public static bool TryLoadFromFile(string fileName, out Intrinsics intrinsics)
{
intrinsics = null;
if (!Directory.Exists(TrackingToolsConstants.intrinsicsDirectoryPath))
{
Debug.LogError(logPrepend + "Directory missing.\n" + TrackingToolsConstants.intrinsicsDirectoryPath);
return(false);
}
string filePath = TrackingToolsConstants.intrinsicsDirectoryPath + "/" + fileName;
if (!fileName.EndsWith(".json"))
{
filePath += ".json";
}
if (!File.Exists(filePath))
{
Debug.LogError(logPrepend + "File missing.\n" + filePath);
return(false);
}
intrinsics = JsonUtility.FromJson <Intrinsics>(File.ReadAllText(filePath));
return(true);
}
void Awake()
{
Intrinsics intrinsics;
if (!Intrinsics.TryLoadFromFile(_intrinsicsFileName, out intrinsics))
{
return;
}
Camera cam = GetComponent <Camera>();
intrinsics.ApplyToCamera(cam);
}
public IntrinsicsCalibrator(int imageWidth, int imageHeight)
{
const int regularSampleCount = 4;
_intrinsics = new Intrinsics();
_patternImageSamples = new List <Mat>(regularSampleCount);
_patternRealSamples = new List <Mat>(regularSampleCount);
_distortionCoeffsMat = new MatOfDouble();
_rotationSamples = new List <Mat>(regularSampleCount);
_translationSamples = new List <Mat>(regularSampleCount);
_sensorMat = Mat.eye(3, 3, CvType.CV_64FC1);
_textureSize = new Size(imageWidth, imageHeight);
}
void Awake()
{
if (!Intrinsics.TryLoadFromFile(_intrinsicsFileName, out _intrinsics))
{
Debug.LogError("Intrinsics file '" + _intrinsicsFileName + "' not found.\n");
enabled = false;
return;
}
_undistortMap1 = new Mat();
_undistortMap2 = new Mat();
_extrinsicsCalibrator = new CameraExtrinsicsCalibrator();
TrackingToolsHelper.RenderPattern(_chessPatternSize, TrackingToolsHelper.PatternType.Chessboard, 1024, ref _chessPatternTexture, ref _patternRenderMaterial);
// Prepare UI.
_aspectFitter = _processedCameraImage.GetComponent <AspectRatioFitter>();
if (!_aspectFitter)
{
_aspectFitter = _processedCameraImage.gameObject.AddComponent <AspectRatioFitter>();
}
_aspectFitter.aspectMode = AspectRatioFitter.AspectMode.FitInParent;
_previewMaterial = new Material(Shader.Find(TrackingToolsConstants.previewShaderName));
_processedCameraImage.material = _previewMaterial;
_processedCameraImage.color = Color.white;
_arImage = new GameObject("ARImage").AddComponent <RawImage>();
_arImage.transform.SetParent(_processedCameraImage.transform);
_arImage.rectTransform.FitParent();
_arImage.gameObject.SetActive(false);
_mainCamera.backgroundColor = Color.clear;
_chessPatternTransform = GameObject.CreatePrimitive(PrimitiveType.Quad).transform;
_chessPatternTransform.name = "Chessboard";
_chessPatternTransform.localScale = new Vector3((_chessPatternSize.x - 1) * _chessTileSize * 0.001f, (_chessPatternSize.y - 1) * _chessTileSize * 0.001f, 0);
Shader unlitTextureShader = Shader.Find("Unlit/Texture");
Material chessboardMaterial = new Material(unlitTextureShader);
chessboardMaterial.mainTexture = _chessPatternTexture;
_chessPatternTransform.GetComponent <Renderer>().material = chessboardMaterial;
_precisionDotsContainerObject = TrackingToolsHelper.CreatePrecisionTestDots(_chessPatternTransform, _testPrecisionDotsLayer, _chessPatternSize, _chessTileSize / 1000f);
// Update world points.
