void OnCameraFrameReceived(ARCameraFrameEventArgs eventArgs)
{
// Camera data extraction
XRCameraImage image;
if (!cameraManager.TryGetLatestImage(out image))
{
Debug.Log("Uh Oh");
return;
}
Vector2 img_dim = image.dimensions;
XRCameraImagePlane greyscale = image.GetPlane(0);
image.Dispose();
// Process the image here:
unsafe {
IntPtr greyPtr = (IntPtr)greyscale.data.GetUnsafePtr();
ComputerVisionAlgo(greyPtr);
}
// Creates 3D object from image processing data
FindRaycastPoint();
}
public static void GetPlaneData(out byte[] pixels, XRCameraImage image)
{
XRCameraImagePlane plane = image.GetPlane(0); // use the Y plane
int width = image.width, height = image.height;
pixels = new byte[width * height];
if (width == plane.rowStride)
{
plane.data.CopyTo(pixels);
}
else
{
unsafe
{
ulong handle;
byte *srcPtr = (byte *)NativeArrayUnsafeUtility.GetUnsafePtr(plane.data);
byte *dstPtr = (byte *)UnsafeUtility.PinGCArrayAndGetDataAddress(pixels, out handle);
if (width > 0 && height > 0)
{
UnsafeUtility.MemCpyStride(dstPtr, width, srcPtr, plane.rowStride, width, height);
}
UnsafeUtility.ReleaseGCObject(handle);
}
}
}
private IEnumerator Localize()
{
XRCameraImage image;
if (cameraManager.TryGetLatestImage(out image))
{
Camera cam = Camera.main;
m_stats.localizationAttemptCount++;
Vector3 camPos = cam.transform.position;
Quaternion camRot = cam.transform.rotation;
Vector4 intrinsics = ARHelper.GetIntrinsics(cameraManager);
int width = image.width;
int height = image.height;
XRCameraImagePlane plane = image.GetPlane(0); // use the Y plane
byte[] pixels = new byte[plane.data.Length];
plane.data.CopyTo(pixels);
image.Dispose();
Vector3 pos = Vector3.zero;
Quaternion rot = Quaternion.identity;
float startTime = Time.realtimeSinceStartup;
Task <int> t = Task.Run(() =>
{
return(Immersal.Core.LocalizeImage(out pos, out rot, width, height, ref intrinsics, pixels));
});
while (!t.IsCompleted)
{
yield return(null);
}
int mapHandle = t.Result;
if (mapHandle >= 0 && m_MapIdToOffset.ContainsKey(mapHandle))
{
MapOffset mo = m_MapIdToOffset[mapHandle];
float elapsedTime = Time.realtimeSinceStartup - startTime;
Debug.Log(string.Format("Relocalised in {0} seconds", elapsedTime));
m_stats.localizationSuccessCount++;
Matrix4x4 cloudSpace = mo.offset * Matrix4x4.TRS(pos, rot, Vector3.one);
Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
mo.space.filter.RefinePose(m);
}
if (m_debugText != null)
{
m_debugText.text = string.Format("Localization status: {0}/{1}", m_stats.localizationSuccessCount, m_stats.localizationAttemptCount);
}
else
{
Debug.Log(string.Format("Localization status: {0}/{1}", m_stats.localizationSuccessCount, m_stats.localizationAttemptCount));
}
}
m_bIsLocalizing = false;
}
void OnCameraFrameReceived(ARCameraFrameEventArgs eventArgs)
{
// CAMERA IMAGE HANDLING
XRCameraImage image;
if (!m_ARCameraManager.TryGetLatestImage(out image))
{
Debug.Log("Uh OH");
}
return;
Debug.Log("FRAME");
XRCameraImagePlane greyscale = image.GetPlane(0);
if (m_Texture == null || m_cachedWidth != image.width || m_cachedHeight != image.height)
{
Debug.Log("Updating Texture Parameters");
// TODO: Check for orientation
// Update Cached Values
m_cachedWidth = image.width;
m_cachedHeight = image.height;
// Make new Texture
var format = TextureFormat.R8; // CAUSES WHITESCREENING IF RGB24
m_Texture = new Texture2D(image.width, image.height, format, false);
}
int w = image.width;
int h = image.height;
image.Dispose();
// Process the image here:
unsafe {
Debug.Log("Processing the image");
IntPtr greyPtr = (IntPtr)greyscale.data.GetUnsafePtr();
ComputerVisionAlgo(greyPtr);
