// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.isPlaying() && webCamTextureToMatHelper.didUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
using (Mat circles = new Mat()) {
Imgproc.HoughCircles(grayMat, circles, Imgproc.CV_HOUGH_GRADIENT, 2, 10, 160, 50, 10, 20);
Point pt = new Point();
for (int i = 0; i < circles.cols(); i++)
{
double[] data = circles.get(0, i);
pt.x = data [0];
pt.y = data [1];
double rho = data [2];
Imgproc.circle(rgbaMat, pt, (int)rho, new Scalar(255, 0, 0, 255), 5);
}
}
Imgproc.putText(rgbaMat, "W:" + rgbaMat.width() + " H:" + rgbaMat.height() + " SO:" + Screen.orientation, new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbaMat, texture, colors);
}
}
void UpdateCircles()
{
// Detect blobs.
Imgproc.HoughCircles(grayMat, houghCircles,
Imgproc.HOUGH_GRADIENT, 2.0,
10.0, 200.0, 150.0, 5, 60);
//
// Calculate the circles' screen coordinates
// and world coordinates.
//
// Clear the previous coordinates.
circles.Clear();
// Count the elements in the matrix of Hough circles.
// Each circle should have 3 elements: { x, y, radius }
int numHoughCircleElems = houghCircles.cols() *
houghCircles.rows() *
houghCircles.channels();
if (numHoughCircleElems == 0)
{
return;
}
// Convert the matrix of Hough circles to a 1D array:
// { x_0, y_0, radius_0, ..., x_n, y_n, radius_n }
float[] houghCirclesArray = new float[numHoughCircleElems];
houghCircles.get(0, 0, houghCirclesArray);
// Iterate over the circles.
for (int i = 0; i < numHoughCircleElems; i += 3)
{
// Convert circles' image coordinates to
// screen coordinates.
Vector2 screenPosition =
ConvertToScreenPosition(
houghCirclesArray[i],
houghCirclesArray[i + 1]);
float screenDiameter =
houghCirclesArray[i + 2] *
screenPixelsPerImagePixel;
// Convert screen coordinates to world
// coordinates based on raycasting.
Vector3 worldPosition =
ConvertToWorldPosition(
screenPosition);
Circle circle = new Circle(
screenPosition, screenDiameter,
worldPosition);
circles.Add(circle);
}
}
// Update is called once per frame
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGB2HSV);
Scalar lower_red = new Scalar(145, 42, 154);
Scalar lower_blue = new Scalar(90, 50, 50);
Scalar upper_red = new Scalar(255, 255, 255);
Scalar upper_blue = new Scalar(130, 255, 255);
Core.inRange(grayMat, lower_red, upper_red, redframe_threshold);
Core.inRange(grayMat, lower_blue, upper_blue, blueframe_threshold);
Core.bitwise_or(redframe_threshold, blueframe_threshold, frame_threshold);
Size size = new Size(5, 5);
Imgproc.erode(frame_threshold, frame_threshold, Imgproc.getStructuringElement(Imgproc.MORPH_ELLIPSE, size));
Imgproc.dilate(frame_threshold, frame_threshold, Imgproc.getStructuringElement(Imgproc.MORPH_ELLIPSE, size));
Imgproc.erode(frame_threshold, frame_threshold, Imgproc.getStructuringElement(Imgproc.MORPH_ELLIPSE, size));
Imgproc.dilate(frame_threshold, frame_threshold, Imgproc.getStructuringElement(Imgproc.MORPH_ELLIPSE, size));
Imgproc.erode(frame_threshold, frame_threshold, Imgproc.getStructuringElement(Imgproc.MORPH_ELLIPSE, size));
Imgproc.dilate(frame_threshold, frame_threshold, Imgproc.getStructuringElement(Imgproc.MORPH_ELLIPSE, size));
using (Mat circles = new Mat()) {
Imgproc.HoughCircles(frame_threshold, circles, Imgproc.CV_HOUGH_GRADIENT, 1, frame_threshold.rows() / 2, 20, 15, 15, 100);
