public void MarkerProcessing(Mat MatImg)
{
if (MatImg != null)
{
Imgproc.cvtColor(MatImg, MatImg, Imgproc.COLOR_RGBA2RGB);
Aruco.detectMarkers(MatImg, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
if (ids.total() > 0)
{
OpenCVForUnity.UtilsModule.Converters.Mat_to_vector_int(ids, list_ids);
// draw markers.
Aruco.drawDetectedMarkers(MatImg, corners, ids, new Scalar(0, 255, 0));
// estimate pose.
if (applyEstimationPose)
{
EstimatePoseCanonicalMarker(MatImg);
}
if (showRejectedCorners && rejectedCorners.Count > 0)
{
Aruco.drawDetectedMarkers(MatImg, rejectedCorners, new Mat(), new Scalar(255, 0, 0));
}
}
}
}
private void OnDetectionDone()
{
if (displayCameraPreview)
{
Imgproc.cvtColor(downScaleRgbaMat, rgbMat4preview, Imgproc.COLOR_RGBA2RGB);
if (ids.total() > 0)
{
Aruco.drawDetectedMarkers(rgbMat4preview, corners, ids, new Scalar(255, 0, 0));
for (int i = 0; i < ids.total(); i++)
{
Aruco.drawAxis(rgbMat4preview, camMatrix, distCoeffs, rvecs, tvecs, markerLength * 0.5f);
}
}
OpenCVForUnity.Utils.fastMatToTexture2D(rgbMat4preview, texture);
}
if (applyEstimationPose)
{
if (hasUpdatedARTransformMatrix)
{
hasUpdatedARTransformMatrix = false;
// Apply camera transform matrix.
ARM = arCamera.transform.localToWorldMatrix * ARM;
ARUtils.SetTransformFromMatrix(arGameObject.transform, ref ARM);
}
}
isDetecting = false;
}
void ArucoDetection()
{
// Detect ArUco markers
Dictionary dict = Aruco.getPredefinedDictionary(Aruco.DICT_4X4_1000);
Aruco.detectMarkers(cached_initMat, dict, corners, ids);
Aruco.drawDetectedMarkers(cached_initMat, corners, ids);
// Debug.Log("AD - 93: Markers Detected");
// Debug.LogFormat("Corners: {0}", corners.Count);
// Get desired corner of marker
Point[] src_point_array = new Point[POINT_COUNT];
for (int i = 0; i < corners.Count; i++)
{
int aruco_id = (int)(ids.get(i, 0)[0]);
int src_i = arucoTosrc(aruco_id);
int corner_i = aruco_id % 4;
// Debug.LogFormat("AD - 101: aruco_id: {0}; corner_i: {1}; src_i: {2}", aruco_id, corner_i, src_i);
// Store corner[i] into spa[src_i]
src_point_array[src_i] = new Point(corners[i].get(0, corner_i)[0], corners[i].get(0, corner_i)[1]);
// Display the corner as circle on outMat.
Imgproc.circle(cached_initMat, src_point_array[src_i], 10, new Scalar(255, 255, 0));
}
// Converting to Ray values for Raycast
Camera _cam = Camera.main;
if (_cam != null)
{
for (int i = 0; i < POINT_COUNT; i++)
{
if (src_point_array[i] != null)
{
src_ray_array[i] = _cam.ScreenPointToRay(
new Vector3((float)src_point_array[i].x, (float)src_point_array[i].y, 0)).direction;
}
}
}
// Debug.LogFormat("Detected Direction: {0}", src_ray_array[0]);
// Debug.LogFormat("Camera Direction: {0}", _cam.transform.forward);
// Count non-null source points
bool spa_full = (count_src_nulls() == 7);
// Check if have valid faces
for (int i = 0; i < FACE_COUNT; i++)
{
// faceX_full[i] = check_faces(i);
faceX_full[i] = check_faces(i);
}
Core.flip(cached_initMat, outMat, 0);
}
void ArucoDetection()
{
Dictionary dict = Aruco.getPredefinedDictionary(Aruco.DICT_4X4_1000);
Aruco.detectMarkers(cached_initMat, dict, corners, ids);
Aruco.drawDetectedMarkers(cached_initMat, corners, ids);
Debug.Log("AD: Markers Detected");
src_recent_array = new Point[7];
for (int i = 0; i < corners.Count; i++)
{
int aruco_id = (int)(ids.get(i, 0)[0]);
int src_i = arucoTosrc(aruco_id);
int corner_i = aruco_id % 4;
// Store corner[i] into spa[src_i]
src_point_array[src_i] = new Point(corners[i].get(0, corner_i)[0], corners[i].get(0, corner_i)[1]);
src_recent_array[src_i] = new Point(corners[i].get(0, corner_i)[0], corners[i].get(0, corner_i)[1]);
Debug.LogFormat("aruco_id: {0}; corner: {1}; src_i: {2}", aruco_id, src_point_array[src_i], src_i);
// Display the corner as circle on outMat.
