// 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();
}
}
// ArucoBoard methods
public override Cv.Mat Draw()
{
#if UNITY_EDITOR
if (!UnityEditor.EditorApplication.isPlayingOrWillChangePlaymode && (MarkersNumberX <= 0 || MarkersNumberY <= 0 || MarkerSideLength <= 0 ||
MarkerSeparation <= 0 || MarkerBorderBits <= 0))
{
return(null);
}
#endif
int markerSideLength = GetInPixels(MarkerSideLength);
int markerSeparation = GetInPixels(MarkerSeparation);
Aruco.GridBoard board = Aruco.GridBoard.Create(MarkersNumberX, MarkersNumberY, markerSideLength, markerSeparation, Dictionary);
Cv.Size imageSize = new Cv.Size();
imageSize.Width = GetInPixels(MarkersNumberX * (markerSideLength + markerSeparation) - markerSeparation + 2 * MarginsLength);
imageSize.Height = GetInPixels(MarkersNumberY * (markerSideLength + markerSeparation) - markerSeparation + 2 * MarginsLength);
Cv.Mat image;
board.Draw(imageSize, out image, MarginsLength, (int)MarkerBorderBits);
return(image);
}
