void Update()
{
KinectManager kinectManager = KinectManager.Instance;
if (cam != null && projConfig != null && kinectManager != null && kinectManager.IsInitialized())
{
if (kinectManager.autoHeightAngle == KinectManager.AutoHeightAngle.AutoUpdate ||
kinectManager.autoHeightAngle == KinectManager.AutoHeightAngle.AutoUpdateAndShowInfo)
{
Matrix4x4 worldToLocal = RAT2Unity.Convert(projConfig.pose);
worldToLocal = UnityUtilities.ConvertRHtoLH(worldToLocal);
this.transform.localPosition = worldToLocal.ExtractTranslation() + new Vector3(0f, kinectManager.sensorHeight, 0f);
}
}
}
// 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();
}
}