Imgproc.circle(cached_initMat, src_point_array[src_i], 10, new Scalar(255, 255, 0));
}
Debug.Log("AD: src_point_array and recent populated");
// Count non-null source points
int markerCount = count_src_nulls();
Debug.LogFormat("AD: markerCount = {0}", markerCount);
m_ImageInfo.text = string.Format("Number of markers detected: {0}", markerCount);
spa_full = (markerCount == 7);
// Check if have valid faces
for (int i = 0; i < 3; i++)
{
// faceX_full[i] = check_faces(i);
faceX_full[i] = check_faces(i);
}
Debug.LogFormat("AD: full faces: 1-{0}, 2-{1}, 3-{2}",
faceX_full[0], faceX_full[1], faceX_full[2]);
for (int i = 0; i < 3; i++)
{
// faceX_full[i] = check_faces(i);
faceX_recent_full[i] = check_recent_faces(i);
}
Debug.LogFormat("AD: recent full faces: 1-{0}, 2-{1}, 3-{2}",
faceX_recent_full[0], faceX_recent_full[1], faceX_recent_full[2]);
Core.flip(cached_initMat, outMat, 0);
Debug.Log("AD: done");
}
private void OnDetectionDone()
{
DebugUtils.TrackTick();
if (displayCameraPreview)
{
Imgproc.cvtColor(downScaleMat, rgbMat4preview, Imgproc.COLOR_GRAY2RGB);
if (ids.total() > 0)
{
Aruco.drawDetectedMarkers(rgbMat4preview, corners, ids, new Scalar(0, 255, 0));
if (applyEstimationPose)
{
for (int i = 0; i < ids.total(); i++)
{
using (Mat rvec = new Mat(rvecs, new OpenCVForUnity.CoreModule.Rect(0, i, 1, 1)))
using (Mat tvec = new Mat(tvecs, new OpenCVForUnity.CoreModule.Rect(0, i, 1, 1)))
{
// In this example we are processing with RGB color image, so Axis-color correspondences are X: blue, Y: green, Z: red. (Usually X: red, Y: green, Z: blue)
Calib3d.drawFrameAxes(rgbMat4preview, camMatrix, distCoeffs, rvec, tvec, markerLength * 0.5f);
}
}
}
}
Utils.fastMatToTexture2D(rgbMat4preview, texture);
}
if (applyEstimationPose)
{
if (hasUpdatedARTransformMatrix)
{
hasUpdatedARTransformMatrix = false;
// Apply the cameraToWorld matrix with the Z-axis inverted.
ARM = arCamera.cameraToWorldMatrix * invertZM * ARM;
if (enableLerpFilter)
{
arGameObject.SetMatrix4x4(ARM);
}
else
{
ARUtils.SetTransformFromMatrix(arGameObject.transform, ref ARM);
}
}
}
isDetecting = false;
}
public Mat MarkerProcessing(Mat MatImg)
{
Mat resultMat = new Mat();
Imgproc.cvtColor(MatImg, resultMat, Imgproc.COLOR_RGBA2RGB);
Aruco.detectMarkers(resultMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
// add the time to each marker
// it is not premitted to change value in foreach
List <int> temp_list = new List <int>();
temp_list.AddRange(Timer.Keys);
foreach (int key in temp_list)
{
Timer[key] = Timer[key] + Time.deltaTime;
if (Timer[key] > waitTime)
{
GameObject parentObject = GameObject.Find("ARGameObjects");
GameObject HidearGameObject = parentObject.transform.Find(idDict[key]).gameObject;
HidearGameObject.SetActive(false);
Timer[key] = 0.0f;
}
}
if (ids.total() > 0)
{
OpenCVForUnity.UtilsModule.Converters.Mat_to_vector_int(ids, list_ids);
// draw markers.
Aruco.drawDetectedMarkers(resultMat, corners, ids, new Scalar(0, 255, 0));
// estimate pose.
if (applyEstimationPose)
{
EstimatePoseCanonicalMarker(resultMat);
}
if (showRejectedCorners && rejectedCorners.Count > 0)
{
Aruco.drawDetectedMarkers(resultMat, rejectedCorners, new Mat(), new Scalar(255, 0, 0));
}
}
//return black imgae if we need
Mat BlackImage = new Mat(resultMat.rows(), resultMat.cols(), CvType.CV_8UC1, new Scalar(0, 0, 0));
//Mat BlackImage = new Mat(resultMat.rows(), resultMat.cols(), CvType.CV_8UC1, new Scalar(255,255, 255));
return(resultMat);
}
void ArucoDetection()
{
Dictionary dict = Aruco.getPredefinedDictionary(Aruco.DICT_4X4_1000);
Aruco.detectMarkers(cached_initMat, dict, corners, ids);
Aruco.drawDetectedMarkers(cached_initMat, corners, ids);
src_recent_array = new Point[7];
int markerCount = count_src_nulls();
for (int i = 0; i < corners.Count; i++)
{
int aruco_id = (int)(ids.get(i, 0)[0]);
int src_i = arucoTosrc(aruco_id);
int corner_i = aruco_id % 4;
// Store corner[i] into spa[src_i]
src_point_array[src_i] = new Point(corners[i].get(0, corner_i)[0], corners[i].get(0, corner_i)[1]);
src_recent_array[src_i] = new Point(corners[i].get(0, corner_i)[0], corners[i].get(0, corner_i)[1]);
// Display the corner as circle on outMat.
