public void OnFrameMatAcquired(Mat bgraMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix)
{
comicFilter.Process(bgraMat, bgraMat, true);
//Imgproc.putText (bgraMat, "W:" + bgraMat.width () + " H:" + bgraMat.height () + " SO:" + Screen.orientation, new Point (5, bgraMat.rows () - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (0), 2, Imgproc.LINE_AA, false);
Enqueue(() => {
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
Utils.fastMatToTexture2D(bgraMat, texture);
bgraMat.Dispose();
Matrix4x4 worldToCameraMatrix = cameraToWorldMatrix.inverse;
quad_renderer.sharedMaterial.SetMatrix("_WorldToCameraMatrix", worldToCameraMatrix);
// Position the canvas object slightly in front
// of the real world web camera.
Vector3 position = cameraToWorldMatrix.GetColumn(3) - cameraToWorldMatrix.GetColumn(2) * 2.2f;
// Rotate the canvas object so that it faces the user.
Quaternion rotation = Quaternion.LookRotation(-cameraToWorldMatrix.GetColumn(2), cameraToWorldMatrix.GetColumn(1));
gameObject.transform.position = position;
gameObject.transform.rotation = rotation;
});
}
//Update for the Hololens
/*9n */
#if NETFX_CORE && !DISABLE_HOLOLENSCAMSTREAM_API
public void OnFrameMatAcquired(Mat bgraMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix)
{
Mat bgraMatClipROI = new Mat(bgraMat, processingAreaRect);
Imgproc.cvtColor(bgraMat /*bgraMatClipROI*/, grayMat, Imgproc.COLOR_BGRA2GRAY);
//// Here goes the code
//new HL
UnityEngine.WSA.Application.InvokeOnAppThread(() => {
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
Utils.fastMatToTexture2D(bgraMat, texture);
bgraMat.Dispose();
Matrix4x4 worldToCameraMatrix = cameraToWorldMatrix.inverse;
quad_renderer.sharedMaterial.SetMatrix("_WorldToCameraMatrix", worldToCameraMatrix);
// Position the canvas object slightly in front
// of the real world web camera.
Vector3 position = cameraToWorldMatrix.GetColumn(3) - cameraToWorldMatrix.GetColumn(2);
position *= 1.2f;
// Rotate the canvas object so that it faces the user.
Quaternion rotation = Quaternion.LookRotation(-cameraToWorldMatrix.GetColumn(2), cameraToWorldMatrix.GetColumn(1));
gameObject.transform.position = position;
gameObject.transform.rotation = rotation;
}, false);
}
// Update is called once per frame
void Update()
{
if (isImagesInputMode)
{
return;
}
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat grayMat = webCamTextureToMatHelper.GetMat();
if (shouldCaptureFrame)
{
shouldCaptureFrame = false;
Mat frameMat = grayMat.clone();
double e = CaptureFrame(frameMat);
if (e > 0)
{
repErr = e;
}
}
DrawFrame(grayMat, bgrMat);
Imgproc.cvtColor(bgrMat, rgbaMat, Imgproc.COLOR_BGR2RGBA);
Utils.fastMatToTexture2D(rgbaMat, texture);
}
}
public void OnFrameMatAcquired(Mat bgraMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix, CameraIntrinsics camIntrinsics)
{
// Implement the HoloLens process here. -->
Vector3 hitPoint = new Vector3(0, 0, 0);
var laserPointerPosition = FindLaserPointer(bgraMat);
if (laserPointerPosition != null)
{
hitPoint = raycast(laserPointerPosition, cameraToWorldMatrix, camIntrinsics);
}
// Implement the HoloLens process here. <--
Enqueue(() => {
var fps = showFPS ? getFPS() : 0;
if (laserPointerPosition != null && (redSphere.transform.position - hitPoint).magnitude >= 0.01)
{
redSphere.transform.position = hitPoint;
Vector3 cameraPos = cameraToWorldMatrix.GetColumn(3);
toolTipText.text = (hitPoint - cameraPos).magnitude.ToString("0.00") + " m" + (showFPS ? fps.ToString(", 0.0 FPS") : "");
}
if (!(webCamTextureToMatHelper.IsPlaying() && isVisibleImage))
{
bgraMat.Dispose();
return;
}
Utils.fastMatToTexture2D(bgraMat, texture);
bgraMat.Dispose();
Matrix4x4 worldToCameraMatrix = cameraToWorldMatrix.inverse;
quad_renderer.sharedMaterial.SetMatrix("_WorldToCameraMatrix", worldToCameraMatrix);
// Position the canvas object slightly in front
// of the real world web camera.
