protected override void CheckIfDetectedMarkers()
{
base.CheckIfDetectedMarkers();
for (int i = 0; i < ids.Length; i++)
{
Cv2.CornerSubPix(grayedImg, corners[i], new Size(5, 5), new Size(-1, -1), TermCriteria.Both(30, 0.1));
if (!MarkerManager.IsMarkerRegistered(ids[i]))
{
continue;
}
MarkerBehaviour m = MarkerManager.GetMarker(ids[i]);
if (!allDetectedMarkers.ContainsKey(ids[i]))
{
m.OnMarkerDetected.Invoke();
allDetectedMarkers.Add(m.GetMarkerID(), m);
}
// m.UpdateMarker(img.Cols, img.Rows, corners[i], rejectedImgPoints[i]);
m.UpdateMarker(corners[i], calibrationData.GetCameraMatrix(),
calibrationData.GetDistortionCoefficients(), grayedImg);
}
}
protected override void CheckIfDetectedMarkers()
{
base.CheckIfDetectedMarkers();
for (int i = 0; i < ids.Length; i++)
{
Cv2.CornerSubPix(grayedImg, corners[i], new Size(5, 5), new Size(-1, -1), TermCriteria.Both(30, 0.1));
if (!MarkerManager.IsMarkerRegistered(ids[i]))
{
continue;
}
MarkerBehaviour m = MarkerManager.GetMarker(ids[i]);
if (!allDetectedMarkers.ContainsKey(ids[i]))
{
Debug.Log("FOUND MARKER: " + m.GetMarkerID());
m.OnMarkerDetected.Invoke();
allDetectedMarkers.Add(m.GetMarkerID(), m);
}
float rotZ = 0;
switch (Screen.orientation)
{
case ScreenOrientation.Portrait:
rotZ = 90;
break;
case ScreenOrientation.LandscapeLeft:
rotZ = 180;
break;
case ScreenOrientation.LandscapeRight:
rotZ = 0;
break;
case ScreenOrientation.PortraitUpsideDown:
rotZ = -90;
break;
}
if (!UseCustomCalibration)
{
cameraManager.TryGetIntrinsics(out cameraIntrinsics);
m.UpdateMarker(corners[i], cameraIntrinsics, grayedImg, Vector3.forward * rotZ);
}
else
{
m.UpdateMarker(corners[i], calibrationData.GetCameraMatrix(), calibrationData.GetDistortionCoefficients(), grayedImg, Vector3.forward * rotZ);
}
}
}
//Calibrates the scene camera based on web cam calibration data
void Calibrate()
{
float width = currentRectSize.x;
float height = currentRectSize.y;
float imgScale = 1.0f;
//Do nothing if the texture is wrong
if (width <= 0 || height <= 0)
{
return;
}
//Get the screen/texture ratios
float widthScale = (float)Screen.width / width;
float heightScale = (float)Screen.height / height;
float aspect = 1;
Size imgSize;
//Get the aspect ratio
if (widthScale < heightScale)
{
aspect = heightScale;
imgSize = new Size(width, height);
}
else
{
float k = (float)Screen.height / (float)Screen.width;
imgSize = new Size(width, width * k);
aspect = widthScale;
}
//scale to fit the aspect ratio
outputImage.transform.localScale = new UnityEngine.Vector3(aspect, aspect, 1);
//prepare the data for the calibration
int maxSize = (int)Mathf.Max(width, height);
double fx = maxSize;
double fy = maxSize;
//Principal Point
double cx = width / 2;
double cy = height / 2;
double[,] cameraMatrix = new Double[3, 3];
cameraMatrix = calibrationData.GetCameraMatrix(ref cameraMatrix);
double apertureWidth = 0;
double apertureHeight = 0;
double fovx = -1;
double fovy = -1;
double focalLength = -1;
Point2d principalPoint = new Point(0, 0);
double aspectratio = -1;
//Do the camera calibration
Cv2.CalibrationMatrixValues(cameraMatrix, imgSize, apertureWidth, apertureHeight,
out fovx, out fovy, out focalLength, out principalPoint, out aspectratio);
fx = cameraMatrix[0, 0];
fy = cameraMatrix[1, 1];
cx = cameraMatrix[0, 2];
cy = cameraMatrix[1, 2];
//Get the fov scale
double fovYScale = (2.0 * Mathf.Atan((float)(imgSize.Height / (2.0 * fy)))) / (Mathf.Atan2((float)cy, (float)fy) + Mathf.Atan2((float)(imgSize.Height - cy), (float)fy));
arCam.fieldOfView = (float)fovy * (float)fovYScale;
}