// Methods
/// <summary>
/// Create the image and the image texture of the <see cref="ArucoObject"/>.
/// </summary>
public virtual void Create()
{
Cv.Mat image = null;
ImageTexture = null;
// In case of a marker
ArucoMarker marker = ArucoObject as ArucoMarker;
if (marker != null)
{
marker.Dictionary.DrawMarker(marker.MarkerId, (int)marker.MarkerSideLength, out image, marker.MarkerBorderBits);
}
// In case of a grid board
ArucoGridBoard arucoGridBoard = ArucoObject as ArucoGridBoard;
if (arucoGridBoard != null)
{
Aruco.GridBoard gridBoard = arucoGridBoard.Board as Aruco.GridBoard;
gridBoard.Draw(arucoGridBoard.ImageSize, out image, arucoGridBoard.MarginsSize, arucoGridBoard.MarkerBorderBits);
}
// In case of a charuco board
ArucoCharucoBoard arucoCharucoBoard = ArucoObject as ArucoCharucoBoard;
if (arucoCharucoBoard != null)
{
Aruco.CharucoBoard charucoBoard = arucoCharucoBoard.Board as Aruco.CharucoBoard;
charucoBoard.Draw(arucoCharucoBoard.ImageSize, out image, arucoCharucoBoard.MarginsSize, arucoCharucoBoard.MarkerBorderBits);
}
// In case of a diamond
ArucoDiamond diamond = ArucoObject as ArucoDiamond;
if (diamond != null && diamond.Ids.Length == 4)
{
Cv.Vec4i ids = new Cv.Vec4i();
for (int i = 0; i < diamond.Ids.Length; ++i)
{
ids.Set(i, diamond.Ids[i]);
}
Aruco.DrawCharucoDiamond(diamond.Dictionary, ids, (int)diamond.SquareSideLength, (int)diamond.MarkerSideLength, out image);
}
// Set the properties
Image = image;
if (Image != null)
{
// Vertical flip to correctly display the image on the texture
int verticalFlipCode = 0;
Cv.Mat imageForTexture = Image.Clone();
Cv.Flip(imageForTexture, imageForTexture, verticalFlipCode);
// Load the image to the texture
int markerDataSize = (int)(Image.ElemSize() * Image.Total());
ImageTexture = new Texture2D(Image.Cols, Image.Rows, TextureFormat.RGB24, false);
ImageTexture.LoadRawTextureData(imageForTexture.DataIntPtr, markerDataSize);
ImageTexture.Apply();
}
}
// Methods
/// <summary>
/// Create the image and the image texture of the <see cref="ArucoObject"/>.
/// </summary>
public virtual void Create()
{
Cv.Core.Mat image = null;
ImageTexture = null;
// In case of a marker
ArucoMarker marker = ArucoObject as ArucoMarker;
if (marker != null)
{
marker.Dictionary.DrawMarker(marker.MarkerId, (int)marker.MarkerSideLength, out image, marker.MarkerBorderBits);
}
// In case of a grid board
ArucoGridBoard arucoGridBoard = ArucoObject as ArucoGridBoard;
if (arucoGridBoard != null)
{
Aruco.GridBoard gridBoard = arucoGridBoard.Board as Aruco.GridBoard;
gridBoard.Draw(arucoGridBoard.ImageSize, out image, arucoGridBoard.MarginsSize, arucoGridBoard.MarkerBorderBits);
}
// In case of a charuco board
ArucoCharucoBoard arucoCharucoBoard = ArucoObject as ArucoCharucoBoard;
if (arucoCharucoBoard != null)
{
Aruco.CharucoBoard charucoBoard = arucoCharucoBoard.Board as Aruco.CharucoBoard;
charucoBoard.Draw(arucoCharucoBoard.ImageSize, out image, arucoCharucoBoard.MarginsSize, arucoCharucoBoard.MarkerBorderBits);
}
// In case of a diamond
ArucoDiamond diamond = ArucoObject as ArucoDiamond;
if (diamond != null && diamond.Ids.Length == 4)
{
Cv.Core.Vec4i ids = new Cv.Core.Vec4i();
for (int i = 0; i < diamond.Ids.Length; ++i)
{
ids.Set(i, diamond.Ids[i]);
}
Aruco.DrawCharucoDiamond(diamond.Dictionary, ids, (int)diamond.SquareSideLength, (int)diamond.MarkerSideLength, out image);
}
// Vertical flip to convert the image from Unity's left-handed coordinate system to OpenCV's right-handed coordinate system
int verticalFlipCode = 0;
Cv.Core.Flip(image, image, verticalFlipCode);
// Set the properties
Image = image;
if (Image != null)
{
int markerDataSize = (int)(Image.ElemSize() * Image.Total());
ImageTexture = new Texture2D(Image.cols, Image.rows, TextureFormat.RGB24, false);
ImageTexture.LoadRawTextureData(Image.dataIntPtr, markerDataSize);
ImageTexture.Apply();
}
}
/// <summary>
/// Save the <see cref="ImageTexture"/> on a image file in the <see cref="OutputFolder"/>. Use <see cref="ImageFilename"/> as filename is
/// specified or generate one automatically.
