/// <summary>
/// Updates the display in the editor if <see cref="ArucoObject" /> has been changed.
/// </summary>
protected virtual void Update()
{
#if UNITY_EDITOR
if (!EditorApplication.isPlayingOrWillChangePlaymode)
{
if (lastArucoObjectOnValidate != ArucoObject)
{
if (ArucoObject != null)
{
var currentArucoObject = ArucoObject;
arucoObject = lastArucoObjectOnValidate;
SetArucoObject(currentArucoObject);
}
else
{
ResetImage();
}
lastArucoObjectOnValidate = ArucoObject;
}
// The Aruco Object may initialize after the displayer, so we can display the image the frame after
if (ArucoObject != null && Image == null)
{
UpdateImage();
}
// Keep the image plane at the same position
if (ImagePlane != null)
{
PlaceImagePlane();
}
}
#endif
}
/// <summary>
/// Remove an ArUco object to the <see cref="ArucoObjects"/> list.
/// </summary>
/// <param name="arucoObject">The ArUco object to remove.</param>
public virtual void Remove(ArucoObject arucoObject)
{
// Find the list with the same dictionary than the ArUco object to remove
Dictionary <int, ArucoObject> arucoObjectsCollection = null;
foreach (var arucoObjectDictionary in ArucoObjects)
{
if (arucoObjectDictionary.Key.Name == arucoObject.Dictionary.Name || arucoObjectDictionary.Key == arucoObject.Dictionary)
{
arucoObjectsCollection = arucoObjectDictionary.Value;
break;
}
}
if (arucoObjectsCollection == null)
{
throw new ArgumentException("Can't remove the ArUco object: not found.", "arucoObject");
}
// Remove the ArUco object
arucoObjectsCollection.Remove(arucoObject.ArucoHashCode);
ArucoObjectRemoved(arucoObject);
// Unsuscribe to property events on the aruco object
arucoObject.PropertyUpdating -= ArucoObject_PropertyUpdating;
arucoObject.PropertyUpdated -= ArucoObject_PropertyUpdated;
// If the list is empty, remove it with its dictionary
if (arucoObjectsCollection.Count == 0)
{
ArucoObjects.Remove(arucoObject.Dictionary);
DictionaryRemoved(arucoObject.Dictionary);
}
}
/// <summary>
/// Place and orient an ArUco object.
/// </summary>
protected void PlaceArucoObject(ArucoObject arucoObject, Cv.Core.Vec3d rvec, Cv.Core.Vec3d tvec, int cameraId, float positionFactor = 1f)
{
GameObject arucoGameObject = arucoObject.gameObject;
Camera camera = arucoTracker.ArucoCamera.ImageCameras[cameraId];
// Place and orient the object to match the marker
Transform arucoObjectTransform = arucoGameObject.transform;
arucoGameObject.transform.SetParent(camera.transform);
arucoGameObject.transform.localPosition = tvec.ToPosition() * positionFactor;
arucoGameObject.transform.localRotation = rvec.ToRotation();
arucoGameObject.transform.SetParent(arucoObjectTransform);
// Adjust the object position
Vector3 cameraOpticalCenter = arucoTracker.ArucoCamera.CameraParameters.OpticalCenters[cameraId];
Vector3 imageCenter = new Vector3(0.5f, 0.5f, arucoGameObject.transform.position.z);
Vector3 opticalCenter = new Vector3(cameraOpticalCenter.x, cameraOpticalCenter.y, arucoGameObject.transform.position.z);
Vector3 opticalShift = camera.ViewportToWorldPoint(opticalCenter) - camera.ViewportToWorldPoint(imageCenter);
// TODO: fix the position shift orientation
Vector3 positionShift = opticalShift // Take account of the optical center not in the image center
+ arucoGameObject.transform.up * arucoGameObject.transform.localScale.y / 2; // Move up the object to coincide with the marker
arucoGameObject.transform.localPosition += positionShift;
//print(arucoGameObject.name + " - imageCenter: " + imageCenter.ToString("F3") + "; opticalCenter: " + opticalCenter.ToString("F3")
// + "; positionShift: " + (arucoGameObject.transform.rotation * opticalShift).ToString("F4"));
arucoGameObject.SetActive(true);
}
/// <summary>
/// Before the ArUco object's properties will be updated, restore the game object's scale of this object.
