/// <summary>
/// Estimates the position.
/// </summary>
/// <param name="detectedMarkers">Detected markers.</param>
void estimatePosition(List <Marker> detectedMarkers)
{
for (int i = 0; i < detectedMarkers.Count; i++)
{
Marker m = detectedMarkers [i];
Mat Rvec = new Mat();
Mat Tvec = new Mat();
Mat raux = new Mat();
Mat taux = new Mat();
Calib3d.solvePnP(m_markerCorners3d, new MatOfPoint2f(m.points.toArray()), camMatrix, distCoeff, raux, taux);
raux.convertTo(Rvec, CvType.CV_32F);
taux.convertTo(Tvec, CvType.CV_32F);
Mat rotMat = new Mat(3, 3, CvType.CV_64FC1);
Calib3d.Rodrigues(Rvec, rotMat);
m.transformation.SetRow(0, new Vector4((float)rotMat.get(0, 0) [0], (float)rotMat.get(0, 1) [0], (float)rotMat.get(0, 2) [0], (float)Tvec.get(0, 0) [0]));
m.transformation.SetRow(1, new Vector4((float)rotMat.get(1, 0) [0], (float)rotMat.get(1, 1) [0], (float)rotMat.get(1, 2) [0], (float)Tvec.get(1, 0) [0]));
m.transformation.SetRow(2, new Vector4((float)rotMat.get(2, 0) [0], (float)rotMat.get(2, 1) [0], (float)rotMat.get(2, 2) [0], (float)Tvec.get(2, 0) [0]));
m.transformation.SetRow(3, new Vector4(0, 0, 0, 1));
// Debug.Log ("m.transformation " + m.transformation.ToString ());
Rvec.Dispose();
Tvec.Dispose();
raux.Dispose();
taux.Dispose();
rotMat.Dispose();
}
}
/// <summary>
/// Computes the pose.
/// </summary>
/// <param name="pattern">Pattern.</param>
/// <param name="camMatrix">Cam matrix.</param>
/// <param name="distCoeff">Dist coeff.</param>
public void computePose(Pattern pattern, Mat camMatrix, MatOfDouble distCoeff)
{
Mat Rvec = new Mat();
Mat Tvec = new Mat();
Mat raux = new Mat();
Mat taux = new Mat();
Calib3d.solvePnP(pattern.points3d, points2d, camMatrix, distCoeff, raux, taux);
raux.convertTo(Rvec, CvType.CV_32F);
taux.convertTo(Tvec, CvType.CV_32F);
Mat rotMat = new Mat(3, 3, CvType.CV_64FC1);
Calib3d.Rodrigues(Rvec, rotMat);
pose3d.SetRow(0, new Vector4((float)rotMat.get(0, 0) [0], (float)rotMat.get(0, 1) [0], (float)rotMat.get(0, 2) [0], (float)Tvec.get(0, 0) [0]));
pose3d.SetRow(1, new Vector4((float)rotMat.get(1, 0) [0], (float)rotMat.get(1, 1) [0], (float)rotMat.get(1, 2) [0], (float)Tvec.get(1, 0) [0]));
pose3d.SetRow(2, new Vector4((float)rotMat.get(2, 0) [0], (float)rotMat.get(2, 1) [0], (float)rotMat.get(2, 2) [0], (float)Tvec.get(2, 0) [0]));
pose3d.SetRow(3, new Vector4(0, 0, 0, 1));
// Debug.Log ("pose3d " + pose3d.ToString ());
Rvec.Dispose();
Tvec.Dispose();
raux.Dispose();
taux.Dispose();
rotMat.Dispose();
}
/// <summary>
/// Gets the frontal face angle.
/// </summary>
/// <returns>The frontal face angle.</returns>
/// <param name="points">Points.</param>
public Vector3 getFrontalFaceAngle(List <Vector2> points)
{
if (points.Count != 68)
{
throw new ArgumentNullException("Invalid landmark_points.");
}
if (camMatrix == null)
{
throw new ArgumentNullException("Invalid camMatrix.");
}
//normalize
float normScale = Math.Abs(points [30].y - points [8].y) / (normHeight / 2);
Vector2 normDiff = points [30] * normScale - new Vector2(normWidth / 2, normHeight / 2);
for (int i = 0; i < points.Count; i++)
{
normPoints [i] = points [i] * normScale - normDiff;
}
//Debug.Log ("points[30] " + points[30]);
//Debug.Log ("normPoints[30] " + normPoints[30]);
//Debug.Log ("normScale " + normScale);
//Debug.Log ("normDiff " + normDiff);
imagePoints.fromArray(
new Point((normPoints [38].x + normPoints [41].x) / 2, (normPoints [38].y + normPoints [41].y) / 2), //l eye
new Point((normPoints [43].x + normPoints [46].x) / 2, (normPoints [43].y + normPoints [46].y) / 2), //r eye
new Point(normPoints [33].x, normPoints [33].y), //nose
new Point(normPoints [48].x, normPoints [48].y), //l mouth
new Point(normPoints [54].x, normPoints [54].y), //r mouth ,
new Point(normPoints [0].x, normPoints [0].y), //l ear
new Point(normPoints [16].x, normPoints [16].y) //r ear
);
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
Calib3d.Rodrigues(rvec, rotM);
transformationM.SetRow(0, new Vector4((float)rotM.get(0, 0) [0], (float)rotM.get(0, 1) [0], (float)rotM.get(0, 2) [0], (float)tvec.get(0, 0) [0]));
transformationM.SetRow(1, new Vector4((float)rotM.get(1, 0) [0], (float)rotM.get(1, 1) [0], (float)rotM.get(1, 2) [0], (float)tvec.get(1, 0) [0]));
transformationM.SetRow(2, new Vector4((float)rotM.get(2, 0) [0], (float)rotM.get(2, 1) [0], (float)rotM.get(2, 2) [0], (float)tvec.get(2, 0) [0]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
ARM = invertYM * transformationM * invertZM;
return(ExtractRotationFromMatrix(ref ARM).eulerAngles);
}
public bool UpdateExtrinsics(MatOfPoint3f patternPointsWorldMat, MatOfPoint2f patternPointsImageMat, Intrinsics intrinsics, int imageWidth, int imageHeight)
{
intrinsics.ToOpenCV(ref _sensorMatrix, imageWidth, imageHeight);
// In order to match OpenCV's pixel space (zero at top-left) and Unity's camera space (up is positive), we flip the sensor matrix.
_sensorMatrix.WriteValue(-_sensorMatrix.ReadValue(1, 1), 1, 1); // fy
_sensorMatrix.WriteValue(imageHeight - _sensorMatrix.ReadValue(1, 2), 1, 2); // cy
// Find pattern pose, relative to camera (at zero position) using solvePnP.
_isValid = Calib3d.solvePnP(patternPointsWorldMat, patternPointsImageMat, _sensorMatrix, _noDistCoeffs, _rotationVecMat, _translationVecMat);
if (_isValid)
{
_extrinsics.UpdateFromOpenCvSolvePnp(_rotationVecMat, _translationVecMat);
}
return(_isValid);
}
void UpdateCameraTransform()
{
// Update points.
for (int p = 0; p < pointCount; p++)
{
Vector2 posImage = _userPointRects[p].anchorMin;
posImage.Scale(new Vector2(_cameraTexture.width, _cameraTexture.height));
_anchorPointsImage[p].set(new double[] { posImage.x, posImage.y });
Vector3 posWorld = _anchorTransform.TransformPoint(defaultPointPositions[p] - Vector2.one * 0.5f);
_anchorPointsWorld[p].set(new double[] { posWorld.x, posWorld.y, posWorld.z });
}
_anchorPointsImageMat.fromArray(_anchorPointsImage);
_anchorPointsWorldMat.fromArray(_anchorPointsWorld);
// Compute
bool success = Calib3d.solvePnP(_anchorPointsWorldMat, _anchorPointsImageMat, _cameraMatrix, _noDistCoeffs, _rVec, _tVec);
if (!success)
{
return;
}
// Convert.
bool inverse = true;
TrackingToolsHelper.ApplyPose(_rVec, _tVec, _targetCameraTransform, inverse);
/*
* Vector3 translation = TrackingToolsHelper.TranslationMatVectorToVector3( _tVec );
* Quaternion rotation = TrackingToolsHelper.RotationMatVectorToQuaternion( _rVec );
* translation = rotation * translation;
*
* // Apply.
* _targetCameraTransform.SetPositionAndRotation( translation, rotation );
*/
// Save.
SaveCircleAnchorPoints();
}
/// <summary>
/// Gets the frontal face angles.
/// </summary>
/// <returns>Frontal face angles.</returns>
/// <param name="points">Points of face landmark which was detected with Dlib.</param>
public Vector3 GetFrontalFaceAngles(List <Vector2> points)
{
if (points.Count < 68)
{
throw new ArgumentException("Invalid face landmark points", "points");
}
landmarkPoints [0].x = (points [38].x + points [41].x) / 2;
landmarkPoints [0].y = (points [38].y + points [41].y) / 2;
landmarkPoints [1].x = (points [43].x + points [46].x) / 2;
landmarkPoints [1].y = (points [43].y + points [46].y) / 2;
landmarkPoints [2].x = points [30].x;
landmarkPoints [2].y = points [30].y;
landmarkPoints [3].x = points [48].x;
landmarkPoints [3].y = points [48].y;
landmarkPoints [4].x = points [54].x;
landmarkPoints [4].y = points [54].y;
landmarkPoints [5].x = points [0].x;
landmarkPoints [5].y = points [0].y;
landmarkPoints [6].x = points [16].x;
landmarkPoints [6].y = points [16].y;
// Normalize points.
Point centerOffset = landmarkPoints [2] - new Point(imageWidth / 2, imageHeight / 2);
for (int i = 0; i < landmarkPoints.Length; i++)
{
landmarkPoints [i] = landmarkPoints [i] - centerOffset;
}
imagePoints.fromArray(landmarkPoints);
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
double tvec_z = tvec.get(2, 0) [0];
// Debug.Log (rvec.dump());
// Debug.Log (tvec.dump());
if (!double.IsNaN(tvec_z))
{
Calib3d.Rodrigues(rvec, rotM);
// Debug.Log (rotM.dump());
transformationM.SetRow(0, new Vector4((float)rotM.get(0, 0) [0], (float)rotM.get(0, 1) [0], (float)rotM.get(0, 2) [0], (float)tvec.get(0, 0) [0]));
transformationM.SetRow(1, new Vector4((float)rotM.get(1, 0) [0], (float)rotM.get(1, 1) [0], (float)rotM.get(1, 2) [0], (float)tvec.get(1, 0) [0]));
transformationM.SetRow(2, new Vector4((float)rotM.get(2, 0) [0], (float)rotM.get(2, 1) [0], (float)rotM.get(2, 2) [0], (float)tvec.get(2, 0) [0]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
transformationM = invertYM * transformationM * invertZM;
Vector3 angles = ExtractRotationFromMatrix(ref transformationM).eulerAngles;
// Debug.Log ("angles " + angles.x + " " + angles.y + " " + angles.z);
float rotationX = (angles.x > 180) ? angles.x - 360 : angles.x;
float rotationY = (angles.y > 180) ? angles.y - 360 : angles.y;
float rotationZ = (tvec_z >= 0) ? (angles.z > 180) ? angles.z - 360 : angles.z : 180 - angles.z;
if (tvec_z < 0)
{
rotationX = -rotationX;
rotationY = -rotationY;
rotationZ = -rotationZ;
}
return(new Vector3(rotationX, rotationY, rotationZ));
}
else
{
return(new Vector3(0, 0, 0));
}
}
// Update is called once per frame
public override void UpdateValue()
{
if (dlibFaceLanmarkGetter == null)
{
return;
}
didUpdateHeadRotation = false;
List <Vector2> points = dlibFaceLanmarkGetter.getFaceLanmarkPoints();
if (points != null)
{
MatOfPoint3f objectPoints = null;
if (points.Count == 68)
{
objectPoints = objectPoints68;
imagePoints.fromArray(
new Point((points [38].x + points [41].x) / 2, (points [38].y + points [41].y) / 2), //l eye (Interpupillary breadth)
new Point((points [43].x + points [46].x) / 2, (points [43].y + points [46].y) / 2), //r eye (Interpupillary breadth)
new Point(points [30].x, points [30].y), //nose (Nose top)
new Point(points [48].x, points [48].y), //l mouth (Mouth breadth)
new Point(points [54].x, points [54].y), //r mouth (Mouth breadth)
new Point(points [0].x, points [0].y), //l ear (Bitragion breadth)
new Point(points [16].x, points [16].y) //r ear (Bitragion breadth)
);
}
// Estimate head pose.
if (rvec == null || tvec == null)
{
rvec = new Mat(3, 1, CvType.CV_64FC1);
tvec = new Mat(3, 1, CvType.CV_64FC1);
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
double tvec_z = tvec.get(2, 0) [0];
if (double.IsNaN(tvec_z) || tvec_z < 0) // if tvec is wrong data, do not use extrinsic guesses.
{
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
else
{
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec, true, Calib3d.SOLVEPNP_ITERATIVE);
}
//Debug.Log (tvec.dump());
if (!double.IsNaN(tvec_z))
{
// 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);
// Changes in pos/rot below these thresholds are ignored.
if (enableLowPassFilter)
{
ARUtils.LowpassPoseData(ref oldPoseData, ref poseData, positionLowPass, rotationLowPass);
}
oldPoseData = poseData;
transformationM = Matrix4x4.TRS(poseData.pos, poseData.rot, Vector3.one);
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARM = invertYM * transformationM;
// Apply Z axis inverted matrix.
