void OnVideoCaptureCreated(VideoCapture videoCapture)
{
if (videoCapture == null)
{
Debug.LogError("Did not find a video capture object. You may not be using the HoloLens.");
return;
}
this._videoCapture = videoCapture;
//Request the spatial coordinate ptr if you want fetch the camera and set it if you need to
CameraStreamHelper.Instance.SetNativeISpatialCoordinateSystemPtr(_spatialCoordinateSystemPtr);
_resolution = CameraStreamHelper.Instance.GetLowestResolution();
float frameRate = CameraStreamHelper.Instance.GetHighestFrameRate(_resolution);
//videoCapture.FrameSampleAcquired += OnFrameSampleAcquired;
//You don't need to set all of these params.
//I'm just adding them to show you that they exist.
_cameraParams = new CameraParameters();
_cameraParams.cameraResolutionHeight = _resolution.height;
_cameraParams.cameraResolutionWidth = _resolution.width;
_cameraParams.frameRate = Mathf.RoundToInt(frameRate);
_cameraParams.pixelFormat = CapturePixelFormat.BGRA32;
_cameraParams.rotateImage180Degrees = true; //If your image is upside down, remove this line.
_cameraParams.enableHolograms = false;
_cameraParams.AutoExposureEnabled = false;
_cameraParams.ManualExposureAmount = 0.1f;
UnityEngine.WSA.Application.InvokeOnAppThread(() => { _videoPanelUI.SetResolution(_resolution.width, _resolution.height); }, false);
Debug.Log("Set up video capture. Ready to record.");
}
private void OnVideoCaptureCreated(HoloLensCameraStream.VideoCapture v)
{
if (v == null)
{
Debug.LogError("No VideoCapture found");
return;
}
_videoCapture = v;
//Request the spatial coordinate ptr if you want fetch the camera and set it if you need to
CameraStreamHelper.Instance.SetNativeISpatialCoordinateSystemPtr(_spatialCoordinateSystemPtr);
_resolution = CameraStreamHelper.Instance.GetLowestResolution();
float frameRate = CameraStreamHelper.Instance.GetHighestFrameRate(_resolution);
_videoCapture.FrameSampleAcquired += OnFrameSampleAcquired;
HoloLensCameraStream.CameraParameters cameraParams = new HoloLensCameraStream.CameraParameters();
cameraParams.cameraResolutionHeight = _resolution.height;
cameraParams.cameraResolutionWidth = _resolution.width;
cameraParams.frameRate = Mathf.RoundToInt(frameRate);
cameraParams.pixelFormat = HoloLensCameraStream.CapturePixelFormat.BGRA32;
UnityEngine.WSA.Application.InvokeOnAppThread(() => { _pictureTexture = new Texture2D(_resolution.width, _resolution.height, TextureFormat.BGRA32, false); }, false);
_videoCapture.StartVideoModeAsync(cameraParams, OnVideoModeStarted);
}
void OnVideoCaptureCreated(VideoCapture videoCapture)
{
if (videoCapture == null)
{
Debug.LogError("Did not find a video capture object. You may not be using the HoloLens.");
return;
}
this._videoCapture = videoCapture;
_resolution = CameraStreamHelper.Instance.GetLowestResolution();
float frameRate = CameraStreamHelper.Instance.GetHighestFrameRate(_resolution);
videoCapture.FrameSampleAcquired += OnFrameSampleAcquired;
//You don't need to set all of these params.
//I'm just adding them to show you that they exist.
CameraParameters cameraParams = new CameraParameters();
cameraParams.cameraResolutionHeight = _resolution.height;
cameraParams.cameraResolutionWidth = _resolution.width;
cameraParams.frameRate = Mathf.RoundToInt(frameRate);
cameraParams.pixelFormat = CapturePixelFormat.BGRA32;
cameraParams.rotateImage180Degrees = true; //If your image is upside down, remove this line.
cameraParams.enableHolograms = false;
UnityEngine.WSA.Application.InvokeOnAppThread(() => { _videoPanelUI.SetResolution(_resolution.width, _resolution.height); }, false);
videoCapture.StartVideoModeAsync(cameraParams, OnVideoModeStarted);
}
// Cannot be called on multiple threads!
