/// <summary> /// Postprocess the specified frame, outs and net. /// </summary> /// <param name="frame">Frame.</param> /// <param name="outs">Outs.</param> /// <param name="net">Net.</param> protected virtual void postprocess(Mat frame, List <Mat> outs, Net net) { string outLayerType = outBlobTypes[0]; List <int> classIdsList = new List <int>(); List <float> confidencesList = new List <float>(); List <Rect2d> boxesList = new List <Rect2d>(); if (net.getLayer(new DictValue(0)).outputNameToIndex("im_info") != -1) { // Faster-RCNN or R-FCN // Network produces output blob with a shape 1x1xNx7 where N is a number of // detections and an every detection is a vector of values // [batchId, classId, confidence, left, top, right, bottom] if (outs.Count == 1) { outs[0] = outs[0].reshape(1, (int)outs[0].total() / 7); //Debug.Log ("outs[i].ToString() " + outs [0].ToString ()); float[] data = new float[7]; for (int i = 0; i < outs[0].rows(); i++) { outs[0].get(i, 0, data); float confidence = data[2]; if (confidence > confThreshold) { int class_id = (int)(data[1]); float left = data[3] * frame.cols(); float top = data[4] * frame.rows(); float right = data[5] * frame.cols(); float bottom = data[6] * frame.rows(); float width = right - left + 1f; float height = bottom - top + 1f; classIdsList.Add((int)(class_id) - 0); confidencesList.Add((float)confidence); boxesList.Add(new Rect2d(left, top, width, height)); } } } } else if (outLayerType == "DetectionOutput") { // Network produces output blob with a shape 1x1xNx7 where N is a number of // detections and an every detection is a vector of values // [batchId, classId, confidence, left, top, right, bottom] if (outs.Count == 1) { //Debug.Log(outs.Count); //Debug.Log(outs[0]); outs[0] = outs[0].reshape(1, (int)outs[0].total() / 7); //Debug.Log ("outs[i].ToString() " + outs [0].ToString ()); float[] data = new float[7]; for (int i = 0; i < outs[0].rows(); i++) { outs[0].get(i, 0, data); //Debug.Log("data[1] " + data[1]); float confidence = data[2]; if (confidence > confThreshold) { int class_id = (int)(data[1]); float left = data[3] * frame.cols(); float top = data[4] * frame.rows(); float right = data[5] * frame.cols(); float bottom = data[6] * frame.rows(); float width = right - left + 1f; float height = bottom - top + 1f; classIdsList.Add((int)(class_id) - 0); confidencesList.Add((float)confidence); boxesList.Add(new Rect2d(left, top, width, height)); } } } } else if (outLayerType == "Region") { for (int i = 0; i < outs.Count; ++i) { // Network produces output blob with a shape NxC where N is a number of // detected objects and C is a number of classes + 4 where the first 4 // numbers are [center_x, center_y, width, height] //Debug.Log ("outs[i].ToString() "+outs[i].ToString()); float[] positionData = new float[5]; float[] confidenceData = new float[outs[i].cols() - 5]; for (int p = 0; p < outs[i].rows(); p++) { outs[i].get(p, 0, positionData); outs[i].get(p, 5, confidenceData); int maxIdx = confidenceData.Select((val, idx) => new { V = val, I = idx }).Aggregate((max, working) => (max.V > working.V) ? max : working).I; float confidence = confidenceData[maxIdx]; if (confidence > confThreshold) { float centerX = positionData[0] * frame.cols(); float centerY = positionData[1] * frame.rows(); float width = positionData[2] * frame.cols(); float height = positionData[3] * frame.rows(); float left = centerX - width / 2; float top = centerY - height / 2; classIdsList.Add(maxIdx); confidencesList.Add((float)confidence); boxesList.Add(new Rect2d(left, top, width, height)); } } } } else { Debug.Log("Unknown output layer type: " + outLayerType); } MatOfRect2d boxes = new MatOfRect2d(); boxes.fromList(boxesList); MatOfFloat confidences = new MatOfFloat(); confidences.fromList(confidencesList); MatOfInt indices = new MatOfInt(); Dnn.NMSBoxes(boxes, confidences, confThreshold, nmsThreshold, indices); //Debug.Log ("indices.dump () "+indices.dump ()); //Debug.Log ("indices.ToString () "+indices.ToString()); for (int i = 0; i < indices.total(); ++i) { int idx = (int)indices.get(i, 0)[0]; Rect2d box = boxesList[idx]; drawPred(classIdsList[idx], confidencesList[idx], box.x, box.y, box.x + box.width, box.y + box.height, frame); } indices.Dispose(); boxes.Dispose(); confidences.Dispose(); }
