/// <summary>
/// Unity Start function.
/// </summary>
private void Start()
{
//Get the current ARCore session
m_Session = ARSessionManager.Instance.GetSession();
// Multiply it by scaleFactor
m_Session.transform.localScale *= m_scaleFactor;
//Initialize lists
m_OldImages = new List <AugmentedImage>();
m_CurrFrameImages = new List <AugmentedImage>();
m_Visualizers = new List <ImageVisualizer>();
//Set the device screen to never timeout
//Screen.sleepTimeout = SleepTimeout.NeverSleep;
//Initialize object pool of ImageVisualizers
for (int i = 0; i < m_PoolStartingSize; i++)
{
//Create new instance of ImageVisualizer
ImageVisualizer visualizer = Instantiate(m_ImageVisualizerPrefab);
//Deactivate visualizer's gameobjec
visualizer.gameObject.SetActive(false);
//Add instance to object pool
ObjectPool.Add(visualizer);
}
// Set Overlay Screen active
m_FitToScanOverlay.SetActive(true);
}
// Initialize the sensor
public void InitilizeSensor(int uniqueID, string sensorURL, int sensorPort, List <string> sensorSubscribers)
{
Debug.Log("Init Camera Connection at " + sensorURL + ":" + sensorPort.ToString());
ros = new ROSBridgeWebSocketConnection(sensorURL, sensorPort);
client_id = uniqueID.ToString();
foreach (string subscriber in sensorSubscribers)
{
string subscriberTopic = "";
switch (subscriber)
{
default:
subscriberTopic = "/dji_sdk/" + subscriber;
ImageVisualizer imageVisualizer = new ImageVisualizer();
//imageVisualizer.SetParentTransform(this.transform);
imageVisualizers.Add(subscriberTopic, imageVisualizer);
Debug.Log("Camera subscribing to: " + subscriberTopic);
ros.AddSubscriber("/dji_sdk/" + subscriber, this);
break;
}
Debug.Log("Camera Subscribing to : " + subscriberTopic);
sensorSubscriberTopics.Add(subscriberTopic);
keyList.Add(subscriberTopic, true);
}
ros.Connect();
}
/// <summary>
/// Creates new visualizers for the AugmentedImages in the list.
/// </summary>
/// <param name="_imagesToVisualize"></param>
private void CreateVisualizerObjects(List <AugmentedImage> _imagesToVisualize)
{
foreach (AugmentedImage image in _imagesToVisualize)
{
//Create an anchor at the centre of the image
Anchor anchor = image.CreateAnchor(image.CenterPose);
anchor.transform.position *= m_scaleFactor;
Debug.LogWarning("Pose Pos: " + image.CenterPose.position);
Debug.LogWarning("Anchor Pos: " + anchor.transform.position);
Debug.LogWarning("Scaled Anchor Pos: " + anchor.transform.position);
if (anchor != null)
{
//Get a visualizer from the object pool
ImageVisualizer visualizer = ObjectPool.GetExistingOrNew <ImageVisualizer>();
//Set the image
visualizer.Image = image;
//Set the anchor
visualizer.Anchor = anchor;
//Enable the visualizer
visualizer.gameObject.SetActive(true);
//Add visualizer to list
m_Visualizers.Add(visualizer);
//Only add image to old image list if anchor has been made for it
m_OldImages.Add(image);
}
}
}
static void Main(string[] args)
{
Mat m = new Mat(640, 480, DepthType.Cv8U, 3);
m.SetTo(new MCvScalar(255, 0, 0));
ImageVisualizer.TestShowVisualizer(m);
}
// Update is called once per frame
void Update()
{
if (Session.Status != SessionStatus.Tracking)
{
return;
}
Session.GetTrackables(_images, TrackableQueryFilter.Updated);
foreach (var image in _images)
{
ImageVisualizer visualizer = null;
m_Visualizers.TryGetValue(image.DatabaseIndex, out visualizer);
if (image.TrackingState == TrackingState.Tracking && visualizer == null)
{
Anchor anchor = image.CreateAnchor(image.CenterPose);
visualizer = (ImageVisualizer)Instantiate(ImageVisualizerPrefab, anchor.transform.position, anchor.transform.rotation);
visualizer.Image = image;
visualizer.transform.parent = anchor.transform;
visualizer.transform.Rotate(90, 0, 0);
m_Visualizers.Add(image.DatabaseIndex, visualizer);
}
else if (image.TrackingState == TrackingState.Stopped && visualizer != null)
