示例#1
0
        public override void Load(IServiceProvider provider)
        {
            showThreshold = false;
            var workflow = (ExpressionBuilderGraph)provider.GetService(typeof(ExpressionBuilderGraph));
            var context  = (ITypeVisualizerContext)provider.GetService(typeof(ITypeVisualizerContext));

            if (context != null)
            {
                var workflowNode    = workflow.First(node => node.Value == context.Source);
                var inputNode       = workflow.Predecessors(workflowNode).Select(node => node.Value as InspectBuilder).FirstOrDefault();
                var workflowElement = ExpressionBuilder.GetWorkflowElement(context.Source) as DetectMarkers;
                if (inputNode != null && workflowElement != null)
                {
                    detectMarkers  = workflowElement;
                    imageThreshold = new MarkerDetector();
                    inputObserver  = inputNode.Output.Merge().Subscribe(output => input = output as IplImage);
                }
            }

            base.Load(provider);
            StatusStripEnabled = false;
            VisualizerCanvas.Canvas.MouseClick += (sender, e) =>
            {
                if (e.Button == MouseButtons.Right)
                {
                    showThreshold = !showThreshold;
                }
            };
        }
示例#2
0
 void Awake()
 {
     Instance       = this;
     markerDetector = GetComponent <MarkerDetector>();
     foreach (VideoData videoData in allVideoData)
     {
         nameToVideoData.Add(videoData.name, videoData);
     }
 }
示例#3
0
 public Pipeline()
 {
     // TODO: Inject index
     CameraReader    = new CameraReader(2);
     MarkerDetector  = new MarkerDetector();
     QRCodeFinder    = new QRCodeFinder();
     QRCodeReader    = new QRCodeReader();
     CardManager     = new CardManager();
     AugmentedDrawer = new AugmentedDrawer();
 }
示例#4
0
        public override void Unload()
        {
            if (inputObserver != null)
            {
                inputObserver.Dispose();
                imageThreshold.Dispose();
                imageThreshold = null;
                inputObserver  = null;
            }

            base.Unload();
        }
示例#5
0
        public override IDisposable Load()
        {
            detector = new MarkerDetector();
            if (!string.IsNullOrEmpty(CameraParameters))
            {
                parameters = new CameraParameters();
                parameters.ReadFromXmlFile(CameraParameters);

                cameraMatrix = new CvMat(3, 3, CvMatDepth.CV_32F, 1);
                distortion   = new CvMat(1, 4, CvMatDepth.CV_32F, 1);
                parameters.CopyParameters(cameraMatrix.DangerousGetHandle(), distortion.DangerousGetHandle());
            }
            return(base.Load());
        }
示例#6
0
        private void CameraLoop()
        {
            CancellationToken cancellationToken = cancellationTokenSource.Token;
            var  parameters = new CameraParameters();
            Size size;
            var  cameraMatrix = new Mat(3, 3, Depth.F32, 1);
            var  distortion   = new Mat(1, 4, Depth.F32, 1);

            parameters.CopyParameters(cameraMatrix, distortion, out size);
            using (var detector = new MarkerDetector())
            {
                detector.ThresholdMethod  = ThresholdMethod.AdaptiveThreshold;
                detector.Param1           = 7.0;
                detector.Param2           = 7.0;
                detector.MinSize          = 0.04f;
                detector.MaxSize          = 0.5f;
                detector.CornerRefinement = CornerRefinementMethod.Lines;
                var markerSize = 10;
                using (var capture = Capture.CreateCameraCapture(0))
                {
                    while (!cancellationToken.IsCancellationRequested)
                    {
                        IplImage image           = capture.QueryFrame();
                        var      detectedMarkers = detector.Detect(image, cameraMatrix, distortion, markerSize);
                        foreach (var marker in detectedMarkers)
                        {
                            if (marker.Id == _MarkerIndex)
                            {
                                double sideOffset  = Map(marker.Center.X, 46, 590, -8, 8);
                                double hightOffset = Map(marker.Center.Y, 46, 435, 6, -6);
                                double height      = Map(marker.Area, 6280, 10150, 18.5, 14);
                                armDistance += hightOffset > 1.0 ? 0.4 : (hightOffset < -1.0 ? -0.4 : 0);
                                armAngle    += sideOffset > 1.0 ? 0.7 : (sideOffset < -1.0 ? -0.7 : 0);
                                //armDistance += hightOffset;
                                _Arm?.MoveToRelativeAsync(armAngle, armDistance, armHeight);
                                marker.Draw(image, Scalar.Rgb(1, 0, 0));
                            }
                            else
                            {
                                marker.Draw(image, Scalar.Rgb(0, 1, 0));
                            }
                        }
                        WindwoDisplay(image);
                    }
                }
            }
        }
示例#7
0
        /// <summary>
        /// Sets up the detector and marker indicator to find this marker.
        /// </summary>
        public void Start()
        {
            this.lamb           = new GameObject("lamb").transform;
            this.markerDetector = MarkerDetector.Instance;
            this.MetaScale      = DefaultMetaScale;
            this.MetaDepth      = DefaultMetaDepth;

            if (this.markerDetector == null)
            {
                throw new InvalidOperationException("The marker detector cannot be loaded. Is the Meta connected?");
            }

