double normalizeArea(RegionCandidate candidate)
{
var maxArea = searchRect.area();
candidate.calcArea();
return(candidate.area / maxArea);
}
//平滑影像(若與上一張圖片相差過少將不更新畫面)
private Mat SmoothesImage(Mat currentImage)
{
Mat hierarchy = new Mat();
List <MatOfPoint> contours = new List <MatOfPoint>();
Mat diffImage = new Mat();
if (_smoothesImage == null)
{
_smoothesImage = new Mat(currentImage.height(), currentImage.width(), CvType.CV_8UC1);
currentImage.copyTo(_smoothesImage);
}
Core.absdiff(currentImage, _smoothesImage, diffImage);
Imgproc.findContours(diffImage, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
for (int index = 0; index < contours.Count; index++)
{
OpenCVForUnity.Rect tempRect = Imgproc.boundingRect(contours[index]);
//差異面積
if (tempRect.area() > (MatchWidth * MatchHeight * _smoothesImagePer))
{
currentImage.copyTo(_smoothesImage);
_DepthImageChangeFlag = true;
return(currentImage);
}
}
return(_smoothesImage);
}
//不辨識輪廓直接產生物體
private List <OpenCVForUnity.Rect> analysisContours(List <MatOfPoint> contours)
{
List <OpenCVForUnity.Rect> depthImageChangeRectList = new List <OpenCVForUnity.Rect>();
for (int index = 0; index < contours.Count; index++)
{
OpenCVForUnity.Rect testDepthRect = Imgproc.boundingRect(contours[index]);
if (testDepthRect.height > 0 && testDepthRect.width > 0 && testDepthRect.area() > 0)
{
depthImageChangeRectList.Add(testDepthRect);
}
}
return(depthImageChangeRectList);
}
//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);
}
private void getObjects(List <Rect> result)
{
result.Clear();
for (int i = 0; i < trackedObjects.Count; i++)
{
Rect r = calcTrackedObjectPositionToShow(i);
if (r.area() == 0)
{
continue;
}
result.Add(r);
//LOGD("DetectionBasedTracker::process: found a object with SIZE %d x %d, rect={%d, %d, %d x %d}", r.width, r.height, r.x, r.y, r.width, r.height);
}
}
public RegionCandidateSet elliminateByArea(OpenCVForUnity.Rect searchRect, double minArea, double maxArea)
{
var results = new List <RegionCandidate> ();
double wholeArea = searchRect.area();
foreach (var candidate in this.candidates)
{
double areaRatio = candidate.area / wholeArea;
if (minArea < areaRatio && areaRatio < maxArea)
{
results.Add(candidate);
}
}
candidates = results;
return(this);
}
public void score(List <RegionCandidate> candidates)
{
double max = searchRect.area();
Point preCenter = ARUtil.getRectCenterPoint(previousRect);
Point centerPt = ARUtil.getRectCenterPoint(searchRect);
double maxDistance = (searchRect.width + searchRect.height);
foreach (var candidate in candidates)
{
candidate.ellipse(); // 外接楕円を計算
// 円形度 + 輪郭面積 + 画像中心からの近さ + 前フレームの領域からの近さ
candidate.score = w_circularity * candidate.circularity
+ w_area * candidate.area / max
+ w_center * ARUtil.clothness(centerPt, candidate.center, maxDistance)
+ w_previousFrame * ARUtil.clothness(preCenter, candidate.center, maxDistance);
}
}
private void updateTrackedObjects(List <Rect> detectedObjects)
{
int N1 = (int)trackedObjects.Count;
int N2 = (int)detectedObjects.Count;
for (int i = 0; i < N1; i++)
{
trackedObjects [i].numDetectedFrames++;
}
int[] correspondence = new int[N2];
for (int i = 0; i < N2; i++)
{
correspondence [i] = (int)TrackedState.NEW_RECTANGLE;
}
for (int i = 0; i < N1; i++)
{
TrackedObject curObject = trackedObjects [i];
int bestIndex = -1;
int bestArea = -1;
int numpositions = (int)curObject.lastPositions.Count;
//if (numpositions > 0) UnityEngine.Debug.LogError("numpositions > 0 is false");
Rect prevRect = curObject.lastPositions [numpositions - 1];
for (int j = 0; j < N2; j++)
