JunShi101ShiNei/Assets/JIMO Test/Scripts/CameraCalibrationLoader.cs

using System;
using System.Collections.Generic;
using System.IO;
using System.Xml;
using UnityEngine;
using Seengene.XDKUnityPluginCloud;

public class CameraCalibrationLoader {

    /// <summary>
    /// 眼类型
    /// </summary>
    public enum EyeType {
        /// <summary>
        ///  左眼
        /// </summary>
        LeftEye = 0,
        /// <summary>
        /// 右眼
        /// </summary>
        RightEye = 1
    }

    private static string configXmlPath;

    private const string k_DefaultConfigXmlPath = "/persist/qvr/device_calibration.xml";

    public const string k_XmlDocumentName = "device_calibration.xml";
    public const string k_XmlNodeName_Root = "DeviceConfiguration";
    public const string k_XmlNodeName_LevelOne = "Camera";
    public const string k_XmlNodeName_LevelTwo = "Calibration";

    public const string k_XmlNodeAttributeName_EyeID = "id";
    public const string k_XmlNodeAttributeName_FocalLength = "focal_length";
    public const string k_XmlNodeAttributeName_PrincipalPoint = "principal_point";
    public const string k_XmlNodeAttributeName_Resolution = "size";
    public const string k_XmlNodeAttributeName_FishEye = "fish_eye";
    public const string k_XmlNodeAttributeName_RadialDistortion8 = "radial_distortion_8";
    public const string k_XmlNodeAttributeName_Model = "model";
    public const string k_XmlNodeAttributeName_RadialDistortion = "radial_distortion";

    private static void Init() {

#if UNITY_EDITOR
        configXmlPath = Path.Combine(Application.streamingAssetsPath, k_XmlDocumentName);
#else
        configXmlPath = k_DefaultConfigXmlPath;
#endif
    }

    public static CameraCalibration GetCameraCalibration(EyeType eyeType) {
        Init();
        if (!File.Exists(configXmlPath)) {
            Debug.LogErrorFormat("读取相机内参失败,相机标定文件不存在： {0}", configXmlPath);
            return null;
        }
        Vector2 focalLength = Vector2.zero;
        Vector2 principalPoint = Vector3.zero;
        Vector2Int resolution = Vector2Int.zero;
        bool fishEye = false;
        float[] radialDistortion8 = null;
        string model = string.Empty;
        float[] radialDistortion = null;

        XmlDocument myXmlDoc = new XmlDocument();
        string str = File.ReadAllText(configXmlPath);
        myXmlDoc.LoadXml(str);
        XmlNode rootNode = myXmlDoc.SelectSingleNode(k_XmlNodeName_Root);

