void Update()
{
// if space is down do AR tranformation
if (notCalibrated && Input.GetKeyDown(KeyCode.Space))
{
// laod camera calibrations setting
CameraCalibSerializable calidSaveData = Utilities.LoadCameraCalibrationParams();
// initialise marhsallers
MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller(calidSaveData.distortionCoefficients);
MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller(calidSaveData.cameraMatrix);
double reProjectionError = calidSaveData.reProjectionError;
// get calibration data
calibData = new UCameraCalibrationData(distCoeffs, cameraMatrix, reProjectionError);
notCalibrated = false;
}
else if (!notCalibrated)
{
// estimate charuco board pose
(
UDetectMarkersData markerData,
UBoardMarkerPoseEstimationDataEuler poseEstimationData
) = Aruco.UEstimateCharucoBoardPose(
_webCamTexture.GetPixels32(),
_webCamTexture.width,
_webCamTexture.height,
boardParameters,
calibData.cameraMatrix.NativeDataPointer,
calibData.distCoeffs.NativeDataPointer
);
TransformGameObjects(poseEstimationData, markerData);
}
}
void Update()
{
if (notCalibrated)
{
if (Input.touchCount > 0)
{
// find charuco board corners in the frame
bool sucess = Aruco.UFindCharucoBoardCorners(_webCamTexture.GetPixels32(), _webCamTexture.width, _webCamTexture.height, boardParameters, allCharucoIds, allCharucoCorners);
if (sucess)
{
numOfSuccessfulFrames++;
}
if (numOfSuccessfulFrames >= 40)
{
// calibrate camera after defined amount of frames have been recorded
calibData = Aruco.UCalibrateCameraCharuco(_webCamTexture.width, _webCamTexture.height, boardParameters, allCharucoIds, allCharucoCorners);
CameraCalibSerializable calidSaveData;
calidSaveData.distortionCoefficients = (double[][])calibData.distCoeffs.GetMangedObject();
calidSaveData.cameraMatrix = (double[][])calibData.cameraMatrix.GetMangedObject();
calidSaveData.reProjectionError = calibData.reProjectionError;
// save obtained calibration settings
Utilities.SaveCameraCalibrationParams(calidSaveData);
notCalibrated = false;
}
}
}
if (!notCalibrated)
{
(
UDetectMarkersData markerData,
UBoardMarkerPoseEstimationDataEuler poseEstimationData
) = Aruco.UEstimateCharucoBoardPose(
_webCamTexture.GetPixels32(),
_webCamTexture.width,
_webCamTexture.height,
boardParameters,
calibData.cameraMatrix.NativeDataPointer,
calibData.distCoeffs.NativeDataPointer
);
TransformGameObjects(poseEstimationData, markerData);
}
}