/// </summary>
public virtual void RestoreGameObjectScale(ArucoObject arucoObject)
{
if (arucoObject.MarkerSideLength != 0)
{
arucoObject.gameObject.transform.localScale /= arucoObject.MarkerSideLength;
}
}
protected override void PlaceImagePlane()
{
base.PlaceImagePlane();
if (ImagePlane != null && ArucoObject != null)
{
var scale = ArucoObject.GetGameObjectScale();
ImagePlane.transform.localScale = pixelsToMetersFactor * new Vector3(scale.x, scale.z, scale.y);
}
}
/// <summary>
/// Update the gameObject's transform of an ArUco object.
/// </summary>
/// <param name="arucoObject">The ArUco object to place.</param>
/// <param name="rvec">The estimated rotation vector of the ArUco object.</param>
/// <param name="tvec">The estimated translation vector of the ArUco object.</param>
/// <param name="cameraId">The id of the camera to use. The gameObject is placed and oriented relative to this camera.</param>
/// <param name="positionFactor">Factor on the position vector.</param>
protected void PlaceArucoObject(ArucoObject arucoObject, Cv.Vec3d rvec, Cv.Vec3d tvec, int cameraId, float positionFactor = 1f)
{
GameObject arucoGameObject = arucoObject.gameObject;
arucoGameObject.transform.SetParent(arucoTracker.ArucoCamera.ImageCameras[cameraId].transform);
arucoGameObject.transform.localPosition = tvec.ToPosition() * positionFactor;
arucoGameObject.transform.localRotation = rvec.ToRotation();
arucoGameObject.SetActive(true);
}
/// <summary>
/// Update the gameObject's transform of an ArUco object.
/// </summary>
/// <param name="arucoObject">The ArUco object to place.</param>
/// <param name="rvec">The estimated rotation vector of the ArUco object.</param>
/// <param name="tvec">The estimated translation vector of the ArUco object.</param>
/// <param name="cameraId">The id of the camera to use. The gameObject is placed and oriented relative to this camera.</param>
/// <param name="positionFactor">Factor on the position vector.</param>
protected void PlaceArucoObject(ArucoObject arucoObject, Cv.Vec3d rvec, Cv.Vec3d tvec, int cameraId, float positionFactor = 1f)
{
GameObject arucoGameObject = arucoObject.gameObject;
arucoGameObject.transform.SetParent(arucoTracker.ArucoCamera.ImageCameras[cameraId].transform);
arucoGameObject.transform.localPosition = tvec.ToPosition() * positionFactor
+ arucoGameObject.transform.up * arucoGameObject.transform.localScale.y / 2; // Move up the object to coincide with the marker;
arucoGameObject.transform.localRotation = rvec.ToRotation();
arucoGameObject.SetActive(true);
}
/// <summary>
/// Adjust the game object's scale of the ArUco object according to its MarkerSideLength property.
/// </summary>
/// <param name="arucoObject"></param>
protected override void ArucoObject_PropertyUpdated(ArucoObject arucoObject)
{
base.ArucoObject_PropertyUpdated(arucoObject);
if (arucoObject.GetType() == typeof(ArucoMarker))
{
MarkerTracker.AdjustGameObjectScale(arucoObject);
}
else
{
additionalTrackers[arucoObject.GetType()].AdjustGameObjectScale(arucoObject);
}
}
/// <summary>
/// Places, rotates and scales the image plane.