// Imgproc.circle(cached_initMat, src_point_array[src_i], 5, new Scalar(255, 0, 255));
}
// Count non-null source points
spa_full = (markerCount == 7);
// Check if have valid faces
for (int i = 0; i < 3; i++)
{
// faceX_full[i] = check_faces(i);
faceX_full[i] = check_faces(i);
}
for (int i = 0; i < 3; i++)
{
// faceX_full[i] = check_faces(i);
faceX_recent_full[i] = check_recent_faces(i);
}
}
public void OnFrameMatAcquired(Mat grayMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix, CameraIntrinsics cameraIntrinsics)
{
isDetectingInFrameArrivedThread = true;
DebugUtils.VideoTick();
Mat downScaleMat = null;
float DOWNSCALE_RATIO;
if (enableDownScale)
{
downScaleMat = imageOptimizationHelper.GetDownScaleMat(grayMat);
DOWNSCALE_RATIO = imageOptimizationHelper.downscaleRatio;
}
else
{
downScaleMat = grayMat;
DOWNSCALE_RATIO = 1.0f;
}
Mat camMatrix = null;
MatOfDouble distCoeffs = null;
if (useStoredCameraParameters)
{
camMatrix = this.camMatrix;
distCoeffs = this.distCoeffs;
}
else
{
camMatrix = CreateCameraMatrix(cameraIntrinsics.FocalLengthX, cameraIntrinsics.FocalLengthY, cameraIntrinsics.PrincipalPointX / DOWNSCALE_RATIO, cameraIntrinsics.PrincipalPointY / DOWNSCALE_RATIO);
distCoeffs = new MatOfDouble(cameraIntrinsics.RadialDistK1, cameraIntrinsics.RadialDistK2, cameraIntrinsics.RadialDistK3, cameraIntrinsics.TangentialDistP1, cameraIntrinsics.TangentialDistP2);
}
if (enableDetection)
{
// Detect markers and estimate Pose
Aruco.detectMarkers(downScaleMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
if (applyEstimationPose && ids.total() > 0)
{
Aruco.estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs, tvecs);
for (int i = 0; i < ids.total(); i++)
{
//This example can display ARObject on only first detected marker.
if (i == 0)
{
// Convert to unity pose data.
double[] rvecArr = new double[3];
rvecs.get(0, 0, rvecArr);
double[] tvecArr = new double[3];
tvecs.get(0, 0, tvecArr);
tvecArr[2] /= DOWNSCALE_RATIO;
PoseData poseData = ARUtils.ConvertRvecTvecToPoseData(rvecArr, tvecArr);
// Create transform matrix.
transformationM = Matrix4x4.TRS(poseData.pos, poseData.rot, Vector3.one);
lock (sync)
{
// Right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARM = invertYM * transformationM;
// Apply Z-axis inverted matrix.
ARM = ARM * invertZM;
}
hasUpdatedARTransformMatrix = true;
break;
}
}
}
}
Mat rgbMat4preview = null;
if (displayCameraPreview)
{
rgbMat4preview = new Mat();
Imgproc.cvtColor(downScaleMat, rgbMat4preview, Imgproc.COLOR_GRAY2RGB);
if (ids.total() > 0)
{
Aruco.drawDetectedMarkers(rgbMat4preview, corners, ids, new Scalar(0, 255, 0));
if (applyEstimationPose)
{
for (int i = 0; i < ids.total(); i++)
{
using (Mat rvec = new Mat(rvecs, new OpenCVForUnity.CoreModule.Rect(0, i, 1, 1)))
using (Mat tvec = new Mat(tvecs, new OpenCVForUnity.CoreModule.Rect(0, i, 1, 1)))
{
// In this example we are processing with RGB color image, so Axis-color correspondences are X: blue, Y: green, Z: red. (Usually X: red, Y: green, Z: blue)
Calib3d.drawFrameAxes(rgbMat4preview, camMatrix, distCoeffs, rvec, tvec, markerLength * 0.5f);
}
}
}
}
}
DebugUtils.TrackTick();
Enqueue(() =>
{
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
if (displayCameraPreview && rgbMat4preview != null)
{
Utils.fastMatToTexture2D(rgbMat4preview, texture);
rgbMat4preview.Dispose();
}
if (applyEstimationPose)
{
if (hasUpdatedARTransformMatrix)
{
hasUpdatedARTransformMatrix = false;
lock (sync)
{
// Apply camera transform matrix.
ARM = cameraToWorldMatrix * invertZM * ARM;
if (enableLerpFilter)
{
arGameObject.SetMatrix4x4(ARM);
}
else
{
ARUtils.SetTransformFromMatrix(arGameObject.transform, ref ARM);
}
}
}
}
grayMat.Dispose();
});
isDetectingInFrameArrivedThread = false;
}
private void DetectMarkers()
{
Utils.texture2DToMat(imgTexture, rgbMat);
Debug.Log("imgMat dst ToString " + rgbMat.ToString());
gameObject.transform.localScale = new Vector3(imgTexture.width, imgTexture.height, 1);
Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
float width = rgbMat.width();
float height = rgbMat.height();
float imageSizeScale = 1.0f;
float widthScale = (float)Screen.width / width;
float heightScale = (float)Screen.height / height;
if (widthScale < heightScale)
{
Camera.main.orthographicSize = (width * (float)Screen.height / (float)Screen.width) / 2;
imageSizeScale = (float)Screen.height / (float)Screen.width;
}
else
{
Camera.main.orthographicSize = height / 2;
}
// set camera parameters.
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);
Debug.Log("camMatrix " + camMatrix.dump());
MatOfDouble distCoeffs = new MatOfDouble(0, 0, 0, 0);
Debug.Log("distCoeffs " + distCoeffs.dump());
// calibration camera matrix values.
