void AdaptResources()
{
int w = _cameraTexture.width;
int h = _cameraTexture.height;
if (_undistortedCameraTexture != null && _undistortedCameraTexture.width == w && _undistortedCameraTexture.height == h)
{
return;
}
_camTexMat = TrackingToolsHelper.GetCompatibleMat(_cameraTexture);
_camTexGrayMat = new Mat(h, w, CvType.CV_8UC1);
_camTexGrayUndistortMat = new Mat(h, w, CvType.CV_8UC1);
_undistortedCameraTexture = new Texture2D(w, h, GraphicsFormat.R8_UNorm, 0, TextureCreationFlags.None);
_undistortedCameraTexture.name = "UndistortedCameraTex";
_intrinsics.ToOpenCV(ref _cameraMatrix, ref _distCoeffs, w, h);
// UI.
_rawImageUI.texture = _undistortedCameraTexture;
_aspectFitterUI.aspectRatio = w / (float)h;
// Forward the news.
if (_arCamera)
{
_intrinsics.ApplyToCamera(_arCamera);
}
}
void Update()
{
if (!AdaptResources() || !_dirtyTexture)
{
return;
}
// Convert texture to mat (If the texture looks right in Unity, it needs to be flipped for OpenCV).
TrackingToolsHelper.TextureToMat(_inputTexture, true, ref _camTexMat, ref _tempTransferColors, ref _tempTransferTexture);
// Convert to grayscale if more than one channel, else copy (and convert bit rate if necessary).
TrackingToolsHelper.ColorMatToLumanceMat(_camTexMat, _camTexGrayMat);
// Correct levels.
if (!Mathf.Approximately(_blackValue, 0) || !Mathf.Approximately(_whiteValue, 1) || !Mathf.Approximately(_gammaValue, 1f))
{
if (_dirtyLevelsLookup)
{
UpdateLevelsLookup();
}
Core.LUT(_camTexGrayMat, _levelsLookup, _camTexGrayMat);
}
Utils.fastMatToTexture2D(_camTexGrayMat, _processedCameraTexture); // Flips the texture vertically by default
_outputTexture.Invoke(_processedCameraTexture);
_dirtyTexture = false;
}
void Update()
{
if (!_cameraTexture || !_dirtyCameraTexture)
{
return;
}
// Init.
AdaptResources();
// Update mat texture ( If the texture looks correct in Unity, then it needs to be flipped for OpenCV ).
TrackingToolsHelper.TextureToMat(_cameraTexture, !_flipCameraTexture, ref _camTexMat, ref _tempTransferColors, ref _tempTransferTexture);
// Convert to grayscale if more than one channel, else copy (and convert bit rate if necessary).
TrackingToolsHelper.ColorMatToLumanceMat(_camTexMat, _camTexGrayMat);
// During testing, undistort before.
if (_state == State.Testing)
{
Calib3d.undistort(_camTexGrayMat, _camTexGrayUndistortMat, _intrinsicsCalibrator.sensorMat, _intrinsicsCalibrator.distortionCoeffsMat);
}
// Find chessboard.
Mat chessboardSourceMat = _state == State.Calibrating ? _camTexGrayMat : _camTexGrayUndistortMat;
bool foundBoard = TrackingToolsHelper.FindChessboardCorners(chessboardSourceMat, _chessPatternSize, ref _chessCornersImageMat);
if (foundBoard)
{
TrackingToolsHelper.DrawFoundPattern(chessboardSourceMat, _chessPatternSize, _chessCornersImageMat);
}
// During calibration, undistort after.
if (_state == State.Calibrating)
{
if (_intrinsicsCalibrator.sampleCount > correctDistortionSampleCountThreshold)
{
Calib3d.undistort(_camTexGrayMat, _camTexGrayUndistortMat, _intrinsicsCalibrator.sensorMat, _intrinsicsCalibrator.distortionCoeffsMat);
}
else
{
_camTexGrayMat.copyTo(_camTexGrayUndistortMat);
}
}
// State dependent updates.
switch (_state)
{
case State.Calibrating: UpdateCalibration(foundBoard); break;
case State.Testing: UpdateTesting(foundBoard); break;
}
// UI.
