/// <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); 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 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; } else { Camera.main.orthographicSize = height / 2; } grayMat = new Mat(webCamTextureMat.rows(), webCamTextureMat.cols(), CvType.CV_8UC1); faces = new MatOfRect(); }
/// <summary> /// Raises the webcam 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); 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); } rgbMat = new Mat(webCamTextureMat.rows(), webCamTextureMat.cols(), CvType.CV_8UC3); ids = new Mat(); corners = new List <Mat> (); rejected = new List <Mat> (); rvecs = new Mat(); tvecs = new Mat(); rotMat = new Mat(3, 3, CvType.CV_64FC1); transformationM = new Matrix4x4(); 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()); detectorParams = DetectorParameters.create(); dictionary = Aruco.getPredefinedDictionary(Aruco.DICT_6X6_250); // if WebCamera is frontFaceing, flip Mat. if (webCamTextureToMatHelper.GetWebCamDevice().isFrontFacing) { webCamTextureToMatHelper.flipHorizontal = true; } }
/// <summary> /// Raises the webcam 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); 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); if (fpsMonitor != null) { fpsMonitor.Add("width", webCamTextureMat.width().ToString()); fpsMonitor.Add("height", webCamTextureMat.height().ToString()); fpsMonitor.Add("orientation", Screen.orientation.ToString()); } float width = webCamTextureMat.width(); float height = webCamTextureMat.height(); 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; } else { Camera.main.orthographicSize = height / 2; } Mat downScaleMat = imageOptimizationHelper.GetDownScaleMat((webCamTextureMat)); gray1Mat = new Mat(downScaleMat.rows(), downScaleMat.cols(), CvType.CV_8UC1); gray2Mat = new Mat(downScaleMat.rows(), downScaleMat.cols(), CvType.CV_8UC1); int ksize = 7; float[] kernelData = new float[ksize * ksize]; for (int i = 0; i < kernelData.Length; i++) { if (i == kernelData.Length / 2) { kernelData [i] = (-(kernelData.Length - 1)); } else { kernelData [i] = 1; } } kernel = new Mat(ksize, ksize, CvType.CV_32F); kernel.put(0, 0, kernelData); byteArray = new byte[downScaleMat.width() * downScaleMat.height()]; subdiv = new Subdiv2D(); }
/// <summary> /// Raises the webcam 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.RGB24, 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); if (fpsMonitor != null) { fpsMonitor.Add("width", webCamTextureMat.width().ToString()); fpsMonitor.Add("height", webCamTextureMat.height().ToString()); fpsMonitor.Add("orientation", Screen.orientation.ToString()); } 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 camera parameters. double fx; double fy; double cx; double cy; string loadDirectoryPath = Path.Combine(Application.persistentDataPath, "ArUcoCameraCalibrationExample"); string calibratonDirectoryName = "camera_parameters" + width + "x" + height; string loadCalibratonFileDirectoryPath = Path.Combine(loadDirectoryPath, calibratonDirectoryName); string loadPath = Path.Combine(loadCalibratonFileDirectoryPath, calibratonDirectoryName + ".xml"); if (useStoredCameraParameters && File.Exists(loadPath)) { CameraParameters param; XmlSerializer serializer = new XmlSerializer(typeof(CameraParameters)); using (var stream = new FileStream(loadPath, FileMode.Open)) { param = (CameraParameters)serializer.Deserialize(stream); } camMatrix = param.GetCameraMatrix(); distCoeffs = new MatOfDouble(param.GetDistortionCoefficients()); fx = param.camera_matrix [0]; fy = param.camera_matrix [4]; cx = param.camera_matrix [2]; cy = param.camera_matrix [5]; Debug.Log("Loaded CameraParameters from a stored XML file."); Debug.Log("loadPath: " + loadPath); } else { int max_d = (int)Mathf.Max(width, height); fx = max_d; fy = max_d; cx = width / 2.0f; 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); distCoeffs = new MatOfDouble(0, 0, 0, 0); Debug.Log("Created a dummy CameraParameters."); } Debug.Log("camMatrix " + camMatrix.dump()); Debug.Log("distCoeffs " + distCoeffs.dump()); // calibration camera matrix values. 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); } // Display objects near the camera. arCamera.nearClipPlane = 0.01f; rgbMat = new Mat(webCamTextureMat.rows(), webCamTextureMat.cols(), CvType.CV_8UC3); ids = new Mat(); corners = new List <Mat> (); rejectedCorners = new List <Mat> (); rvecs = new Mat(); tvecs = new Mat(); rotMat = new Mat(3, 3, CvType.CV_64FC1); detectorParams = DetectorParameters.create(); dictionary = Aruco.getPredefinedDictionary((int)dictionaryId); rvec = new Mat(); tvec = new Mat(); recoveredIdxs = new Mat(); gridBoard = GridBoard.create(gridBoradMarkersX, gridBoradMarkersY, gridBoradMarkerLength, gridBoradMarkerSeparation, dictionary, gridBoradMarkerFirstMarker); charucoCorners = new Mat(); charucoIds = new Mat(); charucoBoard = CharucoBoard.create(chArUcoBoradSquaresX, chArUcoBoradSquaresY, chArUcoBoradSquareLength, chArUcoBoradMarkerLength, dictionary); diamondCorners = new List <Mat> (); diamondIds = new Mat(1, 1, CvType.CV_32SC4); diamondIds.put(0, 0, new int[] { diamondId1, diamondId2, diamondId3, diamondId4 }); // 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); 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); if (fpsMonitor != null) { fpsMonitor.Add("width", webCamTextureMat.width().ToString()); fpsMonitor.Add("height", webCamTextureMat.height().ToString()); fpsMonitor.Add("orientation", Screen.orientation.ToString()); fpsMonitor.consoleText = "Please touch the area of the open hand."; } 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()); distCoeff = new MatOfDouble(0, 0, 0, 0); Debug.Log("distCoeffs " + distCoeff.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); } 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()); detector = new ColorBlobDetector(); spectrumMat = new Mat(); blobColorRgba = new Scalar(255); blobColorHsv = new Scalar(255); SPECTRUM_SIZE = new Size(200, 64); CONTOUR_COLOR = new Scalar(255, 0, 0, 255); CONTOUR_COLOR_WHITE = new Scalar(255, 255, 255, 255); rectPoints = new MatOfPoint2f(); }