            // Hide the markerindicator
            MarkerTargetIndicator indicator = this.markerDetector.GetComponent <MarkerTargetIndicator>();

            indicator.enabled = false;
        }
示例#8
0
        public override IObservable <MarkerFrame> Process(IObservable <IplImage> source)
        {
            return(Observable.Defer(() =>
            {
                Mat cameraMatrix = null;
                Mat distortion = null;
                CameraParameters parameters = null;
                var detector = new MarkerDetector();

                Size size;
                cameraMatrix = new Mat(3, 3, Depth.F32, 1);
                distortion = new Mat(1, 4, Depth.F32, 1);
                var parametersFileName = CameraParameters;
                if (!string.IsNullOrEmpty(parametersFileName))
                {
                    if (!File.Exists(parametersFileName))
                    {
                        throw new InvalidOperationException("Failed to open the camera parameters at the specified path.");
                    }

                    parameters = new CameraParameters();
                    parameters.ReadFromXmlFile(parametersFileName);
                    parameters.CopyParameters(cameraMatrix, distortion, out size);
                }

                return source.Select(input =>
                {
                    detector.ThresholdMethod = ThresholdMethod;
                    detector.Param1 = Param1;
                    detector.Param2 = Param2;
                    detector.MinSize = MinSize;
                    detector.MaxSize = MaxSize;
                    detector.CornerRefinement = CornerRefinement;

                    var detectedMarkers = detector.Detect(input, cameraMatrix, distortion, MarkerSize);
                    return new MarkerFrame(parameters, detectedMarkers);
                });
            }));
        }
示例#9
0
        public Bitmap Step()
        {
            if (original == null)
            {
                return(null);
            }

            sw.Restart();

            var markers     = MarkerDetector.FindMarkers(original);
            var qrPositions = QRCodeFinder.FindQRCodes(markers);
            var qrCodes     = QRCodeReader.ReadQRCodes(original, qrPositions);
            var cards       = CardManager.AddOrMoveCards(qrCodes);
            var processed   = AugmentedDrawer.DrawCardInfos(original, cards);

            sw.Stop();

            if (sw.ElapsedMilliseconds > 0)
            {
                RunsPerSecond = 1000 / sw.ElapsedMilliseconds;
            }

            return(processed);
        }
				/// <summary>
				/// Init this instance.
				/// </summary>
				private IEnumerator init ()
				{
						if (webCamTexture != null) {
								webCamTexture.Stop ();
								initDone = false;
				
								rgbaMat.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);
					
										texture = new Texture2D (webCamTexture.width, webCamTexture.height, TextureFormat.RGBA32, false);
					

					
										gameObject.transform.localEulerAngles = new Vector3 (0, 0, 0);
//										gameObject.transform.rotation = gameObject.transform.rotation * Quaternion.AngleAxis (webCamTexture.videoRotationAngle, Vector3.back);
					

										gameObject.transform.localScale = new Vector3 (webCamTexture.width, webCamTexture.height, 1);

//										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;





										//set cameraparam
										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);
										Debug.Log ("camMatrix " + camMatrix.dump ());

										distCoeffs = new MatOfDouble (0, 0, 0, 0);
										Debug.Log ("distCoeffs " + distCoeffs.dump ());

										//calibration camera
										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]);

										//Adjust Unity Camera FOV
										for (int i = 0; i < ARCamera.Length; i++) {
												ARCamera [i].fieldOfView = (float)fovy [0];
										}
										

										
					
										markerDetector = new MarkerDetector (camMatrix, distCoeffs);


										//Marker Coordinate Initial Matrix
										lookAtM = getLookAtMatrix (new Vector3 (0, 0, 0), new Vector3 (0, 0, 1), new Vector3 (0, -1, 0));
										Debug.Log ("lookAt " + lookAtM.ToString ());

										//OpenGL to Unity Coordinate System Convert Matrix
										//http://docs.unity3d.com/ScriptReference/Camera-worldToCameraMatrix.html that camera space matches OpenGL convention: camera's forward is the negative Z axis. This is different from Unity's convention, where forward is the positive Z axis.
										invertZM = Matrix4x4.TRS (Vector3.zero, Quaternion.identity, new Vector3 (1, 1, -1));
										Debug.Log ("invertZM " + invertZM.ToString ());


					
										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);
												}
										}
								}
				
								markerDetector.processFrame (rgbaMat, 1);

								//Debug.Log ("markerDetector.getTransformations ().Count " + markerDetector.getTransformations ().Count);


								for (int i = 0; i < ARCamera.Length; i++) {
										ARCamera [i].gameObject.SetActive (false);
								}

								int markerCount = markerDetector.getTransformations ().Count;
								for (int i = 0; i < markerCount; i++) {
										if (i > ARCamera.Length - 1)
												break;
									
										ARCamera [i].gameObject.SetActive (true);

										//Marker to Camera Coordinate System Convert Matrix
										transformationM = markerDetector.getTransformations () [i];
										//Debug.Log ("transformationM " + transformationM.ToString ());
				
										worldToCameraM = lookAtM * transformationM * invertZM;
										//Debug.Log ("worldToCameraM " + worldToCameraM.ToString ());
				
