public static bool isHeart(List <Point> shape)
{
//Check number of vertices
if (shape.Count < 20)
{
return(false);
}
MatOfPoint shape_area = new MatOfPoint();
shape_area.fromList(shape);
MatOfPoint2f shape_area2f = new MatOfPoint2f(shape_area.toArray());
// if (Imgproc.contourArea(shape_area) > 6000)
// return false;
double area = Imgproc.contourArea(shape_area);
double perim = Imgproc.arcLength(shape_area2f, true);
double ratio = area / perim;
if (ratio < 18 || ratio > 23)
{
return(false);
}
for (int i = 1; i < shape.Count; i++)
{
if (distanceTwoPoints(shape[i - 1], shape[i]) > 20)
{
return(true);
}
}
return(false);
}
// Use this for initialization
void Start()
{
Mat imgMat = new Mat(500, 500, CvType.CV_8UC3, new Scalar(0, 0, 0));
Debug.Log("imgMat.ToString() " + imgMat.ToString());
int rand_num = 50;
MatOfPoint pointsMat = new MatOfPoint();
pointsMat.alloc(rand_num);
Core.randu(pointsMat, 100, 400);
Point[] points = pointsMat.toArray();
for (int i = 0; i < rand_num; ++i)
{
Imgproc.circle(imgMat, points [i], 2, new Scalar(255, 255, 255), -1);
}
MatOfInt hullInt = new MatOfInt();
Imgproc.convexHull(pointsMat, hullInt);
List <Point> pointMatList = pointsMat.toList();
List <int> hullIntList = hullInt.toList();
List <Point> hullPointList = new List <Point> ();
for (int j = 0; j < hullInt.toList().Count; j++)
{
hullPointList.Add(pointMatList [hullIntList [j]]);
}
MatOfPoint hullPointMat = new MatOfPoint();
hullPointMat.fromList(hullPointList);
List <MatOfPoint> hullPoints = new List <MatOfPoint> ();
hullPoints.Add(hullPointMat);
Imgproc.drawContours(imgMat, hullPoints, -1, new Scalar(0, 255, 0), 2);
Imgproc.cvtColor(imgMat, imgMat, Imgproc.COLOR_BGR2RGB);
Texture2D texture = new Texture2D(imgMat.cols(), imgMat.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(imgMat, texture);
gameObject.GetComponent <Renderer> ().material.mainTexture = texture;
}
// Use this for initialization
void Start ()
{
Mat imgMat = new Mat (500, 500, CvType.CV_8UC3, new Scalar (0, 0, 0));
Debug.Log ("imgMat dst ToString " + imgMat.ToString ());
int rand_num = 50;
MatOfPoint pointsMat = new MatOfPoint ();
pointsMat.alloc (rand_num);
Core.randu (pointsMat, 100, 400);
Point[] points = pointsMat.toArray ();
for (int i=0; i<rand_num; ++i) {
Core.circle (imgMat, points [i], 2, new Scalar (255, 255, 255), -1);
}
MatOfInt hullInt = new MatOfInt ();
Imgproc.convexHull (pointsMat, hullInt);
List<Point> pointMatList = pointsMat.toList ();
List<int> hullIntList = hullInt.toList ();
List<Point> hullPointList = new List<Point> ();
for (int j=0; j < hullInt.toList().Count; j++) {
hullPointList.Add (pointMatList [hullIntList [j]]);
}
MatOfPoint hullPointMat = new MatOfPoint ();
hullPointMat.fromList (hullPointList);
List<MatOfPoint> hullPoints = new List<MatOfPoint> ();
hullPoints.Add (hullPointMat);
Imgproc.drawContours (imgMat, hullPoints, -1, new Scalar (0, 255, 0), 2);
Imgproc.cvtColor (imgMat, imgMat, Imgproc.COLOR_BGR2RGB);
Texture2D texture = new Texture2D (imgMat.cols (), imgMat.rows (), TextureFormat.RGBA32, false);
Utils.matToTexture2D (imgMat, texture);
gameObject.GetComponent<Renderer> ().material.mainTexture = texture;
}
//辨識輪廓
private bool analysisContoursRect(int index, List <MatOfPoint> contours, Mat result, List <MatchObject> matchObject)
{
OpenCVForUnity.Rect _testDepthRect = Imgproc.boundingRect(contours[index]);
float minAreaSize = _minDepthObjectSizePer * _drawBlock.MatchHeight * _drawBlock.MatchWidth;
if (_testDepthRect.area() > minAreaSize)
{
//宣告放置點資料
MatOfInt hullInt = new MatOfInt();
List <Point> hullPointList = new List <Point>();
MatOfPoint hullPointMat = new MatOfPoint();
List <MatOfPoint> hullPoints = new List <MatOfPoint>();
MatOfInt4 defects = new MatOfInt4();
//篩選點資料
MatOfPoint2f Temp2f = new MatOfPoint2f();
//Convert contours(i) from MatOfPoint to MatOfPoint2f
contours[index].convertTo(Temp2f, CvType.CV_32FC2);
//Processing on mMOP2f1 which is in type MatOfPoint2f
Imgproc.approxPolyDP(Temp2f, Temp2f, 30, true);
//Convert back to MatOfPoint and put the new values back into the contours list
Temp2f.convertTo(contours[index], CvType.CV_32S);
//计算轮廓围绕的凸形壳
Imgproc.convexHull(contours[index], hullInt);
List <Point> pointMatList = contours[index].toList();
List <int> hullIntList = hullInt.toList();
for (int j = 0; j < hullInt.toList().Count; j++)
{
hullPointList.Add(pointMatList[hullIntList[j]]);
hullPointMat.fromList(hullPointList);
hullPoints.Add(hullPointMat);
}
if (hullInt.toList().Count == 4)
{
if (!setMatchObject(index, pointMatList, contours, hullPoints, result, matchObject))
{
//Debug.Log("setMatchObject fail");
}
}
//清空記憶體
defects.Dispose();
hullPointList.Clear();
hullPointMat.Dispose();
hullInt.Dispose();
hullPoints.Clear();
return(true);
}
return(false);
}
public static List <Point> filterPolygon(List <Point> approx_polygon)
{
while (true)
{
double max_ar = 0;
int max_ar_id = 0;
for (int k = 0; k < approx_polygon.Count; k++)
{
List <Point> cur_polygon = new List <Point>();
for (int i = 0; i < approx_polygon.Count; i++)
{
cur_polygon.Add(approx_polygon[i]);
}
cur_polygon.Remove(cur_polygon[0 + k]);
MatOfPoint cur_area = new MatOfPoint();
MatOfPoint approx_area = new MatOfPoint();
cur_area.fromList(cur_polygon);
approx_area.fromList(approx_polygon);
double area_ratio = Imgproc.contourArea(cur_area) / Imgproc.contourArea(approx_area);
// Debug.Log("ratio" + area_ratio);
if (area_ratio > max_ar)
{
max_ar = area_ratio;
max_ar_id = k;
}
}
//If area still large enough remove a vertex
if (max_ar > 0.8)
{
// Debug.Log("Remove vertex " + max_ar_id);
approx_polygon.Remove(approx_polygon.ToArray()[0 + max_ar_id]);
}
else
{
break;
}
}
return(approx_polygon);
}
public static bool isStar(List <Point> shape)
{
double[] length = new double[5], angle = new double[5];
if (shape.Count != 5)
{
return(false);
}
MatOfPoint shape_area = new MatOfPoint();
shape_area.fromList(shape);
if (!(Imgproc.contourArea(shape_area) > 6000 && Imgproc.contourArea(shape_area) < 10000))
{
return(false);
}
//Calculate side lengths
length[0] = distanceTwoPoints(shape[0], shape[1]);
length[1] = distanceTwoPoints(shape[1], shape[2]);
length[2] = distanceTwoPoints(shape[2], shape[3]);
length[3] = distanceTwoPoints(shape[3], shape[4]);
length[4] = distanceTwoPoints(shape[4], shape[0]);
//Calculate angles
angle[0] = angleThreePoints(shape[0], shape[1], shape[2]);
angle[1] = angleThreePoints(shape[1], shape[2], shape[3]);
angle[2] = angleThreePoints(shape[2], shape[3], shape[4]);
angle[3] = angleThreePoints(shape[3], shape[4], shape[0]);
angle[4] = angleThreePoints(shape[4], shape[0], shape[1]);
//Star check
if (angle[0] > 98 && angle[0] < 128 &&
angle[1] > 98 && angle[1] < 128 &&
angle[2] > 98 && angle[2] < 128 &&
angle[3] > 98 && angle[3] < 128 &&
angle[4] > 98 && angle[4] < 128)
{
return(true);
}
else
{
return(false);
}
}
public static bool isSquare(List <Point> shape)
{
double [] length = new double[4], angle = new double[4];
//Check number of vertices
//cout << " Vertex Num: " << shape.size() << endl;
//cout << " Area: " << contourArea(shape) << endl;
if (shape.Count != 4)
{
return(false);
}
MatOfPoint shape_area = new MatOfPoint();
shape_area.fromList(shape);
// if (!(Imgproc.contourArea(shape_area) > 8000 && Imgproc.contourArea(shape_area) < 12000))
// return false;
//
//Calculate side lengths
length[0] = distanceTwoPoints(shape[0], shape[1]);
length[1] = distanceTwoPoints(shape[1], shape[2]);
length[2] = distanceTwoPoints(shape[2], shape[3]);
length[3] = distanceTwoPoints(shape[3], shape[0]);
//Calculate angles
angle[0] = angleThreePoints(shape[0], shape[1], shape[2]);
