void ComputeRenderedVsDetectedError()
{
// The "reprojection" error between the rendered world points and the detected ones. We use a simple average
// of the diviation because it is more intuitive to interpret than Root Mean Square (RMS).
_extrinsicsErrorAvgM = 0;
for (int i = 0; i < _circlePatternPointCount; i++)
{
Vector3 renderedWorldPoint = _circlePointsRenderedWorldMat.ReadVector3(i);
Vector3 detectedWorldPoint = _circlePointsDetectedWorldMat.ReadVector3(i);
_extrinsicsErrorAvgM += Vector3.Distance(renderedWorldPoint, detectedWorldPoint);
}
_extrinsicsErrorAvgM /= _circlePatternPointCount;
}
void UpdateCirclePatternInProjectorImage()
{
// We will be raycasting from the projector camera. In the editor, the aspect can change depending on the main game view, so we have to ensure that it matches.
_projectorCamera.targetTexture = _arTexture;
// Use the circle pattern transform from last update frame, because it is more likely that it will match the detected reality.
TrackingToolsHelper.UpdateWorldSpacePatternPoints(_circlePatternSize, _circlePatternToWorldPrevFrame, TrackingToolsHelper.PatternType.AsymmetricCircleGrid, _circlePatternBorderSizeUV, ref _circlePointsRenderedWorldMat);
for (int p = 0; p < _circlePatternPointCount; p++)
{
Vector3 worldPoint = _circlePointsRenderedWorldMat.ReadVector3(p);
Vector3 viewportPoint = _projectorCamera.WorldToViewportPoint(worldPoint);
Vector2 imagePoint = new Vector2(viewportPoint.x * _cameraTexture.width, (1 - viewportPoint.y) * _cameraTexture.height); // Viewport space has zero at bottom-left, image space (opencv) has zero at top-left. So flip y.
_circlePointsProjectorRenderImageMat.WriteVector2(imagePoint, p);
}
//TrackingToolsHelper.DrawFoundPattern( _camTexGrayUndistortMat, circlesPatternSize, _circlePointsProjectorRenderImageMat ); // Testing
// Reset render target.
_projectorCamera.targetTexture = null;
}
void OnDrawGizmos()
{
if (_chessCornersWorldMat == null)
{
return;
}
float pointRadius = (_chessPatternTransform.localScale.y / (float)_chessPatternSize.y) * 0.2f;
Gizmos.color = Color.red;
for (int i = 0; i < _chessCornersWorldMat.total(); i++)
{
Vector3 p = _chessCornersWorldMat.ReadVector3(i);
Gizmos.DrawSphere(p, pointRadius);
}
}