private void UpdateConvexityDefection(
MatOfPoint contour, MatOfInt hullIndices, double defectMinY, RecordHandDetectResult resultSetter
)
{
var contourArray = contour.toArray();
var convexDefect = new MatOfInt4();
Imgproc.convexityDefects(contour, hullIndices, convexDefect);
resultSetter.ConvexDefectVectors.Clear();
int convexDefectCount = convexDefect.rows();
if (convexDefectCount > 0)
{
for (int i = 0; i < convexDefectCount; i++)
{
convexDefect.get(i, 0, _convexityDefectSetValues);
Point farPoint = contourArray[_convexityDefectSetValues[2]];
int depth = _convexityDefectSetValues[3];
if (depth > DefectThreasholdValue && farPoint.y < defectMinY)
{
var nearPoint1 = contourArray[_convexityDefectSetValues[0]];
var nearPoint2 = contourArray[_convexityDefectSetValues[1]];
resultSetter.ConvexDefectVectors.Add(new Vector2(
(float)(nearPoint1.x * 0.5f + nearPoint2.x * 0.5 - farPoint.x),
(float)(nearPoint1.y * 0.5f + nearPoint2.y * 0.5 - farPoint.y)
));
}
}
}
//ここまでやりきると全データが有効に更新されている。
resultSetter.HasValidHandArea = true;
}
/// <summary>
/// Computes the contour convexity defects
/// </summary>
/// <param name="convexHull">Convex hull obtained using convexHull() that
/// should contain indices of the contour points that make the hull.</param>
/// <returns>The output vector of convexity defects.
/// Each convexity defect is represented as 4-element integer vector
/// (a.k.a. cv::Vec4i): (start_index, end_index, farthest_pt_index, fixpt_depth),
/// where indices are 0-based indices in the original contour of the convexity defect beginning,
/// end and the farthest point, and fixpt_depth is fixed-point approximation
/// (with 8 fractional bits) of the distance between the farthest contour point and the hull.
/// That is, to get the floating-point value of the depth will be fixpt_depth/256.0. </returns>
public Vec4i[] ConvexityDefectsAsVec(InputArray convexHull)
{
var dst = new MatOfInt4();
Cv2.ConvexityDefects(this, convexHull, dst);
return dst.ToArray();
}
/// <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 void HandPoseEstimationProcess(Mat rgbaMat)
{
//Imgproc.blur(mRgba, mRgba, new Size(5,5));
Imgproc.GaussianBlur(rgbaMat, rgbaMat, new 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;
}
}
MatOfPoint contour = contours[boundPos];
OpenCVForUnity.CoreModule.Rect boundRect = Imgproc.boundingRect(new MatOfPoint(contour.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 + "]");
Point bottomLeft = new Point(boundRect.x, boundRect.y + boundRect.height);
Point topLeft = new Point(boundRect.x, boundRect.y);
Point bottomRight = new Point(boundRect.x + boundRect.width, boundRect.y + boundRect.height);
Point topRight = new Point(boundRect.x + boundRect.width, boundRect.y);
rectPoints = new MatOfPoint2f(new Point(boundRect.x, boundRect.y), //topleft
new Point(boundRect.x + boundRect.width, boundRect.y), //Top Right
new Point(boundRect.x + boundRect.width, boundRect.y + boundRect.height), //Bottom Right
new Point(boundRect.x, boundRect.y + boundRect.height) //Bottom Left
);
//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) + "]");
//Imgproc.rectangle (rgbaMat, boundRect.tl (), new Point (boundRect.br ().x, a), CONTOUR_COLOR, 2, 8, 0);
List <Point3> m_markerCorners3dList = new List <Point3>();
