void InitializePatternDetector()
{
// Learning the feature points of the pattern image.
foreach (ReferenceImage image in ReferenceImageList)
{
Texture2D patternTexture = image.Texture;
Mat patternMat = new Mat(patternTexture.height, patternTexture.width, CvType.CV_8UC4);
Utils.texture2DToMat(patternTexture, patternMat);
Pattern pattern = new Pattern();
PatternDetector patternDetector = new PatternDetector(null, null, null, true);
patternDetector.buildPatternFromImage(patternMat, pattern);
patternDetector.train(pattern);
_Patterns[patternTexture.name] = pattern;
_PatternDetectors[patternTexture.name] = patternDetector;
_TextureImages[patternTexture.name] = patternTexture;
}
Debug.Log("**** _Patterns.Count @Initialize(): " + _Patterns.Count);
Debug.Log("**** _PatternDetectors.Count @Initialize(): " + _PatternDetectors.Count);
}
void CreateComponent(InformationObject informationObject, PatternDetector patternDetector)
{
GameObject ARObjects = new GameObject();
ARObjects.name = "ARObjects";
ARObjects.SetActive(false);
GameObject OBJMarkerSettings = new GameObject();
OBJMarkerSettings.name = "MarkerSettings";
MarkerDesign markerDesign = new MarkerDesign();
markerDesign.id = informationObject.IdMarker;
MarkerSettings markerSettings = OBJMarkerSettings.AddComponent <MarkerSettings>();
markerSettings.PatternDetector = patternDetector;
markerSettings.markerDesign = markerDesign;
markerSettings.ARGameObject = ARObjects;
GameObject objectAR = ImportResources.GetGameObject(informationObject.Name);
GameObject objectCreated = Instantiate(objectAR);
objectCreated.AddComponent <RectTransform>();
objectCreated.transform.position = Vector3.zero;
objectCreated.transform.rotation = Quaternion.identity;
objectCreated.layer = 8;
objectCreated.transform.SetParent(ARObjects.transform);
ARObjects.transform.SetParent(OBJMarkerSettings.transform);
OBJMarkerSettings.transform.SetParent(markerList.transform);
}
void CreatComponentMarkerLess()
{
InformationObjectList informationObjectList = JsonUtility.FromJson <InformationObjectList>(PlayerPrefs.GetString(PropertiesModel.NameBDMarkerLessPlayerPrefab));
if (informationObjectList == null)
{
return;
}
foreach (InformationObject informationObject in informationObjectList.ListInformationObject)
{
patternMat = Imgcodecs.imread(informationObject.ImagePathMarkerLess);
if (patternMat.total() > 0)
{
pattern = new Pattern();
PatternDetector patternDetector = new PatternDetector(null, null, null, true);
patternDetector.buildPatternFromImage(patternMat, pattern);
patternDetector.train(pattern);
CreateComponent(informationObject, patternDetector);
}
}
}
static void VideoRun()
{
var cap = new VideoCapture(@"rabit3V.mp4");
Mat MARKER = new Mat("rabits.jpg");
Cv2.Resize(MARKER, MARKER, new OpenCvSharp.Size(500, 500));
Pattern pattern = new Pattern();
PatternTrackingInfo patternTrackinginfo = new PatternTrackingInfo();
PatternDetector detector = new PatternDetector(true);
detector.buildPatternFromImage(MARKER, pattern);
detector.train();
int sleepTime = 1;
using (Window window = new Window("capture"))
using (Mat image = new Mat())
{
while (true)
{
cap.Read(image);
if (image.Empty())
{
break;
}
var img = image.Clone();
if (detector.findPattern(img, patternTrackinginfo))
{
patternTrackinginfo.computePose(pattern);
var temp = patternTrackinginfo.campos.Get <Point3d>(0);
string camposInfo = "x:" + Math.Round(temp.X, 5) + "\ny:" + Math.Round(temp.Y, 5) + "\nz:" + Math.Round(temp.Z, 5);
Cv2.PutText(img,
camposInfo,
new OpenCvSharp.Point(0, 80),
HersheyFonts.HersheyComplex,
0.5,
Scalar.White);
for (int i = 0; i < patternTrackinginfo.points2d.Rows; i++)
{
//Console.WriteLine(" x"+(int)patternTrackinginfo.points2d.Get<Point2d>(i).X+" "+ (int)patternTrackinginfo.points2d.Get<Point2d>(i).Y);
Cv2.Circle(img, (int)patternTrackinginfo.points2d.Get <Point2d>(i).X, (int)patternTrackinginfo.points2d.Get <Point2d>(i).Y, 5, Scalar.Black, 3);
}
}
window.ShowImage(img);
Cv2.WaitKey(sleepTime);
img.Release();
}
}
cap.Release();
}
private void Start()
{
patternImage = TexImage.Create(patternImageSize, PixelFormat.EFormat.BGR32);
drawLayerImage = TexImage.Create(patternImageSize, PixelFormat.EFormat.BGR32);
_patternPatternDetector =
(patternType == PatternType.Charuco ?
