public ProjectorCameraEnsemble(int numProjectors, int numCameras)
{
projectors = new List<ProjectorCameraEnsemble.Projector>();
for (int i = 0; i < numProjectors; i++)
{
var projector = new ProjectorCameraEnsemble.Projector();
projector.name = i.ToString();
projector.hostNameOrAddress = "localhost";
projectors.Add(projector);
}
cameras = new List<ProjectorCameraEnsemble.Camera>();
for (int i = 0; i < numCameras; i++)
{
var camera = new ProjectorCameraEnsemble.Camera();
camera.name = i.ToString();
camera.hostNameOrAddress = "localhost";
cameras.Add(camera);
if (i == 0)
camera.pose = RoomAliveToolkit.Matrix.Identity(4, 4);
}
name = "Untitled";
imagingFactory = new SharpDX.WIC.ImagingFactory();
stopWatch = new System.Diagnostics.Stopwatch();
}
// could be method on Projector:
void SetViewProjectionFromProjector(ProjectorCameraEnsemble.Projector projector)
{
// pick up view and projection for a given projector
view = new SharpDX.Matrix();
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
{
view[i, j] = (float)projector.pose[i, j];
}
}
view.Invert();
view.Transpose();
var cameraMatrix = projector.cameraMatrix;
float fx = (float)cameraMatrix[0, 0];
float fy = (float)cameraMatrix[1, 1];
float cx = (float)cameraMatrix[0, 2];
float cy = (float)cameraMatrix[1, 2];
float near = 0.1f;
float far = 100.0f;
float w = projector.width;
float h = projector.height;
projection = ProjectionMatrixFromCameraMatrix(fx, fy, cx, cy, w, h, near, far);
projection.Transpose();
}
internal void LoadCalibrationData()
{
cam = this.GetComponent <Camera>();
projConfig = null;
if (hasCalibration)
{
ProjectorCameraEnsemble ensembleConfig = calibrationData.GetEnsemble();
foreach (ProjectorCameraEnsemble.Projector pc in ensembleConfig.projectors)
{
if (pc.name == nameInConfiguration)
{
projConfig = pc;
}
}
}
else
{
projConfig = null;
}
if (projConfig != null)
{
if (displayIndex < 0)
{
displayIndex = projConfig.displayIndex;
}
//Debug.Log("Projective Rendering - Loading projector calibration information.");
imageWidth = projConfig.width;
imageHeight = projConfig.height;
//// used by shadow etc...
//// this is the vertical field of view - fy
cam.aspect = (float)imageWidth / imageHeight;
float fieldOfViewRad = 2.0f * (float)Math.Atan((((double)(imageHeight)) / 2.0) / projConfig.cameraMatrix[1, 1]);
float fieldOfViewDeg = fieldOfViewRad / 3.14159265359f * 180.0f;
cam.fieldOfView = fieldOfViewDeg;
Matrix4x4 opencvProjMat = GetProjectionMatrix(projConfig.cameraMatrix, cam.nearClipPlane, cam.farClipPlane);
cam.projectionMatrix = UnityUtilities.ConvertRHtoLH(opencvProjMat);
//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();
Matrix4x4 worldToLocal = RAT2Unity.Convert(projConfig.pose);
worldToLocal = UnityUtilities.ConvertRHtoLH(worldToLocal);
this.transform.localPosition = worldToLocal.ExtractTranslation();
this.transform.localRotation = worldToLocal.ExtractRotation();
}
else
{
Debug.Log("Projective Rendering - Using default camera calibration information.");
lensDist = new Vector4();
}
}
public ProjectorCameraEnsemble(int numProjectors, int numCameras)
{
projectors = new List<ProjectorCameraEnsemble.Projector>();
for (int i = 0; i < numProjectors; i++)
{
var projector = new ProjectorCameraEnsemble.Projector();
projector.name = i.ToString();
projector.hostNameOrAddress = "localhost";
projectors.Add(projector);
}
cameras = new List<ProjectorCameraEnsemble.Camera>();
for (int i = 0; i < numCameras; i++)
{
var camera = new ProjectorCameraEnsemble.Camera();
camera.name = i.ToString();
camera.hostNameOrAddress = "localhost";
cameras.Add(camera);
if (i == 0)
camera.pose = RoomAliveToolkit.Matrix.Identity(4, 4);
}
name = "Untitled";
}
public ProjectorForm(Factory factory, SharpDX.Direct3D11.Device device, Object renderLock, ProjectorCameraEnsemble.Projector projector) : base(factory, device, renderLock)
{
this.projector = projector;
Text = "Projector " + projector.name;
}
public ProjectorForm(Factory factory, SharpDX.Direct3D11.Device device, Object renderLock, ProjectorCameraEnsemble.Projector projector)
: base(factory, device, renderLock)
{
this.projector = projector;
Text = "Projector " + projector.name;
}
