824 lines
32 KiB
C#
Executable File
824 lines
32 KiB
C#
Executable File
using UnityEngine;
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using UnityEngine.UI;
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using UnityEngine.SceneManagement;
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using System.Xml.Serialization;
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using System.IO;
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using System.Collections;
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using System.Collections.Generic;
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using OpenCVForUnity.CoreModule;
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using OpenCVForUnity.ArucoModule;
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using OpenCVForUnity.Calib3dModule;
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using OpenCVForUnity.ImgprocModule;
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using OpenCVForUnity.UnityUtils;
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using OpenCVForUnity.UnityUtils.Helper;
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namespace OpenCVForUnityExample
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{
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/// <summary>
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/// ArUco WebCamTexture Example
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/// An example of marker-based AR view and camera pose estimation using the aruco (ArUco Marker Detection) module.
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/// Referring to https://github.com/opencv/opencv_contrib/blob/master/modules/aruco/samples/detect_markers.cpp.
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/// http://docs.opencv.org/3.1.0/d5/dae/tutorial_aruco_detection.html
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/// </summary>
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[RequireComponent (typeof(WebCamTextureToMatHelper))]
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public class ArUcoWebCamTextureExample : MonoBehaviour
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{
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/// <summary>
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/// Determines if restores the camera parameters when the file exists.
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/// </summary>
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public bool useStoredCameraParameters = true;
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/// <summary>
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/// The marker type.
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/// </summary>
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public MarkerType markerType = MarkerType.CanonicalMarker;
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/// <summary>
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/// The marker type dropdown.
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/// </summary>
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public Dropdown markerTypeDropdown;
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/// <summary>
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/// The dictionary identifier.
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/// </summary>
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public ArUcoDictionary dictionaryId = ArUcoDictionary.DICT_6X6_250;
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/// <summary>
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/// The dictionary id dropdown.
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/// </summary>
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public Dropdown dictionaryIdDropdown;
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/// <summary>
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/// Determines if shows rejected corners.
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/// </summary>
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public bool showRejectedCorners = false;
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/// <summary>
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/// The shows rejected corners toggle.
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/// </summary>
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public Toggle showRejectedCornersToggle;
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/// <summary>
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/// Determines if applied the pose estimation.
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/// </summary>
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public bool applyEstimationPose = true;
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/// <summary>
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/// Determines if refine marker detection. (only valid for ArUco boards)
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/// </summary>
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public bool refineMarkerDetection = true;
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/// <summary>
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/// The shows refine marker detection toggle.
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/// </summary>
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public Toggle refineMarkerDetectionToggle;
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[Space (10)]
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/// <summary>
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/// The length of the markers' side. Normally, unit is meters.
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/// </summary>
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public float markerLength = 0.1f;
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/// <summary>
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/// The AR game object.
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/// </summary>
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public GameObject arGameObject;
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/// <summary>
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/// The AR camera.
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/// </summary>
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public Camera arCamera;
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[Space (10)]
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/// <summary>
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/// Determines if request the AR camera moving.
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/// </summary>
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public bool shouldMoveARCamera = false;
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[Space (10)]
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/// <summary>
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/// Determines if enable low pass filter.
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/// </summary>
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public bool enableLowPassFilter;
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/// <summary>
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/// The enable low pass filter toggle.
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/// </summary>
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public Toggle enableLowPassFilterToggle;
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/// <summary>
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/// The position low pass. (Value in meters)
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/// </summary>
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public float positionLowPass = 0.005f;
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/// <summary>
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/// The rotation low pass. (Value in degrees)
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/// </summary>
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public float rotationLowPass = 2f;
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/// <summary>
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/// The old pose data.
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/// </summary>
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PoseData oldPoseData;
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/// <summary>
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/// The texture.
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/// </summary>
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Texture2D texture;
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/// <summary>
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/// The webcam texture to mat helper.
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/// </summary>
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WebCamTextureToMatHelper webCamTextureToMatHelper;
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/// <summary>
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/// The rgb mat.
