Tutorial: Creation of StampAR with OpenCV and ARCore

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Tutorial: Creating Stamp-AR with OpenCV

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Download and Installation ①Sample Data for the Tutorial http://arfukuoka.lolipop.jp/stampar/Sample.zip ②ARCoreSDK(v1.8.0) https://github.com/google-ar/arcore-unity-sdk/releases/tag/v1.8.0 ③Unity2017.4.15f1 or later https://unity3d.com/jp/unity/qa/lts-releases?version=2017.4 ④Android SDK https://developer.android.com/studio ※Please finish setting up Android build on Unity before hand.

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Goal of The Tutorial https://youtu.be/a8o1ieL01_w

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ARCore New marker-less AR platform which can available for Android devices. 【Features】 (1) Motion Tracking based on SLAM (2) Environmental Understanding (3) Light Estimation (4) Augmented Image (5) Cloud Anchor (6) Augmented Faces

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OpenCV Plus Unity  Unity asset of image processing based on OpenCV3.  OpenCVSharp was adapted to Unity environment.  Available on Windows/Mac/Android/iOS.

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Procedure Binarization capture Add Alpha Channel Coloring 2D→3D GOAL!

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Getting Started with Unity

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Creation of a Unity Project New

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Creation of a Unity Project Create Project Name of a Project Save Directory

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Addin a 3D Object ①Right Click ②3D Object ③Quad

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How to Play Click Play Button Click Play Button to Stop View of the Camera

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Modification of View Point of Scene [←] [→] Move to Right/Left [↑][↓] Zoom In/Out [Alt]+Drag Rotation +Drag Move to ↑↓←→

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Modification of Game Object Click to Select Translation Rotation Scaling

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Numerical Modification of Game Object  Detailed information is shown in the Inspector Tab  For instance, you can translate object by changing Position ②Change Position parameter to 0 0 0 ① Quad

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Applying a Texture to Material Change the appearance by applying texture image to 3D model

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Creation of a Material File ①Assets ②空白を右クリック

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Creation of a Material File ①Create ②Material

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Creation of a Material File ①Click Quad ②Open Materials ※Click▼button

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Applying a Texture Image ①Find NewMaterial ※Do NOT click! ②Drag & Drop into Element0 of Materials

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Applying a Texture Image ①Click Quad ②Open NewMaterial ※▼をクリック

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Applying a Texture Image Open Shader List

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Applying a Texture Image ①Unlit ②Transparent

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Applying a Texture Image Texture image will be assigned from here

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Importing Texture Image ①Assets ②ImportNewAsset...

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Importing Texture Image ①Sample Folder ②Select logo.png ③Import

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Assigning Texture to Material ①Click Quad

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Assigning Texture to Material ①Find logo file ②Drag&Drop into texture area

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Assigning Texture to Material

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Check Point & Idea for StampAR 【Check Point】 Appearance can be set just by assigning texture file if a material to use texture was applied to3D model. 【Idea】  Make a image which has alpha channel.  Change color of opaque pixels by using script.  Generate plane which is attached this image.

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Save the Scene ①File ②Save Scene as...

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Save the Secne ①Write the name of this scene ②Save Please save the scene frequently with ctrl+s after this procedure

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Installation of ARCore SDK ①Assets ②Import Package ③Open SDK from Custom Package arcore-unity-sdk-v1.8.0.unitypackage

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Installation of ARCore SDK Import

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Installation of ARCore SDK GoogleARCore will appear

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Setting Up Camera for AR Delete Main Camera

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Setting Up Camera for AR Assets→GoogleARCore→Prefabs

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Setting Up Camera for AR ①ARCore Device ②Drag & Drop into Hierarchy

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Setting Up Camera for AR ①ARCore Device ②Double Click DefaultSessionConfig

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Setting Up Camera for AR Switch Camera Focus Mode to Auto

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Modification of Position & Scale of a CG Click Quad

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Modification of Position & Scale of a CG Position: 0, 0, 0.5 Scale: All 0.1

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Modification of Position & Scale of a CG Double Click Quad Since Quad object is very smaller than default size, make the view point close to the object.

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Saving the Scene Ctrl/Command + S

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Build Setting ①File ②Build Settings...