private void OnVideoCaptureCreated(VideoCapture v)
{
if (v == null)
{
Debug.LogError("No VideoCapture found");
return;
}
videoCapture = v;
processingFrame = false;
//Request the spatial coordinate ptr if you want fetch the camera and set it if you need to
CameraStreamHelper.Instance.SetNativeISpatialCoordinateSystemPtr(spatialCoordinateSystemPtr);
_resolution = CameraStreamHelper.Instance.GetLowestResolution();
float frameRate = CameraStreamHelper.Instance.GetHighestFrameRate(_resolution);
videoCapture.FrameSampleAcquired += OnFrameSampleAcquired;
cameraParams = new CameraParameters();
cameraParams.cameraResolutionHeight = _resolution.height;
cameraParams.cameraResolutionWidth = _resolution.width;
cameraParams.frameRate = Mathf.RoundToInt(frameRate);
cameraParams.pixelFormat = CapturePixelFormat.BGRA32;
videoCapture.StartVideoModeAsync(cameraParams, OnVideoModeStarted);
}
private void OnVideoCaptureCreated(VideoCapture videoCapture)
{
if (videoCapture == null)
{
Debug.LogError("Did not find a video capture object. You may not be using the HoloLens.");
return;
}
_videoCapture = videoCapture;
//Request the spatial coordinate ptr if you want fetch the camera and set it if you need to
CameraStreamHelper.Instance.SetNativeISpatialCoordinateSystemPtr(_spatialCoordinateSystemPtr);
_resolution = CameraStreamHelper.Instance.GetLowestResolution();
float frameRate = CameraStreamHelper.Instance.GetHighestFrameRate(_resolution);
Debug.Log("Frame rate: " + frameRate);
videoCapture.FrameSampleAcquired += OnFrameSampleAcquired;
CameraParameters cameraParams = new CameraParameters();
cameraParams.cameraResolutionHeight = _resolution.height;
cameraParams.cameraResolutionWidth = _resolution.width;
cameraParams.frameRate = Mathf.RoundToInt(frameRate);
cameraParams.pixelFormat = CapturePixelFormat.BGRA32;
cameraParams.rotateImage180Degrees = false;
cameraParams.enableHolograms = false;
videoCapture.StartVideoModeAsync(cameraParams, OnVideoModeStarted);
}
public static HoloPicture RestoreHologram(string path)
{
var holo = HoloSaver.Instance.RestoreHologram(path);
var resolution = new HoloLensCameraStream.Resolution(holo.width, holo.height);
Vector3 position = new Vector3(holo.x, holo.y, holo.z);
Quaternion rotation = new Quaternion(holo.qx, holo.qy, holo.qz, holo.qw);
var picture = CreateHologram(holo.image, resolution, holo.cameraToWorldMatrix, holo.projectionMatrix);
picture.Predictions =
Enumerable.Range(0, holo.predictedRects.Count)
.Select(i => new YoloBoundingBox()
{
Label = holo.labels[i],
Confidence = holo.confidences[i],
X = holo.predictedRects[i].xMin,
Y = holo.predictedRects[i].yMin,
Width = holo.predictedRects[i].width,
Height = holo.predictedRects[i].height,
});
picture.HeadPos = new Vector3(holo.headX, holo.headY, holo.headZ);
return(picture);
}
void ApplyCapture(byte[] data, HoloLensCameraStream.Resolution size, float[] camera2WorldFloat, float[] projectionFloat, bool setPostion = false)
{
this.camera2WorldFloat = camera2WorldFloat;
this.projectionFloat = projectionFloat;
this.camera2WorldMatrix = LocatableCameraUtils.ConvertFloatArrayToMatrix4x4(camera2WorldFloat);
this.projectionMatrix = LocatableCameraUtils.ConvertFloatArrayToMatrix4x4(projectionFloat);
var pictureRenderer = gameObject.GetComponent <Renderer>();
pictureRenderer.material = new Material(Shader.Find("AR/HolographicImageBlend"));
var pictureTexture = new Texture2D(size.width, size.height, TextureFormat.BGRA32, false);
// Upload bytes to texture
pictureTexture.LoadRawTextureData(data);
pictureTexture.wrapMode = TextureWrapMode.Clamp;
pictureTexture.Apply();
// Set material parameters
pictureRenderer.sharedMaterial.SetTexture("_MainTex", pictureTexture);
pictureRenderer.sharedMaterial.SetMatrix("_WorldToCameraMatrix", camera2WorldMatrix.inverse);
pictureRenderer.sharedMaterial.SetMatrix("_CameraProjectionMatrix", projectionMatrix);
pictureRenderer.sharedMaterial.SetFloat("_VignetteScale", 0f);
this.Resolution = new HoloLensCameraStream.Resolution(pictureTexture.width, pictureTexture.height);
this.HeadPos = Camera.main.transform.position;
// time to enable tap-to-place
pictureRenderer.enabled = true;
}
void OnVideoCaptureCreated(VideoCapture videoCapture)
{
if (videoCapture == null)
{
Debug.LogError("Did not find a video capture object. You may not be using the HoloLens.");
return;
}
this._videoCapture = videoCapture;
//Request the spatial coordinate ptr if you want fetch the camera and set it if you need to
CameraStreamHelper.Instance.SetNativeISpatialCoordinateSystemPtr(_spatialCoordinateSystemPtr);
_resolution = CameraStreamHelper.Instance.GetLowestResolution();
float frameRate = CameraStreamHelper.Instance.GetHighestFrameRate(_resolution);
videoCapture.FrameSampleAcquired += OnFrameSampleAcquired;
//You don't need to set all of these params.
