public override void Dispose()
{
if (objectPoints68 != null)
{
objectPoints68.Dispose();
}
if (camMatrix != null)
{
camMatrix.Dispose();
}
if (distCoeffs != null)
{
distCoeffs.Dispose();
}
if (imagePoints != null)
{
imagePoints.Dispose();
}
if (rvec != null)
{
rvec.Dispose();
}
if (tvec != null)
{
tvec.Dispose();
}
}
public void Dispose()
{
objectPoints.Dispose();
imagePoints.Dispose();
rvec.Dispose();
tvec.Dispose();
rotM.Dispose();
camMatrix.Dispose();
distCoeffs.Dispose();
}
void OnDestroy()
{
if (_anchorPointsImageMat != null)
{
_anchorPointsImageMat.Dispose();
}
if (_anchorPointsWorldMat != null)
{
_anchorPointsWorldMat.Dispose();
}
if (_distCoeffs != null)
{
_distCoeffs.Dispose();
}
if (_cameraMatrix != null)
{
_cameraMatrix.Dispose();
}
if (_rVec != null)
{
_rVec.Dispose();
}
if (_rVec != null)
{
_rVec.Dispose();
}
if (_camTexMat != null)
{
_camTexMat.Dispose();
}
if (_camTexGrayMat != null)
{
_camTexGrayMat.Dispose();
}
if (_camTexGrayUndistortMat != null)
{
_camTexGrayUndistortMat.Dispose();
}
}
public void Dispose()
{
if (objectPoints != null && !objectPoints.IsDisposed)
{
objectPoints.Dispose();
}
if (imagePoints != null && !imagePoints.IsDisposed)
{
imagePoints.Dispose();
}
if (rvec != null && !rvec.IsDisposed)
{
rvec.Dispose();
}
if (tvec != null && !tvec.IsDisposed)
{
tvec.Dispose();
}
if (rotM != null && !rotM.IsDisposed)
{
rotM.Dispose();
}
if (camMatrix != null && !camMatrix.IsDisposed)
{
camMatrix.Dispose();
}
if (distCoeffs != null && !distCoeffs.IsDisposed)
{
distCoeffs.Dispose();
}
}
void OnDestroy()
{
if (_camTexMat != null)
{
_camTexMat.Dispose();
}
if (_tempTransferTexture)
{
Destroy(_tempTransferTexture);
}
if (_chessCornersImageMat != null)
{
_chessCornersImageMat.Dispose();
}
if (_previewMaterial)
{
Destroy(_previewMaterial);
}
if (_arTexture)
{
_arTexture.Release();
}
if (_chessPatternTexture)
{
_chessPatternTexture.Release();
}
if (_patternRenderMaterial)
{
Destroy(_patternRenderMaterial);
}
if (_chessCornersWorldMat != null)
{
_chessCornersWorldMat.Dispose();
}
Reset();
}
private double CaptureFrame(Mat frameMat)
{
double repErr = -1;
switch (markerType)
{
default:
case MarkerType.ChArUcoBoard:
List <Mat> corners = new List <Mat>();
Mat ids = new Mat();
Aruco.detectMarkers(frameMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
if (refineMarkerDetection)
{
Aruco.refineDetectedMarkers(frameMat, charucoBoard, corners, ids, rejectedCorners, camMatrix, distCoeffs, 10f, 3f, true, recoveredIdxs, detectorParams);
}
if (ids.total() > 0)
{
Debug.Log("Frame captured.");
allCorners.Add(corners);
allIds.Add(ids);
allImgs.Add(frameMat);
}
else
{
Debug.Log("Invalid frame.");
frameMat.Dispose();
if (ids != null)
{
ids.Dispose();
}
foreach (var item in corners)
{
item.Dispose();
}
corners.Clear();
return(-1);
}
// calibrate camera using aruco markers
//double arucoRepErr = CalibrateCameraAruco (allCorners, allIds, charucoBoard, frameMat.size(), camMatrix, distCoeffs, rvecs, tvecs, calibrationFlags);
//Debug.Log ("arucoRepErr: " + arucoRepErr);
// calibrate camera using charuco
repErr = CalibrateCameraCharuco(allCorners, allIds, charucoBoard, frameMat.size(), camMatrix, distCoeffs, rvecs, tvecs, calibrationFlags, calibrationFlags);
break;
case MarkerType.ChessBoard:
case MarkerType.CirclesGlid:
case MarkerType.AsymmetricCirclesGlid:
MatOfPoint2f points = new MatOfPoint2f();
Size patternSize = new Size((int)squaresX, (int)squaresY);
