public BottleDetectionUseCases(CompositeDisposable disposables)
: base(disposables)
{
photoCamera = new PhotoCamera();
client = new CustomVisionClient();
CanTakePhoto = Observable.CombineLatest(photoCamera.CanTakePhoto, client.CanPost)
.Select(x => !x.Contains(false))
.ToReactiveProperty();
PhotoCamera.ShootingPlan plan = null;
byte[] imageData = null;
photoCamera.OnPhotoCaptured
.Do(b =>
{
plan = photoCamera.Plan;
imageData = b;
})
.SelectMany(x => client.Post(x))
.Do(res =>
{
var positions = client.Convert(plan, imageData, res);
var status = new DetectedStatus
{
Plan = plan,
Positions = positions,
};
onBottleDetected.OnNext(status);
})
.Subscribe()
.AddTo(disposables);
}
private List <Vector3> ConvertToPosition(PhotoCamera.ShootingPlan plan, byte[] imageData, CustomVisionResponse res)
{
const string tag = "Irohasu";
var resolutionHeight = plan.Resolution.height;
var resolutionWidth = plan.Resolution.width;
var reproducedObjects = new List <Vector3>();
foreach (var result in res.predictions.Where(x => probabilityThreshold < x.probability))
{
if (result.tagName == tag)
{
// 画像から矩形を切りとる
// 左下原点
var rect = result.boundingBox;
var height = rect.height * resolutionHeight;
var width = rect.width * resolutionWidth;
var top = rect.top * resolutionHeight;
var left = rect.left * resolutionWidth;
// ワールド座標はpixelから変換
// 中央原点に再計算
top = -((top + height / 2) / resolutionHeight - .5f);
left = (left + width / 2) / resolutionWidth - .5f;
// 距離に応じて補正
var frustumWidthFactor = 2.0f * Mathf.Tan(67 * 0.5f * Mathf.Deg2Rad);
left = left * frustumWidthFactor;
top = top * frustumWidthFactor;
// サイズ、向きの調整
var cameraMatrix = plan.PixelToCamera.MultiplyPoint3x4(new Vector3(left, top, 0));
Debug.Log("#cameraMatrix" + cameraMatrix);
var targetPosition = plan.CameraToWorld.MultiplyPoint3x4(cameraMatrix);
Debug.Log("#worldMatrix:" + targetPosition);
reproducedObjects.Add(targetPosition);
}
}
if (reproducedObjects.Count < 1)
{
Debug.Log("Target object not found.");
}
return(reproducedObjects);
}
public Vector3[] Convert(PhotoCamera.ShootingPlan plan, byte[] imageData, CustomVisionResponse response)
{
var node = response.predictions.OrderByDescending(x => x.probability).FirstOrDefault();
if (node != null)
{
Debug.Log("Item detect finished...");
return(ConvertToPosition(plan, imageData, response).ToArray());
}
else
{
Debug.LogError("No Item detected...");
return(new Vector3[0]);
}
}
