public void CalculateCameraIntrinsics()
{
if (processedImageCount > 0)
{
Debug.Log("Starting Camera Intrinsics calculation.");
intrinsics = CalibrationAPI.Instance.CalculateChessboardIntrinsics(chessSquareSize);
Debug.Log($"Chessboard intrinsics reprojection error: {intrinsics.ToString()}");
intrinsicsFileName = CalibrationDataHelper.SaveCameraIntrinsics(intrinsics);
Debug.Log($"Camera Intrinsics saved to file: {intrinsicsFileName}");
// Undistort obtained images to understand quality of calculated camera intrinsics.
var chessboardImageFileNames = CalibrationDataHelper.GetChessboardImageFileNames();
foreach (var fileName in chessboardImageFileNames)
{
var texture = CalibrationDataHelper.LoadChessboardImage(fileName);
if (texture == null ||
!UndistortChessboardImage(texture, intrinsics))
{
Debug.LogWarning($"Failed to locate/undistort chessboard image: {fileName}");
}
else
{
CalibrationDataHelper.SaveChessboardUndistortedImage(texture, fileName);
}
}
}
else
{
Debug.LogWarning("No images have been processed, unable to calculate camera intrinsics.");
}
}