bool found = false;
switch (markerType)
{
default:
case MarkerType.ChessBoard:
found = Calib3d.findChessboardCorners(frameMat, patternSize, points, Calib3d.CALIB_CB_ADAPTIVE_THRESH | Calib3d.CALIB_CB_FAST_CHECK | Calib3d.CALIB_CB_NORMALIZE_IMAGE);
break;
case MarkerType.CirclesGlid:
found = Calib3d.findCirclesGrid(frameMat, patternSize, points, Calib3d.CALIB_CB_SYMMETRIC_GRID);
break;
case MarkerType.AsymmetricCirclesGlid:
found = Calib3d.findCirclesGrid(frameMat, patternSize, points, Calib3d.CALIB_CB_ASYMMETRIC_GRID);
break;
}
if (found)
{
Debug.Log("Frame captured.");
if (markerType == MarkerType.ChessBoard)
{
Imgproc.cornerSubPix(frameMat, points, new Size(5, 5), new Size(-1, -1), new TermCriteria(TermCriteria.EPS + TermCriteria.COUNT, 30, 0.1));
}
imagePoints.Add(points);
allImgs.Add(frameMat);
}
else
{
Debug.Log("Invalid frame.");
frameMat.Dispose();
if (points != null)
{
points.Dispose();
}
return(-1);
}
if (imagePoints.Count < 1)
{
Debug.Log("Not enough points for calibration.");
repErr = -1;
}
else
{
MatOfPoint3f objectPoint = new MatOfPoint3f(new Mat(imagePoints[0].rows(), 1, CvType.CV_32FC3));
CalcChessboardCorners(patternSize, squareSize, objectPoint, markerType);
List <Mat> objectPoints = new List <Mat>();
for (int i = 0; i < imagePoints.Count; ++i)
{
objectPoints.Add(objectPoint);
}
repErr = Calib3d.calibrateCamera(objectPoints, imagePoints, frameMat.size(), camMatrix, distCoeffs, rvecs, tvecs, calibrationFlags);
objectPoint.Dispose();
}
break;
}
Debug.Log("repErr: " + repErr);
Debug.Log("camMatrix: " + camMatrix.dump());
Debug.Log("distCoeffs: " + distCoeffs.dump());
return(repErr);
}
public virtual double Calibrate(Mat mat)
{
var repError = -1.0;
var points = new MatOfPoint2f();
var patternSize = new Size((int)SizeX, (int)SizeY);
var found = false;
switch (boardType)
{
case BoardType.ChessBoard:
found = Calib3d.findChessboardCorners(mat, patternSize, points, Calib3d.CALIB_CB_ADAPTIVE_THRESH | Calib3d.CALIB_CB_FAST_CHECK | Calib3d.CALIB_CB_NORMALIZE_IMAGE);
break;
case BoardType.CirclesGrid:
found = Calib3d.findCirclesGrid(mat, patternSize, points, Calib3d.CALIB_CB_SYMMETRIC_GRID);
break;
case BoardType.AsymmetricCirclesGrid:
found = Calib3d.findCirclesGrid(mat, patternSize, points, Calib3d.CALIB_CB_ASYMMETRIC_GRID);
break;
}
if (found)
{
if (boardType == BoardType.ChessBoard)
{
Imgproc.cornerSubPix(mat, points, new Size(5, 5), new Size(-1, -1), new TermCriteria(TermCriteria.EPS + TermCriteria.COUNT, 30, 0.1));
}
imagePoints.Add(points);
}
else
{
Debug.Log("Invalid frame.");
if (points != null)
{
points.Dispose();
}
ErrorEvent?.Invoke("Invalid frame.");
return(repError);
}
if (imagePoints.Count < 1)
{
Debug.Log("Not enough points for calibration.");
ErrorEvent?.Invoke("Not enough points for calibration.");
return(repError);
}
else
{
var objectPoint = new MatOfPoint3f(new Mat(imagePoints[0].rows(), 1, CvType.CV_32FC3));
CalcCorners(patternSize, squareSize, objectPoint);
var objectPoints = new List <Mat>();
for (int i = 0; i < imagePoints.Count; ++i)
{
objectPoints.Add(objectPoint);
}
repError = Calib3d.calibrateCamera(objectPoints, imagePoints, mat.size(), cameraMatrix, distCoeffs, rvecs, tvecs);
CalibrationEvent?.Invoke(repError);
objectPoint.Dispose();
}
Debug.Log("-----calibrate-----");
Debug.Log("repErr: " + repError);
Debug.Log("camMatrix: " + cameraMatrix.dump());
Debug.Log("distCoeffs: " + distCoeffs.dump());
return(repError);
}