Vector3 position = cameraToWorldMatrix.GetColumn(3) - cameraToWorldMatrix.GetColumn(2) * 2.2f;
// Rotate the canvas object so that it faces the user.
Quaternion rotation = Quaternion.LookRotation(-cameraToWorldMatrix.GetColumn(2), cameraToWorldMatrix.GetColumn(1));
gameObject.transform.position = position;
gameObject.transform.rotation = rotation;
});
}
public void OnFrameMatAcquired(Mat bgraMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix)
{
Imgproc.cvtColor(bgraMat, grayMat, Imgproc.COLOR_BGRA2GRAY);
Imgproc.equalizeHist(grayMat, grayMat);
if (enableDetection && !isDetecting)
{
isDetecting = true;
grayMat.copyTo(grayMat4Thread);
System.Threading.Tasks.Task.Run(() => {
isThreadRunning = true;
DetectObject();
isThreadRunning = false;
OnDetectionDone();
});
}
if (!displayCameraImage)
{
// fill all black.
Imgproc.rectangle(bgraMat, new Point(0, 0), new Point(bgraMat.width(), bgraMat.height()), new Scalar(0, 0, 0, 0), -1);
}
Rect[] rects;
if (!useSeparateDetection)
{
if (hasUpdatedDetectionResult)
{
hasUpdatedDetectionResult = false;
lock (rectangleTracker) {
rectangleTracker.UpdateTrackedObjects(detectionResult.toList());
}
}
lock (rectangleTracker) {
rectangleTracker.GetObjects(resultObjects, true);
}
rects = resultObjects.ToArray();
for (int i = 0; i < rects.Length; i++)
{
//UnityEngine.WSA.Application.InvokeOnAppThread (() => {
// Debug.Log ("detected face[" + i + "] " + rects [i]);
//}, true);
Imgproc.rectangle(bgraMat, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(0, 0, 255, 255), 3);
}
}
else
{
if (hasUpdatedDetectionResult)
{
hasUpdatedDetectionResult = false;
//UnityEngine.WSA.Application.InvokeOnAppThread (() => {
// Debug.Log("process: get rectsWhereRegions were got from detectionResult");
//}, true);
lock (rectangleTracker) {
rectsWhereRegions = detectionResult.toArray();
}
rects = rectsWhereRegions;
for (int i = 0; i < rects.Length; i++)
{
Imgproc.rectangle(bgraMat, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(255, 0, 0, 255), 1);
}
}
else
{
//UnityEngine.WSA.Application.InvokeOnAppThread (() => {
// Debug.Log("process: get rectsWhereRegions from previous positions");
//}, true);
lock (rectangleTracker) {
rectsWhereRegions = rectangleTracker.CreateCorrectionBySpeedOfRects();
}
rects = rectsWhereRegions;
for (int i = 0; i < rects.Length; i++)
{
Imgproc.rectangle(bgraMat, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(0, 255, 0, 255), 1);
}
}
detectedObjectsInRegions.Clear();
if (rectsWhereRegions.Length > 0)
{
int len = rectsWhereRegions.Length;
for (int i = 0; i < len; i++)
{
DetectInRegion(grayMat, rectsWhereRegions [i], detectedObjectsInRegions);
}
}
lock (rectangleTracker) {
rectangleTracker.UpdateTrackedObjects(detectedObjectsInRegions);
rectangleTracker.GetObjects(resultObjects, true);
}
rects = resultObjects.ToArray();
for (int i = 0; i < rects.Length; i++)
{
//UnityEngine.WSA.Application.InvokeOnAppThread (() => {
// Debug.Log ("detected face[" + i + "] " + rects [i]);
//}, true);
Imgproc.rectangle(bgraMat, new Point(rects [i].x, rects [i].y), new Point(rects [i].x + rects [i].width, rects [i].y + rects [i].height), new Scalar(0, 0, 255, 255), 3);
}
}
UnityEngine.WSA.Application.InvokeOnAppThread(() => {
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
Utils.fastMatToTexture2D(bgraMat, texture);
bgraMat.Dispose();
Matrix4x4 worldToCameraMatrix = cameraToWorldMatrix.inverse;
quad_renderer.sharedMaterial.SetMatrix("_WorldToCameraMatrix", worldToCameraMatrix);
// Position the canvas object slightly in front
// of the real world web camera.
