void Update()
{
mycap.Play(); //开启摄像头
Utils.webCamTextureToMat(mycap, tu); //将摄像头拍摄的场景转化为图片信息。
Imgproc.cvtColor(tu, a, 37); //将RGB空间转化为YUV空间
Core.split(a, c); //将YUV空间分开， 存到变量C中。
b = new Mat(480, 640, CvType.CV_8UC1); //定义一个单通道的图片变量。
b = c[1]; //将U通道赋值给b变量，到此就完成了提取U通道。
Imgproc.threshold(b, b, fa, 255, Imgproc.THRESH_BINARY); //将b图像转化为二值图
//Imgproc.threshold(b, b, fa, 255, Imgproc.THRESH_BINARY_INV);
b.copyTo(b1); //将U通道的信息拷贝给b1变量
List <MatOfPoint> contours = new List <MatOfPoint>(); //定义一个Matofpoint类型的变量数组，存放图像轮廓信息
Imgproc.findContours(b, contours, hier, 0, 2); //寻找b图像中的轮廓，存储到contous变量数组中。
////0 1 2 3
s = 0; //轮廓面积变量
x = 0; y = 480; //轮廓的边缘点的坐标变量
List <MatOfPoint> selectcol = new List <MatOfPoint>(); //定义一个数组，用来存放手势轮廓
foreach (MatOfPoint i in contours) //循环所有轮廓，找出面积大于5000的轮廓
{
if (Mathf.Abs((float)Imgproc.contourArea(i)) > 5000)
{
selectcol.Add(i); //将轮廓面积大于5000的变量存到selectcol数组中
}
}
if (selectcol.Count == 1) //如果只有一个轮廓，就是手型轮廓
{
s = Mathf.Abs((float)Imgproc.contourArea(selectcol[0]));
rect1 = Imgproc.boundingRect(selectcol[0]); //求出轮廓的手型边缘矩形框
Point[] dian = selectcol[0].toArray(); //提取轮廓点
foreach (Point dian1 in dian)
{
if (dian1.y < y) //选出轮廓的最低点
{
y = dian1.y;
x = dian1.x;
}
}
}
else if (selectcol.Count == 2) //如果两个轮廓，选择下方的轮廓作为手型轮廓
{
if (selectcol[0].toArray()[0].y < selectcol[1].toArray()[0].y)
{
s = Mathf.Abs((float)Imgproc.contourArea(selectcol[0]));
rect1 = Imgproc.boundingRect(selectcol[0]);
Point[] dian = selectcol[0].toArray();
foreach (Point dian1 in dian)
{
if (dian1.y < y) //选出轮廓的最低点
{
y = dian1.y;
x = dian1.x;
}
}
}
else //轮廓较多的情况时，固定x,y,表示没有找到
{
s = Mathf.Abs((float)Imgproc.contourArea(selectcol[1]));
rect1 = Imgproc.boundingRect(selectcol[1]);
Point[] dian = selectcol[1].toArray();
foreach (Point dian1 in dian)
{
if (dian1.y < y)
{
y = dian1.y;
x = dian1.x;
}
}
}
}
else
{
x = 320; y = 200;
}
// Debug.Log(selectcol.Count);
Imgproc.rectangle(b1, rect1.tl(), rect1.br(), color); //在图像b1上画出矩形框
Mat jie = new Mat(b1, rect1); //截取图像b1内画出的矩形框
Imgproc.resize(jie, shishi, size); //调整图像的大小，用来在UI界面中显示
}
// Update is called once per frame
void Update()
{
#if ((UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR)
//Touch
int touchCount = Input.touchCount;
if (touchCount == 1)
{
Touch t = Input.GetTouch(0);
if (t.phase == TouchPhase.Ended && !EventSystem.current.IsPointerOverGameObject(t.fingerId))
{
storedTouchPoint = new Point(t.position.x, t.position.y);
//Debug.Log ("touch X " + t.position.x);
//Debug.Log ("touch Y " + t.position.y);
}
}
#else
//Mouse
if (Input.GetMouseButtonUp(0) && !EventSystem.current.IsPointerOverGameObject())
{
storedTouchPoint = new Point(Input.mousePosition.x, Input.mousePosition.y);
//Debug.Log ("mouse X " + Input.mousePosition.x);
//Debug.Log ("mouse Y " + Input.mousePosition.y);
}
#endif
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, hsvMat, Imgproc.COLOR_RGBA2RGB);
Imgproc.cvtColor(hsvMat, hsvMat, Imgproc.COLOR_RGB2HSV);
if (storedTouchPoint != null)
{
ConvertScreenPointToTexturePoint(storedTouchPoint, storedTouchPoint, gameObject, rgbaMat.cols(), rgbaMat.rows());
OnTouch(rgbaMat, storedTouchPoint);
storedTouchPoint = null;
}
Point[] points = roiPointList.ToArray();
if (shouldStartCamShift)
{
shouldStartCamShift = false;
using (MatOfPoint roiPointMat = new MatOfPoint(points)) {
roiRect = Imgproc.boundingRect(roiPointMat);
}
if (roiHistMat != null)
{
roiHistMat.Dispose();
roiHistMat = null;
}
roiHistMat = new Mat();
using (Mat roiHSVMat = new Mat(hsvMat, roiRect))
using (Mat maskMat = new Mat()) {
Imgproc.calcHist(new List <Mat> (new Mat[] { roiHSVMat }), new MatOfInt(0), maskMat, roiHistMat, new MatOfInt(16), new MatOfFloat(0, 180));
Core.normalize(roiHistMat, roiHistMat, 0, 255, Core.NORM_MINMAX);
//Debug.Log ("roiHist " + roiHistMat.ToString ());
}
}
else if (points.Length == 4)
{
using (Mat backProj = new Mat()) {
Imgproc.calcBackProject(new List <Mat> (new Mat[] { hsvMat }), new MatOfInt(0), roiHistMat, backProj, new MatOfFloat(0, 180), 1.0);
RotatedRect r = Video.CamShift(backProj, roiRect, termination);
r.points(points);
}
}
if (points.Length < 4)
{
for (int i = 0; i < points.Length; i++)
{
Imgproc.circle(rgbaMat, points [i], 6, new Scalar(0, 0, 255, 255), 2);
}
}
else
{
for (int i = 0; i < 4; i++)
{
Imgproc.line(rgbaMat, points [i], points [(i + 1) % 4], new Scalar(255, 0, 0, 255), 2);
