public static void CalibCamera(Camera camera)
{
Matrix4x4 projectionMatrix = new Matrix4x4();
float near = camera.nearClipPlane;
float far = camera.farClipPlane;
var width = 0f;
var height = 0f;
var focalX = 0f;
var focalY = 0f;
var centerX = 0f;
var centerY = 0f;
var row0 = new Vector4(2 * focalX / width, 0, 1 - 2 * centerX / width, 0);
var row1 = new Vector4(0, 2 * focalY / height, 2 * centerY / height - 1, 0);
var row2 = new Vector4(0, 0, (far + near) / (near - far), 2 * far * near / (near - far));
var row3 = new Vector4(0, 0, -1, 0);
projectionMatrix.SetRow(0, row0);
projectionMatrix.SetRow(1, row1);
projectionMatrix.SetRow(2, row2);
projectionMatrix.SetRow(3, row3);
camera.fieldOfView = CameraUtility.Focal2Fov(focalX, width);
camera.projectionMatrix = projectionMatrix;
}
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);
}