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/// </summary>
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Mat rgbMat;
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/// <summary>
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/// The cameraparam matrix.
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/// </summary>
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Mat camMatrix;
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/// <summary>
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/// The distortion coeffs.
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/// </summary>
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MatOfDouble distCoeffs;
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/// <summary>
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/// The transformation matrix for AR.
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/// </summary>
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Matrix4x4 ARM;
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/// <summary>
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/// The identifiers.
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/// </summary>
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Mat ids;
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/// <summary>
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/// The corners.
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/// </summary>
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List<Mat> corners;
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/// <summary>
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/// The rejected corners.
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/// </summary>
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List<Mat> rejectedCorners;
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/// <summary>
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/// The rvecs.
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/// </summary>
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Mat rvecs;
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/// <summary>
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/// The tvecs.
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/// </summary>
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Mat tvecs;
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/// <summary>
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/// The rot mat.
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/// </summary>
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Mat rotMat;
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/// <summary>
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/// The detector parameters.
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/// </summary>
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DetectorParameters detectorParams;
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/// <summary>
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/// The dictionary.
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/// </summary>
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Dictionary dictionary;
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/// <summary>
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/// The FPS monitor.
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/// </summary>
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FpsMonitor fpsMonitor;
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Mat rvec;
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Mat tvec;
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Mat recoveredIdxs;
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// for GridBoard.
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// number of markers in X direction
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const int gridBoradMarkersX = 5;
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// number of markers in Y direction
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const int gridBoradMarkersY = 7;
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// marker side length (normally in meters)
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const float gridBoradMarkerLength = 0.04f;
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// separation between two markers (same unit as markerLength)
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const float gridBoradMarkerSeparation = 0.01f;
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// id of first marker in dictionary to use on board.
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const int gridBoradMarkerFirstMarker = 0;
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GridBoard gridBoard;
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// for ChArUcoBoard.
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// number of chessboard squares in X direction
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const int chArUcoBoradSquaresX = 5;
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// number of chessboard squares in Y direction
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const int chArUcoBoradSquaresY = 7;
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// chessboard square side length (normally in meters)
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const float chArUcoBoradSquareLength = 0.04f;
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// marker side length (same unit than squareLength)
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const float chArUcoBoradMarkerLength = 0.02f;
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const int charucoMinMarkers = 2;
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Mat charucoCorners;
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Mat charucoIds;
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CharucoBoard charucoBoard;
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// for ChArUcoDiamondMarker.
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// size of the chessboard squares in pixels
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const float diamondSquareLength = 0.1f;
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// size of the markers in pixels.
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const float diamondMarkerLength = 0.06f;
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// identifiers for diamonds in diamond corners.
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const int diamondId1 = 45;
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const int diamondId2 = 68;
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const int diamondId3 = 28;
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const int diamondId4 = 74;
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List<Mat> diamondCorners;
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Mat diamondIds;
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// Use this for initialization
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void Start ()
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{
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fpsMonitor = GetComponent<FpsMonitor> ();
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markerTypeDropdown.value = (int)markerType;
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dictionaryIdDropdown.value = (int)dictionaryId;
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showRejectedCornersToggle.isOn = showRejectedCorners;
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refineMarkerDetectionToggle.isOn = refineMarkerDetection;
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refineMarkerDetectionToggle.interactable = (markerType == MarkerType.GridBoard || markerType == MarkerType.ChArUcoBoard);
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enableLowPassFilterToggle.isOn = enableLowPassFilter;
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webCamTextureToMatHelper = gameObject.GetComponent<WebCamTextureToMatHelper> ();
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#if UNITY_ANDROID && !UNITY_EDITOR
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// Avoids the front camera low light issue that occurs in only some Android devices (e.g. Google Pixel, Pixel2).
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webCamTextureToMatHelper.avoidAndroidFrontCameraLowLightIssue = true;
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#endif
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webCamTextureToMatHelper.Initialize ();
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}
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/// <summary>
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/// Raises the webcam texture to mat helper initialized event.