										ARCamera [i].worldToCameraMatrix = worldToCameraM;
								}
							
				
								Utils.matToTexture2D (rgbaMat, texture, colors);
				
								gameObject.GetComponent<Renderer> ().material.mainTexture = texture;
				
				
						}
			
				}
		
				void OnDisable ()
				{
						webCamTexture.Stop ();
				}

				/// <summary>
				/// Gets the look at matrix.
				/// </summary>
				/// <returns>The look at matrix.</returns>
				/// <param name="pos">Position.</param>
				/// <param name="target">Target.</param>
				/// <param name="up">Up.</param>
				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 ("MarkerBasedARSample");
						}
						if (GUILayout.Button ("change camera")) {
								isFrontFacing = !isFrontFacing;
								StartCoroutine (init ());
						}
			
						GUILayout.EndVertical ();
				}
		}
示例#11
0
 /// <summary>
 ///   Method called when creating a UserController.
 /// </summary>
 public override void Init()
 {
     this.markerSensor    = new MarkerSensor(new MarkerLocations(Path), new Normal(this.orientationStd), new Normal(this.positionStd));
     this.markerDetector  = MarkerDetector.Instance;
     this.markerTransform = new GameObject("UsedToCreateTransform").transform;
 }
				/// <summary>
				/// Init this instance.
				/// </summary>
				private IEnumerator init ()
				{
						if (webCamTexture != null) {
								webCamTexture.Stop ();
								initDone = false;
				
								rgbaMat.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 == shouldUseFrontFacing) {
					
					
										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) {
										#if UNITY_IOS && !UNITY_EDITOR && UNITY_5_2                                    
										while (webCamTexture.width <= 16) {
												webCamTexture.GetPixels32 ();
												yield return new WaitForEndOfFrame ();
										} 
										#endif
										#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);
					
										texture = new Texture2D (webCamTexture.width, webCamTexture.height, TextureFormat.RGBA32, false);
					
										gameObject.GetComponent<Renderer> ().material.mainTexture = texture;

										updateLayout ();


										//set cameraparam
										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);
										Debug.Log ("camMatrix " + camMatrix.dump ());

										distCoeffs = new MatOfDouble (0, 0, 0, 0);
										Debug.Log ("distCoeffs " + distCoeffs.dump ());

										//calibration camera
										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]);

										//Adjust Unity Camera FOV
										for (int i = 0; i < ARCamera.Length; i++) {
												ARCamera [i].fieldOfView = (float)fovy [0];
										}
										

										
					
										markerDetector = new MarkerDetector (camMatrix, distCoeffs, markerDesign);


										//Marker Coordinate Initial Matrix
										lookAtM = getLookAtMatrix (new Vector3 (0, 0, 0), new Vector3 (0, 0, 1), new Vector3 (0, -1, 0));
										Debug.Log ("lookAt " + lookAtM.ToString ());

										//OpenGL to Unity Coordinate System Convert Matrix
										//http://docs.unity3d.com/ScriptReference/Camera-worldToCameraMatrix.html that camera space matches OpenGL convention: camera's forward is the negative Z axis. This is different from Unity's convention, where forward is the positive Z axis.
										invertZM = Matrix4x4.TRS (Vector3.zero, Quaternion.identity, new Vector3 (1, 1, -1));
										Debug.Log ("invertZM " + invertZM.ToString ());


										screenOrientation = Screen.orientation;
										initDone = true;
					
										break;
								} else {
										yield return 0;
								}
						}
				}
示例#13
0
        /// <summary>
        /// Raises the web cam texture to mat helper initialized event.
        /// </summary>
        public void OnWebCamTextureToMatHelperInitialized()
        {
            Debug.Log("OnWebCamTextureToMatHelperInitialized");

            Mat webCamTextureMat = webCamTextureToMatHelper.GetMat();

            texture = new Texture2D(webCamTextureMat.cols(), webCamTextureMat.rows(), TextureFormat.RGBA32, false);
            ScreenQuad.GetComponent <Renderer> ().material.mainTexture = texture;


            Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);


            float width  = webCamTextureMat.width();
            float height = webCamTextureMat.height();

            float imageSizeScale = 1.0f;
            float widthScale     = (float)Screen.width / width;
            float heightScale    = (float)Screen.height / height;

            if (widthScale < heightScale)
            {
            }
            else
            {
                imageSizeScale = (float)Screen.height / (float)Screen.width;
            }

            //set cameraparam
            int    max_d = (int)Mathf.Max(width, height);
            double fx    = max_d;
            double fy    = max_d;
            double cx    = width / 2.0f;
            double cy    = height / 2.0f;

            camMatrix = new Mat(3, 3, CvType.CV_64FC1);
            camMatrix.put(0, 0, fx);
            camMatrix.put(0, 1, 0);
            camMatrix.put(0, 2, cx);
            camMatrix.put(1, 0, 0);
            camMatrix.put(1, 1, fy);
            camMatrix.put(1, 2, cy);
            camMatrix.put(2, 0, 0);
            camMatrix.put(2, 1, 0);
            camMatrix.put(2, 2, 1.0f);
            Debug.Log("camMatrix " + camMatrix.dump());

            distCoeffs = new MatOfDouble(0, 0, 0, 0);
            Debug.Log("distCoeffs " + distCoeffs.dump());