ARM = ARM * invertZM;
headRotation = ARUtils.ExtractRotationFromMatrix(ref ARM);
didUpdateHeadRotation = true;
}
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
// detect faces on the downscale image
if (!enableSkipFrame || !imageOptimizationHelper.IsCurrentFrameSkipped())
{
Mat downScaleRgbaMat = null;
float DOWNSCALE_RATIO = 1.0f;
if (enableDownScale)
{
downScaleRgbaMat = imageOptimizationHelper.GetDownScaleMat(rgbaMat);
DOWNSCALE_RATIO = imageOptimizationHelper.downscaleRatio;
}
else
{
downScaleRgbaMat = rgbaMat;
DOWNSCALE_RATIO = 1.0f;
}
// set the downscale mat
OpenCVForUnityUtils.SetImage(faceLandmarkDetector, downScaleRgbaMat);
//detect face rects
detectionResult = faceLandmarkDetector.Detect();
if (enableDownScale)
{
for (int i = 0; i < detectionResult.Count; ++i)
{
var rect = detectionResult[i];
detectionResult[i] = new UnityEngine.Rect(
rect.x * DOWNSCALE_RATIO,
rect.y * DOWNSCALE_RATIO,
rect.width * DOWNSCALE_RATIO,
rect.height * DOWNSCALE_RATIO);
}
}
}
List <Vector2> points = null;
if (detectionResult != null && detectionResult.Count > 0)
{
// set the original scale image
OpenCVForUnityUtils.SetImage(faceLandmarkDetector, rgbaMat);
//detect landmark points
points = faceLandmarkDetector.DetectLandmark(detectionResult[0]);
}
if (points != null)
{
if (displayFacePoints)
{
OpenCVForUnityUtils.DrawFaceLandmark(rgbaMat, points, new Scalar(0, 255, 0, 255), 2);
}
MatOfPoint3f objectPoints = null;
bool isRightEyeOpen = false;
bool isLeftEyeOpen = false;
bool isMouthOpen = false;
if (points.Count == 68)
{
objectPoints = objectPoints68;
imagePoints.fromArray(
new Point((points[38].x + points[41].x) / 2, (points[38].y + points[41].y) / 2), //l eye (Interpupillary breadth)
new Point((points[43].x + points[46].x) / 2, (points[43].y + points[46].y) / 2), //r eye (Interpupillary breadth)
new Point(points[30].x, points[30].y), //nose (Tip)
new Point(points[33].x, points[33].y), //nose (Subnasale)
new Point(points[0].x, points[0].y), //l ear (Bitragion breadth)
new Point(points[16].x, points[16].y) //r ear (Bitragion breadth)
);
if (Mathf.Abs((float)(points[43].y - points[46].y)) > Mathf.Abs((float)(points[42].x - points[45].x)) / 5.0)
{
isRightEyeOpen = true;
}
if (Mathf.Abs((float)(points[38].y - points[41].y)) > Mathf.Abs((float)(points[39].x - points[36].x)) / 5.0)
{
isLeftEyeOpen = true;
}
float noseDistance = Mathf.Abs((float)(points[27].y - points[33].y));
float mouseDistance = Mathf.Abs((float)(points[62].y - points[66].y));
if (mouseDistance > noseDistance / 5.0)
{
isMouthOpen = true;
}
else
{
isMouthOpen = false;
}
}
else if (points.Count == 17)
{
objectPoints = objectPoints17;
imagePoints.fromArray(
new Point((points[2].x + points[3].x) / 2, (points[2].y + points[3].y) / 2), //l eye (Interpupillary breadth)
new Point((points[4].x + points[5].x) / 2, (points[4].y + points[5].y) / 2), //r eye (Interpupillary breadth)
new Point(points[0].x, points[0].y), //nose (Tip)
new Point(points[1].x, points[1].y), //nose (Subnasale)
new Point(points[6].x, points[6].y), //l ear (Bitragion breadth)
new Point(points[8].x, points[8].y) //r ear (Bitragion breadth)
);
if (Mathf.Abs((float)(points[11].y - points[12].y)) > Mathf.Abs((float)(points[4].x - points[5].x)) / 5.0)
{
isRightEyeOpen = true;
}
if (Mathf.Abs((float)(points[9].y - points[10].y)) > Mathf.Abs((float)(points[2].x - points[3].x)) / 5.0)
{
isLeftEyeOpen = true;
}
float noseDistance = Mathf.Abs((float)(points[3].y - points[1].y));
float mouseDistance = Mathf.Abs((float)(points[14].y - points[16].y));
if (mouseDistance > noseDistance / 2.0)
{
isMouthOpen = true;
}
else
{
isMouthOpen = false;
}
}
else if (points.Count == 6)
{
objectPoints = objectPoints6;
imagePoints.fromArray(
new Point((points[2].x + points[3].x) / 2, (points[2].y + points[3].y) / 2), //l eye (Interpupillary breadth)
new Point((points[4].x + points[5].x) / 2, (points[4].y + points[5].y) / 2), //r eye (Interpupillary breadth)
new Point(points[0].x, points[0].y), //nose (Tip)
new Point(points[1].x, points[1].y) //nose (Subnasale)
);
}
else if (points.Count == 5)
{
objectPoints = objectPoints5;
imagePoints.fromArray(
new Point(points[3].x, points[3].y), //l eye (Inner corner of the eye)
new Point(points[1].x, points[1].y), //r eye (Inner corner of the eye)
new Point(points[2].x, points[2].y), //l eye (Tail of the eye)
new Point(points[0].x, points[0].y), //r eye (Tail of the eye)
new Point(points[4].x, points[4].y) //nose (Subnasale)
);
if (fpsMonitor != null)
{
fpsMonitor.consoleText = "This example supports mainly the face landmark points of 68/17/6 points.";
}
}
// estimate head pose
if (rvec == null || tvec == null)
{
rvec = new Mat(3, 1, CvType.CV_64FC1);
tvec = new Mat(3, 1, CvType.CV_64FC1);
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
double tvec_x = tvec.get(0, 0)[0], tvec_y = tvec.get(1, 0)[0], tvec_z = tvec.get(2, 0)[0];
bool isNotInViewport = false;
Vector4 pos = VP * new Vector4((float)tvec_x, (float)tvec_y, (float)tvec_z, 1.0f);
if (pos.w != 0)
{
float x = pos.x / pos.w, y = pos.y / pos.w, z = pos.z / pos.w;
if (x < -1.0f || x > 1.0f || y < -1.0f || y > 1.0f || z < -1.0f || z > 1.0f)
{
isNotInViewport = true;
}
}
if (double.IsNaN(tvec_z) || isNotInViewport)
{ // if tvec is wrong data, do not use extrinsic guesses. (the estimated object is not in the camera field of view)
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
else
{
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec, true, Calib3d.SOLVEPNP_ITERATIVE);
}
//Debug.Log (tvec.dump());
if (!isNotInViewport)
{
if (displayHead)
{
head.SetActive(true);
}
if (displayAxes)
{
axes.SetActive(true);
}
if (displayEffects)
{
rightEye.SetActive(isRightEyeOpen);
leftEye.SetActive(isLeftEyeOpen);
if (isMouthOpen)
{
mouth.SetActive(true);
foreach (ParticleSystem ps in mouthParticleSystem)
{
var em = ps.emission;
em.enabled = true;
#if UNITY_5_5_OR_NEWER
var main = ps.main;
main.startSizeMultiplier = 20;
#else
ps.startSize = 20;
#endif
}
}
else
{
foreach (ParticleSystem ps in mouthParticleSystem)
{
var em = ps.emission;
em.enabled = false;
}
}
}
// 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);
// Changes in pos/rot below these thresholds are ignored.
if (enableLowPassFilter)
{
ARUtils.LowpassPoseData(ref oldPoseData, ref poseData, positionLowPass, rotationLowPass);
}
oldPoseData = poseData;
// Create transform matrix.
transformationM = Matrix4x4.TRS(poseData.pos, poseData.rot, Vector3.one);
}
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
// https://stackoverflow.com/questions/30234945/change-handedness-of-a-row-major-4x4-transformation-matrix
ARM = invertYM * transformationM * invertYM;
// Apply Y-axis and Z-axis refletion matrix. (Adjust the posture of the AR object)
ARM = ARM * invertYM * invertZM;
if (shouldMoveARCamera)
{
ARM = ARGameObject.transform.localToWorldMatrix * ARM.inverse;
ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
}
else
{
ARM = ARCamera.transform.localToWorldMatrix * ARM;
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
}
}
//Imgproc.putText (rgbaMat, "W:" + rgbaMat.width () + " H:" + rgbaMat.height () + " SO:" + Screen.orientation, new Point (5, rgbaMat.rows () - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 0.5, new Scalar (255, 255, 255, 255), 1, Imgproc.LINE_AA, false);
OpenCVForUnity.UnityUtils.Utils.fastMatToTexture2D(rgbaMat, texture);
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
OpenCVForUnityUtils.SetImage(faceLandmarkDetector, rgbaMat);
//detect face rects
List <UnityEngine.Rect> detectResult = faceLandmarkDetector.Detect();
if (detectResult.Count > 0)
{
//detect landmark points
List <Vector2> points = faceLandmarkDetector.DetectLandmark(detectResult [0]);
if (displayFacePoints)
{
OpenCVForUnityUtils.DrawFaceLandmark(rgbaMat, points, new Scalar(0, 255, 0, 255), 2);
}
imagePoints.fromArray(
new Point((points [38].x + points [41].x) / 2, (points [38].y + points [41].y) / 2), //l eye (Interpupillary breadth)
new Point((points [43].x + points [46].x) / 2, (points [43].y + points [46].y) / 2), //r eye (Interpupillary breadth)
new Point(points [30].x, points [30].y), //nose (Nose top)
new Point(points [48].x, points [48].y), //l mouth (Mouth breadth)
new Point(points [54].x, points [54].y), //r mouth (Mouth breadth)
new Point(points [0].x, points [0].y), //l ear (Bitragion breadth)
new Point(points [16].x, points [16].y) //r ear (Bitragion breadth)
);
// Estimate head pose.
if (rvec == null || tvec == null)
{
rvec = new Mat(3, 1, CvType.CV_64FC1);
tvec = new Mat(3, 1, CvType.CV_64FC1);
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
double tvec_z = tvec.get(2, 0) [0];
if (double.IsNaN(tvec_z) || tvec_z < 0) // if tvec is wrong data, do not use extrinsic guesses.
{
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
else
{
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec, true, Calib3d.SOLVEPNP_ITERATIVE);
}
// Debug.Log (tvec.dump());
if (!double.IsNaN(tvec_z))
{
if (Mathf.Abs((float)(points [43].y - points [46].y)) > Mathf.Abs((float)(points [42].x - points [45].x)) / 6.0)
{
if (displayEffects)
{
rightEye.SetActive(true);
}
}
if (Mathf.Abs((float)(points [38].y - points [41].y)) > Mathf.Abs((float)(points [39].x - points [36].x)) / 6.0)
{
if (displayEffects)
{
leftEye.SetActive(true);
}
}
if (displayHead)
{
head.SetActive(true);
}
if (displayAxes)
{
axes.SetActive(true);
}
float noseDistance = Mathf.Abs((float)(points [27].y - points [33].y));
float mouseDistance = Mathf.Abs((float)(points [62].y - points [66].y));
if (mouseDistance > noseDistance / 5.0)
{
if (displayEffects)
{
mouth.SetActive(true);
foreach (ParticleSystem ps in mouthParticleSystem)
{
var em = ps.emission;
em.enabled = true;
ps.startSize = 40 * (mouseDistance / noseDistance);
}
}
}
else
{
if (displayEffects)
{
foreach (ParticleSystem ps in mouthParticleSystem)
{
var em = ps.emission;
em.enabled = false;
}
}
}
Calib3d.Rodrigues(rvec, rotMat);
transformationM.SetRow(0, new Vector4((float)rotMat.get(0, 0) [0], (float)rotMat.get(0, 1) [0], (float)rotMat.get(0, 2) [0], (float)tvec.get(0, 0) [0]));
transformationM.SetRow(1, new Vector4((float)rotMat.get(1, 0) [0], (float)rotMat.get(1, 1) [0], (float)rotMat.get(1, 2) [0], (float)tvec.get(1, 0) [0]));
transformationM.SetRow(2, new Vector4((float)rotMat.get(2, 0) [0], (float)rotMat.get(2, 1) [0], (float)rotMat.get(2, 2) [0], (float)tvec.get(2, 0) [0]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARM = invertYM * transformationM;
// Apply Z axis inverted matrix.
ARM = ARM * invertZM;
if (shouldMoveARCamera)
{
ARM = ARGameObject.transform.localToWorldMatrix * ARM.inverse;
ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
}
else
{
ARM = ARCamera.transform.localToWorldMatrix * ARM;
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
}
}
}
Imgproc.putText(rgbaMat, "W:" + rgbaMat.width() + " H:" + rgbaMat.height() + " SO:" + Screen.orientation, new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 0.5, new Scalar(255, 255, 255, 255), 1, Imgproc.LINE_AA, false);
OpenCVForUnity.Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
private void UpdateARHeadTransform(List <Vector2> points, Matrix4x4 cameraToWorldMatrix)
{
// The coordinates in pixels of the object detected on the image projected onto the plane.
imagePoints.fromArray(
new Point((points [38].x + points [41].x) / 2, (points [38].y + points [41].y) / 2), //l eye (Interpupillary breadth)
new Point((points [43].x + points [46].x) / 2, (points [43].y + points [46].y) / 2), //r eye (Interpupillary breadth)
new Point(points [30].x, points [30].y), //nose (Nose top)
new Point(points [48].x, points [48].y), //l mouth (Mouth breadth)
new Point(points [54].x, points [54].y), //r mouth (Mouth breadth)
new Point(points [0].x, points [0].y), //l ear (Bitragion breadth)
new Point(points [16].x, points [16].y) //r ear (Bitragion breadth)
);
// Estimate head pose.
if (rvec == null || tvec == null)
{
rvec = new Mat(3, 1, CvType.CV_64FC1);
tvec = new Mat(3, 1, CvType.CV_64FC1);
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
double tvec_z = tvec.get(2, 0) [0];
if (double.IsNaN(tvec_z) || tvec_z < 0) // if tvec is wrong data, do not use extrinsic guesses.
{
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
else
{
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec, true, Calib3d.SOLVEPNP_ITERATIVE);
}
if (applyEstimationPose && !double.IsNaN(tvec_z))
{
if (Mathf.Abs((float)(points [43].y - points [46].y)) > Mathf.Abs((float)(points [42].x - points [45].x)) / 5.0)
{
if (displayEffects)
{
rightEye.SetActive(true);
}
}
else
{
if (displayEffects)
{
rightEye.SetActive(false);
}
}
if (Mathf.Abs((float)(points [38].y - points [41].y)) > Mathf.Abs((float)(points [39].x - points [36].x)) / 5.0)
{
if (displayEffects)
{
leftEye.SetActive(true);
}
}
else
{
if (displayEffects)
{
leftEye.SetActive(false);
}
}
if (displayHead)
{
head.SetActive(true);
}
if (displayAxes)
{
axes.SetActive(true);
}
float noseDistance = Mathf.Abs((float)(points [27].y - points [33].y));
float mouseDistance = Mathf.Abs((float)(points [62].y - points [66].y));
if (mouseDistance > noseDistance / 5.0)
{
if (displayEffects)
{
mouth.SetActive(true);
foreach (ParticleSystem ps in mouthParticleSystem)
{
var em = ps.emission;
em.enabled = true;
#if UNITY_5_5_OR_NEWER
var main = ps.main;
main.startSizeMultiplier = 40 * (mouseDistance / noseDistance);
#else
ps.startSize = 40 * (mouseDistance / noseDistance);
#endif
}
}
}
else
{
if (displayEffects)
{
foreach (ParticleSystem ps in mouthParticleSystem)
{
var em = ps.emission;
em.enabled = false;
}
}
}
// 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);
tvecArr [0] = tvecArr [0] / 1000.0;
tvecArr[1] = tvecArr[1] / 1000.0;
tvecArr[2] = tvecArr[2] / 1000.0 / imageOptimizationHelper.downscaleRatio;
PoseData poseData = ARUtils.ConvertRvecTvecToPoseData(rvecArr, tvecArr);
// Changes in pos/rot below these thresholds are ignored.
if (enableLowPassFilter)
{
ARUtils.LowpassPoseData(ref oldPoseData, ref poseData, positionLowPass, rotationLowPass);
}
oldPoseData = poseData;
// Create transform matrix.
transformationM = Matrix4x4.TRS(poseData.pos, poseData.rot, Vector3.one);
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARM = invertYM * transformationM;
// Apply Z-axis inverted matrix.
ARM = ARM * invertZM;
// Apply the cameraToWorld matrix with the Z-axis inverted.
