├── .gitignore
├── Assets
    ├── Calibration.cs
    ├── Calibration.cs.meta
    ├── CalibrationExample.unity
    ├── CalibrationExample.unity.meta
    ├── CorrespondenceAcquisition.cs
    ├── CorrespondenceAcquisition.cs.meta
    ├── DrawLine.cs
    ├── DrawLine.cs.meta
    ├── Plugins.meta
    ├── Plugins
    │   ├── x86.meta
    │   └── x86
    │   │   ├── OpenCvSharp.CPlusPlus.dll
    │   │   ├── OpenCvSharp.CPlusPlus.dll.config
    │   │   ├── OpenCvSharp.CPlusPlus.dll.config.meta
    │   │   ├── OpenCvSharp.CPlusPlus.dll.meta
    │   │   ├── OpenCvSharp.dll
    │   │   ├── OpenCvSharp.dll.config
    │   │   ├── OpenCvSharp.dll.config.meta
    │   │   ├── OpenCvSharp.dll.meta
    │   │   ├── OpenCvSharpExtern.dll
    │   │   └── OpenCvSharpExtern.dll.meta
    ├── PointsRecordReplay.cs
    ├── PointsRecordReplay.cs.meta
    ├── ProjectionController.cs
    ├── ProjectionController.cs.meta
    ├── Recording.cs
    ├── Recording.cs.meta
    ├── Rotation.cs
    ├── Rotation.cs.meta
    ├── RotationConversion.cs
    ├── RotationConversion.cs.meta
    ├── SerializableVector3.cs
    ├── SerializableVector3.cs.meta
    ├── SerializeExtensions.cs
    ├── SerializeExtensions.cs.meta
    ├── crosshair.png
    └── crosshair.png.meta
├── OpenCVDlls
    ├── opencv_calib3d2410.dll
    ├── opencv_core2410.dll
    ├── opencv_features2d2410.dll
    ├── opencv_flann2410.dll
    └── opencv_imgproc2410.dll
├── ProjectSettings
    ├── AudioManager.asset
    ├── DynamicsManager.asset
    ├── EditorBuildSettings.asset
    ├── EditorSettings.asset
    ├── GraphicsSettings.asset
    ├── InputManager.asset
    ├── NavMeshLayers.asset
    ├── NetworkManager.asset
    ├── Physics2DSettings.asset
    ├── ProjectSettings.asset
    ├── QualitySettings.asset
    ├── TagManager.asset
    └── TimeManager.asset
├── README.md
└── UnityProjectionMapping.unitypackage


/.gitignore:
--------------------------------------------------------------------------------
 1 | # =============== #
 2 | # Unity generated #
 3 | # =============== #
 4 | Temp/
 5 | Library/
 6 | 
 7 | # ===================================== #
 8 | # Visual Studio / MonoDevelop generated #
 9 | # ===================================== #
10 | ExportedObj/
11 | obj/
12 | *.svd
13 | *.userprefs
14 | /*.csproj
15 | *.pidb
16 | *.suo
17 | /*.sln
18 | *.user
19 | *.unityproj
20 | *.booproj
21 | 
22 | # ============ #
23 | # OS generated #
24 | # ============ #
25 | .DS_Store
26 | .DS_Store?
27 | ._*
28 | .Spotlight-V100
29 | .Trashes
30 | ehthumbs.db
31 | Thumbs.db


--------------------------------------------------------------------------------
/Assets/Calibration.cs:
--------------------------------------------------------------------------------
  1 | using UnityEngine;
  2 | using System.Collections;
  3 | using OpenCvSharp;
  4 | using OpenCvSharp.CPlusPlus;
  5 | using System.Collections.Generic;
  6 | using System.Text;
  7 | using System.IO;
  8 | using Assets;
  9 | 
 10 | public class Calibration {
 11 |     // NB some code adapted from OpenCVSharp camera calibration example:
 12 |     // https://github.com/shimat/opencvsharp/blob/master/sample/CStyleSamplesCS/Samples/CalibrateCamera.cs
 13 | 
 14 |     private Camera _mainCamera;
 15 |     private static int _numImages = 1;
 16 |     private double height;
 17 |     private double width;
 18 | 
 19 |     public Calibration(Camera mainCamera)
 20 |     {
 21 |         _mainCamera = mainCamera;
 22 |         height = (double)Screen.height;
 23 |         width = (double)Screen.width;
 24 |     }
 25 | 
 26 |     public double calibrateFromCorrespondences(List<Vector3> imagePoints, List<Vector3> worldPoints)
 27 |     {
 28 |         int numPoints = imagePoints.Count;
 29 |         CvMat pointCounts = CreatePointCountMatrix(numPoints);
 30 |         CvMat imagePointsCvMat = PutImagePointsIntoCVMat(imagePoints, numPoints);
 31 |         CvMat worldPointsCvMat = PutObjectPointsIntoCVMat(worldPoints, numPoints, _numImages);
 32 |         Size size = new Size(width, height);
 33 |         CvMat distortion = new CvMat(1, 4, MatrixType.F64C1);
 34 |         CvMat rotation = new CvMat(1, 3, MatrixType.F32C1);
 35 |         CvMat translation = new CvMat(1, 3, MatrixType.F32C1);
 36 |         CvMat intrinsic = CreateIntrinsicGuess(height, width);
 37 |         var flags = CalibrationFlag.ZeroTangentDist | CalibrationFlag.UseIntrinsicGuess | 
 38 |             CalibrationFlag.FixK1 | CalibrationFlag.FixK2 | CalibrationFlag.FixK3 | CalibrationFlag.FixK4 | CalibrationFlag.FixK5 | CalibrationFlag.FixK6;