            //calibration camera
            Size   imageSize      = new Size(width * imageSizeScale, height * imageSizeScale);
            double apertureWidth  = 0;
            double apertureHeight = 0;

            double[] fovx           = new double[1];
            double[] fovy           = new double[1];
            double[] focalLength    = new double[1];
            Point    principalPoint = new Point(0, 0);

            double[] aspectratio = new double[1];

            Calib3d.calibrationMatrixValues(camMatrix, imageSize, apertureWidth, apertureHeight, fovx, fovy, focalLength, principalPoint, aspectratio);

            Debug.Log("imageSize " + imageSize.ToString());
            Debug.Log("apertureWidth " + apertureWidth);
            Debug.Log("apertureHeight " + apertureHeight);
            Debug.Log("fovx " + fovx [0]);
            Debug.Log("fovy " + fovy [0]);
            Debug.Log("focalLength " + focalLength [0]);
            Debug.Log("principalPoint " + principalPoint.ToString());
            Debug.Log("aspectratio " + aspectratio [0]);


            //To convert the difference of the FOV value of the OpenCV and Unity.
            double fovXScale = (2.0 * Mathf.Atan((float)(imageSize.width / (2.0 * fx)))) / (Mathf.Atan2((float)cx, (float)fx) + Mathf.Atan2((float)(imageSize.width - cx), (float)fx));
            double fovYScale = (2.0 * Mathf.Atan((float)(imageSize.height / (2.0 * fy)))) / (Mathf.Atan2((float)cy, (float)fy) + Mathf.Atan2((float)(imageSize.height - cy), (float)fy));

            Debug.Log("fovXScale " + fovXScale);
            Debug.Log("fovYScale " + fovYScale);


            //resize screen Quad
            Matrix4x4 p = ARUtils.CalculateProjectionMatrixFromCameraMatrixValues((float)fx, (float)fy, (float)cx, (float)cy, width, height, 0.3f, 1000f);
            Vector3   cameraSpacePos = UnProjectVector(p, new Vector3(1.0f, 1.0f, 1.0f));

            if (widthScale > heightScale)
            {
                ScreenQuad.transform.localScale = new Vector3(cameraSpacePos.x * 2f, cameraSpacePos.x * height / width * 2f, 1);
            }
            else
            {
                ScreenQuad.transform.localScale = new Vector3(cameraSpacePos.y * width / height * 2f, cameraSpacePos.y * 2f, 1);
            }


            //create markerDetector
            MarkerDesign[] markerDesigns = new MarkerDesign[markerSettings.Length];
            for (int i = 0; i < markerDesigns.Length; i++)
            {
                markerDesigns [i] = markerSettings [i].markerDesign;
            }
            markerDetector = new MarkerDetector(camMatrix, distCoeffs, markerDesigns);


            invertYM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
            Debug.Log("invertYM " + invertYM.ToString());

            invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
            Debug.Log("invertZM " + invertZM.ToString());


            //if WebCamera is frontFaceing,flip Mat.
            if (webCamTextureToMatHelper.GetWebCamDevice().isFrontFacing)
            {
                webCamTextureToMatHelper.flipHorizontal = true;
            }
        }
        // Use this for initialization
        void Start()
        {
            gameObject.transform.localScale = new Vector3(imgTexture.width, imgTexture.height, 1);
            Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);

            Mat imgMat = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC4);

            Utils.texture2DToMat(imgTexture, imgMat);
            Debug.Log("imgMat dst ToString " + imgMat.ToString());


            float width  = imgMat.width();
            float height = imgMat.height();

            float imageSizeScale = 1.0f;
            float widthScale     = (float)Screen.width / width;
            float heightScale    = (float)Screen.height / height;

            if (widthScale < heightScale)
            {
                Camera.main.orthographicSize = (width * (float)Screen.height / (float)Screen.width) / 2;
                imageSizeScale = (float)Screen.height / (float)Screen.width;
            }
            else
            {
                Camera.main.orthographicSize = height / 2;
            }

            //set cameraparam
            int    max_d     = (int)Mathf.Max(width, height);
            double fx        = max_d;
            double fy        = max_d;
            double cx        = width / 2.0f;
            double cy        = height / 2.0f;
            Mat    camMatrix = new Mat(3, 3, CvType.CV_64FC1);

            camMatrix.put(0, 0, fx);
            camMatrix.put(0, 1, 0);
            camMatrix.put(0, 2, cx);
            camMatrix.put(1, 0, 0);
            camMatrix.put(1, 1, fy);
            camMatrix.put(1, 2, cy);
            camMatrix.put(2, 0, 0);
            camMatrix.put(2, 1, 0);
            camMatrix.put(2, 2, 1.0f);
            Debug.Log("camMatrix " + camMatrix.dump());

            MatOfDouble distCoeffs = new MatOfDouble(0, 0, 0, 0);