ARM = cameraToWorldMatrix * invertZM * ARM;
ARUtils.SetTransformFromMatrix(arGameObject.transform, ref ARM);
}
}
//NOTE: ここList渡しなのがちょっとイヤなんだけど、Dlibのマナーに沿うことを重視
/// <summary>
/// 特徴点を受け取って頭部姿勢の推定状況を更新します。
/// </summary>
/// <param name="landmarks"></param>
public void EstimatePose(List <Vector2> landmarks)
{
//画像の初期化が終わってない場合は完全NG
if (_width < 1 || _height < 1)
{
return;
}
HasValidPoseData = false;
SetImagePoints(landmarks);
//初期推定っぽいやつ
if (_rVec == null || _tVec == null)
{
_rVec = new Mat(3, 1, CvType.CV_64FC1);
_tVec = new Mat(3, 1, CvType.CV_64FC1);
Calib3d.solvePnP(_objPoints, _imagePoints, _camMatrix, _distCoeffs, _rVec, _tVec);
}
_tVec.get(0, 0, _tVecArrayTemp);
float tx = (float)_tVecArrayTemp[0];
float ty = (float)_tVecArrayTemp[1];
float tz = (float)_tVecArrayTemp[2];
bool notInViewport = false;
var pos = _vp * new Vector4(tx, ty, tz, 1.0f);
if (Mathf.Abs(pos.w) > 0.0001)
{
float x = pos.x / pos.w;
float y = pos.y / pos.w;
float z = pos.z / pos.w;
notInViewport = Mathf.Abs(x) > 1.0f || Mathf.Abs(y) > 1.0f || Mathf.Abs(z) > 1.0f;
}
//NOTE: 要するに現状の推定が怪しすぎるならゼロベースで計算をやり直せ、って話
if (float.IsNaN(tz) || notInViewport)
{
Calib3d.solvePnP(_objPoints, _imagePoints, _camMatrix, _distCoeffs, _rVec, _tVec);
}
else
{
//普通にトラッキングできてればこっちのはず
Calib3d.solvePnP(
_objPoints, _imagePoints, _camMatrix, _distCoeffs, _rVec, _tVec,
true, Calib3d.SOLVEPNP_ITERATIVE
);
}
if (notInViewport)
{
return;
}
// 最終的なt/rの値をUnityで使いたいのでPosition/Rotationに変換
_rVec.get(0, 0, _rVecArray);
_tVec.get(0, 0, _tVecArray);
var poseData = ARUtils.ConvertRvecTvecToPoseData(_rVecArray, _tVecArray);
// 0.001fは[mm]単位から[m]への変換
// YMのほう: 右手系を左手系にする
// ZMのほう: 手前/奥をひっくり返す(はず)
var transformationM =
_invertYM *
Matrix4x4.TRS(0.001f * poseData.pos, poseData.rot, Vector3.one) *
_invertZM;
HeadPosition = ARUtils.ExtractTranslationFromMatrix(ref transformationM);
HeadRotation = ARUtils.ExtractRotationFromMatrix(ref transformationM);
HasValidPoseData = true;
}
public override void UpdateValue()
{
if (matSourceGetterInterface == null)
{
return;
}
if (faceLandmarkGetterInterface == null)
{
return;
}
Mat rgbaMat = matSourceGetterInterface.GetMatSource();
if (rgbaMat == null)
{
return;
}
else
{
if (rgbaMat.width() != imageWidth || rgbaMat.height() != imageHeight)
{
imageWidth = rgbaMat.width();
imageHeight = rgbaMat.height();
SetCameraMatrix(camMatrix, imageWidth, imageHeight);
}
}
didUpdateHeadPositionAndRotation = false;
List <Vector2> points = faceLandmarkGetterInterface.GetFaceLanmarkPoints();
if (points != null)
{
MatOfPoint3f objectPoints = null;
if (points.Count == 68)
{
objectPoints = objectPoints68;
imagePoints.fromArray(
new Point((points[38].x + points[41].x) / 2, (points[38].y + points[41].y) / 2), //l eye (Interpupillary breadth)
new Point((points[43].x + points[46].x) / 2, (points[43].y + points[46].y) / 2), //r eye (Interpupillary breadth)
new Point(points[30].x, points[30].y), //nose (Tip)
new Point(points[33].x, points[33].y), //nose (Subnasale)
new Point(points[0].x, points[0].y), //l ear (Bitragion breadth)
new Point(points[16].x, points[16].y) //r ear (Bitragion breadth)
);
}
else if (points.Count == 17)
{
objectPoints = objectPoints17;
imagePoints.fromArray(
new Point((points[2].x + points[3].x) / 2, (points[2].y + points[3].y) / 2), //l eye (Interpupillary breadth)
new Point((points[4].x + points[5].x) / 2, (points[4].y + points[5].y) / 2), //r eye (Interpupillary breadth)
new Point(points[0].x, points[0].y), //nose (Tip)
new Point(points[1].x, points[1].y), //nose (Subnasale)
new Point(points[6].x, points[6].y), //l ear (Bitragion breadth)
new Point(points[8].x, points[8].y) //r ear (Bitragion breadth)
);
}
else if (points.Count == 6)
{
objectPoints = objectPoints6;
imagePoints.fromArray(
new Point((points[2].x + points[3].x) / 2, (points[2].y + points[3].y) / 2), //l eye (Interpupillary breadth)
new Point((points[4].x + points[5].x) / 2, (points[4].y + points[5].y) / 2), //r eye (Interpupillary breadth)
new Point(points[0].x, points[0].y), //nose (Tip)
new Point(points[1].x, points[1].y) //nose (Subnasale)
);
}
// Estimate head pose.
if (rvec == null || tvec == null)
{
rvec = new Mat(3, 1, CvType.CV_64FC1);
tvec = new Mat(3, 1, CvType.CV_64FC1);
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
double tvec_x = tvec.get(0, 0)[0], tvec_y = tvec.get(1, 0)[0], tvec_z = tvec.get(2, 0)[0];
bool isNotInViewport = false;
Vector4 pos = VP * new Vector4((float)tvec_x, (float)tvec_y, (float)tvec_z, 1.0f);
if (pos.w != 0)
{
float x = pos.x / pos.w, y = pos.y / pos.w, z = pos.z / pos.w;
if (x < -1.0f || x > 1.0f || y < -1.0f || y > 1.0f || z < -1.0f || z > 1.0f)
{
isNotInViewport = true;
}
}
if (double.IsNaN(tvec_z) || isNotInViewport)
{ // if tvec is wrong data, do not use extrinsic guesses. (the estimated object is not in the camera field of view)
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
else
{
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec, true, Calib3d.SOLVEPNP_ITERATIVE);
}
//Debug.Log (tvec.dump () + " " + isNotInViewport);
if (!isNotInViewport)
{
// 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);
// adjust the position to the scale of real-world space.
poseData.pos = new Vector3(poseData.pos.x * 0.001f, poseData.pos.y * 0.001f, poseData.pos.z * 0.001f);
// Changes in pos/rot below these thresholds are ignored.
if (enableLowPassFilter)
{
ARUtils.LowpassPoseData(ref oldPoseData, ref poseData, positionLowPass, rotationLowPass);
}
oldPoseData = poseData;
Matrix4x4 transformationM = Matrix4x4.TRS(poseData.pos, poseData.rot, Vector3.one);
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
// https://stackoverflow.com/questions/30234945/change-handedness-of-a-row-major-4x4-transformation-matrix
transformationM = invertYM * transformationM * invertYM;
// Apply Y-axis and Z-axis refletion matrix. (Adjust the posture of the AR object)
transformationM = transformationM * invertYM * invertZM;
headPosition = ARUtils.ExtractTranslationFromMatrix(ref transformationM);
headRotation = ARUtils.ExtractRotationFromMatrix(ref transformationM);
didUpdateHeadPositionAndRotation = true;
}
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
OpenCVForUnityUtils.SetImage(faceLandmarkDetector, rgbaMat);
//detect face rects
List <UnityEngine.Rect> detectResult = faceLandmarkDetector.Detect();
if (detectResult.Count > 0)
{
//detect landmark points
List <Vector2> points = faceLandmarkDetector.DetectLandmark(detectResult [0]);
if (isShowingFacePoints)
{
OpenCVForUnityUtils.DrawFaceLandmark(rgbaMat, points, new Scalar(0, 255, 0, 255), 2);
}
imagePoints.fromArray(
new Point((points [38].x + points [41].x) / 2, (points [38].y + points [41].y) / 2), //l eye
new Point((points [43].x + points [46].x) / 2, (points [43].y + points [46].y) / 2), //r eye
new Point(points [33].x, points [33].y), //nose
new Point(points [48].x, points [48].y), //l mouth
new Point(points [54].x, points [54].y) //r mouth
,
new Point(points [0].x, points [0].y), //l ear
new Point(points [16].x, points [16].y) //r ear
);
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
if (tvec.get(2, 0) [0] > 0)
{
if (Mathf.Abs((float)(points [43].y - points [46].y)) > Mathf.Abs((float)(points [42].x - points [45].x)) / 6.0)
{
if (isShowingEffects)
{
rightEye.SetActive(true);
}
}
if (Mathf.Abs((float)(points [38].y - points [41].y)) > Mathf.Abs((float)(points [39].x - points [36].x)) / 6.0)
{
if (isShowingEffects)
{
leftEye.SetActive(true);
}
}
if (isShowingHead)
{
head.SetActive(true);
}
if (isShowingAxes)
{
axes.SetActive(true);
}
float noseDistance = Mathf.Abs((float)(points [27].y - points [33].y));
float mouseDistance = Mathf.Abs((float)(points [62].y - points [66].y));
if (mouseDistance > noseDistance / 5.0)
{
if (isShowingEffects)
{
mouth.SetActive(true);
foreach (ParticleSystem ps in mouthParticleSystem)
{
ps.enableEmission = true;
ps.startSize = 40 * (mouseDistance / noseDistance);
}
}
}
else
{
if (isShowingEffects)
{
foreach (ParticleSystem ps in mouthParticleSystem)
{
ps.enableEmission = false;
}
}
}
// position
Vector4 pos = new Vector4((float)tvec.get(0, 0) [0], (float)tvec.get(1, 0) [0], (float)tvec.get(2, 0) [0], 0); // from OpenCV
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARGameObject.transform.localPosition = new Vector3(pos.x, -pos.y, pos.z);
// rotation
Calib3d.Rodrigues(rvec, rotMat);
Vector3 forward = new Vector3((float)rotMat.get(0, 2) [0], (float)rotMat.get(1, 2) [0], (float)rotMat.get(2, 2) [0]); // from OpenCV
Vector3 up = new Vector3((float)rotMat.get(0, 1) [0], (float)rotMat.get(1, 1) [0], (float)rotMat.get(2, 1) [0]); // from OpenCV
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
Quaternion rot = Quaternion.LookRotation(new Vector3(forward.x, -forward.y, forward.z), new Vector3(up.x, -up.y, up.z));
ARGameObject.transform.localRotation = rot;
// Apply Z axis inverted matrix.
invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
transformationM = ARGameObject.transform.localToWorldMatrix * invertZM;
// Apply camera transform matrix.
transformationM = ARCamera.transform.localToWorldMatrix * transformationM;
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref transformationM);
}
}
Imgproc.putText(rgbaMat, "W:" + rgbaMat.width() + " H:" + rgbaMat.height() + " SO:" + Screen.orientation, new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 0.5, new Scalar(255, 255, 255, 255), 1, Imgproc.LINE_AA, false);
OpenCVForUnity.Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
private void UpdateARHeadTransform(List <Vector2> points)
{
// The coordinates in pixels of the object detected on the image projected onto the plane.
imagePoints.fromArray(
new Point((points [38].x + points [41].x) / 2, (points [38].y + points [41].y) / 2), //l eye (Interpupillary breadth)
new Point((points [43].x + points [46].x) / 2, (points [43].y + points [46].y) / 2), //r eye (Interpupillary breadth)
new Point(points [33].x, points [33].y), //nose (Nose top)
new Point(points [48].x, points [48].y), //l mouth (Mouth breadth)
new Point(points [54].x, points [54].y) //r mouth (Mouth breadth)
,
new Point(points [0].x, points [0].y), //l ear (Bitragion breadth)
new Point(points [16].x, points [16].y) //r ear (Bitragion breadth)
);
//Estimate head pose.
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
if (tvec.get(2, 0) [0] > 0)
{
if (Mathf.Abs((float)(points [43].y - points [46].y)) > Mathf.Abs((float)(points [42].x - points [45].x)) / 6.0)
{
if (isShowingEffects)
{
rightEye.SetActive(true);
}
}
if (Mathf.Abs((float)(points [38].y - points [41].y)) > Mathf.Abs((float)(points [39].x - points [36].x)) / 6.0)
{
if (isShowingEffects)
{
leftEye.SetActive(true);
}
}
if (isShowingHead)
{
head.SetActive(true);
}
if (isShowingAxes)
{
axes.SetActive(true);
}
float noseDistance = Mathf.Abs((float)(points [27].y - points [33].y));
float mouseDistance = Mathf.Abs((float)(points [62].y - points [66].y));
if (mouseDistance > noseDistance / 5.0)
{
if (isShowingEffects)
{
mouth.SetActive(true);
foreach (ParticleSystem ps in mouthParticleSystem)
{
ps.enableEmission = true;
ps.startSize = 40 * (mouseDistance / noseDistance);
}
}
}
else
{
if (isShowingEffects)
{
foreach (ParticleSystem ps in mouthParticleSystem)
{
ps.enableEmission = false;
}
}
}
Calib3d.Rodrigues(rvec, rotMat);
transformationM.SetRow(0, new Vector4((float)rotMat.get(0, 0) [0], (float)rotMat.get(0, 1) [0], (float)rotMat.get(0, 2) [0], (float)tvec.get(0, 0) [0] / 1000));
transformationM.SetRow(1, new Vector4((float)rotMat.get(1, 0) [0], (float)rotMat.get(1, 1) [0], (float)rotMat.get(1, 2) [0], (float)tvec.get(1, 0) [0] / 1000));
transformationM.SetRow(2, new Vector4((float)rotMat.get(2, 0) [0], (float)rotMat.get(2, 1) [0], (float)rotMat.get(2, 2) [0], (float)tvec.get(2, 0) [0] / 1000 / webCamTextureToMatHelper.DOWNSCALE_RATIO));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARM = invertYM * transformationM;
// Apply Z axis inverted matrix.
ARM = ARM * invertZM;
// Apply camera transform matrix.