//I'm just adding them to show you that they exist.
CameraParameters cameraParams = new CameraParameters();
cameraParams.cameraResolutionHeight = _resolution.height;
cameraParams.cameraResolutionWidth = _resolution.width;
cameraParams.frameRate = Mathf.RoundToInt(frameRate);
cameraParams.pixelFormat = CapturePixelFormat.BGRA32;
cameraParams.rotateImage180Degrees = true; //If your image is upside down, remove this line.
cameraParams.enableHolograms = false;
Debug.Log("Configuring camera: " + _resolution.width + "x" + _resolution.height + " | " + cameraParams.pixelFormat);
Enqueue(() => _videoPanelUI.SetResolution(_resolution.width, _resolution.height));
videoCapture.StartVideoModeAsync(cameraParams, OnVideoModeStarted);
}
void OnVideoCaptureCreated(VideoCapture videoCapture)
{
if (videoCapture == null)
{
Debug.LogError("Did not find a video capture object. You may not be using the HoloLens.");
return;
}
this._videoCapture = videoCapture;
_resolution = CameraStreamHelper.Instance.GetLowestResolution();
float frameRate = CameraStreamHelper.Instance.GetHighestFrameRate(_resolution);
videoCapture.FrameSampleAcquired += OnFrameSampleAcquired;
CameraParameters cameraParams = new CameraParameters();
cameraParams.cameraResolutionHeight = _resolution.height;
cameraParams.cameraResolutionWidth = _resolution.width;
cameraParams.frameRate = Mathf.RoundToInt(frameRate);
cameraParams.pixelFormat = CapturePixelFormat.BGRA32;
UnityEngine.WSA.Application.InvokeOnAppThread(() => { _videoPanelUI.SetResolution(_resolution.width, _resolution.height); }, false);
videoCapture.StartVideoModeAsync(cameraParams, OnVideoModeStarted);
}
void OnVideoCaptureCreated(VideoCapture videoCapture)
{
if (videoCapture == null)
{
Debug.LogError("Did not find a video capture object. You may not be using the HoloLens.");
return;
}
this.videoCapture = videoCapture;
//Request the spatial coordinate ptr if you want fetch the camera and set it if you need to
CameraStreamHelper.Instance.SetNativeISpatialCoordinateSystemPtr(spatialCoordinateSystemPtr);
resolution = CameraStreamHelper.Instance.GetLowestResolution();
float frameRate = CameraStreamHelper.Instance.GetLowestFrameRate(resolution);
videoCapture.FrameSampleAcquired += OnFrameSampleAcquired;
//You don't need to set all of these params.
//I'm just adding them to show you that they exist.
