// Update is called once per frame
void Update()
{
CvConvert.RenderTextureToTexture2D(rendTex, ref tex);
mat = new Mat(tex.width, tex.height, MatType.CV_8UC4);
CvConvert.Texture2DToMat(tex, ref mat);
float midPoint = getMidPoint(2, ref mat);
CvConvert.MatToTexture2D(mat, ref tex);
rawImg.texture = tex;
if (midPoint < -0.06f)
{
rc.RotateRight();
rc.MoveForward();
}
else if (midPoint > 0.06f)
{
rc.RotateLeft();
rc.MoveForward();
}
else
{
rc.MoveForward();
}
}
void Update()
{
// Performance measuring purposes only, avoid reading data in Update()
mat = Cv2.ImRead(CvUtil.GetStreamingAssetsPath("lena.png"), ImreadModes.GrayScale);
// Timer to swithch between different thresholds
timeElapsed += Time.deltaTime;
if (timeElapsed > 1.5f)
{
timeElapsed = 0;
mode++;
if (mode > 4)
{
mode = 0;
}
}
Cv2.Threshold(mat, binaryInvMat, 0, 255, ThresholdTypes.BinaryInv | ThresholdTypes.Otsu);
Cv2.Threshold(mat, toZeroMat, 0, 255, ThresholdTypes.Tozero | ThresholdTypes.Otsu);
Cv2.Threshold(mat, toZeroInvMat, 0, 255, ThresholdTypes.TozeroInv | ThresholdTypes.Otsu);
Cv2.AdaptiveThreshold(mat, gaussianMat, 255, AdaptiveThresholdTypes.GaussianC, ThresholdTypes.Binary, 7, 8);
Cv2.Subtract(gaussianMat, toZeroMat, subtractMat);
switch (mode)
{
case 0:
mat = subtractMat;
break;
case 1:
mat = binaryInvMat;
break;
case 2:
mat = toZeroMat;
break;
case 3:
mat = gaussianMat;
break;
case 4:
mat = toZeroInvMat;
break;
default:
break;
}
Cv2.CvtColor(mat, matRGBA, ColorConversionCodes.GRAY2RGBA);
CvConvert.MatToTexture2D(matRGBA, ref tex);
rawImage.texture = tex;
}
void CamUpdate()
{
CvUtil.GetWebCamMat(webCamTexture, ref mat);
Cv2.CvtColor(mat, gray, ColorConversionCodes.RGBA2GRAY);
Point2f[] corners;
bool ret = Cv2.FindChessboardCorners(gray, size, out corners);
if (ret)
{
TermCriteria criteria = TermCriteria.Both(30, 0.001f);
Point2f[] corners2 = Cv2.CornerSubPix(gray, corners, size, new Size(-1, -1), criteria);
Cv2.DrawChessboardCorners(mat, size, corners2, ret);
List <Point3f> lObjectPoints = new List <Point3f>();
for (int i = 0; i < size.Width; i++)
{
for (int j = 0; j < size.Height; j++)
{
lObjectPoints.Add(new Point3f(i, j, 0) * cellSize);
}
}
var objectPoints = new List <IEnumerable <Point3f> > {
lObjectPoints
};
var imagePoints = new List <IEnumerable <Point2f> > {
corners2
};
double[,] cameraMatrix = new double[3, 3];
double[] distCoefficients = new double[5];
Vec3d[] rvecs, tvecs;
Cv2.CalibrateCamera(objectPoints, imagePoints, mat.Size(), cameraMatrix, distCoefficients, out rvecs, out tvecs);
print(
cameraMatrix[0, 0] + ", " + cameraMatrix[0, 1] + ", " + cameraMatrix[0, 2] + "\n" +
cameraMatrix[1, 0] + ", " + cameraMatrix[1, 1] + ", " + cameraMatrix[1, 2] + "\n" +
cameraMatrix[2, 0] + ", " + cameraMatrix[2, 1] + ", " + cameraMatrix[2, 2]
);