}
Imgproc.rectangle(rgbaMat, roiRect.tl(), roiRect.br(), new Scalar(0, 255, 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.fastMatToTexture2D(rgbaMat, texture);
}
}
void Update()
{
Texture2D imgTexture = Resources.Load("vcl_kd_WITH_LOADING_CONTROL") as Texture2D;
Mat imgMat = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC3);
Utils.texture2DToMat(imgTexture, imgMat);
Mat grayMat = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC3);
Imgproc.cvtColor(imgMat, grayMat, Imgproc.COLOR_RGB2GRAY); //grayscale
Mat gray2Mat = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC3);
Core.bitwise_not(grayMat, gray2Mat);
Mat gray3Mat = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC3);
Imgproc.threshold(gray2Mat, gray3Mat, thresh, maxval, Imgproc.THRESH_BINARY_INV | Imgproc.THRESH_OTSU);
//Imgproc.threshold (gray2Mat, gray2Mat, thresh, maxval, Imgproc.THRESH_BINARY);
Core.bitwise_not(gray3Mat, gray3Mat);
Mat procMat = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC3);
Core.bitwise_and(gray2Mat, gray3Mat, procMat); //multiply the mask of foreground by the original image to obtain 0 background and original values in foreground
Mat labels = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC3);
Mat stats = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC3);
Mat centroids = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC3);
int total = Imgproc.connectedComponentsWithStats(gray3Mat, labels, stats, centroids);
for (int i = 1; i < total; ++i)
{
int xx = (int)centroids.get(i, 0) [0];
int yy = (int)centroids.get(i, 1) [0];
Imgproc.circle(procMat, new Point(xx, yy), 3, new Scalar(255, 255, 0), -1);
int x = (int)stats.get(i, Imgproc.CC_STAT_LEFT) [0];
int y = (int)stats.get(i, Imgproc.CC_STAT_TOP) [0];
int height = (int)stats.get(i, Imgproc.CC_STAT_HEIGHT) [0];
int width = (int)stats.get(i, Imgproc.CC_STAT_WIDTH) [0];
int area = (int)stats.get(i, Imgproc.CC_STAT_AREA) [0];
if (area > 30)
{
OpenCVForUnity.Rect rect = new OpenCVForUnity.Rect(x, y, width, height);
Imgproc.rectangle(procMat, rect.tl(), rect.br(), new Scalar(255, 255, 0), 2);
Mat blotMat = imgMat.submat(rect);
Scalar meanVa = Core.mean(blotMat);
int meanV = (int)meanVa.val [0];
double blotV = 0;
Imgproc.putText(procMat, "I" + i + "/" + (area * meanV), new Point(x, y - 50), Core.FONT_HERSHEY_PLAIN, 1, new Scalar(255, 122, 0), 2);
}
}
Mat hierarchy = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC3);
List <MatOfPoint> blotContours = new List <MatOfPoint>();
Imgproc.findContours(gray3Mat, blotContours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
Texture2D texture = new Texture2D(imgMat.cols(), imgMat.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(procMat, texture);
GetComponent <RawImage> ().texture = (Texture2D)texture;
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.isPlaying() && webCamTextureToMatHelper.didUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, hsvMat, Imgproc.COLOR_RGBA2RGB);
Imgproc.cvtColor(hsvMat, hsvMat, Imgproc.COLOR_RGB2HSV);
Point[] points = roiPointList.ToArray();
if (roiPointList.Count == 4)
{
using (Mat backProj = new Mat()) {
Imgproc.calcBackProject(new List <Mat> (new Mat[] { hsvMat }), new MatOfInt(0), roiHistMat, backProj, new MatOfFloat(0, 180), 1.0);
RotatedRect r = Video.CamShift(backProj, roiRect, termination);
r.points(points);
}
#if ((UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR)
//Touch
int touchCount = Input.touchCount;
if (touchCount == 1)
{
if (Input.GetTouch(0).phase == TouchPhase.Ended)
{
roiPointList.Clear();
}
}
#else
if (Input.GetMouseButtonUp(0))
{
roiPointList.Clear();
}
#endif
}
if (roiPointList.Count < 4)
{
#if ((UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR)
//Touch
int touchCount = Input.touchCount;
if (touchCount == 1)
{
Touch t = Input.GetTouch(0);
if (t.phase == TouchPhase.Ended)
{
roiPointList.Add(convertScreenPoint(new Point(t.position.x, t.position.y), gameObject, Camera.main));
// Debug.Log ("touch X " + t.position.x);
// Debug.Log ("touch Y " + t.position.y);
if (!(new OpenCVForUnity.Rect(0, 0, hsvMat.width(), hsvMat.height()).contains(roiPointList [roiPointList.Count - 1])))
{
roiPointList.RemoveAt(roiPointList.Count - 1);
}
}
}
#else
//Mouse
if (Input.GetMouseButtonUp(0))
{
