private void OnCalibrate(Sizei resolution, Matrix3x3f intrinsic, Vector5f distorsion)
{
/*
* var m = new Matrix4x4();
* for (int r = 0; r < 3; ++r)
* {
* for (int c = 0; c < 3; ++c)
* {
* m[r, c] = intrinsic.coeff(r, c);
* }
* }
* Debug.Log(m);
* Debug.Log(resolution.width);
* Debug.Log(resolution.height);
*/
var fY = intrinsic.coeff(1, 1) * 2 / resolution.height;
var fX = intrinsic.coeff(0, 0) * 2 / resolution.width;
//var fovY = CameraUtility.Focal2Fov(fY, resolution.height);
//var fovX = CameraUtility.Focal2Fov(fX, resolution.width);
//camera.fieldOfView = fovY;
//CameraUtility.ApplyProjectionMatrix()
var projectionMatrix = Perspective(fX, fY, camera.nearClipPlane, camera.farClipPlane);
camera.projectionMatrix = projectionMatrix;
MoveVideoPlane();
}
public virtual void setCameraParameters(Matrix3x3f intrinsicParams, Vector5f distorsionParams)
{
solar_api_solver_posePINVOKE.I2Dto3DTransformDecomposer_setCameraParameters(swigCPtr, Matrix3x3f.getCPtr(intrinsicParams), Vector5f.getCPtr(distorsionParams));
if (solar_api_solver_posePINVOKE.SWIGPendingException.Pending)
{
throw solar_api_solver_posePINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void setDistorsionParameters(Vector5f distorsion_parameters)
{
solar_api_geomPINVOKE.IUndistortPoints_setDistorsionParameters(swigCPtr, Vector5f.getCPtr(distorsion_parameters));
if (solar_api_geomPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_geomPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void setCameraParameters(Matrix3x3f intrinsic_parameters, Vector5f distorsion_parameters)
{
solar_api_displayPINVOKE.I3DOverlay_setCameraParameters(swigCPtr, Matrix3x3f.getCPtr(intrinsic_parameters), Vector5f.getCPtr(distorsion_parameters));
if (solar_api_displayPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_displayPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void setCameraParameters(Matrix3x3f intrinsicParams, Vector5f distorsionParams)
{
solar_api_geomPINVOKE.IUnproject_setCameraParameters(swigCPtr, Matrix3x3f.getCPtr(intrinsicParams), Vector5f.getCPtr(distorsionParams));
if (solar_api_geomPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_geomPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void setDistorsionParameters(Vector5f distorsion_parameters)
{
solar_api_input_devicesPINVOKE.ICamera_setDistorsionParameters(swigCPtr, Vector5f.getCPtr(distorsion_parameters));
if (solar_api_input_devicesPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_input_devicesPINVOKE.SWIGPendingException.Retrieve();
}
}
public override void SetCameraParameters(Matrix3x3f intrinsics, Vector5f distorsion)
{
// pnp.setCameraParameters(intrinsics, distorsion);
// pnpRansac.setCameraParameters(intrinsics, distorsion);
// poseFinderFrom2D2D.setCameraParameters(intrinsics, distorsion);
// triangulator.setCameraParameters(intrinsics, distorsion);
// projector.setCameraParameters(intrinsics, distorsion);
// overlay3D.setCameraParameters(intrinsics, distorsion);
}
private void OnCalibrate(Sizei resolution, Matrix3x3f intrinsic, Vector5f distorsion)
{
var fY = intrinsic.coeff(1, 1);
var fovY = CameraUtility.Focal2Fov(fY, resolution.height);
var fX = intrinsic.coeff(0, 0);
var aspect = (fY / resolution.height) / (fX / resolution.width);
var projectionMatrix = Matrix4x4.Perspective(fovY, aspect, camera.nearClipPlane, camera.farClipPlane);
CameraUtility.ApplyProjectionMatrix(camera, projectionMatrix);
}
public virtual Vector5f getDistorsionParameters()
{
Vector5f ret = new Vector5f(solar_api_input_devicesPINVOKE.ICamera_getDistorsionParameters(swigCPtr), true);
if (solar_api_input_devicesPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_input_devicesPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public abstract void SetCameraParameters(Matrix3x3f intrinsic, Vector5f distorsion);
public override void SetCameraParameters(Matrix3x3f intrinsics, Vector5f distorsion)
{
// initialize pose estimation
poseEstimationPlanar.setCameraParameters(intrinsics, distorsion);
}
public virtual double solve(KeyframeList framesToAdjust, CloudPointVector mapToAdjust, Matrix3x3f K, Vector5f D, IntVector selectKeyframes, Transform3DfList poseAdjusted, CloudPointVector mapAdjusted, Matrix3x3f KAdjusted, Vector5f DAdjusted)
{
double ret = solar_api_solver_mapPINVOKE.IBundler_solve(swigCPtr, KeyframeList.getCPtr(framesToAdjust), CloudPointVector.getCPtr(mapToAdjust), Matrix3x3f.getCPtr(K), Vector5f.getCPtr(D), IntVector.getCPtr(selectKeyframes), Transform3DfList.getCPtr(poseAdjusted), CloudPointVector.getCPtr(mapAdjusted), Matrix3x3f.getCPtr(KAdjusted), Vector5f.getCPtr(DAdjusted));
if (solar_api_solver_mapPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_solver_mapPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public override void SetCameraParameters(Matrix3x3f intrinsics, Vector5f distorsion)
{
PnP.setCameraParameters(intrinsics, distorsion);
}
