void UpdateCirclePatternSize()
{
if (_state == State.Initiating || _state == State.BlindCalibration)
{
_circlePatternSize = defaultCirclesPatternSize;
}
else
{
const int circlePatternSizeYMin = 7;
const int desiredPixelsPerCirclePatternSegment = 25; // 50px is recommended, but for a 720p camera, this will give too fex dots.
float desiredCirclePatternNumAspect = _chessPatternSize.x / (_chessPatternSize.y) / 2f; // 3f / 4f / 2f;
float patternDistance = Vector3.Distance(_mainCamera.transform.position, _circlePatternTransform.position);
float patternHeight = _chessPatternTransform.localScale.y;
float viewHeightAtPatternPosition = Mathf.Tan(_mainCamera.fieldOfView * Mathf.Deg2Rad * 0.5f) * patternDistance * 2;
int circlePatternPixelHeight = (int)((patternHeight / viewHeightAtPatternPosition) * _cameraTexture.height);
int optimalPatternSizeY = Mathf.Max(circlePatternSizeYMin, Mathf.FloorToInt(circlePatternPixelHeight / (float)desiredPixelsPerCirclePatternSegment));
int optimalPatternSizeX = Mathf.FloorToInt(optimalPatternSizeY * desiredCirclePatternNumAspect);
_circlePatternSize = TrackingToolsHelper.GetClosestValidPatternSize(new Vector2Int(optimalPatternSizeX, optimalPatternSizeY), TrackingToolsHelper.PatternType.AsymmetricCircleGrid);
}
_circlePatternPointCount = _circlePatternSize.x * _circlePatternSize.y;
if (_circlePointsProjectorRenderImageMat != null && _circlePointsProjectorRenderImageMat.rows() == _circlePatternPointCount)
{
return;
}
if (_circlePointsProjectorRenderImageMat != null)
{
_circlePointsProjectorRenderImageMat.release();
}
if (_circlePointsRealModelMat != null)
{
_circlePointsRealModelMat.release();
}
if (_circlePointsDetectedWorldMat != null)
{
_circlePointsDetectedWorldMat.release();
}
_circlePointsProjectorRenderImageMat.alloc(_circlePatternPointCount);
_circlePointsRealModelMat.alloc(_circlePatternPointCount);
_circlePointsDetectedWorldMat.alloc(_circlePatternPointCount);
// Render pattern to texture.
_circlePatternBorderSizeUV = TrackingToolsHelper.RenderPattern(_circlePatternSize, TrackingToolsHelper.PatternType.AsymmetricCircleGrid, 2048, ref _circlePatternTexture, ref _patternRenderMaterial, circlePatternBorder, true);
_circlePatternBoardMaterial.mainTexture = _circlePatternTexture;
// Update transform to match.
float circleTextureAspect = _circlePatternTexture.width / (float)_circlePatternTexture.height;
float borderProportion = (_circlePatternSize.y - 1 + 2f) / (_circlePatternSize.y - 1f); // Asymmetric patttern tiles are half the height.
_circlePatternTransform.localScale = new Vector3(circleTextureAspect, 1, 0) * _chessPatternTransform.localScale.y * borderProportion;
if (_state == State.TrackedCalibration || _state == State.Testing)
{
_circlePatternTransform.localPosition = -Vector3.right * (_chessCirclePatternCenterOffset / 1000f);
}
}
void OnDestroy()
{
if (_camTexMat != null)
{
_camTexMat.release();
}
if (_tempTransferTexture)
{
Destroy(_tempTransferTexture);
}
if (_chessCornersImageMat != null)
{
_chessCornersImageMat.release();