roiPointList.Add(convertScreenPoint(new Point(Input.mousePosition.x, Input.mousePosition.y), gameObject, Camera.main));
// Debug.Log ("mouse X " + Input.mousePosition.x);
// Debug.Log ("mouse Y " + Input.mousePosition.y);
if (!(new OpenCVForUnity.Rect(0, 0, hsvMat.width(), hsvMat.height()).contains(roiPointList [roiPointList.Count - 1])))
{
roiPointList.RemoveAt(roiPointList.Count - 1);
}
}
#endif
if (roiPointList.Count == 4)
{
using (MatOfPoint roiPointMat = new MatOfPoint(roiPointList.ToArray())) {
roiRect = Imgproc.boundingRect(roiPointMat);
}
if (roiHistMat != null)
{
roiHistMat.Dispose();
roiHistMat = null;
}
roiHistMat = new Mat();
using (Mat roiHSVMat = new Mat(hsvMat, roiRect))
using (Mat maskMat = new Mat()) {
Imgproc.calcHist(new List <Mat> (new Mat[] { roiHSVMat }), new MatOfInt(0), maskMat, roiHistMat, new MatOfInt(16), new MatOfFloat(0, 180));
Core.normalize(roiHistMat, roiHistMat, 0, 255, Core.NORM_MINMAX);
// Debug.Log ("roiHist " + roiHistMat.ToString ());
}
}
}
if (points.Length < 4)
{
for (int i = 0; i < points.Length; i++)
{
Core.circle(rgbaMat, points [i], 6, new Scalar(0, 0, 255, 255), 2);
}
}
else
{
for (int i = 0; i < 4; i++)
{
Core.line(rgbaMat, points [i], points [(i + 1) % 4], new Scalar(255, 0, 0, 255), 2);
}
Core.rectangle(rgbaMat, roiRect.tl(), roiRect.br(), new Scalar(0, 255, 0, 255), 2);
}
Core.putText(rgbaMat, "PLEASE TOUCH 4 POINTS", new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Core.LINE_AA, false);
// 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);
}
}
// 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);
//flip to correct direction.
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, hsvMat, Imgproc.COLOR_RGBA2RGB);
Imgproc.cvtColor(hsvMat, hsvMat, Imgproc.COLOR_RGB2HSV);
Point[] points = roiPointList.ToArray();
if (roiPointList.Count == 4)
{
using (Mat backProj = new Mat())
{
Imgproc.calcBackProject(new List <Mat>(new Mat[] { hsvMat }), new MatOfInt(0), roiHistMat, backProj, new MatOfFloat(0, 180), 1.0);
RotatedRect r = Video.CamShift(backProj, roiRect, termination);
r.points(points);
}
#if ((UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR)
//Touch
int touchCount = Input.touchCount;
if (touchCount == 1)
{
if (Input.GetTouch(0).phase == TouchPhase.Ended)
{
roiPointList.Clear();
}
}
#else
if (Input.GetMouseButtonUp(0))
{
roiPointList.Clear();
}
#endif
}
if (roiPointList.Count < 4)
{
#if ((UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR)
//Touch
int touchCount = Input.touchCount;
if (touchCount == 1)
{
Touch t = Input.GetTouch(0);
if (t.phase == TouchPhase.Ended)
{
roiPointList.Add(convertScreenPoint(new Point(t.position.x, t.position.y), gameObject, Camera.main));
// Debug.Log ("touch X " + t.position.x);
// Debug.Log ("touch Y " + t.position.y);
if (!(new OpenCVForUnity.Rect(0, 0, hsvMat.width(), hsvMat.height()).contains(roiPointList [roiPointList.Count - 1])))
{
roiPointList.RemoveAt(roiPointList.Count - 1);
}
}
}
#else
//Mouse
if (Input.GetMouseButtonUp(0))
{
roiPointList.Add(convertScreenPoint(new Point(Input.mousePosition.x, Input.mousePosition.y), gameObject, Camera.main));
// Debug.Log ("mouse X " + Input.mousePosition.x);
// Debug.Log ("mouse Y " + Input.mousePosition.y);
if (!(new OpenCVForUnity.Rect(0, 0, hsvMat.width(), hsvMat.height()).contains(roiPointList[roiPointList.Count - 1])))
{
roiPointList.RemoveAt(roiPointList.Count - 1);
}
}
#endif
if (roiPointList.Count == 4)
{
using (MatOfPoint roiPointMat = new MatOfPoint(roiPointList.ToArray()))
{
roiRect = Imgproc.boundingRect(roiPointMat);
}
if (roiHistMat != null)
{
roiHistMat.Dispose();
roiHistMat = null;
}
roiHistMat = new Mat();
using (Mat roiHSVMat = new Mat(hsvMat, roiRect))
using (Mat maskMat = new Mat())
{
Imgproc.calcHist(new List <Mat>(new Mat[] { roiHSVMat }), new MatOfInt(0), maskMat, roiHistMat, new MatOfInt(16), new MatOfFloat(0, 180));
Core.normalize(roiHistMat, roiHistMat, 0, 255, Core.NORM_MINMAX);
// Debug.Log ("roiHist " + roiHistMat.ToString ());
}
}
}
if (points.Length < 4)
{
for (int i = 0; i < points.Length; i++)
{
Imgproc.circle(rgbaMat, points[i], 6, new Scalar(0, 0, 255, 255), 2);
}
}
else
{
for (int i = 0; i < 4; i++)
{
Imgproc.line(rgbaMat, points[i], points[(i + 1) % 4], new Scalar(255, 0, 0, 255), 2);
}
Imgproc.rectangle(rgbaMat, roiRect.tl(), roiRect.br(), new Scalar(0, 255, 0, 255), 2);
