/// <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);
}