void Update()
{
Image camImg = CameraDevice.Instance.GetCameraImage(Image.PIXEL_FORMAT.RGBA8888);
if (camImg != null)
{
if (camImageMat == null)
{
camImageMat = new Mat(camImg.Height, camImg.Width, CvType.CV_8UC4); //Note: rows=height, cols=width
}
camImageMat.put(0, 0, camImg.Pixels);
// Read from videoCap and save in mat
videoCapture.read(frontCameraImgMat);
Face.getFacesHAAR(frontCameraImgMat, faces, faceXML);
Debug.Log("Faces " + faces.height());
if (faces.height() > 0)
{
for (var i = 0; i < faces.height(); i++)
{
double[] faceRect = faces.get(i, 0);
Point faceRectPoint1 = new Point(faceRect [0], faceRect [1]);
Point faceRectPoint2 = new Point(faceRect [0] + faceRect [2], faceRect [1] + faceRect [3]);
Imgproc.rectangle(frontCameraImgMat, faceRectPoint1, faceRectPoint2, new Scalar(0, 0, 255), 5);
roi = new OpenCVForUnity.Rect(faceRectPoint1, faceRectPoint2);
}
faceWithMarkings = new Mat(frontCameraImgMat, roi);
Face.getFacesHAAR(faceWithMarkings, eyes, eyeXML);
Debug.Log("Eyes " + eyes.height());
if (eyes.height() != 0)
{
for (var i = 0; i < eyes.height(); i++)
{
if (i < 2)
{
double[] eyeRect = eyes.get(i, 0);
Point eyeCenter = new Point(eyeRect [2] * 0.5F + eyeRect [0], eyeRect [3] * 0.5F + eyeRect [1]);
int radius = (int)Mathf.Sqrt(Mathf.Pow(((float)eyeRect [2]) * 0.5F, 2F) + Mathf.Pow(((float)eyeRect [3]) * 0.5F, 2F));
Imgproc.circle(faceWithMarkings, new Point(eyeCenter.x, eyeCenter.y), radius, new Scalar(255, 0, 0), 5);
}
}
}
MatDisplay.MatToTexture(faceWithMarkings, ref unwarpedTexture);
faceTargetPlane.GetComponent <Renderer> ().material.mainTexture = unwarpedTexture;
}
}
MatDisplay.DisplayMat(camImageMat, MatDisplaySettings.FULL_BACKGROUND);
MatDisplay.DisplayMat(frontCameraImgMat, MatDisplaySettings.BOTTOM_LEFT);
}
void Update()
{
//Access camera image provided by Vuforia
Image camImg = CameraDevice.Instance.GetCameraImage(Image.PIXEL_FORMAT.RGBA8888);
if (camImg != null)
{
if (camImageMat == null)
{
//First time -> instantiate camera image specific data
camImageMat = new Mat(camImg.Height, camImg.Width, CvType.CV_8UC4); //Note: rows=height, cols=width
}
camImageMat.put(0, 0, camImg.Pixels);
//Replace with your own projection matrix. This approach only uses fy.
cam.fieldOfView = 2 * Mathf.Atan(camImg.Height * 0.5f / fy) * Mathf.Rad2Deg;
Vector3 worldPnt1 = corner1.transform.position;
Vector3 worldPnt2 = corner2.transform.position;
Vector3 worldPnt3 = corner3.transform.position;
Vector3 worldPnt4 = corner4.transform.position;
//See lecture slides
Matrix4x4 Rt = cam.transform.worldToLocalMatrix;
Matrix4x4 A = Matrix4x4.identity;
A.m00 = fx;
A.m11 = fy;
A.m02 = cx;
A.m12 = cy;
Matrix4x4 worldToImage = A * Rt;
Vector3 hUV1 = worldToImage.MultiplyPoint3x4(worldPnt1);
Vector3 hUV2 = worldToImage.MultiplyPoint3x4(worldPnt2);
Vector3 hUV3 = worldToImage.MultiplyPoint3x4(worldPnt3);
Vector3 hUV4 = worldToImage.MultiplyPoint3x4(worldPnt4);
//hUV are the image coordinates in 2D homogeneous coordinates, we need to normalize, i.e., divide by Z
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;
//don't forget to alloc before putting values into a MatOfPoint2f
imagePoints.put(0, 0, uv1.x, camImg.Height - uv1.y);
imagePoints.put(1, 0, uv2.x, camImg.Height - uv2.y);
imagePoints.put(2, 0, uv3.x, camImg.Height - uv3.y);
imagePoints.put(3, 0, uv4.x, camImg.Height - uv4.y);
//Debug draw points
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));
Imgproc.circle(camImageMat, imgPnt1, 5, new Scalar(255, 0, 0, 255));
Imgproc.circle(camImageMat, imgPnt2, 5, new Scalar(0, 255, 0, 255));
Imgproc.circle(camImageMat, imgPnt3, 5, new Scalar(0, 0, 255, 255));
Imgproc.circle(camImageMat, imgPnt4, 5, new Scalar(255, 255, 0, 255));
Scalar lineCl = new Scalar(200, 120, 0, 160);
Imgproc.line(camImageMat, imgPnt1, imgPnt2, lineCl);
Imgproc.line(camImageMat, imgPnt2, imgPnt3, lineCl);
Imgproc.line(camImageMat, imgPnt3, imgPnt4, lineCl);
Imgproc.line(camImageMat, imgPnt4, imgPnt1, lineCl);
var destPoints = new MatOfPoint2f(); // Creating a destination
destPoints.alloc(4);
destPoints.put(0, 0, width, 0);
destPoints.put(1, 0, width, height);
destPoints.put(2, 0, 0, height);
destPoints.put(3, 0, 0, 0);
var homography = Calib3d.findHomography(imagePoints, destPoints); // Finding the image
Imgproc.warpPerspective(camImageMat, destPoints, homography, new Size(camImageMat.width(), camImageMat.height()));
unwarpedTexture = unwarpedTextureClean;
MatDisplay.MatToTexture(destPoints, ref unwarpedTexture); // Take output and transform into texture
if (Input.GetKey("space"))
{
fish.GetComponent <Renderer>().material.mainTexture = unwarpedTexture;
}
else
{
fish.GetComponent <Renderer>().material.mainTexture = tex;
}
MatDisplay.DisplayMat(destPoints, MatDisplaySettings.BOTTOM_LEFT);
MatDisplay.DisplayMat(camImageMat, MatDisplaySettings.FULL_BACKGROUND);
}
}
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
Vector3 worldPnt1 = corner1.transform.position;
Vector3 worldPnt2 = corner2.transform.position;
Vector3 worldPnt3 = corner3.transform.position;
Vector3 worldPnt4 = 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(texMat, 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;
}
}