1173 lines
45 KiB
C#
1173 lines
45 KiB
C#
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using UnityEngine;
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using UnityEngine.UI;
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using UnityEngine.SceneManagement;
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Xml.Serialization;
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using System.IO;
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using System.Linq;
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using OpenCVForUnity.ArucoModule;
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using OpenCVForUnity.CoreModule;
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using OpenCVForUnity.ImgprocModule;
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using OpenCVForUnity.Calib3dModule;
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using OpenCVForUnity.UnityUtils;
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using OpenCVForUnity.ImgcodecsModule;
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using OpenCVForUnity.UnityUtils.Helper;
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namespace OpenCVForUnityExample
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{
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/// <summary>
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/// ArUco Camera Calibration Example
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/// An example of camera calibration using the aruco module.
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/// Referring to https://github.com/opencv/opencv_contrib/blob/master/modules/aruco/samples/calibrate_camera.cpp.
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/// https://github.com/opencv/opencv/blob/master/samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
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/// https://docs.opencv.org/3.2.0/da/d13/tutorial_aruco_calibration.html
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/// https://docs.opencv.org/3.4.0/d7/d21/tutorial_interactive_calibration.html
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/// </summary>
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[RequireComponent (typeof(WebCamTextureToMatHelper))]
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public class ArUcoCameraCalibrationExample : MonoBehaviour
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{
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/// <summary>
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/// The marker type.
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/// </summary>
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public MarkerType markerType = MarkerType.ChArUcoBoard;
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/// <summary>
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/// The marker type dropdown.
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/// </summary>
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public Dropdown markerTypeDropdown;
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/// <summary>
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/// The dictionary identifier.
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/// </summary>
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public ArUcoDictionary dictionaryId = ArUcoDictionary.DICT_6X6_250;
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/// <summary>
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/// The dictionary id dropdown.
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/// </summary>
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public Dropdown dictionaryIdDropdown;
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/// <summary>
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/// Number of squares in X direction.
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/// </summary>
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public NumberOfSquaresX squaresX = NumberOfSquaresX.X_5;
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/// <summary>
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/// The squares X dropdown.
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/// </summary>
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public Dropdown squaresXDropdown;
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/// <summary>
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/// Number of squares in X direction.
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/// </summary>
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public NumberOfSquaresY squaresY = NumberOfSquaresY.Y_7;
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/// <summary>
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/// The squares X dropdown.
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/// </summary>
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public Dropdown squaresYDropdown;
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/// <summary>
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/// The save path input field.
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/// </summary>
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public InputField savePathInputField;
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/// <summary>
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/// Determines if refine marker detection. (only valid for ArUco boards)
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/// </summary>
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public bool refineMarkerDetection = true;
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[Header ("Extra Option")]
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/// <summary>
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/// Determines if calibrates camera using the list of calibration images.
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/// </summary>
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[TooltipAttribute ("Determines if calibrates camera using the list of calibration images.")]
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public bool isImagesInputMode = false;
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/// <summary>
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/// The calibration images directory path.
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/// Set a relative directory path from the starting point of the "StreamingAssets" folder. e.g. "calibration_images/".
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/// </summary>
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[TooltipAttribute ("Set a relative directory path from the starting point of the \"StreamingAssets\" folder. e.g. \"calibration_images\"")]
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public string calibrationImagesDirectory = "calibration_images";
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/// <summary>
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/// The texture.
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/// </summary>
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Texture2D texture;
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/// <summary>
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/// The webcam texture to mat helper.
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/// </summary>
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WebCamTextureToMatHelper webCamTextureToMatHelper;
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/// <summary>
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/// The gray mat.
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/// </summary>
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Mat grayMat;
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/// <summary>
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/// The bgr mat.
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/// </summary>
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Mat bgrMat;
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/// <summary>
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/// The rgba mat.
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/// </summary>
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Mat rgbaMat;
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/// <summary>
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/// The cameraparam matrix.
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/// </summary>
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Mat camMatrix;
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/// <summary>
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/// The distortion coeffs.
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/// </summary>
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MatOfDouble distCoeffs;
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/// <summary>
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/// The identifiers.
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/// </summary>
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Mat ids;
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/// <summary>
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/// The corners.
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/// </summary>
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List<Mat> corners;
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/// <summary>
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/// The rejected corners.
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/// </summary>
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List<Mat> rejectedCorners;
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/// <summary>
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/// The rvecs.
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/// </summary>
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List<Mat> rvecs;
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/// <summary>
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/// The tvecs.
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/// </summary>
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List<Mat> tvecs;
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/// <summary>
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/// The detector parameters.
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/// </summary>
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DetectorParameters detectorParams;
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/// <summary>
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/// The dictionary.
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/// </summary>
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Dictionary dictionary;
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/// <summary>
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/// The recovered identifiers.
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/// </summary>
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Mat recoveredIdxs;
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const int calibrationFlags = 0;
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// Calib3d.CALIB_FIX_K3 | Calib3d.CALIB_FIX_K4 | Calib3d.CALIB_FIX_K5
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double repErr = 0;
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bool shouldCaptureFrame = false;
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// for ChArUcoBoard.
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// chessboard square side length (normally in meters)
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const float chArUcoBoradSquareLength = 0.04f;
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// marker side length (same unit than squareLength)
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const float chArUcoBoradMarkerLength = 0.02f;
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const int charucoMinMarkers = 2;
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Mat charucoCorners;
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Mat charucoIds;
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CharucoBoard charucoBoard;
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List<List<Mat>> allCorners;
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List<Mat> allIds;
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List<Mat> allImgs;
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// for OthearMarkers.
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// square size in some user-defined units (1 by default)
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const float squareSize = 1f;
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List<Mat> imagePoints;
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bool isInitialized = false;
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bool isCalibrating = false;
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// Use this for initialization
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IEnumerator Start ()
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{
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webCamTextureToMatHelper = gameObject.GetComponent<WebCamTextureToMatHelper> ();
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// fix the screen orientation.
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Screen.orientation = ScreenOrientation.LandscapeLeft;
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// wait for the screen orientation to change.
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yield return null;
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markerTypeDropdown.value = (int)markerType;
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dictionaryIdDropdown.value = (int)dictionaryId;
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squaresXDropdown.value = (int)squaresX - 1;
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squaresYDropdown.value = (int)squaresY - 1;
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dictionaryIdDropdown.interactable = (markerType == MarkerType.ChArUcoBoard);
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#if UNITY_WEBGL && !UNITY_EDITOR
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isImagesInputMode = false;
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#endif
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if (isImagesInputMode) {
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isImagesInputMode = InitializeImagesInputMode ();
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}
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if (!isImagesInputMode) {
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#if UNITY_ANDROID && !UNITY_EDITOR
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// Avoids the front camera low light issue that occurs in only some Android devices (e.g. Google Pixel, Pixel2).
