bool FindAndApplyChessPatternExtrinsics()
{
bool found = TrackingToolsHelper.FindChessboardCorners(_camTexGrayUndistortMat, _chessPatternSize, ref _chessCornersImageMat);
if (found)
{
TrackingToolsHelper.DrawFoundPattern(_camTexGrayUndistortMat, _chessPatternSize, _chessCornersImageMat);
_cameraExtrinsicsCalibrator.UpdateExtrinsics(_chessCornersWorldMat, _chessCornersImageMat, _cameraIntrinsics, _cameraTexture.width, _cameraTexture.height);
const bool transformBoard = true;
_cameraExtrinsicsCalibrator.extrinsics.ApplyToTransform(_calibrationBoardTransform, _mainCamera.transform, transformBoard);
}
_chessPatternTransform.gameObject.SetActive(found);
return(found);
}
void UpdateTesting(bool foundBoard)
{
_arImage.enabled = foundBoard;
if (!foundBoard)
{
return;
}
bool success = _extrinsicsCalibrator.UpdateExtrinsics(_chessCornersWorldMat, _chessCornersImageMat, _intrinsicsCalibrator.intrinsics, _intrinsicsCalibrator.textureWidth, _intrinsicsCalibrator.textureHeight);
if (success)
{
_extrinsicsCalibrator.extrinsics.ApplyToTransform(_mainCamera.transform);
}
_arImage.enabled = success;
}
void Update()
{
if (!_cameraTexture || !_dirtyCameraTexture)
{
return;
}
if (!AdaptResources())
{
return;
}
// Update mat texture (If the textyre looks right in Unity, it needs to be flipped for OpenCV.)
TrackingToolsHelper.TextureToMat(_cameraTexture, !_flipCameraTexture, ref _camTexMat, ref _tempTransferColors, ref _tempTransferTexture);
// Convert to grayscale if more than one channel, else copy (and convert bit rate if necessary).
TrackingToolsHelper.ColorMatToLumanceMat(_camTexMat, _camTexGrayMat);
// Undistort (TODO: move undistortion to GPU as last step and work on distorted image instead).
//Calib3d.undistort( _camTexGrayMat, _camTexGrayUndistortMat, _sensorMat, _distortionCoeffsMat );
Imgproc.remap(_camTexGrayMat, _camTexGrayUndistortMat, _undistortMap1, _undistortMap2, Imgproc.INTER_LINEAR);
// Find chessboard.
bool foundBoard = TrackingToolsHelper.FindChessboardCorners(_camTexGrayUndistortMat, _chessPatternSize, ref _chessCornersImageMat, _fastAndImprecise);
if (foundBoard)
{
// Draw chessboard.
TrackingToolsHelper.DrawFoundPattern(_camTexGrayUndistortMat, _chessPatternSize, _chessCornersImageMat);
// Update and apply extrinsics.
bool foundExtrinsics = _extrinsicsCalibrator.UpdateExtrinsics(_chessCornersWorldMat, _chessCornersImageMat, _intrinsics, _cameraTexture.width, _cameraTexture.height);
if (foundExtrinsics)
{
if (_tranformPattern)
{
_extrinsicsCalibrator.extrinsics.ApplyToTransform(_chessPatternTransform, _applyRelative ? _mainCamera.transform : null, _tranformPattern);
if (!_applyRelative)
{
_mainCamera.transform.SetPositionAndRotation(Vector3.zero, Quaternion.identity);
}
}
else
{
_extrinsicsCalibrator.extrinsics.ApplyToTransform(_mainCamera.transform, _applyRelative ? _chessPatternTransform : null);
if (!_applyRelative)
{
_chessPatternTransform.SetPositionAndRotation(Vector3.zero, Quaternion.identity);
}
}
}
_arImage.gameObject.SetActive(foundExtrinsics);
}
else
{
_arImage.gameObject.SetActive(false);
}
// UI.
Utils.fastMatToTexture2D(_camTexGrayUndistortMat, _processedCameraTexture); // Flips vertically by default
if (_precisionDotsContainerObject.activeSelf != _testPrecisionDotsEnabled)
{
_precisionDotsContainerObject.SetActive(_testPrecisionDotsEnabled);
}
_dirtyCameraTexture = false;
}