{
if (correspondence [j] >= 0)
{
//Debug.Log("DetectionBasedTracker::updateTrackedObjects: j=" + i + " is rejected, because it has correspondence=" + correspondence[j]);
continue;
}
if (correspondence [j] != (int)TrackedState.NEW_RECTANGLE)
{
//Debug.Log("DetectionBasedTracker::updateTrackedObjects: j=" + j + " is rejected, because it is intersected with another rectangle");
continue;
}
Rect r = Intersect(prevRect, detectedObjects [j]);
if ((r.width > 0) && (r.height > 0))
{
//LOGD("DetectionBasedTracker::updateTrackedObjects: There is intersection between prevRect and detectedRect, r={%d, %d, %d x %d}",
// r.x, r.y, r.width, r.height);
correspondence [j] = (int)TrackedState.INTERSECTED_RECTANGLE;
if (r.area() > bestArea)
{
//LOGD("DetectionBasedTracker::updateTrackedObjects: The area of intersection is %d, it is better than bestArea=%d", r.area(), bestArea);
bestIndex = j;
bestArea = (int)r.area();
}
}
}
if (bestIndex >= 0)
{
//LOGD("DetectionBasedTracker::updateTrackedObjects: The best correspondence for i=%d is j=%d", i, bestIndex);
correspondence [bestIndex] = i;
for (int j = 0; j < N2; j++)
{
if (correspondence [j] >= 0)
{
continue;
}
Rect r = Intersect(detectedObjects [j], detectedObjects [bestIndex]);
if ((r.width > 0) && (r.height > 0))
{
//LOGD("DetectionBasedTracker::updateTrackedObjects: Found intersection between "
// "rectangles j=%d and bestIndex=%d, rectangle j=%d is marked as intersected", j, bestIndex, j);
correspondence [j] = (int)TrackedState.INTERSECTED_RECTANGLE;
}
}
}
else
{
//LOGD("DetectionBasedTracker::updateTrackedObjects: There is no correspondence for i=%d ", i);
curObject.numFramesNotDetected++;
}
}
//LOGD("DetectionBasedTracker::updateTrackedObjects: start second cycle");
for (int j = 0; j < N2; j++)
{
int i = correspondence [j];
if (i >= 0) //add position
//Debug.Log("DetectionBasedTracker::updateTrackedObjects: add position");
{
trackedObjects [i].lastPositions.Add(detectedObjects [j]);
while ((int)trackedObjects[i].lastPositions.Count > (int)innerParameters.numLastPositionsToTrack)
{
trackedObjects [i].lastPositions.Remove(trackedObjects [i].lastPositions [0]);
}
trackedObjects [i].numFramesNotDetected = 0;
}
else if (i == (int)TrackedState.NEW_RECTANGLE) //new object
//Debug.Log("DetectionBasedTracker::updateTrackedObjects: new object");
{
trackedObjects.Add(new TrackedObject(detectedObjects [j]));
}
else
{
Debug.Log("DetectionBasedTracker::updateTrackedObjects: was auxiliary intersection");
}
}
int t = 0;
TrackedObject it;
while (t < trackedObjects.Count)
{
it = trackedObjects [t];
if ((it.numFramesNotDetected > parameters.maxTrackLifetime)
||
((it.numDetectedFrames <= innerParameters.numStepsToWaitBeforeFirstShow)
&&
(it.numFramesNotDetected > innerParameters.numStepsToTrackWithoutDetectingIfObjectHasNotBeenShown))
)
{
//int numpos = (int)it.lastPositions.Count;
//if (numpos > 0) UnityEngine.Debug.LogError("numpos > 0 is false");
//Rect r = it.lastPositions [numpos - 1];
//Debug.Log("DetectionBasedTracker::updateTrackedObjects: deleted object " + r.x + " " + r.y + " " + r.width + " " + r.height);
trackedObjects.Remove(it);
}
else
{
t++;
}
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.isPlaying() && webCamTextureToMatHelper.didUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
Imgproc.equalizeHist(grayMat, grayMat);
if (!threadComm.shouldDetectInMultiThread)
{
lock (thisLock) {
grayMat.copyTo(grayMat4Thread);
}
threadComm.shouldDetectInMultiThread = true;
}
OpenCVForUnity.Rect[] rects;
if (didUpdateTheDetectionResult)
