Thesis-Hector-VR/Hector_v2/Assets/SteamVR/Scripts/SteamVR_TrackedCamera.cs

//======= Copyright (c) Valve Corporation, All rights reserved. ===============
//
// Purpose: Provides access to video feed and poses of tracked cameras.
//
// Usage:
//			var source = SteamVR_TrackedCamera.Distorted();
//			var source = SteamVR_TrackedCamera.Undistorted();
// or
//			var undistorted = true; // or false
//			var source = SteamVR_TrackedCamera.Source(undistorted);
//
// - Distorted feeds are the decoded images from the camera.
// - Undistorted feeds correct for the camera lens distortion (a.k.a. fisheye)
//   to make straight lines straight.
//
// VideoStreamTexture objects must be symmetrically Acquired and Released to
// ensure the video stream is activated, and shutdown properly once there are
// no more consumers.  You only need to Acquire once when starting to use a
// stream, and Release when you are done using it (as opposed to every frame).
//
//=============================================================================

using UnityEngine;
using Valve.VR;

namespace Valve.VR
{
    public class SteamVR_TrackedCamera
    {
        public class VideoStreamTexture
        {
            public VideoStreamTexture(uint deviceIndex, bool undistorted)
            {
                this.undistorted = undistorted;
                videostream = Stream(deviceIndex);
            }
            public bool undistorted { get; private set; }
            public uint deviceIndex { get { return videostream.deviceIndex; } }
            public bool hasCamera { get { return videostream.hasCamera; } }
            public bool hasTracking { get { Update(); return header.trackedDevicePose.bPoseIsValid; } }
            public uint frameId { get { Update(); return header.nFrameSequence; } }
            public VRTextureBounds_t frameBounds { get; private set; }
            public EVRTrackedCameraFrameType frameType { get { return undistorted ? EVRTrackedCameraFrameType.Undistorted : EVRTrackedCameraFrameType.Distorted; } }

            Texture2D _texture;
            public Texture2D texture { get { Update(); return _texture; } }

            public SteamVR_Utils.RigidTransform transform { get { Update(); return new SteamVR_Utils.RigidTransform(header.trackedDevicePose.mDeviceToAbsoluteTracking); } }
            public Vector3 velocity { get { Update(); var pose = header.trackedDevicePose; return new Vector3(pose.vVelocity.v0, pose.vVelocity.v1, -pose.vVelocity.v2); } }
            public Vector3 angularVelocity { get { Update(); var pose = header.trackedDevicePose; return new Vector3(-pose.vAngularVelocity.v0, -pose.vAngularVelocity.v1, pose.vAngularVelocity.v2); } }

            public TrackedDevicePose_t GetPose() { Update(); return header.trackedDevicePose; }

            public ulong Acquire()
            {
                return videostream.Acquire();
            }
            public ulong Release()
            {
                var result = videostream.Release();

                if (videostream.handle == 0)
                {
                    Object.Destroy(_texture);
                    _texture = null;
                }

                return result;
            }

            int prevFrameCount = -1;
            void Update()
            {
                if (Time.frameCount == prevFrameCount)
                    return;

                prevFrameCount = Time.frameCount;

                if (videostream.handle == 0)
                    return;

                var vr = SteamVR.instance;
                if (vr == null)
                    return;

                var trackedCamera = OpenVR.TrackedCamera;
                if (trackedCamera == null)
                    return;

                var nativeTex = System.IntPtr.Zero;
                var deviceTexture = (_texture != null) ? _texture : new Texture2D(2, 2);
                var headerSize = (uint)System.Runtime.InteropServices.Marshal.SizeOf(header.GetType());

                if (vr.textureType == ETextureType.OpenGL)
                {
                    if (glTextureId != 0)
                        trackedCamera.ReleaseVideoStreamTextureGL(videostream.handle, glTextureId);

                    if (trackedCamera.GetVideoStreamTextureGL(videostream.handle, frameType, ref glTextureId, ref header, headerSize) != EVRTrackedCameraError.None)
                        return;

