/// <summary>
/// 箱の頂点を見つける
/// </summary>
/// <param name="box">箱</param>
/// <param name="pt">頂点の配列</param>
#else
/// <summary>
/// Finds box vertices
/// </summary>
/// <param name="box">Box</param>
/// <param name="pt">Array of vertices</param>
#endif
public static void BoxPoints(CvBox2D box, out CvPoint2D32f[] pt)
{
pt = new CvPoint2D32f[4];
NativeMethods.cvBoxPoints(box, pt);
// cvgeometry.cpp line 89~103
/*
* double angle = box.Angle * CvConst.CV_PI / 180.0;
* float a = (float)Math.Cos(angle)*0.5f;
* float b = (float)Math.Sin(angle)*0.5f;
*
* pt[0].X = box.Center.X - a * box.Size.Height - b * box.Size.Width;
* pt[0].Y = box.Center.Y + b * box.Size.Height - a * box.Size.Width;
* pt[1].X = box.Center.X + a * box.Size.Height - b * box.Size.Width;
* pt[1].Y = box.Center.Y - b * box.Size.Height - a * box.Size.Width;
* pt[2].X = 2 * box.Center.X - pt[0].X;
* pt[2].Y = 2 * box.Center.Y - pt[0].Y;
* pt[3].X = 2 * box.Center.X - pt[1].X;
* pt[3].Y = 2 * box.Center.Y - pt[1].Y;
* //*/
}
// Converts the ROI (screen coordinates) into world coordinates and
// positions world gameobject to that position and rotation
void ROIScreenToGameObject(CvBox2D boxToTrack, GameObject obj1)
{
Vector2 origin;
origin.x = objectScreenPosition.position.x + scaleObjectWidth(boxToTrack.Center.X);
origin.y = objectScreenPosition.position.y + scaleObjectHeight(boxToTrack.Center.Y);
obj1.transform.position = Camera.main.ScreenToWorldPoint(new Vector3(origin.x, Screen.height - origin.y,
Mathf.Abs(transform.position.z - Camera.main.transform.position.z)));
obj1.transform.eulerAngles = new Vector3(0, 0, 90 - boxToTrack.Angle);
obj1.transform.localScale = new Vector3(scaleObjectHeight(boxToTrack.Size.Height) / 100,
scaleObjectWidth(boxToTrack.Size.Width) / 100, 1);
}
// Use the CamShift algorithm to track to base histogram throughout the
// succeeding frames
void CalculateCamShift(CvMat _image)
{
CvMat _backProject = CalculateBackProjection(_image, _histogramToTrack);
// Create convolution kernel for erosion and dilation
IplConvKernel elementErode = Cv.CreateStructuringElementEx(10, 10, 5, 5, ElementShape.Rect, null);
IplConvKernel elementDilate = Cv.CreateStructuringElementEx(4, 4, 2, 2, ElementShape.Rect, null);
// Try eroding and then dilating the back projection
// Hopefully this will get rid of the noise in favor of the blob objects.
Cv.Erode(_backProject, _backProject, elementErode, 1);
Cv.Dilate(_backProject, _backProject, elementDilate, 1);
if (backprojWindowFlag)
{
Cv.ShowImage("Back Projection", _backProject);
}
// Parameters returned by Camshift algorithm
CvBox2D _outBox;
CvConnectedComp _connectComp;
// Set the criteria for the CamShift algorithm
// Maximum 10 iterations and at least 1 pixel change in centroid
CvTermCriteria term_criteria = Cv.TermCriteria(CriteriaType.Iteration | CriteriaType.Epsilon, 10, 1);
// Draw object center based on Kalman filter prediction
CvMat _kalmanPrediction = _kalman.Predict();
int predictX = Mathf.FloorToInt((float)_kalmanPrediction.GetReal2D(0, 0));
int predictY = Mathf.FloorToInt((float)_kalmanPrediction.GetReal2D(1, 0));
// Run the CamShift algorithm
if (Cv.CamShift(_backProject, _rectToTrack, term_criteria, out _connectComp, out _outBox) > 0)
{
// Use the CamShift estimate of the object center to update the Kalman model
CvMat _kalmanMeasurement = Cv.CreateMat(2, 1, MatrixType.F32C1);
// Update Kalman model with raw data from Camshift estimate
_kalmanMeasurement.Set2D(0, 0, _outBox.Center.X); // Raw X position
_kalmanMeasurement.Set2D(1, 0, _outBox.Center.Y); // Raw Y position
//_kalmanMeasurement.Set2D (2, 0, _outBox.Center.X - lastPosition.X);
//_kalmanMeasurement.Set2D (3, 0, _outBox.Center.Y - lastPosition.Y);
lastPosition.X = Mathf.FloorToInt(_outBox.Center.X);
lastPosition.Y = Mathf.FloorToInt(_outBox.Center.Y);
_kalman.Correct(_kalmanMeasurement); // Correct Kalman model with raw data
// CamShift function returns two values: _connectComp and _outBox.
// _connectComp contains is the newly estimated position and size
// of the region of interest. This is passed into the subsequent
// call to CamShift
// Update the ROI rectangle with CamShift's new estimate of the ROI
_rectToTrack = CheckROIBounds(_connectComp.Rect);
// Draw a rectangle over the tracked ROI
// This method will draw the rectangle but won't rotate it.
_image.DrawRect(_rectToTrack, CvColor.Aqua);
_image.DrawMarker(predictX, predictY, CvColor.Aqua);
// _outBox contains a rotated rectangle esimating the position, size, and orientation
// of the object we want to track (specified by the initial region of interest).
// We then take this estimation and draw a rotated bounding box.