print(tvecs[0].Item0 + ", " + tvecs[0].Item1 + ", " + tvecs[0].Item2);
}
CvConvert.MatToTexture2D(mat, ref tex);
rawImage.texture = tex;
}
void CamUpdate()
{
CvUtil.GetWebCamMat(webCamTexture, ref mat);
Cv2.CvtColor(mat, greyMat, ColorConversionCodes.RGBA2GRAY);
Cv2.Threshold(greyMat, greyMat, 100, 255, ThresholdTypes.Binary);
var detectorParams = new SimpleBlobDetector.Params
{
//MinDistBetweenBlobs = 10, // 10 pixels between blobs
//MinRepeatability = 1,
//MinThreshold = 100,
//MaxThreshold = 255,
//ThresholdStep = 5,
FilterByArea = false,
//FilterByArea = true,
//MinArea = 0.001f, // 10 pixels squared
//MaxArea = 500,
FilterByCircularity = false,
//FilterByCircularity = true,
//MinCircularity = 0.001f,
FilterByConvexity = false,
//FilterByConvexity = true,
//MinConvexity = 0.001f,
//MaxConvexity = 10,
FilterByInertia = false,
//FilterByInertia = true,
//MinInertiaRatio = 0.001f,
FilterByColor = false
//FilterByColor = true,
//BlobColor = 255 // to extract light blobs
};
var simpleBlobDetector = SimpleBlobDetector.Create(detectorParams);
var keyPoints = simpleBlobDetector.Detect(greyMat);
Cv2.DrawKeypoints(
image: greyMat,
keypoints: keyPoints,
outImage: mat,
color: Scalar.FromRgb(255, 0, 0),
flags: DrawMatchesFlags.DrawRichKeypoints);
CvConvert.MatToTexture2D(mat, ref tex);
rawImage.texture = tex;
}
void CamUpdate()
{
// Get Mat from WebCamTexture
CvUtil.GetWebCamMat(webCamTexture, ref mat);
// Run face detection
mat = DetectFace(haarCascade, mat);
// Convert Mat to Texture2D for display
CvConvert.MatToTexture2D(mat, ref tex);
// Assign Texture2D to GUI element
rawImage.texture = tex;
}
void CamUpdate()
{
CvUtil.GetWebCamMat(webCamTexture, ref mat);
mog2.Apply(mat, fg, 0.05f);
Cv2.GaussianBlur(fg, fg, new Size(21, 21), 0);
Cv2.Threshold(fg, fg, 30, 255, ThresholdTypes.Binary);
Cv2.Dilate(fg, fg, nm, default(Point?), 2);
Cv2.CvtColor(fg, fg, ColorConversionCodes.GRAY2BGRA);
Cv2.Add(mat, fg, fg);
CvConvert.MatToTexture2D(fg, ref tex);
rawImage.texture = tex;
}
void CamUpdate()
{
CvUtil.GetWebCamMat(webCamTexture, ref mat);
Cv2.CvtColor(mat, gray, ColorConversionCodes.RGBA2GRAY);
KeyPoint[] keypoints = Cv2.FAST(gray, 50, true);
foreach (KeyPoint kp in keypoints)
{
mat.Circle(kp.Pt, 3, new Scalar(255, 0, 0, 255), -1, LineTypes.AntiAlias, 0);
}
CvConvert.MatToTexture2D(mat, ref tex);
rawImage.texture = tex;
}
void CamUpdate()
{
CvUtil.GetWebCamMat(webCamTexture, ref mat);
Cv2.CvtColor(mat, mat, ColorConversionCodes.RGBA2RGB);
Cv2.CvtColor(mat, gray, ColorConversionCodes.RGB2GRAY);
Cv2.Canny(gray, gray, 90, 100);
LineSegmentPoint[] segHoughP = Cv2.HoughLinesP(gray, 1, Mathf.PI / 180, 90, 30, 50);
foreach (LineSegmentPoint p in segHoughP)
{
Cv2.Line(mat, p.P1, p.P2, colorScalar, 1, LineTypes.Link4);
}
CvConvert.MatToTexture2D(mat, ref tex);
rawImage.texture = tex;
}