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Commit 288a9bf2 authored by Ufuk Kaan Tugay's avatar Ufuk Kaan Tugay
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Replace ViewController.swift

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Objekterkennung in AR mit ARKit und CoreML/ViewController.swift
+ 189
− 115
View file @ 288a9bf2
...@@ -12,15 +12,61 @@ import Vision ...@@ -12,15 +12,61 @@ import Vision
class ViewController: UIViewController, ARSCNViewDelegate { class ViewController: UIViewController, ARSCNViewDelegate {
@IBOutlet var sceneView: ARSCNView!
@IBOutlet var sceneView: ARSCNView!
var detectionMode = "click" var detectionMode = "click"
var node_array: [SCNNode] = []
var scene_bounds: (CGFloat,CGFloat) = (0,0) var scene_bounds: (CGFloat,CGFloat) = (0,0)
var object_detector = ObjectDetection() var object_detector = ObjectDetection()
var ar_functions = View() var ar_functions = View()
let label = UILabel(frame: CGRect(x: 5, y: 20, width: 400, height: 30)) let label = UILabel(frame: CGRect(x: 5, y: 20, width: 400, height: 30))
var start_position_array: [simd_float4x4] = []
var classification_object = ""
var bounding_box_object = SCNNode()
var text_object = SCNNode()
var text_node: SCNNode {
return text_object
}
var bounding_box_node: SCNNode {
return bounding_box_object
}
var test_node: SCNNode{
switch classification_object {
case "90T_Tyre":
return ar_functions.getTire90T()
case "beam_0412-140":
return ar_functions.getBeam0412_140()
case "beam_0412-92":
return ar_functions.getBeam0412_092()
case "beam_0824-112":
return ar_functions.getBeam0824_112()
case "beam_0824-16":
return ar_functions.getBeam0824_016()
case "beam_0824-80":
return ar_functions.getBeam0824_080()
case "beam_0824-96":
return ar_functions.getBeam0824_096()
case "bracket_3x3":
return ar_functions.getBracket3x3()
case "plate_3x6":
return ar_functions.getPlate3x6()
case "unnamed_nut":
return ar_functions.getBrassStud()
case "unnamed_angle":
return ar_functions.getPlate45()
default:
let no_model_node = SCNNode()
no_model_node.name = "no_model"
return no_model_node
}
}
var start_position: simd_float4x4{
return sceneView.session.currentFrame!.camera.transform
}
func createLabel(){ func createLabel(){
if detectionMode == "loop"{ if detectionMode == "loop"{
...@@ -33,26 +79,7 @@ class ViewController: UIViewController, ARSCNViewDelegate { ...@@ -33,26 +79,7 @@ class ViewController: UIViewController, ARSCNViewDelegate {
self.view.addSubview(label) self.view.addSubview(label)
} }
func createButtons(){
let mode_button = UIButton()
mode_button.frame = CGRect(x:20, y: 700, width: 200, height: 100)
mode_button.backgroundColor = .white
mode_button.setTitle("Change Detection Mode", for: .normal)
mode_button.setTitleColor( .black, for: .normal)
mode_button.addTarget(self, action: #selector(changeDetectionMode), for: .touchUpInside)
let detect_button = UIButton()
detect_button.frame = CGRect(x:240, y: 700, width: 200, height: 100)
detect_button.backgroundColor = .white
detect_button.setTitle("Perform Detection", for: .normal)
detect_button.setTitleColor( .black, for: .normal)
detect_button.addTarget(self, action: #selector(detect), for: .touchUpInside)
self.view.addSubview(mode_button)
self.view.addSubview(detect_button)
}
@objc func changeDetectionMode(){ @objc func changeDetectionMode(){
if detectionMode == "loop" { if detectionMode == "loop" {
...@@ -73,13 +100,13 @@ class ViewController: UIViewController, ARSCNViewDelegate { ...@@ -73,13 +100,13 @@ class ViewController: UIViewController, ARSCNViewDelegate {
} }
override func viewDidLoad() { override func viewDidLoad() {
super.viewDidLoad() super.viewDidLoad()
let configuration = ARWorldTrackingConfiguration() let configuration = ARWorldTrackingConfiguration()
configuration.planeDetection = .horizontal configuration.planeDetection = [.horizontal, .vertical]
sceneView.scene = SCNScene() sceneView.scene = SCNScene()
sceneView.session.run(configuration) sceneView.session.run(configuration)
...@@ -90,122 +117,141 @@ class ViewController: UIViewController, ARSCNViewDelegate { ...@@ -90,122 +117,141 @@ class ViewController: UIViewController, ARSCNViewDelegate {
createButtons() createButtons()
createLabel() createLabel()
} }
override func viewWillAppear(_ animated: Bool) {
super.viewWillAppear(animated)
}
override func viewWillDisappear(_ animated: Bool) {
super.viewWillDisappear(animated)
}
func renderer(_ renderer: SCNSceneRenderer, didAdd node: SCNNode, for anchor: ARAnchor) {
if anchor.name == "model" {
node.addChildNode(test_node)
