void Update()
{
// if space is down do AR tranformation
if (notCalibrated && Input.GetKeyDown(KeyCode.Space))
{
// laod camera calibrations setting
CameraCalibSerializable calidSaveData = Utilities.LoadCameraCalibrationParams();
// initialise marhsallers
MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller(calidSaveData.distortionCoefficients);
MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller(calidSaveData.cameraMatrix);
double reProjectionError = calidSaveData.reProjectionError;
// get calibration data
calibData = new UCameraCalibrationData(distCoeffs, cameraMatrix, reProjectionError);
notCalibrated = false;
}
else if (!notCalibrated)
{
// estimate charuco board pose
(
UDetectMarkersData markerData,
UBoardMarkerPoseEstimationDataEuler poseEstimationData
) = Aruco.UEstimateCharucoBoardPose(
_webCamTexture.GetPixels32(),
_webCamTexture.width,
_webCamTexture.height,
boardParameters,
calibData.cameraMatrix.NativeDataPointer,
calibData.distCoeffs.NativeDataPointer
);
TransformGameObjects(poseEstimationData, markerData);
}
}
// find calibrates camera with collected data found by UFindCharucoBoardCorners method
unsafe public static UCameraCalibrationData UCalibrateCameraCharuco(int width, int height, CharucoBoardParameters boardParameters, DoubleVectorIntMarshaller allCharucoIds, DoubleVectorPoint2FMarshaller allCharucoCorners)
{
MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller();
MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller();
double reProjectionError = CalibrateCameraCharuco(
height,
width,
boardParameters.squaresW,
boardParameters.squaresH,
boardParameters.squareLength,
boardParameters.markerLength,
allCharucoIds.NativeDataPointer,
allCharucoCorners.NativeDataPointer,
cameraMatrix.NativeDataPointer,
distCoeffs.NativeDataPointer
);
UCameraCalibrationData calibrationData = new UCameraCalibrationData(
distCoeffs,
cameraMatrix,
reProjectionError
);
return(calibrationData);
}
// public static UCameraCalibrationData UStaticCalibrateCameraData()
// {
// MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller();
// MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller();
// StaticCameraCalibData(
// cameraMatrix.NativeDataPointer,
// distCoeffs.NativeDataPointer,
// true
// );
// UCameraCalibrationData calibrationData = new UCameraCalibrationData(
// distCoeffs,
// cameraMatrix
// );
// return calibrationData;
// }
// unsafe public static UCameraCalibrationData UCalibrateCamera(Color32[] texture, int width, int height, DoubleVectorIntMarshaller allCharucoIds, DoubleVectorPoint2FMarshaller allCharucoCorners)
// {
// var watch = System.Diagnostics.Stopwatch.StartNew();
// // IntPtr distCoeffs = OpenCVMarshal.CreateMatPointer();
// MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller();
// // IntPtr cameraMatrix = OpenCVMarshal.CreateMatPointer();
// MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller();
// fixed (Color32* texP = texture)
// {
// CalibrateCamera(
// texP,
// width,
// height,
// allCharucoIds.NativeDataPointer,
// allCharucoCorners.NativeDataPointer,
// cameraMatrix.NativeDataPointer,
// distCoeffs.NativeDataPointer
// );
// }
// UCameraCalibrationData calibrationData = new UCameraCalibrationData(
// distCoeffs,
// cameraMatrix
// );
// watch.Stop();
// var elapsedMs = watch.ElapsedMilliseconds;
// return calibrationData;
// }
unsafe public static UCameraCalibrationData UCalibrateCameraCharuco(int width, int height, CharucoBoardParameters boardParameters, DoubleVectorIntMarshaller allCharucoIds, DoubleVectorPoint2FMarshaller allCharucoCorners)
{
var watch = System.Diagnostics.Stopwatch.StartNew();
// IntPtr distCoeffs = OpenCVMarshal.CreateMatPointer();
MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller();
// IntPtr cameraMatrix = OpenCVMarshal.CreateMatPointer();
MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller();
double reProjectionError = CalibrateCameraCharuco(
height,
width,
boardParameters.squaresW,
boardParameters.squaresH,
boardParameters.squareLength,
boardParameters.markerLength,
allCharucoIds.NativeDataPointer,
allCharucoCorners.NativeDataPointer,
cameraMatrix.NativeDataPointer,
distCoeffs.NativeDataPointer
);
UCameraCalibrationData calibrationData = new UCameraCalibrationData(
distCoeffs,
cameraMatrix,
reProjectionError
);
watch.Stop();
var elapsedMs = watch.ElapsedMilliseconds;
return(calibrationData);
}
public unsafe static (UDetectMarkersData, UBoardMarkerPoseEstimationDataEuler) UEstimateCharucoBoardPose(Color32[] texture, int width, int height, CharucoBoardParameters boardParameters, IntPtr cameraMatrix, IntPtr distCoeffs)
{
int cornersH = 3;
int cornersW = 4;
float markerLength = 0.045f;
float squareLength = 0.06f;
// marshallers
Vec3dMarshaller tvecMarshaller = new Vec3dMarshaller();
Vec3dMarshaller rvecMarshaller = new Vec3dMarshaller();
MatDoubleMarshaller eulerAngles = new MatDoubleMarshaller();
// marker pointers
VectorIntMarshaller markerIds = new VectorIntMarshaller();
DoubleVectorPoint2FMarshaller markerCornerMarshaller = new DoubleVectorPoint2FMarshaller();
DoubleVectorPoint2FMarshaller rejectedCandidateMarshaller = new DoubleVectorPoint2FMarshaller();
estimateCharucoBoardPosePerfMarker.Begin();
fixed(Color32 *texP = texture)
{
EstimateCharucoBoardPose(
texP,
width,
height,
// markerLength,
// squareLength,
// cornersW,
// cornersH,
boardParameters.markerLength,
boardParameters.squareLength,
boardParameters.squaresW,
boardParameters.squaresH,
markerIds.NativeDataPointer,
markerCornerMarshaller.NativeDataPointer,
rejectedCandidateMarshaller.NativeDataPointer,
cameraMatrix,
distCoeffs,
rvecMarshaller.NativeDataPointer,
tvecMarshaller.NativeDataPointer,
eulerAngles.NativeDataPointer
);
}
estimateCharucoBoardPosePerfMarker.End();
UDetectMarkersData markerData = new UDetectMarkersData(
(int[])markerIds.GetMangedObject(),
(List <List <Vector2> >)markerCornerMarshaller.GetMangedObject(),
(List <List <Vector2> >)rejectedCandidateMarshaller.GetMangedObject(),
markerIds.NativeDataPointer,
markerCornerMarshaller.NativeDataPointer,
rejectedCandidateMarshaller.NativeDataPointer
);
UBoardMarkerPoseEstimationDataEuler PoseEstimateData = new UBoardMarkerPoseEstimationDataEuler(
(Vec3d)rvecMarshaller.GetMangedObject(),
(Vec3d)tvecMarshaller.GetMangedObject(),
(double[][])eulerAngles.GetMangedObject()
);
return(markerData : markerData, PoseEstimateData : PoseEstimateData);
}
public unsafe static UBoardMarkerPoseEstimationDataEuler UEstimateArucoBoardPose(Color32[] texture, int width, int height, ArucoBoardParameters boardParameters, IntPtr cameraMatrix, IntPtr distCoeffs)
{
float markerLength = 0.04f;
float markerSeparation = 0.01f;
int markersX = 4;
int markersY = 3;
Vec3dMarshaller tvecMarshaller = new Vec3dMarshaller();
Vec3dMarshaller rvecMarshaller = new Vec3dMarshaller();
MatDoubleMarshaller eulerAngles = new MatDoubleMarshaller();
fixed(Color32 *texP = texture)
{
EstimateArucoBoardPoseV2(
texP,
width,
height,
boardParameters.markerLength,
boardParameters.markerSeperation,
boardParameters.squaresW,
boardParameters.squaresH,
cameraMatrix,
distCoeffs,
rvecMarshaller.NativeDataPointer,
tvecMarshaller.NativeDataPointer,
eulerAngles.NativeDataPointer
);
}
UBoardMarkerPoseEstimationDataEuler PoseEstimateData = new UBoardMarkerPoseEstimationDataEuler(
(Vec3d)rvecMarshaller.GetMangedObject(),
(Vec3d)tvecMarshaller.GetMangedObject(),
(double[][])eulerAngles.GetMangedObject()
);
return(PoseEstimateData);
}
public UCameraCalibrationData(MatDoubleMarshaller distCoeffs, MatDoubleMarshaller cameraMatrix, double reProjectionError)
{
this.distCoeffs = distCoeffs;
this.cameraMatrix = cameraMatrix;
this.reProjectionError = reProjectionError;
}
