void Start()
{
_webCamTexture = GetComponentInParent <InitWebCamera>().GetCamera();
_ARRootTransform = GameObject.FindWithTag("ARRoot").transform;
allCharucoIds = new DoubleVectorIntMarshaller();
allCharucoCorners = new DoubleVectorPoint2FMarshaller();
numOfSuccessfulFrames = 0;
}
void Start()
{
// setup for android platforms
#if UNITY_ANDROID
runningOnAndroid = true;
numOfFrames = 40;
#endif
// setup for windows platforms
#if UNITY_STANDALONE_WIN || UNITY_EDITOR_WIN
runningOnAndroid = false;
numOfFrames = 20;
#endif
_webCamTexture = GetComponentInParent <InitWebCamera>().GetCamera();
allCharucoIds = new DoubleVectorIntMarshaller();
allCharucoCorners = new DoubleVectorPoint2FMarshaller();
numOfSuccessfulFrames = 0;
}
// find calibrates camera with collected data found by UFindCharucoBoardCorners method
unsafe public static UCameraCalibrationData UCalibrateCameraCharuco(int width, int height, CharucoBoardParameters boardParameters, DoubleVectorIntMarshaller allCharucoIds, DoubleVectorPoint2FMarshaller allCharucoCorners)
{
MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller();
MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller();
double reProjectionError = CalibrateCameraCharuco(
height,
width,
boardParameters.squaresW,
boardParameters.squaresH,
boardParameters.squareLength,
boardParameters.markerLength,
allCharucoIds.NativeDataPointer,
allCharucoCorners.NativeDataPointer,
cameraMatrix.NativeDataPointer,
distCoeffs.NativeDataPointer
);
UCameraCalibrationData calibrationData = new UCameraCalibrationData(
distCoeffs,
cameraMatrix,
reProjectionError
);
return(calibrationData);
}
// find charuco board corners in frame with given board parameters and imbues marshaller objects with information found
unsafe public static bool UFindCharucoBoardCorners(Color32[] texture, int width, int height, CharucoBoardParameters boardParameters, DoubleVectorIntMarshaller allCharucoIds, DoubleVectorPoint2FMarshaller allCharucoCorners)
{
bool foundBoard = false;
IntPtr foundBoardMarkers = CreateBooleanPointer();
fixed(Color32 *texP = texture)
{
DetectCharucoBoard(
texP,
width,
height,
boardParameters.squaresW,
boardParameters.squaresH,
boardParameters.squareLength,
boardParameters.markerLength,
foundBoardMarkers,
allCharucoIds.NativeDataPointer,
allCharucoCorners.NativeDataPointer
);
}
if (Marshal.ReadByte(foundBoardMarkers, 0) > 0)
{
foundBoard = true;
}
DeleteBooleanPointer(foundBoardMarkers);
return(foundBoard);
}
// public static UCameraCalibrationData UStaticCalibrateCameraData()
// {
// MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller();
// MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller();
// StaticCameraCalibData(
// cameraMatrix.NativeDataPointer,
// distCoeffs.NativeDataPointer,
// true
// );
// UCameraCalibrationData calibrationData = new UCameraCalibrationData(
// distCoeffs,
// cameraMatrix
// );
// return calibrationData;
// }
// unsafe public static UCameraCalibrationData UCalibrateCamera(Color32[] texture, int width, int height, DoubleVectorIntMarshaller allCharucoIds, DoubleVectorPoint2FMarshaller allCharucoCorners)
// {
// var watch = System.Diagnostics.Stopwatch.StartNew();
// // IntPtr distCoeffs = OpenCVMarshal.CreateMatPointer();
// MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller();
// // IntPtr cameraMatrix = OpenCVMarshal.CreateMatPointer();
// MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller();
// fixed (Color32* texP = texture)
// {
// CalibrateCamera(
// texP,
// width,
// height,
// allCharucoIds.NativeDataPointer,
// allCharucoCorners.NativeDataPointer,
// cameraMatrix.NativeDataPointer,
// distCoeffs.NativeDataPointer
// );
// }
// UCameraCalibrationData calibrationData = new UCameraCalibrationData(
// distCoeffs,
// cameraMatrix
// );
// watch.Stop();
// var elapsedMs = watch.ElapsedMilliseconds;
// return calibrationData;
// }
unsafe public static UCameraCalibrationData UCalibrateCameraCharuco(int width, int height, CharucoBoardParameters boardParameters, DoubleVectorIntMarshaller allCharucoIds, DoubleVectorPoint2FMarshaller allCharucoCorners)
{
var watch = System.Diagnostics.Stopwatch.StartNew();
// IntPtr distCoeffs = OpenCVMarshal.CreateMatPointer();
MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller();
// IntPtr cameraMatrix = OpenCVMarshal.CreateMatPointer();
MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller();
double reProjectionError = CalibrateCameraCharuco(
height,
width,
boardParameters.squaresW,
boardParameters.squaresH,
boardParameters.squareLength,
boardParameters.markerLength,
allCharucoIds.NativeDataPointer,
allCharucoCorners.NativeDataPointer,
cameraMatrix.NativeDataPointer,
distCoeffs.NativeDataPointer
);
UCameraCalibrationData calibrationData = new UCameraCalibrationData(
distCoeffs,
cameraMatrix,
reProjectionError
);
watch.Stop();
var elapsedMs = watch.ElapsedMilliseconds;
return(calibrationData);
}
unsafe public static bool UFindCharucoBoardCorners(Color32[] texture, int width, int height, CharucoBoardParameters boardParameters, DoubleVectorIntMarshaller allCharucoIds, DoubleVectorPoint2FMarshaller allCharucoCorners)
{
var watch = System.Diagnostics.Stopwatch.StartNew();
int cornersH = 9;
int cornersW = 6;
float squareLength = 0.025f;
float markersLength = 0.0125f;
bool foundBoard = false;
IntPtr foundBoardMarkers = CreateBooleanPointer();
fixed(Color32 *texP = texture)
{
DetectCharucoBoard(
texP,
width,
height,
boardParameters.squaresW,
boardParameters.squaresH,
boardParameters.squareLength,
boardParameters.markerLength,
foundBoardMarkers,
allCharucoIds.NativeDataPointer,
allCharucoCorners.NativeDataPointer
);
}
watch.Stop();
var elapsedMs = watch.ElapsedMilliseconds;
if (Marshal.ReadByte(foundBoardMarkers, 0) > 0)
{
foundBoard = true;
}
DeleteBooleanPointer(foundBoardMarkers);
return(foundBoard);
}