}
else if anchor.name == "bb"{
bounding_box_node.position = node.position
node.addChildNode(bounding_box_node)
}
else if anchor.name == "text"{
text_node.position = node.position
node.addChildNode(text_node)
}
}
func performDetection() { func performDetection() {
guard let frame = sceneView.session.currentFrame else { guard let frame = sceneView.session.currentFrame else {
return return
} }
if frame.anchors.isEmpty { if frame.anchors.isEmpty {
print("anchors are empty") print("anchors are empty")
return return
} }
let start_time = Date()
sceneView.scene = SCNScene()
object_detector.detectObjects(on: sceneView.session.currentFrame!.capturedImage) object_detector.detectObjects(on: sceneView.session.currentFrame!.capturedImage)
let end_timee = Date()
print(end_timee.timeIntervalSince(start_time))
if let new_detection = self.object_detector.detection_object_array.first {
if new_detection.confidence > 0.7 {
sceneView.scene = SCNScene()
}
}
for observations in self.object_detector.detection_object_array{ for observations in self.object_detector.detection_object_array{
if observations.confidence > 0.5 {
if observations.confidence > 0.7 {
for observations in self.object_detector.detection_object_array{ for observations in self.object_detector.detection_object_array{
//print(observations)
//print(observations.boundingBox.midX)
//print(observations.boundingBox.midY)
DispatchQueue.main.async { DispatchQueue.main.async {
self.scene_bounds = self.sceneBounds() self.scene_bounds = self.sceneBounds()
} }
classification_object = observations.classification
if test_node.name == "no_model" {
continue
}
var translation = matrix_identity_float4x4
translation.columns.3.z = test_node.position.z
translation.columns.3.x = test_node.position.x
translation.columns.3.y = test_node.position.y
let transform = simd_mul(start_position_array[0], translation)
let model_anchor = ARAnchor(name: "model", transform: transform)
sceneView.session.add(anchor: model_anchor)
print(observations.classification)
let detectionLocation = VNImageRectForNormalizedRect( let detectionLocation = VNImageRectForNormalizedRect(
observations.boundingBox, observations.boundingBox,
Int(self.scene_bounds.0), Int(self.scene_bounds.0),
Int(self.scene_bounds.1)) Int(self.scene_bounds.1))
//self.objectDetector.detection_object_array.removeAll()
drawModel(observations.classification)
//let bb2d_view = ar_functions.drawboundingbox2d(detectionLocation: detectionLocation)
//bb2d_view.removeFromSuperview()
//self.view.addSubview(bb2d_view)
ar_functions.drawBoundingBox3D(detectionLocation: detectionLocation, vision_bb: observations.boundingBox, sceneView: sceneView)
sceneView.scene.rootNode.addChildNode(ar_functions.draw_text_node(detectionLocation: detectionLocation, classification: observations.classification, sceneView: sceneView ))
let end_time = Date()
print(end_time.timeIntervalSince(start_time))
}
// sceneView.scene.rootNode.enumerateChildNodes { (node, stop) in let bb_node = ar_functions.drawBoundingBox3D(detectionLocation: detectionLocation, sceneView: sceneView)
// node.removeFromParentNode() } bounding_box_object = bb_node
let anchor_bb = ARAnchor(name: "bb", transform: bb_node.simdTransform)
sceneView.session.add(anchor: anchor_bb)
let drawn_text_node = ar_functions.draw_text_node(detectionLocation: detectionLocation, classification: observations.classification, sceneView: sceneView)
text_object = drawn_text_node
let anchor_text = ARAnchor(name: "text", transform: drawn_text_node.simdTransform)
sceneView.session.add(anchor: anchor_text)
}
} }
} }
self.object_detector.detection_object_array.removeAll() self.object_detector.detection_object_array.removeAll()
} }
// func removeNodes(){
// self.sceneView.scene.rootNode.enumerateChildNodes { (existingNode, _) in
// node_array.append(existingNode)
// existingNode.removeFromParentNode()
// node_array.removeFirst()
// }
// }
func drawModel(_ object_type: String){
switch object_type {
case ("plate_3x6"):
sceneView.scene.rootNode.addChildNode(ar_functions.getPlate3x6())
case ("90T_Tyre"):
sceneView.scene.rootNode.addChildNode(ar_functions.getTire90T())
case ("beam_0412-140"):
sceneView.scene.rootNode.addChildNode(ar_functions.getBeam0412_140())
case ("beam_0412-92"): // func drawModel(_ object_type: String){
sceneView.scene.rootNode.addChildNode(ar_functions.getBeam0412_092()) // switch object_type {
// case ("plate_3x6"):
case ("beam_0824-112"): // sceneView.scene.rootNode.addChildNode(ar_functions.getPlate3x6())