            Debug.Log("distCoeffs " + distCoeffs.dump());

            //calibration camera
            Size   imageSize      = new Size(width * imageSizeScale, height * imageSizeScale);
            double apertureWidth  = 0;
            double apertureHeight = 0;

            double[] fovx           = new double[1];
            double[] fovy           = new double[1];
            double[] focalLength    = new double[1];
            Point    principalPoint = new Point(0, 0);

            double[] aspectratio = new double[1];

            Calib3d.calibrationMatrixValues(camMatrix, imageSize, apertureWidth, apertureHeight, fovx, fovy, focalLength, principalPoint, aspectratio);

            Debug.Log("imageSize " + imageSize.ToString());
            Debug.Log("apertureWidth " + apertureWidth);
            Debug.Log("apertureHeight " + apertureHeight);
            Debug.Log("fovx " + fovx [0]);
            Debug.Log("fovy " + fovy [0]);
            Debug.Log("focalLength " + focalLength [0]);
            Debug.Log("principalPoint " + principalPoint.ToString());
            Debug.Log("aspectratio " + aspectratio [0]);


            //To convert the difference of the FOV value of the OpenCV and Unity.
            double fovXScale = (2.0 * Mathf.Atan((float)(imageSize.width / (2.0 * fx)))) / (Mathf.Atan2((float)cx, (float)fx) + Mathf.Atan2((float)(imageSize.width - cx), (float)fx));
            double fovYScale = (2.0 * Mathf.Atan((float)(imageSize.height / (2.0 * fy)))) / (Mathf.Atan2((float)cy, (float)fy) + Mathf.Atan2((float)(imageSize.height - cy), (float)fy));

            Debug.Log("fovXScale " + fovXScale);
            Debug.Log("fovYScale " + fovYScale);


            //Adjust Unity Camera FOV
            if (widthScale < heightScale)
            {
                ARCamera.fieldOfView = (float)(fovx [0] * fovXScale);
            }
            else
            {
                ARCamera.fieldOfView = (float)(fovy [0] * fovYScale);
            }


            MarkerDesign[] markerDesigns = new MarkerDesign[markerSettings.Length];
            for (int i = 0; i < markerDesigns.Length; i++)
            {
                markerDesigns [i] = markerSettings [i].markerDesign;
            }

            MarkerDetector markerDetector = new MarkerDetector(camMatrix, distCoeffs, markerDesigns);

            markerDetector.processFrame(imgMat, 1);


            foreach (MarkerSettings settings in markerSettings)
            {
                settings.setAllARGameObjectsDisable();
            }


            if (shouldMoveARCamera)
            {
                List <Marker> findMarkers = markerDetector.getFindMarkers();
                if (findMarkers.Count > 0)
                {
                    Marker marker = findMarkers [0];

                    if (markerSettings.Length > 0)
                    {
                        MarkerSettings settings = markerSettings [0];

                        if (marker.id == settings.getMarkerId())
                        {
                            Matrix4x4 transformationM = marker.transformation;
                            Debug.Log("transformationM " + transformationM.ToString());

                            Matrix4x4 invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
                            Debug.Log("invertZM " + invertZM.ToString());

                            Matrix4x4 invertYM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
                            Debug.Log("invertYM " + invertYM.ToString());



                            GameObject ARGameObject = settings.getARGameObject();
                            if (ARGameObject != null)
                            {
                                Matrix4x4 ARM = ARGameObject.transform.localToWorldMatrix * invertZM * transformationM.inverse * invertYM;
                                Debug.Log("ARM " + ARM.ToString());
                                ARGameObject.SetActive(true);
                                ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
                            }
                        }
                    }
                }
            }
            else
            {
                List <Marker> findMarkers = markerDetector.getFindMarkers();
                for (int i = 0; i < findMarkers.Count; i++)
                {
                    Marker marker = findMarkers [i];

                    foreach (MarkerSettings settings in markerSettings)
                    {
                        if (marker.id == settings.getMarkerId())
                        {
                            Matrix4x4 transformationM = marker.transformation;
                            Debug.Log("transformationM " + transformationM.ToString());


                            Matrix4x4 invertYM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
                            Debug.Log("invertYM " + invertYM.ToString());

                            Matrix4x4 invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
                            Debug.Log("invertZM " + invertZM.ToString());

                            Matrix4x4 ARM = ARCamera.transform.localToWorldMatrix * invertYM * transformationM * invertZM;
                            Debug.Log("ARM " + ARM.ToString());

                            GameObject ARGameObject = settings.getARGameObject();
                            if (ARGameObject != null)
                            {
                                ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
                                ARGameObject.SetActive(true);
                            }
                        }
                    }
                }
            }


            Texture2D texture = new Texture2D(imgMat.cols(), imgMat.rows(), TextureFormat.RGBA32, false);

            Utils.matToTexture2D(imgMat, texture);

            gameObject.GetComponent <Renderer> ().material.mainTexture = texture;
        }
示例#15
0
        public void ProcessImage(IVideoCapture captureDevice, byte[] imagePtr)
        {
            if (captureDevice.Format != ImageFormat.B8G8R8A8_32)
                throw new MarkerException("Only ImageFormat.B8G8R8A8_32 format is acceptable for NyARToolkitTracker");