Utils.fastMatToTexture2D(imageMat, m_Texture, true, 0);
}
if (m_CachedOrientation != Screen.orientation)
{
Debug.Log("Configuring RawImage");
m_CachedOrientation = Screen.orientation;
ConfigureRawImageInSpace(w, h);
}
// BuildGreyscaleTexture(out YTexture);
m_Texture.Resize(Screen.width, Screen.height);
m_Texture.Apply();
m_RawImage.texture = (Texture)m_Texture;
Debug.Log(m_Texture.GetPixel(300, 300));
Debug.LogFormat("Texture Dimensions: {0} x {1}", m_Texture.width, m_Texture.height);
// m_RawImage.SetNativeSize();
}
void OnCameraFrameReceived(ARCameraFrameEventArgs eventArgs)
{
// Camera data extraction
XRCameraImage image;
if (!cameraManager.TryGetLatestImage(out image))
{
Debug.Log("Uh Oh");
return;
}
Vector2 img_dim = image.dimensions;
XRCameraImagePlane greyscale = image.GetPlane(0);
// Instantiates new m_Texture if necessary
if (m_Texture == null || m_Texture.width != image.width)
{
var format = TextureFormat.RGBA32;
m_Texture = new Texture2D(image.width, image.height, format, false);
}
image.Dispose();
// Sets orientation of screen if necessary
if (m_CachedOrientation == null || m_CachedOrientation != Screen.orientation)
{
// TODO: Debug why doesn't initiate with ConfigRawimage(). The null isn't triggering here. Print cached Orientation
m_CachedOrientation = Screen.orientation;
ConfigureRawImageInSpace(img_dim);
}
// Process the image here:
unsafe {
IntPtr greyPtr = (IntPtr)greyscale.data.GetUnsafePtr();
// TOUCH: Cache image on touch
if (Input.touchCount > 0)
{
Touch touch = Input.GetTouch(0);
if (touch.phase == TouchPhase.Began)
{
// Cache original image
Utils.copyToMat(greyPtr, cached_initMat);
}
}
ComputerVisionAlgo(greyPtr);
// Displays OpenCV Mat as a Texture
Utils.matToTexture2D(outMat, m_Texture, true, 0);
}
m_RawImage.texture = (Texture)m_Texture;
}
void OnCameraFrameReceived(ARCameraFrameEventArgs eventArgs)
{
// CAMERA IMAGE HANDLING
XRCameraImage image;
if (!cameraManager.TryGetLatestImage(out image))
{
Debug.Log("Uh Oh");
return;
}
// Debug.LogFormat("Dimensions: {0}\n\t Format: {1}\n\t Time: {2}\n\t ",
// image.dimensions, image.format, image.timestamp);
Vector2 img_dim = image.dimensions;
XRCameraImagePlane greyscale = image.GetPlane(0);
if (m_Texture == null || m_Texture.width != image.width || m_Texture.height != image.height)
{
var format = TextureFormat.RGBA32;
m_Texture = new Texture2D(image.width, image.height, format, false);
}
image.Dispose();
// Process the image here:
unsafe {
IntPtr greyPtr = (IntPtr)greyscale.data.GetUnsafePtr();
ComputerVisionAlgo(greyPtr);
Utils.matToTexture2D(outMat, m_Texture, true, 0);
}
if (m_CachedOrientation == null || m_CachedOrientation != Screen.orientation)
{
m_CachedOrientation = Screen.orientation;
ConfigureRawImageInSpace(img_dim);
}
// Debug.LogFormat("Raw Image Coords: {0}\n Raw Image Scale: {1}",
// m_RawImage.transform.position, m_RawImage.transform.localScale);
m_RawImage.texture = (Texture)m_Texture;
// Debug.Log(m_Texture.GetPixel(300, 300));
// Debug.LogFormat("\n Texture Dimensions: {0} x {1}",
// m_Texture.width, m_Texture.height);
}
void OnCameraFrameReceived(ARCameraFrameEventArgs eventArgs)
{
// CAMERA IMAGE HANDLING
XRCameraImage image;
if (!cameraManager.TryGetLatestImage(out image))
{
Debug.Log("Uh Oh");
return;
}
Vector2 img_dim = image.dimensions;
XRCameraImagePlane greyscale = image.GetPlane(0);
if (m_Texture == null || m_Texture.width != image.width)
{
var format = TextureFormat.RGBA32;
m_Texture = new Texture2D(image.width, image.height, format, false);
e_Texture = new Texture2D(image.width, image.height, format, false);
}
image.Dispose();
// Process the image here:
