public ScanWorkPacket(Vector3 centerOfVoxelBlob, ScanningCamera c)
{
image = new BitArray(c.mostRecentImage);
width = c.imageWidth;
height = c.imageHeight;
position = c.worldPosition + centerOfVoxelBlob;
cameraIntrinsics = c.intrinsics.ToArray();
worldToCameraRotation = c.worldToCameraRotation.ToArray();
worldToCameraTranslation = c.worldToCameraTranslation.ToArray();
}
void SaveIntrinsics(string cameraPosition, ScanningCamera aCam)
{
for (int i = 0; i < 3; i++)
{
PlayerPrefs.SetFloat(cameraPosition + kTranslation + i,
aCam.worldToCameraTranslation[i, 0]);
for (int j = 0; j < 3; j++)
{
PlayerPrefs.SetFloat(cameraPosition + kRotation + i + j,
aCam.worldToCameraRotation[i, j]);
PlayerPrefs.SetFloat(cameraPosition + kIntrinsics + i + j,
aCam.intrinsics[i, j]);
}
}
}
void LoadIntrinsics(string cameraPosition, ScanningCamera aCam)
{
aCam.worldToCameraTranslation = new Matrix(3, 1);
aCam.worldToCameraRotation = new Matrix(3, 3);
aCam.intrinsics = new Matrix(3, 3);
for (int i = 0; i < 3; i++)
{
aCam.worldToCameraTranslation[i, 0] = PlayerPrefs.GetFloat(
cameraPosition + kTranslation + i);
for (int j = 0; j < 3; j++)
{
aCam.worldToCameraRotation[i, j] = PlayerPrefs.GetFloat(
cameraPosition + kRotation + i + j);
aCam.intrinsics[i, j] = PlayerPrefs.GetFloat(
cameraPosition + kIntrinsics + i + j);
}
}
}
/// <summary>
/// Moves the printer to multiple locations so that the chosen camera can find the calibration points
/// and eventually calibrate itself
/// </summary>
/// <returns>The calibration points and calibrate.</returns>
/// <param name="aCamera">A camera.</param>
/// <param name="verticalPosition">Vertical position.</param>
IEnumerator FindCalibrationPointsAndCalibrate(ScanningCamera aCamera,
float verticalPosition)
{
yield return(Scheduler.StartCoroutine(aCamera.StartCapturing()));
scanningView.renderer.material.mainTexture = aCamera.webcamImage;
yield return(Scheduler.StartCoroutine(aCamera.TakePicture()));
while (!aCamera.AddPointsFromChessboardPicture(verticalPosition))
{
Text.Warning("Attempting to find chessboard in another picture...");
yield return(Scheduler.StartCoroutine(aCamera.TakePicture()));
}
int picturesToTake = Mathf.FloorToInt(ScanningCamera.kNumberOfPicturesPerCameraMm / ScanningCamera.kCalibrationVertMoveMm) - 1;
for (int i = 0; i < picturesToTake; ++i)
{
// Move to next position
pc.BeginMotorChanges(m_workingPrinter);
pc.MoveVerticallyBy(-ScanningCamera.kCalibrationVertMoveMm, Change.Execute);
pc.EndMotorChanges();
verticalPosition += ScanningCamera.kCalibrationVertMoveMm;
yield return(Scheduler.StartCoroutine(pc.WaitUntilDoneMoving()));
yield return(new WaitSeconds(1f));
yield return(Scheduler.StartCoroutine(aCamera.TakePicture()));
while (!aCamera.AddPointsFromChessboardPicture(verticalPosition))
{
yield return(Scheduler.StartCoroutine(aCamera.TakePicture()));
}
yield return(null);
}
aCamera.Stop();
yield return(Scheduler.StartCoroutine(aCamera.CalibratePosition()));
}