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/// </summary>
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public void OnWebCamTextureToMatHelperInitialized ()
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{
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Debug.Log ("OnWebCamTextureToMatHelperInitialized");
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Mat webCamTextureMat = webCamTextureToMatHelper.GetMat ();
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texture = new Texture2D (webCamTextureMat.cols (), webCamTextureMat.rows (), TextureFormat.RGB24, false);
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gameObject.GetComponent<Renderer> ().material.mainTexture = texture;
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gameObject.transform.localScale = new Vector3 (webCamTextureMat.cols (), webCamTextureMat.rows (), 1);
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Debug.Log ("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
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if (fpsMonitor != null) {
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fpsMonitor.Add ("width", webCamTextureMat.width ().ToString ());
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fpsMonitor.Add ("height", webCamTextureMat.height ().ToString ());
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fpsMonitor.Add ("orientation", Screen.orientation.ToString ());
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}
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float width = webCamTextureMat.width ();
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float height = webCamTextureMat.height ();
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float imageSizeScale = 1.0f;
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float widthScale = (float)Screen.width / width;
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float heightScale = (float)Screen.height / height;
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if (widthScale < heightScale) {
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Camera.main.orthographicSize = (width * (float)Screen.height / (float)Screen.width) / 2;
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imageSizeScale = (float)Screen.height / (float)Screen.width;
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} else {
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Camera.main.orthographicSize = height / 2;
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}
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// set camera parameters.
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double fx;
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double fy;
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double cx;
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double cy;
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string loadDirectoryPath = Path.Combine (Application.persistentDataPath, "ArUcoCameraCalibrationExample");
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string calibratonDirectoryName = "camera_parameters" + width + "x" + height;
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string loadCalibratonFileDirectoryPath = Path.Combine (loadDirectoryPath, calibratonDirectoryName);
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string loadPath = Path.Combine (loadCalibratonFileDirectoryPath, calibratonDirectoryName + ".xml");
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if (useStoredCameraParameters && File.Exists (loadPath)) {
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CameraParameters param;
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XmlSerializer serializer = new XmlSerializer (typeof(CameraParameters));
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using (var stream = new FileStream (loadPath, FileMode.Open)) {
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param = (CameraParameters)serializer.Deserialize (stream);
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}
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camMatrix = param.GetCameraMatrix ();
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distCoeffs = new MatOfDouble (param.GetDistortionCoefficients ());
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fx = param.camera_matrix [0];
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fy = param.camera_matrix [4];
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cx = param.camera_matrix [2];
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cy = param.camera_matrix [5];
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Debug.Log ("Loaded CameraParameters from a stored XML file.");
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Debug.Log ("loadPath: " + loadPath);
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} else {
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int max_d = (int)Mathf.Max (width, height);
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fx = max_d;
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fy = max_d;
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cx = width / 2.0f;
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cy = height / 2.0f;
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camMatrix = new Mat (3, 3, CvType.CV_64FC1);
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camMatrix.put (0, 0, fx);
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camMatrix.put (0, 1, 0);
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camMatrix.put (0, 2, cx);
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camMatrix.put (1, 0, 0);
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camMatrix.put (1, 1, fy);
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camMatrix.put (1, 2, cy);
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camMatrix.put (2, 0, 0);
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camMatrix.put (2, 1, 0);
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camMatrix.put (2, 2, 1.0f);
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distCoeffs = new MatOfDouble (0, 0, 0, 0);
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Debug.Log ("Created a dummy CameraParameters.");
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}
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Debug.Log ("camMatrix " + camMatrix.dump ());
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Debug.Log ("distCoeffs " + distCoeffs.dump ());
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// calibration camera matrix values.
