void CreateComponent(InformationObject informationObject, PatternDetector patternDetector)
{
GameObject ARObjects = new GameObject();
ARObjects.name = "ARObjects";
ARObjects.SetActive(false);
GameObject OBJMarkerSettings = new GameObject();
OBJMarkerSettings.name = "MarkerSettings";
MarkerDesign markerDesign = new MarkerDesign();
markerDesign.id = informationObject.IdMarker;
MarkerSettings markerSettings = OBJMarkerSettings.AddComponent <MarkerSettings>();
markerSettings.PatternDetector = patternDetector;
markerSettings.markerDesign = markerDesign;
markerSettings.ARGameObject = ARObjects;
GameObject objectAR = ImportResources.GetGameObject(informationObject.Name);
GameObject objectCreated = Instantiate(objectAR);
objectCreated.AddComponent <RectTransform>();
objectCreated.transform.position = Vector3.zero;
objectCreated.transform.rotation = Quaternion.identity;
objectCreated.layer = 8;
objectCreated.transform.SetParent(ARObjects.transform);
ARObjects.transform.SetParent(OBJMarkerSettings.transform);
OBJMarkerSettings.transform.SetParent(markerList.transform);
}
/// <summary>
/// Initializes a new instance of the <see cref="MarkerDetector"/> class.
/// </summary>
/// <param name="camMatrix">Cam matrix.</param>
/// <param name="distCoeff">Dist coeff.</param>
public MarkerDetector (Mat camMatrix, Mat distCoeff, MarkerDesign markerDesign)
{
m_minContourLengthAllowed = 100;
markerSize = new Size (100, 100);
camMatrix.copyTo (this.camMatrix);
distCoeff.copyTo (this.distCoeff);
List<Point3> m_markerCorners3dList = new List<Point3> ();
m_markerCorners3dList.Add (new Point3 (-0.5f, -0.5f, 0));
m_markerCorners3dList.Add (new Point3 (+0.5f, -0.5f, 0));
m_markerCorners3dList.Add (new Point3 (+0.5f, +0.5f, 0));
m_markerCorners3dList.Add (new Point3 (-0.5f, +0.5f, 0));
m_markerCorners3d.fromList (m_markerCorners3dList);
List<Point> m_markerCorners2dList = new List<Point> ();
m_markerCorners2dList.Add (new Point (0, 0));
m_markerCorners2dList.Add (new Point (markerSize.width - 1, 0));
m_markerCorners2dList.Add (new Point (markerSize.width - 1, markerSize.height - 1));
m_markerCorners2dList.Add (new Point (0, markerSize.height - 1));
m_markerCorners2d.fromList (m_markerCorners2dList);
if (markerDesign != null) {
m_markerDesign = new byte[markerDesign.gridSize, markerDesign.gridSize];
for (int y = 0; y < m_markerDesign.GetLength(0); y++) {
for (int x = 0; x < m_markerDesign.GetLength(1); x++) {
if (markerDesign.data [y*markerDesign.gridSize + x]) {
m_markerDesign [y, x] = 0;
} else {
m_markerDesign [y, x] = 1;
}
}
}
}
}
/// <summary>
/// Raises the web cam texture to mat helper inited event.
/// </summary>
public void OnWebCamTextureToMatHelperInited()
{
Debug.Log("OnWebCamTextureToMatHelperInited");
Mat webCamTextureMat = webCamTextureToMatHelper.GetMat();
texture = new Texture2D(webCamTextureMat.cols(), webCamTextureMat.rows(), TextureFormat.RGBA32, false);
gameObject.GetComponent <Renderer> ().material.mainTexture = texture;
gameObject.transform.localScale = new Vector3(webCamTextureMat.cols(), webCamTextureMat.rows(), 1);
Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
float width = webCamTextureMat.width();
float height = webCamTextureMat.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;
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());
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);
}
MarkerDesign[] markerDesigns = new MarkerDesign[markerSettings.Length];
for (int i = 0; i < markerDesigns.Length; i++)
{
markerDesigns [i] = markerSettings [i].markerDesign;
}
markerDetector = new MarkerDetector(camMatrix, distCoeffs, markerDesigns);
invertYM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
Debug.Log("invertYM " + invertYM.ToString());
invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
Debug.Log("invertZM " + invertZM.ToString());
//if WebCamera is frontFaceing,flip Mat.
if (webCamTextureToMatHelper.GetWebCamDevice().isFrontFacing)
{
webCamTextureToMatHelper.flipHorizontal = true;
}
}
/// <summary>
/// Raises the web cam texture to mat helper inited event.