Size imageSize = new Size(width * imageSizeScale, height * imageSizeScale);
double apertureWidth = 0;
double apertureHeight = 0;
double[] fovx = new double[1];
double[] fovy = new double[1];
double[] focalLength = new double[1];
Point principalPoint = new Point(0, 0);
double[] aspectratio = new double[1];
Calib3d.calibrationMatrixValues(camMatrix, imageSize, apertureWidth, apertureHeight, fovx, fovy, focalLength, principalPoint, aspectratio);
Debug.Log("imageSize " + imageSize.ToString());
Debug.Log("apertureWidth " + apertureWidth);
Debug.Log("apertureHeight " + apertureHeight);
Debug.Log("fovx " + fovx [0]);
Debug.Log("fovy " + fovy [0]);
Debug.Log("focalLength " + focalLength [0]);
Debug.Log("principalPoint " + principalPoint.ToString());
Debug.Log("aspectratio " + aspectratio [0]);
// To convert the difference of the FOV value of the OpenCV and Unity.
double fovXScale = (2.0 * Mathf.Atan((float)(imageSize.width / (2.0 * fx)))) / (Mathf.Atan2((float)cx, (float)fx) + Mathf.Atan2((float)(imageSize.width - cx), (float)fx));
double fovYScale = (2.0 * Mathf.Atan((float)(imageSize.height / (2.0 * fy)))) / (Mathf.Atan2((float)cy, (float)fy) + Mathf.Atan2((float)(imageSize.height - cy), (float)fy));
Debug.Log("fovXScale " + fovXScale);
Debug.Log("fovYScale " + fovYScale);
// Adjust Unity Camera FOV https://github.com/opencv/opencv/commit/8ed1945ccd52501f5ab22bdec6aa1f91f1e2cfd4
if (widthScale < heightScale)
{
arCamera.fieldOfView = (float)(fovx [0] * fovXScale);
}
else
{
arCamera.fieldOfView = (float)(fovy [0] * fovYScale);
}
// Display objects near the camera.
arCamera.nearClipPlane = 0.01f;
Mat ids = new Mat();
List <Mat> corners = new List <Mat> ();
List <Mat> rejectedCorners = new List <Mat> ();
Mat rvecs = new Mat();
Mat tvecs = new Mat();
Mat rotMat = new Mat(3, 3, CvType.CV_64FC1);
DetectorParameters detectorParams = DetectorParameters.create();
Dictionary dictionary = Aruco.getPredefinedDictionary((int)dictionaryId);
// detect markers.
Aruco.detectMarkers(rgbMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
// if at least one marker detected
if (ids.total() > 0)
{
Aruco.drawDetectedMarkers(rgbMat, corners, ids, new Scalar(0, 255, 0));
// estimate pose.
if (applyEstimationPose)
{
Aruco.estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs, tvecs);
for (int i = 0; i < ids.total(); i++)
{
using (Mat rvec = new Mat(rvecs, new OpenCVForUnity.CoreModule.Rect(0, i, 1, 1)))
using (Mat tvec = new Mat(tvecs, new OpenCVForUnity.CoreModule.Rect(0, i, 1, 1))) {
// In this example we are processing with RGB color image, so Axis-color correspondences are X: blue, Y: green, Z: red. (Usually X: red, Y: green, Z: blue)
Aruco.drawAxis(rgbMat, camMatrix, distCoeffs, rvec, tvec, markerLength * 0.5f);
}
// This example can display the ARObject on only first detected marker.
if (i == 0)
{
// Get translation vector
double[] tvecArr = tvecs.get(i, 0);
// Get rotation vector
double[] rvecArr = rvecs.get(i, 0);
Mat rvec = new Mat(3, 1, CvType.CV_64FC1);
rvec.put(0, 0, rvecArr);
// Convert rotation vector to rotation matrix.
Calib3d.Rodrigues(rvec, rotMat);
double[] rotMatArr = new double[rotMat.total()];
rotMat.get(0, 0, rotMatArr);
// Convert OpenCV camera extrinsic parameters to Unity Matrix4x4.
Matrix4x4 transformationM = new Matrix4x4(); // from OpenCV
transformationM.SetRow(0, new Vector4((float)rotMatArr [0], (float)rotMatArr [1], (float)rotMatArr [2], (float)tvecArr [0]));
transformationM.SetRow(1, new Vector4((float)rotMatArr [3], (float)rotMatArr [4], (float)rotMatArr [5], (float)tvecArr [1]));
transformationM.SetRow(2, new Vector4((float)rotMatArr [6], (float)rotMatArr [7], (float)rotMatArr [8], (float)tvecArr [2]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
Debug.Log("transformationM " + transformationM.ToString());
Matrix4x4 invertYM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
Debug.Log("invertYM " + invertYM.ToString());
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
// https://stackoverflow.com/questions/30234945/change-handedness-of-a-row-major-4x4-transformation-matrix
Matrix4x4 ARM = invertYM * transformationM * invertYM;
if (shouldMoveARCamera)
{
ARM = arGameObject.transform.localToWorldMatrix * ARM.inverse;
Debug.Log("ARM " + ARM.ToString());
ARUtils.SetTransformFromMatrix(arCamera.transform, ref ARM);
}
else
{
ARM = arCamera.transform.localToWorldMatrix * ARM;
Debug.Log("ARM " + ARM.ToString());
ARUtils.SetTransformFromMatrix(arGameObject.transform, ref ARM);
}
}
}
}
}
if (showRejectedCorners && rejectedCorners.Count > 0)
{
Aruco.drawDetectedMarkers(rgbMat, rejectedCorners, new Mat(), new Scalar(255, 0, 0));
}
Utils.matToTexture2D(rgbMat, texture);
}
// Use this for initialization
void Start()
{
Mat rgbMat = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC3);
Utils.texture2DToMat(imgTexture, rgbMat);
Debug.Log("imgMat dst ToString " + rgbMat.ToString());
gameObject.transform.localScale = new Vector3(imgTexture.width, imgTexture.height, 1);
Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
float width = rgbMat.width();
float height = rgbMat.height();
float imageSizeScale = 1.0f;
float widthScale = (float)Screen.width / width;
float heightScale = (float)Screen.height / height;
if (widthScale < heightScale)
{
Camera.main.orthographicSize = (width * (float)Screen.height / (float)Screen.width) / 2;
imageSizeScale = (float)Screen.height / (float)Screen.width;
}
else
{
Camera.main.orthographicSize = height / 2;
}
// set cameraparam.