 39 | 
 40 |         Cv.CalibrateCamera2(worldPointsCvMat, imagePointsCvMat, pointCounts, size, intrinsic, distortion, rotation, translation,  flags);
 41 | 
 42 |         ApplyCalibrationToUnityCamera(intrinsic, rotation, translation);
 43 | 
 44 |         return CalculateReprojectionError(imagePoints, numPoints, imagePointsCvMat, worldPointsCvMat, intrinsic, distortion, rotation, translation);
 45 |     }
 46 | 
 47 |     private void ApplyCalibrationToUnityCamera(CvMat intrinsic, CvMat rotation, CvMat translation)
 48 |     {
 49 |         CvMat rotationInverse = GetRotationMatrixFromRotationVector(rotation).Transpose(); // transpose is same as inverse for rotation matrix
 50 |         CvMat transFinal = (rotationInverse * -1) * translation.Transpose();
 51 |         _mainCamera.projectionMatrix = LoadProjectionMatrix((float)intrinsic[0, 0], (float)intrinsic[1, 1], (float)intrinsic[0, 2], (float)intrinsic[1, 2]);
 52 |         ApplyTranslationAndRotationToCamera(transFinal, RotationConversion.RotationMatrixToEulerZXY(rotationInverse));
 53 |     }
 54 | 
 55 |     private static CvMat CreatePointCountMatrix(int numPoints)
 56 |     {
 57 |         int[] pointCountsValue = new int[_numImages];
 58 |         pointCountsValue[0] = numPoints;
 59 |         CvMat pointCounts = new CvMat(_numImages, 1, MatrixType.S32C1, pointCountsValue);
 60 |         return pointCounts;
 61 |     }
 62 | 
 63 |     private static CvMat GetRotationMatrixFromRotationVector(CvMat rotation_)
 64 |     {
 65 |         CvMat rotationFull = new CvMat(3, 3, MatrixType.F32C1);
 66 |         // get full rotation matrix from rotation vector
 67 |         Cv.Rodrigues2(rotation_, rotationFull); 
 68 |         float[] LHSflipBackMatrix = new float[] { 1.0f, 0.0f, 0.0f, 
 69 |             0.0f, 1.0f, 0.0f, 
 70 |             0.0f, 0.0f, -1.0f };
 71 |         CvMat LHSflipBackMatrixM = new CvMat(3, 3, MatrixType.F32C1, LHSflipBackMatrix);
 72 |         CvMat rotLHS = rotationFull * LHSflipBackMatrixM; // invert Z (as we did before when savings points) to get from RHS -> LHS
 73 |         return rotLHS;
 74 |     }
 75 | 
 76 |     private double CalculateReprojectionError(List<Vector3> _imagePositions, int pointsCount, CvMat imagePoints, CvMat objectPoints, CvMat intrinsic, CvMat distortion, CvMat rotation_, CvMat translation_)
 77 |     {
 78 |         // openCV SSD taken from http://stackoverflow.com/questions/23781089/opencv-calibratecamera-2-reprojection-error-and-custom-computed-one-not-agree
 79 | 
 80 |         CvMat imagePointsOut = PutImagePointsIntoCVMat(_imagePositions, pointsCount); // will be overwritten, but should be correct size. Hacky and slow imp
 81 |         Cv.ProjectPoints2(objectPoints, rotation_, translation_, intrinsic, distortion, imagePointsOut);
 82 | 
 83 |         var ar1 = imagePoints.ToArray();
 84 |         var ar2 = imagePointsOut.ToArray();
 85 |         double diff = 0.0f;
 86 |         for (int i = 0; i < pointsCount; i++)
 87 |         {
 88 |             diff = diff + System.Math.Pow(System.Math.Abs(ar1[i].Val0 - ar2[i].Val0), 2.0) + System.Math.Pow(System.Math.Abs(ar1[i].Val1 - ar2[i].Val1), 2.0);
 89 |         }
 90 |         diff = System.Math.Sqrt(diff / pointsCount);
 91 |         return diff;
 92 |     }
 93 | 
 94 |     private Matrix4x4 LoadProjectionMatrix(float fx, float fy, float cx, float cy)
 95 |     {
 96 |         // https://github.com/kylemcdonald/ofxCv/blob/88620c51198fc3992fdfb5c0404c37da5855e1e1/libs/ofxCv/src/Calibration.cpp
 97 |         float w = _mainCamera.pixelWidth;
 98 |         float h = _mainCamera.pixelHeight;
 99 |         float nearDist = _mainCamera.nearClipPlane;
100 |         float farDist = _mainCamera.farClipPlane;
101 | 
102 |         return MakeFrustumMatrix(
103 |             nearDist * (-cx) / fx, nearDist * (w - cx) / fx,
104 |             nearDist * (cy) / fy, nearDist * (cy - h) / fy,
105 |             nearDist, farDist);
106 |     }
107 | 
108 |     private Matrix4x4 MakeFrustumMatrix(float left, float right,
109 |                                         float bottom, float top,
110 |                                         float zNear, float zFar)
111 |     {
112 |         // https://github.com/openframeworks/openFrameworks/blob/master/libs/openFrameworks/math/ofMatrix4x4.cpp
113 |         // note transpose of ofMatrix4x4 wr.t OpenGL documentation, since the OSG use post multiplication rather than pre.