{
m_Visualizers.Remove(image.DatabaseIndex);
Destroy(visualizer.gameObject);
}
}
}
// ROS Topic Subscriber methods
public ROSBridgeMsg OnReceiveMessage(string topic, JSONNode raw_msg, ROSBridgeMsg parsed = null)
{
Debug.Log("Camera Recieved message");
ROSBridgeMsg result = null;
ImageMsg meshMsg = new ImageMsg(raw_msg);
// Obtain visualizer for this topic
ImageVisualizer visualizer = imageVisualizers[topic];
this.imageVisualizers[topic].SetFrame(meshMsg, videoType);
return(result);
}
public uEyeCamera(int ID, string parPath, bool stack, bool disp, int X, int targetFR, PulsePal <MovementData> pulsePal)
{
this.stack = stack;
this.targetFrameRate = targetFR;
this.display = disp;
this.pulsePal = pulsePal;
this.ID = ID.ToString();
//check all the available IDS cameras
m_Camera = new uEye.Camera();
uEye.Types.CameraInformation[] cameraList;
uEye.Info.Camera.GetCameraList(out cameraList);
firstFrame = new Frame();
//if there are no cameras available then return with a false state
if (cameraList.Length == 0)
{
m_IsLive = false;
}
else
{
//initialize the camera with the appropriate ID
uEye.Defines.Status statusRet;
statusRet = CameraInit(Convert.ToInt32(cameraList[ID].DeviceID));
//if initialization is successful
if (statusRet == uEye.Defines.Status.SUCCESS)
{
//try to capture a frame
statusRet = m_Camera.Acquisition.Capture();
if (statusRet != uEye.Defines.Status.SUCCESS)
{
m_IsLive = false;
MessageBox.Show("Starting Live Video Failed");
}
else
{
m_IsLive = true;
//load camera parameters from external file
LoadParametersFromFile(parPath);
m_Camera.Video.ResetCount();
//if frames are to save then initialize frame queue
//if (stack)
//queue = new ConcurrentStack<Frame>();
//if frames are to display initialize display window
if (display)
{
provider = new ServiceProvider();
vis = new TypeVisualizerDialog();
provider.services.Add(vis);
imVis = new ImageVisualizer();
System.Drawing.Rectangle rect;
m_Camera.Size.AOI.Get(out rect);
imVis.Load(provider, rect.Width, rect.Height);
vis.Show();
vis.Location = new System.Drawing.Point(X, 0);
}
}
//perform onFrameEvent routine when a EventFrame occurs
m_Camera.EventFrame += OnFrameEvent;
}
//if initialization was unsuccessful then exit
if (statusRet != uEye.Defines.Status.SUCCESS && m_Camera.IsOpened)
{
m_Camera.Exit();
}
}
}
public uEyeCamera(int ID, string parPath, bool stack, bool disp, int X)
{
this.stack = stack;
this.display = disp;
//check all the available IDS cameras
m_Camera = new uEye.Camera();
uEye.Types.CameraInformation[] cameraList;
uEye.Info.Camera.GetCameraList(out cameraList);
//if there are no cameras available then return with a false state
if (cameraList.Length == 0)
{
m_IsLive = false;
}
else
{
//initialize the camera with the appropriate ID
uEye.Defines.Status statusRet;
statusRet = CameraInit(Convert.ToInt32(cameraList[ID].CameraID));
//if initialization is successful
if (statusRet == uEye.Defines.Status.SUCCESS)
{
//try to capture a frame
statusRet = m_Camera.Acquisition.Capture();
if (statusRet != uEye.Defines.Status.SUCCESS)
{
m_IsLive = false;
MessageBox.Show("Starting Live Video Failed");
}
else
{
m_IsLive = true;
//load camera parameters from external file
LoadParametersFromFile(parPath);
m_Camera.Video.ResetCount();
//if frames are to save then initialize frame queue
if (stack)
{
queue = new ConcurrentStack <Frame>();
}
//if frames are to display initialize display window
if (display)
{
provider = new ServiceProvider();
vis = new TypeVisualizerDialog();
provider.services.Add(vis);
imVis = new ImageVisualizer();
imVis.Load(provider);
vis.Show();
vis.Location = new System.Drawing.Point(X, 0);
}
}
}
//if initialization was unsuccessful then exit
if (statusRet != uEye.Defines.Status.SUCCESS && m_Camera.IsOpened)
{
m_Camera.Exit();
}
}
}