m_markerCorners3dList.Add(new Point3(-0.5f, -0.5f, 0)); //Top, Left (A)
m_markerCorners3dList.Add(new Point3(+0.5f, -0.5f, 0)); //Top, Right (B)
m_markerCorners3dList.Add(new Point3(+0.5f, +0.5f, 0)); //Bottom, Right (C)
m_markerCorners3dList.Add(new Point3(-0.5f, +0.5f, 0)); //Bottom, Left (D)
m_markerCorners3d.fromList(m_markerCorners3dList);
//estimate pose
Mat Rvec = new Mat();
Mat Tvec = new Mat();
Mat raux = new Mat();
Mat taux = new Mat();
Calib3d.solvePnP(m_markerCorners3d, rectPoints, camMatrix, distCoeff, raux, taux);
raux.convertTo(Rvec, CvType.CV_32F);
taux.convertTo(Tvec, CvType.CV_32F);
rotMat = new Mat(3, 3, CvType.CV_64FC1);
Calib3d.Rodrigues(Rvec, rotMat);
transformationM.SetRow(0, new Vector4((float)rotMat.get(0, 0)[0], (float)rotMat.get(0, 1)[0], (float)rotMat.get(0, 2)[0], (float)Tvec.get(0, 0)[0]));
transformationM.SetRow(1, new Vector4((float)rotMat.get(1, 0)[0], (float)rotMat.get(1, 1)[0], (float)rotMat.get(1, 2)[0], (float)Tvec.get(1, 0)[0]));
transformationM.SetRow(2, new Vector4((float)rotMat.get(2, 0)[0], (float)rotMat.get(2, 1)[0], (float)rotMat.get(2, 2)[0], (float)Tvec.get(2, 0)[0]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
//Debug.Log ("transformationM " + transformationM.ToString ());
Rvec.Dispose();
Tvec.Dispose();
raux.Dispose();
taux.Dispose();
rotMat.Dispose();
ARM = ARCamera.transform.localToWorldMatrix * invertYM * transformationM * invertZM;
//Debug.Log("arM " + ARM.ToString());
if (ARGameObject != null)
{
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
if (deactivateCoroutine == null)
{
deactivateCoroutine = StartCoroutine(Wait(10.0f));
}
ARGameObject.SetActive(true);
}
//end pose estimation
MatOfPoint2f pointMat = new MatOfPoint2f();
Imgproc.approxPolyDP(new MatOfPoint2f(contour.toArray()), pointMat, 3, true);
contour = new MatOfPoint(pointMat.toArray());
MatOfInt hull = new MatOfInt();
MatOfInt4 convexDefect = new MatOfInt4();
Imgproc.convexHull(new MatOfPoint(contour.toArray()), hull);
if (hull.toArray().Length < 3)
{
return;
}
Imgproc.convexityDefects(new MatOfPoint(contour.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(contour.toList()[hull.toList()[j]]);
}
MatOfPoint e = new MatOfPoint();
e.fromList(listPo);
hullPoints.Add(e);
List <Point> listPoDefect = new List <Point>();
if (convexDefect.rows() > 0)
{
List <int> convexDefectList = convexDefect.toList();
List <Point> contourList = contour.toList();
for (int j = 0; j < convexDefectList.Count; j = j + 4)
{
Point farPoint = contourList[convexDefectList[j + 2]];
int depth = convexDefectList[j + 3];
//if (depth > threasholdSlider.value && farPoint.y < a)
//{
// listPoDefect.Add(contourList[convexDefectList[j + 2]]);
//}
//Debug.Log ("convexDefectList [" + j + "] " + convexDefectList [j + 3]);
}
}
Debug.Log("hull: " + hull.toList());
if (convexDefect.rows() > 0)
{
Debug.Log("defects: " + convexDefect.toList());
}
//use these contours to do heart detection
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);
Imgproc.putText(rgbaMat, "" + numberOfFingers, new Point(rgbaMat.cols() / 2, rgbaMat.rows() / 2), Imgproc.FONT_HERSHEY_PLAIN, 4.0, new Scalar(255, 255, 255, 255), 6, Imgproc.LINE_AA, false);
numberOfFingersText.text = numberOfFingers.ToString();
foreach (Point p in listPoDefect)
{
Imgproc.circle(rgbaMat, p, 6, new Scalar(255, 0, 255, 255), -1);