angle[1] = angleThreePoints(shape[1], shape[2], shape[3]);
angle[2] = angleThreePoints(shape[2], shape[3], shape[0]);
angle[3] = angleThreePoints(shape[3], shape[0], shape[1]);
//Square check
if (angle[0] > 80 && angle[0] < 100 &&
angle[1] > 80 && angle[1] < 100 &&
angle[2] > 80 && angle[2] < 100 &&
angle[3] > 80 && angle[3] < 100)
{
return(true);
}
else
{
return(false);
}
}
public static bool isTriangle(List <Point> shape)
{
//cout << " Vertex Num: " << shape.size() << endl;
//cout << " Area: " << contourArea(shape) << endl;
//Check number of vertices
if (shape.Count != 3)
{
return(false);
}
//Check shape angles
double [] length = new double[3], angle = new double[3];
angle[0] = angleThreePoints(shape[0], shape[1], shape[2]);
angle[1] = angleThreePoints(shape[1], shape[2], shape[0]);
angle[2] = angleThreePoints(shape[2], shape[0], shape[1]);
//if (angle[0] > ANGLE90_LOW && angle[0] < ANGLE90_HIGH)
// cout << " Angles:" << angle[0] << " " << angle[1] << " " << angle[2] << endl;
MatOfPoint shape_area = new MatOfPoint();
shape_area.fromList(shape);
if (!(Imgproc.contourArea(shape_area) > 3300 && Imgproc.contourArea(shape_area) < 6000))
{
return(false);
}
if ((angle[0] > 50 && angle[0] < 70 && angle[1] > 50 && angle[1] < 70 && angle[2] > 50 && angle[2] < 70))
{
return(true);
}
else
{
return(false);
}
}
//利用深度的輪廓做RGB的顏色判斷
public Mat getContours(Mat srcColorMat, Mat srcDepthMat)
{
Mat ColorMat = new Mat();
Mat DepthMat = new Mat();
Mat HsvMat = new Mat();
srcColorMat.copyTo(ColorMat);
srcDepthMat.copyTo(DepthMat);
Imgproc.cvtColor(ColorMat, HsvMat, Imgproc.COLOR_BGR2HSV);
List <ColorObject> colorObjects = new List <ColorObject>();
Mat resultMat = new Mat(DepthMat.height(), DepthMat.width(), CvType.CV_8UC1);
Mat hierarchy = new Mat();
List <Point> ConsistP = new List <Point>();
List <MatOfPoint> contours = new List <MatOfPoint>();
List <List <Point> > trianglePointList = new List <List <Point> >();
Imgproc.findContours(DepthMat, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
int numObjects = contours.Count;
List <Scalar> clickRGB = new List <Scalar>();
List <Scalar> clickHSV = new List <Scalar>();
List <int> HullCountList = new List <int>();
for (int i = 0; i < numObjects; i++)
{
Imgproc.drawContours(resultMat, contours, i, new Scalar(255), 1);
}
double[] GetRGB = new double[10];
float minAreaSize = _minDepthObjectSizePer * _drawBlock.MatchHeight * _drawBlock.MatchWidth;
if (numObjects > 0)
{
for (int index = 0; index < numObjects; index++)
{
OpenCVForUnity.Rect R0 = Imgproc.boundingRect(contours[index]);
if (R0.area() > minAreaSize)
{
//宣告放置點資料
MatOfInt hullInt = new MatOfInt();
List <Point> hullPointList = new List <Point>();
MatOfPoint hullPointMat = new MatOfPoint();
List <MatOfPoint> hullPoints = new List <MatOfPoint>();
MatOfInt4 defects = new MatOfInt4();
//篩選點資料
MatOfPoint2f Temp2f = new MatOfPoint2f();
//Convert contours(i) from MatOfPoint to MatOfPoint2f
contours[index].convertTo(Temp2f, CvType.CV_32FC2);
//Processing on mMOP2f1 which is in type MatOfPoint2f
Imgproc.approxPolyDP(Temp2f, Temp2f, 30, true);
//Convert back to MatOfPoint and put the new values back into the contours list
Temp2f.convertTo(contours[index], CvType.CV_32S);
//计算轮廓围绕的凸形壳
Imgproc.convexHull(contours[index], hullInt);
List <Point> pointMatList = contours[index].toList();
List <int> hullIntList = hullInt.toList();
for (int j = 0; j < hullInt.toList().Count; j++)
{
hullPointList.Add(pointMatList[hullIntList[j]]);
hullPointMat.fromList(hullPointList);
hullPoints.Add(hullPointMat);
}
ConsistP.Add(new Point(R0.x, R0.y));
ConsistP.Add(new Point(R0.x + R0.width, R0.y + R0.height));
ConsistP.Add(new Point(R0.x + R0.width, R0.y));
ConsistP.Add(new Point(R0.x, R0.y + R0.height));
clickRGB.Add(clickcolor(ColorMat, R0));
clickHSV.Add(clickcolor(HsvMat, R0));
HullCountList.Add(hullIntList.Count);
trianglePointList.Add(pointMatList);
//清空記憶體
defects.Dispose();
hullPointList.Clear();
hullPointMat.Dispose();
hullInt.Dispose();
hullPoints.Clear();
//Debug.Log("ID = " + index + " Color = " + clickcolor(ColorMat, R0));
}
}
//使用顏色找尋物體
_matchColorObjectList = setColorMatchObject(ConsistP, trianglePointList, clickRGB, clickHSV, resultMat, HullCountList);
}
return(resultMat);
}
void Run()
{
rgbaMat = Imgcodecs.imread(Application.dataPath + "/Resources/changer.jpg", 1);
Imgproc.cvtColor(rgbaMat, rgbaMat, Imgproc.COLOR_BGR2RGBA);
//1. 人脸dlib检测
List <OpenCVForUnity.Rect> detectResult = new List <OpenCVForUnity.Rect>();
OpenCVForUnityUtils.SetImage(faceLandmarkDetector, rgbaMat);
List <UnityEngine.Rect> result = faceLandmarkDetector.Detect();
foreach (UnityEngine.Rect unityRect in result)
{
detectResult.Add(new OpenCVForUnity.Rect((int)unityRect.x, (int)unityRect.y, (int)unityRect.width, (int)unityRect.height));
}
OpenCVForUnityUtils.SetImage(faceLandmarkDetector, rgbaMat);
List <List <Vector2> > landmarkPoints = new List <List <Vector2> >();
OpenCVForUnity.Rect openCVRect = detectResult[0];
UnityEngine.Rect rect = new UnityEngine.Rect(openCVRect.x, openCVRect.y, openCVRect.width, openCVRect.height);
List <Vector2> points = faceLandmarkDetector.DetectLandmark(rect); //通过检测器从rect中提取point
landmarkPoints.Add(points);
//2. 计算凸包
pointList = new List <Point>();
for (int i = 0; i < points.Count; i++)
{
//绘制点
//Imgproc.circle(rgbaMat, new Point(points[i].x, points[i].y), 2, new Scalar(255, 255, 255), -1);
Point pt = new Point(landmarkPoints[0][i].x, landmarkPoints[0][i].y);
Imgproc.circle(rgbaMat, pt, 0, new Scalar(0, 255, 0, 255), 2, Imgproc.LINE_8, 0); //绘制68点
pointList.Add(pt);
}
//Debug.Log(pointList.Count); //68
//3. 三角剖份
TriangleDivide();
//4. （遍历三角形）仿射变换
Affine();
//5. 显示
MatOfPoint pointsMat = new MatOfPoint();
pointsMat.fromList(pointList);
MatOfInt hullInt = new MatOfInt();
Imgproc.convexHull(pointsMat, hullInt);
List <Point> pointMatList = pointsMat.toList();
List <int> hullIntList = hullInt.toList();
List <Point> hullPointList = new List <Point>();
for (int j = 0; j < hullInt.toList().Count; j++)
{
hullPointList.Add(pointMatList[hullIntList[j]]);
}
MatOfPoint hullPointMat = new MatOfPoint();
hullPointMat.fromList(hullPointList); //23*1
List <MatOfPoint> hullPoints = new List <MatOfPoint>();
hullPoints.Add(hullPointMat); //1
Imgproc.drawContours(rgbaMat, hullPoints, -1, new Scalar(255, 255, 0, 255), 2);
//------------------------------------------------//
//Try---------------------------------------------//
dstPointList = new List <Point>();
for (int i = 0; i < pointList.Count; i++)
{
Point pt = pointList[i] + new Point(100, 0);
dstPointList.Add(pt);
}
//MatOfPoint2f srcTri = new MatOfPoint2f(); //不能超过3
//MatOfPoint2f dstTri = new MatOfPoint2f(); //不能超过3
//srcTri.fromList(pointList);
//srcTri.fromList(dstPointList);
for (int j = 0; j < 3; j++)
{
//srcTri.push_back(hullPointMat);
//dstTri.push_back(hull2[corpd.index[j]]);
}
Mat mask = Mat.zeros(rgbaMat.size(), CvType.CV_8UC1);
Point p0 = new Point(0, 0);
Point p1 = new Point(0, 256);
Point p2 = new Point(256, 0);
Point p3 = new Point(256, 0);
Point p4 = new Point(512, 0);
Point p5 = new Point(512, 256);
Point p6 = new Point(256, 64);
MatOfPoint pts1 = new MatOfPoint(new Point[3] {
p0, p1, p2
});
MatOfPoint pts2 = new MatOfPoint(new Point[3] {
p3, p4, p5
});
MatOfPoint2f srcTri = new MatOfPoint2f(new Point[3] {
p0, p1, p2
});
MatOfPoint2f dstTri = new MatOfPoint2f(new Point[3] {
p0, p1, p6
});
List <MatOfPoint> contour = new List <MatOfPoint>()
{
pts1
};
for (int i = 0; i < contour.Count; i++)
{
//轮廓提取
Imgproc.drawContours(mask, contour, i, new Scalar(255), -1); //全部放到mask上
}
rgbaMat.copyTo(mask, mask);
Mat warpMat = Imgproc.getAffineTransform(srcTri, dstTri);