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);
Debug.Log("camMatrix " + camMatrix.dump());
MatOfDouble distCoeffs = new MatOfDouble(0, 0, 0, 0);
Debug.Log("distCoeffs " + distCoeffs.dump());
// calibration camera.
Size imageSize = new Size(width * imageSizeScale, height * imageSizeScale);
double apertureWidth = 0;
double apertureHeight = 0;
double[] fovx = new double[1];
double[] fovy = new double[1];
double[] focalLength = new double[1];
Point principalPoint = new Point(0, 0);
double[] aspectratio = new double[1];
Calib3d.calibrationMatrixValues(camMatrix, imageSize, apertureWidth, apertureHeight, fovx, fovy, focalLength, principalPoint, aspectratio);
Debug.Log("imageSize " + imageSize.ToString());
Debug.Log("apertureWidth " + apertureWidth);
Debug.Log("apertureHeight " + apertureHeight);
Debug.Log("fovx " + fovx [0]);
Debug.Log("fovy " + fovy [0]);
Debug.Log("focalLength " + focalLength [0]);
Debug.Log("principalPoint " + principalPoint.ToString());
Debug.Log("aspectratio " + aspectratio [0]);
// To convert the difference of the FOV value of the OpenCV and Unity.
double fovXScale = (2.0 * Mathf.Atan((float)(imageSize.width / (2.0 * fx)))) / (Mathf.Atan2((float)cx, (float)fx) + Mathf.Atan2((float)(imageSize.width - cx), (float)fx));
double fovYScale = (2.0 * Mathf.Atan((float)(imageSize.height / (2.0 * fy)))) / (Mathf.Atan2((float)cy, (float)fy) + Mathf.Atan2((float)(imageSize.height - cy), (float)fy));
Debug.Log("fovXScale " + fovXScale);
Debug.Log("fovYScale " + fovYScale);
// Adjust Unity Camera FOV https://github.com/opencv/opencv/commit/8ed1945ccd52501f5ab22bdec6aa1f91f1e2cfd4
if (widthScale < heightScale)
{
ARCamera.fieldOfView = (float)(fovx [0] * fovXScale);
}
else
{
ARCamera.fieldOfView = (float)(fovy [0] * fovYScale);
}
Mat ids = new Mat();
List <Mat> corners = new List <Mat> ();
List <Mat> rejected = new List <Mat> ();
Mat rvecs = new Mat();
Mat tvecs = new Mat();
Mat rotMat = new Mat(3, 3, CvType.CV_64FC1);
DetectorParameters detectorParams = DetectorParameters.create();
Dictionary dictionary = Aruco.getPredefinedDictionary(dictionaryId);
// detect markers.
Aruco.detectMarkers(rgbMat, dictionary, corners, ids, detectorParams, rejected);
// estimate pose.
if (applyEstimationPose && ids.total() > 0)
{
Aruco.estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs, tvecs);
}
if (ids.total() > 0)
{
Aruco.drawDetectedMarkers(rgbMat, corners, ids, new Scalar(255, 0, 0));
if (applyEstimationPose)
{
for (int i = 0; i < ids.total(); i++)
{
// Debug.Log ("ids.dump() " + ids.dump ());
Aruco.drawAxis(rgbMat, camMatrix, distCoeffs, rvecs, tvecs, markerLength * 0.5f);
// This example can display ARObject on only first detected marker.
if (i == 0)
{
// position
double[] tvec = tvecs.get(i, 0);
// rotation
double[] rv = rvecs.get(i, 0);
Mat rvec = new Mat(3, 1, CvType.CV_64FC1);
rvec.put(0, 0, rv[0]);
rvec.put(1, 0, rv[1]);
rvec.put(2, 0, rv[2]);
Calib3d.Rodrigues(rvec, rotMat);
Matrix4x4 transformationM = new Matrix4x4(); // from OpenCV
transformationM.SetRow(0, new Vector4((float)rotMat.get(0, 0) [0], (float)rotMat.get(0, 1) [0], (float)rotMat.get(0, 2) [0], (float)tvec [0]));
transformationM.SetRow(1, new Vector4((float)rotMat.get(1, 0) [0], (float)rotMat.get(1, 1) [0], (float)rotMat.get(1, 2) [0], (float)tvec [1]));
transformationM.SetRow(2, new Vector4((float)rotMat.get(2, 0) [0], (float)rotMat.get(2, 1) [0], (float)rotMat.get(2, 2) [0], (float)tvec [2]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
Debug.Log("transformationM " + transformationM.ToString());
Matrix4x4 invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
Debug.Log("invertZM " + invertZM.ToString());
Matrix4x4 invertYM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
Debug.Log("invertYM " + invertYM.ToString());
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
Matrix4x4 ARM = invertYM * transformationM;
// Apply Z axis inverted matrix.