            // initialize the detector right before the image processing
            if (!started)
            {
                multiDetector = new MarkerDetector(param, codes.ToArray(), pattSizes.ToArray(),
                    codes.Count, raster.getBufferType());
                multiDetector.setContinueMode(continuousMode);
                started = true;
            }

            raster.SetBuffer(imagePtr);

            UpdateMarkerTransforms();
        }
示例#16
0
        /// <summary>
        /// Associates a marker with an identifier so that the identifier can be used to find this
        /// marker after processing the image. 
        /// </summary>
        /// <param name="markerConfigs">A set of parameters that identifies a maker. (e.g., for
        /// ARTag, this parameter would be the marker array name or marker ID)</param>
        /// <returns>An identifier for this marker object</returns>
        public Object AssociateMarker(params Object[] markerConfigs)
        {
            // make sure we are initialized
            if (!initialized)
                throw new MarkerException("ARToolkitTracker is not initialized. Call InitTracker(...)");

            if (!(markerConfigs.Length == 2 || markerConfigs.Length == 5))
                throw new MarkerException(GetAssocMarkerUsage());

            MarkerInfo markerInfo = new MarkerInfo();

            if (markerConfigs.Length == 2)
            {
                string arrayName = "";
                ComputationMethod method = ComputationMethod.Average;

                try
                {
                    arrayName = (String)markerConfigs[0];
                    method = (ComputationMethod)markerConfigs[1];
                }
                catch (Exception)
                {
                    throw new MarkerException(GetAssocMarkerUsage());
                }

                ParseArray(arrayName, ref markerInfo);

                markerInfo.Method = method;
            }
            else
            {
                int pattWidth = 0, pattHeight = 0;
                float pattSize = 0, conf = 0;
                String pattName = "";

                try
                {
                    pattName = (String)markerConfigs[0];
                    pattWidth = (int)markerConfigs[1];
                    pattHeight = (int)markerConfigs[2];
                    pattSize = (float)markerConfigs[3];
                    conf = (float)markerConfigs[4];
                }
                catch (Exception)
                {
                    throw new MarkerException(GetAssocMarkerUsage());
                }

                NyARCode code = new NyARCode(pattWidth, pattHeight);
                code.loadARPatt(new System.IO.StreamReader(TitleContainer.OpenStream(pattName)));
                codes.Add(code);
                pattSizes.Add(pattSize);

                PatternInfo info = new PatternInfo();
                info.ConfidenceThreshold = conf;

                int id = codes.Count - 1;
                markerInfo.PatternInfos.Add(id, info);
                markerInfo.RelativeTransforms.Add(id, Matrix.Identity);
                markerInfo.Method = ComputationMethod.Average;

                markerInfoMap.Add(id, markerInfo);
            }

            markerInfoList.Add(markerInfo);

            // reinitialize the multi marker detector if the programmer adds new marker node
            // after the initialization phase
            if (started)
            {
                multiDetector = new MarkerDetector(param, codes.ToArray(), pattSizes.ToArray(),
                    codes.Count, raster.getBufferType());
                multiDetector.setContinueMode(continuousMode);
            }

            return markerInfo;
        }
        /// <summary>
        /// Raises the web cam texture to mat helper inited event.
        /// </summary>
        public void OnWebCamTextureToMatHelperInited()
        {
            Debug.Log("OnWebCamTextureToMatHelperInited");

            Mat webCamTextureMat = webCamTextureToMatHelper.GetMat();

            colors  = new Color32[webCamTextureMat.cols() * webCamTextureMat.rows()];
            texture = new Texture2D(webCamTextureMat.cols(), webCamTextureMat.rows(), TextureFormat.RGBA32, false);



            gameObject.transform.localScale = new Vector3(webCamTextureMat.cols(), webCamTextureMat.rows(), 1);

            Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);

            float width  = 0;
            float height = 0;

            width  = gameObject.transform.localScale.x;
            height = gameObject.transform.localScale.y;

            float imageScale  = 1.0f;
            float widthScale  = (float)Screen.width / width;
            float heightScale = (float)Screen.height / height;

            if (widthScale < heightScale)
            {
                Camera.main.orthographicSize = (width * (float)Screen.height / (float)Screen.width) / 2;
                imageScale = (float)Screen.height / (float)Screen.width;
            }
            else
            {
                Camera.main.orthographicSize = height / 2;
            }

            gameObject.GetComponent <Renderer> ().material.mainTexture = texture;


            //set cameraparam
            int max_d = Mathf.Max(webCamTextureMat.rows(), webCamTextureMat.cols());

            camMatrix = new Mat(3, 3, CvType.CV_64FC1);
            camMatrix.put(0, 0, max_d);
            camMatrix.put(0, 1, 0);
            camMatrix.put(0, 2, webCamTextureMat.cols() / 2.0f);
            camMatrix.put(1, 0, 0);
            camMatrix.put(1, 1, max_d);
            camMatrix.put(1, 2, webCamTextureMat.rows() / 2.0f);
            camMatrix.put(2, 0, 0);
            camMatrix.put(2, 1, 0);
            camMatrix.put(2, 2, 1.0f);
            Debug.Log("camMatrix " + camMatrix.dump());

            distCoeffs = new MatOfDouble(0, 0, 0, 0);
            Debug.Log("distCoeffs " + distCoeffs.dump());

