public Mat OnCameraFrame(CameraBridgeViewBase.ICvCameraViewFrame inputFrame)
{
int viewMode = mViewMode;
switch (viewMode)
{
case VIEW_MODE_GRAY:
// input frame has gray scale format
Imgproc.CvtColor(inputFrame.Gray(), mRgba, Imgproc.ColorGray2rgba, 4);
break;
case VIEW_MODE_RGBA:
// input frame has RBGA format
mRgba = inputFrame.Rgba();
break;
case VIEW_MODE_CANNY:
// input frame has gray scale format
mRgba = inputFrame.Rgba();
Imgproc.Canny(inputFrame.Gray(), mIntermediateMat, 80, 100);
Imgproc.CvtColor(mIntermediateMat, mRgba, Imgproc.ColorGray2rgba, 4);
break;
case VIEW_MODE_FEATURES:
// input frame has RGBA format
mRgba = inputFrame.Rgba();
mGray = inputFrame.Gray();
FindFeatures(JNIEnv.Handle, JNIEnv.FindClass(typeof(Java.Lang.Object)), mGray.NativeObjAddr, mRgba.NativeObjAddr);
break;
}
return(mRgba);
}
// Update is called once per frame
void Update()
{
tex2 = MakeTexture2D(carm.targetTexture);
Mat imgMat = new Mat(tex2.height, tex2.width, CvType.CV_8UC3);
Utils.texture2DToMat(tex2, imgMat);
//GrayScale 생성
Mat grayMat = new Mat();
Imgproc.cvtColor(imgMat, grayMat, Imgproc.COLOR_RGB2GRAY);
//Canny적용
Mat cannyMat = new Mat();
Imgproc.Canny(grayMat, cannyMat, 70, 210);
//ROI 설정
grayMat.adjustROI(cannyMat.height(), 0, cannyMat.width() * 4 / 10, cannyMat.width());
//HoughLine생성
Mat lines = new Mat();
Imgproc.HoughLinesP(cannyMat, lines, 1, Mathf.PI / 180, 30, 100, 20);
int[] linesArray = new int[lines.cols() * lines.rows() * lines.channels()];
lines.get(0, 0, linesArray);
for (int i = 0; i < linesArray.Length; i = i + 4)
{
//Debug.Log(Mathf.Atan2((linesArray[i + 2] - linesArray[i + 0]), (linesArray[i + 3] - linesArray[i + 1])) * Mathf.Rad2Deg);
if (0 <= Mathf.Atan2((linesArray[i + 2] - linesArray[i + 0]), (linesArray[i + 3] - linesArray[i + 1])) * Mathf.Rad2Deg)
{
if (80 > Mathf.Atan2((linesArray[i + 2] - linesArray[i + 0]), (linesArray[i + 3] - linesArray[i + 1])) * Mathf.Rad2Deg)
{
Imgproc.line(imgMat, new Point(linesArray[i + 0], linesArray[i + 1]), new Point(linesArray[i + 2], linesArray[i + 3]), new Scalar(255, 0, 0), 4);
}
}
if (180 >= Mathf.Atan2((linesArray[i + 2] - linesArray[i + 0]), (linesArray[i + 3] - linesArray[i + 1])) * Mathf.Rad2Deg)
{
if (100 < Mathf.Atan2((linesArray[i + 2] - linesArray[i + 0]), (linesArray[i + 3] - linesArray[i + 1])) * Mathf.Rad2Deg)
{
Imgproc.line(imgMat, new Point(linesArray[i + 0], linesArray[i + 1]), new Point(linesArray[i + 2], linesArray[i + 3]), new Scalar(255, 0, 0), 4);
}
}
}
Texture2D texture = new Texture2D(imgMat.cols(), imgMat.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(imgMat, texture);
GameObject.Find("test3").GetComponent <Renderer>().material.mainTexture = texture;
}
public Mat OnCameraFrame(Mat p0)
{
Mat p1 = new Mat();
Imgproc.Canny(p0, p1, 255, 64);
return(p1);
}
public static Bitmap getEdgeDetectedImage(this Bitmap src, Filter_Type filter_type)
{
Bitmap resizedBitmap = Bitmap.CreateScaledBitmap(src, (src.Width * 256) / src.Height, 256, true);
OpenCV.Core.Mat resizedMat = new OpenCV.Core.Mat();
OpenCV.Android.Utils.BitmapToMat(resizedBitmap, resizedMat);
OpenCV.Core.Mat gaussianMat = new OpenCV.Core.Mat();
Imgproc.GaussianBlur(resizedMat, gaussianMat, new OpenCV.Core.Size(3, 3), 0, 0);
OpenCV.Core.Mat grayMat = new OpenCV.Core.Mat();
Imgproc.CvtColor(gaussianMat, grayMat, Imgproc.ColorRgba2gray, 2);
OpenCV.Core.Mat edgeDetectedMat = new OpenCV.Core.Mat();