ARM = ARCamera.transform.localToWorldMatrix * ARM;
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
}
}
/// <summary>
/// Update is called once per frame
/// </summary>
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
OpenCVForUnityUtils.SetImage(faceLandmarkDetector, rgbaMat);
// Detect faces on resize image 在调整图像时察觉脸
//detect face rects 发现脸的矩形
List <UnityEngine.Rect> detectResult = faceLandmarkDetector.Detect();
;
if (detectResult.Count > 0)
{
//detect landmark points 检测具有界标意义的点
List <Vector2> points = faceLandmarkDetector.DetectLandmark(detectResult[0]);
//将points绘制在mat上
OpenCVForUnityUtils.DrawFaceLandmark(rgbaMat, points, new Scalar(0, 255, 0, 255), 2);
imagePoints.fromArray(
new Point((points[38].x + points[41].x) / 2, (points[38].y + points[41].y) / 2), //l eye (Interpupillary breadth)
new Point((points[43].x + points[46].x) / 2, (points[43].y + points[46].y) / 2), //r eye (Interpupillary breadth)
new Point(points[30].x, points[30].y), //nose (Nose top)
new Point(points[48].x, points[48].y), //l mouth (Mouth breadth)
new Point(points[54].x, points[54].y), //r mouth (Mouth breadth)
new Point(points[0].x, points[0].y), //l ear (Bitragion breadth)
new Point(points[16].x, points[16].y) //r ear (Bitragion breadth)
);
// Estimate head pose. 估计头部姿势
if (rvec == null || tvec == null)
{
rvec = new Mat(3, 1, CvType.CV_64FC1);
tvec = new Mat(3, 1, CvType.CV_64FC1);
//从3D到2D点的pose中找到一个物体的姿势 rvec是旋转 tvec是平移向量
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
double tvec_z = tvec.get(2, 0)[0];
if (double.IsNaN(tvec_z) || tvec_z < 0)
{
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
else
{
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec, true, Calib3d.SOLVEPNP_ITERATIVE);
}
if (!double.IsNaN(tvec_z) && points.Count == 68)
{
cubismParameterDictionary.Clear();
Calib3d.Rodrigues(rvec, rotMat);
transformationM.SetRow(0, new Vector4((float)rotMat.get(0, 0)[0], (float)rotMat.get(0, 1)[0], (float)rotMat.get(0, 2)[0], (float)tvec.get(0, 0)[0]));
transformationM.SetRow(1, new Vector4((float)rotMat.get(1, 0)[0], (float)rotMat.get(1, 1)[0], (float)rotMat.get(1, 2)[0], (float)tvec.get(1, 0)[0]));
transformationM.SetRow(2, new Vector4((float)rotMat.get(2, 0)[0], (float)rotMat.get(2, 1)[0], (float)rotMat.get(2, 2)[0], (float)tvec.get(2, 0)[0]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
ARM = invertYM * transformationM * invertZM;
Vector3 forward;
forward.x = ARM.m02;
forward.y = ARM.m12;
forward.z = ARM.m22;
Vector3 upwards;
upwards.x = ARM.m01;
upwards.y = ARM.m11;
upwards.z = ARM.m21;
Vector3 angles = Quaternion.LookRotation(forward, upwards).eulerAngles;
float rotateX = angles.x > 180 ? angles.x - 360 : angles.x;
cubismParameterDictionary.Add(ParamAngleY, (float)Math.Round(rotateX));
float rotateY = angles.y > 180 ? angles.y - 360 : angles.y;
cubismParameterDictionary.Add(ParamAngleX, (float)Math.Round(-rotateY) * 2);
float rotateZ = angles.z > 180 ? angles.z - 360 : angles.z;
cubismParameterDictionary.Add(ParamAngleZ, (float)Math.Round(-rotateZ) * 2);
//Debug.("X" + rotateX + "Y" + rotateY + "Z" + rotateZ);
//ParamAngleX.BlendToValue(BlendMode,(float)(Math.Round(-rotateY) * 2));
//ParamAngleY.BlendToValue(BlendMode, (float)Math.Round(rotateX));
//ParamAngleZ.BlendToValue(BlendMode, (float)Math.Round(-rotateZ) * 2);
float eyeOpen_L = Mathf.Clamp(Mathf.Abs(points[43].y - points[47].y) / (Mathf.Abs(points[43].x - points[44].x) * 0.75f), -0.1f, 2.0f);
if (eyeOpen_L >= 0.8f)
{
eyeOpen_L = 1f;
}
else
{
eyeOpen_L = 0;
}
float eyeOpen_R = Mathf.Clamp(Mathf.Abs(points[38].y - points[40].y) / (Mathf.Abs(points[37].x - points[38].x) * 0.75f), -0.1f, 2.0f);
if (eyeOpen_R >= 0.8f)
{
eyeOpen_R = 1f;
}
else
{
eyeOpen_R = 0;
}
// ParamEyeROpen.BlendToValue(BlendMode, eyeOpen_R);
cubismParameterDictionary.Add(ParamEyeROpen, eyeOpen_R);
// ParamEyeLOpen.BlendToValue(BlendMode, eyeOpen_L);
cubismParameterDictionary.Add(ParamEyeLOpen, eyeOpen_L);
// ParamEyeBallX.BlendToValue(BlendMode, (float)rotateY / 30f);
cubismParameterDictionary.Add(ParamEyeBallX, rotateY / 30f);
// ParamEyeBallX.BlendToValue(BlendMode, (float)-rotateX / 30f - 0.25f);
cubismParameterDictionary.Add(ParamEyeBallY, (float)-rotateX / 30f - 0.25f);
float RY = Mathf.Abs(points[19].y - points[27].y) / Mathf.Abs(points[27].y - points[29].y);
RY -= 1;
RY *= 4f;
float LY = Mathf.Abs(points[24].y - points[27].y) / Mathf.Abs(points[27].y - points[29].y);
LY -= 1;
LY *= 4f;
// ParamBrowRY.BlendToValue(BlendMode, RY);
cubismParameterDictionary.Add(ParamBrowRY, RY);
// ParamBrowLY.BlendToValue(BlendMode, LY);
cubismParameterDictionary.Add(ParamBrowLY, LY);
float mouthOpen = Mathf.Clamp01(Mathf.Abs(points[62].y - points[66].y) / (Mathf.Abs(points[51].y - points[62].y) + Mathf.Abs(points[66].y - points[57].y)));
if (mouthOpen < 0.6f)
{
mouthOpen = 0;
}
// ParamMouthOpenY.BlendToValue(BlendMode, mouthOpen);
cubismParameterDictionary.Add(ParamMouthOpenY, mouthOpen);
float mouthSize = Mathf.Abs(points[48].x - points[54].x) / (Mathf.Abs(points[31].x - points[35].x));
// ParamMouthForm.BlendToValue(BlendMode, Mathf.Clamp(mouthSize, -1.0f, 1.0f));
cubismParameterDictionary.Add(ParamMouthForm, Mathf.Clamp(mouthSize, -1.0f, 1.0f));
}
}
OpenCVForUnity.Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
OpenCVForUnityUtils.SetImage(faceLandmarkDetector, rgbaMat);
//detect face rects
List <UnityEngine.Rect> detectResult = faceLandmarkDetector.Detect();
if (detectResult.Count > 0)
{
//detect landmark points
List <Vector2> points = faceLandmarkDetector.DetectLandmark(detectResult [0]);
if (displayFacePoints)
{
OpenCVForUnityUtils.DrawFaceLandmark(rgbaMat, points, new Scalar(0, 255, 0, 255), 2);
}
MatOfPoint3f objectPoints = null;
if (points.Count == 68)
{
objectPoints = objectPoints68;
imagePoints.fromArray(
new Point((points [38].x + points [41].x) / 2, (points [38].y + points [41].y) / 2), //l eye (Interpupillary breadth)
new Point((points [43].x + points [46].x) / 2, (points [43].y + points [46].y) / 2), //r eye (Interpupillary breadth)
new Point(points [30].x, points [30].y), //nose (Tip)
new Point(points [33].x, points [33].y), //nose (Subnasale)
new Point(points [0].x, points [0].y), //l ear (Bitragion breadth)
new Point(points [16].x, points [16].y) //r ear (Bitragion breadth)
);
float noseDistance = Mathf.Abs((float)(points [27].y - points [33].y));
float mouseDistance = Mathf.Abs((float)(points [62].y - points [66].y));
}
else if (points.Count == 17)
{
objectPoints = objectPoints17;
imagePoints.fromArray(
new Point((points [2].x + points [3].x) / 2, (points [2].y + points [3].y) / 2), //l eye (Interpupillary breadth)
new Point((points [4].x + points [5].x) / 2, (points [4].y + points [5].y) / 2), //r eye (Interpupillary breadth)
new Point(points [0].x, points [0].y), //nose (Tip)
new Point(points [1].x, points [1].y), //nose (Subnasale)
new Point(points [6].x, points [6].y), //l ear (Bitragion breadth)
new Point(points [8].x, points [8].y) //r ear (Bitragion breadth)
);
float noseDistance = Mathf.Abs((float)(points [3].y - points [1].y));
float mouseDistance = Mathf.Abs((float)(points [14].y - points [16].y));
}
else if (points.Count == 6)
{
objectPoints = objectPoints6;
imagePoints.fromArray(
new Point((points [2].x + points [3].x) / 2, (points [2].y + points [3].y) / 2), //l eye (Interpupillary breadth)
new Point((points [4].x + points [5].x) / 2, (points [4].y + points [5].y) / 2), //r eye (Interpupillary breadth)
new Point(points [0].x, points [0].y), //nose (Tip)
new Point(points [1].x, points [1].y) //nose (Subnasale)
);
}
else if (points.Count == 5)
{
objectPoints = objectPoints5;
imagePoints.fromArray(
new Point(points [3].x, points [3].y), //l eye (Inner corner of the eye)
new Point(points [1].x, points [1].y), //r eye (Inner corner of the eye)
new Point(points [2].x, points [2].y), //l eye (Tail of the eye)
new Point(points [0].x, points [0].y), //r eye (Tail of the eye)
new Point(points [4].x, points [4].y) //nose (Subnasale)
);
if (fpsMonitor != null)
{
fpsMonitor.consoleText = "This example supports mainly the face landmark points of 68/17/6 points.";
}
}
// estimate head pose
if (rvec == null || tvec == null)
{
rvec = new Mat(3, 1, CvType.CV_64FC1);
tvec = new Mat(3, 1, CvType.CV_64FC1);
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
double tvec_x = tvec.get(0, 0) [0], tvec_y = tvec.get(1, 0) [0], tvec_z = tvec.get(2, 0) [0];
bool isNotInViewport = false;
Vector4 pos = VP * new Vector4((float)tvec_x, (float)tvec_y, (float)tvec_z, 1.0f);
if (pos.w != 0)
{
float x = pos.x / pos.w, y = pos.y / pos.w, z = pos.z / pos.w;
if (x < -1.0f || x > 1.0f || y < -1.0f || y > 1.0f || z < -1.0f || z > 1.0f)
{
isNotInViewport = true;
}
}
if (double.IsNaN(tvec_z) || isNotInViewport) // if tvec is wrong data, do not use extrinsic guesses. (the estimated object is not in the camera field of view)
{
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
else
{
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec, true, Calib3d.SOLVEPNP_ITERATIVE);
}
if (!isNotInViewport)
{
if (displayHead)
{
head.SetActive(true);
}
if (displayAxes)
{
axes.SetActive(true);
}
// 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);
// Changes in pos/rot below these thresholds are ignored.
if (enableLowPassFilter)
{
ARUtils.LowpassPoseData(ref oldPoseData, ref poseData, positionLowPass, rotationLowPass);
}
oldPoseData = poseData;
// Create transform matrix.
transformationM = Matrix4x4.TRS(poseData.pos, poseData.rot, Vector3.one);
//move joystick
float t = 0.50f;
int xpos;
if ((poseData.rot.eulerAngles.x - oldPoseData.rot.eulerAngles.x) < 10 && (poseData.rot.eulerAngles.x - oldPoseData.rot.eulerAngles.x) > 0)
{
xpos = Convert.ToInt16(Mathf.Lerp(poseData.rot.eulerAngles.x, oldPoseData.rot.eulerAngles.x, t));
}
else
{
xpos = Convert.ToInt16(Mathf.Lerp(poseData.rot.eulerAngles.x, oldPoseData.rot.eulerAngles.x, 1));
}
int ypos;
if ((poseData.rot.eulerAngles.y - oldPoseData.rot.eulerAngles.y) < 10 && (poseData.rot.eulerAngles.y - oldPoseData.rot.eulerAngles.y) > 0)
{
ypos = Convert.ToInt16(Mathf.Lerp(poseData.rot.eulerAngles.y, oldPoseData.rot.eulerAngles.y, t));
}
else
{
ypos = Convert.ToInt16(Mathf.Lerp(poseData.rot.eulerAngles.y, oldPoseData.rot.eulerAngles.y, 1));
}
int rpos;
if ((poseData.rot.eulerAngles.z - oldPoseData.rot.eulerAngles.z) < 10 && (poseData.rot.eulerAngles.z - oldPoseData.rot.eulerAngles.z) > 0)
{
rpos = Convert.ToInt16(Mathf.Lerp(poseData.rot.eulerAngles.z, oldPoseData.rot.eulerAngles.z, t));
}
else
{
rpos = Convert.ToInt16(Mathf.Lerp(poseData.rot.eulerAngles.z, oldPoseData.rot.eulerAngles.z, 1));
}
//int ypos = Convert.ToInt16(Mathf.Lerp(poseData.rot.eulerAngles.y, oldPoseData.rot.eulerAngles.y,t));
int zpos = Convert.ToInt16(poseData.pos.z);
//zoom
int scZ = Convert.ToInt32(Scale(zpos, 400, 800, 0, 32000));
//up down
int scX;
if (xpos >= 0 && xpos < 20)
{
scX = Convert.ToInt32(Scale(xpos, 0, 10, 29000, 32000));
}
else
{
scX = Convert.ToInt32(Scale(xpos, 340, 360, 0, 29000));
}
//left right
int scY = Convert.ToInt32(Scale(ypos, 160, 200, 0, 32000));
//roll
int scR = Convert.ToInt32(Scale(rpos, 160, 200, 0, 32000));
iReport.AxisX = scX;
iReport.AxisY = scY;
iReport.AxisZ = scZ;
iReport.Slider = scR;
bool upd = joystick.UpdateVJD(id, ref iReport);
string message = "x:" + scX + " y:" + scY + " z:" + scZ + " r:" + scR;
Debug.Log(message);
}
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARM = invertYM * transformationM;
// Apply Z-axis inverted matrix.
ARM = ARM * invertZM;
if (shouldMoveARCamera)
{
ARM = ARGameObject.transform.localToWorldMatrix * ARM.inverse;
ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
}
else
{
ARM = ARCamera.transform.localToWorldMatrix * ARM;
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
}
}
Imgproc.putText(rgbaMat, "W:" + rgbaMat.width() + " H:" + rgbaMat.height() + " SO:" + Screen.orientation, new Point(5, rgbaMat.rows() - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 0.5, new Scalar(255, 255, 255, 255), 1, Imgproc.LINE_AA, false);
OpenCVForUnity.UnityUtils.Utils.fastMatToTexture2D(rgbaMat, texture);
}
}
// 更新は、フレームごとに呼ばれます
void Update()
{
if (!initDone)
{
return;
}
if (screenOrientation != Screen.orientation)
{
screenOrientation = Screen.orientation;
updateLayout();
}
#if UNITY_IOS && !UNITY_EDITOR && (UNITY_4_6_3 || UNITY_4_6_4 || UNITY_5_0_0 || UNITY_5_0_1)
if (webCamTexture.width > 16 && webCamTexture.height > 16)
{
#else
if (webCamTexture.didUpdateThisFrame)
{
#endif
Utils.webCamTextureToMat(webCamTexture, rgbaMat, colors);
// 方向を修正するために反転.
if (webCamDevice.isFrontFacing)
{
if (webCamTexture.videoRotationAngle == 0)
{
Core.flip(rgbaMat, rgbaMat, 1);
}
else if (webCamTexture.videoRotationAngle == 90)
{
Core.flip(rgbaMat, rgbaMat, 0);
}
if (webCamTexture.videoRotationAngle == 180)
{
Core.flip(rgbaMat, rgbaMat, 0);
}
else if (webCamTexture.videoRotationAngle == 270)
{
Core.flip(rgbaMat, rgbaMat, 1);
}
}
else
{
if (webCamTexture.videoRotationAngle == 180)
{
Core.flip(rgbaMat, rgbaMat, -1);
}
else if (webCamTexture.videoRotationAngle == 270)
{
Core.flip(rgbaMat, rgbaMat, -1);
}
}
// グレースケールにイメージを変換します
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
if (faceTracker.getPoints().Count <= 0)
{
Debug.Log("detectFace");
// グレースケールにイメージを変換します
using (Mat equalizeHistMat = new Mat())
using (MatOfRect faces = new MatOfRect())
{
Imgproc.equalizeHist(grayMat, equalizeHistMat);
cascade.detectMultiScale(equalizeHistMat, faces, 1.1f, 2, 0
| Objdetect.CASCADE_FIND_BIGGEST_OBJECT
| Objdetect.CASCADE_SCALE_IMAGE, new OpenCVForUnity.Size(equalizeHistMat.cols() * 0.15, equalizeHistMat.cols() * 0.15), new Size());
if (faces.rows() > 0)
{
Debug.Log("--------------------------faces");
Debug.Log("faces " + faces.dump());
Debug.Log("--------------------------faces");
// MatOfRectから顔の初期座標を追加
faceTracker.addPoints(faces);
// 顔の四角形を描きます
OpenCVForUnity.Rect[] rects = faces.toArray();
for (int i = 0; i < rects.Length; i++)
{
Core.rectangle(rgbaMat, new Point(rects[i].x, rects[i].y), new Point(rects[i].x + rects[i].width, rects[i].y + rects[i].height), new Scalar(255, 0, 0, 255), 2);
}
}
}
}
// 顔の座標を追跡します.if face points <= 0, always return false.
if (faceTracker.track(grayMat, faceTrackerParams))
{
if (isDrawPoints)
{
//Debug.Log("--------------------------100-----------------------------------");
faceTracker.draw(rgbaMat, new Scalar(255, 0, 0, 255), new Scalar(0, 255, 0, 255));
}
//Debug.Log("--------------------------1000");
//Core.putText(rgbaMat, "'Tap' or 'Space Key' to Reset", new Point(5, rgbaMat.rows() - 5), Core.FONT_HERSHEY_SIMPLEX, 0.8, new Scalar(255, 255, 255, 255), 2, Core.LINE_AA, false);
Point[] points = faceTracker.getPoints()[0];
//eyeWidth = points[36] - points[31];
/*
* Debug.Log("--------------------------0");
* Debug.Log(points[31]);
* Debug.Log("--------------------------2");
* Debug.Log(points[36]);
* Debug.Log("--------------------------1");
*/
if (points.Length > 0)
{
imagePoints.fromArray(
points[31], //l eye
points[36], //r eye
points[67], // nose
points[48], //l mouth
points[54] //r mouth
);
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
bool isRefresh = false;
if (tvec.get(2, 0)[0] > 0 && tvec.get(2, 0)[0] < 1200 * ((float)webCamTexture.width / (float)width))
{
isRefresh = true;
if (oldRvec == null)
{
oldRvec = new Mat();
rvec.copyTo(oldRvec);
}
if (oldTvec == null)
{
oldTvec = new Mat();
tvec.copyTo(oldTvec);
}
// Rvecノイズをフィルタリング.