/// <summary> /// Postprocess the specified frame, outs and net. /// </summary> /// <param name="frame">Frame.</param> /// <param name="outs">Outs.</param> /// <param name="net">Net.</param> /// <param name="backend">Backend.</param> protected virtual void postprocess(Mat frame, List <Mat> outs, Net net, int backend = Dnn.DNN_BACKEND_OPENCV) { MatOfInt outLayers = net.getUnconnectedOutLayers(); string outLayerType = outBlobTypes[0]; List <int> classIdsList = new List <int>(); List <float> confidencesList = new List <float>(); List <Rect2d> boxesList = new List <Rect2d>(); if (net.getLayer(new DictValue(0)).outputNameToIndex("im_info") != -1) { // Faster-RCNN or R-FCN // Network produces output blob with a shape 1x1xNx7 where N is a number of // detections and an every detection is a vector of values // [batchId, classId, confidence, left, top, right, bottom] if (outs.Count == 1) { outs[0] = outs[0].reshape(1, (int)outs[0].total() / 7); //Debug.Log ("outs[i].ToString() " + outs [0].ToString ()); float[] data = new float[7]; for (int i = 0; i < outs[0].rows(); i++) { outs[0].get(i, 0, data); float confidence = data[2]; if (confidence > confThreshold) { int class_id = (int)(data[1]); float left = data[3] * frame.cols(); float top = data[4] * frame.rows(); float right = data[5] * frame.cols(); float bottom = data[6] * frame.rows(); float width = right - left + 1f; float height = bottom - top + 1f; classIdsList.Add((int)(class_id) - 1); // Skip 0th background class id. confidencesList.Add((float)confidence); boxesList.Add(new Rect2d(left, top, width, height)); } } } } else if (outLayerType == "DetectionOutput") { // Network produces output blob with a shape 1x1xNx7 where N is a number of // detections and an every detection is a vector of values // [batchId, classId, confidence, left, top, right, bottom] if (outs.Count == 1) { outs[0] = outs[0].reshape(1, (int)outs[0].total() / 7); //Debug.Log ("outs[i].ToString() " + outs [0].ToString ()); float[] data = new float[7]; for (int i = 0; i < outs[0].rows(); i++) { outs[0].get(i, 0, data); float confidence = data[2]; if (confidence > confThreshold) { int class_id = (int)(data[1]); float left = data[3] * frame.cols(); float top = data[4] * frame.rows(); float right = data[5] * frame.cols(); float bottom = data[6] * frame.rows(); float width = right - left + 1f; float height = bottom - top + 1f; classIdsList.Add((int)(class_id) - 1); // Skip 0th background class id. confidencesList.Add((float)confidence); boxesList.Add(new Rect2d(left, top, width, height)); } } } } else if (outLayerType == "Region") { for (int i = 0; i < outs.Count; ++i) { // Network produces output blob with a shape NxC where N is a number of // detected objects and C is a number of classes + 4 where the first 4 // numbers are [center_x, center_y, width, height] //Debug.Log ("outs[i].ToString() "+outs[i].ToString()); float[] positionData = new float[5]; float[] confidenceData = new float[outs[i].cols() - 5]; for (int p = 0; p < outs[i].rows(); p++) { outs[i].get(p, 0, positionData); outs[i].get(p, 5, confidenceData); int maxIdx = confidenceData.Select((val, idx) => new { V = val, I = idx }).Aggregate((max, working) => (max.V > working.V) ? max : working).I; float confidence = confidenceData[maxIdx]; if (confidence > confThreshold) { float centerX = positionData[0] * frame.cols(); float centerY = positionData[1] * frame.rows(); float width = positionData[2] * frame.cols(); float height = positionData[3] * frame.rows(); float left = centerX - width / 2; float top = centerY - height / 2; classIdsList.Add(maxIdx); confidencesList.Add((float)confidence); boxesList.Add(new Rect2d(left, top, width, height)); } } } } else { Debug.Log("Unknown output layer type: " + outLayerType); } // NMS is used inside Region layer only on DNN_BACKEND_OPENCV for another backends we need NMS in sample // or NMS is required if number of outputs > 1 if (outLayers.total() > 1 || (outLayerType == "Region" && backend != Dnn.DNN_BACKEND_OPENCV)) { Dictionary <int, List <int> > class2indices = new Dictionary <int, List <int> >(); for (int i = 0; i < classIdsList.Count; i++) { if (confidencesList[i] >= confThreshold) { if (!class2indices.ContainsKey(classIdsList[i])) { class2indices.Add(classIdsList[i], new List <int>()); } class2indices[classIdsList[i]].Add(i); } } List <Rect2d> nmsBoxesList = new List <Rect2d>(); List <float> nmsConfidencesList = new List <float>(); List <int> nmsClassIdsList = new List <int>(); foreach (int key in class2indices.Keys) { List <Rect2d> localBoxesList = new List <Rect2d>(); List <float> localConfidencesList = new List <float>(); List <int> classIndicesList = class2indices[key]; for (int i = 0; i < classIndicesList.Count; i++) { localBoxesList.Add(boxesList[classIndicesList[i]]); localConfidencesList.Add(confidencesList[classIndicesList[i]]); } using (MatOfRect2d localBoxes = new MatOfRect2d(localBoxesList.ToArray())) using (MatOfFloat localConfidences = new MatOfFloat(localConfidencesList.ToArray())) using (MatOfInt nmsIndices = new MatOfInt()) { Dnn.NMSBoxes(localBoxes, localConfidences, confThreshold, nmsThreshold, nmsIndices); for (int i = 0; i < nmsIndices.total(); i++) { int idx = (int)nmsIndices.get(i, 0)[0]; nmsBoxesList.Add(localBoxesList[idx]); nmsConfidencesList.Add(localConfidencesList[idx]); nmsClassIdsList.Add(key); } } } boxesList = nmsBoxesList; classIdsList = nmsClassIdsList; confidencesList = nmsConfidencesList; } for (int idx = 0; idx < boxesList.Count; ++idx) { Rect2d box = boxesList[idx]; drawPred(classIdsList[idx], confidencesList[idx], box.x, box.y, box.x + box.width, box.y + box.height, frame); } }
// Update is called once per frame void Update() { for (int i = 0; i < validTimer.Length; i++) { validTimer[i] -= Time.deltaTime; if (validTimer[i] <= 0.0f) { timerEnded(i); } } switch (ClassID) { case 20: //LCD GUIObject[3].transform.position = Vector3.MoveTowards(GUIObject[3].transform.position, sphere[3].transform.position, Time.deltaTime * speed); break; case 12: //Dog GUIObject[3].transform.position = Vector3.MoveTowards(GUIObject[3].transform.position, sphere[3].transform.position, Time.deltaTime * speed); break; case 9: // Chair GUIObject[2].transform.position = Vector3.MoveTowards(GUIObject[2].transform.position, sphere[2].transform.position, Time.deltaTime * speed); break; case 5: // Bottle GUIObject[1].transform.position = Vector3.MoveTowards(GUIObject[1].transform.position, sphere[1].transform.position, Time.deltaTime * speed); break; case 15: // Civilian GUIObject[0].transform.position = Vector3.MoveTowards(GUIObject[0].transform.position, sphere[0].transform.position, Time.deltaTime * speed); break; default: print("Unknown"); break; } if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame()) { Mat rgbaMat = webCamTextureToMatHelper.GetMat(); if (net == null) { Imgproc.putText(rgbaMat, "model file is not loaded.", new Point(5, rgbaMat.rows() - 30), Imgproc.FONT_HERSHEY_SIMPLEX, 0.7, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false); Imgproc.putText(rgbaMat, "Please read console message.", new Point(5, rgbaMat.rows() - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 0.7, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false); } else { Imgproc.cvtColor(rgbaMat, bgrMat, Imgproc.COLOR_RGBA2BGR); // Create a 4D blob from a frame. Size inpSize = new Size(inpWidth > 0 ? inpWidth : bgrMat.cols(), inpHeight > 0 ? inpHeight : bgrMat.rows()); Mat blob = Dnn.blobFromImage(bgrMat, scale, inpSize, mean, swapRB, false); // Run a model. net.setInput(blob); if (net.getLayer(new DictValue(0)).outputNameToIndex("im_info") != -1) // Faster-RCNN or R-FCN { Imgproc.resize(bgrMat, bgrMat, inpSize); Mat imInfo = new Mat(1, 3, CvType.CV_32FC1); imInfo.put(0, 0, new float[] { (float)inpSize.height, (float)inpSize.width, 1.6f }); net.setInput(imInfo, "im_info"); } TickMeter tm = new TickMeter(); tm.start(); List <Mat> outs = new List <Mat> (); net.forward(outs, outBlobNames); tm.stop(); // Debug.Log ("Inference time, ms: " + tm.getTimeMilli ()); postprocess(rgbaMat, outs, net); for (int i = 0; i < outs.Count; i++) { outs [i].Dispose(); } blob.Dispose(); } Utils.fastMatToTexture2D(rgbaMat, texture); } }
// Use this for initialization protected virtual void Run() { //if true, The error log of the Native side OpenCV will be displayed on the Unity Editor Console. Utils.setDebugMode(true); if (!string.IsNullOrEmpty(classes)) { classNames = readClassNames(classes_filepath); if (classNames == null) { Debug.LogError(classes_filepath + " is not loaded. Please see \"StreamingAssets/dnn/setup_dnn_module.pdf\". "); } } else if (classesList.Count > 0) { classNames = classesList; } Mat img = Imgcodecs.imread(input_filepath); if (img.empty()) { Debug.LogError(input_filepath + " is not loaded. Please see \"StreamingAssets/dnn/setup_dnn_module.pdf\". "); img = new Mat(424, 640, CvType.CV_8UC3, new Scalar(0, 0, 0)); } //Adust Quad.transform.localScale. gameObject.transform.localScale = new Vector3(img.width(), img.height(), 1); Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation); float imageWidth = img.width(); float imageHeight = img.height(); float widthScale = (float)Screen.width / imageWidth; float heightScale = (float)Screen.height / imageHeight; if (widthScale < heightScale) { Camera.main.orthographicSize = (imageWidth * (float)Screen.height / (float)Screen.width) / 2; } else { Camera.main.orthographicSize = imageHeight / 2; } Net net = null; if (string.IsNullOrEmpty(model_filepath)) { Debug.LogError(model_filepath + " is not loaded. Please see \"StreamingAssets/dnn/setup_dnn_module.pdf\". "); } else { //! [Initialize network] net = Dnn.readNet(model_filepath, config_filepath); //! [Initialize network] } if (net == null) { Imgproc.putText(img, "model file is not loaded.", new Point(5, img.rows() - 30), Imgproc.FONT_HERSHEY_SIMPLEX, 0.7, new Scalar(255, 255, 255), 2, Imgproc.LINE_AA, false); Imgproc.putText(img, "Please read console message.", new Point(5, img.rows() - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 0.7, new Scalar(255, 255, 255), 2, Imgproc.LINE_AA, false); } else { outBlobNames = getOutputsNames(net); //for (int i = 0; i < outBlobNames.Count; i++) //{ // Debug.Log("names [" + i + "] " + outBlobNames[i]); //} outBlobTypes = getOutputsTypes(net); //for (int i = 0; i < outBlobTypes.Count; i++) //{ // Debug.Log("types [" + i + "] " + outBlobTypes[i]); //} // Create a 4D blob from a frame. Size inpSize = new Size(inpWidth > 0 ? inpWidth : img.cols(), inpHeight > 0 ? inpHeight : img.rows()); Mat blob = Dnn.blobFromImage(img, scale, inpSize, mean, swapRB, false); // Run a model. net.setInput(blob); if (net.getLayer(new DictValue(0)).outputNameToIndex("im_info") != -1) { // Faster-RCNN or R-FCN Imgproc.resize(img, img, inpSize); Mat imInfo = new Mat(1, 3, CvType.CV_32FC1); imInfo.put(0, 0, new float[] { (float)inpSize.height, (float)inpSize.width, 1.6f }); net.setInput(imInfo, "im_info"); } TickMeter tm = new TickMeter(); tm.start(); List <Mat> outs = new List <Mat>(); net.forward(outs, outBlobNames); tm.stop(); Debug.Log("Inference time, ms: " + tm.getTimeMilli()); postprocess(img, outs, net, Dnn.DNN_BACKEND_OPENCV); for (int i = 0; i < outs.Count; i++) { outs[i].Dispose(); } blob.Dispose(); net.Dispose(); } Imgproc.cvtColor(img, img, Imgproc.COLOR_BGR2RGB); Texture2D texture = new Texture2D(img.cols(), img.rows(), TextureFormat.RGBA32, false); Utils.matToTexture2D(img, texture); gameObject.GetComponent <Renderer>().material.mainTexture = texture; Utils.setDebugMode(false); }