ARM = ARM * invertZM;
if (shouldMoveARCamera)
{
ARM = ARGameObject.transform.localToWorldMatrix * ARM.inverse;
Debug.Log("ARM " + ARM.ToString());
ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
}
else
{
ARM = ARCamera.transform.localToWorldMatrix * ARM;
Debug.Log("ARM " + ARM.ToString());
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
}
}
}
}
}
if (showRejected && rejected.Count > 0)
{
Aruco.drawDetectedMarkers(rgbMat, rejected, new Mat(), new Scalar(0, 0, 255));
}
Texture2D texture = new Texture2D(rgbMat.cols(), rgbMat.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(rgbMat, texture);
gameObject.GetComponent <Renderer> ().material.mainTexture = texture;
}
// 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);
}
}
// 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 and estimate pose
Aruco.detectMarkers(rgbMat, dictionary, corners, ids, detectorParams, rejected);
// Aruco.detectMarkers (imgMat, dictionary, corners, ids);
if (estimatePose && ids.total() > 0)
{
Aruco.estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs, tvecs);
}
// draw results
if (ids.total() > 0)
{
Aruco.drawDetectedMarkers(rgbMat, corners, ids, new Scalar(255, 0, 0));
if (estimatePose)
{
for (int i = 0; i < ids.total(); i++)
{
Aruco.drawAxis(rgbMat, camMatrix, distCoeffs, rvecs, tvecs, markerLength * 0.5f);
//This sample can display ARObject on only first detected marker.
if (i == 0)
{
Calib3d.Rodrigues(rvecs, rotMat);
transformationM.SetRow(0, new Vector4((float)rotMat.get(0, 0) [0], (float)rotMat.get(0, 1) [0], (float)rotMat.get(0, 2) [0], (float)tvecs.get(0, 0) [0]));
transformationM.SetRow(1, new Vector4((float)rotMat.get(1, 0) [0], (float)rotMat.get(1, 1) [0], (float)rotMat.get(1, 2) [0], (float)tvecs.get(0, 0) [1]));
transformationM.SetRow(2, new Vector4((float)rotMat.get(2, 0) [0], (float)rotMat.get(2, 1) [0], (float)rotMat.get(2, 2) [0], (float)tvecs.get(0, 0) [2]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
if (shouldMoveARCamera)
{
ARM = ARGameObject.transform.localToWorldMatrix * invertZM * transformationM.inverse * invertYM;
// Debug.Log ("ARM " + ARM.ToString ());
ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
}
else
{
ARM = ARCamera.transform.localToWorldMatrix * invertYM * transformationM * invertZM;
// Debug.Log ("ARM " + ARM.ToString ());
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
}
}
}
}
}
if (showRejected && rejected.Count > 0)
{
Aruco.drawDetectedMarkers(rgbMat, rejected, new Mat(), new Scalar(0, 0, 255));
}
Imgproc.putText(rgbaMat, "W:" + rgbaMat.width() + " H:" + rgbaMat.height() + " SO:" + Screen.orientation, new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
public List <ZOArucoTrackerDetection> DetectMarkers(Mat rgbMat)
{
List <ZOArucoTrackerDetection> results = new List <ZOArucoTrackerDetection>();
// Debug.Log("imgMat dst ToString " + rgbMat.ToString());
float width = rgbMat.width();
float height = rgbMat.height();
float imageSizeScale = 1.0f;
float widthScale = (float)Screen.width / width;
float heightScale = (float)Screen.height / height;
if (widthScale < heightScale)
{
// Camera.main.orthographicSize = (width * (float)Screen.height / (float)Screen.width) / 2;
imageSizeScale = (float)Screen.height / (float)Screen.width;
}
else
{
// Camera.main.orthographicSize = height / 2;
}
// set camera parameters.
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);
// Debug.Log("camMatrix " + camMatrix.dump());
MatOfDouble distCoeffs = new MatOfDouble(0, 0, 0, 0);
// Debug.Log("distCoeffs " + distCoeffs.dump());
// calibration camera matrix values.
Size imageSize = new Size(width * imageSizeScale, height * imageSizeScale);
double apertureWidth = 0;
double apertureHeight = 0;
double[] fovx = new double[1];
double[] fovy = new double[1];
double[] focalLength = new double[1];
Point principalPoint = new Point(0, 0);
double[] aspectratio = new double[1];
Calib3d.calibrationMatrixValues(camMatrix, imageSize, apertureWidth, apertureHeight, fovx, fovy, focalLength, principalPoint, aspectratio);
// Debug.Log("imageSize " + imageSize.ToString());
// Debug.Log("apertureWidth " + apertureWidth);
// Debug.Log("apertureHeight " + apertureHeight);
// Debug.Log("fovx " + fovx[0]);
// Debug.Log("fovy " + fovy[0]);
// Debug.Log("focalLength " + focalLength[0]);
// Debug.Log("principalPoint " + principalPoint.ToString());
// Debug.Log("aspectratio " + aspectratio[0]);
// To convert the difference of the FOV value of the OpenCV and Unity.
double fovXScale = (2.0 * Mathf.Atan((float)(imageSize.width / (2.0 * fx)))) / (Mathf.Atan2((float)cx, (float)fx) + Mathf.Atan2((float)(imageSize.width - cx), (float)fx));
double fovYScale = (2.0 * Mathf.Atan((float)(imageSize.height / (2.0 * fy)))) / (Mathf.Atan2((float)cy, (float)fy) + Mathf.Atan2((float)(imageSize.height - cy), (float)fy));
// Debug.Log("fovXScale " + fovXScale);
// Debug.Log("fovYScale " + fovYScale);
Mat ids = new Mat();
List <Mat> corners = new List <Mat>();
List <Mat> rejectedCorners = new List <Mat>();
Mat rvecs = new Mat();
Mat tvecs = new Mat();
Mat rotMat = new Mat(3, 3, CvType.CV_64FC1);
DetectorParameters detectorParams = DetectorParameters.create();
Dictionary dictionary = Aruco.getPredefinedDictionary((int)dictionaryId);
// detect markers.
