// coordinates server discovery and XML setup
static void DiscoverServers()
{
cout.VerbosePrint("Finding Kinect and projector servers...");
var findKServers =
Task <Collection <EndpointDiscoveryMetadata> > .Factory.StartNew(DiscoverCameras);
var findPServers =
Task <Collection <EndpointDiscoveryMetadata> > .Factory.StartNew(DiscoverProjectors);
var kServers = findKServers.Result;
var pServers = findPServers.Result;
ensemble = new ProjectorCameraEnsemble(pServers.Count, kServers.Count);
for (int i = 0; i < kServers.Count; ++i)
{
ensemble.cameras[i].name = i.ToString();
ensemble.cameras[i].hostNameOrAddress = kServers[i].Address.Uri.DnsSafeHost;
}
for (int i = 0; i < pServers.Count; ++i)
{
ensemble.projectors[i].name = i.ToString();
ensemble.projectors[i].hostNameOrAddress = pServers[i].Address.Uri.DnsSafeHost;
ensemble.projectors[i].displayIndex = 1; // Projectors are indexed 1 by default
}
cout.VerbosePrint("Server search complete.");
}
protected override void Initialize()
{
// Modify the title of the window
Window.Title = "HolographicStudio";
Window.AllowUserResizing = false;
// Manually position to fullscreen so we can alt-tab to Visual Studio while debugging
var window = Window.NativeWindow as System.Windows.Forms.Form;
if (window != null)
{
window.FormBorderStyle = System.Windows.Forms.FormBorderStyle.None;
window.Location = new System.Drawing.Point(0, 0);
window.Size = new System.Drawing.Size(1920, 1080);
}
// load ensemble.xml
string path = HolographicStudio.Utils.Configuration.EnsembleConfigurationFile;
string directory = Path.GetDirectoryName(path);
try
{
_ensemble = RoomAliveToolkit.ProjectorCameraEnsemble.FromFile(path);
// Create geometry renderers for each 3D camera
foreach (var camera in _ensemble.cameras)
{
string colorImagePath = Path.Combine(directory, string.Format("camera{0}", camera.name), "color.tiff");
string depthImagePath = Path.Combine(directory, string.Format("camera{0}", camera.name), "mean.tiff");
_geometryRenderers.Add(new RoomAliveGeometryRenderer(this, camera, colorImagePath, depthImagePath));
}
}
catch (FileNotFoundException ex)
{
Console.WriteLine("Could not find calibration file.");
}
_tweakableManager.AddTweakable(new FloatTweakable("Clip Radius", new PropertyInvoker <float>("Radius", this), 0.01f, 10f, 0.01f));
_tweakableManager.AddTweakable(new FloatTweakable("Clip CenterX", new PropertyInvoker <float>("CenterX", this), -10f, 10f, 0.01f));
_tweakableManager.AddTweakable(new FloatTweakable("Clip CenterY", new PropertyInvoker <float>("CenterY", this), -10f, 10f, 0.01f));
_tweakableManager.AddTweakable(new FloatTweakable("Clip CenterZ", new PropertyInvoker <float>("CenterZ", this), 0f, 10f, 0.01f));
_tweakableManager.AddTweakable(new FloatTweakable("Clip Floor", new PropertyInvoker <float>("Floor", this), -5f, 5f, 0.01f));
_tweakableManager.AddTweakable(new FloatTweakable("Clip Ceiling", new PropertyInvoker <float>("Ceiling", this), -5f, 5f, 0.01f));
_tweakableManager.AddTweakable(new BooleanTweakable("Apply Hologram Effect", new PropertyInvoker <bool>("HologramEnabled", this)));
for (int i = 0; i < _ensemble.cameras.Count; i++)
{
_tweakableManager.AddTweakable(new BooleanTweakable(string.Format("LiveDepth{0}", i), new PropertyInvoker <bool>("LiveDepth", _geometryRenderers[i])));
_tweakableManager.AddTweakable(new BooleanTweakable(string.Format("LiveColor{0}", i), new PropertyInvoker <bool>("LiveColor", _geometryRenderers[i])));
_tweakableManager.AddTweakable(new BooleanTweakable(string.Format("FilterDepth{0}", i), new PropertyInvoker <bool>("FilterDepth", _geometryRenderers[i])));
_tweakableManager.AddTweakable(new FloatTweakable(string.Format("SpatialSigma{0}", i), new PropertyInvoker <float>("SpatialSigma", _geometryRenderers[i]), 0.1f, 10f, 0.1f));