/// </summary>
protected virtual void PlaceImagePlane()
{
if (ArucoObject != null)
{
var scale = ArucoObject.GetGameObjectScale();
ImagePlane.transform.SetParent(null);
ImagePlane.transform.localScale = new Vector3(scale.x, scale.z, scale.y); // Because it's rotated up
ImagePlane.transform.SetParent(transform);
}
ImagePlane.transform.localPosition = Vector3.zero;
ImagePlane.transform.forward = -transform.up; // Rotated up
}
protected virtual void SetArucoObject(ArucoObject arucoObject)
{
if (ArucoObject != null)
{
ArucoObject.PropertyUpdated -= ArucoObject_PropertyUpdated;
}
this.arucoObject = arucoObject;
if (ArucoObject != null)
{
ArucoObject.PropertyUpdated += ArucoObject_PropertyUpdated;
}
}
// ArucoObjectController methods
/// <summary>
/// Activates the tracker associated with the <paramref name="arucoObject"/> and configure its gameObject.
/// </summary>
/// <param name="arucoObject">The added ArUco object.</param>
protected virtual void ArucoObjectsController_ArucoObjectAdded(ArucoObject arucoObject)
{
if (arucoObject.GetType() != typeof(ArucoMarker))
{
ArucoObjectTracker tracker = null;
if (!additionalTrackers.TryGetValue(arucoObject.GetType(), out tracker))
{
throw new ArgumentException("No tracker found for the type '" + arucoObject.GetType() + "'.", "arucoObject");
}
else if (!tracker.IsActivated)
{
tracker.Activate(this);
}
}
}
// ArucoObjectDisplayer methods
/// <summary>
/// Calls <see cref="ArucoObjectDisplayer.Create"/>, <see cref="ArucoObjectDisplayer.Display"/> and <see cref="ArucoObjectDisplayer.Save"/>.
/// </summary>
protected override void ArucoObject_PropertyUpdated(ArucoObject arucoObject)
{
base.ArucoObject_PropertyUpdated(arucoObject);
#if UNITY_EDITOR
if (UnityEditor.EditorApplication.isPlayingOrWillChangePlaymode)
{
#endif
if (SaveImage)
{
Save();
}
#if UNITY_EDITOR
}
#endif
}
// Methods
/// <summary>
/// Save the <see cref="ImageTexture"/> on a image file in the <see cref="OutputFolder"/> with <see cref="ImageFilename"/> as filename.
/// </summary>
public virtual void Save()
{
if (ImageFilename == null || ImageFilename.Length == 0)
{
ImageFilename = ArucoObject.GenerateName() + ".png";
}
string outputFolderPath = Path.Combine((Application.isEditor) ? Application.dataPath : Application.persistentDataPath, OutputFolder);
if (!Directory.Exists(outputFolderPath))
{
Directory.CreateDirectory(outputFolderPath);
}
string imageFilePath = outputFolderPath + ImageFilename;
File.WriteAllBytes(imageFilePath, ImageTexture.EncodeToPNG());
}
// Methods
/// <summary>
/// Creates <see cref="Image" /> and <see cref="ImageTexture" /> from <see cref="ArucoObject" />.
/// </summary>
public virtual void CreateImage()
{
Image = ArucoObject.Draw();
if (Image != null)
{
// Vertical flip to correctly display the image on the texture
var verticalFlipCode = 0;
var imageForTexture = Image.Clone();
Cv.Flip(imageForTexture, imageForTexture, verticalFlipCode);
// Load the image to the texture
var markerDataSize = (int)(Image.ElemSize() * Image.Total());
ImageTexture = new Texture2D(Image.Cols, Image.Rows, TextureFormat.RGB24, false);
ImageTexture.LoadRawTextureData(imageForTexture.DataIntPtr, markerDataSize);
ImageTexture.Apply();
}
}
// ArucoObjectController methods
/// <summary>
/// Suscribe to the property events of an ArUco object, and hide its gameObject since it has not been detected yet.
