// Use this for initialization
void Start()
{
Calibration.CameraCalibrationResult result = Calibration.ComputeCameraCalibration(
xyz,
uv,
new System.Drawing.Size(_projector.pixelWidth, _projector.pixelHeight),
new Emgu.CV.Matrix <double>(3, 3),
out status);
result.extrinsics.ApplyToTransform(_projector.transform);
_projector.projectionMatrix = result.intrinsics.ProjectionMatrix(_projector.nearClipPlane, _projector.farClipPlane);
}
public Calibration.CameraCalibrationResult ComputeCalibration(int pixelWidth, int pixelHeight, float near, float far)
{
string status;
Vector2[] uvPoints = subsampling ? subsampledUV.ToArray() : uv.ToArray();
Vector3[] xyzPoints = subsampling ? subsampledXYZ.ToArray() : xyz.ToArray();
if (subsampling)
{
SubSample();
uvPoints = subsampledUV.ToArray();
xyzPoints = subsampledXYZ.ToArray();
}
else
{
uvPoints = uv.ToArray();
xyzPoints = xyz.ToArray();
}
//Compute calibration
Debug.Log("Calibration requiested: #uv:" + uvPoints.Length + "#xyz:" + xyzPoints.Length);
Emgu.CV.CvEnum.CalibType flags = Emgu.CV.CvEnum.CalibType.UseIntrinsicGuess; // uses the intrinsicMatrix as initial estimation, or generates an initial estimation using imageSize
//flags |= CalibType.FixFocalLength; // if (CV_CALIB_USE_INTRINSIC_GUESS) then: {fx,fy} are constant
// flags |= CalibType.FixAspectRatio; // if (CV_CALIB_USE_INTRINSIC_GUESS) then: fy is a free variable, fx/fy stays constant
//flags |= CalibType.FixPrincipalPoint; // if (CV_CALIB_USE_INTRINSIC_GUESS) then: {cx,cy} are constant
/*flags |= (CalibType.FixK1 // Given CalibType.FixK{i}: if (CV_CALIB_USE_INTRINSIC_GUESS) then: K{i} = distortionCoefficents[i], else:k ki = 0
| CalibType.FixK2
| CalibType.FixK3
| CalibType.FixK4
| CalibType.FixK5
| CalibType.FixK6);
| // flags |= CalibType.FixIntrinsic;
| flags |= CalibType.ZeroTangentDist; // tangential distortion is zero: {P1,P2} = {0,0}
*/
result = Calibration.ComputeCameraCalibration(xyzPoints, uvPoints, new System.Drawing.Size(pixelWidth, pixelHeight), new Emgu.CV.Matrix <double>(3, 3), out status, true, true, flags);
Debug.Log(status);
Debug.Log("distortion:" + result.distortion.ToString());
error = result.Error;
PerspectiveMatrixAfter = result.intrinsics.ProjectionMatrix(near, far);
if (targetCamera != null && PerspectiveMatrixAfter != Matrix4x4.identity)
{
PerspectiveMatrixBefore = targetCamera.projectionMatrix;
result.extrinsics.ApplyToTransform(targetCamera.transform);
targetCamera.projectionMatrix = PerspectiveMatrixAfter;
}
return(result);
}