unsafe {
IntPtr greyPtr = (IntPtr)greyscale.data.GetUnsafePtr();
ComputerVisionAlgo(greyPtr);
Utils.matToTexture2D(outMat, m_Texture, true, 0);
Utils.matToTexture2D(erodeMat, e_Texture, false, 0);
}
Debug.Log(m_CachedOrientation);
if (m_CachedOrientation == null || m_CachedOrientation != Screen.orientation)
{
// TODO: Debug why doesn't initiate with ConfigRawimage(). The null isn't triggering here. Print cached Orientation
m_CachedOrientation = Screen.orientation;
ConfigureRawImageInSpace(img_dim);
}
m_RawImage.texture = (Texture)m_Texture;
e_RawImage.texture = (Texture)e_Texture;
// double[] c_data = circMat.get(0, 0);
// m_ImageInfo.text = string.Format("Circle Count: {0}\n Circle[0]: {1} x {2} -- {3}",
// circMat.size().width, c_data[0], c_data[1], c_data[2]);
}
void OnCameraFrameReceived(ARCameraFrameEventArgs eventArgs)
{
// CAMERA IMAGE HANDLING
XRCameraImage image;
if (!cameraManager.TryGetLatestImage(out image))
{
Debug.Log("Uh Oh");
return;
}
Vector2 img_dim = image.dimensions;
XRCameraImagePlane greyscale = image.GetPlane(0);
// Instantiates new m_Texture if necessary
if (m_Texture == null || m_Texture.width != image.width)
{
var format = TextureFormat.RGBA32;
m_Texture = new Texture2D(image.width, image.height, format, false);
}
image.Dispose();
// Sets orientation if necessary
if (m_CachedOrientation == null || m_CachedOrientation != Screen.orientation)
{
// TODO: Debug why doesn't initiate with ConfigRawimage(). The null isn't triggering here. Print cached Orientation
m_CachedOrientation = Screen.orientation;
ConfigureRawImageInSpace(img_dim);
}
// Process the image here:
unsafe {
IntPtr greyPtr = (IntPtr)greyscale.data.GetUnsafePtr();
ComputerVisionAlgo(greyPtr);
Utils.matToTexture2D(outMat, m_Texture, true, 0);
}
m_RawImage.texture = (Texture)m_Texture;
// Creates 3D object from image processing data
SendRaycastToPoint();
}
void OnCameraFrameReceived(ARCameraFrameEventArgs eventArgs)
{
// CAMERA IMAGE HANDLING
XRCameraImage image;
if (!cameraManager.TryGetLatestImage(out image))
{
Debug.Log("Uh Oh");
return;
}
Vector2 img_dim = image.dimensions;
XRCameraImagePlane greyscale = image.GetPlane(0);
if (m_Texture == null || m_Texture.width != image.width || m_Texture.height != image.height)
{
var format = TextureFormat.RGBA32;
m_Texture = new Texture2D(image.width, image.height, format, false);
}
image.Dispose();
// Process the image here:
unsafe {
IntPtr greyPtr = (IntPtr)greyscale.data.GetUnsafePtr();
ComputerVisionAlgo(greyPtr);
Utils.matToTexture2D(outMat, m_Texture, true, 0);
}
if (m_CachedOrientation == null || m_CachedOrientation != Screen.orientation)
{
m_CachedOrientation = Screen.orientation;
ConfigureRawImageInSpace(img_dim);
}
m_RawImage.texture = (Texture)m_Texture;
}
public void Localize()
{
XRCameraImage image;
if (m_CameraManager.TryGetLatestImage(out image))
{
CoroutineJobLocalize j = new CoroutineJobLocalize();
Camera cam = Camera.main;
j.rotation = cam.transform.rotation;
j.position = cam.transform.position;
j.intrinsics = ARHelper.GetIntrinsics(m_CameraManager);
j.width = image.width;
j.height = image.height;
j.stats = this.stats;
j.pcr = this.pcr;
XRCameraImagePlane plane = image.GetPlane(0); // use the Y plane
j.pixels = new byte[plane.data.Length];
plane.data.CopyTo(j.pixels);
jobs.Add(j);
image.Dispose();
}
}
private static object[] extractYUVFromImage(XRCameraImage image)
{
// Consider each image plane
XRCameraImagePlane plane = image.GetPlane(0);
var yRowStride = plane.rowStride;
var y = plane.data;
XRCameraImagePlane plane2 = image.GetPlane(1);
var uvRowStride = plane2.rowStride;