/// </summary>
/// <param name="arucoObject">The new ArUco object to suscribe.</param>
protected virtual void ArucoObjectController_ArucoObjectAdded(ArucoObject arucoObject)
{
ArucoObjectTracker tracker = null;
if (arucoObject.GetType() != typeof(ArucoMarker) && !additionalTrackers.TryGetValue(arucoObject.GetType(), out tracker))
{
Debug.LogError("No tracker found for the type '" + arucoObject.GetType() + "'. Removing the object '" + arucoObject.gameObject.name +
"' from the tracking list.");
Remove(arucoObject);
return;
}
if (tracker != null && !tracker.IsActivated)
{
tracker.Activate(this);
}
arucoObject.gameObject.SetActive(false);
}
// MonoBehaviour methods
/// <summary>
/// Calls <see cref="SetArucoObject"/> to display the <see cref="ArucoObject"/> only in play mode.
/// </summary>
protected virtual void Start()
{
#if UNITY_EDITOR
if (UnityEditor.EditorApplication.isPlayingOrWillChangePlaymode)
{
#endif
if (DisplayInPlayMode && ArucoObject)
{
var currentArucoObject = ArucoObject;
arucoObject = null;
SetArucoObject(currentArucoObject);
}
else
{
enabled = false;
}
#if UNITY_EDITOR
}
#endif
}
// Methods
/// <summary>
/// Add an ArUco object to the <see cref="ArucoObjects"/> list.
/// </summary>
/// <param name="arucoObject">The ArUco object to add.</param>
public virtual void Add(ArucoObject arucoObject)
{
// Make sure the object is started and initialized
arucoObject.gameObject.SetActive(true);
// Try to find a list with the same dictionary than the new ArUco object
Dictionary <int, ArucoObject> arucoObjectsCollection = null;
foreach (var arucoObjectDictionary in ArucoObjects)
{
if (arucoObjectDictionary.Key.Name == arucoObject.Dictionary.Name || arucoObjectDictionary.Key == arucoObject.Dictionary)
{
arucoObjectsCollection = arucoObjectDictionary.Value;
break;
}
}
// If not found, create the new list attached to this dictionary
if (arucoObjectsCollection == null)
{
arucoObjectsCollection = new Dictionary <int, ArucoObject>();
ArucoObjects.Add(arucoObject.Dictionary, arucoObjectsCollection);
DictionaryAdded(arucoObject.Dictionary);
}
// Return if the ArUco object is already in the list
else
{
if (arucoObjectsCollection.ContainsKey(arucoObject.ArucoHashCode))
{
return;
}
}
// Suscribe to property events on the aruco object
arucoObject.PropertyUpdating += ArucoObject_PropertyUpdating;
arucoObject.PropertyUpdated += ArucoObject_PropertyUpdated;
// Add the ArUco object to the list
arucoObjectsCollection.Add(arucoObject.ArucoHashCode, arucoObject);
ArucoObjectAdded(arucoObject);
}
protected virtual void ArucoObject_PropertyUpdated(ArucoObject arucoObject)
{
Create();
if (DrawImage)
{
Draw();
}
#if UNITY_EDITOR
if (Application.isPlaying)
{
#endif
if (SaveImage)
{
Save();
}
#if UNITY_EDITOR
}
#endif
}
/// <summary>
/// Deactivates the tracker associated with the <paramref name="arucoObject" /> if it was the last one of this type.
/// </summary>
/// <param name="arucoObject">The removed</param>
protected virtual void ArucoObjectsController_ArucoObjectRemoved(ArucoObject arucoObject)
{
ArucoObjectTracker tracker = null;
if (arucoObject.GetType() == typeof(ArucoMarker) ||
!additionalTrackers.TryGetValue(arucoObject.GetType(), out tracker))
{
return;
}
if (tracker.IsActivated)
{
var deactivateTracker = true;
// Try to find at leat one object of the same type as arucoObject
foreach (var arucoObjectDictionary in ArucoObjects)
{
foreach (var arucoObject2 in arucoObjectDictionary.Value)
{
if (arucoObject2.GetType() == arucoObject.GetType())
{
deactivateTracker = false;
break;
}
}
if (!deactivateTracker)
{
break;
}
}
if (deactivateTracker)
{
tracker.Deactivate();
}
}
}
// ArucoObjectController methods
/// <summary>
/// Activate the tracker associated with the <paramref name="arucoObject"/> and configure its gameObject.