}
}
/// <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);
}
}
void Process(){
Mat hierarchy = new Mat ();
List<MatOfPoint> contours = new List<MatOfPoint> ();
MatOfPoint maxitem = new MatOfPoint ();
MatOfInt hullInt = new MatOfInt ();
frameclone = frame_thresh_final.clone ();
Imgproc.findContours (frameclone, contours, hierarchy, Imgproc.RETR_LIST , Imgproc.CHAIN_APPROX_NONE);
maxitem = contours[0];
n = 0;
for(int i=0; i<contours.Count; i++){
if(contours[i].total() > maxitem.total()){
maxitem = contours[i];
n=i;
}
}
OpenCVForUnity.Rect bRect = Imgproc.boundingRect (maxitem);
int bRect_height = bRect.height;
int bRect_width = bRect.width;
Imgproc.drawContours(frame_thresh_final, contours, n, new Scalar(255, 255, 255), -1);
Imgproc.convexHull( maxitem, hullInt);
List<Point> maxitemPointList = maxitem.toList ();
List<int> hullIntList = hullInt.toList ();
List<Point> hullPointList = new List<Point> ();
for (int j=0; j < hullInt.toList().Count; j++) {
hullPointList.Add (maxitemPointList [hullIntList[j]]);
}
MatOfPoint hullPointMat = new MatOfPoint ();
hullPointMat.fromList (hullPointList);
List<MatOfPoint> hullPoints = new List<MatOfPoint> ();
hullPoints.Add (hullPointMat);
//Imgproc.drawContours (frame, hullPoints, -1, new Scalar (0, 255, 0), 2);
MatOfInt4 convexityDef = new MatOfInt4 ();
Imgproc.convexityDefects (maxitem, hullInt, convexityDef);
List<int> conDefIntList = convexityDef.toList ();
List<Point> startpts = new List<Point> ();
List<Point> farpts = new List<Point> ();
List<Point> endpts = new List<Point> ();
double defx1 = 1000, defx2 = 1000;
int countx1 = 0, countx2 = 0;
int tolerance = (int)(bRect_height/5.5);
int count = 0, index = 0;
//Debug.Log ("Tolerance: " + tolerance);
double angleTol = 95.0;
int[] defarray = new int[100];
//CvFont font = new CvFont (FontFace.Vector0, 1.0, 1.0);
for(int i=0; i < conDefIntList.Count/4 ; i++){
startpts.Add(maxitemPointList[conDefIntList[4*i]]);
endpts.Add(maxitemPointList[conDefIntList[4*i+1]]);
farpts.Add(maxitemPointList[conDefIntList[4*i+2]]);
Point s = startpts[i];
Point e = endpts[i];
Point f = farpts[i];
if( GetAngle(s, f, e) < angleTol && GetDistance(s,f) > tolerance && GetDistance(e,f) > tolerance ){
//string text = Convert.ToString(count);
//Debug.Log("Depth1: "+GetDistance(s,f));
//Debug.Log("Depth2: "+GetDistance(e,f));
//Core.circle( frame_pot, f, 10, new Scalar(0, 0, 255), -1);
//Core.circle( frame_pot, s, 10, new Scalar(0, 255, 0), -1);
//Core.circle( frame_pot, e, 10, new Scalar(255, 0, 0), -1);
//Core.putText(frame_pot, text, f, Core.FONT_HERSHEY_COMPLEX , 1.0, new Scalar(255, 255, 255));
//frame_pot.PutText(text, f, font, CvColor.White);
if(f.x < defx1){
defx2 = defx1;
countx2 = countx1;
defx1 = f.x;
countx1 = count;
}
else if(f.x < defx2)
{
defx2 = f.x;
countx2 = count;
}
defarray[count] = index;
count++;
}
index++;
}
//Debug.Log ("Count: " + count);
//Debug.Log ("Total: " + farpts.Count);
Point point1 = farpts [defarray [countx1]];
Point point2 = farpts [defarray [countx2]];
//Core.circle (frame_pot, point1, 15, new Scalar (255, 0, 0), 2);
//Core.circle (frame_pot, point2, 15, new Scalar (255, 0, 0), 2);
point1.y -= 5;
double posX = (point1.x + point2.x)/2.0;
double posY = (point1.y + point2.y)/2.0;
posX_new = (float)(posX - 240);
