/// <summary>
/// Constructs the calibration parameters object.
/// No calibration data is guaranteed until the DLL which supplies the data does.
/// </summary>
private void ConstructCalibrationParameters(MetaFactoryPackage package)
{
CalibrationParameters pars = new CalibrationParameters(new CalibrationParameterLoaderAdditionalMatrices());
package.MetaContext.Add(pars);
package.EventReceivers.Add(pars);
}
private void ImportCameraModel()
{
CalibrationParameters pars = metaContext.Get <CalibrationParameters>();
if (pars.Profiles.ContainsKey(_key)) //check if the dict has the key for the calibration you're after.
{
CalibrationProfile profile = pars.Profiles[_key]; //get the calibration
_cameraModel = profile.CameraModel;
UpdateParameters();
}
}
/// <summary>
/// Register when Calibration parameters are ready
/// </summary>
private void Start()
{
_poseMatrix = Matrix4x4.identity;
//Get the module from the metaContext
CalibrationParameters pars = metaContext.Get <CalibrationParameters>();
if (pars != null) //the metaContext may not have the module if it was not loaded correctly.
{
//Will be called when the parameters have been loaded.
pars.OnParametersReady += CalibratePose;
}
}
/// <summary>
/// Accesses the context and registers the parameter fetching delegate.
/// </summary>
private void Start()
{
SetOpenGLMatrix();
//Get the module from the metaContext
CalibrationParameters pars = metaContext.Get <CalibrationParameters>();
if (pars != null) //the metaContext may not have the module if it was not loaded correctly.
{
//Will be called when the parameters have been loaded.
pars.OnParametersReady += ImportCameraModel;
}
}
/// <summary>
/// Import the Pose from Calibration Parameters
/// </summary>
public void CalibratePose()
{
CalibrationParameters pars = metaContext.Get <CalibrationParameters>();
// Remove from event
pars.OnParametersReady -= CalibratePose;
if (pars.Profiles.ContainsKey(_key)) //check if the dict has the key for the calibration you're after.
{
CalibrationProfile profile = pars.Profiles[_key]; //get the calibration
_poseMatrix = profile.RelativePose;
UpdatePose();
}
}
public Dictionary <string, CalibrationProfile> Load()
{
_delay--;
if (_delay > 0)
{
return(null);
}
string jsonString = "[{\"relative_pose\": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], \"name\": \"rbg0\", \"camera_model\": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]}, {\"relative_pose\": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], \"name\": \"rbg1\", \"camera_model\": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]}, {\"relative_pose\": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], \"name\": \"rbg2\", \"camera_model\": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]}, {\"relative_pose\": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], \"name\": \"rbg3\", \"camera_model\": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]}, {\"relative_pose\": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], \"name\": \"rbg4\", \"camera_model\": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]}]";
var JsonRootNode = JSON.Parse(jsonString);
var nodes = JsonRootNode.AsArray;
Dictionary <string, CalibrationProfile> profiles = new Dictionary <string, CalibrationProfile>();
int nodeCounter = 0;
foreach (JSONNode n in nodes)
{
string name = null;
try
{
name = n["name"];
double[] relativePose = n["relative_pose"].AsArray.Childs.Select(d => Double.Parse(d)).ToArray();
//double[] cameraModel = n["camera_model"].AsArray.Childs.Select(d => Double.Parse(d)).ToArray();
profiles.Add(name, new CalibrationProfile { /*CameraModel = cameraModel,*/
RelativePose = CalibrationParameters.MatrixFromArray(relativePose)
});
}
catch
{
if (name != null)
{
Debug.LogError(string.Format("CalibrationParameter parsing error: node named '{0}' was not formatted correctly.", name));
}
else
{
Debug.LogError(string.Format("CalibrationParameter parsing error: node {0} was not formatted correctly.", nodeCounter));
}
}
nodeCounter++;
}
return(profiles);
}
public virtual Dictionary <string, CalibrationProfile> Load()
{
string jsonString = ParseDllInput();
if (jsonString == null)
{
return(null);
}
var JsonRootNode = JSON.Parse(jsonString);
if (JsonRootNode == null)
{
return(null);
}
var nodes = JsonRootNode.AsArray;
Dictionary <string, CalibrationProfile> profiles = new Dictionary <string, CalibrationProfile>();
int nodeCounter = 0;
foreach (JSONNode n in nodes)
{
string name = null;
try
{
name = n["name"];
Matrix4x4 poseMat = Matrix4x4.zero;
double[] r = n["relative_pose"].AsArray.Childs.Select(d => Double.Parse(d)).ToArray();
if (r.Length < 12)
{
Debug.LogError("CalibrationParameterLoader: array was too short.");
}
else
{
poseMat = CalibrationParameters.MatrixFromArray(r);
}
double[] cameraModel = n["camera_model"].AsArray.Childs.Select(d => Double.Parse(d)).ToArray();
profiles.Add(name, new CalibrationProfile {
RelativePose = poseMat, CameraModel = cameraModel
});
// Debug.Log(profiles[name].RelativePose + "|||" +
// string.Join(" ", (profiles[name].CameraModel.Select(x => x.ToString())).ToArray()));
}
catch
{
if (name != null)
{
Debug.LogError(
string.Format(
"CalibrationParameter parsing error: node named '{0}' was not formatted correctly.", name));
}
else
{
Debug.LogError(
string.Format("CalibrationParameter parsing error: node {0} was not formatted correctly.",
nodeCounter));
}
}
nodeCounter++;
}
return(profiles);
}