}
if (_previewMaterial)
{
Destroy(_previewMaterial);
}
if (_arTexture)
{
_arTexture.Release();
}
if (_chessPatternTexture)
{
_chessPatternTexture.Release();
}
if (_patternRenderMaterial)
{
Destroy(_patternRenderMaterial);
}
if (_extrinsicsCalibrator != null)
{
_extrinsicsCalibrator.Release();
}
if (_undistortMap1 != null)
{
_undistortMap1.release();
}
if (_undistortMap2 != null)
{
_undistortMap2.release();
}
Reset();
}
private void sort(ref MatOfPoint2f fourPoints)
{
// the argument needs to contain 4 points precisely
// sort the bounding box to (topleft, topright, bottomright, bottomleft
double[] p1, p2, p3, p4;
List <Point> points = new List <Point>();
p1 = new double[2] {
fourPoints.get(0, 0)[0], fourPoints.get(0, 0)[1]
};
p2 = new double[2] {
fourPoints.get(1, 0)[0], fourPoints.get(1, 0)[1]
};
p3 = new double[2] {
fourPoints.get(2, 0)[0], fourPoints.get(2, 0)[1]
};
p4 = new double[2] {
fourPoints.get(3, 0)[0], fourPoints.get(3, 0)[1]
};
print("p1: " + (char)p1[0] + "," + (char)p1[1]);
print("p2: " + (char)p2[0] + "," + (char)p2[1]);
print("p3: " + (char)p3[0] + "," + (char)p3[1]);
print("p4: " + (char)p4[0] + "," + (char)p4[1]);
if (p1[0] < p2[0] && p1[0] < p3[0] || p1[0] < p4[0] && p1[0] < p3[0] || p1[0] < p2[0] && p1[0] < p4[0])
{
if (p1[1] < p2[1] && p1[1] < p3[1] || p1[1] < p4[1] && p1[1] < p3[1] || p1[1] < p2[1] && p1[1] < p4[1])
{
points.Add(new Point(p1[0], p1[1]));
if (p2[1] < p3[1] && p2[1] < p4[1])
{
points.Add(new Point(p2[0], p2[1]));
if (p3[0] < p4[0])
{
points.Add(new Point(p4[0], p4[1]));
points.Add(new Point(p3[0], p3[1]));
}
else
{
points.Add(new Point(p3[0], p3[1]));
points.Add(new Point(p4[0], p4[1]));
}
}
else if (p3[1] < p2[1] && p3[1] < p4[1])
{
points.Add(new Point(p3[0], p3[1]));
if (p2[0] < p4[0])
{
points.Add(new Point(p4[0], p4[1]));
points.Add(new Point(p2[0], p2[1]));
}
else
{
points.Add(new Point(p2[0], p2[1]));
points.Add(new Point(p4[0], p4[1]));
}
}
else if (p4[1] < p2[1] && p4[1] < p3[1])
{
points.Add(new Point(p4[0], p4[1]));
if (p2[0] < p3[0])
{
points.Add(new Point(p3[0], p3[1]));
points.Add(new Point(p2[0], p2[1]));
}
else
{
points.Add(new Point(p2[0], p2[1]));
points.Add(new Point(p3[0], p3[1]));
}
}
}
else if (p2[0] < p3[0] && p2[0] < p4[0])
{
points.Add(new Point(p2[0], p2[1]));
if (p3[1] < p4[1])
{
points.Add(new Point(p3[0], p3[1]));
points.Add(new Point(p4[0], p4[1]));
}
else
{
points.Add(new Point(p4[0], p4[1]));
points.Add(new Point(p3[0], p3[1]));
}
points.Add(new Point(p1[0], p1[1]));
}
else if (p3[0] < p2[0] && p3[0] < p4[0])
{
points.Add(new Point(p3[0], p3[1]));
if (p2[1] < p4[1])
{
points.Add(new Point(p2[0], p2[1]));
points.Add(new Point(p4[0], p4[1]));
}
else
{
points.Add(new Point(p4[0], p4[1]));
points.Add(new Point(p2[0], p2[1]));
}
points.Add(new Point(p1[0], p1[1]));
}
else if (p4[0] < p3[0] && p4[0] < p2[0])
{
points.Add(new Point(p4[0], p4[1]));
if (p3[1] < p2[1])
{
points.Add(new Point(p3[0], p3[1]));
points.Add(new Point(p2[0], p2[1]));
}
else
{
points.Add(new Point(p2[0], p2[1]));