            //calibration camera
            Size   imageSize      = new Size(webCamTextureMat.cols() * imageScale, webCamTextureMat.rows() * imageScale);
            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]);

            //Adjust Unity Camera FOV
            if (widthScale < heightScale)
            {
                ARCamera.fieldOfView = (float)fovx [0];
            }
            else
            {
                ARCamera.fieldOfView = (float)fovy [0];
            }



            MarkerDesign[] markerDesigns = new MarkerDesign[markerSettings.Length];
            for (int i = 0; i < markerDesigns.Length; i++)
            {
                markerDesigns [i] = markerSettings [i].markerDesign;
            }

            markerDetector = new MarkerDetector(camMatrix, distCoeffs, markerDesigns);



            invertYM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
            Debug.Log("invertYM " + invertYM.ToString());

            invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
            Debug.Log("invertZM " + invertZM.ToString());


            //if WebCamera is frontFaceing,flip Mat.
            if (webCamTextureToMatHelper.GetWebCamDevice().isFrontFacing)
            {
                webCamTextureToMatHelper.flipHorizontal = true;
            }
        }
示例#18
0
 void Start()
 {
     Debug.Assert(offsetObject != null, "ARCamera: No offsetObject set.");
     Debug.Assert(playerObject != null, "ARCamera: No playerObject set.");
     markerDetector = new MarkerDetector();
 }
        /// <summary>
        /// Raises the web cam texture to mat helper inited event.
        /// </summary>
        public void OnWebCamTextureToMatHelperInited()
        {
            Debug.Log("OnWebCamTextureToMatHelperInited");

            Mat webCamTextureMat = webCamTextureToMatHelper.GetMat();

            texture = new Texture2D(webCamTextureMat.cols(), webCamTextureMat.rows(), TextureFormat.RGBA32, false);
            gameObject.GetComponent <Renderer> ().material.mainTexture = texture;


            gameObject.transform.localScale = new Vector3(webCamTextureMat.cols(), webCamTextureMat.rows(), 1);

            Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);


            float width  = webCamTextureMat.width();
            float height = webCamTextureMat.height();

            float imageSizeScale = 1.0f;
            float widthScale     = (float)Screen.width / width;
            float heightScale    = (float)Screen.height / height;

            if (widthScale < heightScale)
            {
                Camera.main.orthographicSize = (width * (float)Screen.height / (float)Screen.width) / 2;
                imageSizeScale = (float)Screen.height / (float)Screen.width;
            }
            else
            {
                Camera.main.orthographicSize = height / 2;
            }


            //set cameraparam
            int    max_d = (int)Mathf.Max(width, height);
            double fx    = max_d;
            double fy    = max_d;
            double cx    = width / 2.0f;
            double cy    = height / 2.0f;

            camMatrix = new Mat(3, 3, CvType.CV_64FC1);
            camMatrix.put(0, 0, fx);
            camMatrix.put(0, 1, 0);
            camMatrix.put(0, 2, cx);
            camMatrix.put(1, 0, 0);
            camMatrix.put(1, 1, fy);
            camMatrix.put(1, 2, cy);
            camMatrix.put(2, 0, 0);
            camMatrix.put(2, 1, 0);
            camMatrix.put(2, 2, 1.0f);
            Debug.Log("camMatrix " + camMatrix.dump());

            distCoeffs = new MatOfDouble(0, 0, 0, 0);
            Debug.Log("distCoeffs " + distCoeffs.dump());

            //calibration camera
            Size   imageSize      = new Size(width * imageSizeScale, height * imageSizeScale);
            double apertureWidth  = 0;
            double apertureHeight = 0;

            double[] fovx           = new double[1];
            double[] fovy           = new double[1];
            double[] focalLength    = new double[1];
            Point    principalPoint = new Point(0, 0);

            double[] aspectratio = new double[1];


            Calib3d.calibrationMatrixValues(camMatrix, imageSize, apertureWidth, apertureHeight, fovx, fovy, focalLength, principalPoint, aspectratio);

            Debug.Log("imageSize " + imageSize.ToString());
            Debug.Log("apertureWidth " + apertureWidth);
            Debug.Log("apertureHeight " + apertureHeight);
            Debug.Log("fovx " + fovx [0]);
            Debug.Log("fovy " + fovy [0]);
            Debug.Log("focalLength " + focalLength [0]);
            Debug.Log("principalPoint " + principalPoint.ToString());
            Debug.Log("aspectratio " + aspectratio [0]);


            //To convert the difference of the FOV value of the OpenCV and Unity.
            double fovXScale = (2.0 * Mathf.Atan((float)(imageSize.width / (2.0 * fx)))) / (Mathf.Atan2((float)cx, (float)fx) + Mathf.Atan2((float)(imageSize.width - cx), (float)fx));
            double fovYScale = (2.0 * Mathf.Atan((float)(imageSize.height / (2.0 * fy)))) / (Mathf.Atan2((float)cy, (float)fy) + Mathf.Atan2((float)(imageSize.height - cy), (float)fy));