Mat warpImage = Mat.zeros(mask.size(), mask.type());
Imgproc.warpAffine(mask, warpImage, warpMat, warpImage.size());
//------------------------------------------------//
Texture2D t2d = new Texture2D(rgbaMat.width(), rgbaMat.height(), TextureFormat.RGBA32, false);
OpenCVForUnity.Utils.matToTexture2D(rgbaMat, t2d);
Sprite sp = Sprite.Create(t2d, new UnityEngine.Rect(0, 0, t2d.width, t2d.height), Vector2.zero);
srcImage.sprite = sp;
srcImage.preserveAspect = true;
//warpImage
Texture2D dst_t2d = new Texture2D(warpImage.width(), warpImage.height(), TextureFormat.RGBA32, false);
OpenCVForUnity.Utils.matToTexture2D(warpImage, dst_t2d);
Sprite dst_sp = Sprite.Create(dst_t2d, new UnityEngine.Rect(0, 0, dst_t2d.width, dst_t2d.height), Vector2.zero);
dstImage.sprite = dst_sp;
dstImage.preserveAspect = true;
}
private void HandPoseEstimationProcess(Mat rgbaMat)
{
//Imgproc.blur(mRgba, mRgba, new Size(5,5));
Imgproc.GaussianBlur(rgbaMat, rgbaMat, new Size(3, 3), 1, 1);
//Imgproc.medianBlur(mRgba, mRgba, 3);
if (!isColorSelected)
{
return;
}
List <MatOfPoint> contours = detector.GetContours();
detector.Process(rgbaMat);
//Debug.Log ("Contours count: " + contours.Count);
if (contours.Count <= 0)
{
return;
}
RotatedRect rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[0].toArray()));
double boundWidth = rect.size.width;
double boundHeight = rect.size.height;
int boundPos = 0;
for (int i = 1; i < contours.Count; i++)
{
rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[i].toArray()));
if (rect.size.width * rect.size.height > boundWidth * boundHeight)
{
boundWidth = rect.size.width;
boundHeight = rect.size.height;
boundPos = i;
}
}
MatOfPoint contour = contours[boundPos];
OpenCVForUnity.CoreModule.Rect boundRect = Imgproc.boundingRect(new MatOfPoint(contour.toArray()));
Imgproc.rectangle(rgbaMat, boundRect.tl(), boundRect.br(), CONTOUR_COLOR_WHITE, 2, 8, 0);
// Debug.Log (
// " Row start [" +
//(int)boundRect.tl ().y + "] row end [" +
// (int)boundRect.br ().y + "] Col start [" +
// (int)boundRect.tl ().x + "] Col end [" +
// (int)boundRect.br ().x + "]");
Point bottomLeft = new Point(boundRect.x, boundRect.y + boundRect.height);
Point topLeft = new Point(boundRect.x, boundRect.y);
Point bottomRight = new Point(boundRect.x + boundRect.width, boundRect.y + boundRect.height);
Point topRight = new Point(boundRect.x + boundRect.width, boundRect.y);
rectPoints = new MatOfPoint2f(new Point(boundRect.x, boundRect.y), //topleft
new Point(boundRect.x + boundRect.width, boundRect.y), //Top Right
new Point(boundRect.x + boundRect.width, boundRect.y + boundRect.height), //Bottom Right
new Point(boundRect.x, boundRect.y + boundRect.height) //Bottom Left
);
//double a = boundRect.br ().y - boundRect.tl ().y;
//a = a * 0.7;
//a = boundRect.tl ().y + a;
//Debug.Log (" A [" + a + "] br y - tl y = [" + (boundRect.br ().y - boundRect.tl ().y) + "]");
//Imgproc.rectangle (rgbaMat, boundRect.tl (), new Point (boundRect.br ().x, a), CONTOUR_COLOR, 2, 8, 0);
List <Point3> m_markerCorners3dList = new List <Point3>();
m_markerCorners3dList.Add(new Point3(-0.5f, -0.5f, 0)); //Top, Left (A)
m_markerCorners3dList.Add(new Point3(+0.5f, -0.5f, 0)); //Top, Right (B)
m_markerCorners3dList.Add(new Point3(+0.5f, +0.5f, 0)); //Bottom, Right (C)
m_markerCorners3dList.Add(new Point3(-0.5f, +0.5f, 0)); //Bottom, Left (D)
m_markerCorners3d.fromList(m_markerCorners3dList);
//estimate pose
Mat Rvec = new Mat();
Mat Tvec = new Mat();
Mat raux = new Mat();
Mat taux = new Mat();
Calib3d.solvePnP(m_markerCorners3d, rectPoints, camMatrix, distCoeff, raux, taux);
raux.convertTo(Rvec, CvType.CV_32F);
taux.convertTo(Tvec, CvType.CV_32F);
rotMat = new Mat(3, 3, CvType.CV_64FC1);
Calib3d.Rodrigues(Rvec, rotMat);
transformationM.SetRow(0, new Vector4((float)rotMat.get(0, 0)[0], (float)rotMat.get(0, 1)[0], (float)rotMat.get(0, 2)[0], (float)Tvec.get(0, 0)[0]));
transformationM.SetRow(1, new Vector4((float)rotMat.get(1, 0)[0], (float)rotMat.get(1, 1)[0], (float)rotMat.get(1, 2)[0], (float)Tvec.get(1, 0)[0]));
transformationM.SetRow(2, new Vector4((float)rotMat.get(2, 0)[0], (float)rotMat.get(2, 1)[0], (float)rotMat.get(2, 2)[0], (float)Tvec.get(2, 0)[0]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
//Debug.Log ("transformationM " + transformationM.ToString ());
Rvec.Dispose();
Tvec.Dispose();
raux.Dispose();
taux.Dispose();
rotMat.Dispose();
ARM = ARCamera.transform.localToWorldMatrix * invertYM * transformationM * invertZM;
//Debug.Log("arM " + ARM.ToString());
if (ARGameObject != null)
{
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
if (deactivateCoroutine == null)
{
deactivateCoroutine = StartCoroutine(Wait(10.0f));
}
ARGameObject.SetActive(true);
}
//end pose estimation
MatOfPoint2f pointMat = new MatOfPoint2f();
Imgproc.approxPolyDP(new MatOfPoint2f(contour.toArray()), pointMat, 3, true);
contour = new MatOfPoint(pointMat.toArray());
MatOfInt hull = new MatOfInt();
MatOfInt4 convexDefect = new MatOfInt4();
Imgproc.convexHull(new MatOfPoint(contour.toArray()), hull);
if (hull.toArray().Length < 3)
{
return;
}
Imgproc.convexityDefects(new MatOfPoint(contour.toArray()), hull, convexDefect);
List <MatOfPoint> hullPoints = new List <MatOfPoint>();
List <Point> listPo = new List <Point>();
for (int j = 0; j < hull.toList().Count; j++)
{
listPo.Add(contour.toList()[hull.toList()[j]]);
}
MatOfPoint e = new MatOfPoint();
e.fromList(listPo);
hullPoints.Add(e);
List <Point> listPoDefect = new List <Point>();
if (convexDefect.rows() > 0)
{
List <int> convexDefectList = convexDefect.toList();
List <Point> contourList = contour.toList();
for (int j = 0; j < convexDefectList.Count; j = j + 4)
{
Point farPoint = contourList[convexDefectList[j + 2]];
int depth = convexDefectList[j + 3];
//if (depth > threasholdSlider.value && farPoint.y < a)
//{
// listPoDefect.Add(contourList[convexDefectList[j + 2]]);
//}
//Debug.Log ("convexDefectList [" + j + "] " + convexDefectList [j + 3]);
}
}
Debug.Log("hull: " + hull.toList());
if (convexDefect.rows() > 0)
{
Debug.Log("defects: " + convexDefect.toList());
}
//use these contours to do heart detection
Imgproc.drawContours(rgbaMat, hullPoints, -1, CONTOUR_COLOR, 3);
int defectsTotal = (int)convexDefect.total();
Debug.Log("Defect total " + defectsTotal);
this.numberOfFingers = listPoDefect.Count;
if (this.numberOfFingers > 5)
{
this.numberOfFingers = 5;
}
Debug.Log("numberOfFingers " + numberOfFingers);
Imgproc.putText(rgbaMat, "" + numberOfFingers, new Point(rgbaMat.cols() / 2, rgbaMat.rows() / 2), Imgproc.FONT_HERSHEY_PLAIN, 4.0, new Scalar(255, 255, 255, 255), 6, Imgproc.LINE_AA, false);
numberOfFingersText.text = numberOfFingers.ToString();
foreach (Point p in listPoDefect)
{
Imgproc.circle(rgbaMat, p, 6, new Scalar(255, 0, 255, 255), -1);
}
}
void Process() {
string imText = "DRAW PATTERN";
Core.putText(frame_pot, imText, new Point(110, 50), Core.FONT_HERSHEY_COMPLEX, 1.0, new Scalar(255, 0, 0), 2);
Mat hierarchy = new Mat ();
List<MatOfPoint> contours = new List<MatOfPoint> ();
MatOfPoint maxitem = new MatOfPoint ();
MatOfInt hullInt = new MatOfInt ();
frameclone = frame_thresh_final.clone ();
Imgproc.findContours (frameclone, contours, hierarchy, Imgproc.RETR_LIST , Imgproc.CHAIN_APPROX_NONE);
maxitem = contours [0];
n = 0;
for(int i=0; i<contours.Count; i++){
if(contours[i].total() > maxitem.total()){
maxitem = contours[i];
n=i;
}
}
OpenCVForUnity.Rect bRect = Imgproc.boundingRect (maxitem);
int bRect_height = bRect.height;
int bRect_width = bRect.width;
if (bRect_height < 200 || bRect_width < 200)
return;
// Drawing Contours on the Frame