TrackingToolsHelper.UpdateWorldSpacePatternPoints(_chessPatternSize, _chessPatternTransform.localToWorldMatrix, TrackingToolsHelper.PatternType.Chessboard, Vector2.zero, ref _chessCornersWorldMat);
}
/// <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);
}
void Awake()
{
// Create UI.
if (!_containerUI)
{
_containerUI = new GameObject("CameraPoser").AddComponent <RectTransform>();
_containerUI.transform.SetParent(_canvas.transform);
}
CanvasGroup wrapperGroup = _containerUI.GetComponent <CanvasGroup>();
if (!wrapperGroup)
{
wrapperGroup = _containerUI.gameObject.AddComponent <CanvasGroup>();
}
wrapperGroup.alpha = _alpha;
Image backgroundImage = new GameObject("Background").AddComponent <Image>();
backgroundImage.transform.SetParent(_containerUI.transform);
_rawImageUI = new GameObject("CameraImage").AddComponent <RawImage>();
_rawImageUI.transform.SetParent(_containerUI.transform);
_rawImageUI.uvRect = _flipTexture ? new UnityEngine.Rect(0, 1, 1, -1) : new UnityEngine.Rect(0, 0, 1, 1);
_rawImageRect = _rawImageUI.GetComponent <RectTransform>();
_uiMaterial = new Material(Shader.Find("Hidden/SingleChannelTexture"));
_rawImageUI.material = _uiMaterial;
_aspectFitterUI = _rawImageUI.gameObject.AddComponent <AspectRatioFitter>();
_aspectFitterUI.aspectMode = AspectRatioFitter.AspectMode.HeightControlsWidth;
backgroundImage.color = Color.black;
ExpandRectTransform(_containerUI);
ExpandRectTransform(backgroundImage.GetComponent <RectTransform>());
ExpandRectTransform(_rawImageRect);
_userPointRects = new RectTransform[pointCount];
_userPointImages = new Image[pointCount];
for (int p = 0; p < pointCount; p++)
{
GameObject pointObject = new GameObject("Point" + p);
pointObject.transform.SetParent(_rawImageRect);
Image pointImage = pointObject.AddComponent <Image>();
pointImage.color = Color.cyan;
RectTransform pointRect = pointObject.GetComponent <RectTransform>();
pointRect.sizeDelta = Vector2.one * 5;
SetAnchoredPosition(pointRect, defaultPointPositions[p]);
pointRect.anchoredPosition = Vector3.zero;
Text pointLabel = new GameObject("Label").AddComponent <Text>();
pointLabel.text = p.ToString();
pointLabel.transform.SetParent(pointRect);
pointLabel.rectTransform.anchoredPosition = Vector2.zero;
pointLabel.rectTransform.sizeDelta = new Vector2(_fontSize, _fontSize) * 2;
pointLabel.font = _font;
pointLabel.fontSize = _fontSize;
_userPointRects[p] = pointRect;
_userPointImages[p] = pointImage;
}
// Hide.
//if( !_interactable ) _containerUI.transform.gameObject.SetActive( false );
// Prepare OpenCV.
_noDistCoeffs = new MatOfDouble(new double[] { 0, 0, 0, 0 });
_rVec = new Mat();
_tVec = new Mat();
_anchorPointsImage = new Point[pointCount];
_anchorPointsWorld = new Point3[pointCount];
_anchorPointsImageMat = new MatOfPoint2f();
_anchorPointsWorldMat = new MatOfPoint3f();
_anchorPointsImageMat.alloc(pointCount);
_anchorPointsWorldMat.alloc(pointCount);
for (int p = 0; p < pointCount; p++)
{
_anchorPointsImage[p] = new Point();
_anchorPointsWorld[p] = new Point3();
}
// Load files.
if (Intrinsics.TryLoadFromFile(_intrinsicsFileName, out _intrinsics))
{
enabled = false;
return;
}
LoadCircleAnchorPoints();
// Update variables.
if (!Application.isEditor)
{
OnValidate();
}
}
void Awake()
{
Application.targetFrameRate = 30;
// Check resources.
if (_operationMode == OperationMode.ManualSamlping && !_manualSampleButton)
{
Debug.LogError(logPrepend + "Missing sample button. You must provide a sample button when OperationMode is " + OperationMode.ManualSamlping);
enabled = false;
return;
}
// Load files.
if (!Intrinsics.TryLoadFromFile(_cameraIntrinsicsFileName, out _cameraIntrinsics))
{
enabled = false;
return;
}
// Find shaders.
