public void CalculateCameraIntrinsics()
{
if (processedImageCount > 0)
{
Debug.Log("Starting Camera Intrinsics calculation.");
intrinsics = CalibrationAPI.Instance.CalculateChessboardIntrinsics(chessSquareSize);
Debug.Log($"Chessboard intrinsics reprojection error: {intrinsics.ToString()}");
intrinsicsFileName = CalibrationDataHelper.SaveCameraIntrinsics(intrinsics);
Debug.Log($"Camera Intrinsics saved to file: {intrinsicsFileName}");
// Undistort obtained images to understand quality of calculated camera intrinsics.
var chessboardImageFileNames = CalibrationDataHelper.GetChessboardImageFileNames();
foreach (var fileName in chessboardImageFileNames)
{
var texture = CalibrationDataHelper.LoadChessboardImage(fileName);
if (texture == null ||
!UndistortChessboardImage(texture, intrinsics))
{
Debug.LogWarning($"Failed to locate/undistort chessboard image: {fileName}");
}
else
{
CalibrationDataHelper.SaveChessboardUndistortedImage(texture, fileName);
}
}
}
else
{
Debug.LogWarning("No images have been processed, unable to calculate camera intrinsics.");
}
}
private void Update()
{
if (feedImage != null &&
feedImage.texture == null)
{
feedImage.texture = CompositorWrapper.Instance.GetVideoCameraFeed();
}
if (cornersImage)
{
cornersImage.texture = chessboardCorners;
}
if (heatmapImage)
{
heatmapImage.texture = chessboardHeatmap;
}
if (Input.GetKeyDown(KeyCode.Space))
{
var dslrTexture = CompositorWrapper.Instance.GetVideoCameraTexture();
var fileName = CalibrationDataHelper.GetUniqueFileName();
CalibrationDataHelper.SaveChessboardImage(dslrTexture, fileName);
if (!ProcessChessboardImage(dslrTexture))
{
Debug.LogWarning($"Failed to process/locate chessboard in dataset: {fileName}");
}
else
{
CalibrationDataHelper.SaveChessboardDetectedImage(dslrTexture, fileName);
CalibrationDataHelper.SaveImage(chessboardHeatmap, "ChessboardHeatmap");
CalibrationDataHelper.SaveImage(chessboardCorners, "ChessboardCorners");
}
}
if (Input.GetKeyDown(KeyCode.Return))
{
Debug.Log("Starting Camera Intrinsics calculation.");
intrinsics = CalibrationAPI.Instance.CalculateChessboardIntrinsics(chessSquareSize);
Debug.Log($"Chessboard intrinsics reprojection error: {intrinsics.ToString()}");
var file = CalibrationDataHelper.SaveCameraIntrinsics(intrinsics);
Debug.Log($"Camera Intrinsics saved to file: {file}");
}
}