Utils.fastMatToTexture2D(_camTexGrayUndistortMat, _processedCameraTexture); // Will flip as default.
_previewFlasher.Update();
UpdateSampleCounterUI();
_dirtyCameraTexture = false;
}
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 Update()
{
if (Input.GetKeyDown(_interactibaleHotKey))
{
if (!interactable && _cameraTexture == null)
{
Debug.LogWarning(logPrepend + "Missing camera texture.\n");
return;
}
interactable = !interactable;
}
if (!_cameraTexture)
{
return;
}
// Adapt resources.
AdaptResources();
if (_dirtyTexture)
{
// Undistort.
if (_cameraTexture is WebCamTexture)
{
Utils.webCamTextureToMat(_cameraTexture as WebCamTexture, _camTexMat, flip: false);
}
else if (_cameraTexture is Texture2D)
{
Utils.fastTexture2DToMat(_cameraTexture as Texture2D, _camTexMat, flip: false);
}
else
{
Debug.LogWarning(logPrepend + "Only Texture2D and WenCamTexture is supported.\n");
return;
}
TrackingToolsHelper.ColorMatToLumanceMat(_camTexMat, _camTexGrayMat);
Calib3d.undistort(_camTexGrayMat, _camTexGrayUndistortMat, _cameraMatrix, _distCoeffs);
Utils.fastMatToTexture2D(_camTexGrayUndistortMat, _undistortedCameraTexture);
_dirtyTexture = false;
}
if (_interactable)
{
UpdateInteraction();
}
if (_dirtyPoints)
{
UpdateCameraTransform();
_dirtyPoints = false;
}
}
void PreProcessCameraImage()
{
// Convert texture to mat (If the texture looks right in Unity, it needs to be flipped for OpenCV).
TrackingToolsHelper.TextureToMat(_cameraTexture, !_flipCameraTexture, ref _camTexMat, ref _tempTransferColors, ref _tempTransferTexture);
// Convert to grayscale if more than one channel, else copy (and convert bit rate if necessary).
TrackingToolsHelper.ColorMatToLumanceMat(_camTexMat, _camTexGrayMat);
// Undistort.
//Calib3d.undistort( _camTexGrayMat, _camTexGrayUndistortMat, _sensorMat, _distortionCoeffsMat );
Imgproc.remap(_camTexGrayMat, _camTexGrayUndistortMat, _undistortMap1, _undistortMap2, Imgproc.INTER_LINEAR);
}
void Awake()
{
Application.targetFrameRate = 30;
_chessPatternPointCount = _chessPatternSize.x * _chessPatternSize.y;
// Prepare OpenCV.
_extrinsicsCalibrator = new CameraExtrinsicsCalibrator();
_prevChessCorners = new Vector2[_chessPatternPointCount];
_chessCornersRealModelMat = TrackingToolsHelper.CreateRealModelPatternPoints(_chessPatternSize, _chessTileSize, TrackingToolsHelper.PatternType.Chessboard);
// Create objects.
_chessPatternTransform = GameObject.CreatePrimitive(PrimitiveType.Quad).transform;
_chessPatternTransform.name = "Chessboard";
_chessPatternTransform.localScale = new Vector3((_chessPatternSize.x - 1) * _chessTileSize * 0.001f, (_chessPatternSize.y - 1) * _chessTileSize * 0.001f, 0);
// Prepare world points.
TrackingToolsHelper.UpdateWorldSpacePatternPoints(_chessPatternSize, _chessPatternTransform.localToWorldMatrix, TrackingToolsHelper.PatternType.Chessboard, Vector2.zero, ref _chessCornersWorldMat);
// Prepare UI.