}
Imgproc.putText(rgbaMat, "PLEASE TOUCH 4 POINTS", new Point(5, 25), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Core.LINE_AA, false);
Utils.matToTexture2D(rgbaMat, texture, colors);
gameObject.GetComponent <Renderer>().material.mainTexture = texture;
}
}
void OnDisable()
{
webCamTexture.Stop();
}
void OnGUI()
{
float screenScale = Screen.height / 240.0f;
Matrix4x4 scaledMatrix = Matrix4x4.Scale(new Vector3(screenScale, screenScale, screenScale));
GUI.matrix = scaledMatrix;
GUILayout.BeginVertical();
if (GUILayout.Button("back"))
{
Application.LoadLevel("OpenCVForUnitySample");
}
if (GUILayout.Button("change camera"))
{
shouldUseFrontFacing = !shouldUseFrontFacing;
StartCoroutine(init());
}
GUILayout.EndVertical();
}
void _Process()
{
binaryMatCreator = new BinaryMatCreator();
binaryMatCreator.setCrUpper(cr_threshold_upper);
binaryMatCreator.setCrLower(cr_threshold_lower);
binaryMatCreator.setSUpper(s_threshold_upper);
binaryMatCreator.setSLower(s_threshold_lower);
binaryMatCreator.setVUpper(v_threshold_upper);
binaryMatCreator.setVLower(v_threshold_lower);
Utils.webCamTextureToMat(webCamTexture, rgbaMat, colors);
Imgproc.cvtColor(rgbaMat, rgbMat, Imgproc.COLOR_RGBA2RGB);
Mat cameraMat = rgbMat;
int imageWidth = cameraMat.width();
int imageHeight = cameraMat.height();
var hSVChannels = ARUtil.getHSVChannels(cameraMat);
var yCrCbChannels = ARUtil.getYCrCbChannels(cameraMat);
OpenCVForUnity.Rect searchRect = new OpenCVForUnity.Rect(0, 0, cameraMat.cols(), cameraMat.rows());
// 領域判定のスコア
scorer = new MaguroScorer(searchRect);
try
{
// カメラ入力画像から, searchRectサイズの二値画像を生成
Mat binaryROIMat = binaryMatCreator.createBinaryMat(cameraMat, searchRect);
// 二値画像&探索領域矩形で輪郭探索
var contours = ARUtil.findContours(binaryROIMat, searchRect.tl());
// 領域候補群を作成 -> 候補にスコアをつける -> 最大スコアの候補を取得
var regionSet = new RegionCandidateSet(contours)
.elliminateByArea(searchRect, 0.01, 0.9)
.score(scorer)
.sort();
if (regionSet.candidates.Count == 0)
{
print("first candidates is 0");
goto show;
}
var count = 0;
var regions = new List <Region>();
foreach (var candidate in regionSet.candidates)
{
if (count > 2)
{
break;
}
if (candidate == null)
{
print("candite is null");
break;
}
// 領域作成
foodRegion = new Region(candidate, cameraMat);
regions.Add(foodRegion);
count++;
}
//var regions = new List<Region>();
//var cr_refined_threshold = 125;
//foreach (var candidate in regionSet.candidates)
//{
// // 領域作成
// var region = new Region(candidate, cameraMat);
// var refinedRegion = region.createRefienedRegion(yCrCbChannels[1], cr_refined_threshold);
// if (refinedRegion != null)
// {
// regions.Add(refinedRegion);
// }
//}
//var filteredRegions = Region.elliminateByInclusionRect(regions);
// 食品領域に貼りつけるテクスチャ作成
var texture = _textureCreator.create(cameraMat, regions);
if (texture == null)
{
print("regions is empty");
goto show;
}
Mat alphaMask = Mat.zeros(cameraMat.size(), CvType.CV_8U);
foreach (var region in regions)
{
Core.add(region.mask, alphaMask, alphaMask);
}
if (willChange)
{
_textureCreator.alphaBlend(cameraMat, texture, alphaMask, alpha);
}
if (shouldDrawRect)
{
// foodRegion.drawRect(matForDeveloper);
Imgproc.rectangle(cameraMat, searchRect.tl(), searchRect.br(), new Scalar(0, 0, 255), 3);
}
}
catch (System.Exception e)
{
print(e);
goto show;
}
show:
outputScreenQuad.setMat(cameraMat);
}
public void getAnswerNumber(Mat align)
{
Mat align_gray = new Mat(), align_edges = new Mat();
Imgproc.cvtColor(align, align_gray, Imgproc.COLOR_RGB2GRAY);
Imgproc.Canny(align_gray, align_edges, 50, 50);
Mat element = Imgproc.getStructuringElement(Imgproc.MORPH_ELLIPSE, new Size(2 + 1, 2 + 1), new Point(1, 1));
Imgproc.dilate(align_edges, align_edges, element);
//Shape detection
List <MatOfPoint> contours = new List <MatOfPoint>();
Mat hierarchy = new Mat();
Imgproc.findContours(align_edges, contours, hierarchy, Imgproc.RETR_TREE, Imgproc.CHAIN_APPROX_SIMPLE, new Point(0, 0));
List <MatOfPoint> hulls = new List <MatOfPoint>();
//Texture2D tex = new Texture2D(align_edges.width(), align_edges.height(), TextureFormat.RGB24, false);
//Utils.matToTexture2D(align_edges, tex);
//byte[] bytes1 = tex.EncodeToJPG();
//File.WriteAllBytes("D:/2019/OMR/" + "test.png", bytes1);
for (int i = 0; i < contours.Count; i++)
{
MatOfInt hull_temp = new MatOfInt();
