public static void Run(string[] args)
{
var xefPath = @"C:\XEF\cam2_cal.xef";
var xef = new Xef(xefPath);
//Load computer vision (CV) color file
var colorCV = xef.LoadCvColorFrame(0);
colorCV.DrawAruco().ShowNoWait();
var cameraSpace = xef.LoadCVCameraSpace(2);
var(tx, markers) = Calibrator.Calibrate(colorCV, cameraSpace);
var pose = tx
.CameraSpaceToWorldTx
.ToMat();
var camSpaceTx = cameraSpace.Transform(pose)
.ToCamSpacePoints();
//Save as XYZRGB file (open in MeshLab to view)
XYZRGB.Export(camSpaceTx, colorCV.GetBRGABytes(), @"C:\XEF\cam2_cal.txt");
markers = markers.OrderByDescending(m => m.MaskSum.Val0).Take(4).ToList();
var markerPoints = new CvCameraSpace();
markers.ForEach(m => markerPoints.Add(m.KxCenter));
var txMarkers = markerPoints.Transform(pose);
XYZRGB.Export(txMarkers, new Scalar(255, 0, 0), @"C:\XEF\cam2_cal_markers.txt");
}
public Boolean LoadCalibration()
{
try
{
CalibrationData data = CalibrationPersister.LoadCalibrationData();
if (calibrator == null)
{
calibrator = new Calibrator(screenWidth, screenHeight);
}
calibrator.Calibrate(data);
isCalibrated = true;
return(true);
}
catch (CalibrationDataNotFoundException)
{
return(false);
}
}
private async void ReCalibrate()
{
String title = NSBundle.MainBundle.LocalizedString("Vernacular_P0_dialog_calibration_title", null).PrepareForLabel();
String calibrating = NSBundle.MainBundle.LocalizedString("Vernacular_P0_dialog_calibration_description", null).PrepareForLabel();
// Show progress
BTProgressHUD.Show(title + " " + calibrating);
var result = await _calibrator.Calibrate();
CalibrationTerminated(result);
}
public async Task <CalibrationResult> Calibrate(Activity parentActivity)
{
if (IsCalibrating)
{
throw new InvalidOperationException("Calibration operation already started");
}
IsCalibrating = true;
var dialog = new ProgressDialog(parentActivity);
dialog.SetTitle(Resource.String.Vernacular_P0_dialog_calibration_title);
dialog.SetMessage(parentActivity.GetString(Resource.String.Vernacular_P0_dialog_calibration_description));
dialog.SetCancelable(false);
dialog.SetIcon(Resource.Drawable.icon_accelerometer);
dialog.SetProgressStyle(ProgressDialogStyle.Spinner);
dialog.Indeterminate = true;
dialog.Show();
dialog.Window.AddFlags(WindowManagerFlags.KeepScreenOn);
var result = await _calibrator.Calibrate();
// Early termination if parent activity is not around anymore
if (parentActivity.IsDestroyed || parentActivity.IsFinishing)
{
return(CalibrationResult.Canceled);
}
dialog.Dismiss();
if (result != CalibrationResult.Completed)
{
_failedAttempts++;
Toast.MakeText(parentActivity, GetStringId(result), ToastLength.Long).Show();
if (_failedAttempts >= 3)
{
var errorDialog = new AlertDialog.Builder(parentActivity)
.SetTitle(Resource.String.Vernacular_P0_error_generic_reflective)
.SetMessage(Resource.String.Vernacular_P0_error_calibration_several_attempts)
.SetCancelable(true)
.SetPositiveButton(Resource.String.Vernacular_P0_dialog_ok, (IDialogInterfaceOnClickListener)null)
.SetIcon(Resource.Drawable.icon_accelerometer)
.Create();
errorDialog.Show();
}
}
IsCalibrating = false;
return(result);
}
IEnumerator CalibrateRoutine()
{
if (!Directory.Exists(directory))
{
yield break;
}
;
var files = Directory.GetFiles(directory);
files = files.Where(e => targetExtensions.Contains(Path.GetExtension(e).ToLower())).ToArray();
if (files.Length < 1)
{
yield break;
}
;
calibrator.Setup();
for (var i = 0; i < files.Length; i++)
{
using (Mat gray = Imgcodecs.imread(files[i], Imgcodecs.IMREAD_GRAYSCALE))
{
if (i == 0)
{
Init(gray);
}
calibrator.Calibrate(gray);
if (draw)
{
Imgproc.cvtColor(gray, rgbMat, Imgproc.COLOR_GRAY2RGB);
calibrator.Draw(gray, rgbMat);
Utils.matToTexture2D(rgbMat, texture);
renderer.material.mainTexture = texture;