using (Mat absDiffRvec = new Mat())
{
Core.absdiff(rvec, oldRvec, absDiffRvec);
using (Mat cmpRvec = new Mat())
{
Core.compare(absDiffRvec, new Scalar(rvecNoiseFilterRange), cmpRvec, Core.CMP_GT);
if (Core.countNonZero(cmpRvec) > 0)
{
isRefresh = false;
}
}
}
// Tvecノイズをフィルタリング.
using (Mat absDiffTvec = new Mat())
{
Core.absdiff(tvec, oldTvec, absDiffTvec);
using (Mat cmpTvec = new Mat())
{
Core.compare(absDiffTvec, new Scalar(tvecNoiseFilterRange), cmpTvec, Core.CMP_GT);
if (Core.countNonZero(cmpTvec) > 0)
{
isRefresh = false;
}
}
}
}
if (isRefresh)
{
if (!rightEye.activeSelf)
{
rightEye.SetActive(true);
}
if (!leftEye.activeSelf)
{
leftEye.SetActive(true);
}
rvec.copyTo(oldRvec);
tvec.copyTo(oldTvec);
Calib3d.Rodrigues(rvec, rotM);
transformationM.SetRow(0, new Vector4((float)rotM.get(0, 0)[0], (float)rotM.get(0, 1)[0], (float)rotM.get(0, 2)[0], (float)tvec.get(0, 0)[0]));
transformationM.SetRow(1, new Vector4((float)rotM.get(1, 0)[0], (float)rotM.get(1, 1)[0], (float)rotM.get(1, 2)[0], (float)tvec.get(1, 0)[0]));
transformationM.SetRow(2, new Vector4((float)rotM.get(2, 0)[0], (float)rotM.get(2, 1)[0], (float)rotM.get(2, 2)[0], (float)tvec.get(2, 0)[0]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
modelViewMtrx = lookAtM * transformationM * invertZM;
ARCamera.worldToCameraMatrix = modelViewMtrx;
}
}
}
Utils.matToTexture2D(rgbaMat, texture, colors);
}
if (Input.GetKeyUp(KeyCode.Space) || Input.touchCount > 0)
{
faceTracker.reset();
if (oldRvec != null)
{
oldRvec.Dispose();
oldRvec = null;
}
if (oldTvec != null)
{
oldTvec.Dispose();
oldTvec = null;
}
ARCamera.ResetWorldToCameraMatrix();
rightEye.SetActive(false);
leftEye.SetActive(false);
}
}
void OnDisable()
{
webCamTexture.Stop();
}
private void HandPoseEstimationProcess(Mat rgbaMat)
{
//Imgproc.blur(mRgba, mRgba, new Size(5,5));
Imgproc.GaussianBlur(rgbaMat, rgbaMat, new Size(3, 3), 1, 1);
//Imgproc.medianBlur(mRgba, mRgba, 3);
if (!isColorSelected)
{
return;
}
List <MatOfPoint> contours = detector.GetContours();
detector.Process(rgbaMat);
//Debug.Log ("Contours count: " + contours.Count);
if (contours.Count <= 0)
{
return;
}
RotatedRect rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[0].toArray()));
double boundWidth = rect.size.width;
double boundHeight = rect.size.height;
int boundPos = 0;
for (int i = 1; i < contours.Count; i++)
{
rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[i].toArray()));
if (rect.size.width * rect.size.height > boundWidth * boundHeight)
{
boundWidth = rect.size.width;
boundHeight = rect.size.height;
boundPos = i;
}
}
MatOfPoint contour = contours[boundPos];
OpenCVForUnity.CoreModule.Rect boundRect = Imgproc.boundingRect(new MatOfPoint(contour.toArray()));
Imgproc.rectangle(rgbaMat, boundRect.tl(), boundRect.br(), CONTOUR_COLOR_WHITE, 2, 8, 0);
// Debug.Log (
// " Row start [" +
//(int)boundRect.tl ().y + "] row end [" +
// (int)boundRect.br ().y + "] Col start [" +
// (int)boundRect.tl ().x + "] Col end [" +
// (int)boundRect.br ().x + "]");
Point bottomLeft = new Point(boundRect.x, boundRect.y + boundRect.height);
Point topLeft = new Point(boundRect.x, boundRect.y);
Point bottomRight = new Point(boundRect.x + boundRect.width, boundRect.y + boundRect.height);
Point topRight = new Point(boundRect.x + boundRect.width, boundRect.y);
rectPoints = new MatOfPoint2f(new Point(boundRect.x, boundRect.y), //topleft
new Point(boundRect.x + boundRect.width, boundRect.y), //Top Right
new Point(boundRect.x + boundRect.width, boundRect.y + boundRect.height), //Bottom Right
new Point(boundRect.x, boundRect.y + boundRect.height) //Bottom Left
);
//double a = boundRect.br ().y - boundRect.tl ().y;
//a = a * 0.7;
//a = boundRect.tl ().y + a;
//Debug.Log (" A [" + a + "] br y - tl y = [" + (boundRect.br ().y - boundRect.tl ().y) + "]");
//Imgproc.rectangle (rgbaMat, boundRect.tl (), new Point (boundRect.br ().x, a), CONTOUR_COLOR, 2, 8, 0);
List <Point3> m_markerCorners3dList = new List <Point3>();
m_markerCorners3dList.Add(new Point3(-0.5f, -0.5f, 0)); //Top, Left (A)
m_markerCorners3dList.Add(new Point3(+0.5f, -0.5f, 0)); //Top, Right (B)
m_markerCorners3dList.Add(new Point3(+0.5f, +0.5f, 0)); //Bottom, Right (C)
m_markerCorners3dList.Add(new Point3(-0.5f, +0.5f, 0)); //Bottom, Left (D)
m_markerCorners3d.fromList(m_markerCorners3dList);
//estimate pose
Mat Rvec = new Mat();
Mat Tvec = new Mat();
Mat raux = new Mat();
Mat taux = new Mat();
Calib3d.solvePnP(m_markerCorners3d, rectPoints, camMatrix, distCoeff, raux, taux);
raux.convertTo(Rvec, CvType.CV_32F);
taux.convertTo(Tvec, CvType.CV_32F);
rotMat = new Mat(3, 3, CvType.CV_64FC1);
Calib3d.Rodrigues(Rvec, rotMat);
transformationM.SetRow(0, new Vector4((float)rotMat.get(0, 0)[0], (float)rotMat.get(0, 1)[0], (float)rotMat.get(0, 2)[0], (float)Tvec.get(0, 0)[0]));
transformationM.SetRow(1, new Vector4((float)rotMat.get(1, 0)[0], (float)rotMat.get(1, 1)[0], (float)rotMat.get(1, 2)[0], (float)Tvec.get(1, 0)[0]));
transformationM.SetRow(2, new Vector4((float)rotMat.get(2, 0)[0], (float)rotMat.get(2, 1)[0], (float)rotMat.get(2, 2)[0], (float)Tvec.get(2, 0)[0]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
//Debug.Log ("transformationM " + transformationM.ToString ());
Rvec.Dispose();
Tvec.Dispose();
raux.Dispose();
taux.Dispose();
rotMat.Dispose();
ARM = ARCamera.transform.localToWorldMatrix * invertYM * transformationM * invertZM;
//Debug.Log("arM " + ARM.ToString());
if (ARGameObject != null)
{
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
if (deactivateCoroutine == null)
{
deactivateCoroutine = StartCoroutine(Wait(10.0f));
}
ARGameObject.SetActive(true);
}
//end pose estimation
MatOfPoint2f pointMat = new MatOfPoint2f();
Imgproc.approxPolyDP(new MatOfPoint2f(contour.toArray()), pointMat, 3, true);
contour = new MatOfPoint(pointMat.toArray());
MatOfInt hull = new MatOfInt();
MatOfInt4 convexDefect = new MatOfInt4();
Imgproc.convexHull(new MatOfPoint(contour.toArray()), hull);
if (hull.toArray().Length < 3)
{
return;
}
Imgproc.convexityDefects(new MatOfPoint(contour.toArray()), hull, convexDefect);
List <MatOfPoint> hullPoints = new List <MatOfPoint>();
List <Point> listPo = new List <Point>();
for (int j = 0; j < hull.toList().Count; j++)
{
listPo.Add(contour.toList()[hull.toList()[j]]);
}
MatOfPoint e = new MatOfPoint();
e.fromList(listPo);
hullPoints.Add(e);
List <Point> listPoDefect = new List <Point>();
if (convexDefect.rows() > 0)
{
List <int> convexDefectList = convexDefect.toList();
List <Point> contourList = contour.toList();
for (int j = 0; j < convexDefectList.Count; j = j + 4)
{
Point farPoint = contourList[convexDefectList[j + 2]];
int depth = convexDefectList[j + 3];
//if (depth > threasholdSlider.value && farPoint.y < a)
//{
// listPoDefect.Add(contourList[convexDefectList[j + 2]]);
//}
//Debug.Log ("convexDefectList [" + j + "] " + convexDefectList [j + 3]);
}
}
Debug.Log("hull: " + hull.toList());
if (convexDefect.rows() > 0)
{
Debug.Log("defects: " + convexDefect.toList());
}
//use these contours to do heart detection
Imgproc.drawContours(rgbaMat, hullPoints, -1, CONTOUR_COLOR, 3);
int defectsTotal = (int)convexDefect.total();
Debug.Log("Defect total " + defectsTotal);
this.numberOfFingers = listPoDefect.Count;
if (this.numberOfFingers > 5)
{
this.numberOfFingers = 5;
}
Debug.Log("numberOfFingers " + numberOfFingers);
Imgproc.putText(rgbaMat, "" + numberOfFingers, new Point(rgbaMat.cols() / 2, rgbaMat.rows() / 2), Imgproc.FONT_HERSHEY_PLAIN, 4.0, new Scalar(255, 255, 255, 255), 6, Imgproc.LINE_AA, false);
numberOfFingersText.text = numberOfFingers.ToString();
foreach (Point p in listPoDefect)
{
Imgproc.circle(rgbaMat, p, 6, new Scalar(255, 0, 255, 255), -1);
}
}
private IEnumerator init()
{
axes.SetActive(false);
head.SetActive(false);
rightEye.SetActive(false);
leftEye.SetActive(false);
mouth.SetActive(false);
if (webCamTexture != null)
{
faceTracker.reset();
webCamTexture.Stop();
initDone = false;
rgbaMat.Dispose();
grayMat.Dispose();
cascade.Dispose();
camMatrix.Dispose();
distCoeffs.Dispose();
}
// Checks how many and which cameras are available on the device
for (int cameraIndex = 0; cameraIndex < WebCamTexture.devices.Length; cameraIndex++)
{
if (WebCamTexture.devices [cameraIndex].isFrontFacing == isFrontFacing)
{
Debug.Log(cameraIndex + " name " + WebCamTexture.devices [cameraIndex].name + " isFrontFacing " + WebCamTexture.devices [cameraIndex].isFrontFacing);
webCamDevice = WebCamTexture.devices [cameraIndex];
webCamTexture = new WebCamTexture(webCamDevice.name, width, height);
break;
}
}
if (webCamTexture == null)
{
webCamDevice = WebCamTexture.devices [0];
webCamTexture = new WebCamTexture(webCamDevice.name, width, height);
}
Debug.Log("width " + webCamTexture.width + " height " + webCamTexture.height + " fps " + webCamTexture.requestedFPS);
// Starts the camera
webCamTexture.Play();
while (true)
{
//If you want to use webcamTexture.width and webcamTexture.height on iOS, you have to wait until webcamTexture.didUpdateThisFrame == 1, otherwise these two values will be equal to 16. (http://forum.unity3d.com/threads/webcamtexture-and-error-0x0502.123922/)
#if UNITY_IOS && !UNITY_EDITOR && (UNITY_4_6_3 || UNITY_4_6_4 || UNITY_5_0_0 || UNITY_5_0_1)
if (webCamTexture.width > 16 && webCamTexture.height > 16)
{
#else
if (webCamTexture.didUpdateThisFrame)
{
#endif
Debug.Log("width " + webCamTexture.width + " height " + webCamTexture.height + " fps " + webCamTexture.requestedFPS);
Debug.Log("videoRotationAngle " + webCamTexture.videoRotationAngle + " videoVerticallyMirrored " + webCamTexture.videoVerticallyMirrored + " isFrongFacing " + webCamDevice.isFrontFacing);
colors = new Color32[webCamTexture.width * webCamTexture.height];
rgbaMat = new Mat(webCamTexture.height, webCamTexture.width, CvType.CV_8UC4);
grayMat = new Mat(webCamTexture.height, webCamTexture.width, CvType.CV_8UC1);
texture = new Texture2D(webCamTexture.width, webCamTexture.height, TextureFormat.RGBA32, false);
cascade = new CascadeClassifier(Utils.getFilePath("haarcascade_frontalface_alt.xml"));
if (cascade.empty())
{
Debug.LogError("cascade file is not loaded.Please copy from “FaceTrackerSample/StreamingAssets/” to “Assets/StreamingAssets/” folder. ");
}
gameObject.transform.localScale = new Vector3(webCamTexture.width, webCamTexture.height, 1);
gameObject.transform.localEulerAngles = new Vector3(0, 0, 0);
// gameObject.transform.rotation = gameObject.transform.rotation * Quaternion.AngleAxis (webCamTexture.videoRotationAngle, Vector3.back);
// bool _videoVerticallyMirrored = webCamTexture.videoVerticallyMirrored;
// float scaleX = 1;
// float scaleY = _videoVerticallyMirrored ? -1.0f : 1.0f;
// gameObject.transform.localScale = new Vector3 (scaleX * gameObject.transform.localScale.x, scaleY * gameObject.transform.localScale.y, 1);
gameObject.GetComponent <Renderer> ().material.mainTexture = texture;
Camera.main.orthographicSize = webCamTexture.height / 2;
int max_d = Mathf.Max(rgbaMat.rows(), rgbaMat.cols());
camMatrix = new Mat(3, 3, CvType.CV_64FC1);
camMatrix.put(0, 0, max_d);
camMatrix.put(0, 1, 0);
camMatrix.put(0, 2, rgbaMat.cols() / 2.0f);
camMatrix.put(1, 0, 0);
camMatrix.put(1, 1, max_d);
camMatrix.put(1, 2, rgbaMat.rows() / 2.0f);
camMatrix.put(2, 0, 0);
camMatrix.put(2, 1, 0);
camMatrix.put(2, 2, 1.0f);
Size imageSize = new Size(rgbaMat.cols(), rgbaMat.rows());
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();
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]);
ARCamera.fieldOfView = (float)fovy [0];
Debug.Log("camMatrix " + camMatrix.dump());
distCoeffs = new MatOfDouble(0, 0, 0, 0);
Debug.Log("distCoeffs " + distCoeffs.dump());
lookAtM = getLookAtMatrix(new Vector3(0, 0, 0), new Vector3(0, 0, 1), new Vector3(0, -1, 0));
Debug.Log("lookAt " + lookAtM.ToString());
invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
initDone = true;
break;
}
else
{
yield return(0);
}
}
}
// Update is called once per frame
void Update()
{
if (!initDone)
{
return;
}
#if UNITY_IOS && !UNITY_EDITOR && (UNITY_4_6_3 || UNITY_4_6_4 || UNITY_5_0_0 || UNITY_5_0_1)
if (webCamTexture.width > 16 && webCamTexture.height > 16)
{
#else
if (webCamTexture.didUpdateThisFrame)
{
#endif
Utils.webCamTextureToMat(webCamTexture, rgbaMat, colors);
//flip to correct direction.