Imgproc.convexHull(contours[i], hull_temp);
int[] arrIndex = hull_temp.toArray();
Point[] arrContour = contours[i].toArray();
Point[] arrPoints = new Point[arrIndex.Length];
for (int k = 0; k < arrIndex.Length; k++)
{
arrPoints[k] = arrContour[arrIndex[k]];
}
MatOfPoint temp = new MatOfPoint();
temp.fromArray(arrPoints);
//Filter outliers
if (Imgproc.contourArea(temp) > 90000 && Imgproc.contourArea(temp) < 110000)
{
hulls.Add(temp);
}
}
List <MatOfPoint2f> hull2f = new List <MatOfPoint2f>();
for (int i = 0; i < hulls.Count; i++)
{
MatOfPoint2f newPoint = new MatOfPoint2f(hulls[i].toArray());
hull2f.Add(newPoint);
}
List <Rect> rects = new List <Rect>();
for (int i = 0; i < hulls.Count; i++)
{
//Approximate polygon
MatOfPoint2f approx = new MatOfPoint2f();
Imgproc.approxPolyDP(hull2f[i], approx, 0.01 * Imgproc.arcLength(hull2f[i], true), true);
List <Point> approx_polygon = approx.toList();
approx_polygon = Scannerproc.filterPolygon(approx_polygon);
double area = Imgproc.contourArea(approx);
if (Scannerproc.isSquare(approx_polygon))
{
Rect r = Imgproc.boundingRect(new MatOfPoint(approx_polygon.ToArray()));
bool isContain = false;
for (int k = 0; k < rects.Count; k++)
{
if (Scannerproc.distanceTwoPoints(rects[k].tl(), r.tl()) < 100)
{
//if (rects[k].contains(r) || r.contains(rects[k]))
isContain = true;
}
}
if (!isContain)
{
rects.Add(r);
// Imgproc.rectangle(align, r.tl(), r.br(), new Scalar(255, 0, 0, 255), 3);
for (int j = 1; j < 21; j++)
{
Rect roi = new Rect((int)r.tl().x + (int)((r.width * 1.3) / 6), (int)r.tl().y + (r.height / 21) * j, (int)((r.width * 4.7) / 6), r.height / 21);
int num = getAnswerNumber(align, roi);
if (num != 0)
{
Imgproc.putText(align, " " + num, new Point(roi.x - 40, roi.y + 25), 1, 2, new Scalar(255, 0, 0, 255), 3, Core.LINE_AA, false);
Imgproc.rectangle(align, roi.tl(), roi.br(), new Scalar(0, 255, 0, 255), 2);
}
}
}
}
//Center of mass
int cx = 0,
cy = 0;
for (int k = 0; k < approx_polygon.Count; k++)
{
cx += (int)approx_polygon[k].x;
cy += (int)approx_polygon[k].y;
}
cx /= approx_polygon.Count;
cy /= approx_polygon.Count;
// Imgproc.circle(roi, new Point(cx, cy), 5, new Scalar(255), -1);
}
if (rects.Count == 4)
{
nowDetected = false;
}
}
public void OnFrameMatAcquired(Mat bgraMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix)
{
Mat bgraMatClipROI = new Mat(bgraMat, processingAreaRect);
bgraMatClipROI.copyTo(processingAreaMat);
// fill all black.
Imgproc.rectangle(bgraMat, new Point(0, 0), new Point(bgraMat.width(), bgraMat.height()), new Scalar(0, 0, 0, 0), -1);
OpenCVForUnityUtils.SetImage(faceLandmarkDetector, processingAreaMat);
// detect faces.
List <OpenCVForUnity.Rect> detectResult = new List <OpenCVForUnity.Rect> ();
if (useDlibFaceDetecter)
{
List <UnityEngine.Rect> result = faceLandmarkDetector.Detect();
foreach (var unityRect in result)
{
detectResult.Add(new OpenCVForUnity.Rect((int)unityRect.x, (int)unityRect.y, (int)unityRect.width, (int)unityRect.height));
}
}
else
{
// convert image to greyscale.
Imgproc.cvtColor(processingAreaMat, grayMat, Imgproc.COLOR_BGRA2GRAY);
Imgproc.equalizeHist(grayMat, grayMat);
cascade.detectMultiScale(grayMat, faces, 1.1f, 2, 0 | Objdetect.CASCADE_SCALE_IMAGE, new OpenCVForUnity.Size(grayMat.cols() * 0.15, grayMat.cols() * 0.15), new Size());
detectResult = faces.toList();
// Adjust to Dilb's result.
foreach (OpenCVForUnity.Rect r in detectResult)
{
r.y += (int)(r.height * 0.1f);
}
}
foreach (var rect in detectResult)
{
//detect landmark points
List <Vector2> points = faceLandmarkDetector.DetectLandmark(new UnityEngine.Rect(rect.x, rect.y, rect.width, rect.height));
//draw landmark points
OpenCVForUnityUtils.DrawFaceLandmark(bgraMatClipROI, points, new Scalar(0, 255, 0, 255), 2);
//draw face rect
OpenCVForUnityUtils.DrawFaceRect(bgraMatClipROI, new UnityEngine.Rect(rect.x, rect.y, rect.width, rect.height), new Scalar(0, 0, 255, 255), 2);
}
Imgproc.putText(bgraMatClipROI, "W:" + bgraMatClipROI.width() + " H:" + bgraMatClipROI.height(), new Point(5, bgraMatClipROI.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 0.5, new Scalar(0, 0, 255, 255), 1, Imgproc.LINE_AA, false);
Imgproc.rectangle(bgraMat, new Point(0, 0), new Point(bgraMat.width(), bgraMat.height()), new Scalar(0, 0, 255, 255), 2);
// Draw prosessing area rectangle.