//Imgproc.drawContours (frame_pot, contours, n, new Scalar(0, 255, 0), 2);
Imgproc.convexHull (maxitem, hullInt);
List<Point> maxitemPointList = maxitem.toList ();
List<int> hullIntList = hullInt.toList ();
List<Point> hullPointList = new List<Point> ();
for (int j=0; j < hullInt.toList().Count; j++) {
hullPointList.Add (maxitemPointList [hullIntList [j]]);
}
MatOfPoint hullPointMat = new MatOfPoint ();
hullPointMat.fromList (hullPointList);
List<MatOfPoint> hullPoints = new List<MatOfPoint> ();
hullPoints.Add (hullPointMat);
// Drawing Convex Hull on the Frame
//Imgproc.drawContours (frame_pot, hullPoints, -1, new Scalar (0, 0, 255), 2);
MatOfInt4 convexityDef = new MatOfInt4 ();
Imgproc.convexityDefects (maxitem, hullInt, convexityDef);
List<int> conDefIntList = convexityDef.toList ();
List<Point> startpts = new List<Point> ();
List<Point> farpts = new List<Point> ();
List<Point> endpts = new List<Point> ();
int tolerance = (int)(bRect_height/6);
//Debug.Log ("Tolerance: " + tolerance);
int[] defarray = new int[100];
int coordX = 10000, coordY = 10000;
int x1 = (int) sphere1.transform.position.x;
int y1 = (int) sphere1.transform.position.y;
int x2 = (int) sphere2.transform.position.x;
int y2 = (int) sphere2.transform.position.y;
int x3 = (int) sphere3.transform.position.x;
int y3 = (int) sphere3.transform.position.y;
int x4 = (int) sphere4.transform.position.x;
int y4 = (int) sphere4.transform.position.y;
Point pointer = new Point();
for(int i=0; i < conDefIntList.Count/4 ; i++) {
startpts.Add(maxitemPointList[conDefIntList[4*i]]);
endpts.Add(maxitemPointList[conDefIntList[4*i+1]]);
farpts.Add(maxitemPointList[conDefIntList[4*i+2]]);
Point s = startpts[i];
Point e = endpts[i];
Point f = farpts[i];
if (GetDistance(s,f) > tolerance) {
//Core.circle(frame_pot, s, 15, new Scalar(255, 225, 0), -1);
if (s.y < coordY) {
pointer = s;
coordY = (int) s.y;
coordX = (int) s.x;
}
}
}
Core.circle(frame_pot, pointer, 15, new Scalar(255, 225, 0), -1);
coordX = coordX - 240;
coordY = -coordY + 320;
if (coordX > x1-50 && coordX < x1+50 && coordY > y1-50 && coordY < y1+50) {
if (previous.Equals('1'))
return;
input += "1";
AddLine(previous, '1');
previous = '1';
Material mat1 = sphere1.GetComponent<Renderer>().material;
mat1.color = Color.yellow;
StartCoroutine(WaitAndChangeColor("1"));
} else if (coordX > x2-50 && coordX < x2+50 && coordY > y2-50 && coordY < y2+50) {
if (previous.Equals('2'))
return;
input += "2";
AddLine(previous, '2');
previous = '2';
Material mat2 = sphere2.GetComponent<Renderer>().material;
mat2.color = Color.yellow;
StartCoroutine(WaitAndChangeColor("2"));
} else if (coordX > x3-50 && coordX < x3+50 && coordY > y3-50 && coordY < y3+50) {
if (previous.Equals('3'))
return;
input += "3";
AddLine(previous, '3');
previous = '3';
Material mat3 = sphere3.GetComponent<Renderer>().material;
mat3.color = Color.yellow;
StartCoroutine(WaitAndChangeColor("3"));
} else if (coordX > x4-50 && coordX < x4+50 && coordY > y4-50 && coordY < y4+50) {
if (previous.Equals('4'))
return;
input += "4";
AddLine(previous, '4');
previous = '4';
Material mat4 = sphere4.GetComponent<Renderer>().material;
mat4.color = Color.yellow;
StartCoroutine(WaitAndChangeColor("4"));
}
if (input.Length == password.Length) {
auth = true;
if (input.Equals(password)) {
correct = true;
} else {
correct = false;
}
}
}
/// <summary>
/// Processes points by filter.
/// </summary>
/// <param name="img">Image mat.</param>
/// <param name="srcPoints">Input points.</param>
/// <param name="dstPoints">Output points.</param>
/// <param name="drawDebugPoints">if true, draws debug points.</param>
/// <returns>Output points.</returns>
public override List <Vector2> Process(Mat img, List <Vector2> srcPoints, List <Vector2> dstPoints = null, bool drawDebugPoints = false)
{
if (srcPoints != null && srcPoints.Count != numberOfElements)
{
throw new ArgumentException("The number of elements is different.");
}
if (srcPoints == null)
{
return(dstPoints == null ? srcPoints : dstPoints);
}
if (!flag)
{
if (img.channels() == 4)
{
Imgproc.cvtColor(img, prevgray, Imgproc.COLOR_RGBA2GRAY);
}
else if (img.channels() == 3)
{
Imgproc.cvtColor(img, prevgray, Imgproc.COLOR_RGB2GRAY);
}
else
{
if (prevgray.total() == 0)
{
prevgray = img.clone();
}
else
{
img.copyTo(prevgray);
}
}
for (int i = 0; i < numberOfElements; i++)
{
prevTrackPts[i] = new Point(srcPoints[i].x, srcPoints[i].y);
}
flag = true;
}
if (srcPoints != null)
{
if (dstPoints == null)
{
dstPoints = new List <Vector2>();
}
if (dstPoints != null && dstPoints.Count != numberOfElements)
{
dstPoints.Clear();
for (int i = 0; i < numberOfElements; i++)
{
dstPoints.Add(new Vector2());
}
}
if (img.channels() == 4)
{
Imgproc.cvtColor(img, gray, Imgproc.COLOR_RGBA2GRAY);
}
else if (img.channels() == 3)
{
Imgproc.cvtColor(img, gray, Imgproc.COLOR_RGB2GRAY);
}
else
{
if (gray.total() == 0)
{
gray = img.clone();
}
else
{
img.copyTo(gray);
}
}
if (prevgray.total() > 0)
{
mOP2fPrevTrackPts.fromList(prevTrackPts);
mOP2fNextTrackPts.fromList(nextTrackPts);
Video.calcOpticalFlowPyrLK(prevgray, gray, mOP2fPrevTrackPts, mOP2fNextTrackPts, status, err);
prevTrackPts = mOP2fPrevTrackPts.toList();
nextTrackPts = mOP2fNextTrackPts.toList();
// clac diffDlib
prevTrackPtsMat.fromList(prevTrackPts);
OpenCVForUnity.CoreModule.Rect rect = Imgproc.boundingRect(prevTrackPtsMat);
double diffDlib = this.diffDlib * rect.area() / 40000.0 * diffCheckSensitivity;
// if the face is moving so fast, use dlib to detect the face
double diff = calDistanceDiff(prevTrackPts, nextTrackPts);
if (drawDebugPoints)
{
Debug.Log("variance:" + diff);
}
if (diff > diffDlib)
{
for (int i = 0; i < numberOfElements; i++)
{
nextTrackPts[i].x = srcPoints[i].x;
nextTrackPts[i].y = srcPoints[i].y;
dstPoints[i] = srcPoints[i];
}
if (drawDebugPoints)
{
Debug.Log("DLIB");
for (int i = 0; i < numberOfElements; i++)
{
Imgproc.circle(img, new Point(srcPoints[i].x, srcPoints[i].y), 2, new Scalar(255, 0, 0, 255), -1);
}
}
}
else
{
// In this case, use Optical Flow
for (int i = 0; i < numberOfElements; i++)
{
dstPoints[i] = new Vector2((float)nextTrackPts[i].x, (float)nextTrackPts[i].y);
}
if (drawDebugPoints)
{
Debug.Log("Optical Flow");
for (int i = 0; i < numberOfElements; i++)
{
Imgproc.circle(img, nextTrackPts[i], 2, new Scalar(0, 0, 255, 255), -1);
}
}
}
}
Swap(ref prevTrackPts, ref nextTrackPts);
Swap(ref prevgray, ref gray);
}
return(dstPoints);
}
void Process(){
Mat hierarchy = new Mat ();
List<MatOfPoint> contours = new List<MatOfPoint> ();
MatOfPoint maxitem = new MatOfPoint ();
MatOfInt hullInt = new MatOfInt ();
frameclone = frame_thresh_final.clone ();
Imgproc.findContours (frameclone, contours, hierarchy, Imgproc.RETR_LIST , Imgproc.CHAIN_APPROX_NONE);
maxitem = contours[0];
n = 0;
for(int i=0; i<contours.Count; i++){
if(contours[i].total() > maxitem.total()){
maxitem = contours[i];
n=i;
}
}
OpenCVForUnity.Rect bRect = Imgproc.boundingRect (maxitem);
int bRect_height = bRect.height;
int bRect_width = bRect.width;
Imgproc.drawContours(frame_thresh_final, contours, n, new Scalar(255, 255, 255), -1);
Imgproc.convexHull( maxitem, hullInt);
List<Point> maxitemPointList = maxitem.toList ();
List<int> hullIntList = hullInt.toList ();
List<Point> hullPointList = new List<Point> ();
for (int j=0; j < hullInt.toList().Count; j++) {
hullPointList.Add (maxitemPointList [hullIntList[j]]);
}
MatOfPoint hullPointMat = new MatOfPoint ();
hullPointMat.fromList (hullPointList);
List<MatOfPoint> hullPoints = new List<MatOfPoint> ();
hullPoints.Add (hullPointMat);
//Imgproc.drawContours (frame, hullPoints, -1, new Scalar (0, 255, 0), 2);
