Aruco物体定位（追踪）在UE4中的实现
目录
一、环境配置
环境配置参考博客：UE4.26+VS2019+OpenCV4.5.1_still_eat_a_lot的博客-CSDN博客（感谢）
版本：UE4.25（4.26）+ VS2019 + OpenCV4.5.1（亲测成功）
具体步骤：
1、下载所需版本opencv（以4.5.1为例）
链接：https://pan.baidu.com/s/1u-nRKgPUdre9JsIVd_v5qg
提取码：ahf7
下载后解压
2、在UE4中新建一个空的c++项目
3、打开新建项目的项目文件夹，在根目录下新建以下文件夹：
“ThirdParty/OpenCV/Includes”
“ThirdParty/OpenCV/Libraries”
“ThirdParty/OpenCV/Libraries/Win64/”
4、移动文件
· 将下载文件夹中“OpenCV/build/include/”中的所有文件复制到项目文件夹“ThirdParty/OpenCV/Includes/”中
· 将下载的文件夹中“/build/x64/vc15/bin/”中的所有文件复制到项目文件夹“ThirdParty/OpenCV/Libraries/Win64/”和“Binaries/Win64”中
· 将下载的文件夹中“/build/x64/vc15/lib/”中的所有文件复制到项目文件夹“ThirdParty/OpenCV/Libraries/Win64/”
5、修改代码
· 修改文件1：ThirdParty/OpenCV/Includes/opencv2/core/utility.hpp文件
（1）注释以下三行代码
（2）将所有的check()改成cv_check()【1处】
· 修改文件2：ThirdParty/OpenCV/Includes/opencv2/core/cvstd_wrapper.hpp文件
（1）所有的check()改成cv_check()【2处】
（2）将所有的check改成cv_check【1处】
· 修改文件3：Source/YOURPROJECT/YOURPROJECT.Build.cs（【YOURPROJECT】是创建项目时取得项目名）
.Build.cs整体代码如下：
using System.IO;
using UnrealBuildTool;
public class test1820 : ModuleRules{
string OPENCV_VERSION = "451";
private string ThirdPartyPath
{
get{
return Path.GetFullPath(Path.Combine(ModuleDirectory, "../../ThirdParty/"));
}
}
public bool LoadOpenCV(ReadOnlyTargetRules Target)
{
bool isLibrarySupported = false;// Create OpenCV Path
string OpenCVPath = Path.Combine(ThirdPartyPath, "OpenCV");
string LibPath = "";
bool isdebug = Target.Configuration == UnrealTargetConfiguration.Debug;
if (Target.Platform == UnrealTargetPlatform.Win64)
{
LibPath = Path.Combine(OpenCVPath, "Libraries", "Win64");
isLibrarySupported = true;
}
else
{
string Err = string.Format("{0} dedicated server is made to depend on {1}. We want to avoid this, please correct module dependencies.", Target.Platform.ToString(), this.ToString());
System.Console.WriteLine(Err);
}
if (isLibrarySupported)
{
PublicIncludePaths.AddRange(new string[] { Path.Combine(OpenCVPath, "Includes") });
PublicAdditionalLibraries.Add(Path.Combine(LibPath, "opencv_world" + OPENCV_VERSION + ".lib"));
PublicDelayLoadDLLs.Add("opencv_world" + OPENCV_VERSION + ".dll");
PublicDelayLoadDLLs.Add("opencv_videoio_ffmpeg" + OPENCV_VERSION + "_64.dll");
}
PublicDefinitions.Add(string.Format("WITH_OPENCV_BINDING={0}", isLibrarySupported ? 1 : 0));
return isLibrarySupported;
}
public test1820(ReadOnlyTargetRules Target) : base(Target)
{
PCHUsage = PCHUsageMode.UseExplicitOrSharedPCHs;
PublicDependencyModuleNames.AddRange(new string[] { "Core", "CoreUObject", "Engine", "InputCore" });
PrivateDependencyModuleNames.AddRange(new string[] { });
LoadOpenCV(Target);
}
}
复制后的注意点：
（1）string OPENCV_VERSION = "451"改成使用的OpenCV的版本号
（2）public test1820(ReadOnlyTargetRules Target) : base(Target)中test1820换成自己的项目名称
6、配置VS
· 打开项目的vs工程文件（.sln）
· Solution Explorer窗口下方选择Property Manege子窗口，双击UE打开属性管理器窗口