if (filter_type == Filter_Type.CANNY)
{
Imgproc.Canny(grayMat, edgeDetectedMat, 100, 100);
}
else
{
OpenCV.Core.Mat sobelMat = new OpenCV.Core.Mat();
Imgproc.Sobel(grayMat, sobelMat, CvType.Cv8u, 1, 1);
Core.ConvertScaleAbs(sobelMat, edgeDetectedMat, 6, 1);
}
Bitmap resultBitmap = Bitmap.CreateBitmap(resizedBitmap.Width, resizedBitmap.Height, Bitmap.Config.Argb8888);
OpenCV.Android.Utils.MatToBitmap(edgeDetectedMat, resultBitmap);
return(resultBitmap);
}
public int matchDice(Mat src, OpenCVForUnity.Rect rect, Mat temp)
{
Mat subRGB = new Mat(src, rect);
//灰階
Mat grayMat = new Mat();
Imgproc.cvtColor(subRGB, grayMat, Imgproc.COLOR_RGB2GRAY);
Mat hierarchy = new Mat();
List <MatOfPoint> contours = new List <MatOfPoint>();
//模糊.Canny.侵蝕膨脹
Imgproc.blur(grayMat, grayMat, new Size(3, 3));
Imgproc.Canny(grayMat, grayMat, 50, 150);
morphOps(grayMat);
//找輪廓
Imgproc.findContours(grayMat, contours, hierarchy, Imgproc.RETR_LIST, Imgproc.CHAIN_APPROX_SIMPLE);
for (int i = 0; i < contours.Count; i++)
{
Imgproc.drawContours(temp, contours, i, new Scalar(255, 255, 255), 2);
}
//回傳輪廓數目
return(contours.Count);
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
// Utils.webCamTextureToMat (webCamTexture, grayMat, colors);
bgMat.copyTo(dstMat);
Imgproc.GaussianBlur(grayMat, lineMat, new Size(3, 3), 0);
grayMat.get(0, 0, grayPixels);
for (int i = 0; i < grayPixels.Length; i++)
{
maskPixels [i] = 0;
if (grayPixels [i] < 70)
{
grayPixels [i] = 0;
maskPixels [i] = 1;
}
else if (70 <= grayPixels [i] && grayPixels [i] < 120)
{
grayPixels [i] = 100;
}
else
{
grayPixels [i] = 255;
maskPixels [i] = 1;
}
}
grayMat.put(0, 0, grayPixels);
maskMat.put(0, 0, maskPixels);
grayMat.copyTo(dstMat, maskMat);
Imgproc.Canny(lineMat, lineMat, 20, 120);
lineMat.copyTo(maskMat);
Core.bitwise_not(lineMat, lineMat);
lineMat.copyTo(dstMat, maskMat);
// Imgproc.putText (dstMat, "W:" + dstMat.width () + " H:" + dstMat.height () + " SO:" + Screen.orientation, new Point (5, dstMat.rows () - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (0), 2, Imgproc.LINE_AA, false);
// Imgproc.cvtColor(dstMat,rgbaMat,Imgproc.COLOR_GRAY2RGBA);
// Utils.matToTexture2D (rgbaMat, texture);
Utils.matToTexture2D(dstMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
internal static Mat Edge(Mat src, int thresh1, int thresh2)
{
Gray(src);
Imgproc.GaussianBlur(src, src, new Size(3, 3), 0);
Imgproc.Canny(src, src, thresh1, thresh2);
Imgproc.cvtColor(src, src, Imgproc.COLOR_GRAY2RGBA);
return(src);
}
void ProcessImg(Texture2D texture, Mat mat, Mat edge)
{
Utils.texture2DToMat(texture, mat);
Imgproc.resize(mat, mat, new Size(400, 400));
Imgproc.cvtColor(mat, mat, Imgproc.COLOR_RGB2BGRA);
Imgproc.Canny(mat, edge, 10, 125);
Debug.Log("Processed!");
}
void domainTransferDepthImage(Frame3DGPU f)
{
//Utils.setDebugMode(true);
Debug.Log("Applying EdgeCleanup to Depth");
// convert from texture to mat
Mat rgbMat = new Mat();
Core.flip(Util.toMat(f.postprocessedRGBImage, CvType.CV_8UC3), rgbMat, -1);
Mat depthMat = Util.toMat(f.depthImage, CvType.CV_16UC1);
Mat gray = new Mat();
Imgproc.cvtColor(rgbMat, gray, Imgproc.COLOR_RGBA2GRAY);
Mat sobelX = new Mat();
Mat sobelY = new Mat();
Imgproc.Sobel(gray, sobelX, CvType.CV_16S, 1, 0, (int)ksize, sobelScale, 0, Core.BORDER_DEFAULT);
Imgproc.Sobel(gray, sobelY, CvType.CV_16S, 0, 1, (int)ksize, sobelScale, 0, Core.BORDER_DEFAULT);
Mat depthMat8bit = new Mat();
