void trackFilteredObject(SpellBook book, Mat threshold)
{
book.x = -1; book.y = -1; book.isTracked = false;
Debug.Log("tracking " + book.color.ToString());
Mat temp = new Mat();
threshold.copyTo(temp);
Imgproc.Canny(temp, temp, 50, 100);
//these two vectors needed for output of findContours
List <MatOfPoint> contours = new List <MatOfPoint>();
Mat hierarchy = new Mat();
//find contours of filtered image using openCV findContours function
Imgproc.findContours(temp, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
double max_area = MIN_OBJECT_AREA; // initialize
//use moments method to find our filtered object
if (hierarchy.rows() > 0)
{
int numObjects = contours.Count;
//Debug.Log("numObj: " + numObjects.ToString());
//Debug.Log("hierarchy " + hierarchy.ToString());
for (int i = 0; i < numObjects; i++)
{
//Debug.Log("i = " + i.ToString());
Moments moment = Imgproc.moments(contours[i]);
double area = moment.get_m00();
//we only want the object with the largest area so we save a reference area each
//iteration and compare it to the area in the next iteration.
if (area > max_area)
{
book.x = (int)(moment.get_m10() / area);
book.y = (int)(moment.get_m01() / area);
max_area = area;
}
}
if (book.x != -1)
{
book.isTracked = true;
}
else
{
book.isTracked = false;
}
}
}
private void trackFilteredObject(ObjectTracker ot, Mat threshold)
{
Mat temp = new Mat();
threshold.copyTo(temp);
List <MatOfPoint> contours = new List <MatOfPoint>();
Mat hierarchy = new Mat();
Imgproc.findContours(temp, contours, hierarchy, Imgproc.RETR_CCOMP, Imgproc.CHAIN_APPROX_SIMPLE);
if (hierarchy.rows() > 0)
{
for (int index = 0; index >= 0; index = (int)hierarchy.get(0, index)[0])
{
Moments moment = Imgproc.moments(contours[index]);
double area = moment.m00;
if (area > 10 * 10)
{
int x = (int)(moment.get_m10() / area);
int y = (int)(moment.get_m01() / area);
Vector2 point = new Vector2(x, y);
Vector3 dirRay = LocatableCameraUtils.PixelCoordToWorldCoord(_cameraToWorldMatrix, _projectionMatrix, _resolution, point);
Application.InvokeOnAppThread(() => {
ot.Sphere.transform.position = Camera.main.transform.position + new Vector3(0, ot.offset, 0);
SphereCollider collider = ot.Sphere.GetComponent <SphereCollider>();
// We inverse the ray source and dir to make the sphere collider work
Vector3 newPosRay = Camera.main.transform.position + dirRay * (collider.radius * 2);
Ray ray = new Ray(newPosRay, -dirRay);
RaycastHit hit;
if (Physics.Raycast(ray, out hit, collider.radius * 3))
{
Vector3 pos = hit.point;
ot.gameObject.transform.position = pos;
}
}, false);
}
}
}
}
/// <summary>
/// Tracks the filtered object.
/// </summary>
/// <param name="theColorObject">The color object.</param>
/// <param name="threshold">Threshold.</param>
/// <param name="HSV">HS.</param>
/// <param name="cameraFeed">Camera feed.</param>
void trackFilteredObject(ColorObject theColorObject, Mat threshold, Mat HSV, Mat cameraFeed)
{
List <ColorObject> colorObjects = new List <ColorObject> ();
Mat temp = new Mat();
threshold.copyTo(temp);
//these two vectors needed for output of findContours
List <MatOfPoint> contours = new List <MatOfPoint> ();
Mat hierarchy = new Mat();
//find contours of filtered image using openCV findContours function
Imgproc.findContours(temp, contours, hierarchy, Imgproc.RETR_CCOMP, Imgproc.CHAIN_APPROX_SIMPLE);
//use moments method to find our filtered object
bool colorObjectFound = false;
if (hierarchy.rows() > 0)
{
int numObjects = hierarchy.rows();
// Debug.Log("hierarchy " + hierarchy.ToString());
//if number of objects greater than MAX_NUM_OBJECTS we have a noisy filter
if (numObjects < MAX_NUM_OBJECTS)
{
for (int index = 0; index >= 0; index = (int)hierarchy.get(0, index)[0])
{
Moments moment = Imgproc.moments(contours [index]);
double area = moment.get_m00();
//if the area is less than 20 px by 20px then it is probably just noise
//if the area is the same as the 3/2 of the image size, probably just a bad filter
//we only want the object with the largest area so we safe a reference area each
//iteration and compare it to the area in the next iteration.