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webCamTextureToMatHelper.avoidAndroidFrontCameraLowLightIssue = true;
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#endif
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webCamTextureToMatHelper.Initialize ();
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}
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}
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/// <summary>
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/// Raises the webcam texture to mat helper initialized event.
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/// </summary>
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public void OnWebCamTextureToMatHelperInitialized ()
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{
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Debug.Log ("OnWebCamTextureToMatHelperInitialized");
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Mat webCamTextureMat = webCamTextureToMatHelper.GetMat ();
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InitializeCalibraton (webCamTextureMat);
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// if WebCamera is frontFaceing, flip Mat.
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if (webCamTextureToMatHelper.GetWebCamDevice ().isFrontFacing) {
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webCamTextureToMatHelper.flipHorizontal = true;
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}
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}
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/// <summary>
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/// Raises the webcam texture to mat helper disposed event.
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/// </summary>
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public void OnWebCamTextureToMatHelperDisposed ()
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{
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Debug.Log ("OnWebCamTextureToMatHelperDisposed");
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DisposeCalibraton ();
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}
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/// <summary>
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/// Raises the webcam texture to mat helper error occurred event.
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/// </summary>
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/// <param name="errorCode">Error code.</param>
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public void OnWebCamTextureToMatHelperErrorOccurred (WebCamTextureToMatHelper.ErrorCode errorCode)
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{
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Debug.Log ("OnWebCamTextureToMatHelperErrorOccurred " + errorCode);
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}
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// Update is called once per frame
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void Update ()
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{
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if (isImagesInputMode)
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return;
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if (webCamTextureToMatHelper.IsPlaying () && webCamTextureToMatHelper.DidUpdateThisFrame ()) {
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Mat rgbaMat = webCamTextureToMatHelper.GetMat ();
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Imgproc.cvtColor (rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
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if (shouldCaptureFrame) {
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shouldCaptureFrame = false;
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Mat frameMat = grayMat.clone ();
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double e = CaptureFrame (frameMat);
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if (e > 0)
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repErr = e;
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}
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DrawFrame (grayMat, bgrMat);
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Imgproc.cvtColor (bgrMat, rgbaMat, Imgproc.COLOR_BGR2RGBA);
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Utils.fastMatToTexture2D (rgbaMat, texture);
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}
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}
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private void InitializeCalibraton (Mat frameMat)
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{
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texture = new Texture2D (frameMat.cols (), frameMat.rows (), TextureFormat.RGBA32, false);
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gameObject.GetComponent<Renderer> ().material.mainTexture = texture;
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gameObject.transform.localScale = new Vector3 (frameMat.cols (), frameMat.rows (), 1);
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Debug.Log ("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
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float width = frameMat.width ();
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float height = frameMat.height ();
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float imageSizeScale = 1.0f;
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float widthScale = (float)Screen.width / width;
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float heightScale = (float)Screen.height / height;
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if (widthScale < heightScale) {
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Camera.main.orthographicSize = (width * (float)Screen.height / (float)Screen.width) / 2;
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imageSizeScale = (float)Screen.height / (float)Screen.width;
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} else {
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Camera.main.orthographicSize = height / 2;
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}
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// set cameraparam.
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camMatrix = CreateCameraMatrix (width, height);
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Debug.Log ("camMatrix " + camMatrix.dump ());
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distCoeffs = new MatOfDouble (0, 0, 0, 0, 0);
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Debug.Log ("distCoeffs " + distCoeffs.dump ());
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// calibration camera.
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Size imageSize = new Size (width * imageSizeScale, height * imageSizeScale);
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double apertureWidth = 0;
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double apertureHeight = 0;
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double[] fovx = new double[1];
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double[] fovy = new double[1];
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double[] focalLength = new double[1];
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Point principalPoint = new Point (0, 0);
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double[] aspectratio = new double[1];
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Calib3d.calibrationMatrixValues (camMatrix, imageSize, apertureWidth, apertureHeight, fovx, fovy, focalLength, principalPoint, aspectratio);
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Debug.Log ("imageSize " + imageSize.ToString ());
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Debug.Log ("apertureWidth " + apertureWidth);
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Debug.Log ("apertureHeight " + apertureHeight);
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Debug.Log ("fovx " + fovx [0]);
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Debug.Log ("fovy " + fovy [0]);
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Debug.Log ("focalLength " + focalLength [0]);
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Debug.Log ("principalPoint " + principalPoint.ToString ());
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Debug.Log ("aspectratio " + aspectratio [0]);
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grayMat = new Mat (frameMat.rows (), frameMat.cols (), CvType.CV_8UC1);
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bgrMat = new Mat (frameMat.rows (), frameMat.cols (), CvType.CV_8UC3);
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rgbaMat = new Mat (frameMat.rows (), frameMat.cols (), CvType.CV_8UC4);
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ids = new Mat ();
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corners = new List<Mat> ();
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rejectedCorners = new List<Mat> ();
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rvecs = new List<Mat> ();
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tvecs = new List<Mat> ();
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detectorParams = DetectorParameters.create ();
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detectorParams.set_cornerRefinementMethod (1);// do cornerSubPix() of OpenCV.
