void AdaptResources()
{
int w = _cameraTexture.width;
int h = _cameraTexture.height;
if (_undistortedCameraTexture != null && _undistortedCameraTexture.width == w && _undistortedCameraTexture.height == h)
{
return;
}
_camTexMat = TrackingToolsHelper.GetCompatibleMat(_cameraTexture);
_camTexGrayMat = new Mat(h, w, CvType.CV_8UC1);
_camTexGrayUndistortMat = new Mat(h, w, CvType.CV_8UC1);
_undistortedCameraTexture = new Texture2D(w, h, GraphicsFormat.R8_UNorm, 0, TextureCreationFlags.None);
_undistortedCameraTexture.name = "UndistortedCameraTex";
_intrinsics.ToOpenCV(ref _cameraMatrix, ref _distCoeffs, w, h);
// UI.
_rawImageUI.texture = _undistortedCameraTexture;
_aspectFitterUI.aspectRatio = w / (float)h;
// Forward the news.
if (_arCamera)
{
_intrinsics.ApplyToCamera(_arCamera);
}
}
bool AdaptResources()
{
int w = _cameraTexture.width;
int h = _cameraTexture.height;
if (_processedCameraTexture != null && _processedCameraTexture.width == w && _processedCameraTexture.height == h)
{
return(true);
}
bool intrinsicsConversionSuccess = _cameraIntrinsics.ToOpenCV(ref _sensorMat, ref _distortionCoeffsMat, w, h);
if (!intrinsicsConversionSuccess)
{
return(false);
}
_cameraIntrinsics.ApplyToCamera(_mainCamera);
_projectorIntrinsicsCalibrator = new IntrinsicsCalibrator(w, h);
_camTexGrayMat = new Mat(h, w, CvType.CV_8UC1);
_camTexGrayUndistortMat = new Mat(h, w, CvType.CV_8UC1);
_camTexGrayUndistortInvMat = new Mat(h, w, CvType.CV_8UC1);
_processedCameraTexture = new Texture2D(w, h, GraphicsFormat.R8_UNorm, 0, TextureCreationFlags.None);
_processedCameraTexture.name = "ProcessedCameraTex";
_arTexture = new RenderTexture(w, h, 16, GraphicsFormat.R8G8B8A8_UNorm);
_arTexture.name = "AR Texture";
// Update circle pattern size.
UpdateCirclePatternSize();
// Create undistort map.
Calib3d.initUndistortRectifyMap(_sensorMat, _distortionCoeffsMat, new Mat(), _sensorMat, new Size(_cameraTexture.width, _cameraTexture.height), CvType.CV_32FC1, _undistortMap1, _undistortMap2);
// Start with a fixed projector FOV.
//UpdateProjectorFOVManually( 1 );
// Switch state.
SwitchState(State.BlindCalibration);
// Update UI.
_processedCameraImage.texture = _processedCameraTexture;
_arImage.texture = _arTexture;
_cameraAspectFitter.aspectRatio = w / (float)h;
_mainCamera.targetTexture = _arTexture;
return(true);
}
public bool UpdateExtrinsics(MatOfPoint3f patternPointsWorldMat, MatOfPoint2f patternPointsImageMat, Intrinsics intrinsics, int imageWidth, int imageHeight)
{
intrinsics.ToOpenCV(ref _sensorMatrix, imageWidth, imageHeight);
// In order to match OpenCV's pixel space (zero at top-left) and Unity's camera space (up is positive), we flip the sensor matrix.
_sensorMatrix.WriteValue(-_sensorMatrix.ReadValue(1, 1), 1, 1); // fy
_sensorMatrix.WriteValue(imageHeight - _sensorMatrix.ReadValue(1, 2), 1, 2); // cy
// Find pattern pose, relative to camera (at zero position) using solvePnP.
_isValid = Calib3d.solvePnP(patternPointsWorldMat, patternPointsImageMat, _sensorMatrix, _noDistCoeffs, _rotationVecMat, _translationVecMat);
if (_isValid)
{
_extrinsics.UpdateFromOpenCvSolvePnp(_rotationVecMat, _translationVecMat);
}
return(_isValid);
}
bool AdaptResources()
{
int w = _cameraTexture.width;
int h = _cameraTexture.height;
if (_processedCameraTexture != null && _processedCameraTexture.width == w && _processedCameraTexture.height == h)
{
return(true); // Already adapted.