// Use this for initialization void Run() { //if true, The error log of the Native side OpenCV will be displayed on the Unity Editor Console. Utils.setDebugMode(true); Mat img = Imgcodecs.imread(image_filepath, Imgcodecs.IMREAD_COLOR); if (img.empty()) { Debug.LogError(image_filepath + " is not loaded. Please see \"StreamingAssets/dnn/setup_dnn_module.pdf\". "); img = new Mat(368, 368, CvType.CV_8UC3, new Scalar(0, 0, 0)); } //Adust Quad.transform.localScale. gameObject.transform.localScale = new Vector3(img.width(), img.height(), 1); Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation); float imageWidth = img.width(); float imageHeight = img.height(); float widthScale = (float)Screen.width / imageWidth; float heightScale = (float)Screen.height / imageHeight; if (widthScale < heightScale) { Camera.main.orthographicSize = (imageWidth * (float)Screen.height / (float)Screen.width) / 2; } else { Camera.main.orthographicSize = imageHeight / 2; } Net detector = null; Net recognizer = null; if (string.IsNullOrEmpty(detectionmodel_filepath) || string.IsNullOrEmpty(recognitionmodel_filepath)) { Debug.LogError(detectionmodel_filepath + " or " + recognitionmodel_filepath + " is not loaded. Please see \"StreamingAssets/dnn/setup_dnn_module.pdf\". "); } else { detector = Dnn.readNet(detectionmodel_filepath); recognizer = Dnn.readNet(recognitionmodel_filepath); } if (detector == null || recognizer == null) { Imgproc.putText(img, "model file is not loaded.", new Point(5, img.rows() - 30), Imgproc.FONT_HERSHEY_SIMPLEX, 0.7, new Scalar(255, 255, 255), 2, Imgproc.LINE_AA, false); Imgproc.putText(img, "Please read console message.", new Point(5, img.rows() - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 0.7, new Scalar(255, 255, 255), 2, Imgproc.LINE_AA, false); } else { TickMeter tickMeter = new TickMeter(); List <Mat> outs = new List <Mat>(); List <string> outNames = new List <string>(); outNames.Add("feature_fusion/Conv_7/Sigmoid"); outNames.Add("feature_fusion/concat_3"); // Create a 4D blob from a frame. Size inpSize = new Size(inpWidth > 0 ? inpWidth : img.cols(), inpHeight > 0 ? inpHeight : img.rows()); Mat blob = Dnn.blobFromImage(img, 1.0, inpSize, new Scalar(123.68, 116.78, 103.94), true, false); // blobFromImage(frame, blob, 1.0, Size(inpWidth, inpHeight), Scalar(123.68, 116.78, 103.94), true, false); // Run detection model. detector.setInput(blob); tickMeter.start(); detector.forward(outs, outNames); tickMeter.stop(); Mat scores = outs[0]; Mat geometry = outs[1]; // Decode predicted bounding boxes. List <RotatedRect> boxes = new List <RotatedRect>(); List <float> confidences = new List <float>(); decodeBoundingBoxes(scores, geometry, confThreshold, boxes, confidences); // Apply non-maximum suppression procedure. MatOfRotatedRect boxesMat = new MatOfRotatedRect(boxes.ToArray()); MatOfFloat confidencesMat = new MatOfFloat(confidences.ToArray()); MatOfInt indicesMat = new MatOfInt(); Dnn.NMSBoxesRotated(boxesMat, confidencesMat, confThreshold, nmsThreshold, indicesMat); List <int> indices = indicesMat.toList(); Point ratio = new Point(img.cols() / inpWidth, img.rows() / inpHeight); // Render text. for (int i = 0; i < indices.Count; ++i) { RotatedRect box = boxes[indices[i]]; Point[] vertices = new Point[4]; box.points(vertices); for (int j = 0; j < 4; ++j) { vertices[j].x *= ratio.x; vertices[j].y *= ratio.y; } for (int j = 0; j < 4; ++j) { Imgproc.line(img, vertices[j], vertices[(j + 1) % 4], new Scalar(0, 255, 0), 1); } if (recognizer != null) { Mat cropped = new Mat(); fourPointsTransform(img, vertices, cropped); //Debug.Log(cropped); Imgproc.cvtColor(cropped, cropped, Imgproc.COLOR_BGR2GRAY); Mat blobCrop = Dnn.blobFromImage(cropped, 1.0 / 127.5, new