Imgproc.rectangle(bgraMat, processingAreaRect.tl(), processingAreaRect.br(), new Scalar(0, 255, 255, 255), 2);
bgraMatClipROI.Dispose();
UnityEngine.WSA.Application.InvokeOnAppThread(() => {
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
OpenCVForUnity.Utils.fastMatToTexture2D(bgraMat, texture);
bgraMat.Dispose();
Matrix4x4 worldToCameraMatrix = cameraToWorldMatrix.inverse;
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;
}, false);
}
/// <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);
}
}
private OpenCVForUnity.Rect BgSub()
{
backgroundSubstractorMOG2.apply(rgbMat, fgmaskMat);
roiRect = null;
fgmaskMatRoi = fgmaskMat;
Mat kernelD = new Mat(40, 40, CvType.CV_8UC1, new Scalar(255, 255, 255));
Mat kernelE = new Mat(20, 20, CvType.CV_8UC1, new Scalar(255, 255, 255));
Mat kernelDRoi = new Mat(1, 1, CvType.CV_8UC1, new Scalar(255, 255, 255));
Mat kernelERoi = new Mat(1, 1, CvType.CV_8UC1, new Scalar(255, 255, 255));
Imgproc.dilate(fgmaskMat, fgmaskMatDilate, kernelD);
Imgproc.erode(fgmaskMatDilate, fgmaskMatDilate, kernelE);
Imgproc.dilate(fgmaskMatRoi, fgmaskMatDilateRoi, kernelDRoi);
Imgproc.erode(fgmaskMatDilateRoi, fgmaskMatDilateRoi, kernelERoi);
mask_binary = new OpenCVForUnity.Mat();
mask_binaryRoi = new OpenCVForUnity.Mat();
Imgproc.threshold(fgmaskMatDilate, mask_binary, 123, 255, Imgproc.THRESH_BINARY);
Imgproc.threshold(fgmaskMatDilateRoi, mask_binaryRoi, 123, 255, Imgproc.THRESH_BINARY);
List <MatOfPoint> contours = new List <MatOfPoint>();
OpenCVForUnity.Mat hierarchy = new OpenCVForUnity.Mat();
Imgproc.findContours(mask_binary, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_NONE);
if (contours.Count == 0)
{
return(null);
}
else
{
int i = 0;
color1 = new Color(0.8f, 0.8f, 0.95f, 0.25f);
color2 = new Color(0.8f, 0.8f, 0.95f);
foreach (MatOfPoint contour in contours)
{
//Debug.Log("number of target: " + i);
MatOfPoint new_mat1 = new MatOfPoint(contour.toArray());
output = Imgproc.boundingRect(new_mat1);
rgbMat.copyTo(dest, mask_binaryRoi);
//SaveMatToFile("mask_binary" + ss, mask_binary);
//SaveMatToFile("mask_binaryRoi" + ss, mask_binaryRoi);
Imgproc.rectangle(rgbMat, output.tl(), output.br(), new Scalar(255, 0, 0), 2);
output_ar.Add(output);
Vector3 top_left_pos = new Vector3(output.x, Screen.height - output.y);
Vector3 bottom_right_pos = new Vector3(output.x + output.width, Screen.height - (output.y + output.height));
UnityEngine.Rect check_pos = GetScreenRect(top_left_pos, bottom_right_pos);
i++;
if (Input.GetMouseButton(0) && check_pos.Contains(new Vector2(Input.mousePosition.x, Screen.height - Input.mousePosition.y)))
{
Debug.Log("take it!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!");
//skipFrame = 50;
//shouldStartCamShift = true;
Debug.Log(output);
return(output);
}
/*else
* {
* MatOfPoint new_mat2 = new MatOfPoint(contours[0].toArray()); //prende il blob più grande, è il primo perchè la funzione findcontours mette in ordine dal più grande al più piccolo.
* output = Imgproc.boundingRect(new_mat2);
* }*/
}
//OnGUI();
return(null);
}
}
// Use this for initialization
void Start()
{
Texture2D imgTexture = Resources.Load("matchshapes") as Texture2D;
Mat srcMat = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC1);
Utils.texture2DToMat(imgTexture, srcMat);
Debug.Log("srcMat.ToString() " + srcMat.ToString());
Mat dstMat = new Mat(srcMat.size(), CvType.CV_8UC3);
//labeling
Mat labels = new Mat();
Mat stats = new Mat();
Mat centroids = new Mat();
int total = Imgproc.connectedComponentsWithStats(srcMat, labels, stats, centroids);
Debug.Log("labels.ToString() " + labels.ToString());
Debug.Log("stats.ToString() " + stats.ToString());
Debug.Log("centroids.ToString() " + centroids.ToString());
Debug.Log("total " + total);
// determine drawing color
List <Scalar> colors = new List <Scalar> (total);
colors.Add(new Scalar(0, 0, 0));
for (int i = 1; i < total; ++i)
{
colors.Add(new Scalar(Random.Range(0, 255), Random.Range(0, 255), Random.Range(0, 255)));
}
// draw labels
for (int i = 0; i < dstMat.rows(); ++i)
{
for (int j = 0; j < dstMat.cols(); ++j)
{
Scalar color = colors [(int)labels.get(i, j) [0]];
dstMat.put(i, j, color.val [0], color.val [1], color.val [2]);
}
}
// draw rectangle
for (int i = 1; i < total; ++i)
{
int x = (int)stats.get(i, Imgproc.CC_STAT_LEFT) [0];
int y = (int)stats.get(i, Imgproc.CC_STAT_TOP) [0];
int height = (int)stats.get(i, Imgproc.CC_STAT_HEIGHT) [0];
int width = (int)stats.get(i, Imgproc.CC_STAT_WIDTH) [0];
OpenCVForUnity.Rect rect = new OpenCVForUnity.Rect(x, y, width, height);
