diff --git a/Assets/ArucoUnity/CameraParameters/Logitech HD Webcam C270 - 2021-03-09_15-59-08.xml b/Assets/ArucoUnity/CameraParameters/Logitech HD Webcam C270 - 2021-03-09_15-59-08.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3e9970eb4c06a3066152b94121c1f4657665f8ae
--- /dev/null
+++ b/Assets/ArucoUnity/CameraParameters/Logitech HD Webcam C270 - 2021-03-09_15-59-08.xml
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="utf-8"?>
+<ArucoCameraParameters xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+ <CalibrationDateTime>2021-03-09T15:59:08.0512312+01:00</CalibrationDateTime>
+ <CameraNumber>1</CameraNumber>
+ <ImageHeights>
+ <int>960</int>
+ </ImageHeights>
+ <ImageWidths>
+ <int>1280</int>
+ </ImageWidths>
+ <CalibrationFlagsValue>256</CalibrationFlagsValue>
+ <FixAspectRatioValue>0</FixAspectRatioValue>
+ <ReprojectionErrors>
+ <double>0.89586298412416676</double>
+ </ReprojectionErrors>
+ <CameraMatricesType>CV_64F</CameraMatricesType>
+ <CameraMatricesValues>
+ <ArrayOfArrayOfDouble>
+ <ArrayOfDouble>
+ <double>1279.9448660607227</double>
+ <double>0</double>
+ <double>670.97194700978923</double>
+ </ArrayOfDouble>
+ <ArrayOfDouble>
+ <double>0</double>
+ <double>1284.6184330276076</double>
+ <double>471.209869484367</double>
+ </ArrayOfDouble>
+ <ArrayOfDouble>
+ <double>0</double>
+ <double>0</double>
+ <double>1</double>
+ </ArrayOfDouble>
+ </ArrayOfArrayOfDouble>
+ </CameraMatricesValues>
+ <DistCoeffsType>CV_64F</DistCoeffsType>
+ <DistCoeffsValues>
+ <ArrayOfArrayOfDouble>
+ <ArrayOfDouble>
+ <double>-0.045799425064689127</double>
+ <double>0.5820918389282751</double>
+ <double>-0.0030995472753458731</double>
+ <double>0.0049251216711557223</double>
+ <double>-1.5633276941605898</double>
+ </ArrayOfDouble>
+ </ArrayOfArrayOfDouble>
+ </DistCoeffsValues>
+ <OmnidirXisType>CV_8U</OmnidirXisType>
+ <OmnidirXisValues>
+ <ArrayOfArrayOfDouble />
+ </OmnidirXisValues>
+</ArucoCameraParameters>
\ No newline at end of file
diff --git a/Assets/ArucoUnity/CameraParameters/Logitech HD Webcam C270 - 2021-03-09_15-59-08.xml.meta b/Assets/ArucoUnity/CameraParameters/Logitech HD Webcam C270 - 2021-03-09_15-59-08.xml.meta
new file mode 100644
index 0000000000000000000000000000000000000000..578dba06273d630fad68027556b18436c538f2c0
--- /dev/null
+++ b/Assets/ArucoUnity/CameraParameters/Logitech HD Webcam C270 - 2021-03-09_15-59-08.xml.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 70d2260e70d536146a97ffe48edb1f39
+TextScriptImporter:
+ externalObjects: {}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/ArucoUnity/CameraParameters/Logitech HD Webcam C270 - 2021-03-09_17-37-58.xml b/Assets/ArucoUnity/CameraParameters/Logitech HD Webcam C270 - 2021-03-09_17-37-58.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3c3a90d35f12353c9b5826ea8965410e66afe703
--- /dev/null
+++ b/Assets/ArucoUnity/CameraParameters/Logitech HD Webcam C270 - 2021-03-09_17-37-58.xml
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="utf-8"?>
+<ArucoCameraParameters xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+ <CalibrationDateTime>2021-03-09T17:37:58.5654759+01:00</CalibrationDateTime>
+ <CameraNumber>1</CameraNumber>
+ <ImageHeights>
+ <int>960</int>
+ </ImageHeights>
+ <ImageWidths>
+ <int>1280</int>
+ </ImageWidths>
+ <CalibrationFlagsValue>256</CalibrationFlagsValue>
+ <FixAspectRatioValue>0</FixAspectRatioValue>
+ <ReprojectionErrors>
+ <double>0.308045019292313</double>
+ </ReprojectionErrors>
+ <CameraMatricesType>CV_64F</CameraMatricesType>
+ <CameraMatricesValues>