/// </summary>
/// <param name="arucoObject">The added ArUco object.</param>
protected virtual void ArucoObjectsController_ArucoObjectAdded(ArucoObject arucoObject)
{
if (arucoObject.GetType() == typeof(ArucoMarker))
{
return;
}
// Activate the tracker if necessary
ArucoObjectTracker tracker = null;
if (!additionalTrackers.TryGetValue(arucoObject.GetType(), out tracker))
{
throw new System.ArgumentException("No tracker found for the type '" + arucoObject.GetType() + "'.", "arucoObject");
}
else if (!tracker.IsActivated)
{
tracker.Activate(this);
}
// Configure the game object
AdjustGameObjectScale(arucoObject);
arucoObject.gameObject.SetActive(false);
}
// ArucoObjectDisplayer methods
/// <summary>
/// Calls <see cref="ArucoObjectDisplayer.UpdateImage"/> then <see cref="SaveImage"/> if <see cref="AutoSaveImage"/>
/// is set. Also set <see cref="ImageFilename"/> in the editor.
/// </summary>
protected override void UpdateImage()
{
base.UpdateImage();
#if UNITY_EDITOR
if (automaticFilename)
{
ImageFilename = ArucoObject.GenerateName();
}
#endif
#if UNITY_EDITOR
if (UnityEditor.EditorApplication.isPlayingOrWillChangePlaymode)
{
#endif
if (AutoSaveImage)
{
SaveImage();
}
#if UNITY_EDITOR
}
#endif
}
/// <summary>
/// Updates the display in the Unity Editor if arucoObject has been changed.
/// </summary>
protected virtual void Update()
{
#if UNITY_EDITOR
if (!UnityEditor.EditorApplication.isPlayingOrWillChangePlaymode)
{
if (lastArucoObjectOnValidate != ArucoObject)
{
if (ArucoObject != null)
{
var currentArucoObject = ArucoObject;
arucoObject = lastArucoObjectOnValidate;
SetArucoObject(currentArucoObject);
}
else
{
Reset();
}
lastArucoObjectOnValidate = ArucoObject;
}
PlaceImagePlane();
}
#endif
}
/// <summary>
/// Add again the updated ArUco object.
/// </summary>
/// <param name="arucoObject">The updated ArUco object.</param>
// TODO: find a more elegant way to adjust the aruco object list from the aruco object's dictionary and hashcode changes.
protected virtual void ArucoObject_PropertyUpdated(ArucoObject arucoObject)
{
Add(arucoObject);
}
// Start is called before the first frame update
void Start()
{
ao = MarkerObject.GetComponent <ArucoObject>();
text = GetComponent <TextMeshProUGUI>();
}
/// <summary>
/// Before the ArUco object's properties will be updated, remove it from the ArUco objects list.
/// </summary>
/// <param name="arucoObject">The updated ArUco object.</param>
protected virtual void ArucoObject_PropertyUpdating(ArucoObject arucoObject)
{
Remove(arucoObject);
}
/// <summary>
/// Adjust the game object's scale of the ArUco object according to its MarkerSideLength property.
/// </summary>
protected override void ArucoObject_PropertyUpdated(ArucoObject arucoObject)
{
AdjustGameObjectScale(arucoObject);
}
/// <summary>
/// Calls <see cref="Create"/> and <see cref="Display"/>.
/// </summary>
protected virtual void ArucoObject_PropertyUpdated(ArucoObject arucoObject)
{
Create();
Display();
}
protected virtual void ArucoObjectController_ArucoObjectRemoved(ArucoObject arucoObject)
{
// TODO
}
/// <summary>
/// Calls <see cref="UpdateImage" />.
/// </summary>
protected virtual void ArucoObject_PropertyUpdated(ArucoObject arucoObject)
{
UpdateImage();
}