114 |         // NB this has been transposed here from the original openframeworks code
115 | 
116 |         float A = (right + left) / (right - left);
117 |         float B = (top + bottom) / (top - bottom);
118 |         float C = -(zFar + zNear) / (zFar - zNear);
119 |         float D = -2.0f * zFar * zNear / (zFar - zNear);
120 | 
121 |         var persp = new Matrix4x4();
122 |         persp[0, 0] = 2.0f * zNear / (right - left);
123 |         persp[1, 1] = 2.0f * zNear / (top - bottom);
124 |         persp[2, 0] = A;
125 |         persp[2, 1] = B;
126 |         persp[2, 2] = C;
127 |         persp[2, 3] = -1.0f;
128 |         persp[3, 2] = D;
129 | 
130 |         var rhsToLhs = new Matrix4x4();
131 |         rhsToLhs[0, 0] = 1.0f;
132 |         rhsToLhs[1, 1] = -1.0f; // Flip Y (RHS -> LHS)
133 |         rhsToLhs[2, 2] = 1.0f;
134 |         rhsToLhs[3, 3] = 1.0f;
135 | 
136 |         return rhsToLhs * persp.transpose; // see comment above
137 |     }
138 | 
139 |     private void ApplyTranslationAndRotationToCamera(CvMat translation, Rotation r)
140 |     {
141 |         double tx = translation[0, 0];
142 |         double ty = translation[0, 1];
143 |         double tz = translation[0, 2];
144 | 
145 |         _mainCamera.transform.position = new Vector3((float)tx, (float)ty, (float)tz);
146 |         _mainCamera.transform.eulerAngles = new Vector3((float)r.X, (float)r.Y, (float)r.Z);
147 |     }
148 | 
149 |     private CvMat CreateIntrinsicGuess(double height, double width)
150 |     {
151 |         // from https://docs.google.com/spreadsheet/ccc?key=0AuC4NW61c3-cdDFhb1JxWUFIVWpEdXhabFNjdDJLZXc#gid=0
152 |         // taken from http://www.neilmendoza.com/projector-field-view-calculator/
153 |         float hfov = 91.2705674249382f;
154 |         float vfov = 59.8076333281726f;
155 | 
156 |         double fx = (double)((float)width / (2.0f * Mathf.Tan(0.5f * hfov * Mathf.Deg2Rad)));
157 |         double fy = (double)((float)height / (2.0f * Mathf.Tan(0.5f * vfov * Mathf.Deg2Rad)));
158 | 
159 |         double cy = height / 2.0;
160 |         double cx = width / 2.0;
161 | 
162 |         double[] intrGuess = new double[] { fx, 0.0, cx, 
163 |             0.0, fy, cy, 
164 |             0.0, 0.0, 1.0 };
165 |         return new CvMat(3, 3, MatrixType.F64C1, intrGuess);
166 |     }
167 | 
168 |     private CvMat PutObjectPointsIntoCVMat(List<Vector3> _objectPositions, int pointsCount, int ImageNum)
169 |     {
170 |         CvPoint3D32f[,] objects = new CvPoint3D32f[ImageNum, pointsCount];
171 | 
172 |         for (int i = 0; i < pointsCount; i++)
173 |         {
174 |             objects[0, i] = new CvPoint3D32f
175 |             {
176 |                 X = _objectPositions[i].x,
177 |                 Y = _objectPositions[i].y,
178 |                 Z = _objectPositions[i].z * -1
179 |             };
180 |         }
181 | 
182 |         return new CvMat(pointsCount, 3, MatrixType.F32C1, objects);
183 |     }
184 | 
185 |     private CvMat PutImagePointsIntoCVMat(List<Vector3> _imagePositions, int pointsCount)
186 |     {
187 |         List<CvPoint2D32f> allCorners = new List<CvPoint2D32f>(pointsCount);
188 | 
189 |         for (int i = 0; i < _imagePositions.Count; i++)
190 |         {
191 |             allCorners.Add(new CvPoint2D32f(_imagePositions[i].x, _imagePositions[i].y));
192 |         }
193 | 
194 |         return new CvMat(pointsCount, 1, MatrixType.F32C2, allCorners.ToArray());
195 |     }
196 | }


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/Assets/CorrespondenceAcquisition.cs:
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  1 | using UnityEngine;
  2 | using System.Collections;
  3 | using System.Collections.Generic;
  4 | 
  5 | // TODO: refactor so _height - pos.y is abstracted away
  6 | 
  7 | public class CorrespondenceAcquisition : MonoBehaviour
  8 | {
  9 |     public Texture2D _crosshairTexture;
 10 |     public Camera _mainCamera;
 11 | 
 12 |     private Calibration _calibrator;
 13 |     private int _minNumberOfPoints = 7;
 14 |     private List<Vector3> _objectPositions = new List<Vector3>();
 15 |     private List<Vector3> _imagePositions = new List<Vector3>();
 16 |     private bool _occludeWorld;
 17 |     private int _width;
 18 |     private int _height;
 19 |     private double _reprojectionError;
 20 |     private int? _dragging;
 21 |     private bool _calibrating;
 22 | 
 23 |     private static int IMAGE_POINT_MARKER_SIZE = 5;
 24 |     private static int IMAGE_POINT_HIGHLIGHTED_SIZE = 10;
 25 |     private static string CALIB_SPHERE_TAG = "CalibrationSphere";
 26 | 
 27 |     void Start()
 28 |     {
 29 |         _occludeWorld = false;
 30 |         _reprojectionError = 0.0;
 31 |         _height = (int)Screen.height;
 32 |         _width = (int)Screen.width;
 33 |         _calibrator = new Calibration(_mainCamera);
 34 |         _calibrating = true;
 35 |     }
 36 | 
 37 |     void OnGUI()
 38 |     {
 39 |         if (!_calibrating)
 40 |             return;
 41 | 
 42 |         if (_occludeWorld)
 43 |             OccludeScreen();
 44 | 
 45 |         _imagePositions.ForEach(delegate(Vector3 position) { DrawCrosshairImage(position, IMAGE_POINT_MARKER_SIZE); });
 46 |         if (ImagePointHighlighted())