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Size imageSize = new Size (width * imageSizeScale, height * imageSizeScale);
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double apertureWidth = 0;
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double apertureHeight = 0;
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double[] fovx = new double[1];
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double[] fovy = new double[1];
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double[] focalLength = new double[1];
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Point principalPoint = new Point (0, 0);
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double[] aspectratio = new double[1];
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Calib3d.calibrationMatrixValues (camMatrix, imageSize, apertureWidth, apertureHeight, fovx, fovy, focalLength, principalPoint, aspectratio);
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Debug.Log ("imageSize " + imageSize.ToString ());
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Debug.Log ("apertureWidth " + apertureWidth);
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Debug.Log ("apertureHeight " + apertureHeight);
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Debug.Log ("fovx " + fovx [0]);
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Debug.Log ("fovy " + fovy [0]);
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Debug.Log ("focalLength " + focalLength [0]);
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Debug.Log ("principalPoint " + principalPoint.ToString ());
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Debug.Log ("aspectratio " + aspectratio [0]);
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// To convert the difference of the FOV value of the OpenCV and Unity.
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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));
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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));
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Debug.Log ("fovXScale " + fovXScale);
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Debug.Log ("fovYScale " + fovYScale);
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// Adjust Unity Camera FOV https://github.com/opencv/opencv/commit/8ed1945ccd52501f5ab22bdec6aa1f91f1e2cfd4
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if (widthScale < heightScale) {
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arCamera.fieldOfView = (float)(fovx [0] * fovXScale);
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} else {
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arCamera.fieldOfView = (float)(fovy [0] * fovYScale);
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}
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// Display objects near the camera.
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arCamera.nearClipPlane = 0.01f;
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rgbMat = new Mat (webCamTextureMat.rows (), webCamTextureMat.cols (), CvType.CV_8UC3);
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ids = new Mat ();
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corners = new List<Mat> ();
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rejectedCorners = new List<Mat> ();
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rvecs = new Mat ();
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tvecs = new Mat ();
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rotMat = new Mat (3, 3, CvType.CV_64FC1);
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detectorParams = DetectorParameters.create ();
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dictionary = Aruco.getPredefinedDictionary ((int)dictionaryId);
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rvec = new Mat ();
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tvec = new Mat ();
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recoveredIdxs = new Mat ();
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gridBoard = GridBoard.create (gridBoradMarkersX, gridBoradMarkersY, gridBoradMarkerLength, gridBoradMarkerSeparation, dictionary, gridBoradMarkerFirstMarker);
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charucoCorners = new Mat ();
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charucoIds = new Mat ();
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charucoBoard = CharucoBoard.create (chArUcoBoradSquaresX, chArUcoBoradSquaresY, chArUcoBoradSquareLength, chArUcoBoradMarkerLength, dictionary);
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diamondCorners = new List<Mat> ();
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diamondIds = new Mat (1, 1, CvType.CV_32SC4);
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diamondIds.put (0, 0, new int[] { diamondId1, diamondId2, diamondId3, diamondId4 });
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// if WebCamera is frontFaceing, flip Mat.
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if (webCamTextureToMatHelper.GetWebCamDevice ().isFrontFacing) {
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webCamTextureToMatHelper.flipHorizontal = true;
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}
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}
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/// <summary>
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/// Raises the webcam texture to mat helper disposed event.
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/// </summary>
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public void OnWebCamTextureToMatHelperDisposed ()
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{
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Debug.Log ("OnWebCamTextureToMatHelperDisposed");
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if (rgbMat != null)
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rgbMat.Dispose ();
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if (texture != null) {
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Texture2D.Destroy (texture);
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texture = null;
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}
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if (ids != null)
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ids.Dispose ();
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foreach (var item in corners) {
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item.Dispose ();
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}
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corners.Clear ();
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foreach (var item in rejectedCorners) {
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item.Dispose ();
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}
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rejectedCorners.Clear ();
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if (rvecs != null)
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rvecs.Dispose ();
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if (tvecs != null)
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tvecs.Dispose ();
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if (rotMat != null)
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rotMat.Dispose ();
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if (rvec != null)
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rvec.Dispose ();
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if (tvec != null)
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tvec.Dispose ();
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if (recoveredIdxs != null)
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recoveredIdxs.Dispose ();
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if (gridBoard != null)
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gridBoard.Dispose ();
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if (charucoCorners != null)
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charucoCorners.Dispose ();
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if (charucoIds != null)
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charucoIds.Dispose ();
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if (charucoBoard != null)
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charucoBoard.Dispose ();
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foreach (var item in diamondCorners) {
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item.Dispose ();
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}
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diamondCorners.Clear ();
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if (diamondIds != null)
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diamondIds.Dispose ();
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}
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/// <summary>
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/// Raises the webcam texture to mat helper error occurred event.
