/// <summary>
/// Add a pair of real space + image space points.
/// Beware that calibration can fail if pattern is not rotated to fade forward, so that z is zero.
/// Also ensure that the point order in the the two point sets are matching.
/// </summary>
/// <param name="patternRealModelSample">Must be measured in millimeters</param>
/// <param name="patternImageSample"></param>
public void AddSample(MatOfPoint3f patternRealModelSample, MatOfPoint2f patternImageSample)
{
//Debug.Log( "patternRealModelSample\n" + patternRealModelSample.dump() );
//Debug.Log( "patternImageSample\n" + patternImageSample.dump() );
_patternRealSamples.Add(patternRealModelSample.clone());
_patternImageSamples.Add(patternImageSample.clone());
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.isPlaying() && webCamTextureToMatHelper.didUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
if (AppControl.control.calibrationComplete)
{
Mat rgbaMatUndistorted = rgbaMat.clone();
Size SizeCm = AppControl.control.cameraMatrix.size();
Size SizeDc = AppControl.control.distCoeffs.size();
Imgproc.undistort(rgbaMat, rgbaMatUndistorted, AppControl.control.cameraMatrix, AppControl.control.distCoeffs);
rgbaMat = rgbaMatUndistorted;
}
Imgproc.cvtColor(rgbaMat, hsvMat, Imgproc.COLOR_RGBA2RGB);
Imgproc.cvtColor(hsvMat, hsvMat, Imgproc.COLOR_RGB2HSV);
// IMAGE PROCESSING STARTS (rgbaMat is the captured image)
// Convert the current rgba frame (rgbaMat) to a gray image (grayMat)
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
//CALIB_CB_FAST_CHECK saves a lot of time on images
//that do not contain any chessboard corners
bool patternfound = Calib3d.findChessboardCorners(grayMat, patternsize, pointbuf,
Calib3d.CALIB_CB_ADAPTIVE_THRESH + Calib3d.CALIB_CB_NORMALIZE_IMAGE
+ Calib3d.CALIB_CB_FAST_CHECK);
if (patternfound)
{
Imgproc.cornerSubPix(grayMat, pointbuf, new Size(11, 11), new Size(-1, -1), new TermCriteria(TermCriteria.EPS + TermCriteria.MAX_ITER, 30, 0.1));
float timeNow = Time.realtimeSinceStartup;
if ((timeNow > lastInterval + updateInterval))
{
imagePoints.Add(pointbuf.clone());
calcChessboardCorners(patternsize, squaresize, objectpointbuf);
objectPoints.Add(objectpointbuf.clone());
++numCalibImages;
lastInterval = timeNow;
}
}
if (numCalibImages > numCalibrationTakes && !calibrationComplete)
{
// Do calibration
int flags = 0;
calibrationComplete = true;
Calib3d.calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, flags);
// Calibration is complete
List <float> perViewErrors = new List <float>();
float error;
error = computeReprojectionErrors(objectPoints, imagePoints, rvecs, tvecs, cameraMatrix, distCoeffs, perViewErrors);
// Debug statements
Debug.Log("Calibration complete!");
Debug.Log("Camera Matrix:");
Debug.Log(cameraMatrix.dump());
Debug.Log("Distortion Coefficients:");
Debug.Log(distCoeffs.dump()); // Debug.Log("fx: " + cameraMatrix.get(0,0)[0]);
Debug.Log("Reprojection error average: " + error); // Error should be in units of pixels
Debug.Log(perViewErrors.ToString());
// Save the calibration variables in AppControl
AppControl.control.calibrationComplete = calibrationComplete;
AppControl.control.cameraMatrix = cameraMatrix;
AppControl.control.distCoeffs = distCoeffs;
AppControl.control.reprojectionError = error;
AppControl.control.fx = (float)cameraMatrix.get(0, 0)[0];
AppControl.control.fy = (float)cameraMatrix.get(1, 1)[0];
AppControl.control.cx = (float)cameraMatrix.get(0, 2)[0];
AppControl.control.cy = (float)cameraMatrix.get(1, 2)[0];
// Store the calibration parameters in player preferences text file
PlayerPrefs.SetInt("Calibrated", 1);
PlayerPrefs.SetFloat("Error", error);
float k1 = (float)distCoeffs.get(0, 1)[0];
float k2 = (float)distCoeffs.get(0, 1)[0];
PlayerPrefs.SetFloat("k1", (float)distCoeffs.get(0, 0)[0]);
PlayerPrefs.SetFloat("k2", (float)distCoeffs.get(0, 1)[0]);
PlayerPrefs.SetFloat("p1", (float)distCoeffs.get(0, 2)[0]);
PlayerPrefs.SetFloat("p2", (float)distCoeffs.get(0, 3)[0]);
PlayerPrefs.SetFloat("k3", (float)distCoeffs.get(0, 4)[0]);
PlayerPrefs.SetFloat("fx", (float)cameraMatrix.get(0, 0)[0]);
PlayerPrefs.SetFloat("fy", (float)cameraMatrix.get(1, 1)[0]);
PlayerPrefs.SetFloat("cx", (float)cameraMatrix.get(0, 2)[0]);
PlayerPrefs.SetFloat("cy", (float)cameraMatrix.get(1, 2)[0]);
}
// SHOW IMAGE ON THE DISPLAY
// Draw the chessboard corners so it's obvious that the app is working
Calib3d.drawChessboardCorners(rgbaMat, patternsize, pointbuf, patternfound);
// Notify the user when the calibration is finished
if (!calibrationComplete)
{
Core.putText(rgbaMat, "Number of images collected: " + numCalibImages, new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Core.LINE_AA, false);
}
else
{
// Mat rgbaMatUndistorted = new Mat();
Core.putText(rgbaMat, "Calibration complete", new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Core.LINE_AA, false);
}
Utils.matToTexture2D(rgbaMat, texture); // Default display
// Utils.matToTexture2D (rgbaMat, texture, colors)
}
}
/// <summary>
/// Add a pair of real space + image space points. Points must be undistorted.
/// </summary>
/// <param name="patternRealSample">Must be measured in millimeters</param>
/// <param name="patternImageSample"></param>
public void AddSample(MatOfPoint3f patternWorldSample, MatOfPoint2f cameraPatternImageSample, MatOfPoint2f projectorPatternImageSample)
{
_patternWorldSamples.Add(patternWorldSample.clone());
_cameraPatternImageSamples.Add(cameraPatternImageSample.clone());
_projectorPatternImageSamples.Add(projectorPatternImageSample.clone());
}