        XmlNodeList nodeList_L1 = rootNode.ChildNodes;
        foreach (XmlNode node_L1 in nodeList_L1) {
            if (node_L1.Name == k_XmlNodeName_LevelOne) {
                // 标识位，是否是要查找的相机内参的眼睛
                bool isTargetEye = false;
                XmlAttributeCollection attributeCol_L1 = node_L1.Attributes;
                foreach (XmlAttribute attri in attributeCol_L1) {
                    string name = attri.Name;
                    string value = attri.Value;
                    if (name == k_XmlNodeAttributeName_EyeID && value == ((int)eyeType).ToString()) {
                        isTargetEye = true;
                        break;
                    }
                }
                if (isTargetEye) {
                    if (node_L1.HasChildNodes) {
                        XmlNodeList nodeList_L2 = node_L1.ChildNodes;
                        foreach (XmlNode node_L2 in nodeList_L2) {
                            string name = node_L2.Name;
                            if (name == k_XmlNodeName_LevelTwo) {
                                XmlAttributeCollection attibuteCol_L2 = node_L2.Attributes;
                                foreach (XmlAttribute attri in attibuteCol_L2) {
                                    if (attri.Name == k_XmlNodeAttributeName_Resolution) {
                                        //  图片分辨率
                                        try {
                                            string value = attri.Value;
                                            string[] arrValue = value.Split(" "[0]);
                                            if (arrValue.Length >= 2) {
                                                int width = int.Parse(arrValue[0]);
                                                int height = int.Parse(arrValue[1]);
                                                resolution = new Vector2Int(width, height);
                                            } else {
                                                Debug.LogErrorFormat("读取相机内参失败：{0}", "解析图片分辨率时出错");
                                                break;
                                            }
                                        } catch (Exception e) {
                                            Debug.LogErrorFormat("读取相机内参失败：{0}", e.Message);
                                            break;
                                        }
                                    }
                                    if (attri.Name == k_XmlNodeAttributeName_PrincipalPoint) {
                                        // 主点
                                        try {
                                            string value = attri.Value;
                                            string[] arrValue = value.Split(" "[0]);
                                            if (arrValue.Length >= 2) {
                                                float x = float.Parse(arrValue[0]);
                                                float y = float.Parse(arrValue[1]);
                                                principalPoint = new Vector2(x, y);
                                            } else {
                                                Debug.LogErrorFormat("读取相机内参失败：{0}", "解析图片主点参数时出错");
                                                break;
                                            }
                                        } catch (Exception e) {
                                            Debug.LogErrorFormat("读取相机内参失败：{0}", e.Message);
                                            break;
                                        }
                                    }
                                    if (attri.Name == k_XmlNodeAttributeName_FocalLength) {
                                        // 焦距
                                        try {
                                            string value = attri.Value;
                                            string[] arrValue = value.Split(" "[0]);
                                            if (arrValue.Length >= 2) {
                                                float x = float.Parse(arrValue[0]);
                                                float y = float.Parse(arrValue[1]);
                                                focalLength = new Vector2(x, y);
                                            } else {
                                                Debug.LogErrorFormat("读取相机内参失败：{0}", "解析图片焦距参数时出错");
                                                break;
                                            }
                                        } catch (Exception e) {
                                            Debug.LogErrorFormat("读取相机内参失败：{0}", e.Message);
                                            break;
                                        }
                                    }
                                    if (attri.Name == k_XmlNodeAttributeName_FishEye) {
                                        // 是否是鱼眼图
                                        try {
                                            string value = attri.Value;
                                            if (value == "true") {
                                                fishEye = true;
                                            } else {
                                                fishEye = false;
                                            }
                                        } catch (Exception e) {
                                            Debug.LogErrorFormat("读取相机内参失败：{0}", e.Message);
                                            break;
                                        }
                                    }
                                    if (attri.Name == k_XmlNodeAttributeName_RadialDistortion8) {
                                        // 8位图片畸变参数
                                        try {
                                            string value = attri.Value;
                                            //Debug.Log("radialDistortion8: " + value);
                                            string[] arrValue = value.Split(" "[0]);
                                            //Debug.Log("arrValue.Length: " + arrValue.Length);
                                            //Debug.Log(XDKTools.OneDimensionArrayToString(arrValue));
                                            if (arrValue.Length >= 8) {
                                                float p0 = float.Parse(arrValue[0]);
                                                float p1 = float.Parse(arrValue[1]);
                                                float p2 = float.Parse(arrValue[2]);
                                                float p3 = float.Parse(arrValue[3]);
                                                float p4 = float.Parse(arrValue[4]);
                                                float p5 = float.Parse(arrValue[5]);
                                                float p6 = float.Parse(arrValue[6]);
                                                float p7 = float.Parse(arrValue[7]);
                                                radialDistortion8 = new float[8] { p0, p1, p2, p3, p4, p5, p6, p7 };
                                                //Debug.Log("radialDistortion8: " + XDKTools.ArrayFloatToString(radialDistortion8));
                                            } else {
                                                Debug.LogErrorFormat("读取相机内参失败：{0}", "解析图片\"8位图片畸变参数\"时出错");
                                                break;
                                            }
                                        } catch (Exception e) {
                                            Debug.LogErrorFormat("读取相机内参失败：{0}", e.Message);
                                            break;
                                        }
                                    }
                                    if (attri.Name == k_XmlNodeAttributeName_Model) {
                                        //  相机模型 model
                                        try {
                                            model = attri.Value;
                                            //Debug.Log("model: " + model);
                                        } catch (Exception e) {
                                            Debug.LogErrorFormat("读取相机内参失败：{0}", e.Message);
                                            break;
                                        }
                                    }
                                    if (attri.Name == k_XmlNodeAttributeName_RadialDistortion) {
                                        // 图片畸变参数
                                        try {
                                            string value = attri.Value;
                                            //Debug.Log("radialDistortion: " + value);
                                            string[] arrValue = value.Split(" "[0]);
                                            //Debug.Log("arrValue.Length: " + arrValue.Length);
                                            //Debug.Log(XDKTools.OneDimensionArrayToString(arrValue));
                                            if (arrValue.Length >= 6) {
                                                float p0 = float.Parse(arrValue[0]);
                                                float p1 = float.Parse(arrValue[1]);
                                                float p2 = float.Parse(arrValue[2]);
                                                float p3 = float.Parse(arrValue[3]);
                                                float p4 = float.Parse(arrValue[4]);
                                                float p5 = float.Parse(arrValue[5]);
                                                radialDistortion = new float[6] { p0, p1, p2, p3, p4, p5 };
                                            } else {
                                                Debug.LogErrorFormat("读取相机内参失败：{0}", "解析图片\"图片畸变参数\"时出错");
                                            }
                                            Debug.Log("radialDistortion: " + radialDistortion);
                                        } catch (Exception e) {
                                            Debug.LogErrorFormat("读取相机内参失败：{0}", e.Message);
                                            break;
                                        }
                                    }
                                }
                            }
                        }
                    }
                }
            }
        }
        if (focalLength != Vector2.zero && principalPoint != Vector2.zero && resolution != Vector2.zero) {
            CameraCalibration cameraIntrinsics = new CameraCalibration(focalLength, principalPoint, resolution, fishEye, radialDistortion8, model, radialDistortion);
            return cameraIntrinsics;
        } else {
            return null;
        }
    }
}