}
// Get and apply intrinsics.
bool success = _intrinsics.ToOpenCV(ref _sensorMat, ref _distortionCoeffsMat, w, h);
if (!success)
{
return(false);
}
_intrinsics.ApplyToCamera(_mainCamera);
// Create mats and textures.
_camTexGrayMat = new Mat(h, w, CvType.CV_8UC1);
_camTexGrayUndistortMat = new Mat(h, w, CvType.CV_8UC1);
_processedCameraTexture = new Texture2D(w, h, GraphicsFormat.R8_UNorm, 0, TextureCreationFlags.None);
_processedCameraTexture.name = "UndistortedCameraTex";
_processedCameraTexture.wrapMode = TextureWrapMode.Repeat;
_arTexture = new RenderTexture(w, h, 16, GraphicsFormat.R8G8B8A8_UNorm);
_arTexture.name = "AR Texture";
// Create undistort map (sensorMat remains unchanged even through it is passed as newCameraMatrix).
Calib3d.initUndistortRectifyMap(_sensorMat, _distortionCoeffsMat, new Mat(), _sensorMat, new Size(_cameraTexture.width, _cameraTexture.height), CvType.CV_32FC1, _undistortMap1, _undistortMap2);
// Update UI.
_aspectFitter.aspectRatio = w / (float)h;
_processedCameraImage.texture = _processedCameraTexture;
_arImage.texture = _arTexture;
_mainCamera.targetTexture = _arTexture;
// Log.
Debug.Log(logPrepend + "Tracking chessboard in camera image at " + w + "x" + h + "\n");
return(true);
}
/// <summary>
/// Update the extrinsics of projector relative to camera.
/// </summary>
/// <param name="cameraIntrinsics"></param>
/// <param name="projectorIntrinsics"></param>
/// <param name="textureSize"></param>
public void Update(Intrinsics cameraIntrinsics, Intrinsics projectorIntrinsics, Size textureSize)
{
int w = (int)textureSize.width;
int h = (int)textureSize.height;
cameraIntrinsics.ToOpenCV(ref _cameraSensorMat, w, h);
projectorIntrinsics.ToOpenCV(ref _projectorSensorMat, w, h);
// In order to match OpenCV's pixel space (zero at top-left) and Unity's camera space (up is positive), we flip the sensor matrix.
_cameraSensorMat.WriteValue(-_cameraSensorMat.ReadValue(1, 1), 1, 1); // fy
_cameraSensorMat.WriteValue(textureSize.height - _cameraSensorMat.ReadValue(1, 2), 1, 2); // cy
_projectorSensorMat.WriteValue(-_projectorSensorMat.ReadValue(1, 1), 1, 1); // fy
_projectorSensorMat.WriteValue(textureSize.height - _projectorSensorMat.ReadValue(1, 2), 1, 2); // cy
int flag = 0;
// Don't recompute and change intrinsics parameters.
flag |= Calib3d.CALIB_FIX_INTRINSIC;
// Don't recompute distortions, ignore them. We assume the incoming points have already bee undistorted.
flag |=
Calib3d.CALIB_FIX_TANGENT_DIST |
Calib3d.CALIB_FIX_K1 |
Calib3d.CALIB_FIX_K2 |
Calib3d.CALIB_FIX_K3 |
Calib3d.CALIB_FIX_K4 |
Calib3d.CALIB_FIX_K5;
// Compute!
Calib3d.stereoCalibrate
(
_patternWorldSamples, _cameraPatternImageSamples, _projectorPatternImageSamples,
_cameraSensorMat, _noDistCoeffs,
_projectorSensorMat, _noDistCoeffs,
textureSize,
_rotation3x3Mat, _translationVecMat, _essentialMat, _fundamentalMat,
flag
);
_extrinsics.UpdateFromOpenCvStereoCalibrate(_rotation3x3Mat, _translationVecMat);
}