var uvPixelStride = plane2.pixelStride;
var u = plane2.data;
XRCameraImagePlane plane3 = image.GetPlane(2);
var v = plane3.data;
byte[] yDst = new byte[y.Length];
byte[] uDst = new byte[u.Length];
byte[] vDst = new byte[v.Length];
object[] objParams = new object[8];
NativeArray <byte> .Copy(y, yDst);
NativeArray <byte> .Copy(u, uDst);
NativeArray <byte> .Copy(v, vDst);
objParams[0] = yDst;
objParams[1] = uDst;
objParams[2] = vDst;
objParams[3] = yRowStride;
objParams[4] = uvRowStride;
objParams[5] = uvPixelStride;
objParams[6] = image.width;
objParams[7] = image.height;
return(objParams);
}
private IEnumerator Capture(bool anchor)
{
yield return(new WaitForSeconds(0.25f));
XRCameraImage image;
if (m_CameraManager.TryGetLatestImage(out image))
{
CoroutineJobCapture j = new CoroutineJobCapture();
j.onConnect = onConnect;
j.onFailedToConnect = onFailedToConnect;
j.server = this.server;
j.token = this.token;
j.bank = this.bank;
j.run = (int)(this.imageRun & 0xEFFFFFFF);
j.index = this.imageIndex++;
j.anchor = anchor;
Camera cam = Camera.main;
Quaternion _q = cam.transform.rotation;
Matrix4x4 r = Matrix4x4.Rotate(new Quaternion(_q.x, _q.y, -_q.z, -_q.w));
Vector3 _p = cam.transform.position;
Vector3 p = new Vector3(_p.x, _p.y, -_p.z);
j.rotation = r;
j.position = p;
j.intrinsics = ARHelper.GetIntrinsics(m_CameraManager);
j.width = image.width;
j.height = image.height;
if (rgbCapture)
{
var conversionParams = new XRCameraImageConversionParams
{
inputRect = new RectInt(0, 0, image.width, image.height),
outputDimensions = new Vector2Int(image.width, image.height),
outputFormat = TextureFormat.RGB24,
transformation = CameraImageTransformation.None
};
int size = image.GetConvertedDataSize(conversionParams);
j.pixels = new byte[size];
j.channels = 3;
GCHandle bufferHandle = GCHandle.Alloc(j.pixels, GCHandleType.Pinned);
image.Convert(conversionParams, bufferHandle.AddrOfPinnedObject(), j.pixels.Length);
bufferHandle.Free();
}
else
{
XRCameraImagePlane plane = image.GetPlane(0); // use the Y plane
j.pixels = new byte[plane.data.Length];
j.channels = 1;
plane.data.CopyTo(j.pixels);
}
j.sessionFirstImage = sessionFirstImage;
if (sessionFirstImage)
{
sessionFirstImage = false;
}
jobs.Add(j);
image.Dispose();
m_cameraShutterClick.Play();
}
}
// Get Image from the AR Camera, extract the raw data from the image
private unsafe void CaptureARBuffer(ARCameraFrameEventArgs eventArgs)
{
// Get the image in the ARSubsystemManager.cameraFrameReceived callback
XRCameraImage image;
if (!cameraManager.TryGetLatestImage(out image))
{
Debug.LogError("Capture AR Buffer returns nothing!!!!!!");
return;
}
CameraImageFormat ddd1 = image.format;
XRCameraImagePlane ss = image.GetPlane(0);
Matrix4x4 ddd2 = eventArgs.projectionMatrix.Value;
Vector3 position1 = new Vector3();
Quaternion rotation1 = new Quaternion();
SerializedCameraData serializedCameraData = new SerializedCameraData()
{
Timestamp = eventArgs.timestampNs.Value,
Position = position1,
Rotation = rotation1,
ProjectionMatrix = eventArgs.projectionMatrix.Value
};
byte[] augmentByteArray = serializedCameraData.Serialize();
//Matrix4x4 ddd22 = eventArgs.projectionMatrix;
var conversionParams = new XRCameraImageConversionParams
{
// Get the full image
inputRect = new RectInt(0, 0, image.width, image.height),
// Downsample by 2
outputDimensions = new Vector2Int(image.width, image.height),
// Color image format
outputFormat = ConvertFormat,
// Flip across the x axis
transformation = CameraImageTransformation.MirrorX
// Call ProcessImage when the async operation completes
};
// See how many bytes we need to store the final image.
