/// <summary>
/// Call to calculate camera extrinsics based on all obtained and usable datasets.
/// </summary>
public void CalculateExtrinsics()
{
if (processedDatasetCount > 0)
{
Debug.Log("Starting Individual Camera Extrinsics calculations.");
cameraExtrinsics = CalibrationAPI.Instance.CalculateIndividualArUcoExtrinsics(dslrIntrinsics, parentVisuals.Count);
if (cameraExtrinsics != null)
{
CreateExtrinsicsVisual(cameraExtrinsics);
}
Debug.Log("Completed Individual Camera Extrinsics calculations.");
Debug.Log("Starting the Global Camera Extrinsics calculation.");
globalExtrinsics = CalibrationAPI.Instance.CalculateGlobalArUcoExtrinsics(dslrIntrinsics);
if (globalExtrinsics != null)
{
globalExtrinsicsFileName = CalibrationDataHelper.SaveCameraExtrinsics(globalExtrinsics);
Debug.Log($"Saved global extrinsics: {globalExtrinsicsFileName}");
Debug.Log($"Found global extrinsics: {globalExtrinsics}");
var position = globalExtrinsics.ViewFromWorld.GetColumn(3);
var rotation = Quaternion.LookRotation(globalExtrinsics.ViewFromWorld.GetColumn(2), globalExtrinsics.ViewFromWorld.GetColumn(1));
GameObject camera = null;
cameraVisualHelper.CreateOrUpdateVisual(ref camera, position, rotation);
camera.name = "Global Extrinsics";
GameObject hololens = null;
cameraVisualHelper.CreateOrUpdateVisual(ref hololens, Vector3.zero, Quaternion.identity);
hololens.name = "Global HoloLens";
lastCalibration = new CalculatedCameraCalibration(dslrIntrinsics, globalExtrinsics);
calibrationFileName = CalibrationDataHelper.SaveCameraCalibration(lastCalibration);
}
}
else
{
Debug.LogWarning("No usable marker datasets have been processed, unable to calculate camera extrinsics.");
}
}