// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
if (mMOP2fptsPrev.rows() == 0)
{
// first time through the loop so we need prev and this mats
// plus prev points
// get this mat
Imgproc.cvtColor(rgbaMat, matOpFlowThis, Imgproc.COLOR_RGBA2GRAY);
// copy that to prev mat
matOpFlowThis.copyTo(matOpFlowPrev);
// get prev corners
Imgproc.goodFeaturesToTrack(matOpFlowPrev, MOPcorners, iGFFTMax, 0.05, 20);
mMOP2fptsPrev.fromArray(MOPcorners.toArray());
// get safe copy of this corners
mMOP2fptsPrev.copyTo(mMOP2fptsSafe);
}
else
{
// we've been through before so
// this mat is valid. Copy it to prev mat
matOpFlowThis.copyTo(matOpFlowPrev);
// get this mat
Imgproc.cvtColor(rgbaMat, matOpFlowThis, Imgproc.COLOR_RGBA2GRAY);
// get the corners for this mat
Imgproc.goodFeaturesToTrack(matOpFlowThis, MOPcorners, iGFFTMax, 0.05, 20);
mMOP2fptsThis.fromArray(MOPcorners.toArray());
// retrieve the corners from the prev mat
// (saves calculating them again)
mMOP2fptsSafe.copyTo(mMOP2fptsPrev);
// and save this corners for next time through
mMOP2fptsThis.copyTo(mMOP2fptsSafe);
}
/*
* Parameters:
* prevImg first 8-bit input image
* nextImg second input image
* prevPts vector of 2D points for which the flow needs to be found; point coordinates must be single-precision floating-point numbers.
* nextPts output vector of 2D points (with single-precision floating-point coordinates) containing the calculated new positions of input features in the second image; when OPTFLOW_USE_INITIAL_FLOW flag is passed, the vector must have the same size as in the input.
* status output status vector (of unsigned chars); each element of the vector is set to 1 if the flow for the corresponding features has been found, otherwise, it is set to 0.
* err output vector of errors; each element of the vector is set to an error for the corresponding feature, type of the error measure can be set in flags parameter; if the flow wasn't found then the error is not defined (use the status parameter to find such cases).
*/
Video.calcOpticalFlowPyrLK(matOpFlowPrev, matOpFlowThis, mMOP2fptsPrev, mMOP2fptsThis, mMOBStatus, mMOFerr);
if (mMOBStatus.rows() > 0)
{
List <Point> cornersPrev = mMOP2fptsPrev.toList();
List <Point> cornersThis = mMOP2fptsThis.toList();
List <byte> byteStatus = mMOBStatus.toList();
int x = 0;
int y = byteStatus.Count - 1;
for (x = 0; x < y; x++)
{
if (byteStatus [x] == 1)
{
Point pt = cornersThis [x];
Point pt2 = cornersPrev [x];
Imgproc.circle(rgbaMat, pt, 5, colorRed, iLineThickness - 1);
Imgproc.line(rgbaMat, pt, pt2, colorRed, iLineThickness);
}
}
}
// Imgproc.putText (rgbaMat, "W:" + rgbaMat.width () + " H:" + rgbaMat.height () + " SO:" + Screen.orientation, new Point (5, rgbaMat.rows () - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
//Optical flow
IEnumerator OpticalFlow()
{
Scalar tempHue;
Scalar tempSpeed;
int iCountTrackedPoints = 0;
int vecCount = 0;
if (mMOP2fptsPrev.rows() == 0)
{
// first time through the loop so we need prev and this mats
Imgproc.cvtColor(openCVCreateMat.rgbaMat, matOpFlowThis, Imgproc.COLOR_RGBA2GRAY);