Aruco.detectMarkers(rgbMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
// Debug.Log("INFO: Number of markers detected: " + ids.total());
// if at least one marker detected
if (ids.total() > 0)
{
if (_debug)
{
Aruco.drawDetectedMarkers(rgbMat, corners, ids, new Scalar(0, 255, 0));
}
// estimate pose.
Aruco.estimatePoseSingleMarkers(corners, _markerLengthMeters, camMatrix, distCoeffs, rvecs, tvecs);
for (int i = 0; i < ids.total(); i++)
{
// Get translation vector
double[] tvecArr = tvecs.get(i, 0);
// Get rotation vector
double[] rvecArr = rvecs.get(i, 0);
Mat rvec = new Mat(3, 1, CvType.CV_64FC1);
rvec.put(0, 0, rvecArr);
// Convert rotation vector to rotation matrix.
Calib3d.Rodrigues(rvec, rotMat);
double[] rotMatArr = new double[rotMat.total()];
rotMat.get(0, 0, rotMatArr);
// Convert OpenCV camera extrinsic parameters to Unity Matrix4x4.
Matrix4x4 transformationM = new Matrix4x4(); // from OpenCV
transformationM.SetRow(0, new Vector4((float)rotMatArr[0], (float)rotMatArr[1], (float)rotMatArr[2], (float)tvecArr[0]));
transformationM.SetRow(1, new Vector4((float)rotMatArr[3], (float)rotMatArr[4], (float)rotMatArr[5], (float)tvecArr[1]));
transformationM.SetRow(2, new Vector4((float)rotMatArr[6], (float)rotMatArr[7], (float)rotMatArr[8], (float)tvecArr[2]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
// Debug.Log("transformationM " + transformationM.ToString());
ZOArucoTrackerDetection detection = new ZOArucoTrackerDetection();
int [] currentId = new int[1];
// ids.get(0, i, currentId);
ids.get(i, 0, currentId);
detection.arucoId = currentId[0];
detection.transform = transformationM;
results.Add(detection);
}
}
return(results);
}
public void OnFrameMatAcquired(Mat bgraMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix)
{
downScaleFrameMat = imageOptimizationHelper.GetDownScaleMat(bgraMat);
if (enableDetection)
{
Imgproc.cvtColor(downScaleFrameMat, grayMat, Imgproc.COLOR_BGRA2GRAY);
// Detect markers and estimate Pose
Aruco.detectMarkers(grayMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
if (applyEstimationPose && ids.total() > 0)
{
Aruco.estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs, tvecs);
for (int i = 0; i < ids.total(); i++)
{
//This example can display ARObject on only first detected marker.
if (i == 0)
{
// Convert to unity pose data.
double[] rvecArr = new double[3];
rvecs.get(0, 0, rvecArr);
double[] tvecArr = new double[3];
tvecs.get(0, 0, tvecArr);
tvecArr[2] /= imageOptimizationHelper.downscaleRatio;
PoseData poseData = ARUtils.ConvertRvecTvecToPoseData(rvecArr, tvecArr);
// Changes in pos/rot below these thresholds are ignored.
if (enableLowPassFilter)
{
ARUtils.LowpassPoseData(ref oldPoseData, ref poseData, positionLowPass, rotationLowPass);
}
oldPoseData = poseData;
// Create transform matrix.
transformationM = Matrix4x4.TRS(poseData.pos, poseData.rot, Vector3.one);
lock (sync){
// Right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARM = invertYM * transformationM;
// Apply Z-axis inverted matrix.
ARM = ARM * invertZM;
}
hasUpdatedARTransformMatrix = true;
break;
}
}
}
}
Mat rgbMat4preview = null;
if (displayCameraPreview)
{
rgbMat4preview = new Mat();
Imgproc.cvtColor(downScaleFrameMat, rgbMat4preview, Imgproc.COLOR_BGRA2RGB);
if (ids.total() > 0)
{
Aruco.drawDetectedMarkers(rgbMat4preview, corners, ids, new Scalar(0, 255, 0));
if (applyEstimationPose)
{
for (int i = 0; i < ids.total(); i++)
{
using (Mat rvec = new Mat(rvecs, new OpenCVForUnity.Rect(0, i, 1, 1)))
using (Mat tvec = new Mat(tvecs, new OpenCVForUnity.Rect(0, i, 1, 1))) {
// In this example we are processing with RGB color image, so Axis-color correspondences are X: blue, Y: green, Z: red. (Usually X: red, Y: green, Z: blue)
Aruco.drawAxis(rgbMat4preview, camMatrix, distCoeffs, rvec, tvec, markerLength * 0.5f);
}
}
}
}
}
UnityEngine.WSA.Application.InvokeOnAppThread(() => {
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
if (displayCameraPreview && rgbMat4preview != null)
{
OpenCVForUnity.Utils.fastMatToTexture2D(rgbMat4preview, texture);
}
if (applyEstimationPose)
{
if (hasUpdatedARTransformMatrix)
{
hasUpdatedARTransformMatrix = false;
lock (sync){
// Apply camera transform matrix.