// This method will draw the rotated rectangle
rotatedBoxToTrack = _outBox;
// Draw a rotated rectangle representing Camshift's estimate of the
// object's position, size, and orientation.
_image.DrawPolyLine(rectangleBoxPoint(_outBox.BoxPoints()), true, CvColor.Red);
}
else
{
//Debug.Log ("Object lost by Camshift tracker");
_image.DrawMarker(predictX, predictY, CvColor.Purple, MarkerStyle.CircleLine);
_rectToTrack = CheckROIBounds(new CvRect(predictX - Mathf.FloorToInt(_rectToTrack.Width / 2),
predictY - Mathf.FloorToInt(_rectToTrack.Height / 2),
_rectToTrack.Width, _rectToTrack.Height));
_image.DrawRect(_rectToTrack, CvColor.Purple);
}
if (trackWindowFlag)
Cv.ShowImage("Image", _image);
}
/// <summary>
/// 枠だけの楕円，もしくは塗りつぶされた楕円を描画する
/// </summary>
/// <param name="img">楕円が描かれる画像．</param>
/// <param name="box">描画したい楕円を囲む矩形領域．</param>
/// <param name="color">楕円の色．</param>
/// <param name="thickness">楕円境界線の幅．</param>
/// <param name="line_type">楕円境界線の種類．</param>
/// <param name="shift">矩形領域の頂点座標の小数点以下の桁を表すビット数．</param>
#else
/// <summary>
/// Draws simple or thick elliptic arc or fills ellipse sector
/// </summary>
/// <param name="img">Image. </param>
/// <param name="box">The enclosing box of the ellipse drawn </param>
/// <param name="color">Ellipse color. </param>
/// <param name="thickness">Thickness of the ellipse boundary. </param>
/// <param name="line_type">Type of the ellipse boundary</param>
/// <param name="shift">Number of fractional bits in the box vertex coordinates. </param>
#endif
public static void EllipseBox(CvArr img, CvBox2D box, CvScalar color, int thickness, LineType line_type, int shift)
{
if (img == null)
{
throw new ArgumentNullException("img");
}
CvSize axes = new CvSize
{
Width = (int)Math.Round(box.Size.Height * 0.5),
Height = (int)Math.Round(box.Size.Width * 0.5)
};
Ellipse(img, box.Center, axes, box.Angle, 0, 360, color, thickness, line_type, shift);
}
/// <summary>
/// 枠だけの楕円，もしくは塗りつぶされた楕円を描画する
/// </summary>
/// <param name="img">楕円が描かれる画像．</param>
/// <param name="box">描画したい楕円を囲む矩形領域．</param>
/// <param name="color">楕円の色．</param>
/// <param name="thickness">楕円境界線の幅．</param>
/// <param name="line_type">楕円境界線の種類．</param>
#else
/// <summary>
/// Draws simple or thick elliptic arc or fills ellipse sector
/// </summary>
/// <param name="img">Image. </param>
/// <param name="box">The enclosing box of the ellipse drawn </param>
/// <param name="color">Ellipse color. </param>
/// <param name="thickness">Thickness of the ellipse boundary. </param>
/// <param name="line_type">Type of the ellipse boundary</param>
#endif
public static void EllipseBox(CvArr img, CvBox2D box, CvScalar color, int thickness, LineType line_type)
{
EllipseBox(img, box, color, thickness, line_type, 0);
}
/// <summary>
/// 枠だけの楕円，もしくは塗りつぶされた楕円を描画する
/// </summary>
/// <param name="img">楕円が描かれる画像．</param>
/// <param name="box">描画したい楕円を囲む矩形領域．</param>
/// <param name="color">楕円の色．</param>
#else
/// <summary>
/// Draws simple or thick elliptic arc or fills ellipse sector
/// </summary>
/// <param name="img">Image. </param>
/// <param name="box">The enclosing box of the ellipse drawn </param>
/// <param name="color">Ellipse color. </param>
#endif
public static void EllipseBox(CvArr img, CvBox2D box, CvScalar color)
{
EllipseBox(img, box, color, 1, LineType.Link8, 0);
}
/// <summary>
/// 箱の頂点を見つける
/// </summary>
/// <param name="box">箱</param>
/// <param name="pt">頂点の配列</param>
#else
/// <summary>
/// Finds box vertices
/// </summary>
/// <param name="box">Box</param>
/// <param name="pt">Array of vertices</param>
#endif
public static void BoxPoints(CvBox2D box, out CvPoint2D32f[] pt)
{
pt = new CvPoint2D32f[4];
CvInvoke.cvBoxPoints(box, pt);
// cvgeometry.cpp line 89~103
/*
double angle = box.Angle * CvConst.CV_PI / 180.0;
float a = (float)Math.Cos(angle)*0.5f;
float b = (float)Math.Sin(angle)*0.5f;
pt[0].X = box.Center.X - a * box.Size.Height - b * box.Size.Width;
pt[0].Y = box.Center.Y + b * box.Size.Height - a * box.Size.Width;
pt[1].X = box.Center.X + a * box.Size.Height - b * box.Size.Width;
pt[1].Y = box.Center.Y - b * box.Size.Height - a * box.Size.Width;
pt[2].X = 2 * box.Center.X - pt[0].X;
pt[2].Y = 2 * box.Center.Y - pt[0].Y;
pt[3].X = 2 * box.Center.X - pt[1].X;
pt[3].Y = 2 * box.Center.Y - pt[1].Y;
//*/
}
public static extern void cvBoxPoints(CvBox2D box, [Out] CvPoint2D32f[] pt);
public static extern int cvCamShift(IntPtr prob_image, CvRect window, CvTermCriteria criteria, IntPtr comp, ref CvBox2D box);
