void ReadCalibrationFile()
{
StreamReader reader = null;
try {
reader = new StreamReader(CalibrationFilePath);
XmlSerializer serializer = new XmlSerializer(typeof(ArucoCameraParameters));
ArucoCameraParameters camCalibration = serializer.Deserialize(reader) as ArucoCameraParameters;
// Populate non-serialized properties
camCalibration.CameraMatrices = CreateProperty(camCalibration.CameraMatricesType, camCalibration.CameraMatricesValues);
camCalibration.DistCoeffs = CreateProperty(camCalibration.DistCoeffsType, camCalibration.DistCoeffsValues);
camCalibration.OmnidirXis = CreateProperty(camCalibration.OmnidirXisType, camCalibration.OmnidirXisValues);
StartCoroutine(GetOptimalCameraMatrix(camCalibration));
} catch (Exception ex) {
throw new ArgumentException("Couldn't load the camera parameters file path '" + CalibrationFilePath + ". ",
"cameraParametersFilePath", ex);
} finally {
if (reader != null)
{
reader.Close();
}
}
}
void SetCameraMatrixValues(ArucoCameraParameters camCalibration, float3x3 inputMatrix)
{
undistortMat.SetVector("_InverseMatrix", new Vector4(inputMatrix[0][0], inputMatrix[2][0], inputMatrix[2][1], 0));
undistortMat.SetFloat("_F1", (float)camCalibration.CameraMatricesValues[0][0][0]);
undistortMat.SetFloat("_F2", (float)camCalibration.CameraMatricesValues[0][1][1]);
undistortMat.SetFloat("_OX", (float)camCalibration.CameraMatricesValues[0][0][2]);
undistortMat.SetFloat("_OY", (float)camCalibration.CameraMatricesValues[0][1][2]);
undistortMat.SetFloat("_S", (float)camCalibration.CameraMatricesValues[0][0][1]);
undistortMat.SetFloat("_K1", (float)camCalibration.DistCoeffsValues[0][0][0]);
undistortMat.SetFloat("_K2", (float)camCalibration.DistCoeffsValues[0][0][1]);
undistortMat.SetFloat("_P1", (float)camCalibration.DistCoeffsValues[0][0][2]);
undistortMat.SetFloat("_P2", (float)camCalibration.DistCoeffsValues[0][0][3]);
undistortMat.SetFloat("_Omni", (float)camCalibration.OmnidirXisValues[0][0][0]);
}
IEnumerator GetOptimalCameraMatrix(ArucoCameraParameters camCalibration)
{
//get dimensions of camera image
Cv.Size imageSize = new Cv.Size(camCalibration.ImageWidths[0], camCalibration.ImageHeights[0]);
//wait a frame before reading FOV incase another source is resetting it (i.e. VR SDK)
yield return(new WaitForEndOfFrame());
//convert Unity FOV to openCV friendly version
float cameraFocalLength = imageSize.Height / (2f * Mathf.Tan(0.5f * viewingCamera.fieldOfView * Mathf.Deg2Rad));
//this is what normally gets passed to opencv function initUndistortRectifyMap()
float3x3 rectifiedCamMatrices = new float3x3(cameraFocalLength, 0, (float)imageSize.Width / 2,
0, cameraFocalLength, (float)imageSize.Height / 2,
0, 0, 1);
//we get the inverse here rather than doing it in shader since we only have to do it once
float3x3 inputMatrix = math.inverse(rectifiedCamMatrices);
SetCameraMatrixValues(camCalibration, inputMatrix);
}