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dictionary = Aruco.getPredefinedDictionary ((int)dictionaryId);
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recoveredIdxs = new Mat ();
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charucoCorners = new Mat ();
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charucoIds = new Mat ();
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charucoBoard = CharucoBoard.create ((int)squaresX, (int)squaresY, chArUcoBoradSquareLength, chArUcoBoradMarkerLength, dictionary);
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allCorners = new List<List<Mat>> ();
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allIds = new List<Mat> ();
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allImgs = new List<Mat> ();
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imagePoints = new List<Mat> ();
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isInitialized = true;
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}
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private void DisposeCalibraton ()
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{
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ResetCalibration ();
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if (grayMat != null)
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grayMat.Dispose ();
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if (bgrMat != null)
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bgrMat.Dispose ();
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if (rgbaMat != null)
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rgbaMat.Dispose ();
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if (texture != null) {
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Texture2D.Destroy (texture);
|
||
|
|
texture = null;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (ids != null)
|
||
|
|
ids.Dispose ();
|
||
|
|
foreach (var item in corners) {
|
||
|
|
item.Dispose ();
|
||
|
|
}
|
||
|
|
corners.Clear ();
|
||
|
|
foreach (var item in rejectedCorners) {
|
||
|
|
item.Dispose ();
|
||
|
|
}
|
||
|
|
rejectedCorners.Clear ();
|
||
|
|
foreach (var item in rvecs) {
|
||
|
|
item.Dispose ();
|
||
|
|
}
|
||
|
|
rvecs.Clear ();
|
||
|
|
foreach (var item in tvecs) {
|
||
|
|
item.Dispose ();
|
||
|
|
}
|
||
|
|
tvecs.Clear ();
|
||
|
|
|
||
|
|
if (recoveredIdxs != null)
|
||
|
|
recoveredIdxs.Dispose ();
|
||
|
|
|
||
|
|
if (charucoCorners != null)
|
||
|
|
charucoCorners.Dispose ();
|
||
|
|
if (charucoIds != null)
|
||
|
|
charucoIds.Dispose ();
|
||
|
|
if (charucoBoard != null)
|
||
|
|
charucoBoard.Dispose ();
|
||
|
|
|
||
|
|
isInitialized = false;
|
||
|
|
}
|
||
|
|
|
||
|
|
private void DrawFrame (Mat grayMat, Mat bgrMat)
|
||
|
|
{
|
||
|
|
Imgproc.cvtColor (grayMat, bgrMat, Imgproc.COLOR_GRAY2BGR);
|
||
|
|
|
||
|
|
switch (markerType) {
|
||
|
|
default:
|
||
|
|
case MarkerType.ChArUcoBoard:
|
||
|
|
// detect markers.
|
||
|
|
Aruco.detectMarkers (grayMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
|
||
|
|
|
||
|
|
// refine marker detection.
|
||
|
|
if (refineMarkerDetection) {
|
||
|
|
Aruco.refineDetectedMarkers (grayMat, charucoBoard, corners, ids, rejectedCorners, camMatrix, distCoeffs, 10f, 3f, true, recoveredIdxs, detectorParams);
|
||
|
|
}
|
||
|
|
|
||
|
|
// if at least one marker detected
|
||
|
|
if (ids.total () > 0) {
|
||
|
|
Aruco.interpolateCornersCharuco (corners, ids, grayMat, charucoBoard, charucoCorners, charucoIds, camMatrix, distCoeffs, charucoMinMarkers);
|
||
|
|
|
||
|
|
// draw markers.
|
||
|
|
Aruco.drawDetectedMarkers (bgrMat, corners, ids, new Scalar (0, 255, 0, 255));
|
||
|
|
// if at least one charuco corner detected
|
||
|
|
if (charucoIds.total () > 0) {
|
||
|
|
Aruco.drawDetectedCornersCharuco (bgrMat, charucoCorners, charucoIds, new Scalar (0, 0, 255, 255));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
case MarkerType.ChessBoard:
|
||
|
|
case MarkerType.CirclesGlid:
|
||
|
|
case MarkerType.AsymmetricCirclesGlid:
|
||
|
|
// detect markers.
|
||
|
|
MatOfPoint2f points = new MatOfPoint2f ();
|
||
|
|
bool found = false;
|
||
|
|
|
||
|
|
switch (markerType) {
|
||
|
|
default:
|
||
|
|
case MarkerType.ChessBoard:
|
||
|
|
found = Calib3d.findChessboardCorners (grayMat, new Size ((int)squaresX, (int)squaresY), points, Calib3d.CALIB_CB_ADAPTIVE_THRESH | Calib3d.CALIB_CB_FAST_CHECK | Calib3d.CALIB_CB_NORMALIZE_IMAGE);
|
||
|
|
break;
|
||
|
|
case MarkerType.CirclesGlid:
|
||
|
|
found = Calib3d.findCirclesGrid (grayMat, new Size ((int)squaresX, (int)squaresY), points, Calib3d.CALIB_CB_SYMMETRIC_GRID);
|
||
|
|
break;
|
||
|
|
case MarkerType.AsymmetricCirclesGlid:
|
||
|
|
found = Calib3d.findCirclesGrid (grayMat, new Size ((int)squaresX, (int)squaresY), points, Calib3d.CALIB_CB_ASYMMETRIC_GRID);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (found) {
|
||
|
|
if (markerType == MarkerType.ChessBoard)
|
||
|
|
Imgproc.cornerSubPix (grayMat, points, new Size (5, 5), new Size (-1, -1), new TermCriteria (TermCriteria.EPS + TermCriteria.COUNT, 30, 0.1));
|
||
|
|
|
||
|
|
// draw markers.
|
||
|
|
Calib3d.drawChessboardCorners (bgrMat, new Size ((int)squaresX, (int)squaresY), points, found);
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
double[] camMatrixArr = new double[(int)camMatrix.total ()];
|
||
|
|
camMatrix.get (0, 0, camMatrixArr);
|
||
|
|
double[] distCoeffsArr = new double[(int)distCoeffs.total ()];
|
||
|
|
distCoeffs.get (0, 0, distCoeffsArr);