{
lock (thisLock) {
//Debug.Log("DetectionBasedTracker::process: get _rectsWhereRegions were got from resultDetect");
rectsWhereRegions = resultDetect.toArray();
rects = resultDetect.toArray();
}
didUpdateTheDetectionResult = false;
for (int i = 0; i < rects.Length; i++)
{
Imgproc.rectangle(rgbaMat, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(0, 0, 255, 255), 2);
}
}
else
{
//Debug.Log("DetectionBasedTracker::process: get _rectsWhereRegions from previous positions");
rectsWhereRegions = new Rect[trackedObjects.Count];
for (int i = 0; i < trackedObjects.Count; i++)
{
int n = trackedObjects [i].lastPositions.Count;
//if (n > 0) UnityEngine.Debug.LogError("n > 0 is false");
Rect r = trackedObjects [i].lastPositions [n - 1];
if (r.area() == 0)
{
Debug.Log("DetectionBasedTracker::process: ERROR: ATTENTION: strange algorithm's behavior: trackedObjects[i].rect() is empty");
continue;
}
//correction by speed of rectangle
if (n > 1)
{
Point center = centerRect(r);
Point center_prev = centerRect(trackedObjects [i].lastPositions [n - 2]);
Point shift = new Point((center.x - center_prev.x) * innerParameters.coeffObjectSpeedUsingInPrediction,
(center.y - center_prev.y) * innerParameters.coeffObjectSpeedUsingInPrediction);
r.x += (int)Math.Round(shift.x);
r.y += (int)Math.Round(shift.y);
}
rectsWhereRegions [i] = r;
}
rects = rectsWhereRegions;
for (int i = 0; i < rects.Length; i++)
{
Imgproc.rectangle(rgbaMat, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(0, 255, 0, 255), 2);
}
}
if (rectsWhereRegions.Length > 0)
{
detectedObjectsInRegions.Clear();
int len = rectsWhereRegions.Length;
for (int i = 0; i < len; i++)
{
detectInRegion(grayMat, rectsWhereRegions [i], detectedObjectsInRegions);
}
}
updateTrackedObjects(detectedObjectsInRegions);
getObjects(resultObjects);
rects = resultObjects.ToArray();
for (int i = 0; i < rects.Length; i++)
{
//Debug.Log ("detect faces " + rects [i]);
Imgproc.rectangle(rgbaMat, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(255, 0, 0, 255), 2);
}
// 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, colors);
}
}
/// <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);
}
}
// Update is called once per frame
void Update()
{
if (!initDone)
{
return;
}
if (screenOrientation != Screen.orientation)
{
screenOrientation = Screen.orientation;
updateLayout();
}
#if UNITY_IOS && !UNITY_EDITOR && (UNITY_4_6_3 || UNITY_4_6_4 || UNITY_5_0_0 || UNITY_5_0_1)
if (webCamTexture.width > 16 && webCamTexture.height > 16)
{
#else
if (webCamTexture.didUpdateThisFrame)
{
#endif
Utils.webCamTextureToMat(webCamTexture, rgbaMat, colors);
if (webCamDevice.isFrontFacing)
{
if (webCamTexture.videoRotationAngle == 0)
{
Core.flip(rgbaMat, rgbaMat, 1);
}
else if (webCamTexture.videoRotationAngle == 90)
{
Core.flip(rgbaMat, rgbaMat, 0);
}
if (webCamTexture.videoRotationAngle == 180)
{
Core.flip(rgbaMat, rgbaMat, 0);
}
else if (webCamTexture.videoRotationAngle == 270)
{
Core.flip(rgbaMat, rgbaMat, 1);
}
}
else
{
if (webCamTexture.videoRotationAngle == 180)
{
Core.flip(rgbaMat, rgbaMat, -1);
}
else if (webCamTexture.videoRotationAngle == 270)
{
Core.flip(rgbaMat, rgbaMat, -1);
}
}
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
Imgproc.equalizeHist(grayMat, grayMat);
if (!threadComm.shouldDetectInMultiThread)
{
lock (thisLock) {
grayMat.copyTo(grayMat4Thread);
}
threadComm.shouldDetectInMultiThread = true;
}
OpenCVForUnity.Rect[] rects;
if (didUpdateTheDetectionResult)
{
lock (thisLock) {
