/// <summary>
/// Raises the webcam texture to mat helper initialized event.
/// </summary>
public void OnWebCamTextureToMatHelperInitialized()
{
Debug.Log("OnWebCamTextureToMatHelperInitialized");
Mat webCamTextureMat = webCamTextureToMatHelper.GetMat();
InitializeCalibraton(webCamTextureMat);
// if WebCamera is frontFaceing, flip Mat.
webCamTextureToMatHelper.flipHorizontal = webCamTextureToMatHelper.IsFrontFacing();
}
/// <summary>
/// Raises the change camera button click event.
/// </summary>
public void OnChangeCameraButtonClick()
{
if (isImagesInputMode)
{
return;
}
webCamTextureToMatHelper.requestedIsFrontFacing = !webCamTextureToMatHelper.IsFrontFacing();
}
/// <summary>
/// Raises the change camera button click event.
/// </summary>
public void OnChangeCameraButtonClick()
{
webCamTextureToMatHelper.requestedIsFrontFacing = !webCamTextureToMatHelper.IsFrontFacing();
}
/// <summary>
/// Raises the web cam texture to mat helper initialized event.
/// </summary>
public void OnWebCamTextureToMatHelperInitialized()
{
Debug.Log("OnWebCamTextureToMatHelperInitialized");
Mat grayMat = webCamTextureToMatHelper.GetMat();
float rawFrameWidth = grayMat.width();
float rawFrameHeight = grayMat.height();
if (enableDownScale)
{
downScaleMat = imageOptimizationHelper.GetDownScaleMat(grayMat);
DOWNSCALE_RATIO = imageOptimizationHelper.downscaleRatio;
}
else
{
downScaleMat = grayMat;
DOWNSCALE_RATIO = 1.0f;
}
float width = downScaleMat.width();
float height = downScaleMat.height();
texture = new Texture2D((int)width, (int)height, TextureFormat.RGB24, false);
previewQuad.GetComponent <MeshRenderer>().material.mainTexture = texture;
previewQuad.transform.localScale = new Vector3(0.2f * width / height, 0.2f, 1);
previewQuad.SetActive(displayCameraPreview);
//Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
DebugUtils.AddDebugStr(webCamTextureToMatHelper.GetWidth() + " x " + webCamTextureToMatHelper.GetHeight() + " : " + webCamTextureToMatHelper.GetFPS());
if (enableDownScale)
{
DebugUtils.AddDebugStr("enableDownScale = true: " + DOWNSCALE_RATIO + " / " + width + " x " + height);
}
// create camera matrix and dist coeffs.
string loadDirectoryPath = Path.Combine(Application.persistentDataPath, "HoloLensArUcoCameraCalibrationExample");
string calibratonDirectoryName = "camera_parameters" + rawFrameWidth + "x" + rawFrameWidth;
string loadCalibratonFileDirectoryPath = Path.Combine(loadDirectoryPath, calibratonDirectoryName);
string loadPath = Path.Combine(loadCalibratonFileDirectoryPath, calibratonDirectoryName + ".xml");
if (useStoredCameraParameters && File.Exists(loadPath))
{
// If there is a camera parameters stored by HoloLensArUcoCameraCalibrationExample, use it
CameraParameters param;
XmlSerializer serializer = new XmlSerializer(typeof(CameraParameters));
using (var stream = new FileStream(loadPath, FileMode.Open))
{
param = (CameraParameters)serializer.Deserialize(stream);
}
double fx = param.camera_matrix[0];
double fy = param.camera_matrix[4];
double cx = param.camera_matrix[2];
double cy = param.camera_matrix[5];
camMatrix = CreateCameraMatrix(fx, fy, cx / DOWNSCALE_RATIO, cy / DOWNSCALE_RATIO);
distCoeffs = new MatOfDouble(param.GetDistortionCoefficients());
Debug.Log("Loaded CameraParameters from a stored XML file.");
Debug.Log("loadPath: " + loadPath);
DebugUtils.AddDebugStr("Loaded CameraParameters from a stored XML file.");
DebugUtils.AddDebugStr("loadPath: " + loadPath);
}
else
{
if (useStoredCameraParameters && !File.Exists(loadPath))
{
DebugUtils.AddDebugStr("The CameraParameters XML file (" + loadPath + ") does not exist.");
}
#if WINDOWS_UWP && !DISABLE_HOLOLENSCAMSTREAM_API
CameraIntrinsics cameraIntrinsics = webCamTextureToMatHelper.GetCameraIntrinsics();
camMatrix = CreateCameraMatrix(cameraIntrinsics.FocalLengthX, cameraIntrinsics.FocalLengthY, cameraIntrinsics.PrincipalPointX / DOWNSCALE_RATIO, cameraIntrinsics.PrincipalPointY / DOWNSCALE_RATIO);
distCoeffs = new MatOfDouble(cameraIntrinsics.RadialDistK1, cameraIntrinsics.RadialDistK2, cameraIntrinsics.RadialDistK3, cameraIntrinsics.TangentialDistP1, cameraIntrinsics.TangentialDistP2);
Debug.Log("Created CameraParameters from VideoMediaFrame.CameraIntrinsics on device.");
DebugUtils.AddDebugStr("Created CameraParameters from VideoMediaFrame.CameraIntrinsics on device.");
#else
// The camera matrix value of Hololens camera 896x504 size.
