/// <summary>
/// Raises the webcam texture to mat helper initialized event.
/// </summary>
public void OnWebCamTextureToMatHelperInitialized()
{
Debug.Log("OnWebCamTextureToMatHelperInitialized");
Mat webCamTextureMat = webCamTextureToMatHelper.GetMat();
InitializeCalibraton(webCamTextureMat);
// if WebCamera is frontFaceing, flip Mat.
if (webCamTextureToMatHelper.GetWebCamDevice().isFrontFacing)
{
webCamTextureToMatHelper.flipHorizontal = true;
}
}
/// <summary>
/// Raises the web cam texture to mat helper initialized event.
/// </summary>
public void OnWebCamTextureToMatHelperInitialized()
{
Debug.Log("OnWebCamTextureToMatHelperInitialized");
Mat rawSizeMat = webCamTextureToMatHelper.GetMat();
float rawSizeWidth = rawSizeMat.width();
float rawSizeHeight = rawSizeMat.height();
Mat webCamTextureMat = imageOptimizationHelper.GetDownScaleMat(rawSizeMat);
Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
float width = webCamTextureMat.width();
float height = webCamTextureMat.height();
texture = new Texture2D((int)width, (int)height, TextureFormat.RGB24, false);
previewQuad.GetComponent <MeshRenderer>().material.mainTexture = texture;
previewQuad.transform.localScale = new Vector3(1, height / width, 1);
previewQuad.SetActive(displayCameraPreview);
// set camera parameters.
double fx;
double fy;
double cx;
double cy;
string loadDirectoryPath = Path.Combine(Application.persistentDataPath, "HoloLensArUcoCameraCalibrationExample");
string calibratonDirectoryName = "camera_parameters" + rawSizeWidth + "x" + rawSizeHeight;
string loadCalibratonFileDirectoryPath = Path.Combine(loadDirectoryPath, calibratonDirectoryName);
string loadPath = Path.Combine(loadCalibratonFileDirectoryPath, calibratonDirectoryName + ".xml");
if (useStoredCameraParameters && File.Exists(loadPath))
{
CameraParameters param;
XmlSerializer serializer = new XmlSerializer(typeof(CameraParameters));
using (var stream = new FileStream(loadPath, FileMode.Open)) {
param = (CameraParameters)serializer.Deserialize(stream);
}
fx = param.camera_matrix[0];
fy = param.camera_matrix[4];
cx = param.camera_matrix[2] / imageOptimizationHelper.downscaleRatio;
cy = param.camera_matrix[5] / imageOptimizationHelper.downscaleRatio;
camMatrix = new Mat(3, 3, CvType.CV_64FC1);
camMatrix.put(0, 0, fx);
camMatrix.put(0, 1, 0);
camMatrix.put(0, 2, cx);
camMatrix.put(1, 0, 0);
camMatrix.put(1, 1, fy);
camMatrix.put(1, 2, cy);
camMatrix.put(2, 0, 0);
camMatrix.put(2, 1, 0);
camMatrix.put(2, 2, 1.0f);
distCoeffs = new MatOfDouble(param.GetDistortionCoefficients());
Debug.Log("Loaded CameraParameters from a stored XML file.");
Debug.Log("loadPath: " + loadPath);
}
else
{
fx = this.fx;
fy = this.fy;
cx = this.cx / imageOptimizationHelper.downscaleRatio;
cy = this.cy / imageOptimizationHelper.downscaleRatio;
camMatrix = new Mat(3, 3, CvType.CV_64FC1);
camMatrix.put(0, 0, fx);
camMatrix.put(0, 1, 0);
camMatrix.put(0, 2, cx);
camMatrix.put(1, 0, 0);
camMatrix.put(1, 1, fy);
camMatrix.put(1, 2, cy);
camMatrix.put(2, 0, 0);
camMatrix.put(2, 1, 0);
camMatrix.put(2, 2, 1.0f);
distCoeffs = new MatOfDouble(this.distCoeffs1, this.distCoeffs2, this.distCoeffs3, this.distCoeffs4, this.distCoeffs5);
Debug.Log("Created a dummy CameraParameters.");
}
Debug.Log("camMatrix " + camMatrix.dump());
Debug.Log("distCoeffs " + distCoeffs.dump());
//Calibration camera
Size imageSize = new Size(width, height);
double apertureWidth = 0;
double apertureHeight = 0;
double[] fovx = new double[1];
double[] fovy = new double[1];
double[] focalLength = new double[1];
Point principalPoint = new Point(0, 0);
double[] aspectratio = new double[1];
Calib3d.calibrationMatrixValues(camMatrix, imageSize, apertureWidth, apertureHeight, fovx, fovy, focalLength, principalPoint, aspectratio);
Debug.Log("imageSize " + imageSize.ToString());
Debug.Log("apertureWidth " + apertureWidth);
Debug.Log("apertureHeight " + apertureHeight);
Debug.Log("fovx " + fovx [0]);
Debug.Log("fovy " + fovy [0]);
Debug.Log("focalLength " + focalLength [0]);
Debug.Log("principalPoint " + principalPoint.ToString());
Debug.Log("aspectratio " + aspectratio [0]);
// Display objects near the camera.
arCamera.nearClipPlane = 0.01f;
grayMat = new Mat();
ids = new Mat();
corners = new List <Mat> ();
rejectedCorners = new List <Mat> ();
rvecs = new Mat();
tvecs = new Mat();
rotMat = new Mat(3, 3, CvType.CV_64FC1);
transformationM = new Matrix4x4();
invertYM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
Debug.Log("invertYM " + invertYM.ToString());
invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
Debug.Log("invertZM " + invertZM.ToString());
detectorParams = DetectorParameters.create();
dictionary = Aruco.getPredefinedDictionary(Aruco.DICT_6X6_250);
//If WebCamera is frontFaceing,flip Mat.
if (webCamTextureToMatHelper.GetWebCamDevice().isFrontFacing)
{
webCamTextureToMatHelper.flipHorizontal = true;
}
downScaleFrameMat = new Mat((int)height, (int)width, CvType.CV_8UC4);
rgbMat4preview = new Mat();
}
