void OnEnable()
{
// Set target scale
patternSize = new Size((int)pattern.x, (int)pattern.y);
chessboard.transform.localScale = new Vector3(patternScale * (patternSize.Width + 1), patternScale * (patternSize.Height + 1), 1.0f);
// Construct world corner points
Vector2 offset = new Vector2(patternSize.Width / 2.0f * patternScale, patternSize.Height / 2.0f * patternScale);
cvWorldCorners = new Matrix <double>(patternSize.Height * patternSize.Width, 1, 3);
for (int iy = 0; iy < patternSize.Height; iy++)
{
for (int ix = 0; ix < patternSize.Width; ix++)
{
cvWorldCorners.Data[iy * patternSize.Width + ix, 0] = ix * patternScale - offset.x;
cvWorldCorners.Data[iy * patternSize.Width + ix, 1] = iy * patternScale - offset.y;
cvWorldCorners.Data[iy * patternSize.Width + ix, 2] = 0;
}
}
webcamTexture = TrackedCameraScript.GetViveCameraTexture();
if (webcamTexture == null)
{
return;
}
HmdVector2_t focalLength = new HmdVector2_t();
HmdVector2_t opticCenter = new HmdVector2_t();
OpenVR.TrackedCamera.GetCameraIntrinsics(0, EVRTrackedCameraFrameType.Undistorted, ref focalLength, ref opticCenter);
// Initialize intrinsic parameters
cvIntrinsicParams = new Matrix <double>(3, 3, 1);
cvIntrinsicParams[0, 0] = focalLength.v0;
cvIntrinsicParams[0, 1] = 0;
cvIntrinsicParams[0, 2] = opticCenter.v0;
cvIntrinsicParams[1, 0] = 0;
cvIntrinsicParams[1, 1] = focalLength.v1;
cvIntrinsicParams[1, 2] = opticCenter.v1;
cvIntrinsicParams[2, 0] = 0;
cvIntrinsicParams[2, 1] = 0;
cvIntrinsicParams[2, 2] = 1;
cvDistortionParams = new Matrix <double>(4, 1, 1);
cvDistortionParams[0, 0] = 0.0f;
cvDistortionParams[1, 0] = 0.0f;
cvDistortionParams[2, 0] = 0.0f;
cvDistortionParams[3, 0] = 0.0f;
}
void Update()
{
webcamTexture = TrackedCameraScript.GetViveCameraTexture();
if (webcamTexture == null)
{
return;
}
if (webcamTexture != null)
{
if (data == null || (data.Length != webcamTexture.width * webcamTexture.height))
{
data = new Color32[webcamTexture.width * webcamTexture.height];
}
data = webcamTexture.GetPixels32();
//data = webcamTexture.GetPixels32(0);
if (bytes == null || bytes.Length != data.Length * 3)
{
bytes = new byte[data.Length * 3];
}
if (grayBytes == null || grayBytes.Length != data.Length * 1)
{
grayBytes = new byte[data.Length * 1];
}
// OPENCV PROCESSING
GCHandle handle = GCHandle.Alloc(data, GCHandleType.Pinned);
GCHandle resultHandle = GCHandle.Alloc(bytes, GCHandleType.Pinned);
GCHandle grayHandle = GCHandle.Alloc(grayBytes, GCHandleType.Pinned);
Mat currentWebcamMat = new Mat(new Size(webcamTexture.width, webcamTexture.height), DepthType.Cv8U, 4, handle.AddrOfPinnedObject(), webcamTexture.width * 4);
Mat resultMat = new Mat(webcamTexture.height, webcamTexture.width, DepthType.Cv8U, 3, resultHandle.AddrOfPinnedObject(), webcamTexture.width * 3);
Mat grayMat = new Mat(webcamTexture.height, webcamTexture.width, DepthType.Cv8U, 1, grayHandle.AddrOfPinnedObject(), webcamTexture.width * 1);
CvInvoke.CvtColor(currentWebcamMat, resultMat, ColorConversion.Bgra2Bgr);
CvInvoke.CvtColor(resultMat, grayMat, ColorConversion.Bgra2Gray);
cvImageCorners = new Matrix <float>(patternSize.Width * patternSize.Height, 1, 2);
bool detected = DetectCheckerboard(grayMat, resultMat);
if (detected)
{
detectionFinished = true;
SetCameraTransformFromChessboard();
}
handle.Free();
resultHandle.Free();
grayHandle.Free();
if (flip != FlipType.None)
{
CvInvoke.Flip(resultMat, resultMat, flip);
}
if (displayTexture == null || displayTexture.width != webcamTexture.width ||
displayTexture.height != webcamTexture.height)
{
displayTexture = new Texture2D(webcamTexture.width, webcamTexture.height, TextureFormat.RGB24, false);
}
displayTexture.LoadRawTextureData(bytes);
displayTexture.Apply();
TrackedCameraScript.Instance.screenRenderer.material.mainTexture = displayTexture;
}
}