(Pattern.Pattern) new Charuco(patternSize, squareLength) :
new LineGrid(patternSize, patternRegion)).GetDetector();
var pattern = (GridPattern)_patternPatternDetector.pattern;
Debug.Log($"Pattern {patternType} Corners: {pattern.Corners}");
Debug.Log($"Pattern {patternType} XGrids: {pattern.XGrids}");
Debug.Log($"Pattern {patternType} YGrids: {pattern.YGrids}");
_patternPatternDetector.pattern.Draw(patternImage);
Debug.Log(_patternPatternDetector.Run(patternImage, drawLayerImage, isDebug));
}
// Use this for initialization
void Start()
{
displayAxesToggle.isOn = displayAxes;
axes.SetActive(displayAxes);
displayCubeToggle.isOn = displayCube;
cube.SetActive(displayCube);
displayVideoToggle.isOn = displayVideo;
video.SetActive(displayVideo);
ARGameObject.gameObject.SetActive(false);
webCamTextureToMatHelper = gameObject.GetComponent <WebCamTextureToMatHelper>();
patternMat = Imgcodecs.imread(Application.persistentDataPath + "/patternImg.jpg");
if (patternMat.total() == 0)
{
OnCapturePatternButtonClick();
}
else
{
Imgproc.cvtColor(patternMat, patternMat, Imgproc.COLOR_BGR2RGB);
Texture2D patternTexture = new Texture2D(patternMat.width(), patternMat.height(), TextureFormat.RGBA32, false);
//To reuse mat, set the flipAfter flag to true.
Utils.matToTexture2D(patternMat, patternTexture, true, 0, true);
Debug.Log("patternMat dst ToString " + patternMat.ToString());
patternRawImage.texture = patternTexture;
patternRawImage.rectTransform.localScale = new Vector3(1.0f, (float)patternMat.height() / (float)patternMat.width(), 1.0f);
pattern = new Pattern();
patternTrackingInfo = new PatternTrackingInfo();
patternDetector = new PatternDetector(null, null, null, true);
patternDetector.buildPatternFromImage(patternMat, pattern);
patternDetector.train(pattern);
webCamTextureToMatHelper.Initialize();
}
}
private void SetMarkerLess()
{
if (markerSettingsMarkerLessActual != null && markerSettingsMarkerLessActual.GetPatternDetector().findPattern(rgbMat, patternTrackingInfo))
{
ShowGameObjectMarkerLess();
}
else
{
markerSettingsMarkerLessActual = null;
foreach (MarkerSettings markerSettings in markerSettingsList)
{
PatternDetector patternDetector = markerSettings.GetPatternDetector();
if (patternDetector != null && patternDetector.findPattern(rgbMat, patternTrackingInfo))
{
markerSettingsMarkerLessActual = markerSettings;
ShowGameObjectMarkerLess();
}
}
}
}
static void imgRun()
{
string path = @"D:\Code_Resource\IMAGE\";
Mat img = new Mat(path + "rabit3.jpg");
Mat MARKER = new Mat(path + "rabits.jpg");
Cv2.Resize(MARKER, MARKER, new OpenCvSharp.Size(500, 500));
Pattern pattern = new Pattern();
PatternTrackingInfo patternTrackinginfo = new PatternTrackingInfo();
PatternDetector detector = new PatternDetector(true);
detector.buildPatternFromImage(MARKER, pattern);
detector.train();
if (detector.findPattern(img, patternTrackinginfo))
{
patternTrackinginfo.computePose(pattern);
var temp = patternTrackinginfo.campos.Get <Point3d>(0);