if (webCamTexture.videoVerticallyMirrored)
{
if (webCamDevice.isFrontFacing)
{
if (webCamTexture.videoRotationAngle == 0)
{
Core.flip(rgbaMat, rgbaMat, -1);
}
else if (webCamTexture.videoRotationAngle == 180)
{
Core.flip(rgbaMat, rgbaMat, 0);
}
}
else
{
if (webCamTexture.videoRotationAngle == 0)
{
}
else if (webCamTexture.videoRotationAngle == 180)
{
Core.flip(rgbaMat, rgbaMat, 1);
}
}
}
else
{
if (webCamDevice.isFrontFacing)
{
if (webCamTexture.videoRotationAngle == 0)
{
Core.flip(rgbaMat, rgbaMat, 1);
}
else if (webCamTexture.videoRotationAngle == 180)
{
Core.flip(rgbaMat, rgbaMat, 0);
}
}
else
{
if (webCamTexture.videoRotationAngle == 0)
{
}
else if (webCamTexture.videoRotationAngle == 180)
{
Core.flip(rgbaMat, rgbaMat, -1);
}
}
}
//convert image to greyscale
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
if (faceTracker.getPoints().Count <= 0)
{
Debug.Log("detectFace");
//convert image to greyscale
using (Mat equalizeHistMat = new Mat())
using (MatOfRect faces = new MatOfRect()) {
Imgproc.equalizeHist(grayMat, equalizeHistMat);
cascade.detectMultiScale(equalizeHistMat, faces, 1.1f, 2, 0
| Objdetect.CASCADE_FIND_BIGGEST_OBJECT
| Objdetect.CASCADE_SCALE_IMAGE, new OpenCVForUnity.Size(equalizeHistMat.cols() * 0.15, equalizeHistMat.cols() * 0.15), new Size());
if (faces.rows() > 0)
{
Debug.Log("faces " + faces.dump());
//add initial face points from MatOfRect
faceTracker.addPoints(faces);
//draw face rect
OpenCVForUnity.Rect[] rects = faces.toArray();
for (int i = 0; i < rects.Length; i++)
{
Core.rectangle(rgbaMat, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(255, 0, 0, 255), 2);
}
}
}
}
//track face points.if face points <= 0, always return false.
if (faceTracker.track(grayMat, faceTrackerParams))
{
if (isDrawPoints)
{
faceTracker.draw(rgbaMat, new Scalar(255, 0, 0, 255), new Scalar(0, 255, 0, 255));
}
Core.putText(rgbaMat, "'Tap' or 'Space Key' to Reset", new Point(5, rgbaMat.rows() - 5), Core.FONT_HERSHEY_SIMPLEX, 0.8, new Scalar(255, 255, 255, 255), 2, Core.LINE_AA, false);
Point[] points = faceTracker.getPoints() [0];
if (points.Length > 0)
{
// for (int i = 0; i < points.Length; i++) {
// Core.putText (rgbaMat, "" + i, new Point (points [i].x, points [i].y), Core.FONT_HERSHEY_SIMPLEX, 0.3, new Scalar (0, 0, 255, 255), 2, Core.LINE_AA, false);
// }
imagePoints.fromArray(
points [31], //l eye
points [36], //r eye
points [67], //nose
points [48], //l mouth
points [54] //r mouth
// ,
// points [1],//l ear
// points [13]//r ear
);
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
bool isRefresh = false;
if (tvec.get(2, 0) [0] > 0 && tvec.get(2, 0) [0] < 1200 * ((float)webCamTexture.width / (float)width))
{
isRefresh = true;
if (oldRvec == null)
{
oldRvec = new Mat();
rvec.copyTo(oldRvec);
}
if (oldTvec == null)
{
oldTvec = new Mat();
tvec.copyTo(oldTvec);
}
//filter Rvec Noise.
using (Mat absDiffRvec = new Mat()) {
Core.absdiff(rvec, oldRvec, absDiffRvec);
// Debug.Log ("absDiffRvec " + absDiffRvec.dump());
using (Mat cmpRvec = new Mat()) {
Core.compare(absDiffRvec, new Scalar(rvecNoiseFilterRange), cmpRvec, Core.CMP_GT);
if (Core.countNonZero(cmpRvec) > 0)
{
isRefresh = false;
}
}
}
//filter Tvec Noise.
using (Mat absDiffTvec = new Mat()) {
Core.absdiff(tvec, oldTvec, absDiffTvec);
// Debug.Log ("absDiffRvec " + absDiffRvec.dump());
using (Mat cmpTvec = new Mat()) {
Core.compare(absDiffTvec, new Scalar(tvecNoiseFilterRange), cmpTvec, Core.CMP_GT);
if (Core.countNonZero(cmpTvec) > 0)
{
isRefresh = false;
}
}
}
}
if (isRefresh)
{
if (!rightEye.activeSelf)
{
rightEye.SetActive(true);
}
if (!leftEye.activeSelf)
{
leftEye.SetActive(true);
}
if ((Mathf.Abs((float)(points [48].x - points [56].x)) < Mathf.Abs((float)(points [31].x - points [36].x)) / 2.2 &&
Mathf.Abs((float)(points [51].y - points [57].y)) > Mathf.Abs((float)(points [31].x - points [36].x)) / 2.9) ||
Mathf.Abs((float)(points [51].y - points [57].y)) > Mathf.Abs((float)(points [31].x - points [36].x)) / 2.7)
{
if (!mouth.activeSelf)
{
mouth.SetActive(true);
}
}
else
{
if (mouth.activeSelf)
{
mouth.SetActive(false);
}
}
rvec.copyTo(oldRvec);
tvec.copyTo(oldTvec);
Calib3d.Rodrigues(rvec, rotM);
transformationM.SetRow(0, new Vector4((float)rotM.get(0, 0) [0], (float)rotM.get(0, 1) [0], (float)rotM.get(0, 2) [0], (float)tvec.get(0, 0) [0]));
transformationM.SetRow(1, new Vector4((float)rotM.get(1, 0) [0], (float)rotM.get(1, 1) [0], (float)rotM.get(1, 2) [0], (float)tvec.get(1, 0) [0]));
transformationM.SetRow(2, new Vector4((float)rotM.get(2, 0) [0], (float)rotM.get(2, 1) [0], (float)rotM.get(2, 2) [0], (float)tvec.get(2, 0) [0]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
modelViewMtrx = lookAtM * transformationM * invertZM;
ARCamera.worldToCameraMatrix = modelViewMtrx;
// Debug.Log ("modelViewMtrx " + modelViewMtrx.ToString());
}
}
}
Utils.matToTexture2D(rgbaMat, texture, colors);
}
if (Input.GetKeyUp(KeyCode.Space) || Input.touchCount > 0)
{
faceTracker.reset();
if (oldRvec != null)
{
oldRvec.Dispose();
oldRvec = null;
}
if (oldTvec != null)
{
oldTvec.Dispose();
oldTvec = null;
}
ARCamera.ResetWorldToCameraMatrix();
rightEye.SetActive(false);
leftEye.SetActive(false);
mouth.SetActive(false);
}
}
void OnDisable()
{
webCamTexture.Stop();
}
private Matrix4x4 getLookAtMatrix(Vector3 pos, Vector3 target, Vector3 up)
{
Vector3 z = Vector3.Normalize(pos - target);
Vector3 x = Vector3.Normalize(Vector3.Cross(up, z));
Vector3 y = Vector3.Normalize(Vector3.Cross(z, x));
Matrix4x4 result = new Matrix4x4();
result.SetRow(0, new Vector4(x.x, x.y, x.z, -(Vector3.Dot(pos, x))));
result.SetRow(1, new Vector4(y.x, y.y, y.z, -(Vector3.Dot(pos, y))));
result.SetRow(2, new Vector4(z.x, z.y, z.z, -(Vector3.Dot(pos, z))));
result.SetRow(3, new Vector4(0, 0, 0, 1));
return(result);
}
void OnGUI()
{
float screenScale = Screen.height / 240.0f;
Matrix4x4 scaledMatrix = Matrix4x4.Scale(new Vector3(screenScale, screenScale, screenScale));
GUI.matrix = scaledMatrix;
GUILayout.BeginVertical();
if (GUILayout.Button("back"))
{
Application.LoadLevel("FaceTrackerSample");
}
if (GUILayout.Button("change camera"))
{
isFrontFacing = !isFrontFacing;
StartCoroutine(init());
}
if (GUILayout.Button("drawPoints"))
{
if (isDrawPoints)
{
isDrawPoints = false;
}
else
{
isDrawPoints = true;
}
}
if (GUILayout.Button("axes"))
{
if (axes.activeSelf)
{
axes.SetActive(false);
}
else
{
axes.SetActive(true);
}
}
if (GUILayout.Button("head"))
{
if (head.activeSelf)
{
head.SetActive(false);
}
else
{
head.SetActive(true);
}
}
GUILayout.EndVertical();
}
}
void handleCalibration()
{
for (int i = 0; i < AK_receiver.GetComponent <akplay>().camInfoList.Count; i++)
{
//create color mat:
byte[] colorBytes = ((Texture2D)(AK_receiver.GetComponent <akplay>().camInfoList[i].colorCube.GetComponent <Renderer>().material.mainTexture)).GetRawTextureData();
GCHandle ch = GCHandle.Alloc(colorBytes, GCHandleType.Pinned);
Mat colorMat = new Mat(AK_receiver.GetComponent <akplay>().camInfoList[i].color_height, AK_receiver.GetComponent <akplay>().camInfoList[i].color_width, CvType.CV_8UC4);
Utils.copyToMat(ch.AddrOfPinnedObject(), colorMat);
ch.Free();
//OpenCVForUnity.CoreModule.Core.flip(colorMat, colorMat, 0);
//detect a chessboard in the image, and refine the points, and save the pixel positions:
MatOfPoint2f positions = new MatOfPoint2f();
int resizer = 4;
resizer = 1; //noresize!
Mat colorMatSmall = new Mat(); //~27 ms each
Imgproc.resize(colorMat, colorMatSmall, new Size(colorMat.cols() / resizer, colorMat.rows() / resizer));
bool success = Calib3d.findChessboardCorners(colorMatSmall, new Size(7, 7), positions);
for (int ss = 0; ss < positions.rows(); ss++)
{
double[] data = positions.get(ss, 0);
data[0] = data[0] * resizer;
data[1] = data[1] * resizer;
positions.put(ss, 0, data);
}
//subpixel, drawing chessboard, and getting orange blobs takes 14ms
TermCriteria tc = new TermCriteria();
Imgproc.cornerSubPix(colorMat, positions, new Size(5, 5), new Size(-1, -1), tc);
Mat chessboardResult = new Mat();
colorMat.copyTo(chessboardResult);
Calib3d.drawChessboardCorners(chessboardResult, new Size(7, 7), positions, success);
//Find the orange blobs:
Mat orangeMask = new Mat();
Vector2[] blobs = getOrangeBlobs(ref colorMat, ref orangeMask);
//find blob closest to chessboard
if (success && (blobs.Length > 0))
{
Debug.Log("found a chessboard and blobs for camera: " + i);
// time to get pin1 and chessboard positions: 27ms
//find pin1:
Point closestBlob = new Point();
int pin1idx = getPin1(positions, blobs, ref closestBlob);
Imgproc.circle(chessboardResult, new Point(positions.get(pin1idx, 0)[0], positions.get(pin1idx, 0)[1]), 10, new Scalar(255, 0, 0), -1);
Imgproc.circle(chessboardResult, closestBlob, 10, new Scalar(255, 255, 0), -1);
//get world positions of chessboard
Point[] realWorldPointArray = new Point[positions.rows()];
Point3[] realWorldPointArray3 = new Point3[positions.rows()];
Point[] imagePointArray = new Point[positions.rows()];
//getChessBoardWorldPositions(positions, pin1idx, 0.0498f, ref realWorldPointArray, ref realWorldPointArray3, ref imagePointArray); //green and white checkerboard.
getChessBoardWorldPositions(positions, pin1idx, 0.07522f, ref realWorldPointArray, ref realWorldPointArray3, ref imagePointArray); //black and white checkerboard.
