// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, rgbMat, Imgproc.COLOR_RGBA2RGB);
// detect markers.
Aruco.detectMarkers(rgbMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
// refine marker detection.
if (refineMarkerDetection && (markerType == MarkerType.GridBoard || markerType == MarkerType.ChArUcoBoard))
{
switch (markerType)
{
case MarkerType.GridBoard:
Aruco.refineDetectedMarkers(rgbMat, gridBoard, corners, ids, rejectedCorners, camMatrix, distCoeffs, 10f, 3f, true, recoveredIdxs, detectorParams);
break;
case MarkerType.ChArUcoBoard:
Aruco.refineDetectedMarkers(rgbMat, charucoBoard, corners, ids, rejectedCorners, camMatrix, distCoeffs, 10f, 3f, true, recoveredIdxs, detectorParams);
break;
}
}
// if at least one marker detected
if (ids.total() > 0)
{
if (markerType != MarkerType.ChArUcoDiamondMarker)
{
if (markerType == MarkerType.ChArUcoBoard)
{
Aruco.interpolateCornersCharuco(corners, ids, rgbMat, charucoBoard, charucoCorners, charucoIds, camMatrix, distCoeffs, charucoMinMarkers);
// draw markers.
Aruco.drawDetectedMarkers(rgbMat, corners, ids, new Scalar(0, 255, 0));
if (charucoIds.total() > 0)
{
Aruco.drawDetectedCornersCharuco(rgbMat, charucoCorners, charucoIds, new Scalar(0, 0, 255));
}
}
else
{
// draw markers.
Aruco.drawDetectedMarkers(rgbMat, corners, ids, new Scalar(0, 255, 0));
}
// estimate pose.
if (applyEstimationPose)
{
switch (markerType)
{
default:
case MarkerType.CanonicalMarker:
EstimatePoseCanonicalMarker(rgbMat);
break;
case MarkerType.GridBoard:
EstimatePoseGridBoard(rgbMat);
break;
case MarkerType.ChArUcoBoard:
EstimatePoseChArUcoBoard(rgbMat);
break;
}
}
}
else
{
// detect diamond markers.
Aruco.detectCharucoDiamond(rgbMat, corners, ids, diamondSquareLength / diamondMarkerLength, diamondCorners, diamondIds, camMatrix, distCoeffs);
// draw markers.
Aruco.drawDetectedMarkers(rgbMat, corners, ids, new Scalar(0, 255, 0));
// draw diamond markers.
Aruco.drawDetectedDiamonds(rgbMat, diamondCorners, diamondIds, new Scalar(0, 0, 255));
// estimate pose.
if (applyEstimationPose)
{
EstimatePoseChArUcoDiamondMarker(rgbMat);
}
}
}
if (showRejectedCorners && rejectedCorners.Count > 0)
{
Aruco.drawDetectedMarkers(rgbMat, rejectedCorners, new Mat(), new Scalar(255, 0, 0));
}
// Imgproc.putText (rgbaMat, "W:" + rgbaMat.width () + " H:" + rgbaMat.height () + " SO:" + Screen.orientation, new Point (5, rgbaMat.rows () - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.fastMatToTexture2D(rgbMat, texture);
}
}
