354 lines
14 KiB
C#
Executable File
354 lines
14 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.Collections;
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using System.Collections.Generic;
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using OpenCVForUnity.CoreModule;
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using OpenCVForUnity.Calib3dModule;
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using OpenCVForUnity.ArucoModule;
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using OpenCVForUnity.UnityUtils;
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namespace OpenCVForUnityExample
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{
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/// <summary>
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/// ArUco 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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public class ArUcoExample : MonoBehaviour
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{
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/// <summary>
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/// The image texture.
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/// </summary>
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public Texture2D imgTexture;
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[Space (10)]
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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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/// 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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/// <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 texture.
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/// </summary>
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Texture2D texture;
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// Use this for initialization
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void Start ()
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{
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rgbMat = new Mat (imgTexture.height, imgTexture.width, CvType.CV_8UC3);
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texture = new Texture2D (rgbMat.cols (), rgbMat.rows (), TextureFormat.RGBA32, false);
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gameObject.GetComponent<Renderer> ().material.mainTexture = texture;
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dictionaryIdDropdown.value = (int)dictionaryId;
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showRejectedCornersToggle.isOn = showRejectedCorners;
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DetectMarkers ();
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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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}
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private void DetectMarkers ()
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{
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Utils.texture2DToMat (imgTexture, rgbMat);
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Debug.Log ("imgMat dst ToString " + rgbMat.ToString ());
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gameObject.transform.localScale = new Vector3 (imgTexture.width, imgTexture.height, 1);
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Debug.Log ("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
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float width = rgbMat.width ();
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float height = rgbMat.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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int max_d = (int)Mathf.Max (width, height);
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double fx = max_d;
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double fy = max_d;
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double cx = width / 2.0f;
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double cy = height / 2.0f;
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Mat 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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Debug.Log ("camMatrix " + camMatrix.dump ());
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MatOfDouble distCoeffs = new MatOfDouble (0, 0, 0, 0);
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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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Mat ids = new Mat ();
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List<Mat> corners = new List<Mat> ();
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List<Mat> rejectedCorners = new List<Mat> ();
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Mat rvecs = new Mat ();
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Mat tvecs = new Mat ();
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Mat rotMat = new Mat (3, 3, CvType.CV_64FC1);
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DetectorParameters detectorParams = DetectorParameters.create ();
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Dictionary dictionary = Aruco.getPredefinedDictionary ((int)dictionaryId);
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// detect markers.
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Aruco.detectMarkers (rgbMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
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// if at least one marker detected
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if (ids.total () > 0) {
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Aruco.drawDetectedMarkers (rgbMat, corners, ids, new Scalar (0, 255, 0));
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// estimate pose.
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if (applyEstimationPose) {
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Aruco.estimatePoseSingleMarkers (corners, markerLength, camMatrix, distCoeffs, rvecs, tvecs);
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for (int i = 0; i < ids.total (); i++) {
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using (Mat rvec = new Mat (rvecs, new OpenCVForUnity.CoreModule.Rect (0, i, 1, 1)))
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using (Mat tvec = new Mat (tvecs, new OpenCVForUnity.CoreModule.Rect (0, i, 1, 1))) {
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// 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)
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Aruco.drawAxis (rgbMat, camMatrix, distCoeffs, rvec, tvec, markerLength * 0.5f);
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}
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// This example can display the ARObject on only first detected marker.
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if (i == 0) {
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// Position
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double[] tvecArr = tvecs.get (i, 0);
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// Rotation
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double[] rvecArr = rvecs.get (i, 0);
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Mat rvec = new Mat (3, 1, CvType.CV_64FC1);
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rvec.put (0, 0, rvecArr);
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Calib3d.Rodrigues (rvec, rotMat);
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double[] rotMatArr = new double[rotMat.total ()];
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rotMat.get (0, 0, rotMatArr);
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Matrix4x4 transformationM = new Matrix4x4 (); // from OpenCV
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transformationM.SetRow (0, new Vector4 ((float)rotMatArr [0], (float)rotMatArr [1], (float)rotMatArr [2], (float)tvecArr [0]));
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transformationM.SetRow (1, new Vector4 ((float)rotMatArr [3], (float)rotMatArr [4], (float)rotMatArr [5], (float)tvecArr [1]));
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transformationM.SetRow (2, new Vector4 ((float)rotMatArr [6], (float)rotMatArr [7], (float)rotMatArr [8], (float)tvecArr [2]));
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transformationM.SetRow (3, new Vector4 (0, 0, 0, 1));
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Debug.Log ("transformationM " + transformationM.ToString ());
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Matrix4x4 invertZM = Matrix4x4.TRS (Vector3.zero, Quaternion.identity, new Vector3 (1, 1, -1));
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Debug.Log ("invertZM " + invertZM.ToString ());
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Matrix4x4 invertYM = Matrix4x4.TRS (Vector3.zero, Quaternion.identity, new Vector3 (1, -1, 1));
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Debug.Log ("invertYM " + invertYM.ToString ());
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// right-handed coordinates system (OpenCV) to left-handed one (Unity)
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Matrix4x4 ARM = invertYM * transformationM;
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// Apply Z-axis inverted matrix.