/// </summary>
public virtual void Save()
{
string imageFilePath = ImageFilename;
if (imageFilePath == null || imageFilePath.Length == 0)
{
imageFilePath = "ArUcoUnity_";
// In case of a marker
ArucoMarker marker = ArucoObject as ArucoMarker;
if (marker != null)
{
imageFilePath += "Marker_" + marker.Dictionary.name + "_Id_" + marker.MarkerId;
}
// In case of a grid board
ArucoGridBoard gridBoard = ArucoObject as ArucoGridBoard;
if (gridBoard != null)
{
imageFilePath += "GridBoard_" + gridBoard.Dictionary.name + "_X_" + gridBoard.MarkersNumberX + "_Y_" + gridBoard.MarkersNumberY
+ "_MarkerSize_" + gridBoard.MarkerSideLength;
}
// In case of a charuco board
ArucoCharucoBoard charucoBoard = ArucoObject as ArucoCharucoBoard;
if (charucoBoard != null)
{
imageFilePath += "ChArUcoBoard_" + charucoBoard.Dictionary.name + "_X_" + charucoBoard.SquaresNumberX
+ "_Y_" + charucoBoard.SquaresNumberY + "_SquareSize_" + charucoBoard.SquareSideLength
+ "_MarkerSize_" + charucoBoard.MarkerSideLength;
}
// In case of a diamond
ArucoDiamond diamond = ArucoObject as ArucoDiamond;
if (diamond != null && diamond.Ids.Length == 4)
{
imageFilePath += "DiamondMarker_" + diamond.Dictionary.name + "_Ids_" + diamond.Ids[0] + "_" + diamond.Ids[1] + "_" + diamond.Ids[2] + "_"
+ diamond.Ids[3] + "_SquareSize_" + diamond.SquareSideLength + "_MarkerSize_" + diamond.MarkerSideLength;
}
}
imageFilePath += ".png";
string outputFolderPath = Path.Combine((Application.isEditor) ? Application.dataPath : Application.persistentDataPath, OutputFolder);
if (!Directory.Exists(outputFolderPath))
{
Directory.CreateDirectory(outputFolderPath);
}
imageFilePath = outputFolderPath + imageFilePath;
File.WriteAllBytes(imageFilePath, ImageTexture.EncodeToPNG());
}
/// <summary>
/// Returns a generated filemame with the <see cref="ArucoObject"/> properties.
/// </summary>
public virtual string GenerateImageFilename()
{
string imageFilename = "ArUcoUnity_";
ArucoMarker marker = ArucoObject as ArucoMarker;
if (marker != null)
{
imageFilename += "Marker_" + marker.Dictionary.Name + "_Id_" + marker.MarkerId;
}
ArucoGridBoard gridBoard = ArucoObject as ArucoGridBoard;
if (gridBoard != null)
{
imageFilename += "GridBoard_" + gridBoard.Dictionary.Name + "_X_" + gridBoard.MarkersNumberX + "_Y_" + gridBoard.MarkersNumberY
+ "_MarkerSize_" + gridBoard.MarkerSideLength;
}
ArucoCharucoBoard charucoBoard = ArucoObject as ArucoCharucoBoard;
if (charucoBoard != null)
{
imageFilename += "ChArUcoBoard_" + charucoBoard.Dictionary.Name + "_X_" + charucoBoard.SquaresNumberX
+ "_Y_" + charucoBoard.SquaresNumberY + "_SquareSize_" + charucoBoard.SquareSideLength
+ "_MarkerSize_" + charucoBoard.MarkerSideLength;
}
ArucoDiamond diamond = ArucoObject as ArucoDiamond;
if (diamond != null && diamond.Ids.Length == 4)
{
imageFilename += "DiamondMarker_" + diamond.Dictionary.Name + "_Ids_" + diamond.Ids[0] + "_" + diamond.Ids[1] + "_" + diamond.Ids[2] + "_"
+ diamond.Ids[3] + "_SquareSize_" + diamond.SquareSideLength + "_MarkerSize_" + diamond.MarkerSideLength;
}
imageFilename += ".png";
return(imageFilename);
}