//Debug.Log("DetectionBasedTracker::process: get _rectsWhereRegions were got from resultDetect");
rectsWhereRegions = resultDetect.toArray();
rects = resultDetect.toArray();
}
didUpdateTheDetectionResult = false;
for (int i = 0; i < rects.Length; i++)
{
Core.rectangle(rgbaMat, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(0, 0, 255, 255), 2);
}
}
else
{
//Debug.Log("DetectionBasedTracker::process: get _rectsWhereRegions from previous positions");
rectsWhereRegions = new Rect[trackedObjects.Count];
for (int i = 0; i < trackedObjects.Count; i++)
{
int n = trackedObjects [i].lastPositions.Count;
//if (n > 0) UnityEngine.Debug.LogError("n > 0 is false");
Rect r = trackedObjects [i].lastPositions [n - 1];
if (r.area() == 0)
{
Debug.Log("DetectionBasedTracker::process: ERROR: ATTENTION: strange algorithm's behavior: trackedObjects[i].rect() is empty");
continue;
}
//correction by speed of rectangle
if (n > 1)
{
Point center = centerRect(r);
Point center_prev = centerRect(trackedObjects [i].lastPositions [n - 2]);
Point shift = new Point((center.x - center_prev.x) * innerParameters.coeffObjectSpeedUsingInPrediction,
(center.y - center_prev.y) * innerParameters.coeffObjectSpeedUsingInPrediction);
r.x += (int)Math.Round(shift.x);
r.y += (int)Math.Round(shift.y);
}
rectsWhereRegions [i] = r;
}
rects = rectsWhereRegions;
for (int i = 0; i < rects.Length; i++)
{
Core.rectangle(rgbaMat, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(0, 255, 0, 255), 2);
}
}
if (rectsWhereRegions.Length > 0)
{
detectedObjectsInRegions.Clear();
int len = rectsWhereRegions.Length;
for (int i = 0; i < len; i++)
{
detectInRegion(grayMat, rectsWhereRegions [i], detectedObjectsInRegions);
}
}
updateTrackedObjects(detectedObjectsInRegions);
getObjects(resultObjects);
rects = resultObjects.ToArray();
for (int i = 0; i < rects.Length; i++)
{
//Debug.Log ("detect faces " + rects [i]);
Core.rectangle(rgbaMat, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(255, 0, 0, 255), 2);
}
Utils.matToTexture2D(rgbaMat, texture, colors);
}
}
//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);
}
/// <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.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);
}
// Update is called once per frame
void Update()
{
#if !UNITY_WEBGL || UNITY_EDITOR
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetDownScaleMat(webCamTextureToMatHelper.GetMat());
Mat rgbaMatClipROI = new Mat(rgbaMat, processingAreaRect);
Imgproc.cvtColor(rgbaMatClipROI, grayMat, Imgproc.COLOR_RGBA2GRAY);
// fill all black.
// Imgproc.rectangle (rgbaMatClipROI, new Point (0, 0), new Point (rgbaMat.width (), rgbaMat.height ()), new Scalar (0, 0, 0, 0), -1);
Imgproc.equalizeHist(grayMat, grayMat);
if (!threadComm.shouldDetectInMultiThread)
{
grayMat.copyTo(grayMat4Thread);
threadComm.shouldDetectInMultiThread = true;
}
// OpenCVForUnity.Rect[] rects;
if (didUpdateTheDetectionResult)
{
didUpdateTheDetectionResult = false;
lock (thisLock) {
//Debug.Log("DetectionBasedTracker::process: get _rectsWhereRegions were got from resultDetect");
rectsWhereRegions = resultDetect.toArray();
// rects = resultDetect.toArray ();
}
// for (int i = 0; i < rects.Length; i++) {
// Imgproc.rectangle (rgbaMatClipROI, new Point (rects [i].x, rects [i].y), new Point (rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar (0, 0, 255, 255), 2);
// }
}
else
{
//Debug.Log("DetectionBasedTracker::process: get _rectsWhereRegions from previous positions");
rectsWhereRegions = new Rect[trackedObjects.Count];
for (int i = 0; i < trackedObjects.Count; i++)
{