int size = image.GetConvertedDataSize(conversionParams);
Debug.LogError("OnCameraFrameReceived, size == " + size + "w:" + image.width + " h:" + image.height + " planes=" + image.planeCount);
// Allocate a buffer to store the image
var buffer = new NativeArray <byte>(size, Allocator.Temp);
// Extract the image data
image.Convert(conversionParams, new System.IntPtr(buffer.GetUnsafePtr()), buffer.Length);
// The image was converted to RGBA32 format and written into the provided buffer
// so we can dispose of the CameraImage. We must do this or it will leak resources.
byte[] bytes = buffer.ToArray();
monoProxy.StartCoroutine(PushFrame(bytes, image.width, image.height,
() => { image.Dispose(); buffer.Dispose(); }));
}
void OnCameraFrameReceived(ARCameraFrameEventArgs eventArgs)
{
// Camera data extraction
XRCameraImage image;
if (!cameraManager.TryGetLatestImage(out image))
{
Debug.Log("Uh Oh");
return;
}
Vector2 img_dim = image.dimensions;
XRCameraImagePlane greyscale = image.GetPlane(0);
// Instantiates new m_Texture if necessary
if (m_Texture == null || m_Texture.width != image.width)
{
var format = TextureFormat.RGBA32;
m_Texture = new Texture2D(image.width, image.height, format, false);
}
image.Dispose();
ThreeStage_AR_Controller ARC = m_ARSessionManager.GetComponent <ThreeStage_AR_Controller>();
// Process the image here:
unsafe {
IntPtr greyPtr = (IntPtr)greyscale.data.GetUnsafePtr();
// TOUCH: Detect corners and set as source points
if (Input.touchCount > 0)
{
Touch touch = Input.GetTouch(0);
if (touch.phase == TouchPhase.Began)
{
// Cache original image
Utils.copyToMat(greyPtr, cached_initMat);
if (!spa_full) // Stage 1: Finding World Markers
{
m_ImageInfo.text = string.Format("Number of markers detected: {0} \n world_nulls {1}",
count_src_nulls(), ARC.count_world_nulls());
ArucoDetection();
ARC.SetWorldPoints();
ARC.SetScreenPoints();
DrawScreenPoints(ARC);
}
else // Stage 2: Rectification of Captured Image Faces
{
m_ImageInfo.text = String.Format("world_nulls: {0}", ARC.count_world_nulls());
ARC.SetScreenPoints();
DrawScreenPoints(ARC);
proj_point_array = ARC.GetScreenpoints();
GetFaces(ref proj_point_array);
ShowFaces(img_dim);
}
Core.flip(cached_initMat, outMat, 0);
}
}
// Displays OpenCV Mat as a Texture
Utils.matToTexture2D(outMat, m_Texture, false, 0);
}
if (spa_full) // Stage 3: Real-time warping
{
ARC.SetScreenPoints();
proj_point_array = ARC.GetScreenpoints();
for (int i = 0; i < 3; i++)
{
m_ImageInfo.text = String.Format("Stage 3: {0}", i);
HomographyTransform(i);
}
CombineWarped();
Utils.matToTexture2D(outMat, m_Texture, false, 0);
}
// Sets orientation of screen if necessary
if (m_CachedOrientation == null || m_CachedOrientation != Screen.orientation)
{
// TODO: Debug why doesn't initiate with ConfigRawimage(). The null isn't triggering here. Print cached Orientation
m_CachedOrientation = Screen.orientation;
ConfigureRawImageInSpace(img_dim);
}
m_RawImage.texture = (Texture)m_Texture;
// m_ImageInfo.text = string.Format("Number of Blobs: {0}", ids.size());
}
void OnCameraFrameReceived(ARCameraFrameEventArgs eventArgs)
{
// Camera data extraction
XRCameraImage image;
if (!cameraManager.TryGetLatestImage(out image))
{
Debug.Log("Uh Oh");
return;
}
Vector2 img_dim = image.dimensions;
XRCameraImagePlane greyscale = image.GetPlane(0);
// Instantiates new m_Texture if necessary
