypoint <Keypoint>(
Mathf.RoundToInt(point.x * image.Width),
Mathf.RoundToInt(image.Height - point.y * image.Height),
keypoint.Keypoint
));
}
}
}