                    nativeTex = (System.IntPtr)glTextureId;
                }
                else if (vr.textureType == ETextureType.DirectX)
                {
                    if (trackedCamera.GetVideoStreamTextureD3D11(videostream.handle, frameType, deviceTexture.GetNativeTexturePtr(), ref nativeTex, ref header, headerSize) != EVRTrackedCameraError.None)
                        return;
                }

                if (_texture == null)
                {
                    _texture = Texture2D.CreateExternalTexture((int)header.nWidth, (int)header.nHeight, TextureFormat.RGBA32, false, false, nativeTex);

                    uint width = 0, height = 0;
                    var frameBounds = new VRTextureBounds_t();
                    if (trackedCamera.GetVideoStreamTextureSize(deviceIndex, frameType, ref frameBounds, ref width, ref height) == EVRTrackedCameraError.None)
                    {
                        // Account for textures being upside-down in Unity.
                        frameBounds.vMin = 1.0f - frameBounds.vMin;
                        frameBounds.vMax = 1.0f - frameBounds.vMax;
                        this.frameBounds = frameBounds;
                    }
                }
                else
                {
                    _texture.UpdateExternalTexture(nativeTex);
                }
            }

            uint glTextureId;
            VideoStream videostream;
            CameraVideoStreamFrameHeader_t header;
        }

        #region Top level accessors.

        public static VideoStreamTexture Distorted(int deviceIndex = (int)OpenVR.k_unTrackedDeviceIndex_Hmd)
        {
            if (distorted == null)
                distorted = new VideoStreamTexture[OpenVR.k_unMaxTrackedDeviceCount];
            if (distorted[deviceIndex] == null)
                distorted[deviceIndex] = new VideoStreamTexture((uint)deviceIndex, false);
            return distorted[deviceIndex];
        }

        public static VideoStreamTexture Undistorted(int deviceIndex = (int)OpenVR.k_unTrackedDeviceIndex_Hmd)
        {
            if (undistorted == null)
                undistorted = new VideoStreamTexture[OpenVR.k_unMaxTrackedDeviceCount];
            if (undistorted[deviceIndex] == null)
                undistorted[deviceIndex] = new VideoStreamTexture((uint)deviceIndex, true);
            return undistorted[deviceIndex];
        }

        public static VideoStreamTexture Source(bool undistorted, int deviceIndex = (int)OpenVR.k_unTrackedDeviceIndex_Hmd)
        {
            return undistorted ? Undistorted(deviceIndex) : Distorted(deviceIndex);
        }

        private static VideoStreamTexture[] distorted, undistorted;

        #endregion

        #region Internal class to manage lifetime of video streams (per device).

        class VideoStream
        {
            public VideoStream(uint deviceIndex)
            {
                this.deviceIndex = deviceIndex;
                var trackedCamera = OpenVR.TrackedCamera;
                if (trackedCamera != null)
                    trackedCamera.HasCamera(deviceIndex, ref _hasCamera);
            }
            public uint deviceIndex { get; private set; }

            ulong _handle;
            public ulong handle { get { return _handle; } }

            bool _hasCamera;
            public bool hasCamera { get { return _hasCamera; } }

            ulong refCount;
            public ulong Acquire()
            {
                if (_handle == 0 && hasCamera)
                {
                    var trackedCamera = OpenVR.TrackedCamera;
                    if (trackedCamera != null)
                        trackedCamera.AcquireVideoStreamingService(deviceIndex, ref _handle);
                }
                return ++refCount;
            }
            public ulong Release()
            {
                if (refCount > 0 && --refCount == 0 && _handle != 0)
                {
                    var trackedCamera = OpenVR.TrackedCamera;
                    if (trackedCamera != null)
                        trackedCamera.ReleaseVideoStreamingService(_handle);
                    _handle = 0;
                }
                return refCount;
            }
        }

        static VideoStream Stream(uint deviceIndex)
        {
            if (videostreams == null)
                videostreams = new VideoStream[OpenVR.k_unMaxTrackedDeviceCount];
            if (videostreams[deviceIndex] == null)
                videostreams[deviceIndex] = new VideoStream(deviceIndex);
            return videostreams[deviceIndex];
        }

        static VideoStream[] videostreams;

        #endregion
    }
}