posY_new = (float)(-posY + 320);
double dist = Math.Sqrt(Math.Pow(point1.x - point2.x, 2) + Math.Pow(point1.y - point2.y, 2));
scale1 = dist * 500000 / 640.0;
scale2 = dist * 700 / 640.0;
scale3 = dist * 600 / 640.0;
scale4 = dist * 15 / 640.0;
scale5 = dist * 70 / 640.0;
ringObj[0].transform.position = new Vector3(posX_new, posY_new, 0.0f);
ringObj[1].transform.position = new Vector3(posX_new, posY_new, 0.0f);
ringObj[2].transform.position = new Vector3(posX_new, posY_new, 0.0f);
ringObj[3].transform.position = new Vector3(posX_new, posY_new, 0.0f);
ringObj[4].transform.position = new Vector3(posX_new, posY_new, 0.0f);
ringObj[0].transform.localScale = new Vector3((float)scale1, (float)scale1, (float)(scale1*1.5));
ringObj[1].transform.localScale = new Vector3((float)scale2, (float)scale2, (float)(scale2));
ringObj[2].transform.localScale = new Vector3((float)scale3, (float)scale3, (float)(scale3));
ringObj[3].transform.localScale = new Vector3((float)scale4, (float)scale4, (float)(scale4));
ringObj[4].transform.localScale = new Vector3((float)scale5, (float)scale5, (float)(scale5));
Point point3 = new Point(point1.x, point2.y);
angle_rot = GetAngle( point1, point2, point3);
ringObj[0].transform.RotateAround( new Vector3(posX_new, posY_new, 0.0f), Vector3.forward, (float)angle_rot);
ringObj[1].transform.RotateAround( new Vector3(posX_new, posY_new, 0.0f), Vector3.forward, (float)angle_rot);
ringObj[2].transform.RotateAround( new Vector3(posX_new, posY_new, 0.0f), Vector3.forward, (float)angle_rot);
ringObj[3].transform.RotateAround( new Vector3(posX_new, posY_new, 0.0f), Vector3.forward, (float)angle_rot);
ringObj[4].transform.RotateAround( new Vector3(posX_new, posY_new, 0.0f), Vector3.forward, (float)angle_rot);
}
private void HandPoseEstimationProcess(Mat rgbaMat)
{
// rgbaMat.copyTo(mRgba);
float DOWNSCALE_RATIO = 1.0f;
if (enableDownScale)
{
mRgba = imageOptimizationHelper.GetDownScaleMat(rgbaMat);
DOWNSCALE_RATIO = imageOptimizationHelper.downscaleRatio;
}
else
{
// mRgba = rgbaMat;
rgbaMat.copyTo(mRgba);
DOWNSCALE_RATIO = 1.0f;
}
// Imgproc.blur(mRgba, mRgba, new Size(5,5));
Imgproc.GaussianBlur(mRgba, mRgba, new Size(3, 3), 1, 1);
// Imgproc.medianBlur(mRgba, mRgba, 3);
if (!isColorSelected)
{
return;
}
List <MatOfPoint> contours = detector.GetContours();
detector.Process(mRgba);
// 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;
}
}
MatOfPoint contour = contours[boundPos];
OpenCVForUnity.CoreModule.Rect boundRect = Imgproc.boundingRect(new MatOfPoint(contour.toArray()));
Imgproc.rectangle(mRgba, 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) + "]");
// Imgproc.rectangle(mRgba, boundRect.tl(), new Point(boundRect.br().x, a), CONTOUR_COLOR, 2, 8, 0);
MatOfPoint2f pointMat = new MatOfPoint2f();
Imgproc.approxPolyDP(new MatOfPoint2f(contour.toArray()), pointMat, 3, true);
contour = new MatOfPoint(pointMat.toArray());
MatOfInt hull = new MatOfInt();
MatOfInt4 convexDefect = new MatOfInt4();
Imgproc.convexHull(new MatOfPoint(contour.toArray()), hull);
if (hull.toArray().Length < 3)
{
return;
}
Imgproc.convexityDefects(new MatOfPoint(contour.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(contour.toList()[hull.toList()[j]] * DOWNSCALE_RATIO);
}
/*
* MatOfPoint e = new MatOfPoint();