MatOfInt4 convexityDef = new MatOfInt4 ();
Imgproc.convexityDefects (maxitem, hullInt, convexityDef);
List<int> conDefIntList = convexityDef.toList ();
List<Point> startpts = new List<Point> ();
List<Point> farpts = new List<Point> ();
List<Point> endpts = new List<Point> ();
double defx1 = 1000, defx2 = 1000;
int countx1 = 0, countx2 = 0;
int tolerance = (int)(bRect_height/5.5);
int count = 0, index = 0;
//Debug.Log ("Tolerance: " + tolerance);
double angleTol = 95.0;
int[] defarray = new int[100];
//CvFont font = new CvFont (FontFace.Vector0, 1.0, 1.0);
for(int i=0; i < conDefIntList.Count/4 ; i++){
startpts.Add(maxitemPointList[conDefIntList[4*i]]);
endpts.Add(maxitemPointList[conDefIntList[4*i+1]]);
farpts.Add(maxitemPointList[conDefIntList[4*i+2]]);
Point s = startpts[i];
Point e = endpts[i];
Point f = farpts[i];
if( GetAngle(s, f, e) < angleTol && GetDistance(s,f) > tolerance && GetDistance(e,f) > tolerance ){
//string text = Convert.ToString(count);
//Debug.Log("Depth1: "+GetDistance(s,f));
//Debug.Log("Depth2: "+GetDistance(e,f));
//Core.circle( frame_pot, f, 10, new Scalar(0, 0, 255), -1);
//Core.circle( frame_pot, s, 10, new Scalar(0, 255, 0), -1);
//Core.circle( frame_pot, e, 10, new Scalar(255, 0, 0), -1);
//Core.putText(frame_pot, text, f, Core.FONT_HERSHEY_COMPLEX , 1.0, new Scalar(255, 255, 255));
//frame_pot.PutText(text, f, font, CvColor.White);
if(f.x < defx1){
defx2 = defx1;
countx2 = countx1;
defx1 = f.x;
countx1 = count;
}
else if(f.x < defx2)
{
defx2 = f.x;
countx2 = count;
}
defarray[count] = index;
count++;
}
index++;
}
//Debug.Log ("Count: " + count);
//Debug.Log ("Total: " + farpts.Count);
Point point1 = farpts [defarray [countx1]];
Point point2 = farpts [defarray [countx2]];
//Core.circle (frame_pot, point1, 15, new Scalar (255, 0, 0), 2);
//Core.circle (frame_pot, point2, 15, new Scalar (255, 0, 0), 2);
point1.y -= 5;
double posX = (point1.x + point2.x)/2.0;
double posY = (point1.y + point2.y)/2.0;
posX_new = (float)(posX - 240);
posY_new = (float)(-posY + 320);
double dist = Math.Sqrt(Math.Pow(point1.x - point2.x, 2) + Math.Pow(point1.y - point2.y, 2));
scale1 = dist * 500000 / 640.0;
scale2 = dist * 700 / 640.0;
scale3 = dist * 600 / 640.0;
scale4 = dist * 15 / 640.0;
scale5 = dist * 70 / 640.0;
ringObj[0].transform.position = new Vector3(posX_new, posY_new, 0.0f);
ringObj[1].transform.position = new Vector3(posX_new, posY_new, 0.0f);
ringObj[2].transform.position = new Vector3(posX_new, posY_new, 0.0f);
ringObj[3].transform.position = new Vector3(posX_new, posY_new, 0.0f);
ringObj[4].transform.position = new Vector3(posX_new, posY_new, 0.0f);
ringObj[0].transform.localScale = new Vector3((float)scale1, (float)scale1, (float)(scale1*1.5));
ringObj[1].transform.localScale = new Vector3((float)scale2, (float)scale2, (float)(scale2));
ringObj[2].transform.localScale = new Vector3((float)scale3, (float)scale3, (float)(scale3));
ringObj[3].transform.localScale = new Vector3((float)scale4, (float)scale4, (float)(scale4));
ringObj[4].transform.localScale = new Vector3((float)scale5, (float)scale5, (float)(scale5));
Point point3 = new Point(point1.x, point2.y);
angle_rot = GetAngle( point1, point2, point3);
ringObj[0].transform.RotateAround( new Vector3(posX_new, posY_new, 0.0f), Vector3.forward, (float)angle_rot);
ringObj[1].transform.RotateAround( new Vector3(posX_new, posY_new, 0.0f), Vector3.forward, (float)angle_rot);
ringObj[2].transform.RotateAround( new Vector3(posX_new, posY_new, 0.0f), Vector3.forward, (float)angle_rot);
ringObj[3].transform.RotateAround( new Vector3(posX_new, posY_new, 0.0f), Vector3.forward, (float)angle_rot);
ringObj[4].transform.RotateAround( new Vector3(posX_new, posY_new, 0.0f), Vector3.forward, (float)angle_rot);
}
/// <summary>
/// Hands the pose estimation process.
/// </summary>
public void handPoseEstimationProcess(Mat rgbaMat)
{
//Imgproc.blur(mRgba, mRgba, new Size(5,5));
Imgproc.GaussianBlur (rgbaMat, rgbaMat, new OpenCVForUnity.Size (3, 3), 1, 1);
//Imgproc.medianBlur(mRgba, mRgba, 3);
if (!isColorSelected)
return;
List<MatOfPoint> contours = detector.getContours ();
detector.process (rgbaMat);
// Debug.Log ("Contours count: " + contours.Count);
if (contours.Count <= 0) {
return;
}
RotatedRect rect = Imgproc.minAreaRect (new MatOfPoint2f (contours [0].toArray ()));
double boundWidth = rect.size.width;
double boundHeight = rect.size.height;
int boundPos = 0;
for (int i = 1; i < contours.Count; i++) {
rect = Imgproc.minAreaRect (new MatOfPoint2f (contours [i].toArray ()));
if (rect.size.width * rect.size.height > boundWidth * boundHeight) {
boundWidth = rect.size.width;
boundHeight = rect.size.height;
boundPos = i;
}
}
OpenCVForUnity.Rect boundRect = Imgproc.boundingRect (new MatOfPoint (contours [boundPos].toArray ()));
Imgproc.rectangle (rgbaMat, boundRect.tl (), boundRect.br (), CONTOUR_COLOR_WHITE, 2, 8, 0);
// Debug.Log (
// " Row start [" +
// (int)boundRect.tl ().y + "] row end [" +
// (int)boundRect.br ().y + "] Col start [" +
// (int)boundRect.tl ().x + "] Col end [" +
// (int)boundRect.br ().x + "]");
double a = boundRect.br ().y - boundRect.tl ().y;
a = a * 0.7;
a = boundRect.tl ().y + a;
// Debug.Log (
// " A [" + a + "] br y - tl y = [" + (boundRect.br ().y - boundRect.tl ().y) + "]");
//Core.rectangle( mRgba, boundRect.tl(), boundRect.br(), CONTOUR_COLOR, 2, 8, 0 );
Imgproc.rectangle (rgbaMat, boundRect.tl (), new Point (boundRect.br ().x, a), CONTOUR_COLOR, 2, 8, 0);
MatOfPoint2f pointMat = new MatOfPoint2f ();
Imgproc.approxPolyDP (new MatOfPoint2f (contours [boundPos].toArray ()), pointMat, 3, true);
contours [boundPos] = new MatOfPoint (pointMat.toArray ());
MatOfInt hull = new MatOfInt ();
MatOfInt4 convexDefect = new MatOfInt4 ();
Imgproc.convexHull (new MatOfPoint (contours [boundPos].toArray ()), hull);
if (hull.toArray ().Length < 3)
return;
Imgproc.convexityDefects (new MatOfPoint (contours [boundPos] .toArray ()), hull, convexDefect);
List<MatOfPoint> hullPoints = new List<MatOfPoint> ();
List<Point> listPo = new List<Point> ();
for (int j = 0; j < hull.toList().Count; j++) {
listPo.Add (contours [boundPos].toList () [hull.toList () [j]]);
}
MatOfPoint e = new MatOfPoint ();
e.fromList (listPo);
hullPoints.Add (e);
List<MatOfPoint> defectPoints = new List<MatOfPoint> ();
List<Point> listPoDefect = new List<Point> ();
for (int j = 0; j < convexDefect.toList().Count; j = j+4) {
Point farPoint = contours [boundPos].toList () [convexDefect.toList () [j + 2]];
int depth = convexDefect.toList () [j + 3];
if (depth > threasholdSlider.value && farPoint.y < a) {
listPoDefect.Add (contours [boundPos].toList () [convexDefect.toList () [j + 2]]);
}
// Debug.Log ("defects [" + j + "] " + convexDefect.toList () [j + 3]);
}
MatOfPoint e2 = new MatOfPoint ();
e2.fromList (listPo);
defectPoints.Add (e2);
// Debug.Log ("hull: " + hull.toList ());
// Debug.Log ("defects: " + convexDefect.toList ());
Imgproc.drawContours (rgbaMat, hullPoints, -1, CONTOUR_COLOR, 3);
// int defectsTotal = (int)convexDefect.total();
// Debug.Log ("Defect total " + defectsTotal);
this.numberOfFingers = listPoDefect.Count;
if (this.numberOfFingers > 5)
this.numberOfFingers = 5;
// Debug.Log ("numberOfFingers " + numberOfFingers);
// Core.putText (mRgba, "" + numberOfFingers, new Point (mRgba.cols () / 2, mRgba.rows () / 2), Core.FONT_HERSHEY_PLAIN, 4.0, new Scalar (255, 255, 255, 255), 6, Core.LINE_AA, false);
numberOfFingersText.text = numberOfFingers.ToString ();
foreach (Point p in listPoDefect) {
Imgproc.circle (rgbaMat, p, 6, new Scalar (255, 0, 255, 255), -1);
}
}
/// <summary>
/// Hands the pose estimation process.
