void Awake()
{
_invertYM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
_invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
// 顔の初期位置を設定
_objectPoints = new MatOfPoint3f(
new Point3(-31, 72, 86), // 左目
new Point3(31, 72, 86), // 右目
new Point3(0, 40, 114), // 鼻
new Point3(-20, 15, 90), // 左口角
new Point3(20, 15, 90), // 右口角
new Point3(-69, 76, -2), // 左耳
new Point3(69, 76, -2) // 右耳
);
_imagePoints = new MatOfPoint2f();
_rotM = new Mat(3, 3, CvType.CV_64FC1);
// カメラの内部パラメータ
float maxD = Mathf.Max(normHeight, normWidth);
float fx = maxD;
float fy = maxD;
float cx = normWidth / 2.0f;
float cy = normHeight / 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);
// カメラキャリブレーション
Matrix4x4 P = ARUtils.CalculateProjectionMatrixFromCameraMatrixValues((float)fx, (float)fy, (float)cx,
(float)cy, normWidth, normHeight, 0.3f, 2000f);
Matrix4x4 V = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
_VP = P * V;
_normPoints = new List <Vector2>(68);
for (int i = 0; i < 68; i++)
{
_normPoints.Add(new Vector2(0, 0));
}
}
protected virtual void SetCameraMatrix(Mat camMatrix, float width, float height)
{
double max_d = (double)Mathf.Max(width, height);
double fx = max_d;
double fy = max_d;
double cx = width / 2.0;
double cy = height / 2.0;
double[] arr = new double[] { fx, 0, cx, 0, fy, cy, 0, 0, 1.0 };
camMatrix.put(0, 0, arr);
// create AR camera P * V Matrix
Matrix4x4 P = ARUtils.CalculateProjectionMatrixFromCameraMatrixValues((float)fx, (float)fy, (float)cx, (float)cy, width, height, 1f, 3000f);
Matrix4x4 V = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
VP = P * V;
}
private void SetCameraMatrix(Mat camMatrix, float width, float height)
{
float maxD = Mathf.Max(width, height);
float fx = maxD;
float fy = maxD;
float cx = width / 2.0f;
float cy = height / 2.0f;
var array = new double[] { fx, 0, cx, 0, fy, cy, 0, 0, 1.0 };
camMatrix.put(0, 0, array);
//NOTE: ここのnear/farは[mm]単位のはず、と思って、物理カメラほぼ準拠であろうこの値を使います。
//Unity内カメラのnear/farとは特に関係ないので注意！
var p = ARUtils.CalculateProjectionMatrixFromCameraMatrixValues(
fx, fy, cx, cy, width, height, 1, 3000
);
_vp = p * _invertZM;
}
/// <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);
ScreenQuad.GetComponent <Renderer> ().material.mainTexture = texture;
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)
{
}
else
{
imageSizeScale = (float)Screen.height / (float)Screen.width;
}
//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);
//resize screen Quad
Matrix4x4 p = ARUtils.CalculateProjectionMatrixFromCameraMatrixValues((float)fx, (float)fy, (float)cx, (float)cy, width, height, 0.3f, 1000f);
Vector3 cameraSpacePos = UnProjectVector(p, new Vector3(1.0f, 1.0f, 1.0f));
if (widthScale > heightScale)
{
ScreenQuad.transform.localScale = new Vector3(cameraSpacePos.x * 2f, cameraSpacePos.x * height / width * 2f, 1);
}
else
{
ScreenQuad.transform.localScale = new Vector3(cameraSpacePos.y * width / height * 2f, cameraSpacePos.y * 2f, 1);
}
//create markerDetector
MarkerDesign[] markerDesigns = new MarkerDesign[markerSettings.Length];
for (int i = 0; i < markerDesigns.Length; i++)
{
markerDesigns [i] = markerSettings [i].markerDesign;
}
markerDetector = new MarkerDetector(camMatrix, distCoeffs, markerDesigns);
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());
//if WebCamera is frontFaceing,flip Mat.
if (webCamTextureToMatHelper.GetWebCamDevice().isFrontFacing)
{
webCamTextureToMatHelper.flipHorizontal = true;
}
}
