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188 lines
6.2 KiB
188 lines
6.2 KiB
using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class SpaceHomography : MonoBehaviour
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{
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public Vector3 space;
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Matrix4x4 front_homo;
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Matrix4x4 left_homo;
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Matrix4x4 right_homo;
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Vector2 texture_size;
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private void Start()
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{
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float dim = space.x + space.z * 2.0f;
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//Vector2 canvas_size = new Vector2(space.x + space.z * 2.0f, space.y + space.z * 2.0f);
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//Vector2 clipped_size = new Vector2(space.x, 3200);
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var rt = GetComponent<Camera>().targetTexture;
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texture_size = new Vector2(rt.width, rt.height);
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float offset = 0.5f;
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var src = new List<Vector2>();
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var dst = new List<Vector2>();
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// front
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{
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src.Clear();
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src.Add(new Vector2(0, 0));
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src.Add(new Vector2(dim, 0));
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src.Add(new Vector2(space.z, space.z));
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src.Add(new Vector2(space.z + space.x, space.z));
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for (int i = 0; i < src.Count; i++)
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src[i] += Vector2.one * offset;
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dst.Clear();
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dst.Add(new Vector2(space.z, 0));
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dst.Add(new Vector2(space.z + space.x, 0));
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dst.Add(new Vector2(space.z, space.z));
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dst.Add(new Vector2(space.z + space.x, space.z));
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for (int i = 0; i < dst.Count; i++)
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dst[i] += Vector2.one * offset;
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front_homo = Matrix4x4.identity;
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FindHomography(dst.ToArray(), src.ToArray(), ref front_homo);
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}
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// left
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{
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src.Clear();
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src.Add(new Vector2(0, 0));
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src.Add(new Vector2(0, dim));
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src.Add(new Vector2(space.z, space.z));
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src.Add(new Vector2(space.z, space.z + space.x));
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for (int i = 0; i < src.Count; i++)
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src[i] += Vector2.one * offset;
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dst.Clear();
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dst.Add(new Vector2(0, space.z));
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dst.Add(new Vector2(0, space.z + space.x));
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dst.Add(new Vector2(space.z, space.z));
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dst.Add(new Vector2(space.z, space.z + space.x));
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for (int i = 0; i < dst.Count; i++)
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dst[i] += Vector2.one * offset;
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left_homo = Matrix4x4.identity;
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FindHomography(dst.ToArray(), src.ToArray(), ref left_homo);
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}
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// right
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{
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src.Clear();
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src.Add(new Vector2(dim, 0));
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src.Add(new Vector2(dim, dim));
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src.Add(new Vector2(space.z + space.x, space.z));
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src.Add(new Vector2(space.z + space.x, space.z + space.x));
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for (int i = 0; i < src.Count; i++)
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src[i] += Vector2.one * offset;
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dst.Clear();
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dst.Add(new Vector2(dim, space.z));
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dst.Add(new Vector2(dim, space.z + space.x));
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dst.Add(new Vector2(space.z + space.x, space.z));
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dst.Add(new Vector2(space.z + space.x, space.z + space.x));
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for (int i = 0; i < dst.Count; i++)
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dst[i] += Vector2.one * offset;
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right_homo = Matrix4x4.identity;
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FindHomography(dst.ToArray(), src.ToArray(), ref right_homo);
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}
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Shader.SetGlobalMatrix("front_homo", front_homo);
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Shader.SetGlobalMatrix("left_homo", left_homo);
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Shader.SetGlobalMatrix("right_homo", right_homo);
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Shader.SetGlobalVector("homo_space", space);
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Shader.SetGlobalVector("texture_size", texture_size);
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}
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private void FindHomography(Vector2[] src, Vector2[] dest, ref Matrix4x4 homography)
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{
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float[,] P = new float[,]{
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{-src[0].x, -src[0].y, -1, 0, 0, 0, src[0].x*dest[0].x, src[0].y*dest[0].x, -dest[0].x }, // h11
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{ 0, 0, 0, -src[0].x, -src[0].y, -1, src[0].x*dest[0].y, src[0].y*dest[0].y, -dest[0].y }, // h12
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{-src[1].x, -src[1].y, -1, 0, 0, 0, src[1].x*dest[1].x, src[1].y*dest[1].x, -dest[1].x }, // h13
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{ 0, 0, 0, -src[1].x, -src[1].y, -1, src[1].x*dest[1].y, src[1].y*dest[1].y, -dest[1].y }, // h21
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{-src[2].x, -src[2].y, -1, 0, 0, 0, src[2].x*dest[2].x, src[2].y*dest[2].x, -dest[2].x }, // h22
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{ 0, 0, 0, -src[2].x, -src[2].y, -1, src[2].x*dest[2].y, src[2].y*dest[2].y, -dest[2].y }, // h23
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{-src[3].x, -src[3].y, -1, 0, 0, 0, src[3].x*dest[3].x, src[3].y*dest[3].x, -dest[3].x }, // h31
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{ 0, 0, 0, -src[3].x, -src[3].y, -1, src[3].x*dest[3].y, src[3].y*dest[3].y, -dest[3].y }, // h32
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};
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GaussianElimination(ref P, 9);
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float[] aux_H ={ P[0,8],P[3,8],0,P[6,8], // h11 h21 0 h31
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P[1,8],P[4,8],0,P[7,8], // h12 h22 0 h32
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0 , 0,1,0, // 0 0 0 0
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P[2,8],P[5,8],0,1}; // h13 h23 0 h33
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for (int i = 0; i < 16; i++) homography[i] = aux_H[i];
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}
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private void GaussianElimination(ref float[,] A, int n)
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{
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int i = 0;
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int j = 0;
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int m = n - 1;
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while (i < m && j < n)
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{
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int maxi = i;
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for (int k = i + 1; k < m; k++)
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{
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if (Mathf.Abs(A[k, j]) > Mathf.Abs(A[maxi, j]))
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{
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maxi = k;
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}
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}
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if (A[maxi, j] != 0)
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{
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if (i != maxi)
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for (int k = 0; k < n; k++)
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{
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float aux = A[i, k];
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A[i, k] = A[maxi, k];
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A[maxi, k] = aux;
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}
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float A_ij = A[i, j];
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for (int k = 0; k < n; k++)
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{
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A[i, k] /= A_ij;
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}
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for (int u = i + 1; u < m; u++)
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{
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float A_uj = A[u, j];
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for (int k = 0; k < n; k++)
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{
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A[u, k] -= A_uj * A[i, k];
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}
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}
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i++;
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}
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j++;
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}
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for (int k = m - 2; k >= 0; k--)
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{
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for (int l = k + 1; l < n - 1; l++)
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{
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A[k, m] -= A[k, l] * A[l, m];
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}
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}
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}
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}
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