Vector3 position = cameraToWorldMatrix.GetColumn(3) - cameraToWorldMatrix.GetColumn(2);
position *= 1.2f;
// Rotate the canvas object so that it faces the user.
Quaternion rotation = Quaternion.LookRotation(-cameraToWorldMatrix.GetColumn(2), cameraToWorldMatrix.GetColumn(1));
gameObject.transform.position = position;
gameObject.transform.rotation = rotation;
}, false);
}
public void OnFrameMatAcquired(Mat bgraMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix)
{
downScaleFrameMat = imageOptimizationHelper.GetDownScaleMat(bgraMat);
if (enableDetection)
{
Imgproc.cvtColor(downScaleFrameMat, grayMat, Imgproc.COLOR_BGRA2GRAY);
// Detect markers and estimate Pose
Aruco.detectMarkers(grayMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
if (applyEstimationPose && ids.total() > 0)
{
Aruco.estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs, tvecs);
for (int i = 0; i < ids.total(); i++)
{
//This example can display ARObject on only first detected marker.
if (i == 0)
{
// Convert to unity pose data.
double[] rvecArr = new double[3];
rvecs.get(0, 0, rvecArr);
double[] tvecArr = new double[3];
tvecs.get(0, 0, tvecArr);
tvecArr[2] /= imageOptimizationHelper.downscaleRatio;
PoseData poseData = ARUtils.ConvertRvecTvecToPoseData(rvecArr, tvecArr);
// Changes in pos/rot below these thresholds are ignored.
if (enableLowPassFilter)
{
ARUtils.LowpassPoseData(ref oldPoseData, ref poseData, positionLowPass, rotationLowPass);
}
oldPoseData = poseData;
// Create transform matrix.
transformationM = Matrix4x4.TRS(poseData.pos, poseData.rot, Vector3.one);
lock (sync){
// Right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARM = invertYM * transformationM;
// Apply Z-axis inverted matrix.
ARM = ARM * invertZM;
}
hasUpdatedARTransformMatrix = true;
break;
}
}
}
}
Mat rgbMat4preview = null;
if (displayCameraPreview)
{
rgbMat4preview = new Mat();
Imgproc.cvtColor(downScaleFrameMat, rgbMat4preview, Imgproc.COLOR_BGRA2RGB);
if (ids.total() > 0)
{
Aruco.drawDetectedMarkers(rgbMat4preview, corners, ids, new Scalar(0, 255, 0));
if (applyEstimationPose)
{
for (int i = 0; i < ids.total(); i++)
{
using (Mat rvec = new Mat(rvecs, new OpenCVForUnity.Rect(0, i, 1, 1)))
using (Mat tvec = new Mat(tvecs, new OpenCVForUnity.Rect(0, i, 1, 1))) {
// In this example we are processing with RGB color image, so Axis-color correspondences are X: blue, Y: green, Z: red. (Usually X: red, Y: green, Z: blue)
Aruco.drawAxis(rgbMat4preview, camMatrix, distCoeffs, rvec, tvec, markerLength * 0.5f);
}
}
}
}
}
UnityEngine.WSA.Application.InvokeOnAppThread(() => {
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
if (displayCameraPreview && rgbMat4preview != null)
{
OpenCVForUnity.Utils.fastMatToTexture2D(rgbMat4preview, texture);
}
if (applyEstimationPose)
{
if (hasUpdatedARTransformMatrix)
{
hasUpdatedARTransformMatrix = false;
lock (sync){
// Apply camera transform matrix.
