Done with homo inverse

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<Renderer>();
 
+
     }
 
     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;
 

AR-2b/Assets/Models/Materials/flying_skull_tex.mat

@@ -0,0 +1,77 @@
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AR-2b/Assets/homo_inv.cs

@@ -0,0 +1,234 @@
+using OpenCVForUnity.CoreModule;
+using OpenCVForUnity.ImgprocModule;
+using OpenCVForUnity.ObjdetectModule;
+using OpenCVForUnity.UnityUtils;
+using OpenCVForUnity.UtilsModule;
+using UnityEngine;
+using OpenCVForUnity.Calib3dModule;
+using System.Linq;
+using Vuforia;
+
+public class homo_inv : MonoBehaviour
+{
+
+    public Camera cam;
+
+    public GameObject corner1;
+    public GameObject corner2;
+    public GameObject corner3;
+    public GameObject corner4;
+
+    //Default values: guessed, not calibrated
+    public float fx = 650;
+    public float fy = 650;
+    public float cx = 320;
+    public float cy = 240;
+
+
+    private int width = 1024;
+    private int height = 1024;
+
+    private MatOfPoint2f dstPoints;
+    private Texture2D outputTexture;
+
+    private Mat camImageMat;
+
+    
+    private GameObject pls;
+    private Renderer rend;
+
+    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(0, 0, 0, height);
+        dstPoints.put(1, 0, width, height);
+        dstPoints.put(3, 0, width, 0);
+        dstPoints.put(2, 0, 0, 0);*/
+
+
+
+        dstPoints.put(2, 0, 0, height);
+        dstPoints.put(3, 0, width, height);
+        dstPoints.put(0, 0, 0, 0);
+        dstPoints.put(1, 0, width, 0);
+
+
+
+        outputTexture = new Texture2D(width, height, TextureFormat.RGBA32, false);
+
+
+        // Debugging
+        pls = GameObject.Find("pls");
+        rend = pls.GetComponent<Renderer>();
+
+
+    }
+
+    void Update()
+    {
+
+        //Access camera image provided by Vuforia
+        Image camImg = CameraDevice.Instance.GetCameraImage(Image.PIXEL_FORMAT.RGBA8888);
+
+        if (camImg != null)
+        {
+            if (camImg != null)
+            {
+                if (camImageMat == null)
+                {
+                    camImageMat = new Mat(camImg.Height, camImg.Width, CvType.CV_8UC4);
+                }
+                camImageMat.put(0, 0, camImg.Pixels);
+            }
+
+            //---- TRANSFORM/PROJECT CORNER WORLD COORDINATES TO IMAGE COORDINATES ----
+
+            Vector3 worldPnt1 = corner1.transform.position;
+            Vector3 worldPnt2 = corner2.transform.position;
+            Vector3 worldPnt3 = corner3.transform.position;
+            Vector3 worldPnt4 = corner4.transform.position;
+
+            //See lecture slides
+            Matrix4x4 Rt = cam.transform.worldToLocalMatrix;
+            Matrix4x4 A = Matrix4x4.identity;
+            A.m00 = fx;
+            A.m11 = fy;
+            A.m02 = cx;
+            A.m12 = cy;
+
+            //See equation for pinhole camera model
+            Matrix4x4 worldToImage = A * Rt;
+
+            //Apply transform to get homogeneous image coordinates
+            Vector3 hUV1 = worldToImage.MultiplyPoint3x4(worldPnt1);
+            Vector3 hUV2 = worldToImage.MultiplyPoint3x4(worldPnt2);
+            Vector3 hUV3 = worldToImage.MultiplyPoint3x4(worldPnt3);
+            Vector3 hUV4 = worldToImage.MultiplyPoint3x4(worldPnt4);
+
+            //hUV are the image coordinates in homogeneous coordinates, we need to normalize, i.e., divide by Z to get to Cartesian coordinates
+            Vector2 uv1 = new Vector2(hUV1.x, hUV1.y) / hUV1.z;
+            Vector2 uv2 = new Vector2(hUV2.x, hUV2.y) / hUV2.z;
+            Vector2 uv3 = new Vector2(hUV3.x, hUV3.y) / hUV3.z;
+            Vector2 uv4 = new Vector2(hUV4.x, hUV4.y) / hUV4.z;
+
+            //Do not forget to alloc before putting values into a MatOfPoint2f (see Start() above)
+            //We need to flip the v-coordinates, see coordinate system overview
+            float maxV = camImg.Height - 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;
+    }
+
+}
+

AR-2b/Assets/homo_skull.unity

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