* e.fromList(listPo);
* hullPoints.Add(e);
*
* List<Point> listPoDefect = new List<Point>();
*
* if (convexDefect.rows() > 0)
* {
* List<int> convexDefectList = convexDefect.toList();
* List<Point> contourList = contour.toList();
* for (int j = 0; j < convexDefectList.Count; j = j + 4)
* {
* Point farPoint = contourList[convexDefectList[j + 2]];
* int depth = convexDefectList[j + 3];
* if (depth > threshholdDetect && farPoint.y < a)
* {
* listPoDefect.Add(contourList[convexDefectList[j + 2]]);
* Imgproc.line(rgbaMat, farPoint, listPo[convexDefectList[j + 2]], new Scalar(255, 0, 0, 255),1,1);
* }
* // Debug.Log ("convexDefectList [" + j + "] " + convexDefectList [j + 3]);
* }
* }*/
// Debug.Log ("hull: " + hull.toList ());
// if (convexDefect.rows () > 0) {
// Debug.Log ("defects: " + convexDefect.toList ());
// }
//Imgproc.drawContours (rgbaMat, hullPoints, -1, CONTOUR_COLOR, 3);
for (int p = 0; p < listPo.Count; p++)
{
if (p % 2 == 0)
{
Imgproc.circle(rgbaMat, listPo[p], 6, new Scalar(255, 0, 0, 255), -1);
// Imgproc.putText(rgbaMat,p.ToString(),listPo[p],1,1,new Scalar(255,0,0,255));
// check if close
List <Point> fLMscaled = OpenCVForUnityUtils.ConvertVector2ListToPointList(facePoints);
for (int q = 0; q < fLMscaled.Count; q++)
{
if (ifLessThanDPoint(listPo[p], fLMscaled[q], 8))
{
//Point1 = listPo[p];
//Point2 = fLMscaled[q];
handPoint = p;
facePoint = q;
print(Point1 + " " + Point2);
}
}
if (p == handPoint && facePoint != 0)
{
Point1 = listPo[p];
Point2 = fLMscaled[facePoint];
Imgproc.line(rgbaMat, Point1, Point2, new Scalar(255, 255, 255, 255));
}
}
}
// int defectsTotal = (int)convexDefect.total();
// Debug.Log ("Defect total " + defectsTotal);
/* numberOfFingers = listPoDefect.Count;
* if (numberOfFingers > 5)
* numberOfFingers = 5;/
*
* // Debug.Log ("numberOfFingers " + numberOfFingers);
*
* // Imgproc.putText (rgbaMat, "" + numberOfFingers, new Point (rgbaMat.cols () / 2, rgbaMat.rows () / 2), Imgproc.FONT_HERSHEY_PLAIN, 4.0, new Scalar (255, 255, 255, 255), 6, Imgproc.LINE_AA, false);
*
*
* /* foreach (Point p in listPoDefect) {
*
* Point tempp = GetNearestL(p, listPo);
* tempp = ConvertDownscale(tempp, DOWNSCALE_RATIO);
* Point p2 = ConvertDownscale(p, DOWNSCALE_RATIO);
*
* Imgproc.circle (rgbaMat, tempp, 6, new Scalar (0, 0, 255, 255), -1);
* Imgproc.circle(rgbaMat, p2, 6, new Scalar(255, 0, 255, 255), -1);
* }*/
}
void Process() {
string imText = "DRAW PATTERN";
Core.putText(frame_pot, imText, new Point(110, 50), Core.FONT_HERSHEY_COMPLEX, 1.0, new Scalar(255, 0, 0), 2);
Mat hierarchy = new Mat ();
List<MatOfPoint> contours = new List<MatOfPoint> ();
MatOfPoint maxitem = new MatOfPoint ();
MatOfInt hullInt = new MatOfInt ();
frameclone = frame_thresh_final.clone ();
Imgproc.findContours (frameclone, contours, hierarchy, Imgproc.RETR_LIST , Imgproc.CHAIN_APPROX_NONE);
maxitem = contours [0];
n = 0;
for(int i=0; i<contours.Count; i++){
if(contours[i].total() > maxitem.total()){
maxitem = contours[i];
n=i;
}
}
OpenCVForUnity.Rect bRect = Imgproc.boundingRect (maxitem);
int bRect_height = bRect.height;
int bRect_width = bRect.width;
if (bRect_height < 200 || bRect_width < 200)
return;
// Drawing Contours on the Frame
//Imgproc.drawContours (frame_pot, contours, n, new Scalar(0, 255, 0), 2);
Imgproc.convexHull (maxitem, hullInt);