depthMat.convertTo(depthMat8bit, CvType.CV_8UC1, 0.03f);
Core.bitwise_not(depthMat8bit, depthMat8bit);
//Imgproc.equalizeHist(depthMat8bit, depthMat8bit);
Mat depthFlipped = new Mat();
Core.flip(depthMat8bit, depthFlipped, -1);
Mat canneyRslt = new Mat();
Imgproc.Canny(sobelX, sobelY, canneyRslt, cannyThreshold1, cannyThreshold2, true);
//Imgcodecs.imwrite("C:/Users/SIGLab/AppData/LocalLow/Intel/Photo3D/3dImages/" + "depth.png", canneyRslt);
//415 incomplete depth
Mat cropped = depthFlipped.submat(0, 690, 0, 1190);
Core.copyMakeBorder(cropped, depthFlipped, 0, 720 - 690, 0, 1280 - 1190, Core.BORDER_REPLICATE | Core.BORDER_ISOLATED);
Mat laplacianRslt = new Mat();
Imgproc.Laplacian(gray, laplacianRslt, CvType.CV_32F, 5, .1, 0);
Ximgproc.dtFilter(canneyRslt, depthFlipped, f.refinedDepth, sigmaSpacial, sigmaColor, Ximgproc.DTF_NC, dtIter);
// Not working with built solutions, cant figure out why
List <Mat> matList = new List <Mat>();
Mat depthLUT = Util.toMat(depthRescale, CvType.CV_8UC3);
Core.split(depthLUT, matList);
Mat temp = new Mat();
f.refinedDepth.convertTo(temp, CvType.CV_8UC1);
Core.LUT(temp, matList[0], f.refinedDepth);
//Utils.setDebugMode(false);
}
void ConvertIntoDest(Texture2D srcTexture, RawImage destImage = null)
{
srcMat = new Mat(srcTexture.height, srcTexture.width, CvType.CV_8UC3);
Utils.texture2DToMat(srcTexture, srcMat);
destMat = new Mat();
srcMat.copyTo(destMat);
Imgproc.cvtColor(destMat, destMat, Imgproc.COLOR_BGR2GRAY);
// Imgproc.GaussianBlur(destMat,destMat,new Size(5,5) , 1);
Imgproc.blur(destMat, destMat, new Size(low, low));
Imgproc.threshold(destMat, destMat, 120, 255, Imgproc.THRESH_BINARY);
Imgproc.Canny(destMat, destMat, 20, 190);
List <MatOfPoint> contours = new List <MatOfPoint>();
Imgproc.findContours(destMat, contours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
int num = 0;
List <MatOfPoint> contours_list = new List <MatOfPoint>();
for (int i = 0; i < contours.Count; i++)
{
double area = Imgproc.contourArea(contours[i]);
print(area);
// if(area > 1000 && area < 3000){
// contours_list.Add(contours[i]);
// num = num + 1;
// }
if (area > 80)
{
contours_list.Add(contours[i]);
num = num + 1;
}
}
for (int i = 0; i < contours_list.Count; i++)
{
Imgproc.drawContours(srcMat, contours_list, -1, new Scalar(0, 255, 0), 4);
}
print("Number of valid contours detected : " + contours_list.Count.ToString());
infoText.text = "Detection : " + contours_list.Count.ToString();
Texture2D finalTexture = new Texture2D(srcMat.width(), srcMat.height(), TextureFormat.RGB24, false);
Utils.matToTexture2D(srcMat, finalTexture);
if (destImage == null)
{
srcImage.texture = finalTexture;
}
else
{
destImage.texture = finalTexture;
// SaveTextureAsPNG(finalTexture,"CropImageOutput");
destImage.enabled = true;
}
}
void DrawEdge(Mat src, Mat dst)
{
Mat gray_img = new Mat();
Mat edge_img = new Mat();
Imgproc.cvtColor(src, gray_img, Imgproc.COLOR_BGR2GRAY);
Imgproc.Canny(gray_img, edge_img, 100, 200);
Imgproc.cvtColor(edge_img, dst, Imgproc.COLOR_GRAY2BGR);
}
void Start()
{
srcMat = Imgcodecs.imread(Application.dataPath + "/Textures/lena.jpg", 1); //512,512
Imgproc.cvtColor(srcMat, srcMat, Imgproc.COLOR_BGR2RGB);
Texture2D t2d = new Texture2D(srcMat.width(), srcMat.height());
Utils.matToTexture2D(srcMat, t2d);
Sprite sp = Sprite.Create(t2d, new UnityEngine.Rect(0, 0, t2d.width, t2d.height), Vector2.zero);
m_srcImage.sprite = sp;
m_srcImage.preserveAspect = true;