 47 |             DrawCrosshairImage(_imagePositions[ImagePointMouseHooveringOver().Value], IMAGE_POINT_HIGHLIGHTED_SIZE);
 48 | 
 49 |         GUI.Box(new Rect(10, 10, 150, 90), "# points: " + _imagePositions.Count.ToString() + "\nReProj error: " + string.Format("{0:f2}", _reprojectionError));
 50 |     }
 51 | 
 52 |     private void DrawCrosshairImage(Vector3 position, int imagePointMarkerWidth)
 53 |     {
 54 |         GUI.DrawTexture(new Rect(position.x - imagePointMarkerWidth, position.y - imagePointMarkerWidth, imagePointMarkerWidth * 2, imagePointMarkerWidth * 2), _crosshairTexture);
 55 |     }
 56 | 
 57 |     private void OccludeScreen()
 58 |     {
 59 |         Texture2D blackTexture = new Texture2D(1, 1);
 60 |         blackTexture.SetPixel(0, 0, Color.black);
 61 |         GUI.DrawTexture(new Rect(0, 0, _width, _height), blackTexture);
 62 |     }
 63 | 
 64 |     void Update()
 65 |     {
 66 |         if (Input.GetKeyDown(KeyCode.Escape))
 67 |             Application.Quit();
 68 | 
 69 |         if (Input.GetKeyDown(KeyCode.Space))
 70 |             ToggleCalibrating();
 71 | 
 72 |         if (Input.GetMouseButtonDown(0))
 73 |         {
 74 |             if (ImagePointHighlighted())
 75 |             {
 76 |                 _dragging = ImagePointMouseHooveringOver();
 77 |             }
 78 |             else
 79 |             {
 80 |                 if (_imagePositions.Count == _objectPositions.Count)
 81 |                 {
 82 |                     // We have the same number of object and image positions, so we are starting a new correspondence. First is the object position
 83 |                     CaptureWorldPoint();
 84 |                 }
 85 |                 else
 86 |                 {
 87 |                     // we already have an object position, now we collect the 2D correspondence
 88 |                     CaptureImagePoint();
 89 |                     TriggerCalibration();
 90 |                 }
 91 |             }
 92 |         }
 93 | 
 94 |         if (Input.GetMouseButtonUp(0))
 95 |         {
 96 |             _dragging = null;
 97 |             TriggerCalibration();
 98 |         }
 99 | 
100 |         if (_dragging != null)
101 |         {
102 |             var pos = Input.mousePosition;
103 |             pos.y = _height - pos.y;
104 |             _imagePositions[_dragging.Value] = pos;
105 |         }
106 |     }
107 | 
108 |     private void ToggleCalibrating()
109 |     {
110 |         _calibrating = !_calibrating;
111 | 
112 |         foreach (GameObject sphere in GameObject.FindGameObjectsWithTag(CALIB_SPHERE_TAG))
113 |         {
114 |             sphere.renderer.enabled = _calibrating;
115 |         }
116 |     }
117 | 
118 |     private bool ImagePointHighlighted()
119 |     {
120 |         return ImagePointMouseHooveringOver() != null;
121 |     }
122 | 
123 |     private int? ImagePointMouseHooveringOver()
124 |     {
125 |         Vector3 pos = Input.mousePosition;
126 |         int? imagePosMatch = null;
127 |         for (int i = 0; i < _imagePositions.Count; i++)
128 |         {
129 |             Vector3 imagePos = _imagePositions[i];
130 |             if (Mathf.Abs(imagePos.x - pos.x) + Mathf.Abs(imagePos.y - (_height - pos.y)) < 5)
131 |             {
132 |                 imagePosMatch = i;
133 |             }
134 |         }
135 |         return imagePosMatch;
136 |     }
137 | 
138 |     private void CaptureWorldPoint()
139 |     {
140 |         Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
141 |         RaycastHit hit3d;
142 |         if (Physics.Raycast(ray, out hit3d))
143 |         {
144 |             CreateSphereAt(hit3d.point);
145 |             _objectPositions.Add(hit3d.point);
146 |             _occludeWorld = true;
147 |         }
148 |     }
149 | 
150 |     private void CaptureImagePoint()
151 |     {
152 |         Vector3 pos = Input.mousePosition;
153 |         pos.y = _height - pos.y; // note the screen pos starts bottom left. We want top left origin
154 |         _imagePositions.Add(pos);
155 |         _occludeWorld = false;
156 |     }
157 | 
158 |     private static void CreateSphereAt(Vector3 point)
159 |     {
160 |         GameObject sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
161 |         sphere.transform.position = point;
162 |         sphere.tag = CALIB_SPHERE_TAG;
163 |     }
164 | 
165 |     private void TriggerCalibration()
166 |     {
167 |         if (_imagePositions.Count < _minNumberOfPoints)
168 |             return;
169 |         if (_imagePositions.Count != _objectPositions.Count)
170 |             return;
171 | 
172 |         _reprojectionError = _calibrator.calibrateFromCorrespondences(_imagePositions, _objectPositions);
173 |     }
174 | 
175 |     public List<Vector3> GetImagePoints()
176 |     {
177 |         return _imagePositions;
178 |     }
179 | 
180 |     public List<Vector3> GetWorldPoints()
181 |     {
182 |         return _objectPositions;
183 |     }
184 | 
185 |     public void ReplayRecordedPoints(List<Vector3> worldPoints, List<Vector3> imgPoints)
186 |     {
187 |         _imagePositions = imgPoints;
188 |         _objectPositions = worldPoints;
189 |         foreach (var point in worldPoints)
190 |             CreateSphereAt(point);
191 |         TriggerCalibration();
192 |     }
193 | }


