//索贝尔算子锐化
void OnSobelSharpen(bool value)
{
m_blurImage.enabled = true;
if (!value)
{
return;
}
Mat dstMat = new Mat();
Mat dst_x = new Mat();
Mat abs_dst_x = new Mat();
Mat dst_y = new Mat();
Mat abs_dst_y = new Mat();
//水平方向梯度
Imgproc.Sobel(srcMat, dst_x, srcMat.depth(), 1, 0, 3, 1, 0);
//垂直方向梯度
Imgproc.Sobel(srcMat, dst_y, srcMat.depth(), 0, 1, 3, 1, 0);
Core.convertScaleAbs(dst_x, abs_dst_x); //先缩放元素再取绝对值
Core.convertScaleAbs(dst_y, abs_dst_y);
Core.addWeighted(abs_dst_x, 0.5d, abs_dst_y, 0.5d, 0, dstMat); //x,y方向梯度，平均叠加融合
Core.addWeighted(dstMat, 0.5d, srcMat, 1d, 0, dstMat); //把边缘叠加到原图
Texture2D t2d = new Texture2D(dstMat.width(), dstMat.height());
Sprite sp = Sprite.Create(t2d, new UnityEngine.Rect(0, 0, t2d.width, t2d.height), Vector2.zero);
m_blurImage.sprite = sp;
m_blurImage.preserveAspect = true;
Utils.matToTexture2D(dstMat, t2d);
}
//索贝尔滤波
public Sprite SobelGradient()
{
Mat grad_x = new Mat();
Mat grad_y = new Mat();
Mat abs_grad_x = new Mat();
Mat abs_grad_y = new Mat();
// 计算水平方向梯度
Imgproc.Sobel(grayMat, grad_x, CvType.CV_16S, 1, 0, 3, 1, 0);
// 计算垂直方向梯度
Imgproc.Sobel(grayMat, grad_y, CvType.CV_16S, 0, 1, 3, 1, 0);
// 计算两个方向上的梯度的绝对值
Core.convertScaleAbs(grad_x, abs_grad_x);
Core.convertScaleAbs(grad_y, abs_grad_y);
// 计算结果梯度
Core.addWeighted(abs_grad_x, 0.5, abs_grad_y, 0.5, 1, 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);
}
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);
}
void Update()
{
//ウェブカメラのフレームが変更されたら処理
if (hogeWebCamTexture.didUpdateThisFrame)
{
//ウェブカメラの画像をMatに変換
Mat originMat = new Mat(hogeWebCamTexture.height, hogeWebCamTexture.width, CvType.CV_8UC4);
Utils.webCamTextureToMat(hogeWebCamTexture, originMat);
//画像処理先Mat
Mat changeMat = new Mat(originMat.cols(), originMat.rows(), CvType.CV_8UC4);
//グレースケール処理
Imgproc.cvtColor(originMat, changeMat, Imgproc.COLOR_RGB2GRAY);
//二値化(数値は各々で変更)
Imgproc.threshold(changeMat, changeMat, 100, 255, Imgproc.THRESH_BINARY);
//輪郭抽出
Imgproc.Sobel(changeMat, changeMat, -1, 1, 0);
//Matをテクスチャに変換
Texture2D endTexture = new Texture2D(changeMat.cols(), changeMat.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(changeMat, endTexture);
//映像出力先にテクスチャ貼付け
HogeOutputRaw.texture = endTexture;
}
}
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);
}
// Update is called once per frame
void Update()
{
Mat LeftIRMat = Util.toMat((Texture2D)LeftIrTexture, CvType.CV_8UC1);
Mat RightIRMat = Util.toMat((Texture2D)LeftIrTexture, CvType.CV_8UC1);
Mat XLeft = new Mat();
Mat YLeft = new Mat();
Mat XRight = new Mat();
Mat YRight = new Mat();
Imgproc.Sobel(LeftIRMat, XLeft, CvType.CV_32F, 1, 0, (int)ksize, scale);
Imgproc.Sobel(LeftIRMat, YLeft, CvType.CV_32F, 0, 1, (int)ksize, scale);
Imgproc.Sobel(RightIRMat, XRight, CvType.CV_32F, 1, 0, (int)ksize, scale);
Imgproc.Sobel(RightIRMat, YRight, CvType.CV_32F, 0, 1, (int)ksize, scale);
Mat x = XLeft + XRight;
Mat y = XRight + (YRight);