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/// </summary>
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/// <param name="errorCode">Error code.</param>
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public void OnWebCamTextureToMatHelperErrorOccurred (WebCamTextureToMatHelper.ErrorCode errorCode)
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{
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Debug.Log ("OnWebCamTextureToMatHelperErrorOccurred " + errorCode);
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}
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// Update is called once per frame
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void Update ()
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{
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if (webCamTextureToMatHelper.IsPlaying () && webCamTextureToMatHelper.DidUpdateThisFrame ()) {
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Mat rgbaMat = webCamTextureToMatHelper.GetMat ();
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Imgproc.cvtColor (rgbaMat, rgbMat, Imgproc.COLOR_RGBA2RGB);
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// detect markers.
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Aruco.detectMarkers (rgbMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
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// refine marker detection.
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if (refineMarkerDetection && (markerType == MarkerType.GridBoard || markerType == MarkerType.ChArUcoBoard)) {
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switch (markerType) {
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case MarkerType.GridBoard:
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Aruco.refineDetectedMarkers (rgbMat, gridBoard, corners, ids, rejectedCorners, camMatrix, distCoeffs, 10f, 3f, true, recoveredIdxs, detectorParams);
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break;
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case MarkerType.ChArUcoBoard:
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Aruco.refineDetectedMarkers (rgbMat, charucoBoard, corners, ids, rejectedCorners, camMatrix, distCoeffs, 10f, 3f, true, recoveredIdxs, detectorParams);
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break;
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}
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}
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// if at least one marker detected
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if (ids.total () > 0) {
|
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if (markerType != MarkerType.ChArUcoDiamondMarker) {
|
|
|
|
if (markerType == MarkerType.ChArUcoBoard) {
|
|
Aruco.interpolateCornersCharuco (corners, ids, rgbMat, charucoBoard, charucoCorners, charucoIds, camMatrix, distCoeffs, charucoMinMarkers);
|
|
|
|
// draw markers.
|
|
Aruco.drawDetectedMarkers (rgbMat, corners, ids, new Scalar (0, 255, 0));
|
|
if (charucoIds.total () > 0) {
|
|
Aruco.drawDetectedCornersCharuco (rgbMat, charucoCorners, charucoIds, new Scalar (0, 0, 255));
|
|
}
|
|
} else {
|
|
// draw markers.
|
|
Aruco.drawDetectedMarkers (rgbMat, corners, ids, new Scalar (0, 255, 0));
|
|
}
|
|
|
|
// estimate pose.
|
|
if (applyEstimationPose) {
|
|
switch (markerType) {
|
|
default:
|
|
case MarkerType.CanonicalMarker:
|
|
EstimatePoseCanonicalMarker (rgbMat);
|
|
break;
|
|
case MarkerType.GridBoard:
|
|
EstimatePoseGridBoard (rgbMat);
|
|
break;
|
|
case MarkerType.ChArUcoBoard:
|
|
EstimatePoseChArUcoBoard (rgbMat);
|
|
break;
|
|
}
|
|
}
|
|
} else {
|
|
// detect diamond markers.
|
|
Aruco.detectCharucoDiamond (rgbMat, corners, ids, diamondSquareLength / diamondMarkerLength, diamondCorners, diamondIds, camMatrix, distCoeffs);
|
|
|
|
// draw markers.