· 将项目中opencv的Includes文件夹（之前自己建的那个）的路径添加到VC++++的include dictionary中
二、配置Leapmotion插件（选看）
1、添加插件的相关文件
· 下载Leapmotion的插件文件
链接：https://pan.baidu.com/s/1uXfn5YK3aJgvK8wk56HVSw
提取码：xtxb
· 在项目文件夹根目录下新建Plugins文件夹
· 将下载的文件解压后放入Plugins文件夹中
2、在UE4中添加插件
· 在资源窗口View Options里勾选show plugin content的选项（一般默认是勾选了的）
· 重新打开UE4工程（一定要添加了文件之后打开，不然那可能会没有插件），打开插件管理窗口（在edit栏里面），勾选上Leapmotion插件（默认会自动勾选）
3、Leapmotion的使用（测试）
· 将资源文件夹中LeapMotion Content/Examples/LeapHandsPawn拖入环境中，将右侧detail栏Auto Posses Player改为player0
· 采用VR模式运行程序之后，即可在虚拟场景里看见自己的手的模型了！
三、Aruco物体定位（追踪）的实现
1、新建C++类
· UE2015之前的版本可以在add里面直接添加C++类
· UE2015之后的版本需要在资源窗口View Options里勾选show c++ classes的选项，之后在资源文件夹里即可看见一个C++ Classes的文件夹，右键文件夹新建C++类
· 新建的C++类选择Actor类，类名自取（嫌修改代码麻烦的话可以和我取一样的名字Move1），勾选Public
2、编写代码
· 头文件
#pragma once
#include "CoreMinimal.h"
#include "GameFramework/Actor.h"
#include "Move1.generated.h"
namespace {
const char* about = "Pose estimation of ArUco marker images";
const char* keys =
"{d |16 | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, "
"DICT_4X4_250=2, DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, "
"DICT_5X5_250=6, DICT_5X5_1000=7, DICT_6X6_50=8, DICT_6X6_100=9, "
"DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12, DICT_7X7_100=13, "
"DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
"{h |false | Print help }"
"{l |0.06 | Actual marker length in meter }"
"{v |<none>| Custom video source, otherwise '0' }"
"{h |false | Print help }"
"{l |0.06 | Actual marker length in meter }"
"{v |<none>| Custom video source, otherwise '0' }"
;
}
UCLASS()
class TEST1820_API AMove1 : public AActor
{
GENERATED_BODY()
public:
// Sets default values for this actor's properties
AMove1();
~AMove1();
float x_wall, y_wall, z_wall;
float compute[3];
int dictionaryId = 16;
float marker_length_m = 0.06;
int wait_time = 40;
UFUNCTION()
int GetXYZ();
protected:
// Called when the game starts or when spawned
virtual void BeginPlay() override;
public:
// Called every frame
virtual void Tick(float DeltaTime) override;
};· cpp文件
#include "Move1.h" //修改为自己的类名
#include <opencv2/opencv.hpp>
#include <opencv2/aruco.hpp>
#include <iostream>
#include <cstdlib>
//全局变量声明
cv::Mat camera_matrix, dist_coeffs; //相机参数（畸变）
cv::Mat image, image_copy; //相机获取的每帧图片
//markers类型字典
cv::Ptr<cv::aruco::Dictionary> dictionary =
cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_50);
cv::FileStorage fs("D:\\YYZ\\test.yaml", cv::FileStorage::READ); //相机参数文件
std::vector<int> ids; //markers的ID
std::vector<std::vector<cv::Point2f> > corners; //markers的四个角点的位置
std::vector<cv::Vec3d> rvecs, tvecs; //旋转数组、坐标数组
std::ostringstream vector_to_marker;
FVector orig;
cv::String videoInput = "0";
cv::VideoCapture in_video;
// Sets default values
AMove1::AMove1()
{
// Set this actor to call Tick() every frame. You can turn this off to improve performance if you don't need it.