_tweakableManager.AddTweakable(new FloatTweakable(string.Format("IntensitySigma{0}", i), new PropertyInvoker <float>("IntensitySigma", _geometryRenderers[i]), 1f, 1000f, 1f));
_tweakableManager.AddTweakable(new FloatTweakable(string.Format("DepthThreshold{0}", i), new PropertyInvoker <float>("DepthThreshold", _geometryRenderers[i]), 0f, 1f, 0.01f));
}
_tweakableManager.AddTweakable(new BooleanTweakable("Animate", new PropertyInvoker <bool>("Animate", this)));
base.Initialize();
}
// loades ensemble configuration from XML file
static bool LoadXML()
{
try
{
using (var fileStream = new FileStream(XMLfilename, FileMode.Open))
{
var knownTypeList = new List <Type>();
knownTypeList.Add(typeof(Kinect2Calibration));
var serializer = new DataContractSerializer(typeof(ProjectorCameraEnsemble), knownTypeList);
ensemble = (ProjectorCameraEnsemble)serializer.ReadObject(fileStream);
}
return(true);
}
catch (FileNotFoundException)
{
cout.Print("Could not find XML configuration file.");
}
catch (Exception e)
{
cout.Print("Could not open configuration file.");
cout.DebugPrint(e.Message);
}
return(false);
}
// void OnRenderImage (RenderTexture source, RenderTexture destination)
// {
// if(flipCameraX && camFlipMat)
// {
// Graphics.Blit(source, destination, camFlipMat);
// }
// }
private void LoadCalibrationData()
{
projConfig = null;
cam = GetComponent <Camera>();
if (!cam)
{
Debug.LogError("Please add the ProjectorCamera-component to a camera in the scene.");
return;
}
if (calibrationXml)
{
ensemble = ProjectorCameraEnsemble.ReadCalibration(calibrationXml.text);
foreach (ProjectorCameraEnsemble.Projector pc in ensemble.projectors)
{
if (pc.name == projNameInConfig)
{
projConfig = pc;
}
}
}
else
{
projConfig = null;
}
if (projConfig != null)
{
if (displayIndex < 0)
{
displayIndex = projConfig.displayIndex;
Debug.Log("ProjCam target display: " + displayIndex);
if (useProjectorDisplay && displayIndex >= 0)
{
//#if !UNITY_EDITOR
cam.targetDisplay = displayIndex;
//#endif
}
}
//Debug.Log("Projective Rendering - Loading projector calibration information.");
imageWidth = projConfig.width;
imageHeight = projConfig.height;
if (imageWidth > 0 && imageHeight > 0 && projConfig.cameraMatrix != null)
{
cam.aspect = (float)imageWidth / imageHeight;
// this is the vertical field of view - fy
float fieldOfViewRad = 2.0f * (float)System.Math.Atan((((double)(imageHeight)) / 2.0) / projConfig.cameraMatrix[1, 1]);
float fieldOfViewDeg = fieldOfViewRad / 3.14159265359f * 180.0f;
cam.fieldOfView = fieldOfViewDeg;
Debug.Log("ProjCam FOV: " + fieldOfViewDeg);
Matrix4x4 opencvProjMat = GetProjectionMatrix(projConfig.cameraMatrix, cam.nearClipPlane, cam.farClipPlane);
cam.projectionMatrix = UnityUtilities.ConvertRHtoLH(opencvProjMat);
}
if (projConfig.lensDistortion != null)
{
//var irCoef = projConfig.lensDistortion.AsFloatArray();
//! jolaur -- looks like this is not being used and is now 2 elements instead of four in the new xml format
//! lensDist = new Vector4(irCoef[0], irCoef[1], irCoef[2], irCoef[3]);
//lensDist = new Vector4();
}
if (projConfig.pose != null)
{
Matrix4x4 worldToLocal = RAT2Unity.Convert(projConfig.pose);
worldToLocal = UnityUtilities.ConvertRHtoLH(worldToLocal);
KinectManager kinectManager = KinectManager.Instance;
this.transform.localPosition = worldToLocal.ExtractTranslation() + new Vector3(0f, kinectManager.sensorHeight, 0f);
this.transform.localRotation = worldToLocal.ExtractRotation();
Debug.Log("ProjCam position: " + transform.localPosition + ", rotation: " + transform.localRotation.eulerAngles);
}
}
else
{
Debug.LogError("Make sure the 'Calibration Xml' && 'Proj name in config'-settings are correct.");
//lensDist = new Vector4();
}
}