|
|
Aruco.drawDetectedMarkers (rgbMat, corners, ids, new Scalar (0, 255, 0));
|
|
// draw diamond markers.
|
|
Aruco.drawDetectedDiamonds (rgbMat, diamondCorners, diamondIds, new Scalar (0, 0, 255));
|
|
|
|
// estimate pose.
|
|
if (applyEstimationPose)
|
|
EstimatePoseChArUcoDiamondMarker (rgbMat);
|
|
}
|
|
}
|
|
|
|
if (showRejectedCorners && rejectedCorners.Count > 0)
|
|
Aruco.drawDetectedMarkers (rgbMat, rejectedCorners, new Mat (), new Scalar (255, 0, 0));
|
|
|
|
|
|
// Imgproc.putText (rgbaMat, "W:" + rgbaMat.width () + " H:" + rgbaMat.height () + " SO:" + Screen.orientation, new Point (5, rgbaMat.rows () - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
|
|
|
|
Utils.fastMatToTexture2D (rgbMat, texture);
|
|
}
|
|
}
|
|
|
|
private void EstimatePoseCanonicalMarker (Mat rgbMat)
|
|
{
|
|
Aruco.estimatePoseSingleMarkers (corners, markerLength, camMatrix, distCoeffs, rvecs, tvecs);
|
|
|
|
for (int i = 0; i < ids.total (); i++) {
|
|
using (Mat rvec = new Mat (rvecs, new OpenCVForUnity.CoreModule.Rect (0, i, 1, 1)))
|
|
using (Mat tvec = new Mat (tvecs, new OpenCVForUnity.CoreModule.Rect (0, i, 1, 1))) {
|
|
// In this example we are processing with RGB color image, so Axis-color correspondences are X: blue, Y: green, Z: red. (Usually X: red, Y: green, Z: blue)
|
|
Aruco.drawAxis (rgbMat, camMatrix, distCoeffs, rvec, tvec, markerLength * 0.5f);
|
|
|
|
// This example can display the ARObject on only first detected marker.
|
|
if (i == 0) {
|
|
UpdateARObjectTransform (rvec, tvec);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
private void EstimatePoseGridBoard (Mat rgbMat)
|
|
{
|
|
int valid = Aruco.estimatePoseBoard (corners, ids, gridBoard, camMatrix, distCoeffs, rvec, tvec);
|
|
|
|
// if at least one board marker detected
|
|
if (valid > 0) {
|
|
// In this example we are processing with RGB color image, so Axis-color correspondences are X: blue, Y: green, Z: red. (Usually X: red, Y: green, Z: blue)
|
|
Aruco.drawAxis (rgbMat, camMatrix, distCoeffs, rvec, tvec, markerLength * 0.5f);
|
|
|
|
UpdateARObjectTransform (rvec, tvec);
|
|
}
|
|
}
|
|
|
|
private void EstimatePoseChArUcoBoard (Mat rgbMat)
|
|
{
|
|
// if at least one charuco corner detected
|
|
if (charucoIds.total () > 0) {
|
|
bool valid = Aruco.estimatePoseCharucoBoard (charucoCorners, charucoIds, charucoBoard, camMatrix, distCoeffs, rvec, tvec);
|
|
|
|
// if at least one board marker detected
|
|
if (valid) {
|
|
// In this example we are processing with RGB color image, so Axis-color correspondences are X: blue, Y: green, Z: red. (Usually X: red, Y: green, Z: blue)
|
|
Aruco.drawAxis (rgbMat, camMatrix, distCoeffs, rvec, tvec, markerLength * 0.5f);
|
|
|
|
UpdateARObjectTransform (rvec, tvec);
|
|
}
|
|
}
|
|
}
|
|
|
|
private void EstimatePoseChArUcoDiamondMarker (Mat rgbMat)
|
|
{
|
|
Aruco.estimatePoseSingleMarkers (diamondCorners, diamondSquareLength, camMatrix, distCoeffs, rvecs, tvecs);
|
|
|
|
for (int i = 0; i < rvecs.total (); i++) {
|
|
using (Mat rvec = new Mat (rvecs, new OpenCVForUnity.CoreModule.Rect (0, i, 1, 1)))
|
|
using (Mat tvec = new Mat (tvecs, new OpenCVForUnity.CoreModule.Rect (0, i, 1, 1))) {
|
|
// In this example we are processing with RGB color image, so Axis-color correspondences are X: blue, Y: green, Z: red. (Usually X: red, Y: green, Z: blue)
|
|
Aruco.drawAxis (rgbMat, camMatrix, distCoeffs, rvec, tvec, diamondSquareLength * 0.5f);
|
|
|
|
// This example can display the ARObject on only first detected marker.