Imgproc.rectangle(dstMat, rect.tl(), rect.br(), new Scalar(0, 255, 0), 2);
}
// draw centroids
for (int i = 1; i < total; ++i)
{
int x = (int)centroids.get(i, 0) [0];
int y = (int)centroids.get(i, 1) [0];
Imgproc.circle(dstMat, new Point(x, y), 3, new Scalar(255, 0, 0), -1);
}
// draw index of label
for (int i = 1; i < total; ++i)
{
int x = (int)stats.get(i, Imgproc.CC_STAT_LEFT) [0];
int y = (int)stats.get(i, Imgproc.CC_STAT_TOP) [0];
Imgproc.putText(dstMat, "" + i, new Point(x + 5, y + 15), Core.FONT_HERSHEY_COMPLEX, 0.5, new Scalar(255, 255, 0), 2);
}
Texture2D texture = new Texture2D(dstMat.cols(), dstMat.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(dstMat, texture);
gameObject.GetComponent <Renderer> ().material.mainTexture = texture;
}
/// <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);
}
}
// Update is called once per frame
void Update()
{
// Sample rate update
++frames;
float timeNow = Time.realtimeSinceStartup;
if (timeNow > lastInterval + updateInterval)
{
fps = (float)(frames / (timeNow - lastInterval));
frames = 0;
lastInterval = timeNow;
}
// Time since last update
float dt = 1 / fps;
if (webCamTextureToMatHelper.isPlaying() && webCamTextureToMatHelper.didUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, hsvMat, Imgproc.COLOR_RGBA2RGB);
Imgproc.cvtColor(hsvMat, hsvMat, Imgproc.COLOR_RGB2HSV);
Point[] points = roiPointList.ToArray();
if (roiPointList.Count == 4)
{
using (Mat backProj = new Mat())
{
Imgproc.calcBackProject(new List <Mat>(new Mat[] { hsvMat }), new MatOfInt(0), roiHistMat, backProj, new MatOfFloat(0, 180), 1.0);
///////////////////////////////////////////////////////
// Kalman Filter Start
///////////////////////////////////////////////////////
// Process noise matrix, Q
Matrix Q2 = (Mathf.Pow(pn, 2) / dt) * Matrix.Build.DenseOfArray(new float[, ]
{
{ Mathf.Pow(dt, 4) / 4, Mathf.Pow(dt, 3) / 2f, Mathf.Pow(dt, 2) / 2f },
{ Mathf.Pow(dt, 3) / 2f, Mathf.Pow(dt, 2) / 2f, dt },
{ Mathf.Pow(dt, 2) / 2f, dt, 1 }
});
Q = (Mathf.Pow(pn, 2) / dt) * Matrix.Build.DenseOfMatrixArray(new Matrix[, ]
{
{ Q2, zero3x3, zero3x3 },
{ zero3x3, Q2, zero3x3 },
{ zero3x3, zero3x3, Q2 }
});
// Measurement noise matrix, R
R = Mathf.Pow(mn, 2) * Matrix.Build.DenseIdentity(3);
// Build transition and control matrices
Matrix F2 = Matrix.Build.DenseOfArray(new float[, ] {
{ 1, dt, Mathf.Pow(dt, 2) / 2f }, { 0, 1, dt }, { 0, 0, 1 }
});
Matrix F = Matrix.Build.DenseOfMatrixArray(new Matrix[, ]
{
{ F2, zero3x3, zero3x3 },
{ zero3x3, F2, zero3x3 },
{ zero3x3, zero3x3, F2 },
});
// Prediction
Pp = F * Pe * F.Transpose() + Q;
xp = F * xe;
roiPred = new OpenCVForUnity.Rect((int)(xp[0] - 0.5f * xp[6]), (int)(xp[3] - 0.5f * xp[6]), (int)xp[6], (int)xp[6]);
roiRect = new OpenCVForUnity.Rect((int)(xp[0] - 0.5f * roiSearch.width), (int)(xp[3] - 0.5f * roiSearch.height), roiSearch.width, roiSearch.height);
// roiRect = roiPred.clone();
RotatedRect r = Video.CamShift(backProj, roiRect, termination);
ObjectFound = (roiRect.height > 0 && roiRect.width > 0);
// Innovation
Vector nu;
if (ObjectFound)
{
// Innovation
Vector zk = Vector.Build.DenseOfArray(new float[] { (int)(roiRect.x + 0.5f * roiRect.width),
(int)(roiRect.y + 0.5f * roiRect.height),
(int)(0.5 * (roiRect.width + roiRect.height)) });
nu = zk - H * xp;
// Search window update
roiSearch = r.boundingRect().clone();
// Debug
SpeedAtFailure = -1f;
}
else
{
roiRect = roiPred.clone();
if (xp[0] < 0 || xp[0] < 0 || xp[0] > 640 || xp[3] > 480)
{
xp[0] = 320f; xp[1] = 0; xp[2] = 0;
xp[3] = 240f; xp[4] = 0; xp[5] = 0;
xp[6] = 40f; xp[7] = 0; xp[8] = 0;
roiRect.x = (int)(320 - 0.5f * 40);
roiRect.y = (int)(240 - 0.5f * 40);
roiRect.height = 40;
roiRect.width = 40;
roiPred = roiRect.clone();
}
// Innovation
Vector zk = Vector.Build.DenseOfArray(new float[] { (float)(roiRect.x + 0.5f * roiRect.width),
(float)(roiRect.y + 0.5f * roiRect.height),
(float)(0.5 * (roiRect.width + roiRect.height)) });
nu = zk - H * xp;
roiSearch = roiPred.clone();
}
// Kalman gain
Matrix K = Pp * H.Transpose() * R.Transpose();
// Innovation gain
Vector gain = K * nu;
// State update
xe = xp + gain;
// Covariance update
Pe = (Pp.Inverse() + H.Transpose() * R.Transpose() * H).Inverse();
// Display results to console
StateArray = xe.ToArray();
InnovationGain = gain.ToArray();
CovarianceTrace = Pe.Diagonal().ToArray();
///////////////////////////////////////////////////////
// Kalman Filter End
///////////////////////////////////////////////////////
r.points(points);
}
if (Input.GetMouseButtonUp(0))
{
roiPointList.Clear();
}
}
if (roiPointList.Count < 4)
{
