private void EstimatePoseMarkerLess(GameObject ARGameObject)
{
patternTrackingInfo.computePose(pattern, camMatrix, distCoeffsMarkerLess, rgbMat);
transformationM = patternTrackingInfo.pose3d;
Matrix4x4 ARM = ARCamera.transform.localToWorldMatrix * invertYM * transformationM * invertYM;
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
ARGameObject.SetActive(true);
}
private void UpdateARObjectTransform(Mat rvec, Mat tvec, GameObject ARGameObject)
{
// Convert to unity pose data.
double[] rvecArr = new double[3];
rvec.get(0, 0, rvecArr);
double[] tvecArr = new double[3];
tvec.get(0, 0, tvecArr);
PoseData poseData = ARUtils.ConvertRvecTvecToPoseData(rvecArr, tvecArr);
ARUtils.LowpassPoseData(ref oldPoseData, ref poseData, positionLowPass, rotationLowPass);
oldPoseData = poseData;
Matrix4x4 matrix = Matrix4x4.TRS(poseData.pos, poseData.rot, new Vector3(0.15f, 0.15f, 0.15f));
Matrix4x4 ARM = ARCamera.transform.localToWorldMatrix * invertYM * matrix * invertYM;
ARGameObject.SetActive(true);
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
markerDetector.processFrame(rgbaMat, 1);
foreach (MarkerSettings settings in markerSettings)
{
settings.setAllARGameObjectsDisable();
}
if (shouldMoveARCamera)
{
List <Marker> findMarkers = markerDetector.getFindMarkers();
if (findMarkers.Count > 0)
{
Marker marker = findMarkers [0];
if (markerSettings.Length > 0)
{
MarkerSettings settings = markerSettings [0];
if (marker.id == settings.getMarkerId())
{
transformationM = marker.transformation;
// Debug.Log ("transformationM " + transformationM.ToString ());
GameObject ARGameObject = settings.getARGameObject();
if (ARGameObject != null)
{
ARM = ARGameObject.transform.localToWorldMatrix * invertZM * transformationM.inverse * invertYM;
//Debug.Log ("arM " + arM.ToString ());
ARGameObject.SetActive(true);
ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
}
}
}
}
}
else
{
List <Marker> findMarkers = markerDetector.getFindMarkers();
for (int i = 0; i < findMarkers.Count; i++)
{
Marker marker = findMarkers [i];
foreach (MarkerSettings settings in markerSettings)
{
if (marker.id == settings.getMarkerId())
{
transformationM = marker.transformation;
// Debug.Log ("transformationM " + transformationM.ToString ());
ARM = ARCamera.transform.localToWorldMatrix * invertYM * transformationM * invertZM;
//Debug.Log ("arM " + arM.ToString ());
GameObject ARGameObject = settings.getARGameObject();
if (ARGameObject != null)
{
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
ARGameObject.SetActive(true);
}
}
}
}
}
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
UpdateARCameraTransform();
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
markerDetector.processFrame(rgbaMat, 1);
foreach (MarkerSettings settings in markerSettings)
{
if (!settings.shouldNotSetToInactivePerFrame)
{
settings.setAllARGameObjectsDisable();
}
else
{
GameObject ARGameObject = settings.getARGameObject();
if (ARGameObject != null)
{
DelayableSetActive obj = ARGameObject.GetComponent <DelayableSetActive>();
if (obj != null)
{
obj.SetActive(false, 0.5f);
}
}
}
}
List <Marker> findMarkers = markerDetector.getFindMarkers();
for (int i = 0; i < findMarkers.Count; i++)
{
Marker marker = findMarkers[i];
foreach (MarkerSettings settings in markerSettings)
{
if (marker.id == settings.getMarkerId())
{
Matrix4x4 transformationM = marker.transformation;
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
// https://stackoverflow.com/questions/30234945/change-handedness-of-a-row-major-4x4-transformation-matrix
Matrix4x4 ARM = invertYM * transformationM * invertYM;
// Apply Y-axis and Z-axis refletion matrix. (Adjust the posture of the AR object)
ARM = ARM * invertYM * invertZM;
ARM = ARCamera.transform.localToWorldMatrix * ARM;
//Debug.Log("ARM " + ARM.ToString());
GameObject ARGameObject = settings.getARGameObject();
if (ARGameObject != null)
{
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
DelayableSetActive obj = ARGameObject.GetComponent <DelayableSetActive>();
if (obj != null)
{
obj.SetActive(true);
}
else
{
ARGameObject.SetActive(true);
}
}
}
}
}
Utils.fastMatToTexture2D(rgbaMat, texture);
}
}
// Use this for initialization
void Start()
{
gameObject.transform.localScale = new Vector3(imgTexture.width, imgTexture.height, 1);
Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
Mat imgMat = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC4);