|
||
|
|
|
||
|
|
int ff = Imgproc.FONT_HERSHEY_SIMPLEX;
|
||
|
|
double fs = 0.4;
|
||
|
|
Scalar c = new Scalar (255, 255, 255, 255);
|
||
|
|
int t = 0;
|
||
|
|
int lt = Imgproc.LINE_AA;
|
||
|
|
bool blo = false;
|
||
|
|
int frameCount = (markerType == MarkerType.ChArUcoBoard) ? allCorners.Count : imagePoints.Count;
|
||
|
|
Imgproc.putText (bgrMat, frameCount + " FRAME CAPTURED", new Point (bgrMat.cols () - 300, 20), ff, fs, c, t, lt, blo);
|
||
|
|
Imgproc.putText (bgrMat, "IMAGE_WIDTH: " + bgrMat.width (), new Point (bgrMat.cols () - 300, 40), ff, fs, c, t, lt, blo);
|
||
|
|
Imgproc.putText (bgrMat, "IMAGE_HEIGHT: " + bgrMat.height (), new Point (bgrMat.cols () - 300, 60), ff, fs, c, t, lt, blo);
|
||
|
|
Imgproc.putText (bgrMat, "CALIBRATION_FLAGS: " + calibrationFlags, new Point (bgrMat.cols () - 300, 80), ff, fs, c, t, lt, blo);
|
||
|
|
|
||
|
|
Imgproc.putText (bgrMat, "CAMERA_MATRIX: ", new Point (bgrMat.cols () - 300, 100), ff, fs, c, t, lt, blo);
|
||
|
|
for (int i = 0; i < camMatrixArr.Length; i = i + 3) {
|
||
|
|
Imgproc.putText (bgrMat, " " + camMatrixArr [i] + ", " + camMatrixArr [i + 1] + ", " + camMatrixArr [i + 2] + ",", new Point (bgrMat.cols () - 300, 120 + 20 * i / 3), ff, fs, c, t, lt, blo);
|
||
|
|
}
|
||
|
|
Imgproc.putText (bgrMat, "DISTORTION_COEFFICIENTS: ", new Point (bgrMat.cols () - 300, 180), ff, fs, c, t, lt, blo);
|
||
|
|
for (int i = 0; i < distCoeffsArr.Length; ++i) {
|
||
|
|
Imgproc.putText (bgrMat, " " + distCoeffsArr [i] + ",", new Point (bgrMat.cols () - 300, 200 + 20 * i), ff, fs, c, t, lt, blo);
|
||
|
|
}
|
||
|
|
Imgproc.putText (bgrMat, "AVG_REPROJECTION_ERROR: " + repErr, new Point (bgrMat.cols () - 300, 300), ff, fs, c, t, lt, blo);
|
||
|
|
|
||
|
|
if (frameCount == 0)
|
||
|
|
Imgproc.putText (bgrMat, "Please press the capture button to start!", new Point (5, bgrMat.rows () - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 0.5, new Scalar (255, 255, 255, 255), 1, Imgproc.LINE_AA, false);
|
||
|
|
}
|
||
|
|
|
||
|
|
private double CaptureFrame (Mat frameMat)
|
||
|
|
{
|
||
|
|
double repErr = -1;
|
||
|
|
|
||
|
|
switch (markerType) {
|
||
|
|
default:
|
||
|
|
case MarkerType.ChArUcoBoard:
|
||
|
|
List<Mat> corners = new List<Mat> ();
|
||
|
|
Mat ids = new Mat ();
|
||
|
|
Aruco.detectMarkers (frameMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
|
||
|
|
|
||
|
|
if (refineMarkerDetection) {
|
||
|
|
Aruco.refineDetectedMarkers (frameMat, charucoBoard, corners, ids, rejectedCorners, camMatrix, distCoeffs, 10f, 3f, true, recoveredIdxs, detectorParams);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (ids.total () > 0) {
|
||
|
|
Debug.Log ("Frame captured.");
|
||
|
|
|
||
|
|
allCorners.Add (corners);
|
||
|
|
allIds.Add (ids);
|
||
|
|
allImgs.Add (frameMat);
|
||
|
|
} else {
|
||
|
|
|
||
|
|
Debug.Log ("Invalid frame.");
|
||
|
|
|
||
|
|
frameMat.Dispose ();
|
||
|
|
if (ids != null)
|
||
|
|
ids.Dispose ();
|
||
|
|
foreach (var item in corners) {
|
||
|
|
item.Dispose ();
|
||
|
|
}
|
||
|
|
corners.Clear ();
|
||
|
|
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
// calibrate camera using aruco markers
|
||
|
|
//double arucoRepErr = CalibrateCameraAruco (allCorners, allIds, charucoBoard, frameMat.size(), camMatrix, distCoeffs, rvecs, tvecs, calibrationFlags);
|
||
|
|
//Debug.Log ("arucoRepErr: " + arucoRepErr);
|
||
|
|
|
||
|
|
// calibrate camera using charuco
|
||
|
|
repErr = CalibrateCameraCharuco (allCorners, allIds, charucoBoard, frameMat.size (), camMatrix, distCoeffs, rvecs, tvecs, calibrationFlags, calibrationFlags);
|
||
|
|
|
||
|
|
break;
|
||
|
|
case MarkerType.ChessBoard:
|
||
|
|
case MarkerType.CirclesGlid:
|
||
|
|
case MarkerType.AsymmetricCirclesGlid:
|
||
|
|
|
||
|
|
MatOfPoint2f points = new MatOfPoint2f ();
|
||
|
|
Size patternSize = new Size ((int)squaresX, (int)squaresY);
|
||
|
|
|
||
|
|
bool found = false;
|
||
|
|
switch (markerType) {
|
||
|
|
default:
|
||
|
|
case MarkerType.ChessBoard:
|
||
|
|
found = Calib3d.findChessboardCorners (frameMat, patternSize, points, Calib3d.CALIB_CB_ADAPTIVE_THRESH | Calib3d.CALIB_CB_FAST_CHECK | Calib3d.CALIB_CB_NORMALIZE_IMAGE);
|
||
|
|
break;
|
||
|
|
case MarkerType.CirclesGlid:
|
||
|
|
found = Calib3d.findCirclesGrid (frameMat, patternSize, points, Calib3d.CALIB_CB_SYMMETRIC_GRID);
|
||
|
|
break;
|
||
|
|
case MarkerType.AsymmetricCirclesGlid:
|
||
|
|
found = Calib3d.findCirclesGrid (frameMat, patternSize, points, Calib3d.CALIB_CB_ASYMMETRIC_GRID);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (found) {
|
||
|
|
Debug.Log ("Frame captured.");
|
||
|
|
if (markerType == MarkerType.ChessBoard)
|
||
|
|
Imgproc.cornerSubPix (frameMat, points, new Size (5, 5), new Size (-1, -1), new TermCriteria (TermCriteria.EPS + TermCriteria.COUNT, 30, 0.1));
|
||
|
|
|
||
|
|
imagePoints.Add (points);
|
||
|
|
allImgs.Add (frameMat);
|
||
|
|
} else {
|
||
|
|
Debug.Log ("Invalid frame.");
|
||
|
|
frameMat.Dispose ();
|
||
|
|
if (points != null)
|
||
|
|
points.Dispose ();
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (imagePoints.Count < 1) {
|
||
|
|
Debug.Log ("Not enough points for calibration.");
|
||
|
|
repErr = -1;
|
||
|
|
} else {
|
||
|
|
|
||
|
|
MatOfPoint3f objectPoint = new MatOfPoint3f (new Mat (imagePoints [0].rows (), 1, CvType.CV_32FC3));
|
||
|
|
CalcChessboardCorners (patternSize, squareSize, objectPoint, markerType);
|
||
|
|
|
||
|
|
List<Mat> objectPoints = new List<Mat> ();
|
||
|
|
for (int i = 0; i < imagePoints.Count; ++i) {