string text = "";
float decimals = 1000.0f;
int text_red = 255;
int text_green = 0;
int text_blue = 0;
text = ((int)(realWorldPointArray3[0].x * decimals)) / decimals + "," + ((int)(realWorldPointArray3[0].y * decimals)) / decimals + "," + ((int)(realWorldPointArray3[0].z * decimals)) / decimals;
//text = sprintf("%f,%f,%f", realWorldPointArray3[0].x, realWorldPointArray3[0].y, realWorldPointArray3[0].z);
Imgproc.putText(chessboardResult, text, new Point(positions.get(0, 0)[0], positions.get(0, 0)[1]), 0, .6, new Scalar(text_red, text_green, text_blue));
text = ((int)(realWorldPointArray3[6].x * decimals)) / decimals + "," + ((int)(realWorldPointArray3[6].y * decimals)) / decimals + "," + ((int)(realWorldPointArray3[6].z * decimals)) / decimals;
//text = sprintf("%f,%f,%f", realWorldPointArray3[0].x, realWorldPointArray3[0].y, realWorldPointArray3[0].z);
Imgproc.putText(chessboardResult, text, new Point(positions.get(6, 0)[0], positions.get(6, 0)[1]), 0, .6, new Scalar(text_red, text_green, text_blue));
text = ((int)(realWorldPointArray3[42].x * decimals)) / decimals + "," + ((int)(realWorldPointArray3[42].y * decimals)) / decimals + "," + ((int)(realWorldPointArray3[42].z * decimals)) / decimals;
//text = sprintf("%f,%f,%f", realWorldPointArray3[0].x, realWorldPointArray3[0].y, realWorldPointArray3[0].z);
Imgproc.putText(chessboardResult, text, new Point(positions.get(42, 0)[0], positions.get(42, 0)[1]), 0, .6, new Scalar(text_red, text_green, text_blue));
text = ((int)(realWorldPointArray3[48].x * decimals)) / decimals + "," + ((int)(realWorldPointArray3[48].y * decimals)) / decimals + "," + ((int)(realWorldPointArray3[48].z * decimals)) / decimals;
//text = sprintf("%2.2f,%2.2f,%2.2f", realWorldPointArray3[48].x, realWorldPointArray3[48].y, realWorldPointArray3[48].z);
Imgproc.putText(chessboardResult, text, new Point(positions.get(48, 0)[0], positions.get(48, 0)[1]), 0, .6, new Scalar(text_red, text_green, text_blue));
Mat cameraMatrix = Mat.eye(3, 3, CvType.CV_64F);
cameraMatrix.put(0, 0, AK_receiver.GetComponent <akplay>().camInfoList[i].color_fx);
cameraMatrix.put(1, 1, AK_receiver.GetComponent <akplay>().camInfoList[i].color_fy);
cameraMatrix.put(0, 2, AK_receiver.GetComponent <akplay>().camInfoList[i].color_cx);
cameraMatrix.put(1, 2, AK_receiver.GetComponent <akplay>().camInfoList[i].color_cy);
double[] distortion = new double[8];
distortion[0] = AK_receiver.GetComponent <akplay>().camInfoList[i].color_k1;
distortion[1] = AK_receiver.GetComponent <akplay>().camInfoList[i].color_k2;
distortion[2] = AK_receiver.GetComponent <akplay>().camInfoList[i].color_p1;
distortion[3] = AK_receiver.GetComponent <akplay>().camInfoList[i].color_p2;
distortion[4] = AK_receiver.GetComponent <akplay>().camInfoList[i].color_k3;
distortion[5] = AK_receiver.GetComponent <akplay>().camInfoList[i].color_k4;
distortion[6] = AK_receiver.GetComponent <akplay>().camInfoList[i].color_k5;
distortion[7] = AK_receiver.GetComponent <akplay>().camInfoList[i].color_k6;
/*
* distortion[0] = 0.0;
* distortion[1] = 0.0;
* distortion[2] = 0.0;
* distortion[3] = 0.0;
* distortion[4] = 0.0;
* distortion[5] = 0.0;
* distortion[6] = 0.0;
* distortion[7] = 0.0;
*/
//~1 ms to solve for pnp
Mat rvec = new Mat();
Mat tvec = new Mat();
bool solvepnpSucces = Calib3d.solvePnP(new MatOfPoint3f(realWorldPointArray3), new MatOfPoint2f(imagePointArray), cameraMatrix, new MatOfDouble(distortion), rvec, tvec);
Mat R = new Mat();
Calib3d.Rodrigues(rvec, R);
//calculate unity vectors, and camera transforms
Mat camCenter = -R.t() * tvec;
Mat forwardOffset = new Mat(3, 1, tvec.type());
forwardOffset.put(0, 0, 0);
forwardOffset.put(1, 0, 0);
forwardOffset.put(2, 0, 1);
Mat upOffset = new Mat(3, 1, tvec.type());
upOffset.put(0, 0, 0);
upOffset.put(1, 0, -1);
upOffset.put(2, 0, 0);
Mat forwardVectorCV = R.t() * (forwardOffset - tvec);
forwardVectorCV = forwardVectorCV - camCenter;
Mat upVectorCV = R.t() * (upOffset - tvec);
upVectorCV = upVectorCV - camCenter;
Vector3 forwardVectorUnity = new Vector3((float)forwardVectorCV.get(0, 0)[0], (float)forwardVectorCV.get(2, 0)[0], (float)forwardVectorCV.get(1, 0)[0]); //need to flip y and z due to unity coordinate system
Vector3 upVectorUnity = new Vector3((float)upVectorCV.get(0, 0)[0], (float)upVectorCV.get(2, 0)[0], (float)upVectorCV.get(1, 0)[0]); //need to flip y and z due to unity coordinate system
Vector3 camCenterUnity = new Vector3((float)camCenter.get(0, 0)[0], (float)camCenter.get(2, 0)[0], (float)camCenter.get(1, 0)[0]);
Quaternion rotationUnity = Quaternion.LookRotation(forwardVectorUnity, upVectorUnity);
GameObject colorMarker = GameObject.CreatePrimitive(PrimitiveType.Cube);
//colorMarker.transform.localScale = new Vector3(0.1f, 0.1f, 0.2f);
//colorMarker.transform.parent = AK_receiver.transform;
colorMarker.layer = LayerMask.NameToLayer("Debug");
colorMarker.transform.position = camCenterUnity;
colorMarker.transform.rotation = Quaternion.LookRotation(forwardVectorUnity, upVectorUnity);
colorMarker.GetComponent <Renderer>().material.color = Color.blue;
Vector3 forwardDepth = AK_receiver.GetComponent <akplay>().camInfoList[i].color_extrinsics.MultiplyPoint(forwardVectorUnity);
Vector3 upDepth = AK_receiver.GetComponent <akplay>().camInfoList[i].color_extrinsics.MultiplyPoint(upVectorUnity);
Vector3 camCenterDepth = AK_receiver.GetComponent <akplay>().camInfoList[i].color_extrinsics.MultiplyPoint(camCenterUnity);
Quaternion rotationDepth = Quaternion.LookRotation(forwardDepth, upDepth);
GameObject depthMarker = GameObject.CreatePrimitive(PrimitiveType.Cube);
depthMarker.layer = LayerMask.NameToLayer("Debug");
depthMarker.transform.parent = colorMarker.transform;
//depthMarker.transform.localScale = AK_receiver.GetComponent<akplay>().camInfoList[i].color_extrinsics.lossyScale;
depthMarker.transform.localRotation = AK_receiver.GetComponent <akplay>().camInfoList[i].color_extrinsics.inverse.rotation;
Vector3 matrixPosition = new Vector3(AK_receiver.GetComponent <akplay>().camInfoList[i].color_extrinsics.inverse.GetColumn(3).x,
AK_receiver.GetComponent <akplay>().camInfoList[i].color_extrinsics.inverse.GetColumn(3).y,
AK_receiver.GetComponent <akplay>().camInfoList[i].color_extrinsics.inverse.GetColumn(3).z);
/*
* depthMarker.transform.localRotation = AK_receiver.GetComponent<akplay>().camInfoList[i].color_extrinsics.rotation;
*
* Vector3 matrixPosition = new Vector3(AK_receiver.GetComponent<akplay>().camInfoList[i].color_extrinsics.GetColumn(3).x,
* AK_receiver.GetComponent<akplay>().camInfoList[i].color_extrinsics.GetColumn(3).y,
* AK_receiver.GetComponent<akplay>().camInfoList[i].color_extrinsics.GetColumn(3).z);
*/
depthMarker.transform.localPosition = -matrixPosition;
depthMarker.transform.parent = null;
colorMarker.transform.localScale = new Vector3(0.1f, 0.1f, 0.2f);
depthMarker.transform.localScale = new Vector3(0.1f, 0.1f, 0.2f);
//depthMarker.transform.parent = AK_receiver.transform;
//depthMarker.transform.position = camCenterDepth;
//depthMarker.transform.rotation = Quaternion.LookRotation(forwardDepth-camCenterDepth, upDepth-camCenterDepth);
depthMarker.GetComponent <Renderer>().material.color = Color.red;
AK_receiver.GetComponent <akplay>().camInfoList[i].visualization.transform.position = depthMarker.transform.position; //need to flip y and z due to unity coordinate system
AK_receiver.GetComponent <akplay>().camInfoList[i].visualization.transform.rotation = depthMarker.transform.rotation;
}
//draw chessboard result to calibration ui:
Texture2D colorTexture = new Texture2D(chessboardResult.cols(), chessboardResult.rows(), TextureFormat.BGRA32, false);
colorTexture.LoadRawTextureData((IntPtr)chessboardResult.dataAddr(), (int)chessboardResult.total() * (int)chessboardResult.elemSize());
colorTexture.Apply();
checkerboard_display_list[i].GetComponent <Renderer>().material.mainTexture = colorTexture;
//draw threshold to calibration ui:
Texture2D orangeTexture = new Texture2D(orangeMask.cols(), orangeMask.rows(), TextureFormat.R8, false);
orangeTexture.LoadRawTextureData((IntPtr)orangeMask.dataAddr(), (int)orangeMask.total() * (int)orangeMask.elemSize());
orangeTexture.Apply();
threshold_display_list[i].GetComponent <Renderer>().material.mainTexture = orangeTexture;
}
}
// Update is called once per frame
void Update()
{
if (capture == null)
{
return;
}
//Loop play
if (capture.get(Videoio.CAP_PROP_POS_FRAMES) >= capture.get(Videoio.CAP_PROP_FRAME_COUNT))
{
capture.set(Videoio.CAP_PROP_POS_FRAMES, 0);
}
if (capture.grab())
{
capture.retrieve(rgbMat, 0);
Imgproc.cvtColor(rgbMat, rgbMat, Imgproc.COLOR_BGR2RGB);
//Debug.Log ("Mat toString " + rgbMat.ToString ());
OpenCVForUnityUtils.SetImage(faceLandmarkDetector, rgbMat);
//detect face rects
List <UnityEngine.Rect> detectResult = faceLandmarkDetector.Detect();
if (detectResult.Count > 0)
{
//detect landmark points
List <Vector2> points = faceLandmarkDetector.DetectLandmark(detectResult [0]);
if (displayFacePoints)
{
OpenCVForUnityUtils.DrawFaceLandmark(rgbMat, points, new Scalar(0, 255, 0), 2);
}
MatOfPoint3f objectPoints = null;
bool isRightEyeOpen = false;
bool isLeftEyeOpen = false;
bool isMouthOpen = false;
if (points.Count == 68)
{
objectPoints = objectPoints68;
imagePoints.fromArray(
new Point((points [38].x + points [41].x) / 2, (points [38].y + points [41].y) / 2), //l eye (Interpupillary breadth)
new Point((points [43].x + points [46].x) / 2, (points [43].y + points [46].y) / 2), //r eye (Interpupillary breadth)
new Point(points [30].x, points [30].y), //nose (Nose top)
new Point(points [48].x, points [48].y), //l mouth (Mouth breadth)
new Point(points [54].x, points [54].y), //r mouth (Mouth breadth)
new Point(points [0].x, points [0].y), //l ear (Bitragion breadth)
new Point(points [16].x, points [16].y) //r ear (Bitragion breadth)
);
if (Mathf.Abs((float)(points [43].y - points [46].y)) > Mathf.Abs((float)(points [42].x - points [45].x)) / 5.0)
{
isRightEyeOpen = true;
}
if (Mathf.Abs((float)(points [38].y - points [41].y)) > Mathf.Abs((float)(points [39].x - points [36].x)) / 5.0)
{
isLeftEyeOpen = true;
}
float noseDistance = Mathf.Abs((float)(points [27].y - points [33].y));
float mouseDistance = Mathf.Abs((float)(points [62].y - points [66].y));
if (mouseDistance > noseDistance / 5.0)
{
isMouthOpen = true;
}
else
{
isMouthOpen = false;
}
}
else if (points.Count == 5)
{
objectPoints = objectPoints5;
imagePoints.fromArray(
new Point(points [3].x, points [3].y), //l eye (Inner corner of the eye)
new Point(points [1].x, points [1].y), //r eye (Inner corner of the eye)
new Point(points [2].x, points [2].y), //l eye (Tail of the eye)
new Point(points [0].x, points [0].y), //r eye (Tail of the eye)
new Point(points [4].x, points [4].y) //nose (Nose top)
);
if (fpsMonitor != null)
{
fpsMonitor.consoleText = "This example supports mainly the face landmark points of 68 points.";
}
}
// Estimate head pose.
if (rvec == null || tvec == null)
{
rvec = new Mat(3, 1, CvType.CV_64FC1);
tvec = new Mat(3, 1, CvType.CV_64FC1);
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
double tvec_z = tvec.get(2, 0) [0];
if (double.IsNaN(tvec_z) || tvec_z < 0) // if tvec is wrong data, do not use extrinsic guesses.
{
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
else
{
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec, true, Calib3d.SOLVEPNP_ITERATIVE);
}
//Debug.Log (tvec.dump());
if (!double.IsNaN(tvec_z))
{
// Display effects.
if (displayHead)
{
head.SetActive(true);
}
if (displayAxes)
{
axes.SetActive(true);
}
if (displayEffects)
{
rightEye.SetActive(isRightEyeOpen);
leftEye.SetActive(isLeftEyeOpen);
if (isMouthOpen)
{
mouth.SetActive(true);
foreach (ParticleSystem ps in mouthParticleSystem)
{
var em = ps.emission;
em.enabled = true;
#if UNITY_5_5_OR_NEWER
var main = ps.main;
main.startSizeMultiplier = 20;
#else
ps.startSize = 20;
#endif
}
}
else
{
foreach (ParticleSystem ps in mouthParticleSystem)
{
var em = ps.emission;
em.enabled = false;
}
}
}
// 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);
// Changes in pos/rot below these thresholds are ignored.
if (enableLowPassFilter)
{
ARUtils.LowpassPoseData(ref oldPoseData, ref poseData, positionLowPass, rotationLowPass);
}
oldPoseData = poseData;
// Create transform matrix.
transformationM = Matrix4x4.TRS(poseData.pos, poseData.rot, Vector3.one);
}
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARM = invertYM * transformationM;
// Apply Z-axis inverted matrix.
ARM = ARM * invertZM;
if (shouldMoveARCamera)
{
ARM = ARGameObject.transform.localToWorldMatrix * ARM.inverse;
ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
}
else
{
ARM = ARCamera.transform.localToWorldMatrix * ARM;
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
}
}
}
else
{
rightEye.SetActive(false);
leftEye.SetActive(false);
head.SetActive(false);
mouth.SetActive(false);
axes.SetActive(false);
}
//Imgproc.putText (rgbMat, "W:" + rgbMat.width () + " H:" + rgbMat.height () + " SO:" + Screen.orientation, new Point (5, rgbMat.rows () - 10), Core.FONT_HERSHEY_SIMPLEX, 0.5, new Scalar (255, 255, 255), 1, Imgproc.LINE_AA, false);
OpenCVForUnity.Utils.fastMatToTexture2D(rgbMat, texture);
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
//convert image to greyscale
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
if (isAutoResetMode || faceTracker.getPoints().Count <= 0)
{
// Debug.Log ("detectFace");
//convert image to greyscale
using (Mat equalizeHistMat = new Mat()) using (MatOfRect faces = new MatOfRect()) {
Imgproc.equalizeHist(grayMat, equalizeHistMat);
cascade.detectMultiScale(equalizeHistMat, faces, 1.1f, 2, 0
| Objdetect.CASCADE_FIND_BIGGEST_OBJECT
| Objdetect.CASCADE_SCALE_IMAGE, new Size(equalizeHistMat.cols() * 0.15, equalizeHistMat.cols() * 0.15), new Size());
if (faces.rows() > 0)
{
// Debug.Log ("faces " + faces.dump ());
List <OpenCVForUnity.CoreModule.Rect> rectsList = faces.toList();
List <Point[]> pointsList = faceTracker.getPoints();
if (isAutoResetMode)
{
//add initial face points from MatOfRect
if (pointsList.Count <= 0)
{
faceTracker.addPoints(faces);
// Debug.Log ("reset faces ");
}
else
{
for (int i = 0; i < rectsList.Count; i++)
{
OpenCVForUnity.CoreModule.Rect trackRect = new OpenCVForUnity.CoreModule.Rect(rectsList [i].x + rectsList [i].width / 3, rectsList [i].y + rectsList [i].height / 2, rectsList [i].width / 3, rectsList [i].height / 3);
//It determines whether nose point has been included in trackRect.
if (i < pointsList.Count && !trackRect.contains(pointsList [i] [67]))
{
rectsList.RemoveAt(i);
pointsList.RemoveAt(i);
// Debug.Log ("remove " + i);
}
Imgproc.rectangle(rgbaMat, new Point(trackRect.x, trackRect.y), new Point(trackRect.x + trackRect.width, trackRect.y + trackRect.height), new Scalar(0, 0, 255, 255), 2);
}
}
}
else
{
faceTracker.addPoints(faces);
}
//draw face rect
for (int i = 0; i < rectsList.Count; i++)
{
Imgproc.rectangle(rgbaMat, new Point(rectsList [i].x, rectsList [i].y), new Point(rectsList [i].x + rectsList [i].width, rectsList [i].y + rectsList [i].height), new Scalar(255, 0, 0, 255), 2);
}
}
else
{
if (isAutoResetMode)
{
faceTracker.reset();
rightEye.SetActive(false);
leftEye.SetActive(false);
head.SetActive(false);
mouth.SetActive(false);
axes.SetActive(false);
}
}
}
}
//track face points.if face points <= 0, always return false.
if (faceTracker.track(grayMat, faceTrackerParams))
{
if (isShowingFacePoints)
{
faceTracker.draw(rgbaMat, new Scalar(255, 0, 0, 255), new Scalar(0, 255, 0, 255));
}
Imgproc.putText(rgbaMat, "'Tap' or 'Space Key' to Reset", new Point(5, rgbaMat.rows() - 5), Imgproc.FONT_HERSHEY_SIMPLEX, 0.8, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Point[] points = faceTracker.getPoints() [0];
if (points.Length > 0)
{
// for (int i = 0; i < points.Length; i++)
// {
// Imgproc.putText(rgbaMat, "" + i, new Point(points [i].x, points [i].y), Imgproc.FONT_HERSHEY_SIMPLEX, 0.3, new Scalar(0, 0, 255, 255), 2, Imgproc.LINE_AA, false);
// }
imagePoints.fromArray(
points [31], //l eye
points [36], //r eye
points [67], //nose
points [48], //l mouth
points [54] //r mouth
// ,
// points [0],//l ear
// points [14]//r ear
);
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
bool isRefresh = false;
if (tvec.get(2, 0) [0] > 0 && tvec.get(2, 0) [0] < 1200 * ((float)rgbaMat.cols() / (float)webCamTextureToMatHelper.requestedWidth))
{
isRefresh = true;
if (oldRvec == null)
{
oldRvec = new Mat();
rvec.copyTo(oldRvec);
}
if (oldTvec == null)
{
oldTvec = new Mat();
tvec.copyTo(oldTvec);
}
//filter Rvec Noise.
using (Mat absDiffRvec = new Mat()) {
Core.absdiff(rvec, oldRvec, absDiffRvec);
// Debug.Log ("absDiffRvec " + absDiffRvec.dump());
using (Mat cmpRvec = new Mat()) {
Core.compare(absDiffRvec, new Scalar(rvecNoiseFilterRange), cmpRvec, Core.CMP_GT);
if (Core.countNonZero(cmpRvec) > 0)
{
isRefresh = false;
}
}
}
//filter Tvec Noise.
using (Mat absDiffTvec = new Mat()) {
Core.absdiff(tvec, oldTvec, absDiffTvec);
// Debug.Log ("absDiffRvec " + absDiffRvec.dump());
using (Mat cmpTvec = new Mat()) {
Core.compare(absDiffTvec, new Scalar(tvecNoiseFilterRange), cmpTvec, Core.CMP_GT);
if (Core.countNonZero(cmpTvec) > 0)
{
isRefresh = false;
}
}
}
}
if (isRefresh)
{
if (isShowingEffects)
{
rightEye.SetActive(true);
}
if (isShowingEffects)
{
leftEye.SetActive(true);
}
if (isShowingHead)
{
head.SetActive(true);
}
if (isShowingAxes)
{
axes.SetActive(true);
}
if ((Mathf.Abs((float)(points [48].x - points [56].x)) < Mathf.Abs((float)(points [31].x - points [36].x)) / 2.2 &&
Mathf.Abs((float)(points [51].y - points [57].y)) > Mathf.Abs((float)(points [31].x - points [36].x)) / 2.9) ||
Mathf.Abs((float)(points [51].y - points [57].y)) > Mathf.Abs((float)(points [31].x - points [36].x)) / 2.7)
{
if (isShowingEffects)
{
mouth.SetActive(true);
}
}
else
{
if (isShowingEffects)
{
mouth.SetActive(false);
}
}
rvec.copyTo(oldRvec);
tvec.copyTo(oldTvec);
Calib3d.Rodrigues(rvec, rotM);
transformationM.SetRow(0, new Vector4((float)rotM.get(0, 0) [0], (float)rotM.get(0, 1) [0], (float)rotM.get(0, 2) [0], (float)tvec.get(0, 0) [0]));
transformationM.SetRow(1, new Vector4((float)rotM.get(1, 0) [0], (float)rotM.get(1, 1) [0], (float)rotM.get(1, 2) [0], (float)tvec.get(1, 0) [0]));
transformationM.SetRow(2, new Vector4((float)rotM.get(2, 0) [0], (float)rotM.get(2, 1) [0], (float)rotM.get(2, 2) [0], (float)tvec.get(2, 0) [0]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARM = invertYM * transformationM;
// Apply Z-axis inverted matrix.