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/Assets/DrawLine.cs:
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 1 | using UnityEngine;
 2 | using System.Collections;
 3 | 
 4 | /*
 5 |  * Attribution: Part of this solution is taken from http://answers.unity3d.com/questions/686293/using-gl-to-draw-after-ongui.html
 6 |  */
 7 | 
 8 | public class DrawLine : MonoBehaviour {
 9 |     private Vector3 _xyPos;
10 |     private Material _lineMaterial;
11 | 
12 |     void Start()
13 |     {
14 |         CreateLineMaterial();
15 |     }
16 | 
17 |     private void CreateLineMaterial()
18 |     {
19 |         _lineMaterial = new Material("Shader \"Lines/Colored Blended\" {" +
20 |             "SubShader { Pass { " +
21 |             "    Blend SrcAlpha OneMinusSrcAlpha " +
22 |             "    ZWrite Off Cull Off Fog { Mode Off } " +
23 |             "    BindChannels {" +
24 |             "      Bind \"vertex\", vertex Bind \"color\", color }" +
25 |             "} } }");
26 |         _lineMaterial.hideFlags = HideFlags.HideAndDontSave;
27 |         _lineMaterial.shader.hideFlags = HideFlags.HideAndDontSave;
28 |     }
29 | 
30 |     void Update()
31 |     {
32 |         _xyPos = Input.mousePosition;
33 |     }
34 | 
35 |     IEnumerator OnPostRenderMeth()
36 |     {
37 |         yield return new WaitForEndOfFrame();
38 | 
39 |         GL.PushMatrix();
40 |         GL.LoadPixelMatrix();
41 |         _lineMaterial.SetPass(0);
42 |         GL.LoadOrtho();
43 |         GL.Begin(GL.LINES);
44 |         GL.Color(Color.red);
45 |         GL.Vertex(new Vector3(_xyPos.x / (float)Screen.width, 0, 0));
46 |         GL.Vertex(new Vector3(_xyPos.x / (float)Screen.width, 1, 0));
47 | 
48 |         GL.Color(Color.green);
49 |         GL.Vertex(new Vector3(0, _xyPos.y / (float)Screen.height, 0));
50 |         GL.Vertex(new Vector3(1, _xyPos.y / (float)Screen.height, 0));
51 | 
52 |         GL.End();
53 |         GL.PopMatrix();
54 |     }
55 | 
56 |     void OnPostRender()
57 |     {
58 |         StartCoroutine(OnPostRenderMeth());
59 |     }
60 | }
61 | 


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 1 | <?xml version="1.0" encoding="utf-8" ?>
 2 | <configuration>
 3 |   <dllmap os="!windows" dll="opencv_calib3d249" target="libopencv_calib3d.so" />
 4 |   <dllmap os="!windows" dll="opencv_contrib249" target="libopencv_contrib.so" />
 5 |   <dllmap os="!windows" dll="opencv_core249" target="libopencv_core.so" />
 6 |   <dllmap os="!windows" dll="opencv_features2d249" target="libopencv_features2d.so" />
 7 |   <dllmap os="!windows" dll="opencv_flann249" target="libopencv_flann.so" /> 
 8 |   <dllmap os="!windows" dll="opencv_gpu249" target="libopencv_gpu.so" />
 9 |   <dllmap os="!windows" dll="opencv_highgui249" target="libopencv_highgui.so" />
10 |   <dllmap os="!windows" dll="opencv_imgproc249" target="libopencv_imgproc.so" />
11 |   <dllmap os="!windows" dll="opencv_legacy249" target="libopencv_legacy.so" />
12 |   <dllmap os="!windows" dll="opencv_ml249" target="libopencv_ml.so" />
13 |   <dllmap os="!windows" dll="opencv_nonfree249" target="libopencv_nonfree.so" />
14 |   <dllmap os="!windows" dll="opencv_objdetect249" target="libopencv_objdetect.so" />
15 |   <dllmap os="!windows" dll="opencv_ocl249" target="libopencv_ocl.so" />
16 |   <dllmap os="!windows" dll="opencv_photo249" target="libopencv_photo.so" />
17 |   <dllmap os="!windows" dll="opencv_stitching249" target="libopencv_stitching.so" />
18 |   <dllmap os="!windows" dll="opencv_superres249" target="libopencv_superres.so" />
19 |   <dllmap os="!windows" dll="opencv_video249" target="libopencv_video.so" />
20 |   <dllmap os="!windows" dll="opencv_videostab249" target="libopencv_videostab.so" />
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/Assets/PointsRecordReplay.cs:
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 1 | using UnityEngine;
 2 | using System.Collections;
 3 | using System.Collections.Generic;
 4 | using Assets;
 5 | using System.Xml.Serialization;
 6 | using System.IO;
 7 | #if UNITY_EDITOR
 8 | using UnityEditor;
 9 | #endif
10 | 
11 | public class PointsRecordReplay : MonoBehaviour {
12 |     public CorrespondenceAcquisition pointsHolder;
13 | 
14 | 	void Start () {
15 | 	}
16 | 	
17 | 	void Update () {
18 |         if (Input.GetKeyDown(KeyCode.R))
19 |         {
20 |             RecordCurrentPoints();
21 |             Debug.Log("Recording complete");
22 |         }
23 | 
24 |         if (Input.GetKeyDown(KeyCode.P))
25 |         {
26 |             LoadSavedPoints();
27 |             Debug.Log("Loading complete");
28 |         }
29 | 	}
30 | 
31 |     private void LoadSavedPoints()
32 |     {
33 |         string fileName;
34 |         #if UNITY_EDITOR
35 |             fileName = EditorUtility.OpenFilePanel("Choose the file path", "", "xml");
36 |         #endif
37 |         #if UNITY_EDITOR == false
38 |                 fileName = "recording.xml";
39 |         #endif
40 |         var recording = Recording.LoadFromFile(fileName);
41 |         pointsHolder.ReplayRecordedPoints(recording.worldPointsV3, recording.ImagePointsV3((double)Screen.width, (double)Screen.height));
42 |     }
43 | 
44 |     private void RecordCurrentPoints()
45 |     {
46 |         string fileName;
47 |         #if UNITY_EDITOR
