// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
bool patternFound = patternDetector.findPattern(grayMat, patternTrackingInfo);
//Debug.Log ("patternFound " + patternFound);
if (patternFound)
{
patternTrackingInfo.computePose(pattern, camMatrix, distCoeffs);
//Marker to Camera Coordinate System Convert Matrix
Matrix4x4 transformationM = patternTrackingInfo.pose3d;
// right-handed coordinates system (OpenCV) to left-handed one (Unity)
// https://stackoverflow.com/questions/30234945/change-handedness-of-a-row-major-4x4-transformation-matrix
Matrix4x4 ARM = invertYM * transformationM * invertYM;
// Apply Y-axis and Z-axis refletion matrix. (Adjust the posture of the AR object)
ARM = ARM * invertYM * invertZM;
if (shouldMoveARCamera)
{
ARM = ARGameObject.transform.localToWorldMatrix * ARM.inverse;
//Debug.Log("ARM " + ARM.ToString());
ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
}
else
{
ARM = ARCamera.transform.localToWorldMatrix * ARM;
//Debug.Log("ARM " + ARM.ToString());
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
}
ARGameObject.GetComponent <DelayableSetActive>().SetActive(true);
}
else
{
ARGameObject.GetComponent <DelayableSetActive>().SetActive(false, 0.5f);
}
Utils.fastMatToTexture2D(rgbaMat, texture);
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, rgbMat, Imgproc.COLOR_RGBA2RGB);
detector.detect(rgbaMat, keypoints);
// Debug.Log ("keypoints.ToString() " + keypoints.ToString());
Features2d.drawKeypoints(rgbMat, keypoints, rgbaMat, Scalar.all(-1), Features2d.NOT_DRAW_SINGLE_POINTS);
Imgproc.rectangle(rgbaMat, patternRect.tl(), patternRect.br(), new Scalar(255, 0, 0, 255), 5);
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
bool patternFound = patternDetector.findPattern(grayMat, patternTrackingInfo);
// Debug.Log ("patternFound " + patternFound);
if (patternFound)
{
patternTrackingInfo.computePose(pattern, camMatrix, distCoeffs);
//Marker to Camera Coordinate System Convert Matrix
transformationM = patternTrackingInfo.pose3d;
//Debug.Log ("transformationM " + transformationM.ToString ());
if (shouldMoveARCamera)
{
ARM = ARGameObject.transform.localToWorldMatrix * invertZM * transformationM.inverse * invertYM;
//Debug.Log ("ARM " + ARM.ToString ());
ARUtils.SetTransformFromMatrix(ARCamera.transform, ref ARM);
}
else
{
ARM = ARCamera.transform.localToWorldMatrix * invertYM * transformationM * invertZM;
//Debug.Log ("ARM " + ARM.ToString ());
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
}
ARGameObject.GetComponent <DelayableSetActive> ().SetActive(true);
}
else
{
ARGameObject.GetComponent <DelayableSetActive> ().SetActive(false, 0.5f);
}
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}