//private Renderer rd;
//public Texture2D tex;
void Start()
{
texMat = MatDisplay.LoadRGBATexture("/models/dog_tex.png");
// OpenCV matrices need to be allocated first to indicate size
imagePoints = new MatOfPoint2f();
imagePoints.alloc(4);
// rd = GetComponents<SkinnedMeshRenderer>()[0];
/*
* corner1 = GameObject.Find("corner1");
* corner2 = GameObject.Find("corner2");
* corner3 = GameObject.Find("corner2");
* corner4 = GameObject.Find("corner2");
*/
}
void Update()
{
// Camera image from Vuforia
Image camImg = CameraDevice.Instance.GetCameraImage(PIXEL_FORMAT.RGBA8888);
if (camImg != null && camImg.Height > 0)
{
if (camImageMat == null)
{
// Vuforia seems to enforce a resolution of width=640px for any camera
Debug.Log("rows: " + camImg.Height + ", cols: " + camImg.Width);
camImageMat = new Mat(camImg.Height, camImg.Width, CvType.CV_8UC4);
}
// Put Vuforia camera feed pixels into OpenCV display matrix
camImageMat.put(0, 0, camImg.Pixels);
// DEBUG TEST: In OpenCV, we operate in screen coordinates (pixels),
// and we know the resolution of the Vuforia camera
// Here, we draw a red circle in screen space using OpenCV
//Imgproc.circle(camImageMat, new Point(300, 200), 20, new Scalar(255, 0, 0, 128));
//---- <THIS IS WHERE THE CORNER PROJECTION BEGINS> ----
// Get corner's position in world coordinates
Matrix4x4 m1 = corner1.transform.localToWorldMatrix;
Matrix4x4 m2 = corner2.transform.localToWorldMatrix;
Matrix4x4 m3 = corner3.transform.localToWorldMatrix;
Matrix4x4 m4 = corner4.transform.localToWorldMatrix;
Vector3 worldPnt1 = m1.MultiplyPoint3x4(corner1.transform.position);
Vector3 worldPnt2 = m2.MultiplyPoint3x4(corner2.transform.position);
Vector3 worldPnt3 = m3.MultiplyPoint3x4(corner3.transform.position);
Vector3 worldPnt4 = m4.MultiplyPoint3x4(corner4.transform.position);
// Matrix that goes from world to the camera coordinate system
Matrix4x4 Rt = cam.transform.worldToLocalMatrix;
// Camera intrinsics
Matrix4x4 A = Matrix4x4.identity;
A.m00 = fx;
A.m11 = fy;
A.m02 = cx;
A.m12 = cy;
//see cheat sheet
Matrix4x4 worldToImage = A * Rt;
Vector3 hUV1 = worldToImage.MultiplyPoint3x4(worldPnt1);
Vector3 hUV2 = worldToImage.MultiplyPoint3x4(worldPnt2);
Vector3 hUV3 = worldToImage.MultiplyPoint3x4(worldPnt3);
Vector3 hUV4 = worldToImage.MultiplyPoint3x4(worldPnt4);
// Remember that we dealing with homogeneous coordinates.
// Here we normalize them to get Image coordinates
Vector2 uv1 = new Vector2(hUV1.x, hUV1.y) / hUV1.z;
Vector2 uv2 = new Vector2(hUV2.x, hUV2.y) / hUV2.z;
Vector2 uv3 = new Vector2(hUV3.x, hUV3.y) / hUV3.z;
Vector2 uv4 = new Vector2(hUV4.x, hUV4.y) / hUV4.z;
// We flip the v-coordinate of our image points to make the Unity (Vuforia) data compatible with OpenCV
// Remember that in OpenCV the (0,0) pos is in the top left corner in contrast to the bottom left corner
float maxV = camImg.Height - 1; // The -1 is because pixel coordinates are 0-indexed
imagePoints.put(0, 0, uv1.x, maxV - uv1.y);
imagePoints.put(1, 0, uv2.x, maxV - uv2.y);
imagePoints.put(2, 0, uv3.x, maxV - uv3.y);
imagePoints.put(3, 0, uv4.x, maxV - uv4.y);
Point imgPnt1 = new Point(imagePoints.get(0, 0));
Point imgPnt2 = new Point(imagePoints.get(1, 0));
Point imgPnt3 = new Point(imagePoints.get(2, 0));
Point imgPnt4 = new Point(imagePoints.get(3, 0));
//For debug. Show if impPnti found the right position in img coordinate
Imgproc.circle(camImageMat, imgPnt1, 10, new Scalar(255, 0, 0, 200), 5);
Imgproc.circle(camImageMat, imgPnt2, 20, new Scalar(255, 255, 0, 255), 5);
Imgproc.circle(camImageMat, imgPnt3, 30, new Scalar(0, 255, 0, 255), 5);
Imgproc.circle(camImageMat, imgPnt4, 40, new Scalar(0, 0, 255, 255), 4);
MatOfPoint2f unwarpPoints;
unwarpPoints = new MatOfPoint2f();
unwarpPoints.alloc(4);
//according to the resolution
unwarpPoints.put(0, 0, 0, 0);
unwarpPoints.put(1, 0, 0, 442);
unwarpPoints.put(2, 0, 442, 442);
unwarpPoints.put(3, 0, 442, 0);
//compute homography matrix
Mat H = Calib3d.findHomography(imagePoints, unwarpPoints);
Mat Hinv = H.inv();
Mat dst = new Mat(442, 442, CvType.CV_8UC4);
texMat = MatDisplay.LoadRGBATexture("/models/dog_tex.png");
Imgproc.warpPerspective(texMat, dst, Hinv, new Size(442, 442));
// MatDisplay.MatToTexture(dst, ref tex);
//rd.material.mainTexture = tex;
//Debug.Log(imgPnt2);
//Debug.Log(imgPnt2);
//---- </THIS IS WHERE THE CORNER PROJECTION ENDS> ----
// Display the Mat that includes video feed and debug points
// Do not forget to disable Vuforia's video background and change your aspect ratio to 4:3!
MatDisplay.DisplayMat(camImageMat, MatDisplaySettings.FULL_BACKGROUND);
//---- MATCH INTRINSICS OF REAL CAMERA AND PROJECTION MATRIX OF VIRTUAL CAMERA ----
// See lecture slides for why this formular works.
cam.fieldOfView = 2 * Mathf.Atan(camImg.Height * 0.5f / fy) * Mathf.Rad2Deg;
}
}