TrackingToolsHelper.RenderPattern(_chessPatternSize, TrackingToolsHelper.PatternType.Chessboard, 1024, ref _chessPatternTexture, ref _patternRenderMaterial);
_aspectFitter = _processedCameraImage.GetComponent <AspectRatioFitter>();
if (!_aspectFitter)
{
_aspectFitter = _processedCameraImage.gameObject.AddComponent <AspectRatioFitter>();
}
_aspectFitter.aspectMode = AspectRatioFitter.AspectMode.FitInParent;
Shader shader = Shader.Find(TrackingToolsConstants.previewShaderName);
_previewMaterial = new Material(shader);
_processedCameraImage.material = _previewMaterial;
_processedCameraImage.color = Color.white;
_arImage = new GameObject("ARImage").AddComponent <RawImage>();
_arImage.transform.SetParent(_processedCameraImage.transform);
_arImage.rectTransform.FitParent();
_arImage.gameObject.SetActive(false);
Shader unlitTextureShader = Shader.Find("Unlit/Texture");
Material chessboardMaterial = new Material(unlitTextureShader);
chessboardMaterial.mainTexture = _chessPatternTexture;
_chessPatternTransform.GetComponent <Renderer>().material = chessboardMaterial;
if (_sampleCountMeterFillImage)
{
_sampleCountMeterFillImage.fillAmount = 0;
}
_previewFlasher = new MaterialPropFlasher(_previewMaterial, "_Whiteout", TrackingToolsConstants.flashDuration);
// Setup camera.
_mainCamera.backgroundColor = Color.clear;
_mainCamera.gameObject.SetActive(false);
}
bool FindAndApplyChessPatternExtrinsics()
{
bool found = TrackingToolsHelper.FindChessboardCorners(_camTexGrayUndistortMat, _chessPatternSize, ref _chessCornersImageMat);
if (found)
{
TrackingToolsHelper.DrawFoundPattern(_camTexGrayUndistortMat, _chessPatternSize, _chessCornersImageMat);
_cameraExtrinsicsCalibrator.UpdateExtrinsics(_chessCornersWorldMat, _chessCornersImageMat, _cameraIntrinsics, _cameraTexture.width, _cameraTexture.height);
const bool transformBoard = true;
_cameraExtrinsicsCalibrator.extrinsics.ApplyToTransform(_calibrationBoardTransform, _mainCamera.transform, transformBoard);
}
_chessPatternTransform.gameObject.SetActive(found);
return(found);
}
void Awake()
{
if (!Intrinsics.TryLoadFromFile(_intrinsicsFileName, out _intrinsics))
{
Debug.LogError("Intrinsics file '" + _intrinsicsFileName + "' not found.\n");
enabled = false;
return;
}
_undistortMap1 = new Mat();
_undistortMap2 = new Mat();
_extrinsicsCalibrator = new CameraExtrinsicsCalibrator();
TrackingToolsHelper.RenderPattern(_chessPatternSize, TrackingToolsHelper.PatternType.Chessboard, 1024, ref _chessPatternTexture, ref _patternRenderMaterial);
// Prepare UI.
_aspectFitter = _processedCameraImage.GetComponent <AspectRatioFitter>();
if (!_aspectFitter)
{
_aspectFitter = _processedCameraImage.gameObject.AddComponent <AspectRatioFitter>();
}
_aspectFitter.aspectMode = AspectRatioFitter.AspectMode.FitInParent;
_previewMaterial = new Material(Shader.Find(TrackingToolsConstants.previewShaderName));
_processedCameraImage.material = _previewMaterial;
_processedCameraImage.color = Color.white;
_arImage = new GameObject("ARImage").AddComponent <RawImage>();
_arImage.transform.SetParent(_processedCameraImage.transform);
_arImage.rectTransform.FitParent();
_arImage.gameObject.SetActive(false);
_mainCamera.backgroundColor = Color.clear;
_chessPatternTransform = GameObject.CreatePrimitive(PrimitiveType.Quad).transform;
_chessPatternTransform.name = "Chessboard";
_chessPatternTransform.localScale = new Vector3((_chessPatternSize.x - 1) * _chessTileSize * 0.001f, (_chessPatternSize.y - 1) * _chessTileSize * 0.001f, 0);
Shader unlitTextureShader = Shader.Find("Unlit/Texture");
Material chessboardMaterial = new Material(unlitTextureShader);
chessboardMaterial.mainTexture = _chessPatternTexture;
_chessPatternTransform.GetComponent <Renderer>().material = chessboardMaterial;
_precisionDotsContainerObject = TrackingToolsHelper.CreatePrecisionTestDots(_chessPatternTransform, _testPrecisionDotsLayer, _chessPatternSize, _chessTileSize / 1000f);
// Update world points.