}
print("progress : " + (i + 1) + " / " + files.Length);
yield return(new WaitForSeconds(interval));
}
}
if (autoSave)
{
calibrator.Save(IOHandler.IntoStreamingAssets(fileName));
}
calibrator.Clear();
print("Complete Calibration");
yield break;
}
public static void Run()
{
var xefPath = @"C:\XEF\cam1_cal.xef";
var xef = new Xef(xefPath);
//Load computer vision (CV) color file
var colorCV = xef.LoadCvColorFrame(0);
var cameraSpace = xef.LoadCVCameraSpace(0);
var pose = Calibrator.Calibrate(colorCV, cameraSpace)
.Transform
.CameraSpaceToWorldTx
.ToMat();
cameraSpace.Transform(pose);
//Save as XYZRGB file (open in MeshLab to view)
XYZRGB.Export(cameraSpace.ToCamSpacePoints(), colorCV.GetBRGABytes(), @"C:\XEF\cam1_cal.txt");
}
private void NewImage(object sender, NewImageEventArgs e)
{
//if (PenPositionChanged != null) PenPositionChanged(this, PenTracker.GetPenPosition(e.NewImage));
_gridcheck--;
if (_gridcheck == 0) // calibration check needed
{
_gridcheck = 1000;
switch (_calibrator.CheckCalibration())
{
case 1: Calibrator.Calibrate();
break;
case 2: Calibrator.CalibrateColors();
break;
}
}
}
public IEnumerator Calibrate()
{
var settings = new RootMotion.FinalIK.VRIKCalibrator.Settings();
//トラッカー
//xをプラス方向に動かすとトラッカーの左(LEDを上に見たとき)に進む
//yをプラス方向に動かすとトラッカーの上(LED方向)に進む
//zをマイナス方向に動かすとトラッカーの底面に向かって進む
//角度補正(左手なら右のトラッカーに向けた)後
//xを＋方向は体の正面に向かって進む
//yを＋方向は体の上(天井方向)に向かって進む
//zを＋方向は体中心(左手なら右手の方向)に向かって進む
var leftHandOffset = new Vector3(1.0f, leftHandTrackerOffsetToBottom, leftHandTrackerOffsetToBodySide); // Vector3 (IsEnable, ToTrackerBottom, ToBodySide)
//}
//if (CurrentSettings.RightHand.Item1 == ETrackedDeviceClass.GenericTracker) {
//角度補正(左手なら右のトラッカーに向けた)後
//xを－方向は体の正面に向かって進む
//yを＋方向は体の上(天井方向)に向かって進む
//zを＋方向は体中心(左手なら右手の方向)に向かって進む
var rightHandOffset = new Vector3(1.0f, rightHandTrackerOffsetToBottom, rightHandTrackerOffsetToBodySide); // Vector3 (IsEnable, ToTrackerBottom, ToBodySide)
//}
//if (calibrateType == PipeCommands.CalibrateType.Default) {
if (calibrationType == CalibrationType.VirtualMotionCaptureScaled)
{
yield return(Calibrator.CalibrateScaled(_refs.RealTrackerRoot, _refs.HandTrackerRoot, _refs.HeadTrackerRoot, _refs.PelvisTrackerRoot,
dummyVrik, settings, leftHandOffset, rightHandOffset, pelvisTrackerAdjustmentToBottom,
_data.headTracker, _data.bodyTracker, _data.leftHandTracker, _data.rightHandTracker, _data.leftFootTracker, _data.rightFootTracker, _data.leftElbowTracker, _data.rightElbowTracker, _data.leftKneeTracker, _data.rightKneeTracker));
}
else
{
yield return(Calibrator.Calibrate(_refs.RealTrackerRoot, _refs.HandTrackerRoot, _refs.HeadTrackerRoot, _refs.PelvisTrackerRoot,
dummyVrik, settings, leftHandOffset, rightHandOffset, pelvisTrackerAdjustmentToBottom,
_data.headTracker, _data.bodyTracker, _data.leftHandTracker, _data.rightHandTracker, _data.leftFootTracker, _data.rightFootTracker, _data.leftElbowTracker, _data.rightElbowTracker, _data.leftKneeTracker, _data.rightKneeTracker));
}
dummyVrik.solver.IKPositionWeight = 1.0f;
if (_refs.handler.Trackers.Count == 1)
{
dummyVrik.solver.plantFeet = true;
dummyVrik.solver.locomotion.weight = 1.0f;
var rootController = dummyVrik.references.root.GetComponent <RootMotion.FinalIK.VRIKRootController> ();
if (rootController != null)
{
GameObject.Destroy(rootController);
}
}
dummyVrik.solver.locomotion.footDistance = 0.06f;
dummyVrik.solver.locomotion.stepThreshold = 0.2f;
dummyVrik.solver.locomotion.angleThreshold = 45f;
dummyVrik.solver.locomotion.maxVelocity = 0.04f;
dummyVrik.solver.locomotion.velocityFactor = 0.04f;
dummyVrik.solver.locomotion.rootSpeed = 40;
dummyVrik.solver.locomotion.stepSpeed = 2;
//トラッカー位置の非表示
_refs.RealTrackerRoot.gameObject.SetActive(false);
_UpdateHandRotation();
}