if (Input.GetMouseButtonUp(0))
{
roiPointList.Add(convertScreenPoint(new Point(Input.mousePosition.x, Input.mousePosition.y), gameObject, Camera.main));
// Debug.Log ("mouse X " + Input.mousePosition.x);
// Debug.Log ("mouse Y " + Input.mousePosition.y);
if (!(new OpenCVForUnity.Rect(0, 0, hsvMat.width(), hsvMat.height()).contains(roiPointList[roiPointList.Count - 1])))
{
roiPointList.RemoveAt(roiPointList.Count - 1);
}
}
if (roiPointList.Count == 4)
{
using (MatOfPoint roiPointMat = new MatOfPoint(roiPointList.ToArray()))
{
roiRect = Imgproc.boundingRect(roiPointMat);
roiPred = roiRect.clone();
roiSearch = roiRect.clone();
}
///////////////////////////////////////////////////////
// Kalman Filter Initialize
///////////////////////////////////////////////////////
Pe = Matrix.Build.DenseIdentity(9, 9);
Vector z1 = roi2center(roiRect);
xe = Vector.Build.DenseOfArray(new float[] { z1[0], 0, 0, z1[1], 0, 0, (roiRect.width + roiRect.height) / 2, 0, 0 });
///////////////////////////////////////////////////////
// End Kalman Filter Initialize
///////////////////////////////////////////////////////
if (roiHistMat != null)
{
roiHistMat.Dispose();
roiHistMat = null;
}
roiHistMat = new Mat();
using (Mat roiHSVMat = new Mat(hsvMat, roiRect))
using (Mat maskMat = new Mat())
{
Imgproc.calcHist(new List <Mat>(new Mat[] { roiHSVMat }), new MatOfInt(0), maskMat, roiHistMat, new MatOfInt(16), new MatOfFloat(0, 180));
Core.normalize(roiHistMat, roiHistMat, 0, 255, Core.NORM_MINMAX);
// Debug.Log ("roiHist " + roiHistMat.ToString ());
}
}
}
if (points.Length < 4)
{
for (int i = 0; i < points.Length; i++)
{
Core.circle(rgbaMat, points[i], 6, new Scalar(0, 0, 255, 255), 2);
}
}
else
{
Core.rectangle(rgbaMat, roiRect.tl(), roiRect.br(), new Scalar(0, 255, 0, 255), 2);
Core.rectangle(rgbaMat, roiPred.tl(), roiPred.br(), new Scalar(0, 0, 255, 255), 2);
Core.rectangle(rgbaMat, roiSearch.tl(), roiSearch.br(), new Scalar(255, 0, 0, 255), 2);
}
Core.putText(rgbaMat, "PLEASE TOUCH 4 POINTS", new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Core.LINE_AA, false);
// 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);
}
}
public void OnFrameMatAcquired(Mat bgraMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix)
{
Mat bgraMatClipROI = new Mat(bgraMat, processingAreaRect);
Imgproc.cvtColor(bgraMatClipROI, grayMat, Imgproc.COLOR_BGRA2GRAY);
bgMat.copyTo(dstMatClippingROI);
Imgproc.GaussianBlur(grayMat, lineMat, new Size(3, 3), 0);
grayMat.get(0, 0, grayPixels);
for (int i = 0; i < grayPixels.Length; i++)
{
maskPixels [i] = 0;
if (grayPixels [i] < 70)
{
grayPixels [i] = 0;
maskPixels [i] = 1;
}
else if (70 <= grayPixels [i] && grayPixels [i] < 120)
{
grayPixels [i] = 100;
}
else
{
grayPixels [i] = 255;
maskPixels [i] = 1;
}
}
grayMat.put(0, 0, grayPixels);
maskMat.put(0, 0, maskPixels);
grayMat.copyTo(dstMatClippingROI, maskMat);
Imgproc.Canny(lineMat, lineMat, 20, 120);
lineMat.copyTo(maskMat);
Core.bitwise_not(lineMat, lineMat);
lineMat.copyTo(dstMatClippingROI, maskMat);
//Imgproc.putText (dstMat, "W:" + dstMat.width () + " H:" + dstMat.height () + " SO:" + Screen.orientation, new Point (5, dstMat.rows () - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (0), 2, Imgproc.LINE_AA, false);
Imgproc.cvtColor(dstMat, bgraMat, Imgproc.COLOR_GRAY2BGRA);
//21n descommented to verify si pinta un rectangle
Imgproc.rectangle(bgraMat, new Point(0, 0), new Point(bgraMat.width(), bgraMat.height()), new Scalar(0, 0, 255, 255), 4);
Imgproc.rectangle(bgraMat, processingAreaRect.tl(), processingAreaRect.br(), new Scalar(0, 0, 255, 255), 4);
//
bgraMatClipROI.Dispose();
UnityEngine.WSA.Application.InvokeOnAppThread(() => {
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
Utils.fastMatToTexture2D(bgraMat, texture);
bgraMat.Dispose();
Matrix4x4 worldToCameraMatrix = cameraToWorldMatrix.inverse;
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);
position *= 1.2f;
// 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;
}, false);
}
/*=============================================*
* 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);
}
}
public static void affineTransform(Mat src, Mat dst, OpenCVForUnity.Rect roi)
{
// アフィン行列を取得
var srcPoints = new MatOfPoint2f(new Point(0.0, 0.0), new Point(src.cols() - 1, 0.0), new Point(src.cols() - 1, src.rows() - 1));
var dstPoints = new MatOfPoint2f(roi.tl(), new Point(roi.x + roi.width, roi.y), roi.br());
Mat transform = Imgproc.getAffineTransform(srcPoints, dstPoints);
// アフィン変換
Imgproc.warpAffine(src, dst, transform, dst.size(), Imgproc.INTER_LINEAR);
}
