// 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;
}
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 UpdateLines()
{
// Detect lines.
Imgproc.HoughLinesP(cannyMat, houghLines, 1.0,
Mathf.PI / 180.0, 50,
50.0, 10.0);
//
// Calculate the lines' screen coordinates and
// world coordinates.
//
// Clear the previous coordinates.
lines.Clear();
// Iterate over the lines.
int numHoughLines = houghLines.cols() *
houghLines.rows() *
houghLines.channels();
int[] houghLinesArray = new int[numHoughLines];
houghLines.get(0, 0, houghLinesArray);
for (int i = 0; i < numHoughLines; i += 4)
{
// Convert lines' image coordinates to screen coordinates.
Vector2 screenPoint0 =
ConvertToScreenPosition(
houghLinesArray[i],
houghLinesArray[i + 1]);
Vector2 screenPoint1 =
ConvertToScreenPosition(
houghLinesArray[i + 2],
houghLinesArray[i + 3]);
// Convert screen coordinates to world
// coordinates based on raycasting.
Vector3 worldPoint0 =
ConvertToWorldPosition(
screenPoint0);
Vector3 worldPoint1 =
ConvertToWorldPosition(
screenPoint1);
Line line = new Line(
screenPoint0, screenPoint1,
worldPoint0, worldPoint1);
lines.Add(line);
}
}
//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;
}
// 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;
}
void UpdateLines()
{
// Detect lines.
Imgproc.HoughLinesP(cannyMat, houghLines, 1.0,
Mathf.PI / 180.0, 50,
50.0, 10.0);
//
// Calculate the lines' screen coordinates and
// world coordinates.
//
// Clear the previous coordinates.
lines.Clear();
// Count the elements in the matrix of Hough lines.
// Each line should have 4 elements:
// { x_start, y_start, x_end, y_end }
int numHoughLineElems = houghLines.cols() *
houghLines.rows() *
houghLines.channels();
if (numHoughLineElems == 0)
{
return;
}
// Convert the matrix of Hough circles to a 1D array:
// { x_start_0, y_start_0, x_end_0, y_end_0, ...,
// x_start_n, y_start_n, x_end_n, y_end_n }
int[] houghLinesArray = new int[numHoughLineElems];
houghLines.get(0, 0, houghLinesArray);
// Iterate over the lines.
for (int i = 0; i < numHoughLineElems; i += 4)
{
// Convert lines' image coordinates to
// screen coordinates.
Vector2 screenPoint0 =
ConvertToScreenPosition(
houghLinesArray[i],
houghLinesArray[i + 1]);
Vector2 screenPoint1 =
ConvertToScreenPosition(
houghLinesArray[i + 2],
houghLinesArray[i + 3]);
// Convert screen coordinates to world
// coordinates based on raycasting.
Vector3 worldPoint0 =
ConvertToWorldPosition(
screenPoint0);
Vector3 worldPoint1 =
ConvertToWorldPosition(
screenPoint1);
Line line = new Line(
screenPoint0, screenPoint1,
worldPoint0, worldPoint1);
lines.Add(line);
}
}
void Run()
{
inputMat = new Mat(inputTexture.height, inputTexture.width, CvType.CV_8UC4);
outputMat = new Mat(inputTexture.height, inputTexture.width, CvType.CV_8UC4);
Utils.texture2DToMat(inputTexture, inputMat);
Imgproc.cvtColor(inputMat, outputMat, Imgproc.COLOR_RGB2GRAY);
Imgproc.Canny(outputMat, outputMat, 100, 150);
Mat lines = new Mat();
//第五个参数是阈值，通过调整阈值大小可以过滤掉一些干扰线
Imgproc.HoughLinesP(outputMat, lines, 1, Mathf.PI / 180, 60, 50, 10);
//计算霍夫曼线外围的交叉点
int[] linesArray = new int[lines.cols() * lines.rows() * lines.channels()];
lines.get(0, 0, linesArray);
Debug.Log("length of lineArray " + linesArray.Length);
List <int> a = new List <int>();
List <int> b = new List <int>();
for (int i = 0; i < linesArray.Length - 4; i = i + 4)
{
Imgproc.line(inputMat, new Point(linesArray[i + 0], linesArray[i + 1]), new Point(linesArray[i + 2], linesArray[i + 3]), new Scalar(255, 0, 0), 2);
}
for (int i = 0; i < linesArray.Length; i = i + 4)
{
a.Add(linesArray[i + 0]);
a.Add(linesArray[i + 1]);
a.Add(linesArray[i + 2]);
a.Add(linesArray[i + 3]);