int n = trackedObjects [i].lastPositions.Count;
//if (n > 0) UnityEngine.Debug.LogError("n > 0 is false");
Rect r = trackedObjects [i].lastPositions [n - 1].clone();
if (r.area() == 0)
{
Debug.Log("DetectionBasedTracker::process: ERROR: ATTENTION: strange algorithm's behavior: trackedObjects[i].rect() is empty");
continue;
}
//correction by speed of rectangle
if (n > 1)
{
Point center = centerRect(r);
Point center_prev = centerRect(trackedObjects [i].lastPositions [n - 2]);
Point shift = new Point((center.x - center_prev.x) * innerParameters.coeffObjectSpeedUsingInPrediction,
(center.y - center_prev.y) * innerParameters.coeffObjectSpeedUsingInPrediction);
r.x += (int)Math.Round(shift.x);
r.y += (int)Math.Round(shift.y);
}
rectsWhereRegions [i] = r;
}
// rects = rectsWhereRegions;
// for (int i = 0; i < rects.Length; i++) {
// Imgproc.rectangle (rgbaMatClipROI, new Point (rects [i].x, rects [i].y), new Point (rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar (0, 255, 0, 255), 2);
// }
}
if (rectsWhereRegions.Length > 0)
{
detectedObjectsInRegions.Clear();
int len = rectsWhereRegions.Length;
for (int i = 0; i < len; i++)
{
detectInRegion(grayMat, rectsWhereRegions [i], detectedObjectsInRegions);
}
}
updateTrackedObjects(detectedObjectsInRegions);
getObjects(resultObjects);
//getSmoothingObjects (resultObjects);
int rectsCount = resultObjects.Count;
UnityEngine.Rect[] overlayRects = new UnityEngine.Rect[rectsCount];
float width = rgbaMat.width();
float height = rgbaMat.height();
float offsetX = processingAreaRect.x / width;
float offsetY = processingAreaRect.y / height;
for (int i = 0; i < resultObjects.Count; i++)
{
overlayRects[i] = new UnityEngine.Rect(offsetX + (resultObjects[i].x / width)
, offsetY + (resultObjects[i].y / height)
, resultObjects[i].width / width
// , resultObjects[i].height/height);
, resultObjects[i].width / height);
}
rectOverlay.DrawRects(overlayRects);
rgbaMatClipROI.Dispose();
}
if (webCamTextureToMatHelper.IsPlaying())
{
Matrix4x4 cameraToWorldMatrix = Camera.main.cameraToWorldMatrix;;
Vector3 ccCameraSpacePos = UnProjectVector(projectionMatrix, new Vector3(0.0f, 0.0f, overlayDistance));
Vector3 tlCameraSpacePos = UnProjectVector(projectionMatrix, new Vector3(-overlayDistance, overlayDistance, overlayDistance));
//position
Vector3 position = cameraToWorldMatrix.MultiplyPoint3x4(ccCameraSpacePos);
gameObject.transform.position = position;
//scale
Vector3 scale = new Vector3(Mathf.Abs(tlCameraSpacePos.x - ccCameraSpacePos.x) * 2, Mathf.Abs(tlCameraSpacePos.y - ccCameraSpacePos.y) * 2, 1);
gameObject.transform.localScale = scale;
// Rotate the canvas object so that it faces the user.
Quaternion rotation = Quaternion.LookRotation(-cameraToWorldMatrix.GetColumn(2), cameraToWorldMatrix.GetColumn(1));
gameObject.transform.rotation = rotation;
rectOverlay.UpdateOverlayTransform(gameObject.transform);
}
#else
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.putText(rgbaMat, "WebGL platform does not support multi-threading.", new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 0.5, new Scalar(255, 255, 255, 255), 1, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
#endif
}
// Update is called once per frame
void Update()
{
#if !UNITY_WEBGL || UNITY_EDITOR
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetDownScaleMat(webCamTextureToMatHelper.GetMat());
Mat rgbaMatClipROI = new Mat(rgbaMat, processingAreaRect);
Imgproc.cvtColor(rgbaMatClipROI, grayMat, Imgproc.COLOR_RGBA2GRAY);
if (!isShowingWebCamImage)
{
// fill all black.