Point pt = new Point();
for (int i = 0; i < circles.cols(); i++)
{
double[] data = circles.get(0, i);
pt.x = data [0];
pt.y = data [1];
double rho = data [2];
// Imgproc.circle (rgbaMat, pt, 3, new Scalar (255, 0, 255), 5);
Imgproc.circle(rgbaMat, pt, (int)rho, new Scalar(255, 0, 0, 255), 5);
}
}
Imgproc.putText(rgbaMat, "W:" + rgbaMat.width() + " H:" + rgbaMat.height() + " SO:" + Screen.orientation, new Point(5, rgbaMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
void Start()
{
srcMat = Imgcodecs.imread(Application.dataPath + "/Textures/feature.jpg", 1);
grayMat = new Mat();
Imgproc.cvtColor(srcMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
//会把五边形识别成圆。模糊处理，提高精确度。
Imgproc.GaussianBlur(grayMat, grayMat, new Size(7, 7), 2, 2);
Mat circles = new Mat();
//霍夫圆
Imgproc.HoughCircles(grayMat, circles, Imgproc.CV_HOUGH_GRADIENT, 2, 10, 160, 50, 10, 40);
//Debug.Log(circles);
//圆心坐标
Point pt = new Point();
for (int i = 0; i < circles.cols(); i++)
{
double[] data = circles.get(0, i);
pt.x = data[0];
pt.y = data[1];
double rho = data[2];
//绘制圆心
Imgproc.circle(srcMat, pt, 3, new Scalar(255, 255, 0), -1, 8, 0);
//绘制圆轮廓
Imgproc.circle(srcMat, pt, (int)rho, new Scalar(255, 0, 0, 255), 5);
}
//在Mat上写字
Imgproc.putText(srcMat, "W:" + srcMat.width() + " H:" + srcMat.height(), new Point(5, srcMat.rows() - 10), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Texture2D t2d = new Texture2D(srcMat.width(), srcMat.height());
Sprite sp = Sprite.Create(t2d, new UnityEngine.Rect(0, 0, t2d.width, t2d.height), Vector2.zero);
m_showImage.sprite = sp;
m_showImage.preserveAspect = true;
Utils.matToTexture2D(srcMat, t2d);
}
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());
}
void FindCirclesAndDisplay(ref CCircleDetectorModel pCircleDetectorModel)
{
Mat pSourceImage = pCircleDetectorModel.image;
ShowImage(pSourceImage, "pSourceImage");
Mat imgHsv = new Mat(pSourceImage.size(), pSourceImage.type());
Imgproc.cvtColor(pSourceImage, imgHsv, Imgproc.COLOR_RGB2HSV);
List <Mat> vChannels = new List <Mat>(3); // 3 channels
Core.split(imgHsv, vChannels);
Core.inRange(vChannels[0], new Scalar(lowerHue), new Scalar(upperHue), vChannels[0]);
Core.inRange(vChannels[1], new Scalar(lowerSaturation), new Scalar(upperSaturation), vChannels[1]);
Core.inRange(vChannels[2], new Scalar(lowerVariance), new Scalar(upperVariance), vChannels[2]);
Mat filter = vChannels[0] & vChannels[1] & vChannels[2];
ShowImage(filter, "Filter");
//Imgproc.dilate(filter, filter, new Mat());
//Imgproc.dilate(filter, filter, new Mat());
//Imgproc.erode(filter, filter, new Mat());
//Imgproc.dilate(filter, filter, new Mat());
//ShowImage(filter, "Dilate");
Mat imgResult = new Mat(pSourceImage.size(), pSourceImage.type());
pSourceImage.copyTo(imgResult, filter);
ShowImage(imgResult, "Filtered");
//Imgproc.medianBlur(imgResult, imgResult, 3);
//ShowImage(imgResult, "Blurred");
Imgproc.threshold(imgResult, imgResult, lowerThreshold, upperThreshold, Imgproc.THRESH_BINARY_INV);
ShowImage(imgResult, "Threshold");
Imgproc.cvtColor(imgResult, imgResult, Imgproc.COLOR_RGB2GRAY);
ShowImage(imgResult, "GRAY");
Mat circles = new Mat();
Imgproc.HoughCircles(imgResult,
circles,
Imgproc.CV_HOUGH_GRADIENT,
