private void DetectARUcoMarker()
{
Imgproc.cvtColor(downScaleFrameMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
// Detect markers and estimate Pose
Aruco.detectMarkers(grayMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
if (applyEstimationPose && ids.total() > 0)
{
Aruco.estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs, tvecs);
for (int i = 0; i < ids.total(); i++)
{
//This example can display ARObject on only first detected marker.
if (i == 0)
{
// Convert to unity pose data.
double[] rvecArr = new double[3];
rvecs.get(0, 0, rvecArr);
double[] tvecArr = new double[3];
tvecs.get(0, 0, tvecArr);
tvecArr[2] /= imageOptimizationHelper.downscaleRatio;
PoseData poseData = ARUtils.ConvertRvecTvecToPoseData(rvecArr, tvecArr);
// Changes in pos/rot below these thresholds are ignored.
if (enableLowPassFilter)
{
ARUtils.LowpassPoseData(ref oldPoseData, ref poseData, positionLowPass, rotationLowPass);
}
oldPoseData = poseData;
// Create transform matrix.
transformationM = Matrix4x4.TRS(poseData.pos, poseData.rot, Vector3.one);
// Right-handed coordinates system (OpenCV) to left-handed one (Unity)
// https://stackoverflow.com/questions/30234945/change-handedness-of-a-row-major-4x4-transformation-matrix
ARM = invertYM * transformationM * invertYM;
// Apply Y-axis and Z-axis refletion matrix. (Adjust the posture of the AR object)
ARM = ARM * invertYM * invertZM;
hasUpdatedARTransformMatrix = true;
break;
}
}
}
}
private void DetectARUcoMarker()
{
// Detect markers and estimate Pose
Aruco.detectMarkers(downScaleMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
if (applyEstimationPose && ids.total() > 0)
{
Aruco.estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs, tvecs);
for (int i = 0; i < ids.total(); i++)
{
//This example can display ARObject on only first detected marker.
if (i == 0)
{
// Convert to unity pose data.
double[] rvecArr = new double[3];
rvecs.get(0, 0, rvecArr);
double[] tvecArr = new double[3];
tvecs.get(0, 0, tvecArr);
tvecArr[2] /= DOWNSCALE_RATIO;
PoseData poseData = ARUtils.ConvertRvecTvecToPoseData(rvecArr, tvecArr);
// Create transform matrix.
transformationM = Matrix4x4.TRS(poseData.pos, poseData.rot, Vector3.one);
// Right-handed coordinates system (OpenCV) to left-handed one (Unity)
// https://stackoverflow.com/questions/30234945/change-handedness-of-a-row-major-4x4-transformation-matrix
ARM = invertYM * transformationM * invertYM;
// Apply Y-axis and Z-axis refletion matrix. (Adjust the posture of the AR object)
ARM = ARM * invertYM * invertZM;
hasUpdatedARTransformMatrix = true;
break;
}
}
}
}
public void OnFrameMatAcquired(Mat bgraMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix)
{
downScaleFrameMat = imageOptimizationHelper.GetDownScaleMat(bgraMat);
if (enableDetection)
{
Imgproc.cvtColor(downScaleFrameMat, grayMat, Imgproc.COLOR_BGRA2GRAY);
// Detect markers and estimate Pose
Aruco.detectMarkers(grayMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
if (applyEstimationPose && ids.total() > 0)
{
Aruco.estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs, tvecs);
for (int i = 0; i < ids.total(); i++)
{
//This example can display ARObject on only first detected marker.
if (i == 0)
{
// Convert to unity pose data.
double[] rvecArr = new double[3];
rvecs.get(0, 0, rvecArr);
double[] tvecArr = new double[3];
tvecs.get(0, 0, tvecArr);
tvecArr[2] /= imageOptimizationHelper.downscaleRatio;
PoseData poseData = ARUtils.ConvertRvecTvecToPoseData(rvecArr, tvecArr);
// Changes in pos/rot below these thresholds are ignored.
if (enableLowPassFilter)
{
ARUtils.LowpassPoseData(ref oldPoseData, ref poseData, positionLowPass, rotationLowPass);
}
oldPoseData = poseData;
// Create transform matrix.
transformationM = Matrix4x4.TRS(poseData.pos, poseData.rot, Vector3.one);
lock (sync){
// Right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARM = invertYM * transformationM;
// Apply Z-axis inverted matrix.
ARM = ARM * invertZM;
}
hasUpdatedARTransformMatrix = true;
break;
}
}
}
}
Mat rgbMat4preview = null;
if (displayCameraPreview)
{
rgbMat4preview = new Mat();
Imgproc.cvtColor(downScaleFrameMat, rgbMat4preview, Imgproc.COLOR_BGRA2RGB);
if (ids.total() > 0)
{
Aruco.drawDetectedMarkers(rgbMat4preview, corners, ids, new Scalar(0, 255, 0));
if (applyEstimationPose)
{
for (int i = 0; i < ids.total(); i++)
{
using (Mat rvec = new Mat(rvecs, new OpenCVForUnity.Rect(0, i, 1, 1)))
using (Mat tvec = new Mat(tvecs, new OpenCVForUnity.Rect(0, i, 1, 1))) {
// In this example we are processing with RGB color image, so Axis-color correspondences are X: blue, Y: green, Z: red. (Usually X: red, Y: green, Z: blue)
Aruco.drawAxis(rgbMat4preview, camMatrix, distCoeffs, rvec, tvec, markerLength * 0.5f);
}
}
}
}
}
UnityEngine.WSA.Application.InvokeOnAppThread(() => {
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
if (displayCameraPreview && rgbMat4preview != null)
{
OpenCVForUnity.Utils.fastMatToTexture2D(rgbMat4preview, texture);
}
if (applyEstimationPose)
{
if (hasUpdatedARTransformMatrix)
{
hasUpdatedARTransformMatrix = false;
lock (sync){
// Apply camera transform matrix.