Imgproc.rectangle(rgbaMatClipROI, new Point(0, 0), new Point(rgbaMat.width(), rgbaMat.height()), new Scalar(0, 0, 0, 0), -1);
}
Imgproc.equalizeHist(grayMat, grayMat);
if (!threadComm.shouldDetectInMultiThread)
{
grayMat.copyTo(grayMat4Thread);
threadComm.shouldDetectInMultiThread = true;
}
OpenCVForUnity.Rect[] rects;
if (didUpdateTheDetectionResult)
{
didUpdateTheDetectionResult = false;
lock (thisLock) {
//Debug.Log("DetectionBasedTracker::process: get _rectsWhereRegions were got from resultDetect");
rectsWhereRegions = resultDetect.toArray();
rects = resultDetect.toArray();
}
if (isShowingDebugFaceRects)
{
for (int i = 0; i < rects.Length; i++)
{
Imgproc.rectangle(rgbaMatClipROI, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(0, 0, 255, 255), 2);
}
}
}
else
{
//Debug.Log("DetectionBasedTracker::process: get _rectsWhereRegions from previous positions");
rectsWhereRegions = new Rect[trackedObjects.Count];
for (int i = 0; i < trackedObjects.Count; i++)
{
int n = trackedObjects [i].lastPositions.Count;
//if (n > 0) UnityEngine.Debug.LogError("n > 0 is false");
Rect r = trackedObjects [i].lastPositions [n - 1].clone();
if (r.area() == 0)
{
Debug.Log("DetectionBasedTracker::process: ERROR: ATTENTION: strange algorithm's behavior: trackedObjects[i].rect() is empty");
continue;
}
//correction by speed of rectangle
if (n > 1)
{
Point center = centerRect(r);
Point center_prev = centerRect(trackedObjects [i].lastPositions [n - 2]);
Point shift = new Point((center.x - center_prev.x) * innerParameters.coeffObjectSpeedUsingInPrediction,
(center.y - center_prev.y) * innerParameters.coeffObjectSpeedUsingInPrediction);
r.x += (int)Math.Round(shift.x);
r.y += (int)Math.Round(shift.y);
}
rectsWhereRegions [i] = r;
}
rects = rectsWhereRegions;
if (isShowingDebugFaceRects)
{
for (int i = 0; i < rects.Length; i++)
{
Imgproc.rectangle(rgbaMatClipROI, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(0, 255, 0, 255), 2);
}
}
}
if (rectsWhereRegions.Length > 0)
{
detectedObjectsInRegions.Clear();
int len = rectsWhereRegions.Length;
for (int i = 0; i < len; i++)
{
detectInRegion(grayMat, rectsWhereRegions [i], detectedObjectsInRegions);
}
}
updateTrackedObjects(detectedObjectsInRegions);
getObjects(resultObjects);
//getSmoothingObjects (resultObjects);
rects = resultObjects.ToArray();
for (int i = 0; i < rects.Length; i++)
{
//Debug.Log ("detect faces " + rects [i]);
Imgproc.rectangle(rgbaMatClipROI, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(255, 0, 0, 255), 2);
}
if (isShowingDebugFaceRects)
{
Imgproc.rectangle(rgbaMat, new Point(0, 0), new Point(rgbaMat.width(), rgbaMat.height()), new Scalar(255, 0, 0, 255), 2);
Imgproc.rectangle(rgbaMat, processingAreaRect.tl(), processingAreaRect.br(), new Scalar(255, 0, 0, 255), 2);
}
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
rgbaMatClipROI.Dispose();
}
if (webCamTextureToMatHelper.IsPlaying())
{
Matrix4x4 cameraToWorldMatrix = Camera.main.cameraToWorldMatrix;;
Matrix4x4 worldToCameraMatrix = cameraToWorldMatrix.inverse;
texture.wrapMode = TextureWrapMode.Clamp;
quad_renderer.sharedMaterial.SetMatrix("_WorldToCameraMatrix", worldToCameraMatrix);
// Position the canvas object slightly in front
// of the real world web camera.
Vector3 position = cameraToWorldMatrix.GetColumn(3) - cameraToWorldMatrix.GetColumn(2);
// Rotate the canvas object so that it faces the user.