48 |             fileName = EditorUtility.SaveFilePanel("Choose the file path", "", "pointsRecording", "xml");
49 |         #endif
50 |         #if UNITY_EDITOR == false
51 |             fileName = "recording.xml";
52 |         #endif
53 |         SaveToFile(pointsHolder.GetImagePoints(), pointsHolder.GetWorldPoints(), fileName);
54 |     }
55 | 
56 |     private static void SaveToFile(List<Vector3> imagePoints, List<Vector3> worldPoints, string fileName)
57 |     {
58 |         var recording = new Recording(imagePoints, worldPoints, (double)Screen.width, (double)Screen.height);
59 |         recording.SaveToFile(fileName);
60 |     }
61 | }
62 | 


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/Assets/ProjectionController.cs:
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 1 | using UnityEngine;
 2 | using System.Collections;
 3 | 
 4 | public class ProjectionController : MonoBehaviour {
 5 |     void Start () {
 6 | 	
 7 | 	}
 8 | 	
 9 | 	void Update () {
10 |         if (Input.GetKeyDown(KeyCode.T))
11 |         {
12 |             Projector p = GetComponent<Projector>();
13 |             p.enabled = !p.enabled;
14 |         }
15 | 	}
16 | }
17 | 


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/Assets/Recording.cs:
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 1 | using System;
 2 | using System.Collections.Generic;
 3 | using System.IO;
 4 | using System.Linq;
 5 | using System.Text;
 6 | using System.Xml.Serialization;
 7 | using UnityEngine;
 8 | 
 9 | namespace Assets
10 | {
11 |     [Serializable]
12 |     public class Recording
13 |     {
14 |         // needed for serialization
15 |         public Recording() { }
16 | 
17 |         public Recording(List<Vector3> ip, List<Vector3> wp, double width, double height){
18 |             List<Vector3> normalizedImagePoints = NormalizeImagePoints(ip, width, height);
19 |             imagePoints = ConvertToSerializableList(normalizedImagePoints);
20 |             worldPoints = ConvertToSerializableList(wp);
21 |         }
22 | 
23 |         private static List<Vector3> NormalizeImagePoints(List<Vector3> ip, double width, double height)
24 |         {
25 |             List<Vector3> normalizedImagePoints = new List<Vector3>();
26 |             foreach (Vector3 point in ip)
27 |             {
28 |                 normalizedImagePoints.Add(new Vector3(point.x / (float) width, point.y / (float) height, point.z));
29 |             }
30 |             return normalizedImagePoints;
31 |         }
32 | 
33 |         public List<SerializableVector3> worldPoints;
34 |         public List<SerializableVector3> imagePoints;
35 | 
36 |         public List<Vector3> worldPointsV3
37 |         {
38 |             get {
39 |                 return ConvertToV3(worldPoints);
40 |             }
41 |         }
42 | 
43 |         public List<Vector3> ImagePointsV3(double width, double height)
44 |         {
45 |             List<SerializableVector3> denormalizedPoints = new List<SerializableVector3>();
46 |             foreach (SerializableVector3 point in imagePoints)
47 |             {
48 |                 denormalizedPoints.Add(new SerializableVector3(point.X * width, point.Y * height, point.Z));
49 |             }
50 |             return ConvertToV3(denormalizedPoints);
51 |         }
52 | 
53 |         private List<Vector3> ConvertToV3(List<SerializableVector3> sv3List)
54 |         {
55 |             var convList = new List<Vector3>();
56 |             foreach (var sv3 in sv3List)
57 |             {
58 |                 convList.Add(sv3.Vector3);
59 |             }
60 |             return convList;
61 |         }
62 | 
63 |         private static List<SerializableVector3> ConvertToSerializableList(List<Vector3> imagePoints)
64 |         {
65 |             List<SerializableVector3> serializableImageList = new List<SerializableVector3>();
66 |             foreach (var imagePoint in imagePoints)
67 |             {
68 |                 serializableImageList.Add(new SerializableVector3(imagePoint));
69 |             }
70 |             return serializableImageList;
71 |         }
72 | 
73 |         public void SaveToFile(string fileName)
74 |         {
75 |             System.IO.File.WriteAllText(fileName, this.SerializeObject());
76 |         }
77 | 
78 |         public static Recording LoadFromFile(string fileName)
79 |         {
80 |             var data = System.IO.File.ReadAllText(fileName);
81 |             XmlSerializer xmlSerializer = new XmlSerializer(typeof(Recording));
82 |             using (StringReader textReader = new StringReader(data))
83 |             {
84 |                 return (Recording) xmlSerializer.Deserialize(textReader);
85 |             }
86 |         }
87 |     }
88 | 
89 |     
90 |     
91 | }
92 | 


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/Assets/Rotation.cs:
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 1 | using System;
 2 | using System.Collections.Generic;
 3 | using System.Linq;
 4 | using System.Text;
 5 | 
 6 | namespace Assets
 7 | {
 8 |     class Rotation
 9 |     {
10 |         public double X;
11 |         public double Y;
12 |         public double Z;
13 | 
14 |         public Rotation(double x, double y, double z)
15 |         {
16 |            X = x;
17 |            Y = y;
18 |            Z = z;
19 |         }
20 |     }
21 | }
22 | 