ARM = cameraToWorldMatrix * invertZM * ARM;
ARUtils.SetTransformFromMatrix(arGameObject.transform, ref ARM);
}
}
}
bgraMat.Dispose();
if (rgbMat4preview != null)
{
rgbMat4preview.Dispose();
}
}, false);
}
public void OnFrameMatAcquired(Mat grayMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix, CameraIntrinsics cameraIntrinsics)
{
isDetectingInFrameArrivedThread = true;
DebugUtils.VideoTick();
Mat downScaleMat = null;
float DOWNSCALE_RATIO;
if (enableDownScale)
{
downScaleMat = imageOptimizationHelper.GetDownScaleMat(grayMat);
DOWNSCALE_RATIO = imageOptimizationHelper.downscaleRatio;
}
else
{
downScaleMat = grayMat;
DOWNSCALE_RATIO = 1.0f;
}
Mat camMatrix = null;
MatOfDouble distCoeffs = null;
if (useStoredCameraParameters)
{
camMatrix = this.camMatrix;
distCoeffs = this.distCoeffs;
}
else
{
camMatrix = CreateCameraMatrix(cameraIntrinsics.FocalLengthX, cameraIntrinsics.FocalLengthY, cameraIntrinsics.PrincipalPointX / DOWNSCALE_RATIO, cameraIntrinsics.PrincipalPointY / DOWNSCALE_RATIO);
distCoeffs = new MatOfDouble(cameraIntrinsics.RadialDistK1, cameraIntrinsics.RadialDistK2, cameraIntrinsics.RadialDistK3, cameraIntrinsics.TangentialDistP1, cameraIntrinsics.TangentialDistP2);
}
if (enableDetection)
{
// Detect markers and estimate Pose
Aruco.detectMarkers(downScaleMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
if (applyEstimationPose && ids.total() > 0)
{
Aruco.estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs, tvecs);
for (int i = 0; i < ids.total(); i++)
{
//This example can display ARObject on only first detected marker.
if (i == 0)
{
// Convert to unity pose data.
double[] rvecArr = new double[3];
rvecs.get(0, 0, rvecArr);
double[] tvecArr = new double[3];
tvecs.get(0, 0, tvecArr);
tvecArr[2] /= DOWNSCALE_RATIO;
PoseData poseData = ARUtils.ConvertRvecTvecToPoseData(rvecArr, tvecArr);
// Create transform matrix.
transformationM = Matrix4x4.TRS(poseData.pos, poseData.rot, Vector3.one);
lock (sync)
{
// Right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARM = invertYM * transformationM;
// Apply Z-axis inverted matrix.
ARM = ARM * invertZM;
}
hasUpdatedARTransformMatrix = true;
break;
}
}
}
}
Mat rgbMat4preview = null;
if (displayCameraPreview)
{
rgbMat4preview = new Mat();
Imgproc.cvtColor(downScaleMat, rgbMat4preview, Imgproc.COLOR_GRAY2RGB);
if (ids.total() > 0)
{
Aruco.drawDetectedMarkers(rgbMat4preview, corners, ids, new Scalar(0, 255, 0));
if (applyEstimationPose)
{
for (int i = 0; i < ids.total(); i++)
{
using (Mat rvec = new Mat(rvecs, new OpenCVForUnity.CoreModule.Rect(0, i, 1, 1)))
using (Mat tvec = new Mat(tvecs, new OpenCVForUnity.CoreModule.Rect(0, i, 1, 1)))
{
// In this example we are processing with RGB color image, so Axis-color correspondences are X: blue, Y: green, Z: red. (Usually X: red, Y: green, Z: blue)
Calib3d.drawFrameAxes(rgbMat4preview, camMatrix, distCoeffs, rvec, tvec, markerLength * 0.5f);
}
}
}
}
}
DebugUtils.TrackTick();
Enqueue(() =>
{
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
if (displayCameraPreview && rgbMat4preview != null)
{
Utils.fastMatToTexture2D(rgbMat4preview, texture);
rgbMat4preview.Dispose();
}
if (applyEstimationPose)
{
if (hasUpdatedARTransformMatrix)
{
hasUpdatedARTransformMatrix = false;
lock (sync)
{
// Apply camera transform matrix.
ARM = cameraToWorldMatrix * invertZM * ARM;
if (enableLerpFilter)
{
arGameObject.SetMatrix4x4(ARM);
}
else
{
ARUtils.SetTransformFromMatrix(arGameObject.transform, ref ARM);
}
}
}
}
grayMat.Dispose();
});
isDetectingInFrameArrivedThread = false;
}