public void CodeCameraExtrinsics(ref CameraExtrinsics v)
{
var rotation = default(M33d); var translation = default(V3d);
CodeM33d(ref rotation); CodeV3d(ref translation);
v = new CameraExtrinsics(rotation, translation);
}
public void CodeCameraExtrinsics(ref CameraExtrinsics v)
{
var rotation = v.Rotation; var translation = v.Translation;
CodeM33d(ref rotation); CodeV3d(ref translation);
}
/// <summary>
/// Assesses the provided image for ArUco markers
/// </summary>
/// <param name="imageData"></param>
/// <param name="imageWidth"></param>
/// <param name="imageHeight"></param>
/// <param name="pixelFormat"></param>
/// <param name="intrinsics"></param>
/// <param name="extrinsics"></param>
/// <returns></returns>
public Dictionary <int, Marker> ProcessImage(
byte[] imageData,
uint imageWidth,
uint imageHeight,
PixelFormat pixelFormat,
CameraIntrinsics intrinsics,
CameraExtrinsics extrinsics)
{
var dictionary = new Dictionary <int, Marker>();
if (!IsInitialized)
{
Debug.LogError("Process image called but SpectatorViewPlugin.dll did not initialize correctly");
return(dictionary);
}
if (!IsValidPixelFormat(pixelFormat))
{
Debug.LogError("Error: SpectatorViewPlugin.dll expects BGRA pixel format, actual pixel format: " + pixelFormat.ToString());
return(dictionary);
}
var focalLength = new float[2];
focalLength[0] = intrinsics.FocalLength.x;
focalLength[1] = intrinsics.FocalLength.y;
var principalPoint = new float[2];
principalPoint[0] = intrinsics.PrincipalPoint.x;
principalPoint[1] = intrinsics.PrincipalPoint.y;
var radialDistortion = new float[3];
radialDistortion[0] = intrinsics.RadialDistortion.x;
radialDistortion[1] = intrinsics.RadialDistortion.y;
radialDistortion[2] = intrinsics.RadialDistortion.z;
var tangentialDistortion = new float[2];
tangentialDistortion[0] = intrinsics.TangentialDistortion.x;
tangentialDistortion[1] = intrinsics.TangentialDistortion.y;
if (DetectMarkersNative(
imageData,
(int)imageWidth,
(int)imageHeight,
focalLength,
principalPoint,
radialDistortion,
tangentialDistortion,
_markerSize,
_arucoDictionaryId))
{
int count = GetDetectedMarkersCountNative();
if (count > 0)
{
var ids = new int[count];
if (GetDetectedMarkerIdsNative(ids, ids.Length))
{
var cameraToWorldMatrix = extrinsics.ViewFromWorld;
for (int i = 0; i < ids.Length; i++)
{
var id = ids[i];
var position = new float[3];
var rotation = new float[3];
if (GetDetectedMarkerPoseNative(id, position, rotation))
{
Vector3 positionInOpenCVCameraSpace = new Vector3(position[0], -position[1], position[2]);
// The below logic ensures the following marker orientation:
// Positive x axis is in the left direction of the observed marker
// Positive y axis is in the upward direction of the observed marker
// Positive z axis is facing outward from the observed marker
Vector3 rodriguesVector = new Vector3(rotation[0], rotation[1], rotation[2]);
Marker marker = CreateMarkerFromPositionAndRotation(id, positionInOpenCVCameraSpace, rodriguesVector, cameraToWorldMatrix);
Debug.Log("Marker detected: " + marker.ToString());
dictionary[id] = marker;
}
else
{
Debug.LogError("Unable to obtain pose for marker: " + id);
}
}
}
else
{
Debug.LogWarning("Unable to obtain marker ids");
}
}
}
else
{
Debug.LogError("Unable to detect markers");
}
return(dictionary);
}
public void Write(CameraExtrinsics c)
{
Write(c.Rotation); Write(c.Translation);
}
public static extern Result ovr_SetExternalCameraProperties(ovrSession session, String name, ref CameraIntrinsics intrinsics, ref CameraExtrinsics extrinsics);
public void CodeCameraExtrinsics(ref CameraExtrinsics v)
{
throw new NotSupportedException("cannot serialize single camera");
}