List<Point> maxitemPointList = maxitem.toList ();
List<int> hullIntList = hullInt.toList ();
List<Point> hullPointList = new List<Point> ();
for (int j=0; j < hullInt.toList().Count; j++) {
hullPointList.Add (maxitemPointList [hullIntList [j]]);
}
MatOfPoint hullPointMat = new MatOfPoint ();
hullPointMat.fromList (hullPointList);
List<MatOfPoint> hullPoints = new List<MatOfPoint> ();
hullPoints.Add (hullPointMat);
// Drawing Convex Hull on the Frame
//Imgproc.drawContours (frame_pot, hullPoints, -1, new Scalar (0, 0, 255), 2);
MatOfInt4 convexityDef = new MatOfInt4 ();
Imgproc.convexityDefects (maxitem, hullInt, convexityDef);
List<int> conDefIntList = convexityDef.toList ();
List<Point> startpts = new List<Point> ();
List<Point> farpts = new List<Point> ();
List<Point> endpts = new List<Point> ();
int tolerance = (int)(bRect_height/6);
//Debug.Log ("Tolerance: " + tolerance);
int[] defarray = new int[100];
int coordX = 10000, coordY = 10000;
int x1 = (int) sphere1.transform.position.x;
int y1 = (int) sphere1.transform.position.y;
int x2 = (int) sphere2.transform.position.x;
int y2 = (int) sphere2.transform.position.y;
int x3 = (int) sphere3.transform.position.x;
int y3 = (int) sphere3.transform.position.y;
int x4 = (int) sphere4.transform.position.x;
int y4 = (int) sphere4.transform.position.y;
Point pointer = new Point();
for(int i=0; i < conDefIntList.Count/4 ; i++) {
startpts.Add(maxitemPointList[conDefIntList[4*i]]);
endpts.Add(maxitemPointList[conDefIntList[4*i+1]]);
farpts.Add(maxitemPointList[conDefIntList[4*i+2]]);
Point s = startpts[i];
Point e = endpts[i];
Point f = farpts[i];
if (GetDistance(s,f) > tolerance) {
//Core.circle(frame_pot, s, 15, new Scalar(255, 225, 0), -1);
if (s.y < coordY) {
pointer = s;
coordY = (int) s.y;
coordX = (int) s.x;
}
}
}
Core.circle(frame_pot, pointer, 15, new Scalar(255, 225, 0), -1);
coordX = coordX - 240;
coordY = -coordY + 320;
if (coordX > x1-50 && coordX < x1+50 && coordY > y1-50 && coordY < y1+50) {
if (previous.Equals('1'))
return;
input += "1";
AddLine(previous, '1');
previous = '1';
Material mat1 = sphere1.GetComponent<Renderer>().material;
mat1.color = Color.yellow;
StartCoroutine(WaitAndChangeColor("1"));
} else if (coordX > x2-50 && coordX < x2+50 && coordY > y2-50 && coordY < y2+50) {
if (previous.Equals('2'))
return;
input += "2";
AddLine(previous, '2');
previous = '2';
Material mat2 = sphere2.GetComponent<Renderer>().material;
mat2.color = Color.yellow;
StartCoroutine(WaitAndChangeColor("2"));
} else if (coordX > x3-50 && coordX < x3+50 && coordY > y3-50 && coordY < y3+50) {
if (previous.Equals('3'))
return;
input += "3";
AddLine(previous, '3');
previous = '3';
Material mat3 = sphere3.GetComponent<Renderer>().material;
mat3.color = Color.yellow;
StartCoroutine(WaitAndChangeColor("3"));
} else if (coordX > x4-50 && coordX < x4+50 && coordY > y4-50 && coordY < y4+50) {
if (previous.Equals('4'))
return;
input += "4";
AddLine(previous, '4');
previous = '4';
Material mat4 = sphere4.GetComponent<Renderer>().material;
mat4.color = Color.yellow;
StartCoroutine(WaitAndChangeColor("4"));
}
if (input.Length == password.Length) {
auth = true;
if (input.Equals(password)) {
correct = true;
} else {
correct = 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);
}
}