CameraParameters cameraParams = new CameraParameters();
cameraParams.cameraResolutionHeight = resolution.height;
cameraParams.cameraResolutionWidth = resolution.width;
cameraParams.frameRate = Mathf.RoundToInt(frameRate);
cameraParams.pixelFormat = CapturePixelFormat.BGRA32;
cameraParams.enableHolograms = false;
// UnityEngine.WSA.Application.InvokeOnAppThread(() => { videoPanelUI.SetResolution(resolution.width, resolution.height); }, false);
videoCapture.StartVideoModeAsync(cameraParams, OnVideoModeStarted);
}
public float GetLowestFrameRate(HoloLensCameraStream.Resolution forResolution)
{
if (videoCapture == null)
{
throw new Exception("Please call this method after a VideoCapture instance has been created.");
}
return(videoCapture.GetSupportedFrameRatesForResolution(forResolution).OrderBy(r => r).FirstOrDefault());
}
protected static HoloPicture CreateHologram(byte[] data, HoloLensCameraStream.Resolution size,
float[] camera2WorldFloat, float[] projectionFloat, Tuple <Vector3, Quaternion> positionRotation)
{
var pos = positionRotation.Item1;
var rotation = positionRotation.Item2;
var picObj = GameObject.FindGameObjectWithTag(VideoCaptureTag).GetComponent <HoloPicture>();
var picture = Instantiate(picObj, pos, rotation);
picture.ApplyCapture(data, size, camera2WorldFloat, projectionFloat);
return(picture);
}
/// <summary>
/// Converts pixel coordinates to screen-space coordinates that span from -1 to 1 on both axes.
/// This is the format that is required to determine the z-depth of a given pixel taken by the HoloLens camera.
/// </summary>
/// <param name="pixelCoords">The coordinate of the pixel that should be converted to screen-space.</param>
/// <param name="res">The resolution of the image that the pixel came from.</param>
/// <returns>A 2D vector with values between -1 and 1, representing the left-to-right scale within the image dimensions.</returns>
static Vector2 ConvertPixelCoordsToScaledCoords(Vector2 pixelCoords, HoloLensCameraStream.Resolution resolution)
{
float halfWidth = (float)resolution.width / 2f;
float halfHeight = (float)resolution.height / 2f;
//Translate registration to image center;
pixelCoords.x -= halfWidth;
pixelCoords.y -= halfHeight;
//Scale pixel coords to percentage coords (-1 to 1)
pixelCoords = new Vector2(pixelCoords.x / halfWidth, pixelCoords.y / halfHeight * -1f);
return(pixelCoords);
}
void OnVideoCaptureCreated(VideoCapture videoCapture)
{
if (videoCapture == null)
{
Debug.LogError("Did not find a video capture object. You may not be using the HoloLens.");
return;
}
this._videoCapture = videoCapture;
//Request the spatial coordinate ptr if you want fetch the camera and set it if you need to
CameraStreamHelper.Instance.SetNativeISpatialCoordinateSystemPtr(_spatialCoordinateSystemPtr);
_resolution = CameraStreamHelper.Instance.GetLowestResolution();
processedImageData = new byte[_resolution.height * _resolution.width * 4];
initChessPoseController();
setImageSize(_resolution.height, _resolution.width);
float frameRate = CameraStreamHelper.Instance.GetHighestFrameRate(_resolution);
//videoCapture.FrameSampleAcquired += OnFrameSampleAcquired;
//You don't need to set all of these params.
//I'm just adding them to show you that they exist.
_cameraParams = new CameraParameters();
_cameraParams.cameraResolutionHeight = _resolution.height;
_cameraParams.cameraResolutionWidth = _resolution.width;
_cameraParams.frameRate = Mathf.RoundToInt(frameRate);
_cameraParams.pixelFormat = CapturePixelFormat.BGRA32;
_cameraParams.rotateImage180Degrees = true; //If your image is upside down, remove this line.
_cameraParams.enableHolograms = false;
_cameraParams.AutoExposureEnabled = true;
//_cameraParams.AutoExposureEnabled = false;
//_cameraParams.ManualExposureAmount = 0.1f;
UnityEngine.WSA.Application.InvokeOnAppThread(() => { _videoPanelUI.SetResolution(_resolution.width, _resolution.height); }, false);
Debug.Log("Set up video capture. Ready to record.");
Debug.Log("DUMMY INIT: mocking input coming in from top-down cam");
// DUMMY:
// act as if we have received the mock message...