/// </summary>
public void OnWebCamTextureToMatHelperInited()
{
Debug.Log("OnWebCamTextureToMatHelperInited");
Mat webCamTextureMat = webCamTextureToMatHelper.GetMat();
colors = new Color32[webCamTextureMat.cols() * webCamTextureMat.rows()];
texture = new Texture2D(webCamTextureMat.cols(), webCamTextureMat.rows(), TextureFormat.RGBA32, false);
gameObject.transform.localScale = new Vector3(webCamTextureMat.cols(), webCamTextureMat.rows(), 1);
Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
float width = 0;
float height = 0;
width = gameObject.transform.localScale.x;
height = gameObject.transform.localScale.y;
float imageScale = 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;
imageScale = (float)Screen.height / (float)Screen.width;
}
else
{
Camera.main.orthographicSize = height / 2;
}
gameObject.GetComponent <Renderer> ().material.mainTexture = texture;
//set cameraparam
int max_d = Mathf.Max(webCamTextureMat.rows(), webCamTextureMat.cols());
camMatrix = new Mat(3, 3, CvType.CV_64FC1);
camMatrix.put(0, 0, max_d);
camMatrix.put(0, 1, 0);
camMatrix.put(0, 2, webCamTextureMat.cols() / 2.0f);
camMatrix.put(1, 0, 0);
camMatrix.put(1, 1, max_d);
camMatrix.put(1, 2, webCamTextureMat.rows() / 2.0f);
camMatrix.put(2, 0, 0);
camMatrix.put(2, 1, 0);
camMatrix.put(2, 2, 1.0f);
Debug.Log("camMatrix " + camMatrix.dump());
distCoeffs = new MatOfDouble(0, 0, 0, 0);
Debug.Log("distCoeffs " + distCoeffs.dump());
//calibration camera
Size imageSize = new Size(webCamTextureMat.cols() * imageScale, webCamTextureMat.rows() * imageScale);
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();
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]);
//Adjust Unity Camera FOV
if (widthScale < heightScale)
{
ARCamera.fieldOfView = (float)fovx [0];
}
else
{
ARCamera.fieldOfView = (float)fovy [0];
}
MarkerDesign[] markerDesigns = new MarkerDesign[markerSettings.Length];
for (int i = 0; i < markerDesigns.Length; i++)
{
markerDesigns [i] = markerSettings [i].markerDesign;
}
markerDetector = new MarkerDetector(camMatrix, distCoeffs, markerDesigns);
invertYM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
Debug.Log("invertYM " + invertYM.ToString());
invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
Debug.Log("invertZM " + invertZM.ToString());
//if WebCamera is frontFaceing,flip Mat.
if (webCamTextureToMatHelper.GetWebCamDevice().isFrontFacing)
{
webCamTextureToMatHelper.flipHorizontal = true;
}
}
/// <summary>
/// Raises the web cam texture to mat helper initialized event.
