public virtual void Draw(Mat src, Mat dst) { var points = new MatOfPoint2f(); var patternSize = new Size((int)SizeX, (int)SizeY); var found = false; switch (boardType) { case BoardType.ChessBoard: found = Calib3d.findChessboardCorners(src, patternSize, points, Calib3d.CALIB_CB_ADAPTIVE_THRESH | Calib3d.CALIB_CB_FAST_CHECK | Calib3d.CALIB_CB_NORMALIZE_IMAGE); break; case BoardType.CirclesGrid: found = Calib3d.findCirclesGrid(src, patternSize, points, Calib3d.CALIB_CB_SYMMETRIC_GRID); break; case BoardType.AsymmetricCirclesGrid: found = Calib3d.findCirclesGrid(src, patternSize, points, Calib3d.CALIB_CB_ASYMMETRIC_GRID); break; } if (found) { if (boardType == BoardType.ChessBoard) { Imgproc.cornerSubPix(src, points, new Size(5, 5), new Size(-1, -1), new TermCriteria(TermCriteria.EPS + TermCriteria.COUNT, 30, 0.1)); } Calib3d.drawChessboardCorners(dst, patternSize, points, found); } }
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(); if (AppControl.control.calibrationComplete) { Mat rgbaMatUndistorted = rgbaMat.clone(); Size SizeCm = AppControl.control.cameraMatrix.size(); Size SizeDc = AppControl.control.distCoeffs.size(); Imgproc.undistort(rgbaMat, rgbaMatUndistorted, AppControl.control.cameraMatrix, AppControl.control.distCoeffs); rgbaMat = rgbaMatUndistorted; } Imgproc.cvtColor(rgbaMat, hsvMat, Imgproc.COLOR_RGBA2RGB); Imgproc.cvtColor(hsvMat, hsvMat, Imgproc.COLOR_RGB2HSV); // IMAGE PROCESSING STARTS (rgbaMat is the captured image) // Convert the current rgba frame (rgbaMat) to a gray image (grayMat) Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY); //CALIB_CB_FAST_CHECK saves a lot of time on images //that do not contain any chessboard corners bool patternfound = Calib3d.findChessboardCorners(grayMat, patternsize, pointbuf, Calib3d.CALIB_CB_ADAPTIVE_THRESH + Calib3d.CALIB_CB_NORMALIZE_IMAGE + Calib3d.CALIB_CB_FAST_CHECK); if (patternfound) { Imgproc.cornerSubPix(grayMat, pointbuf, new Size(11, 11), new Size(-1, -1), new TermCriteria(TermCriteria.EPS + TermCriteria.MAX_ITER, 30, 0.1)); float timeNow = Time.realtimeSinceStartup; if ((timeNow > lastInterval + updateInterval)) { imagePoints.Add(pointbuf.clone()); calcChessboardCorners(patternsize, squaresize, objectpointbuf); objectPoints.Add(objectpointbuf.clone()); ++numCalibImages; lastInterval = timeNow; } } if (numCalibImages > numCalibrationTakes && !calibrationComplete) { // Do calibration int flags = 0; calibrationComplete = true; Calib3d.calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, flags); // Calibration is complete List <float> perViewErrors = new List <float>(); float error; error = computeReprojectionErrors(objectPoints, imagePoints, rvecs, tvecs, cameraMatrix, distCoeffs, perViewErrors); // Debug statements Debug.Log("Calibration complete!"); Debug.Log("Camera Matrix:"); Debug.Log(cameraMatrix.dump()); Debug.Log("Distortion Coefficients:"); Debug.Log(distCoeffs.dump()); // Debug.Log("fx: " + cameraMatrix.get(0,0)[0]); Debug.Log("Reprojection error average: " + error); // Error should be in units of pixels Debug.Log(perViewErrors.ToString()); // Save the calibration variables in AppControl AppControl.control.calibrationComplete = calibrationComplete; AppControl.control.cameraMatrix = cameraMatrix; AppControl.control.distCoeffs = distCoeffs; AppControl.control.reprojectionError = error; AppControl.control.fx = (float)cameraMatrix.get(0, 0)[0]; AppControl.control.fy = (float)cameraMatrix.get(1, 1)[0]; AppControl.control.cx = (float)cameraMatrix.get(0, 2)[0]; AppControl.control.cy = (float)cameraMatrix.get(1, 2)[0]; // Store the calibration parameters in player preferences text file PlayerPrefs.SetInt("Calibrated", 1); PlayerPrefs.SetFloat("Error", error); float k1 = (float)distCoeffs.get(0, 1)[0]; float k2 = (float)distCoeffs.get(0, 1)[0]; PlayerPrefs.SetFloat("k1", (float)distCoeffs.get(0, 0)[0]); PlayerPrefs.SetFloat("k2", (float)distCoeffs.get(0, 1)[0]); PlayerPrefs.SetFloat("p1", (float)distCoeffs.get(0, 2)[0]); PlayerPrefs.SetFloat("p2", (float)distCoeffs.get(0, 3)[0]); PlayerPrefs.SetFloat("k3", (float)distCoeffs.get(0, 4)[0]); PlayerPrefs.SetFloat("fx", (float)cameraMatrix.get(0, 0)[0]); PlayerPrefs.SetFloat("fy", (float)cameraMatrix.get(1, 1)[0]); PlayerPrefs.SetFloat("cx", (float)cameraMatrix.get(0, 2)[0]); PlayerPrefs.SetFloat("cy", (float)cameraMatrix.get(1, 2)[0]); } // SHOW IMAGE ON THE DISPLAY // Draw the chessboard corners so it's obvious that the app is working Calib3d.drawChessboardCorners(rgbaMat, patternsize, pointbuf, patternfound); // Notify the user when the calibration is finished if (!calibrationComplete) { Core.putText(rgbaMat, "Number of images collected: " + numCalibImages, new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Core.LINE_AA, false); } else { // Mat rgbaMatUndistorted = new Mat(); Core.putText(rgbaMat, "Calibration complete", new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Core.LINE_AA, false); } Utils.matToTexture2D(rgbaMat, texture); // Default display // Utils.matToTexture2D (rgbaMat, texture, colors) } }
void handleCalibration() { for (int i = 0; i < AK_receiver.GetComponent <akplay>().camInfoList.Count; i++) { //create color mat: byte[] colorBytes = ((Texture2D)(AK_receiver.GetComponent <akplay>().camInfoList[i].colorCube.GetComponent <Renderer>().material.mainTexture)).GetRawTextureData(); GCHandle ch = GCHandle.Alloc(colorBytes, GCHandleType.Pinned); Mat colorMat = new Mat(AK_receiver.GetComponent <akplay>().camInfoList[i].color_height, AK_receiver.GetComponent <akplay>().camInfoList[i].color_width, CvType.CV_8UC4); Utils.copyToMat(ch.AddrOfPinnedObject(), colorMat); ch.Free(); //OpenCVForUnity.CoreModule.Core.flip(colorMat, colorMat, 0); //detect a chessboard in the image, and refine the points, and save the pixel positions: MatOfPoint2f positions = new MatOfPoint2f(); int resizer = 4; resizer = 1; //noresize! Mat colorMatSmall = new Mat(); //~27 ms each Imgproc.resize(colorMat, colorMatSmall, new Size(colorMat.cols() / resizer, colorMat.rows() / resizer)); bool success = Calib3d.findChessboardCorners(colorMatSmall, new Size(7, 7), positions); for (int ss = 0; ss < positions.rows(); ss++) { double[] data = positions.get(ss, 0); data[0] = data[0] * resizer; data[1] = data[1] * resizer; positions.put(ss, 0, data); } //subpixel, drawing chessboard, and getting orange blobs takes 14ms TermCriteria tc = new TermCriteria(); Imgproc.cornerSubPix(colorMat, positions, new Size(5, 5), new Size(-1, -1), tc); Mat chessboardResult = new