DenseOpticalFlow opticalFlow = DISOpticalFlow.create(DISOpticalFlow.PRESET_MEDIUM);
//OpenCVForUnity.VideoModule.DenseOpticalFlow opticalFlow = new OpenCVForUnity.VideoModule.DenseOpticalFlow(IntPtr.Zero);
Texture2D xTexture = (Texture2D)Util.toTexture(x, TextureFormat.RFloat);
xTextureEvent.Invoke(xTexture);
Texture2D yTexture = (Texture2D)Util.toTexture(y, TextureFormat.RFloat);
yTextureEvent.Invoke(yTexture);
Mat x8Bit = new Mat();
Mat y8Bit = new Mat();
x.convertTo(x8Bit, CvType.CV_8UC1, 0.1f);
y.convertTo(y8Bit, CvType.CV_8UC1, 0.1f);
Mat flow = new Mat();
opticalFlow.calc(y8Bit, x8Bit, flow);
List <Mat> planes = new List <Mat> ();
// split
Core.split(flow, planes);
Texture2D flowTexture = new Texture2D(LeftIrTexture.width, LeftIrTexture.height, TextureFormat.RFloat, false);
Utils.fastMatToTexture2D(planes[(int)flowPlane], flowTexture);
flowTextureEvent.Invoke(flowTexture);
//Mat canneyRslt = new Mat();
//Imgproc.Canny(,,IRMat, canneyRslt, threshold1, threshold2);
//Imgproc.Canny(IRMat, canneyRslt, threshold1, threshold2);
}
// 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);
}
public Mat OnCameraFrame(CameraBridgeViewBase.ICvCameraViewFrame inputFrame)
{
Mat rgba = inputFrame.Rgba();
Size sizeRgba = rgba.Size();
Mat rgbaInnerWindow;
int rows = (int)sizeRgba.Height;
int cols = (int)sizeRgba.Width;
int left = cols / 8;
int top = rows / 8;
int width = cols * 3 / 4;
int height = rows * 3 / 4;
switch (ImageManipulationsActivity.viewMode)
{
case ImageManipulationsActivity.VIEW_MODE_RGBA:
break;
case ImageManipulationsActivity.VIEW_MODE_HIST:
Mat hist = new Mat();
int thikness = (int)(sizeRgba.Width / (mHistSizeNum + 10) / 5);
if (thikness > 5)
{
thikness = 5;
}
int offset = (int)((sizeRgba.Width - (5 * mHistSizeNum + 4 * 10) * thikness) / 2);
// RGB
for (int c = 0; c < 3; c++)
{
Imgproc.CalcHist(Arrays.AsList(rgba).Cast <Mat>().ToList(), mChannels[c], mMat0, hist, mHistSize, mRanges);
Core.Normalize(hist, hist, sizeRgba.Height / 2, 0, Core.NormInf);
hist.Get(0, 0, mBuff);
for (int h = 0; h < mHistSizeNum; h++)
{
mP1.X = mP2.X = offset + (c * (mHistSizeNum + 10) + h) * thikness;
mP1.Y = sizeRgba.Height - 1;
mP2.Y = mP1.Y - 2 - (int)mBuff[h];
Imgproc.Line(rgba, mP1, mP2, mColorsRGB[c], thikness);
}
}
// Value and Hue
Imgproc.CvtColor(rgba, mIntermediateMat, Imgproc.ColorRgb2hsvFull);
// Value
Imgproc.CalcHist(Arrays.AsList(mIntermediateMat).Cast <Mat>().ToList(), mChannels[2], mMat0, hist, mHistSize, mRanges);
Core.Normalize(hist, hist, sizeRgba.Height / 2, 0, Core.NormInf);
hist.Get(0, 0, mBuff);
for (int h = 0; h < mHistSizeNum; h++)
{
mP1.X = mP2.X = offset + (3 * (mHistSizeNum + 10) + h) * thikness;
mP1.Y = sizeRgba.Height - 1;
mP2.Y = mP1.Y - 2 - (int)mBuff[h];
Imgproc.Line(rgba, mP1, mP2, mWhilte, thikness);
}
// Hue
Imgproc.CalcHist(Arrays.AsList(mIntermediateMat).Cast <Mat>().ToList(), mChannels[0], mMat0, hist, mHistSize, mRanges);