if (area > MIN_OBJECT_AREA)
{
ColorObject colorObject = new ColorObject();
colorObject.setXPos((int)(moment.get_m10() / area));
colorObject.setYPos((int)(moment.get_m01() / area));
colorObject.setType(theColorObject.getType());
colorObject.setColor(theColorObject.getColor());
colorObjects.Add(colorObject);
colorObjectFound = true;
}
else
{
colorObjectFound = false;
}
}
//let user know you found an object
if (colorObjectFound == true)
{
//draw object location on screen
drawObject(colorObjects, cameraFeed, temp, contours, hierarchy);
}
}
else
{
Core.putText(cameraFeed, "TOO MUCH NOISE!", new Point(5, cameraFeed.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Core.LINE_AA, false);
}
}
}
// Update is called once per frame
void Update()
{
if (!initDone)
{
return;
}
#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, rgbMat, colors);
if (webCamDevice.isFrontFacing)
{
if (webCamTexture.videoRotationAngle == 0)
{
Core.flip(rgbMat, rgbMat, 1);
}
else if (webCamTexture.videoRotationAngle == 90)
{
Core.flip(rgbMat, rgbMat, 0);
}
if (webCamTexture.videoRotationAngle == 180)
{
Core.flip(rgbMat, rgbMat, 0);
}
else if (webCamTexture.videoRotationAngle == 270)
{
Core.flip(rgbMat, rgbMat, 1);
}
}
else if (webCamTexture.videoRotationAngle == 180 || webCamTexture.videoRotationAngle == 270)
{
Core.flip(rgbMat, rgbMat, -1);
}
if (!isTracking)
{
trackingThread = new Thread(trackingFunc);
trackingThread.Start();
}
Imgproc.cvtColor(rgbMat, hsvMat, Imgproc.COLOR_RGB2HSV);
morphOps(thresholdMat);
drawObjectsInMemory(thresholdMat, hsvMat, rgbMat);
Utils.matToTexture2D(rgbMat, texture, colors);
}
}
void OnDisable()
{
webCamTexture.Stop();
}
Size erodeSizeParam = new Size(3, 3);
Size dilateSizeParam = new Size(20, 20);
/// <summary>
/// Morphs the ops.
/// </summary>
/// <param name="thresh">Thresh.</param>
void morphOps(Mat thresh)
{
//create structuring element that will be used to "dilate" and "erode" image.
//the element chosen here is a 3px by 3px rectangle
Mat erodeElement = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, erodeSizeParam);
//dilate with larger element so make sure object is nicely visible
Mat dilateElement = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, dilateSizeParam);
Imgproc.erode(thresh, thresh, erodeElement);
//Imgproc.erode(thresh, thresh, erodeElement);
Imgproc.dilate(thresh, thresh, dilateElement);
//Imgproc.dilate(thresh, thresh, dilateElement);
}
/// <summary>
/// Tracks the filtered object.
/// </summary>
/// <param name="theColorObject">The color object.</param>
/// <param name="threshold">Threshold.</param>
/// <param name="HSV">HS.</param>
/// <param name="cameraFeed">Camera feed.</param>
ColorObject trackFilteredObject(ColorObject theColorObject, Mat threshold, Mat HSV, Mat cameraFeed)
{
ColorObject tmpForMemory = new ColorObject();
tmpForMemory.setType("null");
Mat temp = new Mat();
threshold.copyTo(temp);
//these two vectors needed for output of findContours
List <MatOfPoint> contours = new List <MatOfPoint>();
Mat hierarchy = new Mat();
//find contours of filtered image using openCV findContours function
Imgproc.findContours(temp, contours, hierarchy, Imgproc.RETR_CCOMP, Imgproc.CHAIN_APPROX_SIMPLE);
//use moments method to find our filtered object
if (hierarchy.rows() > 0)
{
int numObjects = hierarchy.rows();
//if number of objects greater than MAX_NUM_OBJECTS we have a noisy filter
if (numObjects < MAX_NUM_OBJECTS)
{
double areaMemory = 0;
for (int index = 0; index >= 0; index = (int)hierarchy.get(0, index)[0])
{
Moments moment = Imgproc.moments(contours[index]);
double area = moment.get_m00();
//if the area is less than 20 px by 20px then it is probably just noise
//if the area is the same as the 3/2 of the image size, probably just a bad filter
//we only want the object with the largest area so we safe a reference area each
//iteration and compare it to the area in the next iteration.
if (area > MIN_OBJECT_AREA)
{
ColorObject colorObject = new ColorObject();
colorObject.setXPos((int)(moment.get_m10() / area));
colorObject.setYPos((int)(moment.get_m01() / area));
colorObject.setType(theColorObject.getType());
colorObject.setColor(theColorObject.getColor());
if (area > areaMemory)
{
areaMemory = area;
tmpForMemory = colorObject;
}
}
}
}
else
{
Core.putText(cameraFeed, "TOO MUCH NOISE!", new Point(5, cameraFeed.rows() - 10),
Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Core.LINE_AA, false);
}
}
return(tmpForMemory);
}