Size(), Scalar.all(127.5)); recognizer.setInput(blobCrop); //Debug.Log(blobCrop); tickMeter.start(); Mat result = recognizer.forward(); tickMeter.stop(); string wordRecognized; decodeText(result, out wordRecognized); Imgproc.putText(img, wordRecognized, vertices[1], Imgproc.FONT_HERSHEY_SIMPLEX, 0.5, new Scalar(255, 0, 0), 1, Imgproc.LINE_AA, false); Debug.Log(wordRecognized); cropped.Dispose(); blobCrop.Dispose(); result.Dispose(); } } Debug.Log("Inference time, ms: " + tickMeter.getTimeMilli()); for (int i = 0; i < outs.Count; i++) { outs[i].Dispose(); } blob.Dispose(); detector.Dispose(); recognizer.Dispose(); } Imgproc.cvtColor(img, img, Imgproc.COLOR_BGR2RGB); Texture2D texture = new Texture2D(img.cols(), img.rows(), TextureFormat.RGBA32, false); Utils.matToTexture2D(img, texture); gameObject.GetComponent <Renderer>().material.mainTexture = texture; Utils.setDebugMode(false); }
// Update is called once per frame void Update() { if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame()) { Mat rgbaMat = webCamTextureToMatHelper.GetMat(); if (net == null) { Imgproc.putText(rgbaMat, "model file is not loaded.", new Point(5, rgbaMat.rows() - 30), Core.FONT_HERSHEY_SIMPLEX, 0.7, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false); Imgproc.putText(rgbaMat, "Please read console message.", new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 0.7, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false); } else { Imgproc.cvtColor(rgbaMat, bgrMat, Imgproc.COLOR_RGBA2BGR); //! [Resizing without keeping aspect ratio] Imgproc.resize(bgrMat, resized, new Size(network_width, network_height)); //! [Resizing without keeping aspect ratio] //! [Prepare blob] inputBlob = Dnn.blobFromImage(resized, 1 / 255.0, new Size(), new Scalar(0), true, true); //Convert Mat to batch of images //! [Prepare blob] //! [Set input blob] net.setInput(inputBlob, "data"); //set the network input //! [Set input blob] // TickMeter tm = new TickMeter (); // tm.start (); //! [Make forward pass] Mat detectionMat = net.forward("detection_out"); //compute output //! [Make forward pass] // tm.stop (); // Debug.Log ("Inference time, ms: " + tm.getTimeMilli ()); // Debug.Log ("detectionMat.ToString(): " + detectionMat.ToString ()); float[] position = new float[5]; float[] confidences = new float[80]; float confidenceThreshold = 0.24f; for (int i = 0; i < detectionMat.rows(); i++) { detectionMat.get(i, 0, position); detectionMat.get(i, 5, confidences); int maxIdx = confidences.Select((val, idx) => new { V = val, I = idx }).Aggregate((max, working) => (max.V > working.V) ? max : working).I; float confidence = confidences [maxIdx]; if (confidence > confidenceThreshold) { float x = position [0]; float y = position [1]; float width = position [2]; float height = position [3]; int xLeftBottom = (int)((x - width / 2) * rgbaMat.cols()); int yLeftBottom = (int)((y - height / 2) * rgbaMat.rows()); int xRightTop = (int)((x + width / 2) * rgbaMat.cols()); int yRightTop = (int)((y + height / 2) * rgbaMat.rows()); // Debug.Log ("confidence: " + confidence); // // Debug.Log (" " + xLeftBottom // + " " + yLeftBottom // + " " + xRightTop // + " " + yRightTop); Imgproc.rectangle(rgbaMat, new Point(xLeftBottom, yLeftBottom), new Point(xRightTop, yRightTop), new Scalar(0, 255, 0, 255), 2); if (maxIdx < classNames.Count) { string label = classNames [maxIdx] + ": " + confidence; int[] baseLine = new int[1]; Size labelSize = Imgproc.getTextSize(label, Core.FONT_HERSHEY_SIMPLEX, 0.5, 1, baseLine); Imgproc.rectangle(rgbaMat, new Point(xLeftBottom, yLeftBottom), new Point(xLeftBottom + labelSize.width, yLeftBottom + labelSize.height + baseLine [0]), new Scalar(255, 255, 255, 255), Core.FILLED); Imgproc.putText(rgbaMat, label, new Point(xLeftBottom, yLeftBottom + labelSize.height), Core.FONT_HERSHEY_SIMPLEX, 0.5, new Scalar(0, 0, 0, 255)); } } } detectionMat.Dispose(); } Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors()); } }