// copy that to prev mat
matOpFlowThis.copyTo(matOpFlowPrev);
//if (blurImage == true){
//Gaussian filter of the MOG2 images
//Imgproc.GaussianBlur(matOpFlowPrev, matOpFlowPrev, kernelSize, sigmaX, sigmaY);//Gauss filter
//}
// get prev corners
Imgproc.goodFeaturesToTrack(matOpFlowPrev, MOPcorners, iGFFTMax, qLevel, minDistCorners); //SLIDER input
mMOP2fptsPrev.fromArray(MOPcorners.toArray());
// get safe copy of this corners
mMOP2fptsPrev.copyTo(mMOP2fptsSafe);
}
else
{
// we've been through before so
// this mat is valid. Copy it to prev mat
matOpFlowThis.copyTo(matOpFlowPrev);
// get this mat
Imgproc.cvtColor(openCVCreateMat.rgbaMat, matOpFlowThis, Imgproc.COLOR_RGBA2GRAY);
//if (blurImage == true){
//Gaussian filter of the MOG2 images
//Imgproc.GaussianBlur(matOpFlowThis, matOpFlowThis, kernelSize, sigmaX, sigmaY);//Gauss filter
//}
// get the corners for this mat
Imgproc.goodFeaturesToTrack(matOpFlowThis, MOPcorners, iGFFTMax, qLevel, minDistCorners); // SLIDER input
mMOP2fptsThis.fromArray(MOPcorners.toArray());
// retrieve the corners from the prev mat (saves calculating them again)
mMOP2fptsSafe.copyTo(mMOP2fptsPrev);
// and save this corners for next time through
mMOP2fptsThis.copyTo(mMOP2fptsSafe);
}
Video.calcOpticalFlowPyrLK(matOpFlowPrev, matOpFlowThis, mMOP2fptsPrev, mMOP2fptsThis, mMOBStatus, mMOFerr);
if (mMOBStatus.rows() > 0)
{
List <Point> cornersPrev = mMOP2fptsPrev.toList();
List <Point> cornersThis = mMOP2fptsThis.toList();
List <byte> byteStatus = mMOBStatus.toList();
int x = 0;
int y = byteStatus.Count - 1;
double absX;
double absY; //will use for calculation of polar coordiates
for (x = 0; x < y; x++)
{
if (byteStatus [x] == 1)
{
Point pt = cornersThis [x];
Point pt2 = cornersPrev [x];
//if (pt != pt2) {//I think this IF statement should be removed as pt and pt2 should always be differnt
float mySpeed = CalculateSpeedFloat(pt, pt2);
absX = pt.x - pt2.x;
absY = pt.y - pt2.y;
float angle = Mathf.Atan2((float)absX, (float)absY) * Mathf.Rad2Deg;
angle = Mathf.RoundToInt(angle);
//Get Hue based on Angle
tempHue = GetHueColor((int)angle);
tempSpeed = GetSpeedColor((int)mySpeed);
//Store so we can add tracers
if (mySpeed > maxSpeed) //|| CalculateSpeedFloat (pt, pt2) <= 1
{
yield return(null);
}
else
{
tracerPoints.AddTracersToStorage(pt, pt2, tempHue, tempSpeed, videoPlayer.frame, angle, mySpeed);
speedVec = speedVec + mySpeed;
angleVec = angleVec + angle;
vecCount++;
//tracerPoints2.AddTracersToStorage (pt, pt2, tempSpeed, videoPlayer.frame, angle, mySpeed);
//ADD STORING SPEEDS TO VECTOR
//CSVDataEmail.AddDataTrack (speed,angle.ToString ());
}
iCountTrackedPoints++;
}
}
}
meanSpeed = (int)(speedVec / vecCount);
meanAngle = (int)(angleVec / vecCount);
//sTrackingLogger = "Video frame: " + videoPlayer.frame.ToString() + " Points: " + iCountTrackedPoints.ToString() + "";
sTrackingLogger = "Speed: " + meanSpeed.ToString() + " Angle: " + meanAngle.ToString() + "";
textTrackedPoints.text = sTrackingLogger;
yield return(null);
}