for (int j = i + 4; j < linesArray.Length; j = j + 4)
{
b.Add(linesArray[j + 0]);
b.Add(linesArray[j + 1]);
b.Add(linesArray[j + 2]);
b.Add(linesArray[j + 3]);
Vector2 temp = ComputeIntersect(a, b);
b.Clear();
if (temp.x > 0 && temp.y > 0 && temp.x < 1000 && temp.y < 1000)
{
corners.Add(temp);
}
}
a.Clear();
}
//剔除重合的点和不合理的点
CullIllegalPoint(ref corners, 20);
if (corners.Count != 4)
{
Debug.Log("The object is not quadrilateral " + corners.Count);
}
Vector2 center = Vector2.zero;
for (int i = 0; i < corners.Count; i++)
{
center += corners[i];
}
center *= 0.25f;
SortCorners(ref corners, center);
//计算转换矩阵
Vector2 tl = corners[0];
Vector2 tr = corners[1];
Vector2 br = corners[2];
Vector2 bl = corners[3];
Mat srcRectMat = new Mat(4, 1, CvType.CV_32FC2);
Mat dstRectMat = new Mat(4, 1, CvType.CV_32FC2);
srcRectMat.put(0, 0, tl.x, tl.y, tr.x, tr.y, bl.x, bl.y, br.x, br.y);
dstRectMat.put(0, 0, 0.0, inputMat.rows(), inputMat.cols(), inputMat.rows(), 0.0, 0.0, inputMat.rows(), 0);
Mat perspectiveTransform = Imgproc.getPerspectiveTransform(srcRectMat, dstRectMat);
Mat outputMat0 = inputMat.clone();
//圈出四个顶点
//Point t = new Point(tl.x,tl.y);
//Imgproc.circle(outputMat0, t, 6, new Scalar(0, 0, 255, 255), 2);
//t = new Point(tr.x, tr.y);
//Imgproc.circle(outputMat0, t, 6, new Scalar(0, 0, 255, 255), 2);
//t = new Point(bl.x, bl.y);
//Imgproc.circle(outputMat0, t, 6, new Scalar(0, 0, 255, 255), 2);
//t = new Point(br.x, br.y);
//Imgproc.circle(outputMat0, t, 6, new Scalar(0, 0, 255, 255), 2);
//进行透视转换
Imgproc.warpPerspective(inputMat, outputMat0, perspectiveTransform, new Size(inputMat.rows(), inputMat.cols()));
Texture2D outputTexture = new Texture2D(outputMat0.cols(), outputMat0.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(outputMat0, outputTexture);
output.texture = outputTexture;
}
//사진에서 값 처리
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, 60, 150);
//ROI 설정
cannyMat.locateROI(new Size(200, 100), new Point(60, 60));
//HoughLine생성
Mat lines = new Mat();
Imgproc.HoughLinesP(cannyMat, lines, 1, Mathf.PI / 180, 30, 40, 40);
int[] linesArray = new int[lines.cols() * lines.rows() * lines.channels()];
lines.get(0, 0, linesArray);
line_count = 0;
is_Left_Line = false;
is_Right_Line = false;
right_point.Initialize();
left_point.Initialize();
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 (line_count >= 2)
{
break;
}
if (!is_Left_Line)
{
//각제한
if (5 < Mathf.Atan2((linesArray[i + 2] - linesArray[i + 0]), (linesArray[i + 3] - linesArray[i + 1])) * Mathf.Rad2Deg)
{
if (85 > 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);
line_count++;
is_Left_Line = true;
for (int j = 0; j < left_point.Length; j++)
{
left_point[j] = linesArray[i + j];
}
}
}
}
if (!is_Right_Line)
{
//각제한
if (125 < Mathf.Atan2((linesArray[i + 2] - linesArray[i + 0]), (linesArray[i + 3] - linesArray[i + 1])) * Mathf.Rad2Deg)
{
if (175 > 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);
line_count++;
is_Right_Line = true;
for (int j = 0; j < right_point.Length; j++)
{
right_point[j] = linesArray[i + j];
}
}
}
}
}
int[] van = Find_Vanishing_Point(left_point, right_point);
Texture2D texture = new Texture2D(imgMat.cols(), imgMat.rows(), TextureFormat.RGBA32, false);
Texture2D texture2 = new Texture2D(grayMat.cols(), grayMat.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(imgMat, texture);
Utils.matToTexture2D(cannyMat, texture2);
GameObject.FindGameObjectWithTag("test").GetComponent <Renderer>().material.mainTexture = texture;
//GameObject.Find("test2").GetComponent<Renderer>().material.mainTexture = texture2;
//자동차에 값 전달
Vector2 diretion = Get_Vector(van, imgMat);
car_AI.Change_Value_Steering(diretion);
//Debug.Log("van point : "+diretion.x +" : " + diretion.y);
}