Mat(); colorMat.copyTo(chessboardResult); Calib3d.drawChessboardCorners(chessboardResult, new Size(7, 7), positions, success); //Find the orange blobs: Mat orangeMask = new Mat(); Vector2[] blobs = getOrangeBlobs(ref colorMat, ref orangeMask); //find blob closest to chessboard if (success && (blobs.Length > 0)) { Debug.Log("found a chessboard and blobs for camera: " + i); // time to get pin1 and chessboard positions: 27ms //find pin1: Point closestBlob = new Point(); int pin1idx = getPin1(positions, blobs, ref closestBlob); Imgproc.circle(chessboardResult, new Point(positions.get(pin1idx, 0)[0], positions.get(pin1idx, 0)[1]), 10, new Scalar(255, 0, 0), -1); Imgproc.circle(chessboardResult, closestBlob, 10, new Scalar(255, 255, 0), -1); //get world positions of chessboard Point[] realWorldPointArray = new Point[positions.rows()]; Point3[] realWorldPointArray3 = new Point3[positions.rows()]; Point[] imagePointArray = new Point[positions.rows()]; //getChessBoardWorldPositions(positions, pin1idx, 0.0498f, ref realWorldPointArray, ref realWorldPointArray3, ref imagePointArray); //green and white checkerboard. getChessBoardWorldPositions(positions, pin1idx, 0.07522f, ref realWorldPointArray, ref realWorldPointArray3, ref imagePointArray); //black and white checkerboard. string text = ""; float decimals = 1000.0f; int text_red = 255; int text_green = 0; int text_blue = 0; text = ((int)(realWorldPointArray3[0].x * decimals)) / decimals + "," + ((int)(realWorldPointArray3[0].y * decimals)) / decimals + "," + ((int)(realWorldPointArray3[0].z * decimals)) / decimals; //text = sprintf("%f,%f,%f", realWorldPointArray3[0].x, realWorldPointArray3[0].y, realWorldPointArray3[0].z); Imgproc.putText(chessboardResult, text, new Point(positions.get(0, 0)[0], positions.get(0, 0)[1]), 0, .6, new Scalar(text_red, text_green, text_blue)); text = ((int)(realWorldPointArray3[6].x * decimals)) / decimals + "," + ((int)(realWorldPointArray3[6].y * decimals)) / decimals + "," + ((int)(realWorldPointArray3[6].z * decimals)) / decimals; //text = sprintf("%f,%f,%f", realWorldPointArray3[0].x, realWorldPointArray3[0].y, realWorldPointArray3[0].z); Imgproc.putText(chessboardResult, text, new Point(positions.get(6, 0)[0], positions.get(6, 0)[1]), 0, .6, new Scalar(text_red, text_green, text_blue)); text = ((int)(realWorldPointArray3[42].x * decimals)) / decimals + "," + ((int)(realWorldPointArray3[42].y * decimals)) / decimals + "," + ((int)(realWorldPointArray3[42].z * decimals)) / decimals; //text = sprintf("%f,%f,%f", realWorldPointArray3[0].x, realWorldPointArray3[0].y, realWorldPointArray3[0].z); Imgproc.putText(chessboardResult, text, new Point(positions.get(42, 0)[0], positions.get(42, 0)[1]), 0, .6, new Scalar(text_red, text_green, text_blue)); text = ((int)(realWorldPointArray3[48].x * decimals)) / decimals + "," + ((int)(realWorldPointArray3[48].y * decimals)) / decimals + "," + ((int)(realWorldPointArray3[48].z * decimals)) / decimals; //text = sprintf("%2.2f,%2.2f,%2.2f", realWorldPointArray3[48].x, realWorldPointArray3[48].y, realWorldPointArray3[48].z); Imgproc.putText(chessboardResult, text, new Point(positions.get(48, 0)[0], positions.get(48, 0)[1]), 0, .6, new Scalar(text_red, text_green, text_blue)); Mat