|
|
if (i == 0) {
|
|
UpdateARObjectTransform (rvec, tvec);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
private void UpdateARObjectTransform (Mat rvec, Mat tvec)
|
|
{
|
|
// Convert to unity pose data.
|
|
double[] rvecArr = new double[3];
|
|
rvec.get (0, 0, rvecArr);
|
|
double[] tvecArr = new double[3];
|
|
tvec.get (0, 0, tvecArr);
|
|
PoseData poseData = ARUtils.ConvertRvecTvecToPoseData (rvecArr, tvecArr);
|
|
|
|
// Changes in pos/rot below these thresholds are ignored.
|
|
if (enableLowPassFilter) {
|
|
ARUtils.LowpassPoseData (ref oldPoseData, ref poseData, positionLowPass, rotationLowPass);
|
|
}
|
|
oldPoseData = poseData;
|
|
|
|
// Convert to transform matrix.
|
|
ARM = ARUtils.ConvertPoseDataToMatrix (ref poseData, true, true);
|
|
|
|
if (shouldMoveARCamera) {
|
|
|
|
ARM = arGameObject.transform.localToWorldMatrix * ARM.inverse;
|
|
|
|
ARUtils.SetTransformFromMatrix (arCamera.transform, ref ARM);
|
|
|
|
} else {
|
|
|
|
ARM = arCamera.transform.localToWorldMatrix * ARM;
|
|
|
|
ARUtils.SetTransformFromMatrix (arGameObject.transform, ref ARM);
|
|
}
|
|
}
|
|
|
|
private void ResetObjectTransform ()
|
|
{
|
|
// reset AR object transform.
|
|
Matrix4x4 i = Matrix4x4.identity;
|
|
ARUtils.SetTransformFromMatrix (arCamera.transform, ref i);
|
|
ARUtils.SetTransformFromMatrix (arGameObject.transform, ref i);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Raises the destroy event.
|
|
/// </summary>
|
|
void OnDestroy ()
|
|
{
|
|
webCamTextureToMatHelper.Dispose ();
|
|
}
|
|
|
|
/// <summary>
|
|
/// Raises the back button click event.
|
|
/// </summary>
|
|
public void OnBackButtonClick ()
|
|
{
|
|
SceneManager.LoadScene ("OpenCVForUnityExample");
|
|
}
|
|
|
|
/// <summary>
|
|
/// Raises the play button click event.
|
|
/// </summary>
|
|
public void OnPlayButtonClick ()
|
|
{
|
|
webCamTextureToMatHelper.Play ();
|
|
}
|
|
|
|
/// <summary>
|
|
/// Raises the pause button click event.
|
|
/// </summary>
|
|
public void OnPauseButtonClick ()
|
|
{
|
|
webCamTextureToMatHelper.Pause ();
|
|
}
|
|
|
|
/// <summary>
|
|
/// Raises the stop button click event.
|
|
/// </summary>
|
|
public void OnStopButtonClick ()
|
|
{
|
|
webCamTextureToMatHelper.Stop ();
|
|
}
|
|
|
|
/// <summary>
|
|
/// Raises the change camera button click event.