|
||
|
|
objectPoints.Add (objectPoint);
|
||
|
|
}
|
||
|
|
|
||
|
|
repErr = Calib3d.calibrateCamera (objectPoints, imagePoints, frameMat.size (), camMatrix, distCoeffs, rvecs, tvecs, calibrationFlags);
|
||
|
|
objectPoint.Dispose ();
|
||
|
|
}
|
||
|
|
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
Debug.Log ("repErr: " + repErr);
|
||
|
|
Debug.Log ("camMatrix: " + camMatrix.dump ());
|
||
|
|
Debug.Log ("distCoeffs: " + distCoeffs.dump ());
|
||
|
|
|
||
|
|
return repErr;
|
||
|
|
}
|
||
|
|
|
||
|
|
private double CalibrateCameraAruco (List<List<Mat>> allCorners, List<Mat> allIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs = null, List<Mat> tvecs = null, int calibrationFlags = 0)
|
||
|
|
{
|
||
|
|
// prepare data for calibration
|
||
|
|
int nFrames = allCorners.Count;
|
||
|
|
int allLen = 0;
|
||
|
|
int[] markerCounterPerFrameArr = new int[allCorners.Count];
|
||
|
|
for (int i = 0; i < nFrames; ++i) {
|
||
|
|
markerCounterPerFrameArr [i] = allCorners [i].Count;
|
||
|
|
allLen += allCorners [i].Count;
|
||
|
|
}
|
||
|
|
|
||
|
|
int[] allIdsConcatenatedArr = new int[allLen];
|
||
|
|
int index = 0;
|
||
|
|
for (int j = 0; j < allIds.Count; ++j) {
|
||
|
|
int[] idsArr = new int[(int)allIds [j].total ()];
|
||
|
|
allIds [j].get (0, 0, idsArr);
|
||
|
|
|
||
|
|
for (int k = 0; k < idsArr.Length; ++k) {
|
||
|
|
allIdsConcatenatedArr [index + k] = (int)idsArr [k];
|
||
|
|
}
|
||
|
|
index += idsArr.Length;
|
||
|
|
}
|
||
|
|
|
||
|
|
using (Mat allIdsConcatenated = new Mat (1, allLen, CvType.CV_32SC1))
|
||
|
|
using (Mat markerCounterPerFrame = new Mat (1, nFrames, CvType.CV_32SC1)) {
|
||
|
|
|
||
|
|
List<Mat> allCornersConcatenated = new List<Mat> ();
|
||
|
|
foreach (var c in allCorners) {
|
||
|
|
foreach (var m in c) {
|
||
|
|
allCornersConcatenated.Add (m);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
allIdsConcatenated.put (0, 0, allIdsConcatenatedArr);
|
||
|
|
markerCounterPerFrame.put (0, 0, markerCounterPerFrameArr);
|
||
|
|
|
||
|
|
if (rvecs == null)
|
||
|
|
rvecs = new List<Mat> ();
|
||
|
|
if (tvecs == null)
|
||
|
|
tvecs = new List<Mat> ();
|
||
|
|
|
||
|
|
return Aruco.calibrateCameraAruco (allCornersConcatenated, allIdsConcatenated, markerCounterPerFrame, board, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, calibrationFlags);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
private double CalibrateCameraCharuco (List<List<Mat>> allCorners, List<Mat> allIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs = null, List<Mat> tvecs = null, int calibrationFlags = 0, int minMarkers = 2)
|
||
|
|
{
|
||
|
|
// prepare data for charuco calibration
|
||
|
|
int nFrames = allCorners.Count;
|
||
|
|
List<Mat> allCharucoCorners = new List<Mat> ();
|
||
|
|
List<Mat> allCharucoIds = new List<Mat> ();
|
||
|
|
List<Mat> filteredImages = new List<Mat> ();
|
||
|
|
|
||
|
|
for (int i = 0; i < nFrames; ++i) {
|
||
|
|
// interpolate using camera parameters
|
||
|
|
Mat currentCharucoCorners = new Mat ();
|
||
|
|
Mat currentCharucoIds = new Mat ();
|
||
|
|
|
||
|
|
Aruco.interpolateCornersCharuco (allCorners [i], allIds [i], allImgs [i], board, currentCharucoCorners, currentCharucoIds, cameraMatrix, distCoeffs, minMarkers);
|
||
|
|
|
||
|
|
if (charucoIds.total () > 0) {
|
||
|
|
allCharucoCorners.Add (currentCharucoCorners);
|
||
|
|
allCharucoIds.Add (currentCharucoIds);
|
||
|
|
filteredImages.Add (allImgs [i]);
|
||
|
|
} else {
|
||
|
|
currentCharucoCorners.Dispose ();
|
||
|
|
currentCharucoIds.Dispose ();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (allCharucoCorners.Count < 1) {
|
||
|
|
Debug.Log ("Not enough corners for calibration.");
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (rvecs == null)
|
||
|
|
rvecs = new List<Mat> ();
|
||
|
|
if (tvecs == null)
|
||
|
|
tvecs = new List<Mat> ();
|
||
|
|
|
||
|
|
return Aruco.calibrateCameraCharuco (allCharucoCorners, allCharucoIds, board, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, calibrationFlags);
|
||
|
|
}
|
||
|
|
|
||
|
|
private void ResetCalibration ()
|
||
|
|
{
|
||
|
|
foreach (var corners in allCorners) {
|
||
|
|
foreach (var item in corners) {
|
||
|
|
item.Dispose ();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
allCorners.Clear ();
|
||
|
|
|
||
|
|
foreach (var item in allIds) {
|
||
|
|
item.Dispose ();
|
||
|
|
}
|
||
|
|
allIds.Clear ();
|
||
|
|
|
||
|
|
foreach (var item in allImgs) {
|
||
|
|
item.Dispose ();
|
||
|
|
}
|
||
|
|
allImgs.Clear ();
|
||
|
|
|
||
|
|
repErr = 0;
|
||
|
|
camMatrix = CreateCameraMatrix (bgrMat.width (), bgrMat.height ());
|
||
|
|
distCoeffs = new MatOfDouble (0, 0, 0, 0, 0);
|
||
|
|
|
||
|
|
foreach (var item in imagePoints) {
|
||
|
|
item.Dispose ();
|
||
|
|
}
|
||
|
|
imagePoints.Clear ();
|
||
|
|
}
|
||
|
|
|
||
|
|
private Mat CreateCameraMatrix (float width, float height)
|
||
|
|
{
|
||
|
|
int max_d = (int)Mathf.Max (width, height);
|
||
|
|
double fx = max_d;
|
||
|
|
double fy = max_d;
|
||
|
|
double cx = width / 2.0f;
|
||
|
|
double cy = height / 2.0f;
|
||
|
|
|
||
|
|
Mat camMatrix = new Mat (3, 3, CvType.CV_64FC1);
|
||
|
|
camMatrix.put (0, 0, fx);
|
||
|
|
camMatrix.put (0, 1, 0);
|
||
|
|
camMatrix.put (0, 2, cx);
|
||
|
|
camMatrix.put (1, 0, 0);
|
||
|
|
camMatrix.put (1, 1, fy);
|
||
|
|
camMatrix.put (1, 2, cy);
|
||
|
|
camMatrix.put (2, 0, 0);
|
||
|
|
camMatrix.put (2, 1, 0);
|
||
|
|
camMatrix.put (2, 2, 1.0f);
|
||
|
|
|
||
|
|
return camMatrix;
|
||
|
|
}
|
||
|
|
|
||
|
|