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/Assets/RotationConversion.cs:
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 1 | using OpenCvSharp;
 2 | using System;
 3 | using System.Collections.Generic;
 4 | using System.Linq;
 5 | using System.Text;
 6 | 
 7 | namespace Assets
 8 | {
 9 |     class RotationConversion
10 |     {
11 |         // Maths comes from Python's Relax http://svn.gna.org/svn/relax/1.3/maths_fns/rotation_matrix.py
12 | 
13 |         static float EULER_EPSILON = 0.00005f;
14 | 
15 |         static public Rotation RotationMatrixToEulerZXY(CvMat R)
16 |         {
17 |             var i = 2;
18 |             var j = 0; // EULER_NEXT[2]
19 |             var k = 1; // EULER_NEXT[3]
20 | 
21 |             var cos_beta = Math.Sqrt(Math.Pow(R[i, i], 2) + Math.Pow(R[j, i], 2));
22 | 
23 |             double alpha, beta, gamma;
24 |             if (cos_beta > EULER_EPSILON)
25 |             {
26 |                 alpha = Math.Atan2(R[k, j], R[k, k]);
27 |                 beta = Math.Atan2(-R[k, i], cos_beta);
28 |                 gamma = Math.Atan2(R[j, i], R[i, i]);
29 |             }
30 |             else
31 |             {
32 |                 alpha = Math.Atan2(-R[j, k], R[j, j]);
33 |                 beta = Math.Atan2(-R[k, i], cos_beta);
34 |                 gamma = 0.0;
35 |             }
36 | 
37 |             alpha = wrap_angles(alpha, 0.0, 2.0 * Math.PI); // Z
38 |             beta = wrap_angles(beta, 0.0, 2.0 * Math.PI); // X
39 |             gamma = wrap_angles(gamma, 0.0, 2.0 * Math.PI); // Y
40 | 
41 |             // errr... 180 - Z result seems right. Why?
42 |             return new Rotation(RadianToDegree(beta), RadianToDegree(gamma), 180.0 - RadianToDegree(alpha));
43 |         }
44 | 
45 |         static double wrap_angles(double angle, double lower, double upper)
46 |         {
47 |             var window = 2 * Math.PI;
48 |             if(window - (upper - lower) > 1e-7)
49 |                 throw new ArgumentException();
50 | 
51 |             while(true) {
52 |                 if(angle > upper)
53 |                     angle = angle - window;
54 |                 else if (angle < lower)
55 |                     angle = angle + window;
56 |                 else
57 |                     break;
58 |             }
59 | 
60 |             return angle;
61 |         }
62 | 
63 |         private static double RadianToDegree(double angle)
64 |         {
65 |             return angle * (180.0 / Math.PI);
66 |         }
67 |   
68 |     }
69 | }
70 | 


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/Assets/SerializableVector3.cs:
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 1 | using System;
 2 | using System.Collections.Generic;
 3 | using System.Linq;
 4 | using System.Text;
 5 | using UnityEngine;
 6 | 
 7 | namespace Assets
 8 | {
 9 |     [Serializable]
10 |     public class SerializableVector3
11 |     {
12 |         public double X;
13 |         public double Y;
14 |         public double Z;
15 | 
16 |         public Vector3 Vector3
17 |         {
18 |             get
19 |             {
20 |                 return new Vector3((float)X, (float)Y, (float)Z);
21 |             }
22 |         }
23 | 
24 |         public SerializableVector3() { }
25 |         public SerializableVector3(Vector3 vector)
26 |         {
27 |             double val;
28 |             X = double.TryParse(vector.x.ToString(), out val) ? val : 0.0;
29 |             Y = double.TryParse(vector.y.ToString(), out val) ? val : 0.0;
30 |             Z = double.TryParse(vector.z.ToString(), out val) ? val : 0.0;
31 |         }
32 |         public SerializableVector3(double x, double y, double z)
33 |         {
34 |             X = x;
35 |             Y = y;
36 |             Z = z;
37 |         }
38 |     }
39 | }
40 | 


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 1 | using System;
 2 | using System.Collections.Generic;
 3 | using System.Linq;
 4 | using System.Text;
 5 | using System.Xml.Serialization;
 6 | using System.IO;
 7 | 
 8 | namespace Assets
 9 | {
10 |     public static class SerializeExtensions
11 |     {
12 |         public static string SerializeObject<T>(this T toSerialize)
13 |         {
14 |             using (StringWriter textWriter = new StringWriter())
15 |             {
16 |                 XmlSerializer xmlSerializer = new XmlSerializer(toSerialize.GetType());
17 |                 xmlSerializer.Serialize(textWriter, toSerialize);
18 |                 return textWriter.ToString();
19 |             }
20 |         }
21 | 
22 |     }
23 | }
24 | 


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/README.md:
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 1 | # UnityProjectionMapping
 2 | 
 3 | Some images and an overview of the concept are available on my blog, http://blog.drewmacqu.com/2015/02/projection-mapping-in-unity.html
 4 | 
 5 | ## Using the software
 6 | 
 7 | ### Limitations
 8 | 
 9 | This project uses OpenCV to calibrate the camera. The OpenCVSharp wrapper was used as it is compatible with Mono. This wrapper depends on specific OpenCV dlls. As a result this project is *Windows only* out of the box. However, only the CalibrateCamera function is used - it would be possible to rewrite this code section to allow use on other platforms.
