質問編集履歴
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// マーカーの中心座標を取得
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midllePoints.Add(new Point2f(average_X, average_Y));
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var average1_X = midllePoints[0].X + (midllePoints[1].X - midllePoints[0].X) / 2;
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var average1_Y = midllePoints[0].Y + (midllePoints[1].Y - midllePoints[0].Y) / 2;
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center.Add(new Point2f(average1_X, average1_Y));
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cnt1++;
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1
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UnityとOpencvを用いてARUCOマーカー上にcudeを出現させたいのですが、どうやってできるでしょうか？
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2
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-
RawImageをつかってそこにカメラ画像を写してやっています。
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2
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RawImageをつかってそこにカメラ画像を写してやっています。
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6
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```ここに言語を入力
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7
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using UnityEngine;
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8
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using OpenCvSharp;
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using OpenCvSharp.Aruco;
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using UnityEngine.UI;
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using System.Collections.Generic;
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using System.Linq;
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public class AR1 : MonoBehaviour
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{
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[SerializeField] private RawImage _renderer;
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private int _width = 1920;
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private int _height = 1080;
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private int _fps = 30;
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private WebCamTexture _webcamTexture;
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private const PredefinedDictionaryName dictName = PredefinedDictionaryName.Dict6X6_250;
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private Dictionary ar_dict;
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private DetectorParameters detect_param;
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private Vector3 center1;
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private Vector3 t;
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public GameObject cude;
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private void Start()
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{
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WebCamDevice[] devices = WebCamTexture.devices;
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_webcamTexture = new WebCamTexture(devices[0].name, this._width, this._height, this._fps);
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_webcamTexture.Play();
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}
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void OnDestroy()
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{
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if (_webcamTexture != null)
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{
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if (_webcamTexture.isPlaying) _webcamTexture.Stop();
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_webcamTexture = null;
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}
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}
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private void Update()
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=> Armaker(_webcamTexture);
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private void Armaker(WebCamTexture tex)
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{
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ar_dict = CvAruco.GetPredefinedDictionary(dictName);
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detect_param = DetectorParameters.Create();
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Mat cam_frame = OpenCvSharp.Unity.TextureToMat(tex);
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Point2f[][] corners; //ARマーカのカドの座標
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int[] ids; //検出されたARマーカのID
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Point2f[][] reject_Points;
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Mat grayMat = new Mat();
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Cv2.CvtColor(cam_frame, grayMat, ColorConversionCodes.BGR2GRAY);
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69
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70
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CvAruco.DetectMarkers(cam_frame, grayMat, ar_dict, out corners, out ids, detect_param, out reject_Points);
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if (ids.Length != 0)
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{
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List<Point2f> midllePoints = new List<Point2f>();
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List<Point2f> center = new List<Point2f>();
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78
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CvAruco.DrawDetectedMarkers(cam_frame, corners, ids, new Scalar(0, 255, 0));
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80
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81
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var markers = Enumerable.Zip(ids, corners, (i, c) => new { i, c })
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.ToDictionary(x => x.i, x => x.c)
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83
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.OrderBy(i => i.Key);
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84
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+
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85
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+
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86
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int cnt = 0;
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87
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foreach (var marker in markers)
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88
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{
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89
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var average_X = marker.Value.Average(p => p.X);
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90
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var average_Y = marker.Value.Average(p => p.Y);
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91
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+
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92
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93
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// マーカーの中心座標を取得
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94
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midllePoints.Add(new Point2f(average_X, average_Y));
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95
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+
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96
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+
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97
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98
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cnt++;
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99
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100
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}
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101
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+
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102
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+
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103
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int cnt1 = 0;
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104
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foreach (var t in midllePoints)
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105
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{
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106
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+
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107
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var average1_X = midllePoints[0].X + (midllePoints[1].X - midllePoints[0].X) / 2;
|
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108
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+
var average1_Y = midllePoints[0].Y + (midllePoints[1].Y - midllePoints[0].Y) / 2;
|
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109
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+
// var average1_Z = 0;
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|
110
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+
|
|
111
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+
center.Add(new Point2f(average1_X, average1_Y));
|
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112
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+
|
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113
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+
cnt1++;
|
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114
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+
|
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115
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+
}
|
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116
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+
|
|
117
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+
|
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118
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+
|
|
119
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+
// マーカーの中心座標を描画
|
|
120
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+
midllePoints.ForEach(mp => cam_frame.Circle(
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121
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+
(int)mp.X, (int)mp.Y, 1, new Scalar(0, 0, 255), 3, LineTypes.AntiAlias));
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122
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+
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123
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+
// マーカー間の中心点を描画
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124
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+
center.ForEach(tc => cam_frame.Circle(
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125
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+
(int)tc.X, (int)tc.Y, 1, new Scalar(0, 255, 255), 5, LineTypes.AntiAlias));
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|
126
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+
|
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127
|
+
|
|
128
|
+
foreach (var c in center)
|
|
129
|
+
{
|
|
130
|
+
t = new Vector3(center[0].X, center[0].Y, 0);
|
|
131
|
+
|
|
132
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+
cude.transform.position = t;
|
|
133
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+
}
|
|
134
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+
|
|
135
|
+
}
|
|
136
|
+
_renderer.texture = OpenCvSharp.Unity.MatToTexture(cam_frame);
|
|
137
|
+
|
|
138
|
+
}
|
|
139
|
+
}
|
|
140
|
+
```
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