if (m_Texture == null || m_Texture.width != image.width)
{
var format = TextureFormat.RGBA32;
m_Texture = new Texture2D(image.width, image.height, format, false);
}
image.Dispose();
// Process the image here:
unsafe {
IntPtr greyPtr = (IntPtr)greyscale.data.GetUnsafePtr();
// TOUCH: Detect corners and set as source points
if (Input.touchCount > 0)
{
Touch touch = Input.GetTouch(0);
if (touch.phase == TouchPhase.Began)
{
// Cache original image
Utils.copyToMat(greyPtr, cached_initMat);
// Detect reference points
BlobDetection();
Rectify(ref face1Array, ref cached_homoMat1);
Rectify(ref face2Array, ref cached_homoMat2);
Rectify(ref face3Array, ref cached_homoMat3);
// Display cached top-down
Texture2D topTexture1 = new Texture2D((int)img_dim.x, (int)img_dim.y, TextureFormat.RGBA32, false);
Utils.matToTexture2D(cached_homoMat1, topTexture1, false, 0);
m_TopImage1.texture = (Texture)topTexture1;
Texture2D topTexture2 = new Texture2D((int)img_dim.x, (int)img_dim.y, TextureFormat.RGBA32, false);
Utils.matToTexture2D(cached_homoMat2, topTexture2, false, 0);
m_TopImage2.texture = (Texture)topTexture2;
Texture2D topTexture3 = new Texture2D((int)img_dim.x, (int)img_dim.y, TextureFormat.RGBA32, false);
Utils.matToTexture2D(cached_homoMat3, topTexture3, false, 0);
m_TopImage3.texture = (Texture)topTexture3;
Debug.Log("OCFR: 510");
}
}
// Warps cached top-down and gets outMat.
// HomographyTransform(ref cached_homoMat);
// Displays OpenCV Mat as a Texture
Utils.matToTexture2D(outMat, m_Texture, false, 0);
}
// Sets orientation of screen if necessary
if (m_CachedOrientation == null || m_CachedOrientation != Screen.orientation)
{
// TODO: Debug why doesn't initiate with ConfigRawimage(). The null isn't triggering here. Print cached Orientation
m_CachedOrientation = Screen.orientation;
ConfigureRawImageInSpace(img_dim);
}
// Debug.Log("OCFR: 529");
m_RawImage.texture = (Texture)m_Texture;
m_ImageInfo.text = string.Format("Number of Blobs: {0}", keyMat.rows());
}
public static void GetPlaneData(out byte[] pixels, XRCameraImage image)
{
XRCameraImagePlane plane = image.GetPlane(0); // use the Y plane
public static void GetPlaneDataFast(ref IntPtr pixels, XRCameraImage image)
{
XRCameraImagePlane plane = image.GetPlane(0); // use the Y plane
void OnCameraFrameReceived(ARCameraFrameEventArgs eventArgs)
{
// Camera data extraction
XRCameraImage image;
if (!cameraManager.TryGetLatestImage(out image))
{
Debug.Log("Uh Oh");
return;
}
Vector2 img_dim = image.dimensions;
XRCameraImagePlane greyscale = image.GetPlane(0);
// Instantiates new m_Texture if necessary
if (m_Texture == null || m_Texture.width != image.width)
{
var format = TextureFormat.RGBA32;
m_Texture = new Texture2D(image.width, image.height, format, false);
}
image.Dispose();
// Process the image here:
unsafe {
IntPtr greyPtr = (IntPtr)greyscale.data.GetUnsafePtr();
// TOUCH: Detect corners and set as source points
if (Input.touchCount > 0)
{
Touch touch = Input.GetTouch(0);
if (touch.phase == TouchPhase.Began)
{
// Cache original image
Utils.copyToMat(greyPtr, cached_initMat);
Debug.Log("OFCR: ArucoDetection()");
// Detect reference points
ArucoDetection();
Debug.Log("OFCR: GetFaces()");
// Get Rectified Textures
GetFaces();
ShowFaces(img_dim);
}
}
// Displays OpenCV Mat as a Texture
Utils.matToTexture2D(outMat, m_Texture, false, 0);