Quaternion rotation = Quaternion.LookRotation(-cameraToWorldMatrix.GetColumn(2), cameraToWorldMatrix.GetColumn(1));
gameObject.transform.position = position;
gameObject.transform.rotation = rotation;
}
#else
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.putText(rgbaMat, "WebGL platform does not support multi-threading.", new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 0.5, new Scalar(255, 255, 255, 255), 1, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
#endif
}
private IEnumerator init()
{
if (webCamTexture != null)
{
webCamTexture.Stop();
initDone = false;
rgbaMat.Dispose();
grayMat.Dispose();
}
// Checks how many and which cameras are available on the device
for (int cameraIndex = 0; cameraIndex < WebCamTexture.devices.Length; cameraIndex++)
{
if (WebCamTexture.devices [cameraIndex].isFrontFacing == isFrontFacing)
{
Debug.Log(cameraIndex + " name " + WebCamTexture.devices [cameraIndex].name + " isFrontFacing " + WebCamTexture.devices [cameraIndex].isFrontFacing);
webCamDevice = WebCamTexture.devices [cameraIndex];
webCamTexture = new WebCamTexture(webCamDevice.name, width, height);
break;
}
}
if (webCamTexture == null)
{
webCamDevice = WebCamTexture.devices [0];
webCamTexture = new WebCamTexture(webCamDevice.name, width, height);
}
Debug.Log("width " + webCamTexture.width + " height " + webCamTexture.height + " fps " + webCamTexture.requestedFPS);
// Starts the camera
webCamTexture.Play();
while (true)
{
//If you want to use webcamTexture.width and webcamTexture.height on iOS, you have to wait until webcamTexture.didUpdateThisFrame == 1, otherwise these two values will be equal to 16. (http://forum.unity3d.com/threads/webcamtexture-and-error-0x0502.123922/)
#if UNITY_IOS && !UNITY_EDITOR && (UNITY_4_6_3 || UNITY_4_6_4 || UNITY_5_0_0 || UNITY_5_0_1)
if (webCamTexture.width > 16 && webCamTexture.height > 16)
{
#else
if (webCamTexture.didUpdateThisFrame)
{
#endif
Debug.Log("width " + webCamTexture.width + " height " + webCamTexture.height + " fps " + webCamTexture.requestedFPS);
Debug.Log("videoRotationAngle " + webCamTexture.videoRotationAngle + " videoVerticallyMirrored " + webCamTexture.videoVerticallyMirrored + " isFrongFacing " + webCamDevice.isFrontFacing);
colors = new Color32[webCamTexture.width * webCamTexture.height];
rgbaMat = new Mat(webCamTexture.height, webCamTexture.width, CvType.CV_8UC4);
grayMat = new Mat(webCamTexture.height, webCamTexture.width, CvType.CV_8UC1);
texture = new Texture2D(webCamTexture.width, webCamTexture.height, TextureFormat.RGBA32, false);
gameObject.transform.eulerAngles = new Vector3(0, 0, 0);
#if (UNITY_ANDROID || UNITY_IPHONE || UNITY_WP_8_1) && !UNITY_EDITOR
gameObject.transform.eulerAngles = new Vector3(0, 0, -90);
#endif
// gameObject.transform.rotation = gameObject.transform.rotation * Quaternion.AngleAxis (webCamTexture.videoRotationAngle, Vector3.back);
gameObject.transform.localScale = new Vector3(webCamTexture.width, webCamTexture.height, 1);
// bool videoVerticallyMirrored = webCamTexture.videoVerticallyMirrored;
// float scaleX = 1;
// float scaleY = videoVerticallyMirrored ? -1.0f : 1.0f;
// if (webCamTexture.videoRotationAngle == 270)
// scaleY = -1.0f;
// gameObject.transform.localScale = new Vector3 (scaleX * gameObject.transform.localScale.x, scaleY * gameObject.transform.localScale.y, 1);
cascade = new CascadeClassifier(Utils.getFilePath("haarcascade_frontalface_alt.xml"));
regionCascade = new CascadeClassifier(Utils.getFilePath("lbpcascade_frontalface.xml"));
gameObject.GetComponent <Renderer> ().material.mainTexture = texture;
#if (UNITY_ANDROID || UNITY_IPHONE || UNITY_WP_8_1) && !UNITY_EDITOR
Camera.main.orthographicSize = webCamTexture.width / 2;