ARM = cameraToWorldMatrix * invertZM * ARM;
ARUtils.SetTransformFromMatrix(arGameObject.transform, ref ARM);
}
}
}
bgraMat.Dispose();
if (rgbMat4preview != null)
{
rgbMat4preview.Dispose();
}
}, false);
}
public void OnFrameMatAcquired(Mat grayMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix, CameraIntrinsics cameraIntrinsics)
{
isDetectingInFrameArrivedThread = true;
DebugUtils.VideoTick();
Mat downScaleMat = null;
float DOWNSCALE_RATIO;
if (enableDownScale)
{
downScaleMat = imageOptimizationHelper.GetDownScaleMat(grayMat);
DOWNSCALE_RATIO = imageOptimizationHelper.downscaleRatio;
}
else
{
downScaleMat = grayMat;
DOWNSCALE_RATIO = 1.0f;
}
Mat camMatrix = null;
MatOfDouble distCoeffs = null;
if (useStoredCameraParameters)
{
camMatrix = this.camMatrix;
distCoeffs = this.distCoeffs;
}
else
{
camMatrix = CreateCameraMatrix(cameraIntrinsics.FocalLengthX, cameraIntrinsics.FocalLengthY, cameraIntrinsics.PrincipalPointX / DOWNSCALE_RATIO, cameraIntrinsics.PrincipalPointY / DOWNSCALE_RATIO);
distCoeffs = new MatOfDouble(cameraIntrinsics.RadialDistK1, cameraIntrinsics.RadialDistK2, cameraIntrinsics.RadialDistK3, cameraIntrinsics.TangentialDistP1, cameraIntrinsics.TangentialDistP2);
}
if (enableDetection)
{
// Detect markers and estimate Pose
Aruco.detectMarkers(downScaleMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
if (applyEstimationPose && ids.total() > 0)
{
Aruco.estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs, tvecs);
for (int i = 0; i < ids.total(); i++)
{
//This example can display ARObject on only first detected marker.
if (i == 0)
{
// Convert to unity pose data.
double[] rvecArr = new double[3];
rvecs.get(0, 0, rvecArr);
double[] tvecArr = new double[3];
tvecs.get(0, 0, tvecArr);
tvecArr[2] /= DOWNSCALE_RATIO;
PoseData poseData = ARUtils.ConvertRvecTvecToPoseData(rvecArr, tvecArr);
// Create transform matrix.
transformationM = Matrix4x4.TRS(poseData.pos, poseData.rot, Vector3.one);
lock (sync)
{
// Right-handed coordinates system (OpenCV) to left-handed one (Unity)
ARM = invertYM * transformationM;
// Apply Z-axis inverted matrix.
ARM = ARM * invertZM;
}
hasUpdatedARTransformMatrix = true;
break;
}
}
}
}
Mat rgbMat4preview = null;
if (displayCameraPreview)
{
rgbMat4preview = new Mat();
Imgproc.cvtColor(downScaleMat, rgbMat4preview, Imgproc.COLOR_GRAY2RGB);
if (ids.total() > 0)
{
Aruco.drawDetectedMarkers(rgbMat4preview, corners, ids, new Scalar(0, 255, 0));
if (applyEstimationPose)
{
for (int i = 0; i < ids.total(); i++)
{
using (Mat rvec = new Mat(rvecs, new OpenCVForUnity.CoreModule.Rect(0, i, 1, 1)))
using (Mat tvec = new Mat(tvecs, new OpenCVForUnity.CoreModule.Rect(0, i, 1, 1)))
{
// In this example we are processing with RGB color image, so Axis-color correspondences are X: blue, Y: green, Z: red. (Usually X: red, Y: green, Z: blue)
Calib3d.drawFrameAxes(rgbMat4preview, camMatrix, distCoeffs, rvec, tvec, markerLength * 0.5f);
}
}
}
}
}
DebugUtils.TrackTick();
Enqueue(() =>
{
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
if (displayCameraPreview && rgbMat4preview != null)
{
Utils.fastMatToTexture2D(rgbMat4preview, texture);
rgbMat4preview.Dispose();
}
if (applyEstimationPose)
{
if (hasUpdatedARTransformMatrix)
{
hasUpdatedARTransformMatrix = false;
lock (sync)
{
// Apply camera transform matrix.