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ARM = ARM * invertZM;
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if (shouldMoveARCamera) {
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ARM = arGameObject.transform.localToWorldMatrix * ARM.inverse;
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Debug.Log ("ARM " + ARM.ToString ());
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ARUtils.SetTransformFromMatrix (arCamera.transform, ref ARM);
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} else {
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ARM = arCamera.transform.localToWorldMatrix * ARM;
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Debug.Log ("ARM " + ARM.ToString ());
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ARUtils.SetTransformFromMatrix (arGameObject.transform, ref ARM);
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}
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}
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}
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}
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}
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if (showRejectedCorners && rejectedCorners.Count > 0)
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Aruco.drawDetectedMarkers (rgbMat, rejectedCorners, new Mat (), new Scalar (255, 0, 0));
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Utils.matToTexture2D (rgbMat, texture);
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}
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private void ResetObjectTransform ()
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{
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// reset AR object transform.
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Matrix4x4 i = Matrix4x4.identity;
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ARUtils.SetTransformFromMatrix (arCamera.transform, ref i);
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ARUtils.SetTransformFromMatrix (arGameObject.transform, ref i);
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}
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/// <summary>
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/// Raises the destroy event.
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/// </summary>
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void OnDestroy ()
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{
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if (rgbMat != null)
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rgbMat.Dispose ();
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}
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/// <summary>
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/// Raises the back button click event.
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/// </summary>
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public void OnBackButtonClick ()
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{
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SceneManager.LoadScene ("OpenCVForUnityExample");
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}
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/// <summary>
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/// Raises the dictionary id dropdown value changed event.
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/// </summary>
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public void OnDictionaryIdDropdownValueChanged (int result)
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{
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if ((int)dictionaryId != result) {
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dictionaryId = (ArUcoDictionary)result;
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ResetObjectTransform ();
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DetectMarkers ();
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}
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}
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/// <summary>
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/// Raises the show rejected corners toggle value changed event.
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/// </summary>
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public void OnShowRejectedCornersToggleValueChanged ()
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{
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if (showRejectedCorners != showRejectedCornersToggle.isOn) {
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showRejectedCorners = showRejectedCornersToggle.isOn;
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ResetObjectTransform ();
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DetectMarkers ();
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}
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}
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public enum ArUcoDictionary
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{
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DICT_4X4_50 = Aruco.DICT_4X4_50,
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DICT_4X4_100 = Aruco.DICT_4X4_100,
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DICT_4X4_250 = Aruco.DICT_4X4_250,
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DICT_4X4_1000 = Aruco.DICT_4X4_1000,
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DICT_5X5_50 = Aruco.DICT_5X5_50,
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DICT_5X5_100 = Aruco.DICT_5X5_100,
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DICT_5X5_250 = Aruco.DICT_5X5_250,
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DICT_5X5_1000 = Aruco.DICT_5X5_1000,
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DICT_6X6_50 = Aruco.DICT_6X6_50,
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DICT_6X6_100 = Aruco.DICT_6X6_100,
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DICT_6X6_250 = Aruco.DICT_6X6_250,
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DICT_6X6_1000 = Aruco.DICT_6X6_1000,
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DICT_7X7_50 = Aruco.DICT_7X7_50,
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DICT_7X7_100 = Aruco.DICT_7X7_100,
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DICT_7X7_250 = Aruco.DICT_7X7_250,
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DICT_7X7_1000 = Aruco.DICT_7X7_1000,
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DICT_ARUCO_ORIGINAL = Aruco.DICT_ARUCO_ORIGINAL,
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}
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}
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} |