Core.Normalize(hist, hist, sizeRgba.Height / 2, 0, Core.NormInf);
hist.Get(0, 0, mBuff);
for (int h = 0; h < mHistSizeNum; h++)
{
mP1.X = mP2.X = offset + (4 * (mHistSizeNum + 10) + h) * thikness;
mP1.Y = sizeRgba.Height - 1;
mP2.Y = mP1.Y - 2 - (int)mBuff[h];
Imgproc.Line(rgba, mP1, mP2, mColorsHue[h], thikness);
}
break;
case ImageManipulationsActivity.VIEW_MODE_CANNY:
rgbaInnerWindow = rgba.Submat(top, top + height, left, left + width);
Imgproc.Canny(rgbaInnerWindow, mIntermediateMat, 80, 90);
Imgproc.CvtColor(mIntermediateMat, rgbaInnerWindow, Imgproc.ColorGray2bgra, 4);
rgbaInnerWindow.Release();
break;
case ImageManipulationsActivity.VIEW_MODE_SOBEL:
Mat gray = inputFrame.Gray();
Mat grayInnerWindow = gray.Submat(top, top + height, left, left + width);
rgbaInnerWindow = rgba.Submat(top, top + height, left, left + width);
Imgproc.Sobel(grayInnerWindow, mIntermediateMat, CvType.Cv8u, 1, 1);
Core.ConvertScaleAbs(mIntermediateMat, mIntermediateMat, 10, 0);
Imgproc.CvtColor(mIntermediateMat, rgbaInnerWindow, Imgproc.ColorGray2bgra, 4);
grayInnerWindow.Release();
rgbaInnerWindow.Release();
break;
case ImageManipulationsActivity.VIEW_MODE_SEPIA:
rgbaInnerWindow = rgba.Submat(top, top + height, left, left + width);
Core.Transform(rgbaInnerWindow, rgbaInnerWindow, mSepiaKernel);
rgbaInnerWindow.Release();
break;
case ImageManipulationsActivity.VIEW_MODE_ZOOM:
Mat zoomCorner = rgba.Submat(0, rows / 2 - rows / 10, 0, cols / 2 - cols / 10);
Mat mZoomWindow = rgba.Submat(rows / 2 - 9 * rows / 100, rows / 2 + 9 * rows / 100, cols / 2 - 9 * cols / 100, cols / 2 + 9 * cols / 100);
Imgproc.Resize(mZoomWindow, zoomCorner, zoomCorner.Size());
Size wsize = mZoomWindow.Size();
Imgproc.Rectangle(mZoomWindow, new Point(1, 1), new Point(wsize.Width - 2, wsize.Height - 2), new Scalar(255, 0, 0, 255), 2);
zoomCorner.Release();
mZoomWindow.Release();
break;
case ImageManipulationsActivity.VIEW_MODE_PIXELIZE:
rgbaInnerWindow = rgba.Submat(top, top + height, left, left + width);
Imgproc.Resize(rgbaInnerWindow, mIntermediateMat, mSize0, 0.1, 0.1, Imgproc.InterNearest);
Imgproc.Resize(mIntermediateMat, rgbaInnerWindow, rgbaInnerWindow.Size(), 0.0, 0.0, Imgproc.InterNearest);
rgbaInnerWindow.Release();
break;
case ImageManipulationsActivity.VIEW_MODE_POSTERIZE:
/*
* Imgproc.cvtColor(rgbaInnerWindow, mIntermediateMat, Imgproc.COLOR_RGBA2RGB);
* Imgproc.pyrMeanShiftFiltering(mIntermediateMat, mIntermediateMat, 5, 50);
* Imgproc.cvtColor(mIntermediateMat, rgbaInnerWindow, Imgproc.COLOR_RGB2RGBA);
*/
rgbaInnerWindow = rgba.Submat(top, top + height, left, left + width);
Imgproc.Canny(rgbaInnerWindow, mIntermediateMat, 80, 90);
rgbaInnerWindow.SetTo(new Scalar(0, 0, 0, 255), mIntermediateMat);
Core.ConvertScaleAbs(rgbaInnerWindow, mIntermediateMat, 1.0 / 16, 0);
Core.ConvertScaleAbs(mIntermediateMat, rgbaInnerWindow, 16, 0);
rgbaInnerWindow.Release();
break;
}
return(rgba);
}