/// </summary>
public void handPoseEstimationProcess(Mat rgbaMat)
{
//Imgproc.blur(mRgba, mRgba, new Size(5,5));
Imgproc.GaussianBlur(rgbaMat, rgbaMat, new OpenCVForUnity.Size(3, 3), 1, 1);
//Imgproc.medianBlur(mRgba, mRgba, 3);
if (!isColorSelected)
{
return;
}
List <MatOfPoint> contours = detector.getContours();
detector.process(rgbaMat);
// Debug.Log ("Contours count: " + contours.Count);
if (contours.Count <= 0)
{
return;
}
RotatedRect rect = Imgproc.minAreaRect(new MatOfPoint2f(contours [0].toArray()));
double boundWidth = rect.size.width;
double boundHeight = rect.size.height;
int boundPos = 0;
for (int i = 1; i < contours.Count; i++)
{
rect = Imgproc.minAreaRect(new MatOfPoint2f(contours [i].toArray()));
if (rect.size.width * rect.size.height > boundWidth * boundHeight)
{
boundWidth = rect.size.width;
boundHeight = rect.size.height;
boundPos = i;
}
}
OpenCVForUnity.Rect boundRect = Imgproc.boundingRect(new MatOfPoint(contours [boundPos].toArray()));
Core.rectangle(rgbaMat, boundRect.tl(), boundRect.br(), CONTOUR_COLOR_WHITE, 2, 8, 0);
// Debug.Log (
// " Row start [" +
// (int)boundRect.tl ().y + "] row end [" +
// (int)boundRect.br ().y + "] Col start [" +
// (int)boundRect.tl ().x + "] Col end [" +
// (int)boundRect.br ().x + "]");
double a = boundRect.br().y - boundRect.tl().y;
a = a * 0.7;
a = boundRect.tl().y + a;
// Debug.Log (
// " A [" + a + "] br y - tl y = [" + (boundRect.br ().y - boundRect.tl ().y) + "]");
//Core.rectangle( mRgba, boundRect.tl(), boundRect.br(), CONTOUR_COLOR, 2, 8, 0 );
Core.rectangle(rgbaMat, boundRect.tl(), new Point(boundRect.br().x, a), CONTOUR_COLOR, 2, 8, 0);
MatOfPoint2f pointMat = new MatOfPoint2f();
Imgproc.approxPolyDP(new MatOfPoint2f(contours [boundPos].toArray()), pointMat, 3, true);
contours [boundPos] = new MatOfPoint(pointMat.toArray());
MatOfInt hull = new MatOfInt();
MatOfInt4 convexDefect = new MatOfInt4();
Imgproc.convexHull(new MatOfPoint(contours [boundPos].toArray()), hull);
if (hull.toArray().Length < 3)
{
return;
}
Imgproc.convexityDefects(new MatOfPoint(contours [boundPos].toArray()), hull, convexDefect);
List <MatOfPoint> hullPoints = new List <MatOfPoint> ();
List <Point> listPo = new List <Point> ();
for (int j = 0; j < hull.toList().Count; j++)
{
listPo.Add(contours [boundPos].toList() [hull.toList() [j]]);
}
MatOfPoint e = new MatOfPoint();
e.fromList(listPo);
hullPoints.Add(e);
List <MatOfPoint> defectPoints = new List <MatOfPoint> ();
List <Point> listPoDefect = new List <Point> ();
for (int j = 0; j < convexDefect.toList().Count; j = j + 4)
{
Point farPoint = contours [boundPos].toList() [convexDefect.toList() [j + 2]];
int depth = convexDefect.toList() [j + 3];
if (depth > threasholdSlider.value && farPoint.y < a)
{
listPoDefect.Add(contours [boundPos].toList() [convexDefect.toList() [j + 2]]);
}
// Debug.Log ("defects [" + j + "] " + convexDefect.toList () [j + 3]);
}
MatOfPoint e2 = new MatOfPoint();
e2.fromList(listPo);
defectPoints.Add(e2);
// Debug.Log ("hull: " + hull.toList ());
// Debug.Log ("defects: " + convexDefect.toList ());
Imgproc.drawContours(rgbaMat, hullPoints, -1, CONTOUR_COLOR, 3);
// int defectsTotal = (int)convexDefect.total();
// Debug.Log ("Defect total " + defectsTotal);
this.numberOfFingers = listPoDefect.Count;
if (this.numberOfFingers > 5)
{
this.numberOfFingers = 5;
}
// Debug.Log ("numberOfFingers " + numberOfFingers);
// Core.putText (mRgba, "" + numberOfFingers, new Point (mRgba.cols () / 2, mRgba.rows () / 2), Core.FONT_HERSHEY_PLAIN, 4.0, new Scalar (255, 255, 255, 255), 6, Core.LINE_AA, false);
numberOfFingersText.text = numberOfFingers.ToString();
foreach (Point p in listPoDefect)
{
Core.circle(rgbaMat, p, 6, new Scalar(255, 0, 255, 255), -1);
}
}
/// <summary>
/// Hands the pose estimation process.
/// </summary>
public void handPoseEstimationProcess(Mat rgbaMat)
{
//Imgproc.blur(mRgba, mRgba, new Size(5,5));
Imgproc.GaussianBlur(rgbaMat, rgbaMat, new OpenCVForUnity.Size(3, 3), 1, 1);
//Imgproc.medianBlur(mRgba, mRgba, 3);
if (!isColorSelected)
{
return;
}
List <MatOfPoint> contours = detector.getContours();
detector.process(rgbaMat);
//Debug.Log(contours + " | " + contours.Count);
//string[] output = contours.ToArray();
for (int i = 0; i < contours.Count; i++)
{
//Debug.Log("MatOfPoint2f " + new MatOfPoint2f(contours[i].toArray()) + " | " + i);
//Debug.Log("MatOfPoint " + contours [i] + " | " + i);
//Imgproc.circle(rgbaMat, contours[i], 6, new Scalar(0, 255, 0, 255), -1);
//Debug.Log ("kotka" + MatOfPoint.ReferenceEquals(x, y));
}
if (contours.Count <= 0)
{
return;
}
RotatedRect rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[0].toArray()));
double boundWidth = rect.size.width;
double boundHeight = rect.size.height;
int boundPos = 0;
for (int i = 1; i < contours.Count; i++)
{
rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[i].toArray()));
if (rect.size.width * rect.size.height > boundWidth * boundHeight)
{
boundWidth = rect.size.width;
boundHeight = rect.size.height;
boundPos = i;
}
}
OpenCVForUnity.Rect boundRect = Imgproc.boundingRect(new MatOfPoint(contours[boundPos].toArray()));
Imgproc.rectangle(rgbaMat, boundRect.tl(), boundRect.br(), CONTOUR_COLOR_WHITE, 2, 8, 0);
//tochkaX = boundRect.tl ().x;
//tochkaY = boundRect.tl ().y;
Imgproc.circle(rgbaMat, boundRect.tl(), 6, new Scalar(0, 255, 0, 255), -1);
Imgproc.circle(rgbaMat, boundRect.br(), 6, new Scalar(0, 255, 0, 255), -1);
pointbX = boundRect.br().x;
pointbY = boundRect.br().y;
pointaX = boundRect.x;
pointbY = boundRect.y;
double a = boundRect.br().y - boundRect.tl().y;
a = a * 0.7;
a = boundRect.tl().y + a;
Imgproc.rectangle(rgbaMat, boundRect.tl(), new Point(boundRect.br().x, a), CONTOUR_COLOR, 2, 8, 0);
MatOfPoint2f pointMat = new MatOfPoint2f();
Imgproc.approxPolyDP(new MatOfPoint2f(contours[boundPos].toArray()), pointMat, 3, true);
contours[boundPos] = new MatOfPoint(pointMat.toArray());
MatOfInt hull = new MatOfInt();
MatOfInt4 convexDefect = new MatOfInt4();
Imgproc.convexHull(new MatOfPoint(contours[boundPos].toArray()), hull);
if (hull.toArray().Length < 3)
{
return;
}
Imgproc.convexityDefects(new MatOfPoint(contours[boundPos].toArray()), hull, convexDefect);
List <MatOfPoint> hullPoints = new List <MatOfPoint>();