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Build Setting ①Android ②Switch Platform

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Build Setting ①Internal ②Player Settings

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Build Setting ①Resolution and Presentation ②Select Portrait as Default Orientation

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Build Setting ①Other Settings ②Turn Off Multithreaded Rendering

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Build Setting ①Set original PackageName 例)com.fukuoka.test ②Set Minimum API Level as Andrid 7.0

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Build Setting (for Unity2018) Set Allow unsafe Code Checked

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Build Setting ①XR Settings ②Setting ARCore Supported Checked

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Saving the Scene Ctrl/Command+S

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Installation App Into Smartphone ①File ②Build & Run

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Installation App Into Smartphone ②Save ①Set a name of installer(.apk)

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Run 3D object will be fixed the real space.

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From Next Slide… Preparation for Getting Started with Image Processing

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Installation of OpenCV Plus Unity ①Window ②Asset Store

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Installation of OpenCV Plus Unity Search “OpenCV Plus”

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Installation of OpenCV Plus Unity Click OpenCV Plus Unity

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Installation of OpenCV Plus Unity Download

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Installation of OpenCV Plus Unity Import

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Installation of OpenCV Plus Unity Import

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Installation of OpenCV Plus Unity OpenCV + Unity will appear

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Setting Up the View of Unity Editor Game This operation means making your modification of UI layout of application comfortable in Unity Editor.

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Setting Up the View of Unity Editor ①Click Free Aspect ②Click＋ This operation means making your modification of UI layout of application comfortable in Unity Editor.

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Setting Up the View of Unity Editor ①Put Name ②800 × 1280 It’s not necessary to match actual resolution of your smartphone in this tutorial.

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Importing Sample UI ②Import Package ①Assets ③Custom Package...

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Importing Sample UI ②Open ①StampUI.unitypackage

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Importing Sample UI Import

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Importing Sample UI Scene

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Importing Sample UI ①Assets ②Canvas will be added

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Using Sample UI ①Canvas ②Drag&Drop into Hierarchy

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Using Sample UI UI will appear in the Scene UI might not be visible the view point which you using know. But it’s not problem! Please see next page.

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Using Sample UI ①Double Click Canvas ②You can see whole UI

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Using Sample UI ②Modify view point to make UI to be facing to you ①Click x or z

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Role of UI Start capture Change color Put stamp into the space Vewer of captured or processed image

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Applying Alpha Texture to Viewer ①Open Canvas ②Click Assets

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Applying Alpha Texture to Viewer ①RawImage ②Find Material

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Applying Alpha Texture to Viewer ①Find NewMaterial ※Do NOT click ②Drag&Drop into Material

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Applying Alpha Texture to Viewer Viewer became to be able to show alpha channel image

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Preparation of Writing C# Script Write click on the blank of Hierarchy

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Preparation of Writing C# Script Create Empty

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Preparation of Writing C# Script ①Game Object ②Add Component

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Preparation of Writing C# Script ①New Script ②Name of Script (ex. StampScript) ③Create and Add

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Preparation of Writing C# Script ①Game Object ②ColoringScript will be added

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Preparation of Writing C# Script Double Click

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Importing OpenCV and UnityEngine.UI using UnityEngine; using UnityEngine.UI; using OpenCvSharp; using OpenCvSharp.Demo; public class StampScript : MonoBehaviour { // Start関数は初期化のために一度だけ実行される void Start () { cg = GameObject.Find ("Robot Kyle"); } // Update関数は毎フレーム実行される void Update () { } }

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canvas Declaration of Variables //Canvas which involves UI parts public GameObject canvas; //Viewer of image. public RawImage preview; //Region of screen shot. UnityEngine.Rect capRect; //Texture of screen shot image. Texture2D capTexture; void Start () { } void Update () { } preview

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Linking Objects and Variables ①Click GameObject ②Canvas & Preview will be added

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Linking Objects and Variables Find Canvas Drag & Drop into Canvas of StampScript

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Linking Objects and Variables See RawImage Drag& Drop into Previewof StampScript

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Procedure Binarization capture Add Alpha Channel Coloring 2D→3D GOAL!

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Procedure Binarization Add Alpha Channel Coloring 2D→3D GOAL! capture

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Preaparation of Screen Capture //Canvas which involves UI parts public GameObject canvas; //Viewer of image. public RawImage preview; //Region of screen shot. UnityEngine.Rect capRect; //Texture of screen shot image. Texture2D capTexture; void Start () { int w = Screen.width; int h = Screen.height; //Definition of capture region as (0,0) to (w,h). capRect = new UnityEngine.Rect(0, 0, w, h); //Creating texture image of the size of capRect. capTexture = new Texture2D(w, h, TextureFormat.RGBA32, false); //Applying capTexture as texture of preview area. preview.material.mainTexture = capTexture; } width height (0,0)

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Making Function of Image Processing void Start () { /*Code was omitted in the slide.*/ } IEnumerator ImageProcessing() { canvas.SetActive(false);//Making UIs invisible yield return new WaitForEndOfFrame(); capTexture.ReadPixels(capRect, 0, 0);//Starting capture capTexture.Apply();//Apply captured image. canvas.SetActive(true);//Making UIs visible } public void StartCV() { StartCoroutine(ImageProcessing());//Calling coroutine } Write!