Shader unlitColorShader = Shader.Find("Unlit/Color");
Shader unlitTextureShader = Shader.Find("Unlit/Texture");
Shader unlitTintedTextureShader = Shader.Find("Unlit/TintedInvertibleTexture");
_sb = new StringBuilder();
// Operation mode dependent things.
_stableSampleCountThreshold = _operationMode == OperationMode.ManualSamlping ? stableFrameCountThresholdForManualSampling : stableFrameCountThresholdForTimedSampling;
if (_manualSampleButton)
{
_manualSampleButton.gameObject.SetActive(_operationMode == OperationMode.ManualSamlping);
_manualSampleButton.interactable = false;
}
// Prepare OpenCV.
_cameraExtrinsicsCalibrator = new CameraExtrinsicsCalibrator();
_projectorExtrinsicsCalibrator = new ProjectorFromCameraExtrinsicsCalibrator();
_noDistCoeffs = new MatOfDouble(new double[] { 0, 0, 0, 0 });
_circlePointsProjectorRenderImageMat = new MatOfPoint2f();
_circlePointsRealModelMat = new MatOfPoint3f();
_circlePointsDetectedWorldMat = new MatOfPoint3f();
_undistortMap1 = new Mat();
_undistortMap2 = new Mat();
// Create patterns.
TrackingToolsHelper.RenderPattern(_chessPatternSize, TrackingToolsHelper.PatternType.Chessboard, 1024, ref _chessPatternTexture, ref _patternRenderMaterial);
// Layers.
int uiLayer = LayerMask.NameToLayer("UI");
int mainCameraLayerMask = LayerMask.GetMask("Default");
int projectorLayer = LayerMask.NameToLayer("TransparentFX");
int projectorLayerMask = LayerMask.GetMask("TransparentFX");
// Objects.
_calibrationBoardTransform = new GameObject("CalibrationBoard").transform;
// Create and prepare UI.
_cameraAspectFitter = _processedCameraImage.GetComponent <AspectRatioFitter>();
if (!_cameraAspectFitter)
{
_cameraAspectFitter = _processedCameraImage.gameObject.AddComponent <AspectRatioFitter>();
}
_cameraAspectFitter.aspectMode = AspectRatioFitter.AspectMode.FitInParent;
_previewMaterial = new Material(Shader.Find(TrackingToolsConstants.previewShaderName));
_processedCameraImage.gameObject.layer = uiLayer;
_processedCameraImage.material = _previewMaterial;
_processedCameraImage.color = Color.white;
_arImage = new GameObject("ARImage").AddComponent <RawImage>();
_arImage.transform.SetParent(_processedCameraImage.transform);
_arImage.transform.SetAsFirstSibling();
_arImage.raycastTarget = false;
_arImage.rectTransform.FitParent();
_arImage.gameObject.layer = uiLayer;
_mainCamera.transform.SetPositionAndRotation(Vector3.zero, Quaternion.identity);
_mainCamera.cullingMask = mainCameraLayerMask;
_projectorCamera.transform.SetPositionAndRotation(Vector3.zero, Quaternion.identity);
_projectorCamera.cullingMask = projectorLayerMask;
_projectorCamera.usePhysicalProperties = false;
_chessPatternTransform = GameObject.CreatePrimitive(PrimitiveType.Quad).transform;
_chessPatternTransform.SetParent(_calibrationBoardTransform);
_chessPatternTransform.name = "Chessboard";
Material chessboardMaterial = new Material(unlitTextureShader);
chessboardMaterial.mainTexture = _chessPatternTexture;
_chessPatternTransform.GetComponent <Renderer>().material = chessboardMaterial;
float chessTileSizeMeters = _chessTileSize * 0.001f;
_chessPatternTransform.localScale = new Vector3((_chessPatternSize.x - 1) * chessTileSizeMeters, (_chessPatternSize.y - 1) * chessTileSizeMeters, 0);
TrackingToolsHelper.UpdateWorldSpacePatternPoints(_chessPatternSize, _chessPatternTransform.localToWorldMatrix, TrackingToolsHelper.PatternType.Chessboard, Vector2.zero, ref _chessCornersWorldMat);
