From 14a17145c82ce1b9c39e97325481b9f1f539f7a3 Mon Sep 17 00:00:00 2001 From: Alexander Munch-Hansen Date: Thu, 28 Feb 2019 15:44:34 +0100 Subject: [PATCH] Done with homo inverse --- AR-2b/Assets/Homo_script.cs | 19 +- .../Models/Materials/flying_skull_tex.mat | 77 + .../flying_skull_tex.png | Bin AR-2b/Assets/homo_inv.cs | 234 +++ AR-2b/Assets/homo_skull.unity | 424 +++--- AR-2b/Assets/inverse_homo_skull.unity | 1265 +++++++++++++++++ 6 files changed, 1811 insertions(+), 208 deletions(-) create mode 100644 AR-2b/Assets/Models/Materials/flying_skull_tex.mat rename AR-2b/Assets/{Models => Resources}/flying_skull_tex.png (100%) create mode 100644 AR-2b/Assets/homo_inv.cs create mode 100644 AR-2b/Assets/inverse_homo_skull.unity diff --git a/AR-2b/Assets/Homo_script.cs b/AR-2b/Assets/Homo_script.cs index 42302cc..9a12e9f 100644 --- a/AR-2b/Assets/Homo_script.cs +++ b/AR-2b/Assets/Homo_script.cs @@ -40,11 +40,14 @@ public class Homo_script : MonoBehaviour private GameObject pls; private bool manualComputation = false; + private Mat skullTextureMat; void Start() { + skullTextureMat = MatDisplay.LoadRGBATexture("Resources/flying_skull_tex.png"); + dstPoints = new MatOfPoint2f(); dstPoints.alloc(4); dstPoints.put(3, 0, width, height); @@ -61,6 +64,7 @@ public class Homo_script : MonoBehaviour pls = GameObject.Find("pls"); rend = pls.GetComponent(); + } void Update() @@ -154,13 +158,24 @@ public class Homo_script : MonoBehaviour Imgproc.warpPerspective(camImgCopy, outputMat, homo, new Size(outputMat.width(), outputMat.height())); + + Mat outputSkullMat = skullTextureMat.clone(); + + + Imgproc.warpPerspective(skullTextureMat, outputSkullMat, homo.inv(), new Size(outputSkullMat.width(), outputSkullMat.height())); + + var rectOutputMat = new Mat(outputMat, new OpenCVForUnity.CoreModule.Rect(0, 0, width, height)); MatDisplay.MatToTexture(rectOutputMat, ref outputTexture); - + + Mat anotherCamImg = camImageMat.clone(); + + Core.addWeighted(camImageMat, 0.95f, outputSkullMat, 0.4f, 0.0, anotherCamImg); + //Display the Mat that includes video feed and debug points - MatDisplay.DisplayMat(camImageMat, MatDisplaySettings.FULL_BACKGROUND); + MatDisplay.DisplayMat(anotherCamImg, MatDisplaySettings.FULL_BACKGROUND); rend.sharedMaterial.mainTexture = outputTexture; diff --git a/AR-2b/Assets/Models/Materials/flying_skull_tex.mat b/AR-2b/Assets/Models/Materials/flying_skull_tex.mat new file mode 100644 index 0000000..9f183b3 --- /dev/null +++ b/AR-2b/Assets/Models/Materials/flying_skull_tex.mat @@ -0,0 +1,77 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!21 &2100000 +Material: + serializedVersion: 6 + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_Name: flying_skull_tex + m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0} + m_ShaderKeywords: + m_LightmapFlags: 4 + m_EnableInstancingVariants: 0 + m_DoubleSidedGI: 0 + m_CustomRenderQueue: -1 + stringTagMap: {} + disabledShaderPasses: [] + m_SavedProperties: + serializedVersion: 3 + m_TexEnvs: + - 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1; + + MatOfPoint2f imagePoints = new MatOfPoint2f(); + imagePoints.alloc(4); + + imagePoints.put(0, 0, uv1.x, maxV - uv1.y); + imagePoints.put(1, 0, uv2.x, maxV - uv2.y); + imagePoints.put(2, 0, uv3.x, maxV - uv3.y); + imagePoints.put(3, 0, uv4.x, maxV - uv4.y); + + + //Debug draw points using OpenCV's drawing functions + Point imgPnt1 = new Point(imagePoints.get(0, 0)); + Point imgPnt2 = new Point(imagePoints.get(1, 0)); + Point imgPnt3 = new Point(imagePoints.get(2, 0)); + Point imgPnt4 = new Point(imagePoints.get(3, 0)); + Mat camImgCopy = camImageMat.clone(); + Mat outputMat = camImgCopy.clone(); + + + if (true) + { + Imgproc.circle(camImageMat, imgPnt1, 5, new Scalar(255, 0, 0, 255)); + Imgproc.circle(camImageMat, imgPnt2, 5, new Scalar(0, 255, 0, 255)); + Imgproc.circle(camImageMat, imgPnt3, 5, new Scalar(0, 0, 255, 255)); + Imgproc.circle(camImageMat, imgPnt4, 5, new Scalar(255, 255, 0, 255)); + } + + + + Mat homo = new Mat(); + if (manualComputation) + { + homo = ComputeHomo(imagePoints, dstPoints); + } + else + { + homo = Calib3d.findHomography(imagePoints, dstPoints); + } + + + Mat outputSkullMat = camImgCopy.clone(); + //Mat outputSkullMat = skullTextureMat.clone(); + + Imgproc.warpPerspective(skullTextureMat, outputSkullMat, homo.inv(), outputSkullMat.size()); + + + + + + + + Mat dstCam = camImageMat.clone(); + + + Core.addWeighted(camImageMat, 0.95f, outputSkullMat, 0.7f, 0.0f, dstCam); + + //Display the Mat that includes video feed and debug points + MatDisplay.DisplayMat(dstCam, MatDisplaySettings.FULL_BACKGROUND); + + + + //rend.sharedMaterial.mainTexture = outputTexture; + + + + // Makes camera prettier + //cam.fieldOfView = 2 * Mathf.Atan(camImg.Height * 0.5f / fy) * Mathf.Rad2Deg; + + imagePoints.Dispose(); + + } + } + + Mat ComputeHomo(MatOfPoint2f imgPoints, MatOfPoint2f destPoints) + { + + + Mat H = new Mat(8, 1, CvType.CV_32FC1); + Mat A = new Mat(8, 8, CvType.CV_32FC1); + Mat b = new Mat(8, 1, CvType.CV_32FC1); + + + for (int i = 0; i < 4; i++) + { + var u = destPoints.get(i, 0)[0]; + var v = destPoints.get(i, 0)[1]; + + b.put(i * 2, 0, u); + b.put((i * 2)+1, 0, v); + + var x = imgPoints.get(i, 0)[0]; + var y = imgPoints.get(i, 0)[1]; + + A.put(i*2, 0, x, y, 1, 0, 0, 0, -u*x, -u*y); + A.put((i * 2)+1, 0, 0, 0, 0, x, y, 1, -v*x, -v*y); + + } + + Core.solve(A, b, H); + + Mat ShitsReal = new Mat(3, 3, CvType.CV_32FC1); + ShitsReal.put(0, 0, H.get(0,0)[0], H.get(1,0)[0], H.get(2,0)[0]); + ShitsReal.put(1, 0, H.get(3,0)[0], H.get(4,0)[0], H.get(5,0)[0]); + ShitsReal.put(2, 0, H.get(6,0)[0], H.get(7,0)[0], 1); + + return ShitsReal; + } + +} + diff --git a/AR-2b/Assets/homo_skull.unity b/AR-2b/Assets/homo_skull.unity index d34498c..3263612 100644 --- a/AR-2b/Assets/homo_skull.unity +++ b/AR-2b/Assets/homo_skull.unity @@ -130,7 +130,7 @@ GameObject: m_Icon: {fileID: 0} m_NavMeshLayer: 0 m_StaticEditorFlags: 0 - 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