// void ArucoDetection() {
// // Detect ArUco markers
// Dictionary dict = Aruco.getPredefinedDictionary(Aruco.DICT_4X4_1000);
// Aruco.detectMarkers(cached_initMat, dict, corners, ids);
// Aruco.drawDetectedMarkers(cached_initMat, corners, ids);
// // Debug.Log("AD - 93: Markers Detected");
// // Debug.LogFormat("Corners: {0}", corners.Count);
// // Get desired corner of marker
// Point[] src_point_array = new Point[POINT_COUNT];
// for (int i = 0; i < corners.Count; i++) {
// int aruco_id = (int) (ids.get(i, 0)[0]);
// int src_i = arucoTosrc(aruco_id);
// int corner_i = aruco_id % 4;
// // Debug.LogFormat("AD - 101: aruco_id: {0}; corner_i: {1}; src_i: {2}", aruco_id, corner_i, src_i);
// // Store corner[i] into spa[src_i]
// src_point_array[src_i] = new Point(corners[i].get(0, corner_i)[0], corners[i].get(0, corner_i)[1]);
// // Display the corner as circle on outMat.
// Imgproc.circle(cached_initMat, src_point_array[src_i], 10, new Scalar(255, 255, 0));
// }
// // Converting to Ray values for Raycast
// Camera _cam = Camera.main;
// if (_cam != null) {
// for (int i = 0; i < POINT_COUNT; i++) {
// if (src_point_array[i] != null) {
// src_ray_array[i] = _cam.ScreenPointToRay(
// new Vector3((float) src_point_array[i].x,(float) src_point_array[i].y, 0)).direction;
// }
// }
// }
// // Debug.LogFormat("Detected Direction: {0}", src_ray_array[0]);
// // Debug.LogFormat("Camera Direction: {0}", _cam.transform.forward);
// // Count non-null source points
// bool spa_full = (count_src_nulls() == 7);
// // Check if have valid faces
// for (int i = 0; i < FACE_COUNT; i++) {
// // faceX_full[i] = check_faces(i);
// faceX_full[i] = check_faces(i);
// }
// // Core.flip(cached_initMat, outMat, 0);
// }
/// Sets the projected ScreenPoints of the world coordinate values in src_world_array
/// from the PoV of the RGB Camera.
void SetC1ScreenPoints()
{
Camera _camera = Camera.main;
MatrixToTransform(camera_pose, rgb_camera);
Debug.LogFormat("Camera Pose: {0} \n old transform: {1}, {2}, {3} \n new transform: {4}, {5}, {6}", camera_pose, _camera.transform.position, _camera.transform.rotation, _camera.transform.localScale, rgb_camera.transform.position, rgb_camera.transform.rotation, rgb_camera.transform.localScale);
MLCVCameraIntrinsicCalibrationParameters intrinsicParam;
MLCamera.GetIntrinsicCalibrationParameters(out intrinsicParam);
Debug.LogFormat("Camera Pose: {0} \n Left Eye Pose: {1} \n Intrinsics: FOV -- {5} vs {2} \n Focal Length -- {6} vs. {3} \n Principal Point -- {7} vs. {4} \n Sensor Size {8} vs. {9} x {10} \n Camera Size: {11} x {12} \n Camera Rect: {13}",
camera_pose,
rgb_camera.GetStereoViewMatrix(Camera.StereoscopicEye.Left),
intrinsicParam.FOV, intrinsicParam.FocalLength, intrinsicParam.PrincipalPoint,
_camera.fieldOfView, _camera.focalLength, _camera.lensShift,
_camera.sensorSize, intrinsicParam.Width, intrinsicParam.Height,
rgb_camera.pixelWidth, rgb_camera.pixelHeight,
rgb_camera.pixelRect);
rgb_camera.fieldOfView = intrinsicParam.FOV;
rgb_camera.focalLength = intrinsicParam.FocalLength.x;
rgb_camera.sensorSize = new Vector2(intrinsicParam.Width, intrinsicParam.Height);
rgb_camera.usePhysicalProperties = true;
for (int i = 0; i < POINT_COUNT; i++)
{
Vector3 world_pos = src_world_array[i];
Vector3 c1_vector3 = rgb_camera.WorldToScreenPoint(world_pos);
c1_point_array[i] = new Point(((c1_vector3.x * 2) - 128) / SCALE_FACTOR, (c1_vector3.y * 2) / SCALE_FACTOR);
}
}
/// <summary>
/// Once privileges have been granted, enable the camera and callbacks.
/// </summary>
private void StartCapture()
{
if (!_hasStarted)
{
lock (_cameraLockObject)
{
EnableMLCamera();
MLCVCameraIntrinsicCalibrationParameters cameraIntrinsics;
MLCamera.GetIntrinsicCalibrationParameters(out cameraIntrinsics);
Debug.Log("Camera is connected:" + cameraIntrinsics.FOV);
_results.cameraIntrinsics = new SerializableCameraIntrinsics
{
Distortion = cameraIntrinsics.Distortion,
FocalLength = cameraIntrinsics.FocalLength,
FOV = cameraIntrinsics.FOV,
Height = cameraIntrinsics.Height,
PrincipalPoint = cameraIntrinsics.PrincipalPoint,
Width = cameraIntrinsics.Width
};
MLCamera.OnRawImageAvailable += OnCaptureRawImageComplete;
MLCamera.OnCaptureCompleted += OnCaptureCompleted;
}
MLInput.OnControllerButtonDown += OnButtonDown;
_hasStarted = true;
}
}
/// <summary>
/// Setup the text field for camera intrinsic values.
/// Precondition: MLCamera must be successfully started.
/// </summary>
void SetupCameraIntrinsics()
{
MLCVCameraIntrinsicCalibrationParameters parameters;
MLResult result = MLCamera.GetIntrinsicCalibrationParameters(out parameters);
if (result.IsOk)
{
_intrinsicValuesText.text = CalibrationParametersToString(parameters);
}
else
{
Debug.LogErrorFormat("Error: RawVideoCaptureExample failed to GetIntrinsicCalibrationParameters. Reason: {0}", result);
}
}