incomingMessageQueue.Enqueue(TEST_RECEIVED_MSG_FROM_TOPDOWN); // COMMENT THIS LINE OUT if you are not wanting to use mock incoming top-down camera app data
}
public float GetHighestFrameRate(HoloLensCameraStream.Resolution forResolution)
{
if (videoCapture == null)
{
throw new Exception("Please call this method after a VideoCapture instance has been created.");
}
var frameRates = videoCapture.GetSupportedFrameRatesForResolution(forResolution);
Debug.Log("support frames");
foreach (var rate in frameRates)
{
Debug.Log(rate);
}
return(videoCapture.GetSupportedFrameRatesForResolution(forResolution).OrderByDescending(r => r).FirstOrDefault());
}
protected virtual HoloLensCameraStream.CameraParameters CreateCameraParams(HoloLensCameraStream.VideoCapture videoCapture)
{
int min1 = videoCapture.GetSupportedResolutions().Min(r => Mathf.Abs((r.width * r.height) - (_requestedWidth * _requestedHeight)));
HoloLensCameraStream.Resolution resolution = videoCapture.GetSupportedResolutions().First(r => Mathf.Abs((r.width * r.height) - (_requestedWidth * _requestedHeight)) == min1);
float min2 = videoCapture.GetSupportedFrameRatesForResolution(resolution).Min(f => Mathf.Abs(f - _requestedFPS));
float frameRate = videoCapture.GetSupportedFrameRatesForResolution(resolution).First(f => Mathf.Abs(f - _requestedFPS) == min2);
HoloLensCameraStream.CameraParameters cameraParams = new HoloLensCameraStream.CameraParameters();
cameraParams.cameraResolutionHeight = resolution.height;
cameraParams.cameraResolutionWidth = resolution.width;
cameraParams.frameRate = Mathf.RoundToInt(frameRate);
cameraParams.pixelFormat = CapturePixelFormat.BGRA32;
cameraParams.enableHolograms = false;
return(cameraParams);
}
protected virtual HoloLensCameraStream.CameraParameters CreateCameraParams(HoloLensCameraStream.VideoCapture videoCapture)
{
int min1 = videoCapture.GetSupportedResolutions().Min(r => Mathf.Abs((r.width * r.height) - (_requestedWidth * _requestedHeight)));
HoloLensCameraStream.Resolution resolution = videoCapture.GetSupportedResolutions().First(r => Mathf.Abs((r.width * r.height) - (_requestedWidth * _requestedHeight)) == min1);
float min2 = videoCapture.GetSupportedFrameRatesForResolution(resolution).Min(f => Mathf.Abs(f - _requestedFPS));
float frameRate = videoCapture.GetSupportedFrameRatesForResolution(resolution).First(f => Mathf.Abs(f - _requestedFPS) == min2);
HoloLensCameraStream.CameraParameters cameraParams = new HoloLensCameraStream.CameraParameters();
cameraParams.cameraResolutionHeight = resolution.height;
cameraParams.cameraResolutionWidth = resolution.width;
cameraParams.frameRate = Mathf.RoundToInt(frameRate);
cameraParams.pixelFormat = (outputColorFormat == ColorFormat.GRAY) ? CapturePixelFormat.NV12 : CapturePixelFormat.BGRA32;
cameraParams.rotateImage180Degrees = false;
cameraParams.enableHolograms = false;
cameraParams.enableVideoStabilization = false;
cameraParams.recordingIndicatorVisible = false;
return(cameraParams);
}
public static Vector3 PixelCoordToWorldCoord(Matrix4x4 viewTransform, Matrix4x4 projectionTransform, HoloLensCameraStream.Resolution resolution, Vector2 pixelCoordinates, float depthOffset = 0, Vector3?referenceDepthPoint = null)
{
//TODO: This whole function is in progress and needs to be understood and fixed. It doesn't work properly.
pixelCoordinates = ConvertPixelCoordsToScaledCoords(pixelCoordinates, resolution);
float focalLengthX = projectionTransform.GetColumn(0).x;
float focalLengthY = projectionTransform.GetColumn(1).y;
float centerOffsetX = projectionTransform.m20;
float centerOffsetY = projectionTransform.m21;
var dirRay = new Vector3(pixelCoordinates.x / focalLengthX, pixelCoordinates.y / focalLengthY, 1.0f).normalized; //Direction is in camera space
var cameraPositionOffset = new Vector3(centerOffsetX / 2f, centerOffsetY / 2f);
Vector3 centerPosition = viewTransform.MultiplyPoint(cameraPositionOffset);
//centerPosition += frameSample.worldPosition;
var direction = new Vector3(Vector3.Dot(dirRay, viewTransform.GetRow(0)), Vector3.Dot(dirRay, viewTransform.GetRow(1)), Vector3.Dot(dirRay, viewTransform.GetRow(2)));
//Quaternion rotation = Quaternion.LookRotation(-cameraToWorldMatrix.GetColumn(2), cameraToWorldMatrix.GetColumn(1));
var ray = new Ray(centerPosition, direction);
var depth = 1f;
if (referenceDepthPoint.HasValue == false)
{
RaycastHit hit;
if (Physics.Raycast(ray, out hit))
{
depth = Vector3.Magnitude(hit.point - centerPosition);
}
}
else
{
depth = Vector3.Magnitude(referenceDepthPoint.Value - centerPosition);
}
depth -= depthOffset;
return(centerPosition + direction * depth);
}
public IEnumerable <float> GetSupportedFrameRatesForResolution(Resolution resolution)
{
throw new NotImplementedException();
}
/// <summary>
/// Creates a quad hologram to display image capture. Positions it in front of the camera
/// </summary>
/// <param name="data">Raw bytes of the image</param>
/// <param name="camera2WorldMatrix">Camera -> World matrix</param>
/// <param name="projectionMatrix"> Campera projection matrix</param>
public static HoloPicture CreateHologram(byte[] data, HoloLensCameraStream.Resolution size, float[] camera2WorldFloat, float[] projectionFloat)
{
var positionRotation = GetPositionFromCamera(camera2WorldFloat);
return(CreateHologram(data, size, camera2WorldFloat, projectionFloat, positionRotation));
}
/// <summary>
/// Helper method for pixel projection into Unity3D world space.