ARM = cameraToWorldMatrix * invertZM * ARM;
if (enableLerpFilter)
{
arGameObject.SetMatrix4x4(ARM);
}
else
{
ARUtils.SetTransformFromMatrix(arGameObject.transform, ref ARM);
}
}
}
}
grayMat.Dispose();
});
isDetectingInFrameArrivedThread = false;
}
public void OnFrameMatAcquired(Mat bgraMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix)
{
Mat bgraMatClipROI = new Mat(bgraMat, processingAreaRect);
Imgproc.cvtColor(bgraMatClipROI, grayMat, Imgproc.COLOR_BGRA2GRAY);
bgMat.copyTo(dstMatClippingROI);
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(dstMatClippingROI, maskMat);
Imgproc.Canny(lineMat, lineMat, 20, 120);
lineMat.copyTo(maskMat);
Core.bitwise_not(lineMat, lineMat);
lineMat.copyTo(dstMatClippingROI, 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, bgraMat, Imgproc.COLOR_GRAY2BGRA);
//
//Imgproc.rectangle (bgraMat, new Point (0, 0), new Point (bgraMat.width (), bgraMat.height ()), new Scalar (0, 0, 255, 255), 2);
//Imgproc.rectangle (bgraMat, processingAreaRect.tl(), processingAreaRect.br(), new Scalar (0, 0, 255, 255), 2);
//
bgraMatClipROI.Dispose();
UnityEngine.WSA.Application.InvokeOnAppThread(() => {
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
Utils.fastMatToTexture2D(bgraMat, texture);
bgraMat.Dispose();
Matrix4x4 worldToCameraMatrix = cameraToWorldMatrix.inverse;
quad_renderer.sharedMaterial.SetMatrix("_WorldToCameraMatrix", worldToCameraMatrix);
// Position the canvas object slightly in front
// of the real world web camera.
Vector3 position = cameraToWorldMatrix.GetColumn(3) - cameraToWorldMatrix.GetColumn(2);
// Rotate the canvas object so that it faces the user.
Quaternion rotation = Quaternion.LookRotation(-cameraToWorldMatrix.GetColumn(2), cameraToWorldMatrix.GetColumn(1));
gameObject.transform.position = position;
gameObject.transform.rotation = rotation;
}, false);
}
public void OnFrameMatAcquired(Mat bgraMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix)
{
Mat downScaleMat = null;
float DOWNSCALE_RATIO;
if (enableDownScale)
{
downScaleMat = imageOptimizationHelper.GetDownScaleMat(bgraMat);
DOWNSCALE_RATIO = imageOptimizationHelper.downscaleRatio;
}
else
{
downScaleMat = bgraMat;
DOWNSCALE_RATIO = 1.0f;
}
Imgproc.cvtColor(downScaleMat, grayMat, CVTCOLOR_CODE);
Imgproc.equalizeHist(grayMat, grayMat);
if (enableDetection && !isDetecting)
{
isDetecting = true;
grayMat.copyTo(grayMat4Thread);
System.Threading.Tasks.Task.Run(() =>
{
isThreadRunning = true;
DetectObject(grayMat4Thread, out detectionResult, cascade4Thread);
isThreadRunning = false;
OnDetectionDone();
});
}
if (!displayCameraImage)
{
// fill all black.