#else
Camera.main.orthographicSize = webCamTexture.height / 2;
#endif
initThread();
initDone = true;
break;
}
else
{
yield return(0);
}
}
}
// Update is called once per frame
void Update()
{
if (!initDone)
{
return;
}
#if UNITY_IOS && !UNITY_EDITOR && (UNITY_4_6_3 || UNITY_4_6_4 || UNITY_5_0_0 || UNITY_5_0_1)
if (webCamTexture.width > 16 && webCamTexture.height > 16)
{
#else
if (webCamTexture.didUpdateThisFrame)
{
#endif
Utils.webCamTextureToMat(webCamTexture, rgbaMat, colors);
if (webCamTexture.videoVerticallyMirrored)
{
if (webCamDevice.isFrontFacing)
{
if (webCamTexture.videoRotationAngle == 0)
{
Core.flip(rgbaMat, rgbaMat, 1);
}
else if (webCamTexture.videoRotationAngle == 90)
{
Core.flip(rgbaMat, rgbaMat, 0);
}
else if (webCamTexture.videoRotationAngle == 270)
{
Core.flip(rgbaMat, rgbaMat, 1);
}
}
else
{
if (webCamTexture.videoRotationAngle == 90)
{
}
else if (webCamTexture.videoRotationAngle == 270)
{
Core.flip(rgbaMat, rgbaMat, -1);
}
}
}
else
{
if (webCamDevice.isFrontFacing)
{
if (webCamTexture.videoRotationAngle == 0)
{
Core.flip(rgbaMat, rgbaMat, 1);
}
else if (webCamTexture.videoRotationAngle == 90)
{
Core.flip(rgbaMat, rgbaMat, 0);
}
else if (webCamTexture.videoRotationAngle == 270)
{
Core.flip(rgbaMat, rgbaMat, 1);
}
}
else
{
if (webCamTexture.videoRotationAngle == 90)
{
}
else if (webCamTexture.videoRotationAngle == 270)
{
Core.flip(rgbaMat, rgbaMat, -1);
}
}
}
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
Imgproc.equalizeHist(grayMat, grayMat);
didUpdateThisFrame = true;
#if UNITY_WSA
#if NETFX_CORE
ThreadWorker();
#endif
#else
ThreadWorker();
#endif
OpenCVForUnity.Rect[] rects;
if (resultDetect != null)
{
//Debug.Log("DetectionBasedTracker::process: get _rectsWhereRegions were got from resultDetect");
rectsWhereRegions = resultDetect.toArray();
rects = resultDetect.toArray();
for (int i = 0; i < rects.Length; i++)
{
Core.rectangle(rgbaMat, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(0, 0, 255, 255), 2);
}
resultDetect = null;
}
else
{
//Debug.Log("DetectionBasedTracker::process: get _rectsWhereRegions from previous positions");
rectsWhereRegions = new Rect[trackedObjects.Count];
for (int i = 0; i < trackedObjects.Count; i++)
{
int n = trackedObjects [i].lastPositions.Count;
//if (n > 0) UnityEngine.Debug.LogError("n > 0 is false");
Rect r = trackedObjects [i].lastPositions [n - 1];
if (r.area() == 0)
{
Debug.Log("DetectionBasedTracker::process: ERROR: ATTENTION: strange algorithm's behavior: trackedObjects[i].rect() is empty");
continue;
}
//correction by speed of rectangle
if (n > 1)
{
Point center = centerRect(r);
Point center_prev = centerRect(trackedObjects [i].lastPositions [n - 2]);
Point shift = new Point((center.x - center_prev.x) * innerParameters.coeffObjectSpeedUsingInPrediction,
(center.y - center_prev.y) * innerParameters.coeffObjectSpeedUsingInPrediction);
r.x += (int)Math.Round(shift.x);
r.y += (int)Math.Round(shift.y);
}
rectsWhereRegions [i] = r;
}
rects = rectsWhereRegions;
for (int i = 0; i < rects.Length; i++)
{
Core.rectangle(rgbaMat, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(0, 255, 0, 255), 2);
}
}
if (rectsWhereRegions.Length > 0)
{
detectedObjectsInRegions.Clear();
int len = rectsWhereRegions.Length;
for (int i = 0; i < len; i++)
{
detectInRegion(grayMat, rectsWhereRegions [i], detectedObjectsInRegions);
}
}
updateTrackedObjects(detectedObjectsInRegions);
getObjects(resultObjects);
rects = resultObjects.ToArray();
for (int i = 0; i < rects.Length; i++)
{
//Debug.Log ("detect faces " + rects [i]);
Core.rectangle(rgbaMat, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(255, 0, 0, 255), 2);
}
Utils.matToTexture2D(rgbaMat, texture, colors);
}
}
