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) Calib3d.drawFrameAxes(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 and estimate pose Aruco.detectMarkers(rgbMat, dictionary, corners, ids, detectorParams, rejected); 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++) { // 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) { // Apply ARObject transform matrix. ARM = ARGameObject.transform.localToWorldMatrix * ARM.inverse; Debug.Log("ARM " + ARM.ToString()); ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM); } else { // Apply camera transform matrix. 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 and estimate pose Aruco.detectMarkers(rgbMat, dictionary, corners, ids, detectorParams, rejected); 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); // 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) { // Apply ARObject transform matrix. ARM = ARGameObject.transform.localToWorldMatrix * ARM.inverse; ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM); } else { // Apply camera transform matrix. 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()); } }