//Calculates the target pose for the camera in order to appear in front of the marker.
private Pose GetTargetPose(MarkerBehaviour marker)
{
Matrix4x4 m = marker.GetMatrix();
Matrix4x4 inverseMat = m.inverse;
Pose p = new Pose();
p.rotation = ARucoUnityHelper.GetQuaternion(inverseMat);
p.position = marker.transform.position;
p.position += ARucoUnityHelper.GetPosition(inverseMat);
return(p);
}
private bool OnProcessTexture(WebCamTexture input, ref Texture2D output,
ARucoUnityHelper.TextureConversionParams textureParameters)
{
textureParameters.FlipHorizontally = false;
if (!float.TryParse(patternSizeString.value, out squareSizeMeters))
{
return(false);
}
squareSizeMeters = float.Parse(patternSizeString.value);
mat = ARucoUnityHelper.TextureToMat(input, textureParameters);
//Debug.Log("Width: " + mat.Width + " Height: " + mat.Height);
imageWidth = mat.Width;
imageHeight = mat.Height;
Cv2.CvtColor(mat, grayMat, ColorConversionCodes.BGR2GRAY);
if (reset)
{
ResetCalibrationImmediate();
reset = false;
}
if (captureFrame)
{
RegisterCurrentCalib();
captureFrame = false;
}
if (calibrate)
{
StartCalibrateAsync();
calibrate = false;
}
output = ARucoUnityHelper.MatToTexture(mat, output);
mat.Release();
return(true);
}
//Updates Marker pose data by transforming the "transform matrix" received from open cv.
//additional rotation can be passed so that the whole world matrix is rotated accordingly.
//that is useful for AR-Foundation since there the camera view is on landscape mode and needs to be rotated properly
private void UpdateMarkerPose(Matrix4x4 transformMatrix, Nullable <Vector3> additionalRotation = null)
{
//convert from open cv space to unity space
Matrix4x4 matrixY = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
Matrix4x4 matrixZ = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
Matrix4x4 matrixX = Matrix4x4.TRS(Vector3.zero, Quaternion.Euler(-90, 0, 0), new Vector3(1, 1, 1));
currentTransformationMatrix = (matrixY * transformMatrix * matrixZ) * matrixX;
//apply additional rotation if needed
Matrix4x4 r = Matrix4x4.Rotate(Quaternion.Euler(additionalRotation.GetValueOrDefault(Vector3.zero)));
currentTransformationMatrix = r * currentTransformationMatrix;
//update the current marker pose position,rotation and scale
currentMarkerPose.position = ARucoUnityHelper.GetPosition(currentTransformationMatrix);
currentMarkerPose.rotation = ARucoUnityHelper.GetQuaternion(currentTransformationMatrix);
currentMarkerPose.scale = ARucoUnityHelper.GetScale(currentTransformationMatrix);
}
private bool ProcessTexture(WebCamTexture input, ref Texture2D output,
ARucoUnityHelper.TextureConversionParams textureParameters)
{
imgBuffer = ARucoUnityHelper.TextureToMat(input, textureParameters);
//Debug.Log("New image Assigned");
timeCount += Time.deltaTime;
if (threadCounter == 0 && timeCount >= markerDetectorPauseTime)
{
imgBuffer.CopyTo(img);
Interlocked.Increment(ref threadCounter);
timeCount = 0;
}
updateThread = true;
if (outputImage)
{
if (drawMarkerOutlines)
{
CvAruco.DrawDetectedMarkers(img, corners, ids);
}
output = ARucoUnityHelper.MatToTexture(img, output);
//Debug.Log("Marker image Rendered");
outputImage = false;
}
else
{
output = ARucoUnityHelper.MatToTexture(imgBuffer, output);
//Debug.Log("Camera image Rendered");
}
imgBuffer.Release();
return(true);
}
protected float GetMarkerDistanceFromCamera(MarkerBehaviour m)
{
return(ARucoUnityHelper.GetPosition(m.GetMatrix()).magnitude);
}
unsafe void OnCameraFrameReceived(ARCameraFrameEventArgs eventArgs)
{
//Get the latest image
XRCameraImage image;
if (!cameraManager.TryGetLatestImage(out image))
{
return;
}
timeCount += Time.deltaTime;
//select the format of the texture
var format = TextureFormat.RGBA32;
//check if the texture changed, and only if so create a new one with the new changes
if (texture == null || texture.width != image.width || texture.height != image.height)
{
texture = new Texture2D(image.width, image.height, format, false);
}
//mirror on the Y axis so that it fits open cv standarts
var conversionParams = new XRCameraImageConversionParams(image, format, CameraImageTransformation.MirrorY);
// try to apply raw texture data to the texture
var rawTextureData = texture.GetRawTextureData <byte>();
try
{
image.Convert(conversionParams, new IntPtr(rawTextureData.GetUnsafePtr()), rawTextureData.Length);
}
finally
{
//every Mat must be released before new data is assigned!
image.Dispose();
}
//apply texture
texture.Apply();
texParam.FlipHorizontally = false;
//create a Mat class from the texture
imgBuffer = ARucoUnityHelper.TextureToMat(texture, texParam);
// Increment thread counter
if (threadCounter == 0 && timeCount >= markerDetectorPauseTime &&
arCamera.velocity.magnitude <= maxPositionChangePerFrame && cameraPoseTracker.rotationChange <= maxRotationChangePerFrameDegrees)
{
//copy the buffer data to the img Mat
imgBuffer.CopyTo(img);
Interlocked.Increment(ref threadCounter);
timeCount = 0;
}
updateThread = true;
//Show the texture if needed
if (showOpenCvTexture)
{
openCvTexture.texture = ARucoUnityHelper.MatToTexture(imgBuffer, texture);
}
//release imgBuffer Mat
imgBuffer.Release();
}