private void CalcChessboardCorners (Size patternSize, float squareSize, MatOfPoint3f corners, MarkerType markerType)
|
||
|
|
{
|
||
|
|
if ((int)(patternSize.width * patternSize.height) != corners.rows ()) {
|
||
|
|
Debug.Log ("Invalid corners size.");
|
||
|
|
corners.create ((int)(patternSize.width * patternSize.height), 1, CvType.CV_32FC3);
|
||
|
|
}
|
||
|
|
|
||
|
|
const int cn = 3;
|
||
|
|
float[] cornersArr = new float[corners.rows () * cn];
|
||
|
|
int width = (int)patternSize.width;
|
||
|
|
int height = (int)patternSize.height;
|
||
|
|
|
||
|
|
switch (markerType) {
|
||
|
|
default:
|
||
|
|
case MarkerType.ChessBoard:
|
||
|
|
case MarkerType.CirclesGlid:
|
||
|
|
for (int i = 0; i < height; ++i) {
|
||
|
|
for (int j = 0; j < width; ++j) {
|
||
|
|
cornersArr [(i * width * cn) + (j * cn)] = j * squareSize;
|
||
|
|
cornersArr [(i * width * cn) + (j * cn) + 1] = i * squareSize;
|
||
|
|
cornersArr [(i * width * cn) + (j * cn) + 2] = 0;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
corners.put (0, 0, cornersArr);
|
||
|
|
|
||
|
|
break;
|
||
|
|
case MarkerType.AsymmetricCirclesGlid:
|
||
|
|
for (int i = 0; i < height; ++i) {
|
||
|
|
for (int j = 0; j < width; ++j) {
|
||
|
|
cornersArr [(i * width * cn) + (j * cn)] = (2 * j + i % 2) * squareSize;
|
||
|
|
cornersArr [(i * width * cn) + (j * cn) + 1] = i * squareSize;
|
||
|
|
cornersArr [(i * width * cn) + (j * cn) + 2] = 0;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
corners.put (0, 0, cornersArr);
|
||
|
|
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
private bool InitializeImagesInputMode ()
|
||
|
|
{
|
||
|
|
if (isInitialized)
|
||
|
|
DisposeCalibraton ();
|
||
|
|
|
||
|
|
if (String.IsNullOrEmpty (calibrationImagesDirectory)) {
|
||
|
|
Debug.LogWarning ("When using the images input mode, please set a calibration images directory path.");
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
string dirPath = Path.Combine (Application.streamingAssetsPath, calibrationImagesDirectory);
|
||
|
|
if (!Directory.Exists (dirPath)) {
|
||
|
|
Debug.LogWarning ("The directory does not exist.");
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
string[] imageFiles = GetImageFilesInDirectory (dirPath);
|
||
|
|
if (imageFiles.Length < 1) {
|
||
|
|
Debug.LogWarning ("The image file does not exist.");
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
Uri rootPath = new Uri (Application.streamingAssetsPath + System.IO.Path.AltDirectorySeparatorChar);
|
||
|
|
Uri fullPath = new Uri (imageFiles [0]);
|
||
|
|
string relativePath = rootPath.MakeRelativeUri (fullPath).ToString ();
|
||
|
|
|
||
|
|
using (Mat gray = Imgcodecs.imread (Utils.getFilePath (relativePath), Imgcodecs.IMREAD_GRAYSCALE)) {
|
||
|
|
|
||
|
|
if (gray.total () == 0) {
|
||
|
|
Debug.LogWarning ("Invalid image file.");
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
using (Mat bgr = new Mat (gray.size (), CvType.CV_8UC3))
|
||
|
|
using (Mat bgra = new Mat (gray.size (), CvType.CV_8UC4)) {
|
||
|
|
InitializeCalibraton (gray);
|
||
|
|
|
||
|
|
DrawFrame (gray, bgr);
|
||
|
|
Imgproc.cvtColor (bgr, bgra, Imgproc.COLOR_BGR2RGBA);
|
||
|
|
Utils.fastMatToTexture2D (bgra, texture);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
private IEnumerator CalibrateCameraUsingImages ()
|
||
|
|
{
|
||
|
|
string dirPath = Path.Combine (Application.streamingAssetsPath, calibrationImagesDirectory);
|
||
|
|
string[] imageFiles = GetImageFilesInDirectory (dirPath);
|
||
|
|
if (imageFiles.Length < 1)
|
||
|
|
yield break;
|
||
|
|
|
||
|
|
isCalibrating = true;
|
||
|
|
markerTypeDropdown.interactable = dictionaryIdDropdown.interactable = squaresXDropdown.interactable = squaresYDropdown.interactable = false;
|
||
|
|
|
||
|
|
Uri rootPath = new Uri (Application.streamingAssetsPath + System.IO.Path.AltDirectorySeparatorChar);
|
||
|
|
|
||
|
|
foreach (var path in imageFiles) {
|
||
|
|
|
||
|
|
Uri fullPath = new Uri (path);
|
||
|
|
string relativePath = rootPath.MakeRelativeUri (fullPath).ToString ();
|
||
|
|
|
||
|
|
using (Mat gray = Imgcodecs.imread (Utils.getFilePath (relativePath), Imgcodecs.IMREAD_GRAYSCALE)) {
|
||
|
|
|
||
|
|
if (gray.width () != bgrMat.width () || gray.height () != bgrMat.height ())
|
||
|
|
continue;
|
||
|
|
|
||
|
|
Mat frameMat = gray.clone ();
|
||
|
|
double e = CaptureFrame (frameMat);
|
||
|
|
if (e > 0)
|
||
|
|
repErr = e;
|
||
|
|
|
||
|
|
DrawFrame (gray, bgrMat);
|
||
|
|
Imgproc.cvtColor (bgrMat, rgbaMat, Imgproc.COLOR_BGR2RGBA);
|
||
|
|
|
||
|
|
Utils.matToTexture2D (rgbaMat, texture);
|
||
|
|
}
|
||
|
|
yield return new WaitForSeconds (0.5f);
|
||
|
|
}
|
||
|
|
|
||
|
|
isCalibrating = false;
|
||
|
|
markerTypeDropdown.interactable = dictionaryIdDropdown.interactable = squaresXDropdown.interactable = squaresYDropdown.interactable = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
private string[] GetImageFilesInDirectory (string dirPath)
|
||
|
|
{
|
||
|
|
if (Directory.Exists (dirPath)) {
|
||
|
|
string[] files = Directory.GetFiles (dirPath, "*.jpg");
|
||
|
|
files = files.Concat (Directory.GetFiles (dirPath, "*.jpeg")).ToArray ();
|
||
|
|
files = files.Concat (Directory.GetFiles (dirPath, "*.png")).ToArray ();
|
||
|
|
files = files.Concat (Directory.GetFiles (dirPath, "*.tiff")).ToArray ();
|
||
|
|
files = files.Concat (Directory.GetFiles (dirPath, "*.tif")).ToArray ();
|
||
|
|
return files;
|
||
|
|
}
|
||
|
|
return new string[0];
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the destroy event.