m_srcImage.rectTransform.offsetMin = new Vector2(0, 0);
m_srcImage.rectTransform.offsetMax = new Vector2(t2d.width, t2d.height);
m_srcImage.rectTransform.anchoredPosition = Vector2.zero;
//--------------------------------------------------//
dstMat = Imgcodecs.imread(Application.dataPath + "/Textures/0.jpg", 1); //500,500
Imgproc.cvtColor(dstMat, dstMat, Imgproc.COLOR_BGR2RGB);
//dstMat = new Mat();
Mat grayMat = new Mat();
detected_edges = new Mat();
double threshold1 = 1;
double threshold2 = 100;
int kernel_size = 3;
//使用 3x3内核降噪
Imgproc.cvtColor(srcMat, grayMat, Imgproc.COLOR_RGB2GRAY);
Imgproc.blur(grayMat, detected_edges, new Size(3, 3));
Imgproc.Canny(detected_edges, detected_edges, threshold1, threshold2, kernel_size, false);
//使用 Canny算子输出边缘作为掩码显示原图像
//dstMat.setTo(new Scalar(0));
Imgproc.resize(dstMat, dstMat, srcMat.size());
//srcMat.copyTo(dstMat, detected_edges); //保证srcMat,dstMat是一样大的
//左.copyTo(中, 右); //左作为像素源，右作为mask，合成到中
OpenCVForUnity.Rect rect = new OpenCVForUnity.Rect(25, 25, 125, 200);
srcMat.submat(rect).copyTo(dstMat);
Texture2D dst_t2d = new Texture2D(dstMat.width(), dstMat.height());
Utils.matToTexture2D(dstMat, dst_t2d);
Sprite dst_sp = Sprite.Create(dst_t2d, new UnityEngine.Rect(0, 0, dst_t2d.width, dst_t2d.height), Vector2.zero);
m_dstImage.sprite = dst_sp;
m_dstImage.preserveAspect = true;
m_dstImage.rectTransform.offsetMin = new Vector2(0, 0);
m_dstImage.rectTransform.offsetMax = new Vector2(dst_t2d.width, dst_t2d.height);
m_dstImage.rectTransform.anchoredPosition = Vector2.zero;
}
// Update is called once per frame
void Update()
{
Mat IRMat = Util.toMat((Texture2D)IRtexture, CvType.CV_8UC3);
Mat canneyRslt = new Mat();
Imgproc.Canny(IRMat, canneyRslt, threshold1, threshold2);
Texture2D cannyTexture = (Texture2D)Util.toTexture(canneyRslt, TextureFormat.R8);
textureBinding.Invoke(cannyTexture);
}
private void Start()
{
// Imgproc으로 이미지를 수정할 때마다 이미지가 반전된다
// Core.flip(inputMat, outputMat, 0)으로 원래대로 회전 할 수 있음
originMat = new Mat(roadTexture.height, roadTexture.width, CvType.CV_8UC4);
Utils.texture2DToMat(roadTexture, originMat);
DrawMat(quad_1, originMat);
Debug.Log("LOAD " + roadTexture.width.ToString() + "x" + roadTexture.height.ToString() + " :: roadTexture");
outputMat = originMat.clone();
inputMat = originMat.clone();
// 원본 - > 흑백
grayMat = new Mat();
Imgproc.cvtColor(inputMat, grayMat, Imgproc.COLOR_BGR2GRAY);
DrawMat(quad_2, grayMat);
// 흑백 - > 가우스 필터 흑백
gaussianMat = new Mat();
Imgproc.GaussianBlur(grayMat, gaussianMat, gaussianMat.size(), 2, 2);
DrawMat(quad_3, gaussianMat);
// 가우스 필터 흑백 - > 테두리
contourMat = new Mat();
Imgproc.Canny(gaussianMat, contourMat, 50, 200);
DrawMat(quad_4, contourMat);
// 테두리 - > 관심영역 씌운 테두리
regionMat = WriteRegionOfInterest(contourMat);
DrawMat(quad_5, regionMat);
// 관심영역 씌운 테두리 - > hough 알고리즘으로 추출한 선 좌표 Matrix
houghMat = new Mat();
Imgproc.HoughLinesP(regionMat, houghMat, 2, Mathf.PI / 180, 90, 120, 150);
Debug.Log(houghMat.dump());
// 선 좌표 Matrix - > 선만 그려진 Mat
lineMat = Mat.zeros(outputMat.rows(), outputMat.cols(), outputMat.type());
for (int x = 0; x < houghMat.rows(); x++)
{
Point pt1 = new Point(houghMat.get(x, 0)[0], houghMat.get(x, 0)[1]);
Point pt2 = new Point(houghMat.get(x, 0)[2], houghMat.get(x, 0)[3]);
Debug.Log(pt1.ToString() + "/" + pt2.ToString());
Imgproc.line(lineMat, pt1, pt2, new Scalar(255, 0, 0), 4, Imgproc.LINE_AA, 0);
}
// 선만 그려진 Mat와 원본을 합침
