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 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);;
}
}