|
||
|
|
/// </summary>
|
||
|
|
void OnDestroy ()
|
||
|
|
{
|
||
|
|
if (isImagesInputMode) {
|
||
|
|
DisposeCalibraton ();
|
||
|
|
} else {
|
||
|
|
webCamTextureToMatHelper.Dispose ();
|
||
|
|
}
|
||
|
|
|
||
|
|
Screen.orientation = ScreenOrientation.AutoRotation;
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the back button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnBackButtonClick ()
|
||
|
|
{
|
||
|
|
SceneManager.LoadScene ("OpenCVForUnityExample");
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the play button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnPlayButtonClick ()
|
||
|
|
{
|
||
|
|
if (isImagesInputMode)
|
||
|
|
return;
|
||
|
|
|
||
|
|
webCamTextureToMatHelper.Play ();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the pause button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnPauseButtonClick ()
|
||
|
|
{
|
||
|
|
if (isImagesInputMode)
|
||
|
|
return;
|
||
|
|
|
||
|
|
webCamTextureToMatHelper.Pause ();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the stop button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnStopButtonClick ()
|
||
|
|
{
|
||
|
|
if (isImagesInputMode)
|
||
|
|
return;
|
||
|
|
|
||
|
|
webCamTextureToMatHelper.Stop ();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the change camera button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnChangeCameraButtonClick ()
|
||
|
|
{
|
||
|
|
if (isImagesInputMode)
|
||
|
|
return;
|
||
|
|
|
||
|
|
webCamTextureToMatHelper.requestedIsFrontFacing = !webCamTextureToMatHelper.IsFrontFacing ();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the marker type dropdown value changed event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnMarkerTypeDropdownValueChanged (int result)
|
||
|
|
{
|
||
|
|
if ((int)markerType != result) {
|
||
|
|
markerType = (MarkerType)result;
|
||
|
|
|
||
|
|
dictionaryIdDropdown.interactable = (markerType == MarkerType.ChArUcoBoard);
|
||
|
|
|
||
|
|
if (isImagesInputMode) {
|
||
|
|
InitializeImagesInputMode ();
|
||
|
|
} else {
|
||
|
|
if (webCamTextureToMatHelper.IsInitialized ())
|
||
|
|
webCamTextureToMatHelper.Initialize ();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the dictionary id dropdown value changed event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnDictionaryIdDropdownValueChanged (int result)
|
||
|
|
{
|
||
|
|
if ((int)dictionaryId != result) {
|
||
|
|
dictionaryId = (ArUcoDictionary)result;
|
||
|
|
dictionary = Aruco.getPredefinedDictionary ((int)dictionaryId);
|
||
|
|
|
||
|
|
if (isImagesInputMode) {
|
||
|
|
InitializeImagesInputMode ();
|
||
|
|
} else {
|
||
|
|
if (webCamTextureToMatHelper.IsInitialized ())
|
||
|
|
webCamTextureToMatHelper.Initialize ();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the squares X dropdown value changed event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnSquaresXDropdownValueChanged (int result)
|
||
|
|
{
|
||
|
|
if ((int)squaresX != result + 1) {
|
||
|
|
squaresX = (NumberOfSquaresX)(result + 1);
|
||
|
|
|
||
|
|
if (isImagesInputMode) {
|
||
|
|
InitializeImagesInputMode ();
|
||
|
|
} else {
|
||
|
|
if (webCamTextureToMatHelper.IsInitialized ())
|
||
|
|
webCamTextureToMatHelper.Initialize ();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the squares Y dropdown value changed event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnSquaresYDropdownValueChanged (int result)
|
||
|
|
{
|
||
|
|
if ((int)squaresY != result + 1) {
|
||
|
|
squaresY = (NumberOfSquaresY)(result + 1);
|
||
|
|
|
||
|
|
if (isImagesInputMode) {
|
||
|
|
InitializeImagesInputMode ();
|
||
|
|
} else {
|
||
|
|
if (webCamTextureToMatHelper.IsInitialized ())
|
||
|
|
webCamTextureToMatHelper.Initialize ();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the capture button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnCaptureButtonClick ()
|
||
|
|
{
|
||
|
|
if (isImagesInputMode) {
|
||
|
|
if (!isCalibrating)
|
||
|
|
InitializeImagesInputMode ();
|
||
|
|
StartCoroutine ("CalibrateCameraUsingImages");
|
||
|
|
} else {
|
||
|
|
shouldCaptureFrame = true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the reset button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnResetButtonClick ()
|
||
|
|
{
|
||
|
|
if (isImagesInputMode) {
|
||
|
|
if (!isCalibrating)
|
||
|
|
InitializeImagesInputMode ();
|
||
|
|
} else {
|
||
|
|
ResetCalibration ();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the save button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnSaveButtonClick ()
|
||
|
|
{
|
||
|
|
string saveDirectoryPath = Path.Combine (Application.persistentDataPath, "ArUcoCameraCalibrationExample");
|
||
|
|
|
||
|
|
if (!Directory.Exists (saveDirectoryPath)) {
|
||
|
|
Directory.CreateDirectory (saveDirectoryPath);
|
||
|
|
}
|
||
|
|
|
||
|
|
string calibratonDirectoryName = "camera_parameters" + bgrMat.width () + "x" + bgrMat.height ();
|
||
|
|
string saveCalibratonFileDirectoryPath = Path.Combine (saveDirectoryPath, calibratonDirectoryName);
|
||
|
|
|
||
|
|
// Clean up old files.