/// </summary>
public void OnWebCamTextureToMatHelperInitialized()
{
Debug.Log("OnWebCamTextureToMatHelperInitialized");
Mat webCamTextureMat = webCamTextureToMatHelper.GetMat();
texture = new Texture2D(webCamTextureMat.cols(), webCamTextureMat.rows(), TextureFormat.RGBA32, false);
ScreenQuad.GetComponent <Renderer> ().material.mainTexture = texture;
Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
float width = webCamTextureMat.width();
float height = webCamTextureMat.height();
float imageSizeScale = 1.0f;
float widthScale = (float)Screen.width / width;
float heightScale = (float)Screen.height / height;
if (widthScale < heightScale)
{
}
else
{
imageSizeScale = (float)Screen.height / (float)Screen.width;
}
//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;
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());
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);
//resize screen Quad
Matrix4x4 p = ARUtils.CalculateProjectionMatrixFromCameraMatrixValues((float)fx, (float)fy, (float)cx, (float)cy, width, height, 0.3f, 1000f);
Vector3 cameraSpacePos = UnProjectVector(p, new Vector3(1.0f, 1.0f, 1.0f));
if (widthScale > heightScale)
{
ScreenQuad.transform.localScale = new Vector3(cameraSpacePos.x * 2f, cameraSpacePos.x * height / width * 2f, 1);
}
else
{
ScreenQuad.transform.localScale = new Vector3(cameraSpacePos.y * width / height * 2f, cameraSpacePos.y * 2f, 1);
}
//create markerDetector
MarkerDesign[] markerDesigns = new MarkerDesign[markerSettings.Length];
for (int i = 0; i < markerDesigns.Length; i++)
{
markerDesigns [i] = markerSettings [i].markerDesign;
}
markerDetector = new MarkerDetector(camMatrix, distCoeffs, markerDesigns);
invertYM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
Debug.Log("invertYM " + invertYM.ToString());
invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
Debug.Log("invertZM " + invertZM.ToString());
//if WebCamera is frontFaceing,flip Mat.
if (webCamTextureToMatHelper.GetWebCamDevice().isFrontFacing)
{
webCamTextureToMatHelper.flipHorizontal = true;
}
}
// Use this for initialization
void Start()
{
gameObject.transform.localScale = new Vector3(imgTexture.width, imgTexture.height, 1);
Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
Mat imgMat = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC4);
Utils.texture2DToMat(imgTexture, imgMat);
Debug.Log("imgMat dst ToString " + imgMat.ToString());
float width = imgMat.width();
float height = imgMat.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
if (widthScale < heightScale)
{
ARCamera.fieldOfView = (float)(fovx [0] * fovXScale);
}
else
{
ARCamera.fieldOfView = (float)(fovy [0] * fovYScale);
}
MarkerDesign[] markerDesigns = new MarkerDesign[markerSettings.Length];
for (int i = 0; i < markerDesigns.Length; i++)
{
markerDesigns [i] = markerSettings [i].markerDesign;
}
MarkerDetector markerDetector = new MarkerDetector(camMatrix, distCoeffs, markerDesigns);
markerDetector.processFrame(imgMat, 1);
foreach (MarkerSettings settings in markerSettings)
{
settings.setAllARGameObjectsDisable();
}
if (shouldMoveARCamera)
{
List <Marker> findMarkers = markerDetector.getFindMarkers();
if (findMarkers.Count > 0)
{
Marker marker = findMarkers [0];
if (markerSettings.Length > 0)
{
MarkerSettings settings = markerSettings [0];
if (marker.id == settings.getMarkerId())
{
Matrix4x4 transformationM = marker.transformation;
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());
GameObject ARGameObject = settings.getARGameObject();
if (ARGameObject != null)
{
Matrix4x4 ARM = ARGameObject.transform.localToWorldMatrix * invertZM * transformationM.inverse * invertYM;
Debug.Log("ARM " + ARM.ToString());
ARGameObject.SetActive(true);
ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
}
}
}
}
}
else
{
List <Marker> findMarkers = markerDetector.getFindMarkers();
for (int i = 0; i < findMarkers.Count; i++)
{
Marker marker = findMarkers [i];
foreach (MarkerSettings settings in markerSettings)
{
if (marker.id == settings.getMarkerId())
{
Matrix4x4 transformationM = marker.transformation;
Debug.Log("transformationM " + transformationM.ToString());
Matrix4x4 invertYM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
Debug.Log("invertYM " + invertYM.ToString());
Matrix4x4 invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
Debug.Log("invertZM " + invertZM.ToString());
Matrix4x4 ARM = ARCamera.transform.localToWorldMatrix * invertYM * transformationM * invertZM;
Debug.Log("ARM " + ARM.ToString());
GameObject ARGameObject = settings.getARGameObject();
if (ARGameObject != null)
{
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
ARGameObject.SetActive(true);
}
}
}
}
}
Texture2D texture = new Texture2D(imgMat.cols(), imgMat.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(imgMat, texture);
gameObject.GetComponent <Renderer> ().material.mainTexture = texture;
}