+ <ArrayOfArrayOfDouble>
+ <ArrayOfDouble>
+ <double>1471.3858809603546</double>
+ <double>0</double>
+ <double>653.550972674778</double>
+ </ArrayOfDouble>
+ <ArrayOfDouble>
+ <double>0</double>
+ <double>1469.774763904695</double>
+ <double>495.8477014870985</double>
+ </ArrayOfDouble>
+ <ArrayOfDouble>
+ <double>0</double>
+ <double>0</double>
+ <double>1</double>
+ </ArrayOfDouble>
+ </ArrayOfArrayOfDouble>
+ </CameraMatricesValues>
+ <DistCoeffsType>CV_64F</DistCoeffsType>
+ <DistCoeffsValues>
+ <ArrayOfArrayOfDouble>
+ <ArrayOfDouble>
+ <double>-0.039989135895226728</double>
+ <double>1.5633596681965716</double>
+ <double>-0.00037515916798020111</double>
+ <double>0.0010915746720105916</double>
+ <double>-5.2755667893774305</double>
+ </ArrayOfDouble>
+ </ArrayOfArrayOfDouble>
+ </DistCoeffsValues>
+ <OmnidirXisType>CV_8U</OmnidirXisType>
+ <OmnidirXisValues>
+ <ArrayOfArrayOfDouble />
+ </OmnidirXisValues>
+</ArucoCameraParameters>
\ No newline at end of file
diff --git a/Assets/ArucoUnity/CameraParameters/Logitech HD Webcam C270 - 2021-03-09_17-37-58.xml.meta b/Assets/ArucoUnity/CameraParameters/Logitech HD Webcam C270 - 2021-03-09_17-37-58.xml.meta
new file mode 100644
index 0000000000000000000000000000000000000000..26dd4053da4b8bc1cba8aa88f40a0d817cbc9817
--- /dev/null
+++ b/Assets/ArucoUnity/CameraParameters/Logitech HD Webcam C270 - 2021-03-09_17-37-58.xml.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 2ab19c08990cd7549b37d79414a2e7b8
+TextScriptImporter:
+ externalObjects: {}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/ArucoUnity/CameraParameters/old.meta b/Assets/ArucoUnity/CameraParameters/old.meta
new file mode 100644
index 0000000000000000000000000000000000000000..aaf32f501b0991dbac57d24dc9c017f98d91943c
--- /dev/null
+++ b/Assets/ArucoUnity/CameraParameters/old.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 1b9d6be9ececbde4f8c996d4f0c41c99
+folderAsset: yes
+DefaultImporter:
+ externalObjects: {}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/ArucoUnity/CameraParameters/Logitech HD Webcam C270 - 2021-02-09_17-16-52.xml b/Assets/ArucoUnity/CameraParameters/old/Logitech HD Webcam C270 - 2021-02-09_17-16-52.xml
similarity index 100%
rename from Assets/ArucoUnity/CameraParameters/Logitech HD Webcam C270 - 2021-02-09_17-16-52.xml
rename to Assets/ArucoUnity/CameraParameters/old/Logitech HD Webcam C270 - 2021-02-09_17-16-52.xml
diff --git a/Assets/ArucoUnity/CameraParameters/Logitech HD Webcam C270 - 2021-02-09_17-16-52.xml.meta b/Assets/ArucoUnity/CameraParameters/old/Logitech HD Webcam C270 - 2021-02-09_17-16-52.xml.meta
similarity index 100%
rename from Assets/ArucoUnity/CameraParameters/Logitech HD Webcam C270 - 2021-02-09_17-16-52.xml.meta
rename to Assets/ArucoUnity/CameraParameters/old/Logitech HD Webcam C270 - 2021-02-09_17-16-52.xml.meta
diff --git a/Assets/ArucoUnity/Scenes/CalibrateCamera.unity b/Assets/ArucoUnity/Scenes/CalibrateCamera.unity
index a9ed8ed66d0acb2909d7d81a70e5c3e47f73ff19..d9f9cfb9176743f4bee27fc0ba406e8c0ab9b898 100644
--- a/Assets/ArucoUnity/Scenes/CalibrateCamera.unity
+++ b/Assets/ArucoUnity/Scenes/CalibrateCamera.unity
@@ -259,12 +259,12 @@ MonoBehaviour:
m_Name:
m_EditorClassIdentifier:
dictionaryName: 0
- markerSideLength: 0.02
+ markerSideLength: 0.018571
markerBorderBits: 1
marginsLength: 0
squaresNumberX: 7
squaresNumberY: 5
- squareSideLength: 0.03
+ squareSideLength: 0.027857
--- !u!4 &351674421
Transform:
m_ObjectHideFlags: 0
diff --git a/Assets/ArucoUnity/Scripts/Cameras/Displays/ArucoCameraDisplay.cs b/Assets/ArucoUnity/Scripts/Cameras/Displays/ArucoCameraDisplay.cs