ARM = cameraToWorldMatrix * invertZM * ARM;
ARUtils.SetTransformFromMatrix(arGameObject.transform, ref ARM);
}
}
}
bgraMat.Dispose();
if (rgbMat4preview != null)
{
rgbMat4preview.Dispose();
}
}, false);
}
// 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, rejected);
// estimate pose.
if (applyEstimationPose && ids.total() > 0)
{
Aruco.estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs, tvecs);
}
if (ids.total() > 0)
{
Aruco.drawDetectedMarkers(rgbMat, corners, ids, new Scalar(255, 0, 0));
if (applyEstimationPose)
{
for (int i = 0; i < ids.total(); i++)
{
Aruco.drawAxis(rgbMat, camMatrix, distCoeffs, rvecs, tvecs, markerLength * 0.5f);
// This example can display ARObject on only first detected marker.
if (i == 0)
{
// position
double[] tvec = tvecs.get(i, 0);
// rotation
double[] rv = rvecs.get(i, 0);
Mat rvec = new Mat(3, 1, CvType.CV_64FC1);
rvec.put(0, 0, rv [0]);
rvec.put(1, 0, rv [1]);
rvec.put(2, 0, rv [2]);
Calib3d.Rodrigues(rvec, rotMat);
transformationM.SetRow(0, new Vector4((float)rotMat.get(0, 0) [0], (float)rotMat.get(0, 1) [0], (float)rotMat.get(0, 2) [0], (float)tvec [0]));
transformationM.SetRow(1, new Vector4((float)rotMat.get(1, 0) [0], (float)rotMat.get(1, 1) [0], (float)rotMat.get(1, 2) [0], (float)tvec [1]));
transformationM.SetRow(2, new Vector4((float)rotMat.get(2, 0) [0], (float)rotMat.get(2, 1) [0], (float)rotMat.get(2, 2) [0], (float)tvec [2]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARM = invertYM * transformationM;
// Apply Z axis inverted matrix.
ARM = ARM * invertZM;
if (shouldMoveARCamera)
{
ARM = ARGameObject.transform.localToWorldMatrix * ARM.inverse;
ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
}
else
{
ARM = ARCamera.transform.localToWorldMatrix * ARM;
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
}
}
}
}
}
if (showRejected && rejected.Count > 0)
{
Aruco.drawDetectedMarkers(rgbMat, rejected, new Mat(), new Scalar(0, 0, 255));
}
Imgproc.putText(rgbaMat, "W:" + rgbaMat.width() + " H:" + rgbaMat.height() + " SO:" + Screen.orientation, new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
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, "To calibration start, please press the calibration button or do air tap gesture!", new Point(5, bgrMat.rows() - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 0.5, new Scalar(255, 255, 255, 255), 1, Imgproc.LINE_AA, false);
}
}
// 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 and estimate pose
Aruco.detectMarkers(rgbMat, dictionary, corners, ids, detectorParams, rejected);
// Aruco.detectMarkers (imgMat, dictionary, corners, ids);
if (estimatePose && ids.total() > 0)
{
Aruco.estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs, tvecs);
}
// draw results
if (ids.total() > 0)
{
Aruco.drawDetectedMarkers(rgbMat, corners, ids, new Scalar(255, 0, 0));
if (estimatePose)
{
for (int i = 0; i < ids.total(); i++)
{
Aruco.drawAxis(rgbMat, camMatrix, distCoeffs, rvecs, tvecs, markerLength * 0.5f);
//This example can display ARObject on only first detected marker.
if (i == 0)
{
// position
double[] tvec = tvecs.get(i, 0);
Vector4 pos = new Vector4((float)tvec [0], (float)tvec [1], (float)tvec [2], 0); // from OpenCV
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARGameObject.transform.localPosition = new Vector3(pos.x, -pos.y, pos.z);
// rotation
double[] rv = rvecs.get(i, 0);
Mat rvec = new Mat(3, 1, CvType.CV_64FC1);
rvec.put(0, 0, rv[0]);
rvec.put(1, 0, rv[1]);
rvec.put(2, 0, rv[2]);
Calib3d.Rodrigues(rvec, rotMat);
Vector3 forward = new Vector3((float)rotMat.get(0, 2) [0], (float)rotMat.get(1, 2) [0], (float)rotMat.get(2, 2) [0]); // from OpenCV
Vector3 up = new Vector3((float)rotMat.get(0, 1) [0], (float)rotMat.get(1, 1) [0], (float)rotMat.get(2, 1) [0]); // from OpenCV
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
Quaternion rot = Quaternion.LookRotation(new Vector3(forward.x, -forward.y, forward.z), new Vector3(up.x, -up.y, up.z));
ARGameObject.transform.localRotation = rot;
// Apply Z axis inverted matrix.
invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
transformationM = ARGameObject.transform.localToWorldMatrix * invertZM;
// Apply camera transform matrix.
transformationM = ARCamera.transform.localToWorldMatrix * transformationM;
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref transformationM);
}
}
}
}
if (showRejected && rejected.Count > 0)
{
Aruco.drawDetectedMarkers(rgbMat, rejected, new Mat(), new Scalar(0, 0, 255));
}
Imgproc.putText(rgbaMat, "W:" + rgbaMat.width() + " H:" + rgbaMat.height() + " SO:" + Screen.orientation, new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}