PrimaryActorTick.bCanEverTick = true;
}
AMove1::~AMove1()
{
in_video.release();
}
UFUNCTION()
int AMove1::GetXYZ()
{
camera_matrix.rows = 3;
camera_matrix.cols = 3;
fs["camera_matrix"] >> camera_matrix;
fs["distortion_coefficients"] >> dist_coeffs;
if (in_video.grab())
{
in_video.retrieve(image);
image.copyTo(image_copy);
//Marker点检测
cv::aruco::detectMarkers(image, dictionary, corners, ids);
// if at least one marker detected
if (ids.size() > 0)
{
for (int i = 0; i < ids.size(); i++)
{
//在画面里框出Marker
cv::aruco::drawDetectedMarkers(image_copy, corners, ids);
//位姿估计
cv::aruco::estimatePoseSingleMarkers(corners, marker_length_m,
camera_matrix, dist_coeffs, rvecs, tvecs);
// 画出每一个Marker的坐标轴
cv::aruco::drawAxis(image_copy, camera_matrix, dist_coeffs,
rvecs[i], tvecs[i], 0.1);
//写出x、y、z坐标值
vector_to_marker.str(std::string());
vector_to_marker << std::setprecision(4)
<< "x: " << std::setw(8) << tvecs[0](0);
cv::putText(image_copy, vector_to_marker.str(),
cv::Point(10, 30), cv::FONT_HERSHEY_SIMPLEX, 0.6,
cv::Scalar(0, 252, 124), 1, CV_AVX);
compute[0] = tvecs[0](0); //赋值
vector_to_marker.str(std::string());
vector_to_marker << std::setprecision(4)
<< "y: " << std::setw(8) << tvecs[0](1);
cv::putText(image_copy, vector_to_marker.str(),
cv::Point(10, 50), cv::FONT_HERSHEY_SIMPLEX, 0.6,
cv::Scalar(0, 252, 124), 1, CV_AVX);
compute[1] = tvecs[0](1);
vector_to_marker.str(std::string());
vector_to_marker << std::setprecision(4)
<< "z: " << std::setw(8) << tvecs[0](2);
cv::putText(image_copy, vector_to_marker.str(),
cv::Point(10, 70), cv::FONT_HERSHEY_SIMPLEX, 0.6,
cv::Scalar(0, 252, 124), 1, CV_AVX);
compute[2] = tvecs[0](2);
}
}
//物体位置
float x, y, z;
x = compute[0];
y = compute[1];
z = compute[2];
orig.X = (x * 100)-15;
orig.Y = -(z * 100);
orig.Z = -(y * 100)+115;
SetActorLocation(orig,true);
//显示画面内容
cv::imshow("pose estimation", image_copy);
char key = (char)cv::waitKey(wait_time);
/*if (key == 27)
break;*/
}
return 0;
}
// Called when the game starts or when spawned
void AMove1::BeginPlay()
{
Super::BeginPlay();
orig.X = 10;
orig.Y = 10;
orig.Z = 100;
SetActorLocation(orig,true);
FVector now;
now = GetActorLocation();
UE_LOG(LogTemp, Log, TEXT("x is %f"), now.X);
UE_LOG(LogTemp, Log, TEXT("y is %f"), now.Y);
UE_LOG(LogTemp, Log, TEXT("z is %f"), now.Z);
in_video.open(0);
if (!in_video.isOpened()) {
std::cerr << "failed to open video input: " << videoInput << std::endl;
}
}
// Called every frame
void AMove1::Tick(float DeltaTime)
{
Super::Tick(DeltaTime);
int a = GetXYZ();
FVector now;
now = GetActorLocation();
UE_LOG(LogTemp, Log, TEXT("x is %f"), now.X);
UE_LOG(LogTemp, Log, TEXT("y is %f"), now.Y);
UE_LOG(LogTemp, Log, TEXT("z is %f"), now.Z);
}注：依旧记得将类名改成自己取的名字（AMove-->AYOURCLASSNAME）
3、添加物体
将写好的类拖入场景，通过Add Component为该类添加一个外观模型，运行之后通过Aruco中的mark标签即可使虚拟环境中的物体和现实标签同步移动。
注：标签的三个轴的方向和环境中轴的方向不一定对应
· 方法1：可以手动调整代码中各轴的对应关系
· 方法2：转动标签的方向，使二者方向统一
最后运行即可，运行结果如下：
！！！致谢：感谢实验室一起努力的大家！！！
北京人形旗下天工造物具身智能开源社区，聚焦具身天工与慧思开物两大平台
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