unity3d中怎么讲图片中的物体与unity中的虚拟物体用最小二乘法进行空间注册相关步骤代码为
时间: 2024-02-11 13:03:37 浏览: 22
要实现将图片中的物体与Unity中的虚拟物体进行空间注册,也可以使用最小二乘法。
具体步骤如下:
1. 在Unity中创建一个虚拟物体,并获取虚拟物体的关键点信息。
2. 使用相机拍摄物体的图片,并获取物体的关键点信息。
3. 将物体的关键点信息与虚拟模型中的关键点信息进行匹配。
4. 使用最小二乘法来计算出物体和虚拟模型的空间注册关系。
下面是示例代码:
```csharp
using UnityEngine;
public class Registration : MonoBehaviour
{
public Transform[] realObjectPoints;
public Transform[] virtualObjectPoints;
private Matrix4x4 transformationMatrix;
void Start()
{
Register();
}
void Register()
{
if (realObjectPoints.Length != virtualObjectPoints.Length)
{
Debug.LogError("The number of real object points and virtual object points are not equal!");
return;
}
int numberOfPoints = realObjectPoints.Length;
Vector3[] realPoints = new Vector3[numberOfPoints];
Vector3[] virtualPoints = new Vector3[numberOfPoints];
for (int i = 0; i < numberOfPoints; i++)
{
realPoints[i] = realObjectPoints[i].position;
virtualPoints[i] = virtualObjectPoints[i].position;
}
transformationMatrix = CalculateTransformationMatrix(realPoints, virtualPoints);
}
Matrix4x4 CalculateTransformationMatrix(Vector3[] realPoints, Vector3[] virtualPoints)
{
int numberOfPoints = realPoints.Length;
Vector3 realPointsMean = Vector3.zero;
Vector3 virtualPointsMean = Vector3.zero;
for (int i = 0; i < numberOfPoints; i++)
{
realPointsMean += realPoints[i];
virtualPointsMean += virtualPoints[i];
}
realPointsMean /= numberOfPoints;
virtualPointsMean /= numberOfPoints;
Matrix4x4 transformationMatrix = Matrix4x4.identity;
for (int i = 0; i < numberOfPoints; i++)
{
Vector3 realPoint = realPoints[i] - realPointsMean;
Vector3 virtualPoint = virtualPoints[i] - virtualPointsMean;
transformationMatrix[0, 0] += realPoint.x * virtualPoint.x;
transformationMatrix[0, 1] += realPoint.x * virtualPoint.y;
transformationMatrix[0, 2] += realPoint.x * virtualPoint.z;
transformationMatrix[0, 3] += realPoint.x;
transformationMatrix[1, 0] += realPoint.y * virtualPoint.x;
transformationMatrix[1, 1] += realPoint.y * virtualPoint.y;
transformationMatrix[1, 2] += realPoint.y * virtualPoint.z;
transformationMatrix[1, 3] += realPoint.y;
transformationMatrix[2, 0] += realPoint.z * virtualPoint.x;
transformationMatrix[2, 1] += realPoint.z * virtualPoint.y;
transformationMatrix[2, 2] += realPoint.z * virtualPoint.z;
transformationMatrix[2, 3] += realPoint.z;
transformationMatrix[3, 0] += virtualPoint.x;
transformationMatrix[3, 1] += virtualPoint.y;
transformationMatrix[3, 2] += virtualPoint.z;
transformationMatrix[3, 3] += 1;
}
Matrix4x4 resultMatrix = Matrix4x4.zero;
resultMatrix.SetRow(0, transformationMatrix.GetRow(0) / numberOfPoints);
resultMatrix.SetRow(1, transformationMatrix.GetRow(1) / numberOfPoints);
resultMatrix.SetRow(2, transformationMatrix.GetRow(2) / numberOfPoints);
resultMatrix.SetRow(3, transformationMatrix.GetRow(3) / numberOfPoints);
return resultMatrix;
}
public Vector3 TransformPoint(Vector3 point)
{
return transformationMatrix.MultiplyPoint(point);
}
}
```
在上面的代码中,realObjectPoints 表示真实物体的关键点,virtualObjectPoints 表示虚拟物体的关键点,transformationMatrix 表示真实物体和虚拟物体之间的转换矩阵。在 Register() 方法中,使用最小二乘法计算出转换矩阵,并将其存储在 transformationMatrix 变量中。TransformPoint() 方法可以将真实物体的坐标转换为虚拟物体的坐标。