cameraMatrix = Mat.eye(3, 3, CvType.CV_64F); cameraMatrix.put(0, 0, AK_receiver.GetComponent <akplay>().camInfoList[i].color_fx); cameraMatrix.put(1, 1, AK_receiver.GetComponent <akplay>().camInfoList[i].color_fy); cameraMatrix.put(0, 2, AK_receiver.GetComponent <akplay>().camInfoList[i].color_cx); cameraMatrix.put(1, 2, AK_receiver.GetComponent <akplay>().camInfoList[i].color_cy); double[] distortion = new double[8]; distortion[0] = AK_receiver.GetComponent <akplay>().camInfoList[i].color_k1; distortion[1] = AK_receiver.GetComponent <akplay>().camInfoList[i].color_k2; distortion[2] = AK_receiver.GetComponent <akplay>().camInfoList[i].color_p1; distortion[3] = AK_receiver.GetComponent <akplay>().camInfoList[i].color_p2; distortion[4] = AK_receiver.GetComponent <akplay>().camInfoList[i].color_k3; distortion[5] = AK_receiver.GetComponent <akplay>().camInfoList[i].color_k4; distortion[6] = AK_receiver.GetComponent <akplay>().camInfoList[i].color_k5; distortion[7] = AK_receiver.GetComponent <akplay>().camInfoList[i].color_k6; /* * distortion[0] = 0.0; * distortion[1] = 0.0; * distortion[2] = 0.0; * distortion[3] = 0.0; * distortion[4] = 0.0; * distortion[5] = 0.0; * distortion[6] = 0.0; * distortion[7] = 0.0; */ //~1 ms to solve for pnp Mat rvec = new Mat(); Mat tvec = new Mat(); bool solvepnpSucces = Calib3d.solvePnP(new MatOfPoint3f(realWorldPointArray3), new MatOfPoint2f(imagePointArray), cameraMatrix, new MatOfDouble(distortion), rvec, tvec); Mat R = new Mat(); Calib3d.Rodrigues(rvec, R); //calculate unity vectors, and camera transforms Mat camCenter = -R.t() * tvec; Mat forwardOffset = new Mat(3, 1, tvec.type()); forwardOffset.put(0, 0, 0); forwardOffset.put(1, 0, 0); forwardOffset.put(2, 0, 1); Mat upOffset = new Mat(3, 1, tvec.type()); upOffset.put(0, 0, 0); upOffset.put(1, 0, -1); upOffset.put(2, 0, 0); Mat forwardVectorCV = R.t() * (forwardOffset - tvec); forwardVectorCV = forwardVectorCV - camCenter; Mat upVectorCV = R.t() * (upOffset - tvec); upVectorCV = upVectorCV - camCenter; Vector3 forwardVectorUnity = new Vector3((float)forwardVectorCV.get(0, 0)[0], (float)forwardVectorCV.get(2, 0)[0], (float)forwardVectorCV.get(1, 0)[0]); //need to flip y and z due to unity coordinate system Vector3 upVectorUnity = new Vector3((float)upVectorCV.get(0, 0)[0], (float)upVectorCV.get(2, 0)[0], (float)upVectorCV.get(1, 0)[0]); //need to flip y and z due to unity coordinate system Vector3 camCenterUnity = new Vector3((float)camCenter.get(0, 0)[0], (float)camCenter.get(2, 0)[0], (float)camCenter.get(1, 0)[0]); Quaternion rotationUnity = Quaternion.LookRotation(forwardVectorUnity, upVectorUnity); GameObject colorMarker = GameObject.CreatePrimitive(PrimitiveType.Cube); //colorMarker.transform.localScale = new Vector3(0.1f, 0.1f, 0.2f); //colorMarker.transform.parent = AK_receiver.transform; colorMarker.layer = LayerMask.NameToLayer("Debug"); colorMarker.transform.position = camCenterUnity; colorMarker.transform.rotation = Quaternion.LookRotation(forwardVectorUnity, upVectorUnity); colorMarker.GetComponent <Renderer>().material.color = Color.blue; Vector3 forwardDepth = AK_receiver.GetComponent <akplay>().camInfoList[i].color_extrinsics.MultiplyPoint(forwardVectorUnity); Vector3 upDepth = AK_receiver.GetComponent <akplay>().camInfoList[i].color_extrinsics.MultiplyPoint(upVectorUnity); Vector3 camCenterDepth = AK_receiver.GetComponent <akplay>().camInfoList[i].color_extrinsics.MultiplyPoint(camCenterUnity); Quaternion rotationDepth = Quaternion.LookRotation(forwardDepth, upDepth); GameObject depthMarker = GameObject.CreatePrimitive(PrimitiveType.Cube); depthMarker.layer = LayerMask.NameToLayer("Debug"); depthMarker.transform.parent = colorMarker.transform; //depthMarker.transform.localScale = AK_receiver.GetComponent<akplay>().camInfoList[i].color_extrinsics.lossyScale; depthMarker.transform.localRotation = AK_receiver.GetComponent <akplay>().camInfoList[i].color_extrinsics.inverse.rotation; Vector3 matrixPosition = new Vector3(AK_receiver.GetComponent <akplay>().camInfoList[i].color_extrinsics.inverse.GetColumn(3).x, AK_receiver.GetComponent <akplay>().camInfoList[i].color_extrinsics.inverse.GetColumn(3).y, AK_receiver.GetComponent <akplay>().camInfoList[i].color_extrinsics.inverse.GetColumn(3).z); /* * depthMarker.transform.localRotation = AK_receiver.GetComponent<akplay>().camInfoList[i].color_extrinsics.rotation; * * Vector3 matrixPosition = new Vector3(AK_receiver.GetComponent<akplay>().camInfoList[i].color_extrinsics.GetColumn(3).x, * AK_receiver.GetComponent<akplay>().camInfoList[i].color_extrinsics.GetColumn(3).y, * AK_receiver.GetComponent<akplay>().camInfoList[i].color_extrinsics.GetColumn(3).z); */ depthMarker.transform.localPosition = -matrixPosition; depthMarker.transform.parent = null; colorMarker.transform.localScale = new Vector3(0.1f, 0.1f, 0.2f); depthMarker.transform.localScale = new Vector3(0.1f, 0.1f, 0.2f); //depthMarker.transform.parent = AK_receiver.transform; //depthMarker.transform.position = camCenterDepth; //depthMarker.transform.rotation = Quaternion.LookRotation(forwardDepth-camCenterDepth, upDepth-camCenterDepth); depthMarker.GetComponent <Renderer>().material.color = Color.red; AK_receiver.GetComponent <akplay>().camInfoList[i].visualization.transform.position = depthMarker.transform.position; //need to flip y and z due to unity coordinate system AK_receiver.GetComponent <akplay>().camInfoList[i].visualization.transform.rotation = depthMarker.transform.rotation; } //draw chessboard result to calibration ui: Texture2D colorTexture = new Texture2D(chessboardResult.cols(), chessboardResult.rows(), TextureFormat.BGRA32, false); colorTexture.LoadRawTextureData((IntPtr)chessboardResult.dataAddr(), (int)chessboardResult.total() * (int)chessboardResult.elemSize()); colorTexture.Apply(); checkerboard_display_list[i].GetComponent <Renderer>().material.mainTexture = colorTexture; //draw threshold to calibration ui: Texture2D orangeTexture = new Texture2D(orangeMask.cols(), orangeMask.rows(), TextureFormat.R8, false); orangeTexture.LoadRawTextureData((IntPtr)orangeMask.dataAddr(), (int)orangeMask.total() * (int)orangeMask.elemSize()); orangeTexture.Apply(); threshold_display_list[i].GetComponent <Renderer>().material.mainTexture = orangeTexture; } }
public static void DrawFoundPattern(Mat grayTexMat, Vector2Int patternSize, MatOfPoint2f points) { Vector2IntToSize(patternSize, ref _tempSize); Calib3d.drawChessboardCorners(grayTexMat, _tempSize, points, true); }