TrackingToolsHelper.UpdateWorldSpacePatternPoints(_chessPatternSize, _chessPatternTransform.localToWorldMatrix, TrackingToolsHelper.PatternType.Chessboard, Vector2.zero, ref _chessCornersWorldMat);
}
void UpdateCirclePatternInProjectorImage()
{
// We will be raycasting from the projector camera. In the editor, the aspect can change depending on the main game view, so we have to ensure that it matches.
_projectorCamera.targetTexture = _arTexture;
// Use the circle pattern transform from last update frame, because it is more likely that it will match the detected reality.
TrackingToolsHelper.UpdateWorldSpacePatternPoints(_circlePatternSize, _circlePatternToWorldPrevFrame, TrackingToolsHelper.PatternType.AsymmetricCircleGrid, _circlePatternBorderSizeUV, ref _circlePointsRenderedWorldMat);
for (int p = 0; p < _circlePatternPointCount; p++)
{
Vector3 worldPoint = _circlePointsRenderedWorldMat.ReadVector3(p);
Vector3 viewportPoint = _projectorCamera.WorldToViewportPoint(worldPoint);
Vector2 imagePoint = new Vector2(viewportPoint.x * _cameraTexture.width, (1 - viewportPoint.y) * _cameraTexture.height); // Viewport space has zero at bottom-left, image space (opencv) has zero at top-left. So flip y.
_circlePointsProjectorRenderImageMat.WriteVector2(imagePoint, p);
}
//TrackingToolsHelper.DrawFoundPattern( _camTexGrayUndistortMat, circlesPatternSize, _circlePointsProjectorRenderImageMat ); // Testing
// Reset render target.
_projectorCamera.targetTexture = null;
}
void UpdateCameraTransform()
{
// Update points.
for (int p = 0; p < pointCount; p++)
{
Vector2 posImage = _userPointRects[p].anchorMin;
posImage.Scale(new Vector2(_cameraTexture.width, _cameraTexture.height));
_anchorPointsImage[p].set(new double[] { posImage.x, posImage.y });
Vector3 posWorld = _anchorTransform.TransformPoint(defaultPointPositions[p] - Vector2.one * 0.5f);
_anchorPointsWorld[p].set(new double[] { posWorld.x, posWorld.y, posWorld.z });
}
_anchorPointsImageMat.fromArray(_anchorPointsImage);
_anchorPointsWorldMat.fromArray(_anchorPointsWorld);
// Compute
bool success = Calib3d.solvePnP(_anchorPointsWorldMat, _anchorPointsImageMat, _cameraMatrix, _noDistCoeffs, _rVec, _tVec);
if (!success)
{
return;
}
// Convert.
bool inverse = true;
TrackingToolsHelper.ApplyPose(_rVec, _tVec, _targetCameraTransform, inverse);
/*
* Vector3 translation = TrackingToolsHelper.TranslationMatVectorToVector3( _tVec );
* Quaternion rotation = TrackingToolsHelper.RotationMatVectorToQuaternion( _rVec );
* translation = rotation * translation;
*
* // Apply.
* _targetCameraTransform.SetPositionAndRotation( translation, rotation );
*/
// Save.
SaveCircleAnchorPoints();
}
bool DetectAndRaycastCirclePatternOntoChessboardPlane()
{
// Find circle pattern in camera image
Core.bitwise_not(_camTexGrayUndistortMat, _camTexGrayUndistortInvMat); // Invert. We need dark circles on a bright background.
if (!TrackingToolsHelper.FindAsymmetricCirclesGrid(_camTexGrayUndistortInvMat, _circlePatternSize, ref _circlePointsCameraImageMat))
{
return(false);
}
// Draw deteted circles.
TrackingToolsHelper.DrawFoundPattern(_camTexGrayUndistortMat, _circlePatternSize, _circlePointsCameraImageMat);
// Raycast circles against chessboard plane.
_calibrationboardPlane.SetNormalAndPosition(_calibrationBoardTransform.forward, _calibrationBoardTransform.position);
for (int p = 0; p < _circlePatternPointCount; p++)
{
// Tranform from points detected by camera to points in Unity world space.
