void OnReceivedCalibration(K4A.CalibrationType calibrationType, K4A.Calibration calibration)
{
Debug.Log("CalibrationType: " + calibrationType);
K4A.CalibrationCamera depthCalibrationCamera = calibration.DepthCameraCalibration;
K4A.CalibrationCamera colorCalibrationCamera = calibration.ColorCameraCalibration;
Debug.Log("Calibration.DepthImage: " + depthCalibrationCamera.resolutionWidth + "x" + depthCalibrationCamera.resolutionHeight);
Debug.Log("Calibration.ColorImage: " + colorCalibrationCamera.resolutionWidth + "x" + colorCalibrationCamera.resolutionHeight);
_PointCloudRenderer.GenerateMesh(calibration, calibrationType);
}
private K4A.CalibrationCamera CreateCalibrationCamera(CameraCalibration cameraCalibration, int width, int height)
{
K4A.CalibrationCamera calibrationCamera = new K4A.CalibrationCamera();
float[] intrinsicsParameters = cameraCalibration.Intrinsics.Parameters;
Extrinsics extrinsics = cameraCalibration.Extrinsics;
calibrationCamera.resolutionWidth = width;
calibrationCamera.resolutionHeight = height;
calibrationCamera.metricRadius = cameraCalibration.MetricRadius;
calibrationCamera.intrinsics.cx = intrinsicsParameters[0];
calibrationCamera.intrinsics.cy = intrinsicsParameters[1];
calibrationCamera.intrinsics.fx = intrinsicsParameters[2];
calibrationCamera.intrinsics.fy = intrinsicsParameters[3];
calibrationCamera.intrinsics.k1 = intrinsicsParameters[4];
calibrationCamera.intrinsics.k2 = intrinsicsParameters[5];
calibrationCamera.intrinsics.k3 = intrinsicsParameters[6];
calibrationCamera.intrinsics.k4 = intrinsicsParameters[7];
calibrationCamera.intrinsics.k5 = intrinsicsParameters[8];
calibrationCamera.intrinsics.k6 = intrinsicsParameters[9];
calibrationCamera.intrinsics.codx = intrinsicsParameters[10];
calibrationCamera.intrinsics.cody = intrinsicsParameters[11];
calibrationCamera.intrinsics.p2 = intrinsicsParameters[12]; // p2: tangential distortion coefficient y
calibrationCamera.intrinsics.p1 = intrinsicsParameters[13]; // p1: tangential distortion coefficient x
calibrationCamera.intrinsics.metricRadius = intrinsicsParameters[14];
calibrationCamera.extrinsics.rotation[0][0] = extrinsics.Rotation[0];
calibrationCamera.extrinsics.rotation[0][1] = extrinsics.Rotation[1];
calibrationCamera.extrinsics.rotation[0][2] = extrinsics.Rotation[2];
calibrationCamera.extrinsics.rotation[1][0] = extrinsics.Rotation[3];
calibrationCamera.extrinsics.rotation[1][1] = extrinsics.Rotation[4];
calibrationCamera.extrinsics.rotation[1][2] = extrinsics.Rotation[5];
calibrationCamera.extrinsics.rotation[2][0] = extrinsics.Rotation[6];
calibrationCamera.extrinsics.rotation[2][1] = extrinsics.Rotation[7];
calibrationCamera.extrinsics.rotation[2][2] = extrinsics.Rotation[8];
calibrationCamera.extrinsics.translation[0] = extrinsics.Translation[0];
calibrationCamera.extrinsics.translation[1] = extrinsics.Translation[1];
calibrationCamera.extrinsics.translation[2] = extrinsics.Translation[2];
return(calibrationCamera);
}
K4A.CalibrationCamera CreateCalibrationCamera(CameraCalibration cameraCalibration, int width, int height)
{
K4A.CalibrationCamera calibrationCamera = new K4A.CalibrationCamera();
float[] intrinsicsParameters = cameraCalibration.Intrinsics.Parameters;
Extrinsics extrinsics = cameraCalibration.Extrinsics;
calibrationCamera.resolutionWidth = width;
calibrationCamera.resolutionHeight = height;
calibrationCamera.metricRadius = cameraCalibration.MetricRadius;
calibrationCamera.intrinsics.cx = intrinsicsParameters[0];
calibrationCamera.intrinsics.cy = intrinsicsParameters[1];