10 | 
11 | ### Prerequisites
12 | 
13 | A 3D model of the projection surface is needed. It's important that the model be reasonably accurate as the calibration process can be a bit sensitive.
14 | 
15 | OpenCV is used. The required DLLs are included in this project in the OpenCVDlls folder. These can be placed in the root folder of the Unity project you’re creating, or in a sensible place on your computer and added to the Windows path variable.
16 | 
17 | You'll also need the VC11 32-bit redistributable, available from Microsoft: https://www.microsoft.com/en-us/download/confirmation.aspx?id=30679
18 | NB for me it automatically downloads the 64-bit version. You need the 32-bit one. Also on the Microsoft website you need to allow their scripts to run in Chrome - it just works in IE.
19 | 
20 | ### Project setup
21 | 
22 | Download and import the projection mapping package (UnityProjectionMapping.unitypackage in this repository).
23 | 
24 | Create an empty GameObject and attach the CorrespondenceAcquisition.cs script to it. The script had two fields that need to be completed:
25 | 
26 | 1. Drag your main camera onto the object's "Main camera" field in the Inspector tab.
27 | 2. Drag a crosshair image onto the object’s “Crosshair texture” field. A crosshair image is included in the package, it’s called crosshair.png
28 | 
29 | Create a tag named “CalibrationSphere”. Unity packages do not export tags so it needs to be created manually.
30 | 
31 | *Optional*: To help with locating your cursor in the projector screen, it’s useful to have full screen crosshairs. Due to Unity’s rendering pipeline it was necessary for the script that generates these lines to be attached to the main camera. Therefore, add the script DrawLine.cs to your main camera game object.
32 | 
33 | ### Calibration
34 | 
35 | The system needs to be calibrated so the virtual camera in Unity mimics the properties of the physical projector. This is achieved by defining correspondences between 3D points on the model and its respective point in the projected image.
36 | 
37 | Start the game, either in the editor or as a standalone build. The game view needs to be being displayed by your projector onto the physical model. For ease I tend to have my desktop mirrored so I can use both the projector and the monitor for calibration.
38 | 
39 | A correspondence between a 3D point and it’s projection on the 2D image plane is defined as follow:
40 | 
41 | 1. Click a point on the 3D object. This will create a sphere at that point on the model and the screen will become partially opaque. *Tip*: if this doesn’t happen, your object is required to have a collider for ray casting to work. A mesh collider would be required for imported objects - less fine grained colliders would not work.
42 | 2. Looking at the image that’s being displayed by your projector. Click on where that newly created sphere is on your physical model. This will create a small crosshair marker at that point. These can be moved by hovering over them and dragging.
43 | 
44 | This needs to be done at least seven times. After the seventh correspondence has been defined, the extrinsic and intrinsic matrices of the projector will be applied to the Unity camera. At this time the projection should be aligned to the physical object. More points can be added and existing points moved to achieve a better alignment.
45 | 
46 | You can hide the calibration markers (spheres and crosshairs) by pressing the space bar.
47 | 
48 | *Tips*: If you get exceptions (and the object disappears in the game view) after 7 points have been defined, something has gone wrong with the calibration. The calibration process is very sensitive to errors, and sometimes just fails. Try defining the points again, being very careful to avoid errors. Choose points that can be identified accurately on the model, such as corners. If you’ve tried it a few times with no luck, it’s likely your virtual model does not accurately reflect the physical model. Try measuring it up again and ensure all the dimensions are correct. Additionally, each point needs to contribute something to the optimisation (e.g. there needs to be linear independence between points). Try choosing points far apart that capture the full shape of the surface, not multiple points on the same plane.
49 | 
50 | ### Saving and loading calibrations
51 | 
52 | It can be time consuming to specify the correspondences needed to calibrate a projector. It is possible to save correspondences so you don't need to do it every time you restart the applications.
53 | 
54 | To use the points recorder, create a new empty game object and add the PointsRecordReplay.cs script to it. In the Inspector tab, drag your CorrespondenceAcquisition object (whatever game object you attached the CorrespondenceAcquisition.cs script to) onto the "Points Holder" field.
55 | 
56 | While the game is running, you can press "R" to record/save your points, and "P" to play/load your points. When playing in the editor, you can choose a different file name to store your points. In standalone mode, the file name "recording.xml" is used.
57 | 
58 | ## Example unity project
59 | 
60 | This repository contains an example Unity project that shows how the files need to be used (as described above). It contains a perfect cube object that could be mapped onto a physical cube. Seven good points for the cube would be the seven visible vertices.
61 | 


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/UnityProjectionMapping.unitypackage:
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https://raw.githubusercontent.com/andrewmacquarrie/UnityProjectionMapping/118a247d1956621eab0d821f441ad98d10642612/UnityProjectionMapping.unitypackage


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