points.Add(new Point(p3[0], p3[1]));
}
points.Add(new Point(p1[0], p1[1]));
}
}
else if (p2[0] < p1[0] && p2[0] < p3[0] || p2[0] < p4[0] && p2[0] < p3[0] || p2[0] < p1[0] && p2[0] < p4[0])
{
if (p2[1] < p1[1] && p2[1] < p3[1] || p2[1] < p4[1] && p2[1] < p3[1] || p2[1] < p1[1] && p2[1] < p4[1])
{
points.Add(new Point(p2[0], p2[1]));
if (p1[1] < p3[1] && p1[1] < p4[1])
{
points.Add(new Point(p1[0], p1[1]));
if (p3[0] < p4[0])
{
points.Add(new Point(p4[0], p4[1]));
points.Add(new Point(p3[0], p3[1]));
}
else
{
points.Add(new Point(p3[0], p3[1]));
points.Add(new Point(p4[0], p4[1]));
}
}
else if (p3[1] < p1[1] && p3[1] < p4[1])
{
points.Add(new Point(p3[0], p3[1]));
if (p1[0] < p4[0])
{
points.Add(new Point(p4[0], p4[1]));
points.Add(new Point(p1[0], p1[1]));
}
else
{
points.Add(new Point(p1[0], p1[1]));
points.Add(new Point(p4[0], p4[1]));
}
}
else if (p4[1] < p1[1] && p4[1] < p3[1])
{
points.Add(new Point(p4[0], p4[1]));
if (p1[0] < p3[0])
{
points.Add(new Point(p3[0], p3[1]));
points.Add(new Point(p1[0], p1[1]));
}
else
{
points.Add(new Point(p1[0], p1[1]));
points.Add(new Point(p3[0], p3[1]));
}
}
}
else if (p1[0] < p3[0] && p1[0] < p4[0])
{
points.Add(new Point(p1[0], p1[1]));
if (p3[1] < p4[1])
{
points.Add(new Point(p3[0], p3[1]));
points.Add(new Point(p4[0], p4[1]));
}
else
{
points.Add(new Point(p4[0], p4[1]));
points.Add(new Point(p3[0], p3[1]));
}
points.Add(new Point(p2[0], p2[1]));
}
else if (p3[0] < p1[0] && p3[0] < p4[0])
{
points.Add(new Point(p3[0], p3[1]));
if (p1[1] < p4[1])
{
points.Add(new Point(p1[0], p1[1]));
points.Add(new Point(p4[0], p4[1]));
}
else
{
points.Add(new Point(p4[0], p4[1]));
points.Add(new Point(p1[0], p1[1]));
}
points.Add(new Point(p2[0], p2[1]));
}
else if (p4[0] < p3[0] && p4[0] < p1[0])
{
points.Add(new Point(p4[0], p4[1]));
if (p3[1] < p1[1])
{
points.Add(new Point(p3[0], p3[1]));
points.Add(new Point(p1[0], p1[1]));
}
else
{
points.Add(new Point(p1[0], p1[1]));
points.Add(new Point(p3[0], p3[1]));
}
points.Add(new Point(p2[0], p2[1]));
}
}
else if (p3[0] < p2[0] && p3[0] < p1[0] || p3[0] < p4[0] && p3[0] < p1[0] || p3[0] < p2[0] && p3[0] < p4[0])
{
if (p3[1] < p2[1] && p3[1] < p1[1] || p3[1] < p4[1] && p3[1] < p1[1] || p3[1] < p2[1] && p3[1] < p4[1])
{
points.Add(new Point(p3[0], p3[1]));
if (p2[1] < p1[1] && p2[1] < p4[1])
{
points.Add(new Point(p2[0], p2[1]));
if (p1[0] < p4[0])
{
points.Add(new Point(p4[0], p4[1]));
points.Add(new Point(p1[0], p1[1]));
}
else
{
points.Add(new Point(p1[0], p1[1]));
points.Add(new Point(p4[0], p4[1]));
}
}
else if (p1[1] < p2[1] && p1[1] < p4[1])
{
points.Add(new Point(p1[0], p1[1]));
if (p2[0] < p4[0])
{
points.Add(new Point(p4[0], p4[1]));
points.Add(new Point(p2[0], p2[1]));
}
else
{
points.Add(new Point(p2[0], p2[1]));
points.Add(new Point(p4[0], p4[1]));
}
}
else if (p4[1] < p2[1] && p4[1] < p1[1])
{
points.Add(new Point(p4[0], p4[1]));
if (p2[0] < p1[0])
{
points.Add(new Point(p1[0], p1[1]));
points.Add(new Point(p2[0], p2[1]));
}
else
{
points.Add(new Point(p2[0], p2[1]));