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Calling StartCV() From UI ①Click CaptureBtn ②Find Button ③Click + laying on bottom of OnClick()

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Calling StartCV() From UI Find GameObject Drag & Drop into the area written None, of OnClick()

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Calling StartCV() From UI ①Click No Function ②StampScript

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Calling StartCV() From UI StartCV()

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Ctrl/Command + S

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Build & Run!

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Run Captured image appears Capture

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Another Way to Test Play

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Another Way to Test Click Play again to STOP

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Refactoring(1/2) IEnumerator ImageProcessing() { canvas.SetActive(false); yield return new WaitForEndOfFrame(); capTexture.ReadPixels(capRect, 0, 0); capTexture.Apply(); canvas.SetActive(true); } void CreateImages() { /* Cut & Paste Code of Image Creation */ } Image Creation Make CreateImages function since amount of source code for image creation will be increased later.

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Refactoring(2/2) IEnumerator ImageProcessing() { canvas.SetActive(false); yield return new WaitForEndOfFrame(); CreateImages(); //画像の生成 canvas.SetActive(true); } void CreateImages() { capTexture.ReadPixels(capRect, 0, 0); capTexture.Apply(); } Do not forget to call CreateImages() from ImageProcessing()

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Procedure Binarization Add Alpha Channel Coloring 2D→3D GOAL! capture

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Procedure Add Alpha Channel Coloring 2D→3D GOAL! capture Binarization

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From now on, we use OpenCV!

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Binarization of Gray Scale Image 0 255 0 255 Binarization means splitting grayscale(0~255) into 0 or 255 by threshold. It’s very important technique to define pixels which should be processed.

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Preparation of Using Image with OpenCV UnityEngine.Rect capRect; //Texture to store captured image. Texture2D capTexture; //Mat:Format of image for OpenCV //bgraMat is for color image with alpha channel. //binMat is for binarized image. Mat bgraMat, binMat; void Start () { int w = Screen.width; int h = Screen.height; //Definition of capture region as (0,0) to (w,h). capRect = new UnityEngine.Rect(0, 0, w, h); //Creating texture image of the size of capRect. capTexture = new Texture2D(w, h, TextureFormat.RGBA32, false); //Applying capTexture as texture of preview area. preview.material.mainTexture = capTexture; }

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Binarization void CreateImage() { capTexture.ReadPixels(capRect, 0, 0); capTexture.Apply(); //Conversion Texure2D to Mat bgraMat = OpenCvSharp.Unity.TextureToMat(capTexture); //Conversion Color Image to Gray Scale Image binMat = bgraMat.CvtColor(ColorConversionCodes.BGRA2GRAY); //Binarization of image with Otsu’s method. binMat = binMat.Threshold(100, 255, ThresholdTypes.Otsu); //Conversion Gray Scale to BGRA to change its color later. bgraMat = binMat.CvtColor(ColorConversionCodes.GRAY2BGRA); } bgraMat binMat(GrayScale) binMat (Binarized) bgraMat (B=G=R)

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Visualization of a Result of Binarization IEnumerator ImageProcessing() { canvas.SetActive(false); yield return new WaitForEndOfFrame(); CreateImages();//Creating Image SetColor(capTexture);//Setting color to capTexture canvas.SetActive(true); } //Setting color information of bgraMat to texture. void SetColor(Texture2D texture) { OpenCvSharp.Unity.MatToTexture(bgraMat, texture); }

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Run ①Capture ②Binalized Image

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Releasing Memories Allocated for Mat IEnumerator ImageProcessing() { canvas.SetActive(false); //Releasing Memories allocated for two Mats if (bgraMat != null) { bgraMat.Release(); } if (binMat != null) { binMat.Release(); } yield return new WaitForEndOfFrame(); CreateImages(); SetColor(capTexture); canvas.SetActive(true); }

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Procedure Add Alpha Channel Coloring 2D→3D GOAL! capture Binarization