Core.addWeighted(lineMat, 0.8, inputMat, 1, 0, outputMat);
DrawMat(quad_6, outputMat);
}
void ProcessImg(Texture2D texture, Mat mat, Mat edge, double min, double max)
{
Utils.texture2DToMat(texture, mat);
// Imgproc.resize(mat,mat,new Size(standardWidth,standardHeight));
Imgproc.cvtColor(mat, mat, Imgproc.COLOR_RGB2BGRA);
Imgproc.GaussianBlur(mat, mat, new Size(5, 5), 1.4, 1.4);
Imgproc.Canny(mat, edge, min, max);
Debug.Log("Processed!");
// Debug.Log (dstMat.size());
// for (int i = 0; i < 50; i++) {
// Debug.Log (dstMat.get(512+i,512+i)[0]);
// Debug.Log (dstEdgeMat.get(512+i,512+i)[0]);
// }
}
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;
}
}
}
///<summary>
/// Detects number of electrons in the texture image and return new texture with
/// contours and out with number of detected electrons
///</summary>
public static Texture2D ApplyScanning(Texture2D srcTexture, int blurSize, out int detectionCount)
{
Mat srcMat = new Mat(srcTexture.height, srcTexture.width, CvType.CV_8UC3);
Utils.texture2DToMat(srcTexture, srcMat);
Mat destMat = new Mat();
srcMat.copyTo(destMat);
Imgproc.cvtColor(destMat, destMat, Imgproc.COLOR_BGR2GRAY);
// Imgproc.GaussianBlur(destMat,destMat,new Size(5,5) , 1);
Imgproc.blur(destMat, destMat, new Size(blurSize, blurSize));
Imgproc.threshold(destMat, destMat, 120, 255, Imgproc.THRESH_BINARY);
Imgproc.Canny(destMat, destMat, 20, 190);
List <MatOfPoint> contours = new List <MatOfPoint>();
Imgproc.findContours(destMat, contours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
int num = 0;
List <MatOfPoint> contours_list = new List <MatOfPoint>();
for (int i = 0; i < contours.Count; i++)
{
double area = Imgproc.contourArea(contours[i]);
// print(area);
// if(area > 1000 && area < 3000){
// contours_list.Add(contours[i]);
// num = num + 1;
// }
if (area > 80)
{
contours_list.Add(contours[i]);
num = num + 1;
}
}
detectionCount = num;
for (int i = 0; i < contours_list.Count; i++)
{
Imgproc.drawContours(srcMat, contours_list, -1, new Scalar(0, 255, 0), 4);
}
Texture2D scannedTexture = new Texture2D(srcMat.width(), srcMat.height(), TextureFormat.RGB24, false);
Utils.matToTexture2D(srcMat, scannedTexture);
return(scannedTexture);
}
// Update is called once per frame
void Update()
{
Debug.Log("Applying EdgeCleanup to Depth");
Mat gray = new Mat();
Imgproc.cvtColor(color, gray, Imgproc.COLOR_RGBA2GRAY);
Mat sobelX = new Mat();
Mat sobelY = new Mat();
Imgproc.Sobel(gray, sobelX, CvType.CV_16S, 1, 0, (int)ksize, sobelScale, 0, Core.BORDER_DEFAULT);
Imgproc.Sobel(gray, sobelY, CvType.CV_16S, 0, 1, (int)ksize, sobelScale, 0, Core.BORDER_DEFAULT);
Mat depth = Util.toMat((Texture2D)depthTexture, CvType.CV_8UC3);
Mat depthFlipped = new Mat();
//Core.flip(depthMat, depthFlipped, -1);
Mat depthMat8bit = new Mat();
depth.convertTo(depthMat8bit, CvType.CV_8UC1, 0.1f);
//Core.bitwise_not(depthMat8bit,depthMat8bit);
//Imgproc.equalizeHist(depthMat8bit, depthMat8bit);
Mat canneyRslt = new Mat();
Imgproc.Canny(sobelX, sobelY, canneyRslt, cannyThreshold1, cannyThreshold2, true);
Mat laplacianRslt = new Mat();
Imgproc.Laplacian(gray, laplacianRslt, CvType.CV_32F, 5, .1, 0);
Mat DTF_NC = new Mat();
Ximgproc.dtFilter(canneyRslt, depthMat8bit, DTF_NC, sigmaSpacial, sigmaColor, Ximgproc.DTF_NC, dtIter);
Texture2D yTexture = (Texture2D)Util.toTexture(sobelX, TextureFormat.R16);
sobelTextureEvent.Invoke(yTexture);
Texture2D canneyTexture = (Texture2D)Util.toTexture(canneyRslt, TextureFormat.R8);