|
||
|
|
if (Directory.Exists (saveCalibratonFileDirectoryPath)) {
|
||
|
|
DirectoryInfo directoryInfo = new DirectoryInfo (saveCalibratonFileDirectoryPath);
|
||
|
|
foreach (FileInfo fileInfo in directoryInfo.GetFiles()) {
|
||
|
|
if ((fileInfo.Attributes & FileAttributes.ReadOnly) == FileAttributes.ReadOnly) {
|
||
|
|
fileInfo.Attributes = FileAttributes.Normal;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
if ((directoryInfo.Attributes & FileAttributes.ReadOnly) == FileAttributes.ReadOnly) {
|
||
|
|
directoryInfo.Attributes = FileAttributes.Directory;
|
||
|
|
}
|
||
|
|
directoryInfo.Delete (true);
|
||
|
|
}
|
||
|
|
Directory.CreateDirectory (saveCalibratonFileDirectoryPath);
|
||
|
|
|
||
|
|
// save the calibraton file.
|
||
|
|
string savePath = Path.Combine (saveCalibratonFileDirectoryPath, calibratonDirectoryName + ".xml");
|
||
|
|
int frameCount = (markerType == (int)MarkerType.ChArUcoBoard) ? allCorners.Count : imagePoints.Count;
|
||
|
|
CameraParameters param = new CameraParameters (frameCount, bgrMat.width (), bgrMat.height (), calibrationFlags, camMatrix, distCoeffs, repErr);
|
||
|
|
XmlSerializer serializer = new XmlSerializer (typeof(CameraParameters));
|
||
|
|
using (var stream = new FileStream (savePath, FileMode.Create)) {
|
||
|
|
serializer.Serialize (stream, param);
|
||
|
|
}
|
||
|
|
|
||
|
|
// save the calibration images.
|
||
|
|
#if UNITY_WEBGL && !UNITY_EDITOR
|
||
|
|
string format = "jpg";
|
||
|
|
MatOfInt compressionParams = new MatOfInt(Imgcodecs.IMWRITE_JPEG_QUALITY, 100);
|
||
|
|
#else
|
||
|
|
string format = "png";
|
||
|
|
MatOfInt compressionParams = new MatOfInt (Imgcodecs.IMWRITE_PNG_COMPRESSION, 0);
|
||
|
|
#endif
|
||
|
|
for (int i = 0; i < allImgs.Count; ++i) {
|
||
|
|
Imgcodecs.imwrite (Path.Combine (saveCalibratonFileDirectoryPath, calibratonDirectoryName + "_" + i.ToString ("00") + "." + format), allImgs [i], compressionParams);
|
||
|
|
}
|
||
|
|
|
||
|
|
savePathInputField.text = savePath;
|
||
|
|
Debug.Log ("Saved the CameraParameters to disk in XML file format.");
|
||
|
|
Debug.Log ("savePath: " + savePath);
|
||
|
|
}
|
||
|
|
|
||
|
|
public enum MarkerType
|
||
|
|
{
|
||
|
|
ChArUcoBoard,
|
||
|
|
ChessBoard,
|
||
|
|
CirclesGlid,
|
||
|
|
AsymmetricCirclesGlid
|
||
|
|
}
|
||
|
|
|
||
|
|
public enum ArUcoDictionary
|
||
|
|
{
|
||
|
|
DICT_4X4_50 = Aruco.DICT_4X4_50,
|
||
|
|
DICT_4X4_100 = Aruco.DICT_4X4_100,
|
||
|
|
DICT_4X4_250 = Aruco.DICT_4X4_250,
|
||
|
|
DICT_4X4_1000 = Aruco.DICT_4X4_1000,
|
||
|
|
DICT_5X5_50 = Aruco.DICT_5X5_50,
|
||
|
|
DICT_5X5_100 = Aruco.DICT_5X5_100,
|
||
|
|
DICT_5X5_250 = Aruco.DICT_5X5_250,
|
||
|
|
DICT_5X5_1000 = Aruco.DICT_5X5_1000,
|
||
|
|
DICT_6X6_50 = Aruco.DICT_6X6_50,
|
||
|
|
DICT_6X6_100 = Aruco.DICT_6X6_100,
|
||
|
|
DICT_6X6_250 = Aruco.DICT_6X6_250,
|
||
|
|
DICT_6X6_1000 = Aruco.DICT_6X6_1000,
|
||
|
|
DICT_7X7_50 = Aruco.DICT_7X7_50,
|
||
|
|
DICT_7X7_100 = Aruco.DICT_7X7_100,
|
||
|
|
DICT_7X7_250 = Aruco.DICT_7X7_250,
|
||
|
|
DICT_7X7_1000 = Aruco.DICT_7X7_1000,
|
||
|
|
DICT_ARUCO_ORIGINAL = Aruco.DICT_ARUCO_ORIGINAL,
|
||
|
|
}
|
||
|
|
|
||
|
|
public enum NumberOfSquaresX
|
||
|
|
{
|
||
|
|
X_1 = 1,
|
||
|
|
X_2,
|
||
|
|
X_3,
|
||
|
|
X_4,
|
||
|
|
X_5,
|
||
|
|
X_6,
|
||
|
|
X_7,
|
||
|
|
X_8,
|
||
|
|
X_9,
|
||
|
|
X_10,
|
||
|
|
X_11,
|
||
|
|
X_12,
|
||
|
|
X_13,
|
||
|
|
X_14,
|
||
|
|
X_15,
|
||
|
|
}
|
||
|
|
|
||
|
|
public enum NumberOfSquaresY
|
||
|
|
{
|
||
|
|
Y_1 = 1,
|
||
|
|
Y_2,
|
||
|
|
Y_3,
|
||
|
|
Y_4,
|
||
|
|
Y_5,
|
||
|
|
Y_6,
|
||
|
|
Y_7,
|
||
|
|
Y_8,
|
||
|
|
Y_9,
|
||
|
|
Y_10,
|
||
|
|
Y_11,
|
||
|
|
Y_12,
|
||
|
|
Y_13,
|
||
|
|
Y_14,
|
||
|
|
Y_15,
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|