/// <summary>
/// Calls <see cref="StopController"/> if the controller is started.
/// </summary>
private void Dependency_Stopped(IConfigurableController dependency)
{
stoppedDependencies.Add(dependency);
if (IsStarted)
{
StopController();
}
}
/// <summary>
/// Calls <see cref="OnReady"/> if the controller is configured and all the dependencies are started.
/// </summary>
private void Dependency_Started(IConfigurableController dependency)
{
stoppedDependencies.Remove(dependency);
if (IsConfigured && stoppedDependencies.Count == 0)
{
OnReady();
}
}
protected void ConfigureCameraParameters(IConfigurableController arucoCamera)
{
if (SetParametersAtStart)
{
SetParametersToCamera();
}
else
{
GetParametersFromCamera();
}
}
public void RemoveDependency(IConfigurableController dependency)
{
if (IsStarted)
{
throw new Exception("Stop the controller before updating the dependencies.");
}
dependencies.Remove(dependency);
stoppedDependencies.Remove(dependency);
dependency.Started -= Dependency_Started;
dependency.Stopped -= Dependency_Stopped;
}
// IArucoCameraController methods
public void AddDependency(IConfigurableController dependency)
{
if (IsStarted)
{
throw new Exception("Stop the controller before updating the dependencies.");
}
dependencies.Add(dependency);
if (!dependency.IsStarted)
{
stoppedDependencies.Add(dependency);
}
dependency.Started += Dependency_Started;
dependency.Stopped += Dependency_Stopped;
}
/// <summary>
/// Configures the images display.
/// </summary>
protected void ConfigureUI(IConfigurableController controller)
{
// Configure the buttons
addImagesButton.enabled = true;
calibrateButton.enabled = false;
resetButton.enabled = false;
// Configure the images display
var arucoCamera = arucoCameraCalibration.ArucoCamera;
calibrationReprojectionErrorTexts = new Text[arucoCamera.CameraNumber];
// Configure the arucoCameraImagesRect as a grid of images
int gridCols = 1, gridRows = 1;
for (int i = 0; i < arucoCamera.CameraNumber; i++)
{
if (gridCols * gridRows > i)
{
continue;
}
else if (arucoCameraImagesRect.rect.width / gridCols >= arucoCameraImagesRect.rect.height / gridRows)
{
gridCols++;
}
else
{
gridRows++;
}
}
Vector2 gridCellSize = new Vector2(1f / gridCols, 1f / gridRows);
// Configure the cells of the grid of images
for (int cameraId = 0; cameraId < arucoCamera.CameraNumber; cameraId++)
{
int cellCol = cameraId % gridCols; // Range : 0 to (gridCols - 1), images from left to right
int cellRow = (gridRows - 1) - (cameraId / gridCols); // Range : (gridRows - 1) to 0, images from top to bottom
// Create a cell on the grid for each camera image
GameObject cell = new GameObject("Image " + cameraId + " display");
RectTransform cellRect = cell.AddComponent <RectTransform>();
cellRect.SetParent(arucoCameraImagesRect);
cellRect.anchorMin = new Vector2(1f / gridCols * cellCol, 1f / gridRows * cellRow); // Cell's position
cellRect.anchorMax = cellRect.anchorMin + gridCellSize; // All cells have the same size
cellRect.offsetMin = cellRect.offsetMax = Vector2.zero; // No margins
cellRect.localScale = Vector3.one;
// Create an image display inside the cell
GameObject cellDisplay = new GameObject("Image");
cellDisplay.transform.SetParent(cellRect);
cellDisplay.transform.localScale = Vector3.one;
RawImage cellDisplayImage = cellDisplay.AddComponent <RawImage>();
cellDisplayImage.texture = arucoCamera.Textures[cameraId];
AspectRatioFitter cellDisplayFitter = cellDisplay.AddComponent <AspectRatioFitter>(); // Fit the image inside the cell
cellDisplayFitter.aspectMode = AspectRatioFitter.AspectMode.FitInParent;
cellDisplayFitter.aspectRatio = arucoCamera.ImageRatios[cameraId];
// Create a text for calibration reprojection error inside the cell
GameObject reproError = new GameObject("CalibrationReprojectionErrorText");
RectTransform reproErrorRect = reproError.AddComponent <RectTransform>();
reproErrorRect.SetParent(cellRect);
reproErrorRect.pivot = Vector2.zero;
reproErrorRect.anchorMin = reproErrorRect.anchorMax = Vector2.zero;
reproErrorRect.offsetMin = Vector2.one * 5; // Pos X and pos Y margins
reproErrorRect.offsetMax = new Vector2(120, 60); // width and Height
reproErrorRect.localScale = Vector3.one;
Text reproErrorText = reproError.AddComponent <Text>();
reproErrorText.font = Resources.GetBuiltinResource <Font>("Arial.ttf");
reproErrorText.fontSize = 12;
reproErrorText.color = Color.red;
calibrationReprojectionErrorTexts[cameraId] = reproErrorText;
}
// Configure the text
UpdateImagesCountText();
UpdateCalibrationReprojectionErrorText();
}