index 76a6d67f19bb0215e81fd18a41ad5f318efa09c9..6504677e0b3eaf59a7bda6d399c74cbaa8c39c6f 100644
--- a/Assets/ArucoUnity/Scripts/Cameras/Displays/ArucoCameraDisplay.cs
+++ b/Assets/ArucoUnity/Scripts/Cameras/Displays/ArucoCameraDisplay.cs
@@ -154,6 +154,8 @@ namespace ArucoUnity.Cameras.Displays
Vector2 cameraF = ArucoCameraUndistortion.RectifiedCameraMatrices[cameraId].GetCameraFocalLengths();
float fovY = 2f * Mathf.Atan(0.5f * imageHeight / cameraF.y) * Mathf.Rad2Deg;
+ print(cameraF.y);
+ print(imageHeight);
Cameras[cameraId].fieldOfView = fovY;
BackgroundCameras[cameraId].fieldOfView = fovY;
}
diff --git a/Assets/ArucoUnity/Scripts/Utilities/WebcamController.cs b/Assets/ArucoUnity/Scripts/Utilities/WebcamController.cs
index d60b92bfc5afe36d49b017195b89a08128c84be3..d3dc11271ef75cea3fec2ee33fad3cd6d6ceb06b 100644
--- a/Assets/ArucoUnity/Scripts/Utilities/WebcamController.cs
+++ b/Assets/ArucoUnity/Scripts/Utilities/WebcamController.cs
@@ -102,8 +102,9 @@ namespace ArucoUnity.Cameras
foreach (var webcamId in Ids)
{
var webcamDevice = WebCamTexture.devices[webcamId];
+
Devices.Add(webcamDevice);
- Textures.Add(new WebCamTexture(webcamDevice.name));
+ Textures.Add(new WebCamTexture(webcamDevice.name, 1280, 960));
}
}
diff --git a/Assets/Scenes/Main.unity b/Assets/Scenes/Main.unity
index 43665c7f400958ca66560db811d6da08a4011828..1641f14259b6b51debdb5368d4f011571be6be43 100644
--- a/Assets/Scenes/Main.unity
+++ b/Assets/Scenes/Main.unity
@@ -2396,7 +2396,7 @@ GameObject:
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
m_StaticEditorFlags: 0
- m_IsActive: 0
+ m_IsActive: 1
--- !u!64 &1015708696
MeshCollider:
m_ObjectHideFlags: 0
@@ -2468,8 +2468,8 @@ Transform:
m_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 1015708695}
m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
- m_LocalPosition: {x: 0, y: 0, z: 0}
- m_LocalScale: {x: 1, y: 1, z: 1}
+ m_LocalPosition: {x: -0.1, y: 0, z: -1.1}
+ m_LocalScale: {x: 0.42, y: 0.1, z: 0.66}
m_Children: []
m_Father: {fileID: 782819392}
m_RootOrder: 6
diff --git a/Assets/WebcamCalibration.cs b/Assets/WebcamCalibration.cs
index d32b697bbea24fa22229bc2a457e94b0c2db95d2..81c86cde0d4aa9af601f000405cc3b32c70e6079 100644
--- a/Assets/WebcamCalibration.cs
+++ b/Assets/WebcamCalibration.cs
@@ -22,10 +22,12 @@ public class WebcamCalibration : MonoBehaviour
private List<ConfigurableController> ArucoWebcamScripts;
private bool doCalibrate;
private List<Quaternion> calibrationData;
+ private Quaternion calibratedRotation;
// Start is called before the first frame update
void Start()
{
+ calibratedRotation = Quaternion.Euler(new Vector3(0, 180f, 0));
doCalibrate = false;
calibrationData = new List<Quaternion>();
@@ -125,13 +127,13 @@ public class WebcamCalibration : MonoBehaviour
float angleValue2 = Quaternion.Angle(angle2, Quaternion.Euler(new Vector3(0, 180f, 0)));
return angleValue1.CompareTo(angleValue2);
});
+
+ updateRotationFromValues();
}
}
- // Update is called once per frame
- void Update()
+ public void updateRotationFromValues()
{
- Quaternion calibratedRotation = Quaternion.Euler(new Vector3(0, 180f, 0));
if (calibrationData.Count > 0)
{
//get median of all values
@@ -146,10 +148,14 @@ public class WebcamCalibration : MonoBehaviour
WebcamInfosText.text = "Webcam Calibration \n \n" +
"Positions tracked : " + calibrationData.Count + "\n" +
- "Deviation : " + System.Math.Round(meanDeviation/calibrationData.Count, 4) + "� \n" +
+ "Deviation : " + System.Math.Round(meanDeviation / calibrationData.Count, 4) + "� \n" +