Vector2 cameraImagePoint = _circlePointsCameraImageMat.ReadVector2(p);
cameraImagePoint.y = _cameraTexture.height - cameraImagePoint.y; // Unity screen space has zero at bottom-left, OpenCV textures has zero at top-left.
Ray ray = _mainCamera.ScreenPointToRay(cameraImagePoint);
float hitDistance;
if (!_calibrationboardPlane.Raycast(ray, out hitDistance))
{
return(false);
}
// For extrinsics calibration (using stereoCalibrate()).
Vector3 worldPoint = ray.origin + ray.direction * hitDistance;
_circlePointsDetectedWorldMat.WriteVector3(worldPoint, p);
// For intrinsics calibration (using calibrateCalmera()).
Vector3 realModelPoint = Quaternion.Inverse(_calibrationBoardTransform.rotation) * (worldPoint - _calibrationBoardTransform.position);
realModelPoint.z = 0; // Remove very small numbers. It seems CalibrateCamera() does not accept varying z values. I got an execption.
realModelPoint *= 1000; // To millimeters
_circlePointsRealModelMat.WriteVector3(realModelPoint, p);
}
return(true);
}
public void SaveToFile(string optionalFileName = null)
{
// If we are in fast and imprecise mode, then detect and update again with higher precision before saving.
if (_fastAndImprecise)
{
TrackingToolsHelper.FindChessboardCorners(_camTexGrayUndistortMat, _chessPatternSize, ref _chessCornersImageMat);
_extrinsicsCalibrator.UpdateExtrinsics(_chessCornersWorldMat, _chessCornersImageMat, _intrinsics, _cameraTexture.width, _cameraTexture.height);
}
if (!_extrinsicsCalibrator.isValid)
{
Debug.LogWarning("Save extrinsics to file failed. No chessboard was found in camera image.\n");
return;
}
if (!string.IsNullOrEmpty(optionalFileName))
{
_extrinsicsFileName = optionalFileName;
}
_extrinsicsCalibrator.extrinsics.SaveToFile(_extrinsicsFileName);
Debug.Log(logPrepend + "Saved extrinsics to file.\n" + _extrinsicsFileName);
}
void Awake()
{
Application.targetFrameRate = 30;
// Check resources.
if (_operationMode == OperationMode.ManualSamlping && !_manualSampleButton)
{
Debug.LogError(logPrepend + "Missing sample button. You must provide a sample button when OperationMode is " + OperationMode.ManualSamlping);
enabled = false;
return;
}
// Load files.
if (!Intrinsics.TryLoadFromFile(_cameraIntrinsicsFileName, out _cameraIntrinsics))
{
enabled = false;
return;
}
// Find shaders.
Shader unlitColorShader = Shader.Find("Unlit/Color");
Shader unlitTextureShader = Shader.Find("Unlit/Texture");
Shader unlitTintedTextureShader = Shader.Find("Unlit/TintedInvertibleTexture");
_sb = new StringBuilder();
// Operation mode dependent things.
_stableSampleCountThreshold = _operationMode == OperationMode.ManualSamlping ? stableFrameCountThresholdForManualSampling : stableFrameCountThresholdForTimedSampling;
if (_manualSampleButton)
{
_manualSampleButton.gameObject.SetActive(_operationMode == OperationMode.ManualSamlping);
_manualSampleButton.interactable = false;
}
// Prepare OpenCV.
_cameraExtrinsicsCalibrator = new CameraExtrinsicsCalibrator();
_projectorExtrinsicsCalibrator = new ProjectorFromCameraExtrinsicsCalibrator();
_noDistCoeffs = new MatOfDouble(new double[] { 0, 0, 0, 0 });
_circlePointsProjectorRenderImageMat = new MatOfPoint2f();
_circlePointsRealModelMat = new MatOfPoint3f();
_circlePointsDetectedWorldMat = new MatOfPoint3f();
_undistortMap1 = new Mat();
_undistortMap2 = new Mat();
// Create patterns.
TrackingToolsHelper.RenderPattern(_chessPatternSize, TrackingToolsHelper.PatternType.Chessboard, 1024, ref _chessPatternTexture, ref _patternRenderMaterial);
// Layers.
int uiLayer = LayerMask.NameToLayer("UI");
int mainCameraLayerMask = LayerMask.GetMask("Default");
int projectorLayer = LayerMask.NameToLayer("TransparentFX");
int projectorLayerMask = LayerMask.GetMask("TransparentFX");
// Objects.