sceneView.scene.rootNode.addChildNode(ar_functions.getBeam0824_096()) // // case ("90T_Tyre"):
// //sceneView.scene.rootNode.addChildNode(ar_functions.getTire90T())
case ("beam_0824-16"): //
sceneView.scene.rootNode.addChildNode(ar_functions.getBeam0824_016()) // case ("beam_0412-140"):
case ("beam_0824-80"): // sceneView.scene.rootNode.addChildNode(ar_functions.getBeam0412_140())
sceneView.scene.rootNode.addChildNode(ar_functions.getBeam0824_080()) //
case ("beam_0824-96"): // case ("beam_0412-92"):
sceneView.scene.rootNode.addChildNode(ar_functions.getBeam0824_096()) // sceneView.scene.rootNode.addChildNode(ar_functions.getBeam0412_092())
case ("bracket_3x3"): //
sceneView.scene.rootNode.addChildNode(ar_functions.getBracket3x3()) // case ("beam_0824-112"):
case ("unnamed_angle"): // sceneView.scene.rootNode.addChildNode(ar_functions.getBeam0824_096())
sceneView.scene.rootNode.addChildNode(ar_functions.getPlate45()) //
case ("unnamed_nut"): // case ("beam_0824-16"):
sceneView.scene.rootNode.addChildNode(ar_functions.getBrassStud()) // sceneView.scene.rootNode.addChildNode(ar_functions.getBeam0824_016())
default: // case ("beam_0824-80"):
print("Kein Modell für diese Detection vorhanden") // sceneView.scene.rootNode.addChildNode(ar_functions.getBeam0824_080())
} // case ("beam_0824-96"):
// sceneView.scene.rootNode.addChildNode(ar_functions.getBeam0824_096())
// case ("bracket_3x3"):
// sceneView.scene.rootNode.addChildNode(ar_functions.getBracket3x3())
// case ("unnamed_angle"):
// sceneView.scene.rootNode.addChildNode(ar_functions.getPlate45())
// case ("unnamed_nut"):
// sceneView.scene.rootNode.addChildNode(ar_functions.getBrassStud())
// default:
// print("Kein Modell für diese Detection vorhanden")
// }
// }
func createButtons(){
let mode_button = UIButton()
mode_button.frame = CGRect(x:20, y: 680, width: 200, height: 100)
mode_button.backgroundColor = .white
mode_button.setTitle("Change Detection Mode", for: .normal)
mode_button.setTitleColor( .black, for: .normal)
mode_button.addTarget(self, action: #selector(changeDetectionMode), for: .touchUpInside)
}
let detect_button = UIButton()
detect_button.frame = CGRect(x:240, y: 680, width: 200, height: 100)
detect_button.backgroundColor = .white
detect_button.setTitle("Perform Detection", for: .normal)
detect_button.setTitleColor( .black, for: .normal)
detect_button.addTarget(self, action: #selector(detect), for: .touchUpInside)
let position_button = UIButton()
position_button.frame = CGRect(x: 460,y: 680, width: 200, height: 100)
position_button.backgroundColor = .white
position_button.setTitle("Select Position", for: .normal)
position_button.setTitleColor(.black, for: .normal)
position_button.addTarget(self, action: #selector(generateStartPosition), for: .touchUpInside)
position_button.tag = 192
self.view.addSubview(mode_button)
self.view.addSubview(detect_button)
self.view.addSubview(position_button)
}
func sceneBounds() -> (CGFloat, CGFloat) { func sceneBounds() -> (CGFloat, CGFloat) {
return (self.sceneView.bounds.width,self.sceneView.bounds.height) return (self.sceneView.bounds.width,self.sceneView.bounds.height)
...@@ -215,20 +261,48 @@ class ViewController: UIViewController, ARSCNViewDelegate { ...@@ -215,20 +261,48 @@ class ViewController: UIViewController, ARSCNViewDelegate {
if detectionMode == "loop" { if detectionMode == "loop" {
let dispatch_queue = DispatchQueue.main let dispatch_queue = DispatchQueue.main
scene_bounds = sceneBounds() scene_bounds = sceneBounds()
dispatch_queue.asyncAfter(deadline: .now() + 1, execute: DispatchWorkItem{self.performDetection();self.detectionLoop()}) dispatch_queue.asyncAfter(deadline: .now() + 0.2 , execute: DispatchWorkItem{self.performDetection();self.detectionLoop()})
} }
else if detectionMode == "click" { else if detectionMode == "click" {
performDetection() performDetection()
} }
} }
@objc func generateStartPosition(){
while true{
if let start_pos = sceneView.session.currentFrame {
start_position_array.append(start_pos.camera.transform)
print("start position bestimmt")
self.view.subviews.forEach ({
if $0 is UIButton {
if $0.tag == 192{
$0.removeFromSuperview()
}
}
})
break
}
}
}
func session(_ session: ARSession) { func session(_ session: ARSession) {
detectionLoop() detectionLoop()
} }
override func viewDidAppear(_ animated: Bool) {
super.viewDidAppear(animated)
}
override func viewWillAppear(_ animated: Bool) {
super.viewWillAppear(animated)
}
override func viewWillDisappear(_ animated: Bool) {
super.viewWillDisappear(animated)
}
} }
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