calibrationCamera.intrinsics.fx = intrinsicsParameters[2];
calibrationCamera.intrinsics.fy = intrinsicsParameters[3];
calibrationCamera.intrinsics.k1 = intrinsicsParameters[4];
calibrationCamera.intrinsics.k2 = intrinsicsParameters[5];
calibrationCamera.intrinsics.k3 = intrinsicsParameters[6];
calibrationCamera.intrinsics.k4 = intrinsicsParameters[7];
calibrationCamera.intrinsics.k5 = intrinsicsParameters[8];
calibrationCamera.intrinsics.k6 = intrinsicsParameters[9];
calibrationCamera.intrinsics.codx = intrinsicsParameters[10];
calibrationCamera.intrinsics.cody = intrinsicsParameters[11];
calibrationCamera.intrinsics.p2 = intrinsicsParameters[12]; // p2: tangential distortion coefficient y
calibrationCamera.intrinsics.p1 = intrinsicsParameters[13]; // p1: tangential distortion coefficient x
calibrationCamera.intrinsics.metricRadius = intrinsicsParameters[14];
calibrationCamera.extrinsics.rotation[0][0] = extrinsics.Rotation[0];
calibrationCamera.extrinsics.rotation[0][1] = extrinsics.Rotation[1];
calibrationCamera.extrinsics.rotation[0][2] = extrinsics.Rotation[2];
calibrationCamera.extrinsics.rotation[1][0] = extrinsics.Rotation[3];
calibrationCamera.extrinsics.rotation[1][1] = extrinsics.Rotation[4];
calibrationCamera.extrinsics.rotation[1][2] = extrinsics.Rotation[5];
calibrationCamera.extrinsics.rotation[2][0] = extrinsics.Rotation[6];
calibrationCamera.extrinsics.rotation[2][1] = extrinsics.Rotation[7];
calibrationCamera.extrinsics.rotation[2][2] = extrinsics.Rotation[8];
calibrationCamera.extrinsics.translation[0] = extrinsics.Translation[0];
calibrationCamera.extrinsics.translation[1] = extrinsics.Translation[1];
calibrationCamera.extrinsics.translation[2] = extrinsics.Translation[2];
// Debug.Log("***** Camera parameters *****");
// Debug.Log(" Intrinsics.cx: " + calibrationCamera.intrinsics.cx);
// Debug.Log(" Intrinsics.cy: " + calibrationCamera.intrinsics.cy);
// Debug.Log(" Intrinsics.fx: " + calibrationCamera.intrinsics.fx);
// Debug.Log(" Intrinsics.fy: " + calibrationCamera.intrinsics.fy);
// Debug.Log(" Intrinsics.k1: " + calibrationCamera.intrinsics.k1);
// Debug.Log(" Intrinsics.k2: " + calibrationCamera.intrinsics.k2);
// Debug.Log(" Intrinsics.k3: " + calibrationCamera.intrinsics.k3);
// Debug.Log(" Intrinsics.k4: " + calibrationCamera.intrinsics.k4);
// Debug.Log(" Intrinsics.k5: " + calibrationCamera.intrinsics.k5);
// Debug.Log(" Intrinsics.k6: " + calibrationCamera.intrinsics.k6);
// Debug.Log(" Intrinsics.codx: " + calibrationCamera.intrinsics.codx);
// Debug.Log(" Intrinsics.cody: " + calibrationCamera.intrinsics.cody);
// Debug.Log(" Intrinsics.p2: " + calibrationCamera.intrinsics.p2);
// Debug.Log(" Intrinsics.p1: " + calibrationCamera.intrinsics.p1);
// Debug.Log(" Intrinsics.metricRadius: " + calibrationCamera.intrinsics.metricRadius);
// Debug.Log(" MetricRadius: " + calibrationCamera.metricRadius);
// Debug.Log("*****************************");
// for (int i = 0; i < extrinsics.Rotation.Length; i++)
// {
// Debug.Log(" Extrinsics.R[" + i + "]: " + extrinsics.Rotation[i]);
// }
// for (int i = 0; i < extrinsics.Translation.Length; i++)
// {
// Debug.Log(" Extrinsics.T[" + i + "]: " + extrinsics.Translation[i]);
// }
// extrinsics = deviceDepthCameraCalibration.Extrinsics;
// for (int i = 0; i < extrinsics.Rotation.Length; i++)
// {
// Debug.Log(" Extrinsics.R[" + i + "]: " + extrinsics.Rotation[i]);
// }
// for (int i = 0; i < extrinsics.Translation.Length; i++)
// {
// Debug.Log(" Extrinsics.T[" + i + "]: " + extrinsics.Translation[i]);
// }
return(calibrationCamera);
}