_calibrationBoardTransform = new GameObject("CalibrationBoard").transform;
// Create and prepare UI.
_cameraAspectFitter = _processedCameraImage.GetComponent <AspectRatioFitter>();
if (!_cameraAspectFitter)
{
_cameraAspectFitter = _processedCameraImage.gameObject.AddComponent <AspectRatioFitter>();
}
_cameraAspectFitter.aspectMode = AspectRatioFitter.AspectMode.FitInParent;
_previewMaterial = new Material(Shader.Find(TrackingToolsConstants.previewShaderName));
_processedCameraImage.gameObject.layer = uiLayer;
_processedCameraImage.material = _previewMaterial;
_processedCameraImage.color = Color.white;
_arImage = new GameObject("ARImage").AddComponent <RawImage>();
_arImage.transform.SetParent(_processedCameraImage.transform);
_arImage.transform.SetAsFirstSibling();
_arImage.raycastTarget = false;
_arImage.rectTransform.FitParent();
_arImage.gameObject.layer = uiLayer;
_mainCamera.transform.SetPositionAndRotation(Vector3.zero, Quaternion.identity);
_mainCamera.cullingMask = mainCameraLayerMask;
_projectorCamera.transform.SetPositionAndRotation(Vector3.zero, Quaternion.identity);
_projectorCamera.cullingMask = projectorLayerMask;
_projectorCamera.usePhysicalProperties = false;
_chessPatternTransform = GameObject.CreatePrimitive(PrimitiveType.Quad).transform;
_chessPatternTransform.SetParent(_calibrationBoardTransform);
_chessPatternTransform.name = "Chessboard";
Material chessboardMaterial = new Material(unlitTextureShader);
chessboardMaterial.mainTexture = _chessPatternTexture;
_chessPatternTransform.GetComponent <Renderer>().material = chessboardMaterial;
float chessTileSizeMeters = _chessTileSize * 0.001f;
_chessPatternTransform.localScale = new Vector3((_chessPatternSize.x - 1) * chessTileSizeMeters, (_chessPatternSize.y - 1) * chessTileSizeMeters, 0);
TrackingToolsHelper.UpdateWorldSpacePatternPoints(_chessPatternSize, _chessPatternTransform.localToWorldMatrix, TrackingToolsHelper.PatternType.Chessboard, Vector2.zero, ref _chessCornersWorldMat);
_circlePatternTransform = GameObject.CreatePrimitive(PrimitiveType.Quad).transform;
_circlePatternTransform.name = "Circlesboard";
_circlePatternBoardMaterial = new Material(unlitTintedTextureShader);
_circlePatternTransform.GetComponent <Renderer>().material = _circlePatternBoardMaterial;
_circlePatternTransform.position = Vector3.forward;
_circlePatternTransform.gameObject.layer = projectorLayer;
_precisionDotsContainerObject = TrackingToolsHelper.CreatePrecisionTestDots(_calibrationBoardTransform, projectorLayer, _chessPatternSize, chessTileSizeMeters);
_precisionDotsContainerObject.SetActive(false);
_projectorSampleMeterTransform = GameObject.CreatePrimitive(PrimitiveType.Quad).transform;
_projectorSampleMeterTransform.gameObject.layer = projectorLayer;
_projectorSampleMeterTransform.name = "ProjectorSampleMeter";
_projectorSampleMeterTransform.localScale = new Vector3(_chessPatternTransform.localScale.x, TrackingToolsConstants.precisionTestDotSize, 0);
_projectorSampleMeterTransform.SetParent(_calibrationBoardTransform);
float dotOffsetY = ((_chessPatternSize.y - 4) * 0.5f + 1) * chessTileSizeMeters;
_projectorSampleMeterTransform.localPosition = new Vector3(0, -dotOffsetY - chessTileSizeMeters);
Material sampleMeterMaterial = new Material(unlitColorShader);
_projectorSampleMeterTransform.GetComponent <Renderer>().sharedMaterial = sampleMeterMaterial;
_projectorSampleMeterTransform.gameObject.SetActive(false);
_intrinsicsErrorText.gameObject.SetActive(false);
_extrinsicsErrorText.gameObject.SetActive(false);
_saveButton.gameObject.SetActive(false);
_undoSampleButton.gameObject.SetActive(false);
_screenBorderMaterial = new Material(unlitColorShader);
_circlePatternToWorldPrevFrame = Matrix4x4.identity;
_previewFlasher = new MaterialPropFlasher(_previewMaterial, "_Whiteout", TrackingToolsConstants.flashDuration);
UpdateSampleCounterUI();
// Subscribe.