ARM = ARM * invertZM;
if (shouldMoveARCamera)
{
if (ARGameObject != null)
{
ARM = ARGameObject.transform.localToWorldMatrix * ARM.inverse;
ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
ARGameObject.SetActive(true);
}
}
else
{
ARM = ARCamera.transform.localToWorldMatrix * ARM;
if (ARGameObject != null)
{
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
ARGameObject.SetActive(true);
}
}
}
}
}
// Imgproc.putText (rgbaMat, "W:" + rgbaMat.width () + " H:" + rgbaMat.height () + " SO:" + Screen.orientation, new Point (5, rgbaMat.rows () - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.fastMatToTexture2D(rgbaMat, texture);
}
if (Input.GetKeyUp(KeyCode.Space) || Input.touchCount > 0)
{
faceTracker.reset();
if (oldRvec != null)
{
oldRvec.Dispose();
oldRvec = null;
}
if (oldTvec != null)
{
oldTvec.Dispose();
oldTvec = null;
}
rightEye.SetActive(false);
leftEye.SetActive(false);
head.SetActive(false);
mouth.SetActive(false);
axes.SetActive(false);
}
}
/// <summary>
/// 顔の向きを取得
/// </summary>
private Vector3 GetFrontalFaceAngle(List <Vector2> points)
{
if (points.Count != 68)
{
throw new ArgumentNullException("ランドマークが正しくありません。");
}
if (_camMatrix == null)
{
throw new ArgumentNullException("カメラの内部パラメータが正しくありません。");
}
// スケールの正規化
float normScale = Math.Abs(points[30].y - points[8].y) / (normHeight / 2);
Vector2 normDiff = points[30] * normScale - new Vector2(normWidth / 2, normHeight / 2);
for (int i = 0; i < points.Count; i++)
{
_normPoints[i] = points[i] * normScale - normDiff;
}
_imagePoints.fromArray(
new Point((_normPoints[38].x + _normPoints[41].x) / 2, (_normPoints[38].y + _normPoints[41].y) / 2), // 左目
new Point((_normPoints[43].x + _normPoints[46].x) / 2, (_normPoints[43].y + _normPoints[46].y) / 2), // 右目
new Point(_normPoints[33].x, _normPoints[33].y), // 鼻
new Point(_normPoints[48].x, _normPoints[48].y), // 左口角
new Point(_normPoints[54].x, _normPoints[54].y), // 右口角
new Point(_normPoints[0].x, _normPoints[0].y), // 左耳
new Point(_normPoints[16].x, _normPoints[16].y) // 右耳
);
// 2-3次元対応点から頭部を姿勢推定する
if (_rVec == null || _tVec == null)
{
_rVec = new Mat(3, 1, CvType.CV_64FC1);
_tVec = new Mat(3, 1, CvType.CV_64FC1);
Calib3d.solvePnP(_objectPoints, _imagePoints, _camMatrix, _distCoeffs, _rVec, _tVec);
}
double tVecX = _tVec.get(0, 0)[0];
double tVecY = _tVec.get(1, 0)[0];
double tVecZ = _tVec.get(2, 0)[0];
bool isNotInViewport = false;
Vector4 pos = _VP * new Vector4((float)tVecX, (float)tVecY, (float)tVecZ, 1.0f);
if (pos.w != 0)
{
float x = pos.x / pos.w, y = pos.y / pos.w, z = pos.z / pos.w;
if (x < -1.0f || x > 1.0f || y < -1.0f || y > 1.0f || z < -1.0f || z > 1.0f)
{
isNotInViewport = true;
}
}
// オブジェクトがカメラ視野に存在しない場合、外部パラメータを使用しない
if (double.IsNaN(tVecZ) || isNotInViewport)
{
Calib3d.solvePnP(_objectPoints, _imagePoints, _camMatrix, _distCoeffs,
_rVec, _tVec);
}
else
{
Calib3d.solvePnP(_objectPoints, _imagePoints, _camMatrix, _distCoeffs,
_rVec, _tVec, true, Calib3d.SOLVEPNP_ITERATIVE);
}
if (!isNotInViewport)
{
// Unityのポーズデータに変換
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);
// 閾値以下ならば更新を無視
ARUtils.LowpassPoseData(ref _oldPoseData, ref poseData, positionLowPass, rotationLowPass);
_oldPoseData = poseData;
// 変換行列を作成
_transformationM = Matrix4x4.TRS(poseData.pos, poseData.rot, Vector3.one);
}
Calib3d.Rodrigues(_rVec, _rotM);
_transformationM.SetRow(0,
new Vector4(
(float)_rotM.get(0, 0)[0],
(float)_rotM.get(0, 1)[0],
(float)_rotM.get(0, 2)[0],
(float)_tVec.get(0, 0)[0]));
_transformationM.SetRow(1,
new Vector4(
(float)_rotM.get(1, 0)[0],
(float)_rotM.get(1, 1)[0],
(float)_rotM.get(1, 2)[0],
(float)_tVec.get(1, 0)[0]));
_transformationM.SetRow(2,
new Vector4(
(float)_rotM.get(2, 0)[0],
(float)_rotM.get(2, 1)[0],
(float)_rotM.get(2, 2)[0],
(float)_tVec.get(2, 0)[0]));
_transformationM.SetRow(3,
new Vector4(
0,
0,
0,
1));
_ARM = _invertYM * _transformationM * _invertYM;
_ARM = _ARM * _invertYM * _invertZM;
return(ExtractRotationFromMatrix(ref _ARM).eulerAngles);
}
// Update is called once per frame
void Update()
{
//Loop play
if (capture.get(Videoio.CAP_PROP_POS_FRAMES) >= capture.get(Videoio.CAP_PROP_FRAME_COUNT))
{
capture.set(Videoio.CAP_PROP_POS_FRAMES, 0);
}
if (capture.grab())
{
capture.retrieve(rgbMat, 0);
Imgproc.cvtColor(rgbMat, rgbMat, Imgproc.COLOR_BGR2RGB);
//Debug.Log ("Mat toString " + rgbMat.ToString ());
OpenCVForUnityUtils.SetImage(faceLandmarkDetector, rgbMat);
//detect face rects
List <UnityEngine.Rect> detectResult = faceLandmarkDetector.Detect();
if (detectResult.Count > 0)
{
//detect landmark points
List <Vector2> points = faceLandmarkDetector.DetectLandmark(detectResult [0]);
if (points.Count > 0)
{
if (shouldDrawFacePoints)
{
OpenCVForUnityUtils.DrawFaceLandmark(rgbMat, points, new Scalar(0, 255, 0), 2);
}
imagePoints.fromArray(
new Point((points [38].x + points [41].x) / 2, (points [38].y + points [41].y) / 2), //l eye
new Point((points [43].x + points [46].x) / 2, (points [43].y + points [46].y) / 2), //r eye
new Point(points [33].x, points [33].y), //nose
new Point(points [48].x, points [48].y), //l mouth
new Point(points [54].x, points [54].y) //r mouth
,
new Point(points [0].x, points [0].y), //l ear
new Point(points [16].x, points [16].y) //r ear
);
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
if (tvec.get(2, 0) [0] > 0)
{
if (Mathf.Abs((float)(points [43].y - points [46].y)) > Mathf.Abs((float)(points [42].x - points [45].x)) / 6.0)
{
if (shouldDrawEffects)
{
rightEye.SetActive(true);
}
}
if (Mathf.Abs((float)(points [38].y - points [41].y)) > Mathf.Abs((float)(points [39].x - points [36].x)) / 6.0)
{
if (shouldDrawEffects)
{
leftEye.SetActive(true);
}
}
if (shouldDrawHead)
{
head.SetActive(true);
}
if (shouldDrawAxes)
{
axes.SetActive(true);
}
float noseDistance = Mathf.Abs((float)(points [27].y - points [33].y));
float mouseDistance = Mathf.Abs((float)(points [62].y - points [66].y));
if (mouseDistance > noseDistance / 5.0)
{
if (shouldDrawEffects)
{
mouth.SetActive(true);
foreach (ParticleSystem ps in mouthParticleSystem)
{
ps.enableEmission = true;
ps.startSize = 40 * (mouseDistance / noseDistance);
}
}
}
else
{
if (shouldDrawEffects)
{
foreach (ParticleSystem ps in mouthParticleSystem)
{
ps.enableEmission = false;
}
}
}
Calib3d.Rodrigues(rvec, rotM);
transformationM.SetRow(0, new Vector4((float)rotM.get(0, 0) [0], (float)rotM.get(0, 1) [0], (float)rotM.get(0, 2) [0], (float)tvec.get(0, 0) [0]));
transformationM.SetRow(1, new Vector4((float)rotM.get(1, 0) [0], (float)rotM.get(1, 1) [0], (float)rotM.get(1, 2) [0], (float)tvec.get(1, 0) [0]));
transformationM.SetRow(2, new Vector4((float)rotM.get(2, 0) [0], (float)rotM.get(2, 1) [0], (float)rotM.get(2, 2) [0], (float)tvec.get(2, 0) [0]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
if (shouldMoveARCamera)
{
if (ARGameObject != null)
{
ARM = ARGameObject.transform.localToWorldMatrix * invertZM * transformationM.inverse * invertYM;
ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
ARGameObject.SetActive(true);
}
}
else
{
ARM = ARCamera.transform.localToWorldMatrix * invertYM * transformationM * invertZM;
if (ARGameObject != null)
{
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
ARGameObject.SetActive(true);
}
}
}
}
}
else
{
rightEye.SetActive(false);
leftEye.SetActive(false);
head.SetActive(false);
mouth.SetActive(false);
axes.SetActive(false);
}
Imgproc.putText(rgbMat, "W:" + rgbMat.width() + " H:" + rgbMat.height() + " SO:" + Screen.orientation, new Point(5, rgbMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 0.5, new Scalar(255, 255, 255), 1, Imgproc.LINE_AA, false);
OpenCVForUnity.Utils.matToTexture2D(rgbMat, texture, colors);
}
}
private void UpdateARHeadTransform(List <Vector2> points)
{
// The coordinates in pixels of the object detected on the image projected onto the plane.
imagePoints.fromArray(
new Point((points [38].x + points [41].x) / 2, (points [38].y + points [41].y) / 2), //l eye (Interpupillary breadth)
new Point((points [43].x + points [46].x) / 2, (points [43].y + points [46].y) / 2), //r eye (Interpupillary breadth)
new Point(points [30].x, points [30].y), //nose (Nose top)
new Point(points [48].x, points [48].y), //l mouth (Mouth breadth)
new Point(points [54].x, points [54].y), //r mouth (Mouth breadth)
new Point(points [0].x, points [0].y), //l ear (Bitragion breadth)
new Point(points [16].x, points [16].y) //r ear (Bitragion breadth)
);
// Estimate head pose.
if (rvec == null || tvec == null)
{
rvec = new Mat(3, 1, CvType.CV_64FC1);
tvec = new Mat(3, 1, CvType.CV_64FC1);
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
double tvec_z = tvec.get(2, 0) [0];
if (double.IsNaN(tvec_z) || tvec_z < 0) // if tvec is wrong data, do not use extrinsic guesses.
{
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec);
}
else
{
Calib3d.solvePnP(objectPoints, imagePoints, camMatrix, distCoeffs, rvec, tvec, true, Calib3d.SOLVEPNP_ITERATIVE);
}
if (applyEstimationPose && !double.IsNaN(tvec_z))
{
if (Mathf.Abs((float)(points [43].y - points [46].y)) > Mathf.Abs((float)(points [42].x - points [45].x)) / 6.0)
{
if (displayEffects)
{
rightEye.SetActive(true);
}
}
if (Mathf.Abs((float)(points [38].y - points [41].y)) > Mathf.Abs((float)(points [39].x - points [36].x)) / 6.0)
{
if (displayEffects)
{
leftEye.SetActive(true);
}
}
if (displayHead)
{
head.SetActive(true);
}
if (displayAxes)
{
axes.SetActive(true);
}
float noseDistance = Mathf.Abs((float)(points [27].y - points [33].y));
float mouseDistance = Mathf.Abs((float)(points [62].y - points [66].y));
if (mouseDistance > noseDistance / 5.0)
{
if (displayEffects)
{
mouth.SetActive(true);
foreach (ParticleSystem ps in mouthParticleSystem)
{
var em = ps.emission;
em.enabled = true;
#if UNITY_5_5_OR_NEWER
var main = ps.main;
main.startSizeMultiplier = 40 * (mouseDistance / noseDistance);
#else
ps.startSize = 40 * (mouseDistance / noseDistance);
#endif
}
}
}
else
{
if (displayEffects)
{
foreach (ParticleSystem ps in mouthParticleSystem)
{
var em = ps.emission;
em.enabled = false;
}
}
}
Calib3d.Rodrigues(rvec, rotMat);
transformationM.SetRow(0, new Vector4((float)rotMat.get(0, 0) [0], (float)rotMat.get(0, 1) [0], (float)rotMat.get(0, 2) [0], (float)(tvec.get(0, 0) [0] / 1000.0)));
transformationM.SetRow(1, new Vector4((float)rotMat.get(1, 0) [0], (float)rotMat.get(1, 1) [0], (float)rotMat.get(1, 2) [0], (float)(tvec.get(1, 0) [0] / 1000.0)));
transformationM.SetRow(2, new Vector4((float)rotMat.get(2, 0) [0], (float)rotMat.get(2, 1) [0], (float)rotMat.get(2, 2) [0], (float)(tvec.get(2, 0) [0] / 1000.0 / imageOptimizationHelper.downscaleRatio)));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARM = invertYM * transformationM;
// Apply Z axis inverted matrix.
ARM = ARM * invertZM;
// Apply camera transform matrix.
ARM = arCamera.transform.localToWorldMatrix * ARM;
ARUtils.SetTransformFromMatrix(arGameObject.transform, ref ARM);
}
}