points.Add(new Point(p1[0], p1[1]));
}
}
}
else if (p2[0] < p1[0] && p2[0] < p4[0])
{
points.Add(new Point(p2[0], p2[1]));
if (p1[1] < p4[1])
{
points.Add(new Point(p1[0], p1[1]));
points.Add(new Point(p4[0], p4[1]));
}
else
{
points.Add(new Point(p4[0], p4[1]));
points.Add(new Point(p1[0], p1[1]));
}
points.Add(new Point(p3[0], p3[1]));
}
else if (p1[0] < p2[0] && p1[0] < p4[0])
{
points.Add(new Point(p1[0], p1[1]));
if (p2[1] < p4[1])
{
points.Add(new Point(p2[0], p2[1]));
points.Add(new Point(p4[0], p4[1]));
}
else
{
points.Add(new Point(p4[0], p4[1]));
points.Add(new Point(p2[0], p2[1]));
}
points.Add(new Point(p3[0], p3[1]));
}
else if (p4[0] < p1[0] && p4[0] < p2[0])
{
points.Add(new Point(p4[0], p4[1]));
if (p1[1] < p2[1])
{
points.Add(new Point(p1[0], p1[1]));
points.Add(new Point(p2[0], p2[1]));
}
else
{
points.Add(new Point(p2[0], p2[1]));
points.Add(new Point(p1[0], p1[1]));
}
points.Add(new Point(p3[0], p3[1]));
}
}
else if (p4[0] < p2[0] && p4[0] < p3[0] || p4[0] < p1[0] && p4[0] < p3[0] || p4[0] < p2[0] && p4[0] < p1[0])
{
if (p4[1] < p2[1] && p4[1] < p3[1] || p4[1] < p1[1] && p4[1] < p3[1] || p4[1] < p2[1] && p4[1] < p1[1])
{
points.Add(new Point(p4[0], p4[1]));
if (p2[1] < p3[1] && p2[1] < p1[1])
{
points.Add(new Point(p2[0], p2[1]));
if (p3[0] < p1[0])
{
points.Add(new Point(p1[0], p1[1]));
points.Add(new Point(p3[0], p3[1]));
}
else
{
points.Add(new Point(p3[0], p3[1]));
points.Add(new Point(p1[0], p1[1]));
}
}
else if (p3[1] < p2[1] && p3[1] < p1[1])
{
points.Add(new Point(p3[0], p3[1]));
if (p2[0] < p1[0])
{
points.Add(new Point(p1[0], p1[1]));
points.Add(new Point(p2[0], p2[1]));
}
else
{
points.Add(new Point(p2[0], p2[1]));
points.Add(new Point(p1[0], p1[1]));
}
}
else if (p1[1] < p2[1] && p1[1] < p3[1])
{
points.Add(new Point(p1[0], p1[1]));
if (p2[0] < p3[0])
{
points.Add(new Point(p3[0], p3[1]));
points.Add(new Point(p2[0], p2[1]));
}
else
{
points.Add(new Point(p2[0], p2[1]));
points.Add(new Point(p3[0], p3[1]));
}
}
}
else if (p2[0] < p3[0] && p2[0] < p1[0])
{
points.Add(new Point(p2[0], p2[1]));
if (p3[1] < p1[1])
{
points.Add(new Point(p3[0], p3[1]));
points.Add(new Point(p1[0], p1[1]));
}
else
{
points.Add(new Point(p1[0], p1[1]));
points.Add(new Point(p3[0], p3[1]));
}
points.Add(new Point(p4[0], p4[1]));
}
else if (p3[0] < p2[0] && p3[0] < p1[0])
{
points.Add(new Point(p3[0], p3[1]));
if (p2[1] < p1[1])
{
points.Add(new Point(p2[0], p2[1]));
points.Add(new Point(p1[0], p1[1]));
}
else
{
points.Add(new Point(p1[0], p1[1]));
points.Add(new Point(p2[0], p2[1]));
}
points.Add(new Point(p4[0], p4[1]));
}
else if (p1[0] < p3[0] && p1[0] < p2[0])
{
points.Add(new Point(p1[0], p1[1]));
if (p3[1] < p2[1])
{
points.Add(new Point(p3[0], p3[1]));
points.Add(new Point(p2[0], p2[1]));
}
else
{
points.Add(new Point(p2[0], p2[1]));
points.Add(new Point(p3[0], p3[1]));
}
points.Add(new Point(p4[0], p4[1]));
}
}
// MatOfPoint2f pts2 = new MatOfPoint2f();
fourPoints = new MatOfPoint2f();
fourPoints.release();
fourPoints.fromList(points);
}