            Debug.Log("fovXScale " + fovXScale);
            Debug.Log("fovYScale " + fovYScale);


            //Adjust Unity Camera FOV https://github.com/opencv/opencv/commit/8ed1945ccd52501f5ab22bdec6aa1f91f1e2cfd4
            if (widthScale < heightScale)
            {
                ARCamera.fieldOfView = (float)(fovx [0] * fovXScale);
            }
            else
            {
                ARCamera.fieldOfView = (float)(fovy [0] * fovYScale);
            }



            MarkerDesign[] markerDesigns = new MarkerDesign[markerSettings.Length];
            for (int i = 0; i < markerDesigns.Length; i++)
            {
                markerDesigns [i] = markerSettings [i].markerDesign;
            }

            markerDetector = new MarkerDetector(camMatrix, distCoeffs, markerDesigns);



            invertYM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, -1, 1));
            Debug.Log("invertYM " + invertYM.ToString());

            invertZM = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, new Vector3(1, 1, -1));
            Debug.Log("invertZM " + invertZM.ToString());


            //if WebCamera is frontFaceing,flip Mat.
            if (webCamTextureToMatHelper.GetWebCamDevice().isFrontFacing)
            {
                webCamTextureToMatHelper.flipHorizontal = true;
            }
        }
				// Use this for initialization
				void Start ()
				{

						gameObject.transform.localScale = new Vector3 (imgTexture.width, imgTexture.height, 1);
						Camera.main.orthographicSize = imgTexture.height / 2;

		
						Mat imgMat = new Mat (imgTexture.height, imgTexture.width, CvType.CV_8UC4);
		
						Utils.texture2DToMat (imgTexture, imgMat);
						Debug.Log ("imgMat dst ToString " + imgMat.ToString ());

						//set cameraparam
						int max_d = Mathf.Max (imgMat.rows (), imgMat.cols ());
						Mat camMatrix = new Mat (3, 3, CvType.CV_64FC1);
						camMatrix.put (0, 0, max_d);
						camMatrix.put (0, 1, 0);
						camMatrix.put (0, 2, imgMat.cols () / 2.0f);
						camMatrix.put (1, 0, 0);
						camMatrix.put (1, 1, max_d);
						camMatrix.put (1, 2, imgMat.rows () / 2.0f);
						camMatrix.put (2, 0, 0);
						camMatrix.put (2, 1, 0);
						camMatrix.put (2, 2, 1.0f);
						Debug.Log ("camMatrix " + camMatrix.dump ());

						MatOfDouble distCoeffs = new MatOfDouble (0, 0, 0, 0);
						Debug.Log ("distCoeffs " + distCoeffs.dump ());


						//calibration camera
						Size imageSize = new Size (imgMat.cols (), imgMat.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]);

						//Adjust Unity Camera FOV
						ARCamera.fieldOfView = (float)fovy [0];

//			ARCamera.projectionMatrix = ARCamera.projectionMatrix * Matrix4x4.Scale(new Vector3(-1, -1, 1));
//			gameObject.transform.localScale = new Vector3 (-1 * gameObject.transform.localScale.x, -1 * gameObject.transform.localScale.y, 1);


		 
						MarkerDetector markerDetector = new MarkerDetector (camMatrix, distCoeffs, markerDesign);

						markerDetector.processFrame (imgMat, 1);


						//Marker Coordinate Initial Matrix
						Matrix4x4 lookAtM = getLookAtMatrix (new Vector3 (0, 0, 0), new Vector3 (0, 0, 1), new Vector3 (0, -1, 0));
						Debug.Log ("lookAt " + lookAtM.ToString ());

						//Marker to Camera Coordinate System Convert Matrix
						if (markerDetector.getTransformations ().Count > 0) {
								Matrix4x4 transformationM = markerDetector.getTransformations () [0];
								Debug.Log ("transformationM " + transformationM.ToString ());

								//OpenGL to Unity Coordinate System Convert Matrix
								//http://docs.unity3d.com/ScriptReference/Camera-worldToCameraMatrix.html that camera space matches OpenGL convention: camera's forward is the negative Z axis. This is different from Unity's convention, where forward is the positive Z axis. 
								Matrix4x4 invertZM = Matrix4x4.TRS (Vector3.zero, Quaternion.identity, new Vector3 (1, 1, -1));
								Debug.Log ("invertZM " + invertZM.ToString ());

								Matrix4x4 worldToCameraM = lookAtM * transformationM * invertZM;
								Debug.Log ("worldToCameraM " + worldToCameraM.ToString ());

								ARCamera.worldToCameraMatrix = worldToCameraM;
		
						} else {
								Debug.LogWarning ("Marker is not detected");
						}



						Texture2D texture = new Texture2D (imgMat.cols (), imgMat.rows (), TextureFormat.RGBA32, false);
		
						Utils.matToTexture2D (imgMat, texture);
		
						gameObject.GetComponent<Renderer> ().material.mainTexture = texture;
				}