void UpdateCalibration(bool foundBoard)
{
if (foundBoard)
{
_successFrameCount++;
float averageMovement = ComputeAverageMovement();
if (averageMovement < lowMovementThreshold)
{
_stableFrameCount++;
}
else
{
_stableFrameCount = 0;
}
}
else
{
_successFrameCount = 0;
_stableFrameCount = 0;
}
// When consistently stable, gather sample.
if (_stableFrameCount == stableFrameCountThreshold)
{
_intrinsicsCalibrator.AddSample(_chessCornersRealModelMat, _chessCornersImageMat);
_intrinsicsCalibrator.UpdateIntrinsics();
_previewFlasher.Start();
_rmsErrorText.text = _intrinsicsCalibrator.rmsError.ToString("F3");
_stableFrameCount = 0;
// When enough samples are gathered, save to file and switch to testing mode.
if (_intrinsicsCalibrator.sampleCount == _desiredSampleCount)
{
string intrinsicsFileName = _intrinsicsFileName;
if (_addErrorValueToFileName)
{
intrinsicsFileName += "_E-" + _intrinsicsCalibrator.rmsError.ToString("F02").Replace(".", ",");
}
string filePath = _intrinsicsCalibrator.intrinsics.SaveToFile(intrinsicsFileName);
SwitchState(State.Testing);
Debug.Log(logPrepend + "Saved intrinsics to file.\n" + filePath);
}
}
}
void UpdateProjectorIntrinsicsAndExtrinsics()
{
const bool samplesHaveDistortion = false; // Light projectors (should) have no radial or tanggal distortion.
const bool fixedAspectRatio = true; // We asume that the aspect is as advertised.
const bool flipVerticalLensShift = true; // For projectors, we need to flip the vertical lens shift.
_projectorIntrinsicsCalibrator.UpdateIntrinsics(samplesHaveDistortion, fixedAspectRatio, flipVerticalLensShift);
//Debug.Log( "New Intrinsics. RMS: " + _projectorIntrinsicsCalibrator.rmsError + "\n" + _projectorIntrinsicsCalibrator.intrinsics );
_projectorExtrinsicsCalibrator.Update(_cameraIntrinsics, _projectorIntrinsicsCalibrator.intrinsics, _projectorIntrinsicsCalibrator.textureSize);
// Apply.
_projectorIntrinsicsCalibrator.intrinsics.ApplyToCamera(_projectorCamera);
_projectorExtrinsicsCalibrator.extrinsics.ApplyToTransform(_projectorCamera.transform);
//Debug.Log( "_circlePointsProjectorViewMat\n" + _circlePointsWorldMat.dump() );
//Debug.Log( "_circlePointsProjectorRenderImageMat\n" + _circlePointsProjectorRenderImageMat.dump() );
//Debug.Log( "New Extrinsics:\n" + _stereoCalibrator.extrinsics );
}