canneyTextureEvent.Invoke(canneyTexture);
Texture2D depthtexture = (Texture2D)Util.toTexture(DTF_NC, TextureFormat.R8);
improvedDepth.Invoke(depthtexture);
}
IEnumerator CaptureScreenShot()
{
yield return(new WaitForEndOfFrame());
ObjectScreenVisible(false);
// Captura imagem da tela
Texture2D screenImageTexture = ScreenCapture.CaptureScreenshotAsTexture(2);
// Salva a imagem original
string pathObjectOriginal = GetImagePath(true);
SaveImage(screenImageTexture, pathObjectOriginal);
// Converte de Texture para Mat do OpenCV
Mat screenImageMat = new Mat(screenImageTexture.height, screenImageTexture.width, CvType.CV_8UC4);
Utils.texture2DToMat(screenImageTexture, screenImageMat);
// Converte para tons de cinza
Mat screenImageGrayMat = new Mat(screenImageMat.rows(), screenImageMat.cols(), CvType.CV_8UC4);
Imgproc.cvtColor(screenImageMat, screenImageGrayMat, Imgproc.COLOR_RGBA2GRAY);
// Usa o filtro de canny para identificar as bordas
Mat resultCannyMat = new Mat();
Imgproc.Canny(screenImageGrayMat, resultCannyMat, 500, 600);
// Invert as cores
Mat resultInvertMat = new Mat(resultCannyMat.rows(), resultCannyMat.cols(), CvType.CV_8UC4);
Core.bitwise_not(resultCannyMat, resultInvertMat);
// Converte Mat para Texture do Unity
Texture2D resultCannyTexture = new Texture2D(resultInvertMat.cols(), resultInvertMat.rows(), TextureFormat.ARGB32, false);
Utils.matToTexture2D(resultInvertMat, resultCannyTexture);
// Salva a imagem em bordas para ser detectado
PropertiesModel.PathObjectDrawing = GetImagePath(false);
SaveImage(resultCannyTexture, PropertiesModel.PathObjectDrawing);
SaveInformationObject();
Destroy(resultCannyTexture);
Destroy(screenImageTexture);
}
void Update()
{
if (rgbaMat == null)
{
// Initialization is not yet complete.
return;
}
if (gyro != null)
{
// Align the game-world gravity to real-world
// gravity.
Vector3 gravity = gyro.gravity;
gravity.z = 0f;
gravity = gravityMagnitude *
gravity.normalized;
Physics.gravity = gravity;
}
if (!webCamTexture.didUpdateThisFrame)
{
// No new frame is ready.
return;
}
if (simulating)
{
// No new detection results are needed.
return;
}
// Convert the RGBA image to OpenCV's format using
// a utility function from OpenCV for Unity.
Utils.webCamTextureToMat(webCamTexture,
rgbaMat, colors);
// Convert the OpenCV image to gray and
// equalize it.
Imgproc.cvtColor(rgbaMat, grayMat,
Imgproc.COLOR_RGBA2GRAY);
Imgproc.Canny(grayMat, cannyMat, 50.0, 200.0);
UpdateCircles();
UpdateLines();
}
//Canny滤波
public Sprite CannyGradient()
{
Mat edge = new Mat();
double threshold1 = 0;
double threshold2 = 100;
Imgproc.blur(grayMat, edge, new Size(3, 3));
Imgproc.Canny(edge, edge, threshold1, threshold2);
Core.convertScaleAbs(edge, dstMat);
// Mat转Texture2D
Texture2D t2d = new Texture2D(dstMat.cols(), dstMat.rows());
Utils.matToTexture2D(dstMat, t2d);
Sprite sp = Sprite.Create(t2d, new UnityEngine.Rect(0, 0, t2d.width, t2d.height), Vector2.zero);
return(sp);
}
void Update()
{
if (rgbaMat == null)
{
// Initialization is not yet complete.
return;
}
if (gyro != null)
{
//get games gravity and and convert it into real world gravity
Vector3 gravity = gyro.gravity;
gravity.z = 0f;
gravity = gravityMagnitude *
gravity.normalized;
Physics.gravity = gravity;
}
if (!webCamTexture.didUpdateThisFrame)
{
// No new frame is ready.
return;
}
if (simulating)
{
// No new detection results are needed.