Utils.texture2DToMat(imgTexture, imgMat);
Debug.Log("imgMat dst ToString " + imgMat.ToString());
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
if (widthScale < heightScale)
{
ARCamera.fieldOfView = (float)(fovx[0] * fovXScale);
}
else
{
ARCamera.fieldOfView = (float)(fovy[0] * fovYScale);
}
MarkerDesign[] markerDesigns = new MarkerDesign[markerSettings.Length];
for (int i = 0; i < markerDesigns.Length; i++)
{
markerDesigns[i] = markerSettings[i].markerDesign;
}
MarkerDetector markerDetector = new MarkerDetector(camMatrix, distCoeffs, markerDesigns);
markerDetector.processFrame(imgMat, 1);
foreach (MarkerSettings settings in markerSettings)
{
settings.setAllARGameObjectsDisable();
}
if (shouldMoveARCamera)
{
List <Marker> findMarkers = markerDetector.getFindMarkers();
if (findMarkers.Count > 0)
{
Marker marker = findMarkers[0];
if (markerSettings.Length > 0)
{
MarkerSettings settings = markerSettings[0];
if (marker.id == settings.getMarkerId())
{
Matrix4x4 transformationM = marker.transformation;
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());
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
// https://stackoverflow.com/questions/30234945/change-handedness-of-a-row-major-4x4-transformation-matrix
Matrix4x4 ARM = invertYM * transformationM * invertYM;
// Apply Y-axis and Z-axis refletion matrix. (Adjust the posture of the AR object)
ARM = ARM * invertYM * invertZM;
GameObject ARGameObject = settings.getARGameObject();
if (ARGameObject != null)
{
ARM = ARGameObject.transform.localToWorldMatrix * ARM.inverse;
Debug.Log("ARM " + ARM.ToString());
ARGameObject.SetActive(true);
ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
}
}
}
}
}
else
{
List <Marker> findMarkers = markerDetector.getFindMarkers();
for (int i = 0; i < findMarkers.Count; i++)
{
Marker marker = findMarkers[i];
foreach (MarkerSettings settings in markerSettings)
{
if (marker.id == settings.getMarkerId())
{
Matrix4x4 transformationM = marker.transformation;
Debug.Log("transformationM " + transformationM.ToString());
Matrix4x4 invertYM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
Debug.Log("invertYM " + invertYM.ToString());
Matrix4x4 invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
Debug.Log("invertZM " + invertZM.ToString());
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
// https://stackoverflow.com/questions/30234945/change-handedness-of-a-row-major-4x4-transformation-matrix
Matrix4x4 ARM = invertYM * transformationM * invertYM;
// Apply Y-axis and Z-axis refletion matrix. (Adjust the posture of the AR object)
ARM = ARM * invertYM * invertZM;
ARM = ARCamera.transform.localToWorldMatrix * ARM;
Debug.Log("ARM " + ARM.ToString());
GameObject ARGameObject = settings.getARGameObject();
if (ARGameObject != null)
{
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
ARGameObject.SetActive(true);
}
}
}
}
}
Texture2D texture = new Texture2D(imgMat.cols(), imgMat.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(imgMat, texture);
gameObject.GetComponent <Renderer>().material.mainTexture = texture;
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
UpdateARCameraTransform();
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
markerDetector.processFrame(rgbaMat, 1);
foreach (MarkerSettings settings in markerSettings)
{
if (!settings.shouldNotSetToInactivePerFrame)
{
settings.setAllARGameObjectsDisable();
}
else
{
GameObject ARGameObject = settings.getARGameObject();
if (ARGameObject != null)
{
DelayableSetActive obj = ARGameObject.GetComponent <DelayableSetActive> ();
if (obj != null)
{
obj.SetActive(false, 0.5f);
}
}
}
}
List <Marker> findMarkers = markerDetector.getFindMarkers();
for (int i = 0; i < findMarkers.Count; i++)
{
Marker marker = findMarkers [i];
foreach (MarkerSettings settings in markerSettings)
{
if (marker.id == settings.getMarkerId())
{
transformationM = marker.transformation;
//Debug.Log ("transformationM " + transformationM.ToString ());
ARM = ARCamera.transform.localToWorldMatrix * invertYM * transformationM * invertZM;
//Debug.Log ("arM " + arM.ToString ());
GameObject ARGameObject = settings.getARGameObject();
if (ARGameObject != null)
{
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
DelayableSetActive obj = ARGameObject.GetComponent <DelayableSetActive> ();
if (obj != null)
{
obj.SetActive(true);
}
else
{
ARGameObject.SetActive(true);
}
}
}
}
}
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}