|
|
/// </summary>
|
|
public void OnChangeCameraButtonClick ()
|
|
{
|
|
webCamTextureToMatHelper.requestedIsFrontFacing = !webCamTextureToMatHelper.IsFrontFacing ();
|
|
}
|
|
|
|
/// <summary>
|
|
/// Raises the marker type dropdown value changed event.
|
|
/// </summary>
|
|
public void OnMarkerTypeDropdownValueChanged (int result)
|
|
{
|
|
if ((int)markerType != result) {
|
|
markerType = (MarkerType)result;
|
|
|
|
refineMarkerDetectionToggle.interactable = (markerType == MarkerType.GridBoard || markerType == MarkerType.ChArUcoBoard);
|
|
|
|
ResetObjectTransform ();
|
|
|
|
if (webCamTextureToMatHelper.IsInitialized ())
|
|
webCamTextureToMatHelper.Initialize ();
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Raises the dictionary id dropdown value changed event.
|
|
/// </summary>
|
|
public void OnDictionaryIdDropdownValueChanged (int result)
|
|
{
|
|
if ((int)dictionaryId != result) {
|
|
dictionaryId = (ArUcoDictionary)result;
|
|
dictionary = Aruco.getPredefinedDictionary ((int)dictionaryId);
|
|
|
|
ResetObjectTransform ();
|
|
|
|
if (webCamTextureToMatHelper.IsInitialized ())
|
|
webCamTextureToMatHelper.Initialize ();
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Raises the show rejected corners toggle value changed event.
|
|
/// </summary>
|
|
public void OnShowRejectedCornersToggleValueChanged ()
|
|
{
|
|
showRejectedCorners = showRejectedCornersToggle.isOn;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Raises the refine marker detection toggle value changed event.
|
|
/// </summary>
|
|
public void OnRefineMarkerDetectionToggleValueChanged ()
|
|
{
|
|
refineMarkerDetection = refineMarkerDetectionToggle.isOn;
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
/// Raises the enable low pass filter toggle value changed event.
|
|
/// </summary>
|
|
public void OnEnableLowPassFilterToggleValueChanged ()
|
|
{
|
|
if (enableLowPassFilterToggle.isOn) {
|
|
enableLowPassFilter = true;
|
|
} else {
|
|
enableLowPassFilter = false;
|
|
}
|
|
}
|
|
|
|
public enum MarkerType
|
|
{
|
|
CanonicalMarker,
|
|
GridBoard,
|
|
ChArUcoBoard,
|
|
ChArUcoDiamondMarker
|
|
}
|
|
|
|
public enum ArUcoDictionary
|
|
{
|
|
DICT_4X4_50 = Aruco.DICT_4X4_50,
|
|
DICT_4X4_100 = Aruco.DICT_4X4_100,
|
|
DICT_4X4_250 = Aruco.DICT_4X4_250,
|
|
DICT_4X4_1000 = Aruco.DICT_4X4_1000,
|
|
DICT_5X5_50 = Aruco.DICT_5X5_50,
|
|
DICT_5X5_100 = Aruco.DICT_5X5_100,
|
|
DICT_5X5_250 = Aruco.DICT_5X5_250,
|
|
DICT_5X5_1000 = Aruco.DICT_5X5_1000,
|
|
DICT_6X6_50 = Aruco.DICT_6X6_50,
|
|
DICT_6X6_100 = Aruco.DICT_6X6_100,
|
|
DICT_6X6_250 = Aruco.DICT_6X6_250,
|
|
DICT_6X6_1000 = Aruco.DICT_6X6_1000,
|
|
DICT_7X7_50 = Aruco.DICT_7X7_50,
|
|
DICT_7X7_100 = Aruco.DICT_7X7_100,
|
|
DICT_7X7_250 = Aruco.DICT_7X7_250,
|
|
DICT_7X7_1000 = Aruco.DICT_7X7_1000,
|
|
DICT_ARUCO_ORIGINAL = Aruco.DICT_ARUCO_ORIGINAL,
|
|
}
|
|
}
|
|
} |