void UpdateCalibration(bool foundBoard)
{
if (foundBoard)
{
_successFrameCount++;
float averageMovement = ComputeAverageMovement();
if (averageMovement < lowMovementThreshold)
{
_stableFrameCount++;
}
else
{
_stableFrameCount = 0;
}
}
else
{
_successFrameCount = 0;
_stableFrameCount = 0;
}
// When consistently stable, gather sample.
if (_stableFrameCount == stableFrameCountThreshold)
{
_intrinsicsCalibrator.AddSample(_chessCornersRealModelMat, _chessCornersImageMat);
_intrinsicsCalibrator.UpdateIntrinsics();
_previewFlasher.Start();
_rmsErrorText.text = _intrinsicsCalibrator.rmsError.ToString("F3");
_stableFrameCount = 0;
// When enough samples are gathered, save to file and switch to testing mode.
if (_intrinsicsCalibrator.sampleCount == _desiredSampleCount)
{
string intrinsicsFileName = _intrinsicsFileName;
if (_addErrorValueToFileName)
{
intrinsicsFileName += "_E-" + _intrinsicsCalibrator.rmsError.ToString("F02").Replace(".", ",");
}
string filePath = _intrinsicsCalibrator.intrinsics.SaveToFile(intrinsicsFileName);
SwitchState(State.Testing);
Debug.Log(logPrepend + "Saved intrinsics to file.\n" + filePath);
}
}
}
void Sample()
{
_projectorIntrinsicsCalibrator.AddSample(_circlePointsRealModelMat, _circlePointsProjectorRenderImageMat);
_projectorExtrinsicsCalibrator.AddSample(_circlePointsDetectedWorldMat, _circlePointsCameraImageMat, _circlePointsProjectorRenderImageMat);
_stableFrameCount = 0;
// Update projector intrinsics and extrinnsics.
if (sampleCount >= blindSampleCountTarget)
{
UpdateProjectorIntrinsicsAndExtrinsics();
}
// State switching.
if (_state == State.BlindCalibration && sampleCount == blindSampleCountTarget)
{
SwitchState(State.TrackedCalibration);
}
// Update UI.
_previewFlasher.Start();
UpdateSampleCounterUI();
_sampleManuallyRequested = false;
}