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capture Binarization Procedure Coloring 2D→3D GOAL! Add Alpha Channel

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Make White Pixels to Transparent (1/2) void SetColor(Texture2D texture) { //Do nothing if Mats are null if (bgraMat == null || binMat == null) { return; } unsafe { //Get pointer of pixel array of 2 Mats. byte* bgraPtr = bgraMat.DataPointer; byte* binPtr = binMat.DataPointer; //Calculate number of pixels of the image. int pixelCount = binMat.Width * binMat.Height; //Make white pixels to transparent for (int i = 0; i < pixelCount; i++) { } } OpenCvSharp.Unity.MatToTexture(bgraMat, texture); } 後ほど処理を記述

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Make White Pixels to Transparent (2/2) byte* bgraPtr = bgraMat.DataPointer; byte* binPtr = binMat.DataPointer; int pixelCount = binMat.Width * binMat.Height; for (int i = 0; i < pixelCount; i++) { //Address of blue color of i-th pixel int bgraPos = i * 4; //If i-th pixel of binPtr is 255(white). if (binPtr[i] == 255) { bgraPtr[bgraPos + 3] = 0; } //If i-th pixel of binPtr is 0(black). else { bgraPtr[bgraPos + 3] = 255; } }

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Data Structure of Pixel Array  Pixel data of each types, gray or bgra, are stored in 1-dimensional array of byte.  binPtr(gray) :  bgraPtr(color+alpha): binPtr bgraPtr Length of pixel array is n (=width*height) Length of pixel array is n*4 [0] [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] [11] [0] [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] [11] ・・・・・・ 0th pixel 1st 2nd

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Run ①Capture ②Binarized image with alpha channel

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capture Binarization Procedure Coloring 2D→3D GOAL! Add Alpha Channel

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Add Alpha Channel capture Binarization Procedure 2D→3D GOAL! Coloring

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Making Color Array //14colors. Please cut & paste from color.txt byte[,] colors = { { 255, 255, 255 },{ 18, 0, 230 }, { 0, 152, 243 }, { 0, 241, 255 }, { 31, 195, 143 }, { 68, 153, 0 }, { 150, 158, 0 }, { 233, 160, 0 }, { 183, 104, 0 }, { 136, 32, 29 }, { 131, 7, 146 }, { 127, 0, 228 }, { 79, 0, 229 }, { 0, 0, 0 } }; //index of color(colNo=0~13) int colorNo = 0; void Start() { int w = Screen.width; int h = Screen.height; int sx = (int)(h * 0.1); h = (int)(h * 0.8); /*Following code are omitted.*/ } ①copy&paste from colors.txt ②Write by yourself

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Change Color of Black Pixels (1/2) void SetColor(Texture2D texture) { //Do nothing if Mats are null if (bgraMat == null || binMat == null) { return; } unsafe { //Get pointer of pixel array of 2 Mats. byte* bgraPtr = bgraMat.DataPointer; byte* binPtr = binMat.DataPointer; //Calculate number of pixels of the image. int pixelCount = binMat.Width * binMat.Height; //Setting transparency and changing color. for (int i = 0; i < pixelCount; i++) { } } OpenCvSharp.Unity.MatToTexture(bgraMat, texture); } Changing color of each pixel. (See next slide.)

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Change Color of Black Pixels(2/2) for (int i = 0; i < pixelCount; i++) { //Address of blue color of i-th pixel. int bgraPos = i * 4; //If i-th pixel of binPtr is 255(white). if (binPtr[i] == 255) { bgraPtr[bgraPos + 3] = 0; } //If i-th pixel of binPtr is 0(black). else { bgraPtr[bgraPos] = colors[colorNo, 0]; //B bgraPtr[bgraPos + 1] = colors[colorNo, 1]; //G bgraPtr[bgraPos + 2] = colors[colorNo, 2]; //R bgraPtr[bgraPos + 3] = 255; } }

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Run Please substitute 0~12 to colorNo before you test. colorNo=3

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Change Color by Using Button public void ChangeColor() { colorNo++; colorNo %= colors.Length / 3; SetColor(capTexture); } //Setting color/alpha information to texture. void SetColor(Texture2D texture) { //Do nothing if each Mat are null. if (bgraMat == null || binMat == null) { return; } unsafe { //Getting pointer of each Mat. byte* bgraPtr = bgraMat.DataPointer; byte* binPtr = binMat.DataPointer; /*Following code are omitted.*/