_circlePatternScaleSlider.onValueChanged.AddListener(( float v ) => _manualCirclePatternTransformationRequested = true); //OnCirclePatternScaleSliderChanged );
_circlePatternOffsetXSlider.onValueChanged.AddListener(( float v ) => _manualCirclePatternTransformationRequested = true);
_circlePatternOffsetYSlider.onValueChanged.AddListener(( float v ) => _manualCirclePatternTransformationRequested = true);
_saveButton.onClick.AddListener(SaveToFiles);
_undoSampleButton.onClick.AddListener(UndoSample);
if (_manualSampleButton)
{
_manualSampleButton.onClick.AddListener(() => _sampleManuallyRequested = true);;
}
}
void Update()
{
if (!_cameraTexture || !_dirtyCameraTexture)
{
return;
}
if (!AdaptResources())
{
return;
}
// Update mat texture (If the textyre looks right in Unity, it needs to be flipped for OpenCV.)
TrackingToolsHelper.TextureToMat(_cameraTexture, !_flipCameraTexture, ref _camTexMat, ref _tempTransferColors, ref _tempTransferTexture);
// Convert to grayscale if more than one channel, else copy (and convert bit rate if necessary).
TrackingToolsHelper.ColorMatToLumanceMat(_camTexMat, _camTexGrayMat);
// Undistort (TODO: move undistortion to GPU as last step and work on distorted image instead).
//Calib3d.undistort( _camTexGrayMat, _camTexGrayUndistortMat, _sensorMat, _distortionCoeffsMat );
Imgproc.remap(_camTexGrayMat, _camTexGrayUndistortMat, _undistortMap1, _undistortMap2, Imgproc.INTER_LINEAR);
// Find chessboard.
bool foundBoard = TrackingToolsHelper.FindChessboardCorners(_camTexGrayUndistortMat, _chessPatternSize, ref _chessCornersImageMat, _fastAndImprecise);
if (foundBoard)
{
// Draw chessboard.
TrackingToolsHelper.DrawFoundPattern(_camTexGrayUndistortMat, _chessPatternSize, _chessCornersImageMat);
// Update and apply extrinsics.
bool foundExtrinsics = _extrinsicsCalibrator.UpdateExtrinsics(_chessCornersWorldMat, _chessCornersImageMat, _intrinsics, _cameraTexture.width, _cameraTexture.height);
if (foundExtrinsics)
{
if (_tranformPattern)
{
_extrinsicsCalibrator.extrinsics.ApplyToTransform(_chessPatternTransform, _applyRelative ? _mainCamera.transform : null, _tranformPattern);
if (!_applyRelative)
{
_mainCamera.transform.SetPositionAndRotation(Vector3.zero, Quaternion.identity);
}
}
else
{
_extrinsicsCalibrator.extrinsics.ApplyToTransform(_mainCamera.transform, _applyRelative ? _chessPatternTransform : null);
if (!_applyRelative)
{
_chessPatternTransform.SetPositionAndRotation(Vector3.zero, Quaternion.identity);
}
}
}
_arImage.gameObject.SetActive(foundExtrinsics);
}
else
{
_arImage.gameObject.SetActive(false);
}
// UI.
Utils.fastMatToTexture2D(_camTexGrayUndistortMat, _processedCameraTexture); // Flips vertically by default
if (_precisionDotsContainerObject.activeSelf != _testPrecisionDotsEnabled)
{
_precisionDotsContainerObject.SetActive(_testPrecisionDotsEnabled);
}
_dirtyCameraTexture = false;
}