return;
}
// Convert the RGBA image to open cv format
Utils.webCamTextureToMat(webCamTexture,
rgbaMat, colors);
// Convert the OpenCV image to gray scale
Imgproc.cvtColor(rgbaMat, grayMat,
Imgproc.COLOR_RGBA2GRAY);
Imgproc.Canny(grayMat, cannyMat, 50.0, 200.0);
Imgproc.equalizeHist(grayMat, grayMat);
UpdateCircles();
UpdateLines();
}
//finds lines in image
void FindLines()
{
Mat mainMat = new Mat(baseTexture.height, baseTexture.width, CvType.CV_8UC3);
Mat grayMat = new Mat();
//Convert Texture2d to Matrix
Utils.texture2DToMat(baseTexture, mainMat);
//copy main matrix to grayMat
mainMat.copyTo(grayMat);
//Convert color to gray
Imgproc.cvtColor(grayMat, grayMat, Imgproc.COLOR_BGR2GRAY);
//Convert to canny edges
Mat edges = new Mat();
Imgproc.Canny(grayMat, edges, 50, 200);
//convert to lines
Mat lines = new Mat(edges.rows(), edges.cols(), CvType.CV_32SC4);
int minLineLength = 50;
int maxLineGap = 150;
Imgproc.HoughLinesP(edges, lines, 1, Mathf.PI / 180, 75, minLineLength, maxLineGap);
Debug.Log("lines.toString() " + lines.ToString());
Debug.Log("lines.dump()" + lines.dump());
int[] linesArray = new int[lines.cols() * lines.rows() * lines.channels()];
lines.get(0, 0, linesArray);
for (int i = 0; i < linesArray.Length; i = i + 4)
{
Imgproc.line(grayMat, new Point(linesArray[i + 0], linesArray[i + 1]), new Point(linesArray[i + 2], linesArray[i + 3]), new Scalar(255, 0, 0), 2);
}
Texture2D finalTexture = new Texture2D(grayMat.cols(), grayMat.rows(), TextureFormat.RGB24, false);
Utils.matToTexture2D(grayMat, finalTexture);
targetRawImage.texture = finalTexture;
}
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame() && initialized)
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
bgMat.copyTo(dstMat);
Imgproc.GaussianBlur(grayMat, lineMat, new Size(3, 3), 0);
grayMat.get(0, 0, grayPixels);
for (int i = 0; i < grayPixels.Length; i++)
{
maskPixels [i] = 0;
if (grayPixels [i] < 70)
{
grayPixels [i] = 0;
maskPixels [i] = 1;
}
else if (70 <= grayPixels [i] && grayPixels [i] < 120)
{
grayPixels [i] = 100;
}
else
{
grayPixels [i] = 255;
maskPixels [i] = 1;
}
}
grayMat.put(0, 0, grayPixels);
maskMat.put(0, 0, maskPixels);
grayMat.copyTo(dstMat, maskMat);
Imgproc.Canny(lineMat, lineMat, 20, 120);
lineMat.copyTo(maskMat);
Core.bitwise_not(lineMat, lineMat);
lineMat.copyTo(dstMat, maskMat);
Utils.matToTexture2D(dstMat, texture); //, webCamTextureToMatHelper.GetBufferColors());
}
}
// Use this for initialization
void Start()
{
Texture2D imgTexture = Resources.Load("chessboard") as Texture2D;
Mat imgMat = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC3);
Utils.texture2DToMat(imgTexture, imgMat);
Debug.Log("imgMat dst ToString " + imgMat.ToString());
Mat grayMat = new Mat();
Imgproc.cvtColor(imgMat, grayMat, Imgproc.COLOR_RGB2GRAY);
Imgproc.Canny(grayMat, grayMat, 50, 200);
Mat lines = new Mat();
Imgproc.HoughLinesP(grayMat, lines, 1, Mathf.PI / 180, 50, 50, 10);
// Debug.Log ("lines toStirng " + lines.ToString ());
// Debug.Log ("lines dump" + lines.dump ());
int[] linesArray = new int[lines.cols() * lines.rows() * lines.channels()];
lines.get(0, 0, linesArray);
for (int i = 0; i < linesArray.Length; i = i + 4)
{
Core.line(imgMat, new Point(linesArray [i + 0], linesArray [i + 1]), new Point(linesArray [i + 2], linesArray [i + 3]), new Scalar(255, 0, 0), 2);
}
Texture2D texture = new Texture2D(imgMat.cols(), imgMat.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(imgMat, texture);
gameObject.GetComponent <Renderer> ().material.mainTexture = texture;
}
private List <MatOfPoint> GetContours(Mat newImage)
{
Mat edges = new Mat();
Mat hierarchy = new Mat();
List <MatOfPoint> contours = new List <MatOfPoint>();
List <MatOfPoint> bigContours = new List <MatOfPoint>();
Imgproc.GaussianBlur(newImage, newImage, new Size(3, 3), 1);
Imgproc.Canny(newImage, edges, 75, 255);
Imgproc.dilate(edges, edges, Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(1, 1)), new Point(-1, -1), 2);
Imgproc.findContours(edges, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