List <Point> listPo = new List <Point>();
for (int j = 0; j < hull.toList().Count; j++)
{
listPo.Add(contours[boundPos].toList()[hull.toList()[j]]);
}
MatOfPoint e = new MatOfPoint();
e.fromList(listPo);
hullPoints.Add(e);
List <MatOfPoint> defectPoints = new List <MatOfPoint>();
List <Point> listPoDefect = new List <Point>();
for (int j = 0; j < convexDefect.toList().Count; j = j + 4)
{
Point farPoint = contours[boundPos].toList()[convexDefect.toList()[j + 2]];
int depth = convexDefect.toList()[j + 3];
if (depth > 8700 && farPoint.y < a)
{
listPoDefect.Add(contours[boundPos].toList()[convexDefect.toList()[j + 2]]);
}
}
MatOfPoint e2 = new MatOfPoint();
e2.fromList(listPo);
defectPoints.Add(e2);
Imgproc.drawContours(rgbaMat, hullPoints, -1, CONTOUR_COLOR, 3);
this.numberOfFingers = listPoDefect.Count;
if (this.numberOfFingers > 5)
{
this.numberOfFingers = 5;
}
foreach (Point p in listPoDefect)
{
Imgproc.circle(rgbaMat, p, 6, new Scalar(255, 0, 255, 255), -1);
}
}
//手を検出して画像に描画する
private static void _handPoseEstimationProcess(Mat rgbaMat, Color handColor)
{
Imgproc.GaussianBlur(rgbaMat, rgbaMat, new OpenCVForUnity.Size(3, 3), 1, 1);
//検出器に色を設定
detector.setHsvColor(HGColorSpuiter.ColorToScalar(handColor));
List <MatOfPoint> contours = detector.getContours();
detector.process(rgbaMat);
if (contours.Count <= 0)
{
return;
}
//手の角度に傾いた外接矩形を作成
RotatedRect rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[0].toArray()));
double boundWidth = rect.size.width;
double boundHeight = rect.size.height;
int boundPos = 0;
for (int i = 1; i < contours.Count; i++)
{
rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[i].toArray()));
if (rect.size.width * rect.size.height > boundWidth * boundHeight)
{
boundWidth = rect.size.width;
boundHeight = rect.size.height;
boundPos = i;
}
}
OpenCVForUnity.Rect boundRect = Imgproc.boundingRect(new MatOfPoint(contours[boundPos].toArray()));
//手首までの範囲を描画
Imgproc.rectangle(rgbaMat, boundRect.tl(), boundRect.br(), HGColorSpuiter.ColorToScalar(WristRangeColor), 2, 8, 0);
double a = boundRect.br().y - boundRect.tl().y;
a = a * 0.7;
a = boundRect.tl().y + a;
//手のひらの範囲を描画
Imgproc.rectangle(rgbaMat, boundRect.tl(), new Point(boundRect.br().x, a), HGColorSpuiter.ColorToScalar(PalmsRangeColor), 2, 8, 0);
//折れ線カーブまたはポリゴンを，互いの距離が指定された精度以下になるように，より少ない頂点数のカーブやポリゴンで近似します
MatOfPoint2f pointMat = new MatOfPoint2f();
Imgproc.approxPolyDP(new MatOfPoint2f(contours[boundPos].toArray()), pointMat, 3, true);
contours[boundPos] = new MatOfPoint(pointMat.toArray());
//点とポリゴンの最短距離を計算
MatOfInt hull = new MatOfInt();
MatOfInt4 convexDefect = new MatOfInt4();
Imgproc.convexHull(new MatOfPoint(contours[boundPos].toArray()), hull);
if (hull.toArray().Length < 3)
{
return;
}
Imgproc.convexityDefects(new MatOfPoint(contours[boundPos].toArray()), hull, convexDefect);
//手の範囲を取得
List <MatOfPoint> hullPoints = new List <MatOfPoint>();
List <Point> listPo = new List <Point>();
for (int j = 0; j < hull.toList().Count; j++)
{
listPo.Add(contours[boundPos].toList()[hull.toList()[j]]);
}
MatOfPoint e = new MatOfPoint();
e.fromList(listPo);
hullPoints.Add(e);
//手の範囲を描画
Imgproc.drawContours(rgbaMat, hullPoints, -1, HGColorSpuiter.ColorToScalar(HandRangeColor), 3);
//指と認識した場所を取得
List <MatOfPoint> defectPoints = new List <MatOfPoint>();
List <Point> listPoDefect = new List <Point>();
for (int j = 0; j < convexDefect.toList().Count; j = j + 4)
{
Point farPoint = contours[boundPos].toList()[convexDefect.toList()[j + 2]];
int depth = convexDefect.toList()[j + 3];
if (depth > depthThreashold && farPoint.y < a)
{
listPoDefect.Add(contours[boundPos].toList()[convexDefect.toList()[j + 2]]);
}
}
MatOfPoint e2 = new MatOfPoint();
e2.fromList(listPo);
defectPoints.Add(e2);
//検出した指の本数を更新
numberOfFingers = listPoDefect.Count;
if (numberOfFingers > 5)
{
numberOfFingers = 5;
}
//指の間に点を描画
foreach (Point p in listPoDefect)
{
Imgproc.circle(rgbaMat, p, 6, HGColorSpuiter.ColorToScalar(BetweenFingersColor), -1);
}
}
void Start()
{
srcMat = Imgcodecs.imread(Application.dataPath + "/Textures/lena.jpg", 1); //512
Imgproc.cvtColor(srcMat, srcMat, Imgproc.COLOR_BGR2RGB);
Imgproc.resize(srcMat, srcMat, new Size(512, 512));
Texture2D src_t2d = new Texture2D(srcMat.width(), srcMat.height());
Utils.matToTexture2D(srcMat, src_t2d);
Sprite src_sp = Sprite.Create(src_t2d, new UnityEngine.Rect(0, 0, src_t2d.width, src_t2d.height), Vector2.zero);
m_srcImage.sprite = src_sp;
m_srcImage.rectTransform.offsetMin = new Vector2(0, 0);
m_srcImage.rectTransform.offsetMax = new Vector2(srcMat.width(), srcMat.height());
m_srcImage.rectTransform.anchoredPosition = Vector2.zero;
//------------------------------------------------//
//轮廓提取
Mat mask = Mat.zeros(srcMat.size(), CvType.CV_8UC3);
Point p0 = new Point(0, 0);
Point p1 = new Point(0, 256);
Point p2 = new Point(256, 0);
MatOfPoint pts1 = new MatOfPoint(new Point[3] {
p0, p1, p2
});
Point p3 = new Point(256, 0);
Point p4 = new Point(512, 0);
Point p5 = new Point(512, 256);
MatOfPoint pts2 = new MatOfPoint(new Point[3] {
p3, p4, p5
});
List <MatOfPoint> contour = new List <MatOfPoint>()
{
pts1, pts2
};
for (int i = 0; i < contour.Count; i++)
{
Imgproc.drawContours(mask, contour, i, new Scalar(255), -1); //全部放到mask上
}
//------------------------------------------------//
MatOfPoint PointArray = new MatOfPoint();
dstMat = Mat.zeros(srcMat.size(), CvType.CV_8UC3);
PointArray.fromList(new List <Point>()
{
new Point(50, 10),
new Point(300, 12),
new Point(350, 250),
new Point(9, 250),
});
Imgproc.fillConvexPoly(dstMat, PointArray, new Scalar(255, 0, 0), 4, 0);
//------------------------------------------------//
OpenCVForUnity.Rect r1 = Imgproc.boundingRect(pts1);
Texture2D dst_t2d = new Texture2D(dstMat.width(), dstMat.height());
Utils.matToTexture2D(dstMat, dst_t2d);
Sprite dst_sp = Sprite.Create(dst_t2d, new UnityEngine.Rect(0, 0, dst_t2d.width, dst_t2d.height), Vector2.zero);
m_roiImage.sprite = dst_sp;
m_roiImage.preserveAspect = true;
m_roiImage.rectTransform.offsetMin = new Vector2(0, 0);
m_roiImage.rectTransform.offsetMax = new Vector2(dstMat.width(), dstMat.height());
m_roiImage.rectTransform.anchoredPosition = Vector2.zero;
}
/// <summary>
/// Processes points by filter.