1,
45,
pCircleDetectorModel.param1,
pCircleDetectorModel.param2,
pCircleDetectorModel.minRadius,
pCircleDetectorModel.maxRadius);
Debug.Log("Number of circles:" + circles.cols());
Point pt = new Point();
for (int i = 0; i < circles.cols(); i++)
{
double[] data = circles.get(0, i);
pt.x = data[0];
pt.y = data[1];
double rho = data[2];
Imgproc.circle(pSourceImage, pt, (int)rho, new Scalar(255, 0, 0, 255), 3);
}
ShowImage(pSourceImage, "circles");
}
void Update()
{
if (!running)
{
return;
}
if (Input.GetMouseButtonDown(0))
{
Debug.Log($"Mouse Position: {Input.mousePosition} -> World: {Camera.main.ScreenToWorldPoint(Input.mousePosition)}");
}
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
//Writes into the mat
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGB2GRAY); //COLOR_RGBA2GRAY
//Applies gaussian blur for better results
Imgproc.GaussianBlur(grayMat, grayMat, new Size(3, 3), 2);
using (Mat circles = new Mat()) {
//Circle detection using the hough gradient
Imgproc.HoughCircles(grayMat, circles, Imgproc.CV_HOUGH_GRADIENT, dp, minDist, param1, param2, minRadius, maxRadius);
Point pt = new Point();
//Limits the circle drawing when too much circles are detected
if ((int)circles.total() > 5)
{
for (int i = 0; i < circles.rows(); i++)
{
double[] data = circles.get(i, 0);
pt.x = data [0];
pt.y = data [1];
double rho = data [2];
Imgproc.circle(rgbaMat, pt, (int)rho, GlobalValues.DETECTION_COLOR, GlobalValues.RINGS_RADIUS);
}
}
else //Tennis ball tracking starts here
{
for (int i = 0; i < circles.rows(); i++)
{
for (var j = 0; j < circles.cols(); j++)
{
//Get the data from the API
double[] data = circles.get(i, j);
pt.x = data [0];
pt.y = data [1];
double rho = data [2];
//Convert to worldspace
Vector2 pos = new Vector2((float)data[0], webCamTextureToMatHelper.GetWebCamTexture().height - (float)data[1]);
Vector3 worldPos = Camera.main.ScreenToWorldPoint(AdjustToResolution(pos));
//Drawings for debug purposes
Debug.DrawRay(worldPos, Vector3.up * 10, Color.magenta, 1f);
Debug.DrawRay(worldPos, Vector3.down * 10, Color.magenta, 1f);
Debug.DrawRay(worldPos, Vector3.left * 10, Color.magenta, 1f);
Debug.DrawRay(worldPos, Vector3.right * 10, Color.magenta, 1f);
//If the ball went outside the detection threshold
if (ball_tracker.AwaitingForRegainFocus(worldPos))
{
//Flash a blue cirlcle to indicate the player where to start
if (Mathf.Sin(Time.time * GlobalValues.CHECK_POINT_BLINKING_FRECUENCY) > 0)
{
var last_pos = ball_tracker.GetLastPosition();
var screen_pos = InvertAdjustToResolution(Camera.main.WorldToScreenPoint(last_pos));
screen_pos.y = webCamTextureToMatHelper.GetWebCamTexture().height - screen_pos.y;
Imgproc.circle(rgbaMat, new Point(screen_pos.x, screen_pos.y), (int)rho, GlobalValues.CHECK_POINT_COLOR, GlobalValues.RINGS_RADIUS);
}
} //Otherwise Update the ball tracker
else if (ball_tracker.Update(worldPos))
{
Imgproc.circle(rgbaMat, pt, (int)rho, GlobalValues.TRACKING_COLOR, GlobalValues.RINGS_RADIUS);
}
}
}
}
}
// Imgproc.putText (rgbaMat, "W:" + rgbaMat.width () + " H:" + rgbaMat.height () + " SO:" + Screen.orientation, new Point (5, rgbaMat.rows () - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
Utils.matToTexture2D(rgbaMat, texture, webCamTextureToMatHelper.GetBufferColors());
}
}
