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;
}
};
}
void Awake()
{
Instance = this;
markerDetector = GetComponent <MarkerDetector>();
foreach (VideoData videoData in allVideoData)
{
nameToVideoData.Add(videoData.name, videoData);
}
}
public Pipeline()
{
// TODO: Inject index
CameraReader = new CameraReader(2);
MarkerDetector = new MarkerDetector();
QRCodeFinder = new QRCodeFinder();
QRCodeReader = new QRCodeReader();
CardManager = new CardManager();
AugmentedDrawer = new AugmentedDrawer();
}
public override void Unload()
{
if (inputObserver != null)
{
inputObserver.Dispose();
imageThreshold.Dispose();
imageThreshold = null;
inputObserver = null;
}
base.Unload();
}
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());
}
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);
}
}
}
}
/// <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;
}
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);
});
}));
}
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 ();
}
}
/// <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;
}
}
}
/// <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;
}
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();
}
/// <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;
}
}
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;
}