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Calling ChangeColor() From UI ①Click ColorBtn ②Find Button ③Click + laying on bottom of OnClick()

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Calling ChangeColor() From UI Find GameObject Drag&Drop into None of OnClick()

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Calling ChangeColor() From UI ①Click No Function ②StampScript

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Calling ChangeColor() From UI ChangeColor()

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Run Capture Color Color

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Maximization Preview Area ①RawImage Click

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Maximization Preview Area Select Full Screen

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Maximization Preview Area Set Left,Top,Right, Bottom to 0

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Maximization Preview Area Un check RawImage

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Showing Preview After Capturing IEnumerator ImageProcessing() { canvas.SetActive(false); //Release memory if (bgraMat != null) { bgraMat.Release(); } if (binMat != null) { binMat.Release(); } yield return new WaitForEndOfFrame(); CreateImages(); SetColor(capTexture); canvas.SetActive(true); //Show preview area preview.enabled = true; }

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Run Capture

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Add Alpha Channel capture Binarization Procedure 2D→3D GOAL! Coloring

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Coloring Add Alpha Channel capture Binarization Procedure 2D→3D GOAL!

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Making Prefab of Textured Quad Click Quad ②Drag&Drop into QuadをAssets

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Making Prefab of Textured Quad Delete Quad

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Stamping Image in Real World. //Template object of textured quad. public GameObject original; void Start() { int w = Screen.width; int h = Screen.height; capRect = new UnityEngine.Rect(0, 0, w, h); capTexture = new Texture2D(w, h, TextureFormat.RGBA32, false); preview.material.mainTexture = capTexture; } //Function to putting stamp object. public void PutObject() { } Source is shown in the next page.

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Calculation of Physical Size of a Stamp //Getteing camera. Camera cam = Camera.main; //Convert left-bottom of screen into 3D space(z=0.6m) Vector3 v1 = cam.ViewportToWorldPoint(new Vector3(0, 0, 0.6f)); //Convert right-upper of screen into 3D space(z=0.6m) Vector3 v2 = cam.ViewportToWorldPoint(new Vector3(1, 1, 0.6f)); //Convert left-upper of screen into 3D space(z=0.6m) Vector3 v3 = cam.ViewportToWorldPoint(new Vector3(0, 1, 0.6f)); //Calculate physical size of stamp. float w = Vector3.Distance(v2, v3); float h = Vector3.Distance(v1, v3); /*次のページに続く*/ (0,0) (1,1) (0,1) v1 v2 v3

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Instantiation of Stamp in Real World /*Continued form source code of previous slide*/ GameObject stamp = GameObject.Instantiate(original); //Set position/rotation/size of stamp relative to camera. stamp.transform.parent = cam.transform; stamp.transform.localPosition = new Vector3(0, 0, 0.6f); stamp.transform.localRotation = Quaternion.identity; stamp.transform.localScale = new Vector3(w, h, 1); //Creating texture to apply the object instantiated above. Texture2D stampTexture = new Texture2D(capTexture.width, capTexture.height); //Setting color and applying texture. SetColor(stampTexture); stamp.GetComponent().material.mainTexture = stampTexture; //Detach stamp object from cameara. stamp.transform.parent = null; preview.enabled = false;

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Linking Object and Variable GameObject

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Linking Object and Variable Find Quad

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Linking Object and Variable Drag&Drop into Original

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Calling PutObject() from UI ①Click StampBtn ②Find Button ③Click + laying on bottom of OnClick()

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Calling PutObject() from UI Find GameObject Drag&Drop into None of OnClick()

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Calling PutObject() from UI ①Click No Function ②StampScript

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Calling PutObject() from UI PutObject()

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Run

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Setting Max Number of Stamp //Template object of textured quad public GameObject original; //List for holding generated stamps List stampList = new List(); void Start() { int w = Screen.width; int h = Screen.height; capRect = new UnityEngine.Rect(0, 0, w, h); capTexture = new Texture2D(w, h, TextureFormat.RGBA32, false); preview.material.mainTexture = capTexture; }

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Setting Max Number of Stamp public void PutObject() { /*Ommited above source code.*/ stamp.transform.parent = null; //Stamp is memorized and deleted by following code. stampList.Add(stamp); if (stampList.Count == 10) { DestroyImmediate(stampList[0]. GetComponent().material.mainTexture); DestroyImmediate(stampList[0]); stampList.RemoveAt(0); } preview.enabled = false; }

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