}
if (spa_full)
{
// Homography shit
// Debug.Log(" ALL SRC FOUND");
}
// Sets orientation of screen if necessary
if (m_CachedOrientation == null || m_CachedOrientation != Screen.orientation)
{
// TODO: Debug why doesn't initiate with ConfigRawimage(). The null isn't triggering here. Print cached Orientation
m_CachedOrientation = Screen.orientation;
ConfigureRawImageInSpace(img_dim);
}
m_RawImage.texture = (Texture)m_Texture;
// m_ImageInfo.text = string.Format("Number of Blobs: {0}", ids.size());
}
void OnCameraFrameReceived(ARCameraFrameEventArgs eventArgs)
{
// Camera data extraction
XRCameraImage image;
if (!cameraManager.TryGetLatestImage(out image))
{
Debug.Log("Uh Oh");
return;
}
Vector2 img_dim = image.dimensions;
XRCameraImagePlane greyscale = image.GetPlane(0);
// Instantiates new m_Texture if necessary
if (m_Texture == null || m_Texture.width != image.width)
{
var format = TextureFormat.RGBA32;
m_Texture = new Texture2D(image.width, image.height, format, false);
}
image.Dispose();
ThreeStage_AR_Controller ARC = m_ARSessionManager.GetComponent <ThreeStage_AR_Controller>();
// Process the image here:
unsafe {
IntPtr greyPtr = (IntPtr)greyscale.data.GetUnsafePtr();
// TOUCH: Detect corners and set as source points
if (Input.touchCount > 0)
{
Touch touch = Input.GetTouch(0);
if (touch.phase == TouchPhase.Began)
{
// Cache original image
Utils.copyToMat(greyPtr, cached_initMat);
// if (!spa_full) { // Stage 1: Finding World Markers
if (touch.position.x < image.width / 2) // Stage 1: Finding World Markers
// Detect the markers (in c1 space)
{
ArucoDetection();
// Raycast and get World points
ARC.SetWorldPoints();
// (For Testing) Extract c2 points and draw onto output.
ARC.SetScreenPoints();
DrawScreenPoints(ARC);
}
else // Stage 2: Rectification of Captured Image Faces
// Extract c2 points and draw onto output
{
ARC.SetScreenPoints();
DrawScreenPoints(ARC);
// Caching the c2 world position
ARC.CacheCamPoints();
// Getting dest points
proj_point_array = ARC.GetScreenpoints();
// Rectify Faces and Display them
GetFaces(ref proj_point_array);
ShowFaces(img_dim);
}
Core.flip(cached_initMat, outMat, 0);
}
}
// Displays OpenCV Mat as a Texture
Utils.matToTexture2D(outMat, m_Texture, false, 0);
}
if (spa_full) // Stage 3: Real-time warping
// Get c2 screenpoints
{
ARC.SetScreenPoints();
proj_point_array = ARC.GetScreenpoints();
// Get the closest camera position
int closest_capture = ARC.GetClosestIndex();
// Warp rectified closest capture Mats for each face dependent on current position
for (int i = 0; i < 3; i++)
{
m_ImageInfo.text = String.Format("Stage 3: {0}", i);
HomographyTransform(i, closest_capture);
}
m_ImageInfo.text = String.Format("closest_capture : {0}", closest_capture);
// Combined the warped images into one image
CombineWarped();
// Display the combined image
Utils.matToTexture2D(outMat, m_Texture, false, 0);
}
// Sets orientation of screen if necessary
if (m_CachedOrientation == null || m_CachedOrientation != Screen.orientation)
{
// TODO: Debug why doesn't initiate with ConfigRawimage(). The null isn't triggering here. Print cached Orientation
m_CachedOrientation = Screen.orientation;
ConfigureRawImageInSpace(img_dim);
}
m_RawImage.texture = (Texture)m_Texture;
// m_ImageInfo.text = string.Format("Number of Blobs: {0}", ids.size());
}