/// This method return a Vector3 with direction: optical center of the camera to the pixel coordinate
/// The method is based on: https://developer.microsoft.com/en-us/windows/mixed-reality/locatable_camera#pixel_to_application-specified_coordinate_system
/// </summary>
/// <param name="cameraToWorldMatrix">The camera to Unity world matrix.</param>
/// <param name="projectionMatrix">Projection Matrix.</param>
/// <param name="pixelCoordinates">The coordinate of the pixel that should be converted to world-space.</param>
/// <param name="cameraResolution">The resolution of the image that the pixel came from.</param>
/// <returns>Vector3 with direction: optical center to camera world-space coordinates</returns>
public static Vector3 PixelCoordToWorldCoord(Matrix4x4 cameraToWorldMatrix, Matrix4x4 projectionMatrix, HoloLensCameraStream.Resolution cameraResolution, Vector2 pixelCoordinates)
{
pixelCoordinates = ConvertPixelCoordsToScaledCoords(pixelCoordinates, cameraResolution); // -1 to 1 coords
float focalLengthX = projectionMatrix.GetColumn(0).x;
float focalLengthY = projectionMatrix.GetColumn(1).y;
float centerX = projectionMatrix.GetColumn(2).x;
float centerY = projectionMatrix.GetColumn(2).y;
// On Microsoft Webpage the centers are normalized
float normFactor = projectionMatrix.GetColumn(2).z;
centerX = centerX / normFactor;
centerY = centerY / normFactor;
Vector3 dirRay = new Vector3((pixelCoordinates.x - centerX) / focalLengthX, (pixelCoordinates.y - centerY) / focalLengthY, 1.0f / normFactor); //Direction is in camera space
Vector3 direction = new Vector3(Vector3.Dot(cameraToWorldMatrix.GetRow(0), dirRay), Vector3.Dot(cameraToWorldMatrix.GetRow(1), dirRay), Vector3.Dot(cameraToWorldMatrix.GetRow(2), dirRay));
return(direction);
}
//This method is still in progress
public static Vector3 PixelCoordToWorldCoord(Matrix4x4 cameraToWorldMatrix, Matrix4x4 projectionMatrix, HoloLensCameraStream.Resolution cameraResolution, Vector2 pixelCoordinates, Plane depthPlane)
{
pixelCoordinates = ConvertPixelCoordsToScaledCoords(pixelCoordinates, cameraResolution);
float focalLengthX = projectionMatrix.GetColumn(0).x;
float focalLengthY = projectionMatrix.GetColumn(1).y;
Vector3 dirRay = new Vector3(pixelCoordinates.x / focalLengthX, pixelCoordinates.y / focalLengthY, 1.0f).normalized; //Direction is in camera space
Vector3 centerPosition = cameraToWorldMatrix.MultiplyPoint(Vector3.zero);
Vector3 direction = new Vector3(Vector3.Dot(dirRay, cameraToWorldMatrix.GetRow(0)), Vector3.Dot(dirRay, cameraToWorldMatrix.GetRow(1)), Vector3.Dot(dirRay, cameraToWorldMatrix.GetRow(2)));
float depth = 1f;
Ray ray = new Ray(centerPosition, direction * -1);
depthPlane.Raycast(ray, out depth);
return(centerPosition - direction * depth);
}