string camposInfo = "x:" + Math.Round(temp.X, 5) + "y:" + Math.Round(temp.Y, 5) + "z:" + Math.Round(temp.Z, 5);
Cv2.PutText(img,
camposInfo,
new OpenCvSharp.Point(0, 80),
HersheyFonts.HersheyComplex,
0.5,
Scalar.White);
for (int i = 0; i < 4; i++)
{
Cv2.Circle(img, (int)patternTrackinginfo.points2d.Get <Point2d>(i).X, (int)patternTrackinginfo.points2d.Get <Point2d>(i).Y, 5, Scalar.Black, 3);
}
}
Cv2.ImShow("result", img);
Cv2.WaitKey(100000);
img.Release();
}
// Use this for initialization
void Start()
{
Mat patternMat = new Mat(patternTexture.height, patternTexture.width, CvType.CV_8UC4);
Utils.texture2DToMat(patternTexture, patternMat);
Debug.Log("patternMat dst ToString " + patternMat.ToString());
patternRawImage.texture = patternTexture;
patternRawImage.rectTransform.localScale = new Vector3(1.0f, (float)patternMat.height() / (float)patternMat.width(), 1.0f);
Mat imgMat = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC4);
Utils.texture2DToMat(imgTexture, imgMat);
Debug.Log("imgMat dst ToString " + imgMat.ToString());
gameObject.transform.localScale = new Vector3(imgTexture.width, imgTexture.height, 1);
Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
float width = imgMat.width();
float height = imgMat.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;
Mat 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());
MatOfDouble 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);
}
//Learning the feature points of the pattern image.
Pattern pattern = new Pattern();
PatternTrackingInfo patternTrackingInfo = new PatternTrackingInfo();
PatternDetector patternDetector = new PatternDetector(null, null, null, true);
patternDetector.buildPatternFromImage(patternMat, pattern);
patternDetector.train(pattern);
bool patternFound = patternDetector.findPattern(imgMat, patternTrackingInfo);
Debug.Log("patternFound " + patternFound);
if (patternFound)
{
patternTrackingInfo.computePose(pattern, camMatrix, distCoeffs);
Matrix4x4 transformationM = patternTrackingInfo.pose3d;
Debug.Log("transformationM " + transformationM.ToString());
Matrix4x4 invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
Debug.Log("invertZM " + invertZM.ToString());
Matrix4x4 invertYM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
Debug.Log("invertYM " + invertYM.ToString());
if (shouldMoveARCamera)
{
Matrix4x4 ARM = ARGameObject.transform.localToWorldMatrix * invertZM * transformationM.inverse * invertYM;
Debug.Log("ARM " + ARM.ToString());
ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
}
else
{
Matrix4x4 ARM = ARCamera.transform.localToWorldMatrix * invertYM * transformationM * invertZM;
Debug.Log("ARM " + ARM.ToString());
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
}
}
Texture2D texture = new Texture2D(imgMat.cols(), imgMat.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(imgMat, texture);
gameObject.GetComponent <Renderer> ().material.mainTexture = texture;
}