_circlePatternTransform = GameObject.CreatePrimitive(PrimitiveType.Quad).transform;
_circlePatternTransform.name = "Circlesboard";
_circlePatternBoardMaterial = new Material(unlitTintedTextureShader);
_circlePatternTransform.GetComponent <Renderer>().material = _circlePatternBoardMaterial;
_circlePatternTransform.position = Vector3.forward;
_circlePatternTransform.gameObject.layer = projectorLayer;
_precisionDotsContainerObject = TrackingToolsHelper.CreatePrecisionTestDots(_calibrationBoardTransform, projectorLayer, _chessPatternSize, chessTileSizeMeters);
_precisionDotsContainerObject.SetActive(false);
_projectorSampleMeterTransform = GameObject.CreatePrimitive(PrimitiveType.Quad).transform;
_projectorSampleMeterTransform.gameObject.layer = projectorLayer;
_projectorSampleMeterTransform.name = "ProjectorSampleMeter";
_projectorSampleMeterTransform.localScale = new Vector3(_chessPatternTransform.localScale.x, TrackingToolsConstants.precisionTestDotSize, 0);
_projectorSampleMeterTransform.SetParent(_calibrationBoardTransform);
float dotOffsetY = ((_chessPatternSize.y - 4) * 0.5f + 1) * chessTileSizeMeters;
_projectorSampleMeterTransform.localPosition = new Vector3(0, -dotOffsetY - chessTileSizeMeters);
Material sampleMeterMaterial = new Material(unlitColorShader);
_projectorSampleMeterTransform.GetComponent <Renderer>().sharedMaterial = sampleMeterMaterial;
_projectorSampleMeterTransform.gameObject.SetActive(false);
_intrinsicsErrorText.gameObject.SetActive(false);
_extrinsicsErrorText.gameObject.SetActive(false);
_saveButton.gameObject.SetActive(false);
_undoSampleButton.gameObject.SetActive(false);
_screenBorderMaterial = new Material(unlitColorShader);
_circlePatternToWorldPrevFrame = Matrix4x4.identity;
_previewFlasher = new MaterialPropFlasher(_previewMaterial, "_Whiteout", TrackingToolsConstants.flashDuration);
UpdateSampleCounterUI();
// Subscribe.
_circlePatternScaleSlider.onValueChanged.AddListener(( float v ) => _manualCirclePatternTransformationRequested = true); //OnCirclePatternScaleSliderChanged );
_circlePatternOffsetXSlider.onValueChanged.AddListener(( float v ) => _manualCirclePatternTransformationRequested = true);
_circlePatternOffsetYSlider.onValueChanged.AddListener(( float v ) => _manualCirclePatternTransformationRequested = true);
_saveButton.onClick.AddListener(SaveToFiles);
_undoSampleButton.onClick.AddListener(UndoSample);
if (_manualSampleButton)
{
_manualSampleButton.onClick.AddListener(() => _sampleManuallyRequested = true);;
}
}
public bool UpdateExtrinsics(MatOfPoint3f patternPointsWorldMat, MatOfPoint2f patternPointsImageMat, Intrinsics intrinsics, int imageWidth, int imageHeight)
{
intrinsics.ToOpenCV(ref _sensorMatrix, imageWidth, imageHeight);
// 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.
_sensorMatrix.WriteValue(-_sensorMatrix.ReadValue(1, 1), 1, 1); // fy
_sensorMatrix.WriteValue(imageHeight - _sensorMatrix.ReadValue(1, 2), 1, 2); // cy
// Find pattern pose, relative to camera (at zero position) using solvePnP.
_isValid = Calib3d.solvePnP(patternPointsWorldMat, patternPointsImageMat, _sensorMatrix, _noDistCoeffs, _rotationVecMat, _translationVecMat);
if (_isValid)
{
_extrinsics.UpdateFromOpenCvSolvePnp(_rotationVecMat, _translationVecMat);
}
return(_isValid);
}