foreach (var contour in contours)
{
double area = Imgproc.contourArea(contour);
if (area > 500)
{
bigContours.Add(contour);
}
}
return(bigContours);
}
private void updateFilter(byte[] framebuffer)
{
rgbaMat.put(0, 0, framebuffer);
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
bgMat.copyTo(dstMat);
Imgproc.GaussianBlur(grayMat, lineMat, new Size(3, 3), 0);
grayMat.get(0, 0, grayPixels);
for (int i = 0; i < grayPixels.Length; i++)
{
maskPixels [i] = 0;
if (grayPixels [i] < 70)
{
grayPixels [i] = 0;
maskPixels [i] = 1;
}
else if (70 <= grayPixels [i] && grayPixels [i] < 120)
{
grayPixels [i] = 100;
}
else
{
grayPixels [i] = 255;
maskPixels [i] = 1;
}
}
grayMat.put(0, 0, grayPixels);
maskMat.put(0, 0, maskPixels);
grayMat.copyTo(dstMat, maskMat);
Imgproc.Canny(lineMat, lineMat, 20, 120);
lineMat.copyTo(maskMat);
Core.bitwise_not(lineMat, lineMat);
lineMat.copyTo(dstMat, maskMat);
Utils.matToTexture2D(dstMat, texture);
}
void ComputerVisionAlgo(IntPtr greyscale)
{
Utils.copyToMat(greyscale, imageMat);
// Imgproc.threshold(imageMat, outMat, 128, 255, Imgproc.THRESH_BINARY_INV);
Imgproc.Canny(imageMat, edgeMat, 90, 150);
outMat = edgeMat;
Imgproc.HoughCircles(imageMat, circMat, Imgproc.HOUGH_GRADIENT, 1.0, 20.0);
Debug.LogFormat("Circle Metadata {0}", circMat.ToString());
Debug.Log(circMat.size());
if (circMat.size() == null_size)
{
Debug.Log("No circles found");
}
else
{
double[] c_data = circMat.get(0, 0);
Debug.LogFormat("Circle Center: {0} x {1} \n Circle Radius: {2}", c_data[0], c_data[1], c_data[2]);
}
Debug.Log(circMat.size().width);
// Debug.LogFormat("Circle 1: {0} x {1} -- {2}",
// circMat.get(0, 0)[0], circMat.get(0, 1)[0], circMat.get(0, 2)[0]);
// for (int i = 0; i < 5; i++)
// {
// Point center = Point(circMat[i][0], circMat[i][1]);
// int radius = circMat[i][2];
// circle(imageMat, center, 3, Scalar(0, 255, 0), -1, 8);
// circle(imageMat, center, radius, Scalar(0, 0, 255), 3, 8);
// }
// Debug.LogFormat("Mat Dimensions: {0} x {1}", imageMat.cols(), imageMat.rows());
}
private IList <MatOfPoint> ProcessImage()
{
Mat grayMat = new Mat();
Mat blurMat = new Mat();
Mat edgesMat = new Mat();
Mat final = new Mat();
Mat h = new Mat();
IList <MatOfPoint> contours = new JavaList <MatOfPoint>();
OpenCV.Android.Utils.BitmapToMat(originalImage, originalMat);
originalImage.Dispose();
Imgproc.CvtColor(originalMat, grayMat, Imgproc.ColorBgr2gray);
Imgproc.GaussianBlur(grayMat, blurMat, new OpenCV.Core.Size(3, 3), 0);
Imgproc.Canny(blurMat, edgesMat, 10, 250);
Mat kernel = Imgproc.GetStructuringElement(Imgproc.MorphRect, new Size(3, 3));
Imgproc.MorphologyEx(edgesMat, final, Imgproc.MorphClose, kernel);
Imgproc.FindContours(final, contours, h, Imgproc.RetrExternal, Imgproc.ChainApproxSimple);
return(contours);
}
//findContours分割技术
private static Mat MyFindLargestRectangle(Mat original_image)
{
Mat imgSource = original_image;
Imgproc.cvtColor(imgSource, imgSource, Imgproc.COLOR_BGR2GRAY);
Imgproc.Canny(imgSource, imgSource, 50, 50);
Imgproc.GaussianBlur(imgSource, imgSource, new Size(5, 5), 5);
List <MatOfPoint> contours = new List <MatOfPoint>();
Imgproc.findContours(imgSource, contours, new Mat(), Imgproc.RETR_LIST, Imgproc.CHAIN_APPROX_SIMPLE);
double maxArea = 0;
int maxAreaIdx = -1;
MatOfPoint largest_contour = contours[0];
MatOfPoint2f approxCurve = new MatOfPoint2f();
for (int idx = 0; idx < contours.Count; idx++)
{
MatOfPoint temp_contour = contours[idx];
double contourarea = Imgproc.contourArea(temp_contour);
if (contourarea - maxArea > 1)
{
maxArea = contourarea;
largest_contour = temp_contour;
maxAreaIdx = idx;
MatOfPoint2f new_mat = new MatOfPoint2f(temp_contour.toArray());
int contourSize = (int)temp_contour.total();
Imgproc.approxPolyDP(new_mat, approxCurve, contourSize * 0.05, true);
}
}
Imgproc.drawContours(imgSource, contours, -1, new Scalar(255, 0, 0), 1);
Imgproc.fillConvexPoly(imgSource, largest_contour, new Scalar(255, 255, 255));
Imgproc.drawContours(imgSource, contours, maxAreaIdx, new Scalar(0, 0, 255), 3);
return(imgSource);
}