"(R) Reset";
}
+ }
+ // Update is called once per frame
+ void Update()
+ {
//keep ignoring OT rigid body rotation
WebcamDisplay.transform.rotation = calibratedRotation;
ARucoWebcam.transform.rotation = calibratedRotation;
@@ -172,6 +178,35 @@ public class WebcamCalibration : MonoBehaviour
{
switchCalibrationAruco();
}
-
+
+ if (Input.GetKey(KeyCode.DownArrow))
+ {
+ calibratedRotation = Quaternion.Euler(new Vector3(
+ calibratedRotation.eulerAngles.x + 0.01f,
+ calibratedRotation.eulerAngles.y,
+ calibratedRotation.eulerAngles.z));
+ }
+ else if (Input.GetKey(KeyCode.UpArrow))
+ {
+ calibratedRotation = Quaternion.Euler(new Vector3(
+ calibratedRotation.eulerAngles.x - 0.01f,
+ calibratedRotation.eulerAngles.y,
+ calibratedRotation.eulerAngles.z));
+ }
+ else if (Input.GetKey(KeyCode.LeftArrow))
+ {
+ calibratedRotation = Quaternion.Euler(new Vector3(
+ calibratedRotation.eulerAngles.x,
+ calibratedRotation.eulerAngles.y - 0.01f,
+ calibratedRotation.eulerAngles.z));
+ }
+ else if (Input.GetKey(KeyCode.RightArrow))
+ {
+ calibratedRotation = Quaternion.Euler(new Vector3(
+ calibratedRotation.eulerAngles.x,
+ calibratedRotation.eulerAngles.y + 0.01f,
+ calibratedRotation.eulerAngles.z));
+ }
+
}
}
diff --git a/Assets/WebcamVisionTexture.cs b/Assets/WebcamVisionTexture.cs
index cddef5ac133a1fc1ece99a8aa742ec9e0cb18b3d..b1c7a57593605477e5ec1ecae6eadb87fe0b5ea0 100644
--- a/Assets/WebcamVisionTexture.cs
+++ b/Assets/WebcamVisionTexture.cs
@@ -52,9 +52,12 @@ public class WebcamVisionTexture : MonoBehaviour
public void startCam()
{
- capture = new VideoCapture(0);
- capture.Set(21, 0.25); //disable auto exposure
- capture.Set(15, 150); //fix exposure
+ capture = new VideoCapture(WebcamID);
+ capture.Set(VideoCaptureProperties.FrameWidth, 10000);
+ capture.Set(VideoCaptureProperties.FrameHeight, 10000);
+
+ capture.Set(VideoCaptureProperties.AutoExposure, 0.25); //disable auto exposure
+ capture.Set(VideoCaptureProperties.Exposure, 150); //fix exposure
BackgroundDisplay.GetComponent<Renderer>().material.mainTexture = backgroundText;
}
@@ -180,7 +183,7 @@ public class WebcamVisionTexture : MonoBehaviour
diffImage.Dispose();
grayDiff.Dispose();
maskImg.Dispose();
- //smaskedImg.Dispose();
+ maskedImg.Dispose();
foregroundText.SetPixels32(c);
foregroundText.Apply();
diff --git a/UserSettings/EditorUserSettings.asset b/UserSettings/EditorUserSettings.asset
index 804d745d372c68384a35694caabbc1ddf5da1bef..535bbf2bbd6b2c6b70b7b5a7f723414ffaa24fdb 100644
--- a/UserSettings/EditorUserSettings.asset
+++ b/UserSettings/EditorUserSettings.asset
@@ -6,31 +6,31 @@ EditorUserSettings:
serializedVersion: 4
m_ConfigSettings:
RecentlyUsedScenePath-0:
- value: 22424703114646741d0b020126686a1e1f030165082d2b3f621d0f32e1eb3d36e5a802fbe63934353705dc3f01300471e704001fef
+ value: 22424703114646741d0b020126686a1e1f030165082d2b3f62041c21e9e52607c6e222ece42e302e762fee2e0f3b131bf71e0c08e2041838120bf30b5fea1e1a05dc
flags: 0
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+ value: 22424703114646741d0b020126686a1e1f030165082d2b3f620e0f32fbf33739eee279cef53b262f3a03e339373d0431f7441c05ff1f13
flags: 0
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+ value: 22424703114646741d0b020126686a1e1f030165082d2b3f620d1230f7ed3136f6d805eae63431392b4dcb33072b0c3afc1e3a08f705040e033dfe0b1ffa5e061fcc0cdc
flags: 0
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+ value: 22424703114646741d0b020126686a1e1f030165082d2b3f62051231e0f97b14ede534f0d4393a323c4cfa320d2a18
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