// For details on the camera matrix, please refer to this page. (http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html)
// These values are unique to my device, obtained from the "Windows.Media.Devices.Core.CameraIntrinsics" class. (https://docs.microsoft.com/en-us/uwp/api/windows.media.devices.core.cameraintrinsics)
// Can get these values by using this helper script. (https://github.com/EnoxSoftware/HoloLensWithOpenCVForUnityExample/tree/master/Assets/HololensCameraIntrinsicsChecker/CameraIntrinsicsCheckerHelper)
double fx = 1035.149; //focal length x.
double fy = 1034.633; //focal length y.
double cx = 404.9134; //principal point x.
double cy = 236.2834; //principal point y.
double distCoeffs1 = 0.2036923; //radial distortion coefficient k1.
double distCoeffs2 = -0.2035773; //radial distortion coefficient k2.
double distCoeffs3 = 0.0; //tangential distortion coefficient p1.
double distCoeffs4 = 0.0; //tangential distortion coefficient p2.
double distCoeffs5 = -0.2388065; //radial distortion coefficient k3.
camMatrix = CreateCameraMatrix(fx, fy, cx / DOWNSCALE_RATIO, cy / DOWNSCALE_RATIO);
distCoeffs = new MatOfDouble(distCoeffs1, distCoeffs2, distCoeffs3, distCoeffs4, distCoeffs5);
Debug.Log("Created a dummy CameraParameters (896x504).");
DebugUtils.AddDebugStr("Created a dummy CameraParameters (896x504).");
#endif
}
Debug.Log("camMatrix " + camMatrix.dump());
Debug.Log("distCoeffs " + distCoeffs.dump());
//DebugUtils.AddDebugStr("camMatrix " + camMatrix.dump());
//DebugUtils.AddDebugStr("distCoeffs " + distCoeffs.dump());
//Calibration camera
Size imageSize = new Size(width, height);
double apertureWidth = 0;
double apertureHeight = 0;
double[] fovx = new double[1];
double[] fovy = new double[1];
double[] focalLength = new double[1];
Point principalPoint = new Point(0, 0);
double[] aspectratio = new double[1];
Calib3d.calibrationMatrixValues(camMatrix, imageSize, apertureWidth, apertureHeight, fovx, fovy, focalLength, principalPoint, aspectratio);
Debug.Log("imageSize " + imageSize.ToString());
Debug.Log("apertureWidth " + apertureWidth);
Debug.Log("apertureHeight " + apertureHeight);
Debug.Log("fovx " + fovx[0]);
Debug.Log("fovy " + fovy[0]);
Debug.Log("focalLength " + focalLength[0]);
Debug.Log("principalPoint " + principalPoint.ToString());
Debug.Log("aspectratio " + aspectratio[0]);
// Display objects near the camera.
arCamera.nearClipPlane = 0.01f;
ids = new Mat();
corners = new List <Mat>();
rejectedCorners = new List <Mat>();
rvecs = new Mat();
tvecs = new Mat();
rotMat = new Mat(3, 3, CvType.CV_64FC1);
transformationM = new Matrix4x4();
invertYM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
Debug.Log("invertYM " + invertYM.ToString());
invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
Debug.Log("invertZM " + invertZM.ToString());
detectorParams = DetectorParameters.create();
dictionary = Aruco.getPredefinedDictionary(Aruco.DICT_6X6_250);
//If WebCamera is frontFaceing, flip Mat.
webCamTextureToMatHelper.flipHorizontal = webCamTextureToMatHelper.IsFrontFacing();
rgbMat4preview = new Mat();
}