/// </summary>
/// <param name="img">Image mat.</param>
/// <param name="srcPoints">Input points.</param>
/// <param name="dstPoints">Output points.</param>
/// <param name="drawDebugPoints">if true, draws debug points.</param>
/// <returns>Output points.</returns>
public override List <Vector2> Process(Mat img, List <Vector2> srcPoints, List <Vector2> dstPoints = null, bool drawDebugPoints = false)
{
if (srcPoints != null && srcPoints.Count != numberOfElements)
{
throw new ArgumentException("The number of elements is different.");
}
if (srcPoints != null)
{
if (dstPoints == null)
{
dstPoints = new List <Vector2> ();
}
if (dstPoints != null && dstPoints.Count != numberOfElements)
{
dstPoints.Clear();
for (int i = 0; i < numberOfElements; i++)
{
dstPoints.Add(new Vector2());
}
}
for (int i = 0; i < numberOfElements; i++)
{
src_points [i].x = srcPoints [i].x;
src_points [i].y = srcPoints [i].y;
}
// clac diffDlib
prevTrackPtsMat.fromList(src_points);
OpenCVForUnity.Rect rect = Imgproc.boundingRect(prevTrackPtsMat);
double diffDlib = this.diffDlib * rect.area() / 40000.0 * diffCheckSensitivity;
// if the face is moving so fast, use dlib to detect the face
double diff = calDistanceDiff(src_points, last_points);
if (drawDebugPoints)
{
Debug.Log("variance:" + diff);
}
if (diff > diffDlib)
{
for (int i = 0; i < numberOfElements; i++)
{
dstPoints [i] = srcPoints [i];
}
if (drawDebugPoints)
{
Debug.Log("DLIB");
for (int i = 0; i < numberOfElements; i++)
{
Imgproc.circle(img, new Point(srcPoints [i].x, srcPoints [i].y), 2, new Scalar(255, 0, 0, 255), -1);
}
}
flag = false;
}
else
{
if (!flag)
{
// Set initial state estimate.
Mat statePreMat = KF.get_statePre();
float[] tmpStatePre = new float[statePreMat.total()];
for (int i = 0; i < numberOfElements; i++)
{
tmpStatePre [i * 2] = (float)srcPoints [i].x;
tmpStatePre [i * 2 + 1] = (float)srcPoints [i].y;
}
statePreMat.put(0, 0, tmpStatePre);
Mat statePostMat = KF.get_statePost();
float[] tmpStatePost = new float[statePostMat.total()];
for (int i = 0; i < numberOfElements; i++)
{
tmpStatePost [i * 2] = (float)srcPoints [i].x;
tmpStatePost [i * 2 + 1] = (float)srcPoints [i].y;
}
statePostMat.put(0, 0, tmpStatePost);
flag = true;
}
// Kalman Prediction
KF.predict();
// Update Measurement
float[] tmpMeasurement = new float[measurement.total()];
for (int i = 0; i < numberOfElements; i++)
{
tmpMeasurement [i * 2] = (float)srcPoints [i].x;
tmpMeasurement [i * 2 + 1] = (float)srcPoints [i].y;
}
measurement.put(0, 0, tmpMeasurement);
// Correct Measurement
Mat estimated = KF.correct(measurement);
float[] tmpEstimated = new float[estimated.total()];
estimated.get(0, 0, tmpEstimated);
for (int i = 0; i < numberOfElements; i++)
{
predict_points [i].x = tmpEstimated [i * 2];
predict_points [i].y = tmpEstimated [i * 2 + 1];
}
estimated.Dispose();
for (int i = 0; i < numberOfElements; i++)
{
dstPoints [i] = new Vector2((float)predict_points [i].x, (float)predict_points [i].y);
}
if (drawDebugPoints)
{
Debug.Log("Kalman Filter");
for (int i = 0; i < numberOfElements; i++)
{
Imgproc.circle(img, predict_points [i], 2, new Scalar(0, 255, 0, 255), -1);
}
}
}
for (int i = 0; i < numberOfElements; i++)
{
last_points [i].x = src_points [i].x;
last_points [i].y = src_points [i].y;
}
return(dstPoints);
}
else
{
return(dstPoints == null ? srcPoints : dstPoints);
}
}
/*=============================================*
* 輪郭ごとの頂点から手を判別するまで
*=============================================*/
/// <summary>
/// Contours to hand gesture.
/// </summary>
/// <param name="rgbaMat">Rgba mat.</param>
/// <param name="contour">Contour.</param>
private static void _contourToHandGesture(Mat rgbaMat, MatOfPoint contour)
{
try
{
//頂点を調査する準備をする
_pointOfVertices(rgbaMat, contour);
//基準輪郭のサイズの取得と描画（長方形）
OpenCVForUnity.Rect boundRect = Imgproc.boundingRect(new MatOfPoint(contour.toArray()));
Imgproc.rectangle(rgbaMat, boundRect.tl(), boundRect.br(), HGColorSpuiter.ColorToScalar(ContourRangeColor), 2, 8, 0);
/*=============================================*
* 腕まで含んだ手の大きさを取得する
**=============================================*/
//腕まで含んだ手の大きさを識別する
MatOfInt hull = new MatOfInt();
Imgproc.convexHull(new MatOfPoint(contour.toArray()), hull);
//腕まで含んだ手の範囲を取得
List <Point> armPointList = new List <Point>();
for (int j = 0; j < hull.toList().Count; j++)
{
Point armPoint = contour.toList()[hull.toList()[j]];
bool addFlag = true;
foreach (Point point in armPointList.ToArray())
{
//輪郭の1/10より近い頂点は誤差としてまとめる
double distance = Mathf.Sqrt((float)((armPoint.x - point.x) * (armPoint.x - point.x) + (armPoint.y - point.y) * (armPoint.y - point.y)));
if (distance <= Mathf.Min((float)boundRect.width, (float)boundRect.height) / 10)
{
addFlag = false;
break;
}
}
if (addFlag)
{
armPointList.Add(armPoint);
}
}
MatOfPoint armMatOfPoint = new MatOfPoint();
armMatOfPoint.fromList(armPointList);
List <MatOfPoint> armPoints = new List <MatOfPoint>();
armPoints.Add(armMatOfPoint);
//腕まで含んだ手の範囲を描画
Imgproc.drawContours(rgbaMat, armPoints, -1, HGColorSpuiter.ColorToScalar(ArmRangeColor), 3);
//腕まで含んだ手が三角形の場合はそれ以上の識別が難しい
if (hull.toArray().Length < 3)
{
return;
}
/*=============================================*
* 掌の大きさを取得する
**=============================================*/
//凸面の頂点から凹面の点のみを取得し、掌の範囲を取得する
MatOfInt4 convexDefect = new MatOfInt4();
Imgproc.convexityDefects(new MatOfPoint(contour.toArray()), hull, convexDefect);
//凹面の点をフィルタリングして取得
List <Point> palmPointList = new List <Point>();
for (int j = 0; j < convexDefect.toList().Count; j = j + 4)
{
Point farPoint = contour.toList()[convexDefect.toList()[j + 2]];
int depth = convexDefect.toList()[j + 3];
if (depth > depthThreashold && farPoint.y < boundRect.br().y - boundRect.tl().y)
{
palmPointList.Add(contour.toList()[convexDefect.toList()[j + 2]]);
}
}
MatOfPoint palmMatOfPoint = new MatOfPoint();
palmMatOfPoint.fromList(palmPointList);
List <MatOfPoint> palmPoints = new List <MatOfPoint>();
palmPoints.Add(palmMatOfPoint);
//掌の範囲を描画
Imgproc.drawContours(rgbaMat, palmPoints, -1, HGColorSpuiter.ColorToScalar(PalmRangeColor), 3);
/*=============================================*
* 掌+指先の大きさを取得する
**=============================================*/
//掌の位置を元に手首を除いた範囲を取得する
List <Point> handPointList = new List <Point>();
handPointList.AddRange(armPointList.ToArray());
handPointList.Reverse();
handPointList.RemoveAt(0);
handPointList.Insert(0, palmPointList.ToArray()[0]);
handPointList.RemoveAt(handPointList.Count - 1);
handPointList.Insert(handPointList.Count, palmPointList.ToArray()[palmPointList.Count - 1]);
MatOfPoint handMatOfPoint = new MatOfPoint();
handMatOfPoint.fromList(handPointList);
List <MatOfPoint> handPoints = new List <MatOfPoint>();
handPoints.Add(handMatOfPoint);
Imgproc.drawContours(rgbaMat, handPoints, -1, HGColorSpuiter.ColorToScalar(HandRangeColor), 3);
/*=============================================*
* 指先の位置を取得する
**=============================================*/
//掌の各頂点の中心を求める
List <Point> palmCenterPoints = new List <Point>();
for (int i = 0; i < palmPointList.Count; i++)
{
Point palmPoint = palmPointList.ToArray()[i];
Point palmPointNext = new Point();
if (i + 1 < palmPointList.Count)
{
palmPointNext = palmPointList.ToArray()[i + 1];
}
else
{
palmPointNext = palmPointList.ToArray()[0];
}
Point palmCenterPoint = new Point((palmPoint.x + palmPointNext.x) / 2, (palmPoint.y + palmPointNext.y) / 2);
palmCenterPoints.Add(palmCenterPoint);
}
//掌の頂点から最も近い手の頂点を求める
for (int i = 0; i < palmCenterPoints.Count && i + 1 < handPointList.Count && i < 5; i++)
{
Point palmPoint = palmCenterPoints.ToArray()[i];
List <Point> fingerList = new List <Point>();
fingerList.Add(palmPoint);
fingerList.Add(handPointList.ToArray()[i + 1]);
MatOfPoint fingerPoint = new MatOfPoint();
fingerPoint.fromList(fingerList);
List <MatOfPoint> fingerPoints = new List <MatOfPoint>();
fingerPoints.Add(fingerPoint);
Imgproc.drawContours(rgbaMat, fingerPoints, -1, HGColorSpuiter.ColorToScalar(FingerRangeColor), 3);
}
// Imgproc.putText(rgbaMat, "", new Point(2, rgbaMat.rows()-30), Core.FONT_HERSHEY_SIMPLEX, 1.0, HGColorSpuiter.ColorToScalar(Color.black), 2, Imgproc.LINE_AA, false);
}
catch (System.Exception e)
{
Debug.Log(e.Message);
}
}