Imgproc.rectangle(bgraMat, new Point(0, 0), new Point(bgraMat.width(), bgraMat.height()), new Scalar(0, 0, 0, 0), -1);
}
if (!useSeparateDetection)
{
if (hasUpdatedDetectionResult)
{
hasUpdatedDetectionResult = false;
lock (rectangleTracker)
{
rectangleTracker.UpdateTrackedObjects(detectionResult);
}
}
lock (rectangleTracker)
{
rectangleTracker.GetObjects(resultObjects, true);
}
int len = resultObjects.Count;
for (int i = 0; i < len; i++)
{
Rect rect = resultObjects[i];
if (enableDownScale)
{
// restore to original size rect
rect.x = (int)(rect.x * DOWNSCALE_RATIO);
rect.y = (int)(rect.y * DOWNSCALE_RATIO);
rect.width = (int)(rect.width * DOWNSCALE_RATIO);
rect.height = (int)(rect.height * DOWNSCALE_RATIO);
}
// draw face rect
Imgproc.rectangle(bgraMat, new Point(rect.x, rect.y), new Point(rect.x + rect.width, rect.y + rect.height), COLOR_RED, 2);
}
}
else
{
Rect[] rectsWhereRegions;
if (hasUpdatedDetectionResult)
{
hasUpdatedDetectionResult = false;
//UnityEngine.WSA.Application.InvokeOnAppThread (() => {
// Debug.Log("process: get rectsWhereRegions were got from detectionResult");
//}, true);
lock (rectangleTracker)
{
rectsWhereRegions = detectionResult.ToArray();
}
DrawDownScaleFaceRects(bgraMat, rectsWhereRegions, DOWNSCALE_RATIO, COLOR_BLUE, 1);
}
else
{
//UnityEngine.WSA.Application.InvokeOnAppThread (() => {
// Debug.Log("process: get rectsWhereRegions from previous positions");
//}, true);
lock (rectangleTracker)
{
rectsWhereRegions = rectangleTracker.CreateCorrectionBySpeedOfRects();
}
DrawDownScaleFaceRects(bgraMat, rectsWhereRegions, DOWNSCALE_RATIO, COLOR_GREEN, 1);
}
detectedObjectsInRegions.Clear();
int len = rectsWhereRegions.Length;
for (int i = 0; i < len; i++)
{
DetectInRegion(grayMat, rectsWhereRegions[i], detectedObjectsInRegions, cascade);
}
lock (rectangleTracker)
{
rectangleTracker.UpdateTrackedObjects(detectedObjectsInRegions);
rectangleTracker.GetObjects(resultObjects, true);
}
len = resultObjects.Count;
for (int i = 0; i < len; i++)
{
Rect rect = resultObjects[i];
if (enableDownScale)
{
// restore to original size rect
rect.x = (int)(rect.x * DOWNSCALE_RATIO);
rect.y = (int)(rect.y * DOWNSCALE_RATIO);
rect.width = (int)(rect.width * DOWNSCALE_RATIO);
rect.height = (int)(rect.height * DOWNSCALE_RATIO);
}
// draw face rect
Imgproc.rectangle(bgraMat, new Point(rect.x, rect.y), new Point(rect.x + rect.width, rect.y + rect.height), COLOR_RED, 2);
}
}
Enqueue(() =>
{
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
Utils.fastMatToTexture2D(bgraMat, texture);
bgraMat.Dispose();
Matrix4x4 worldToCameraMatrix = cameraToWorldMatrix.inverse;
quad_renderer.sharedMaterial.SetMatrix("_WorldToCameraMatrix", worldToCameraMatrix);
// Position the canvas object slightly in front
// of the real world web camera.
Vector3 position = cameraToWorldMatrix.GetColumn(3) - cameraToWorldMatrix.GetColumn(2) * 2.2f;
// Rotate the canvas object so that it faces the user.
Quaternion rotation = Quaternion.LookRotation(-cameraToWorldMatrix.GetColumn(2), cameraToWorldMatrix.GetColumn(1));
gameObject.transform.position = position;
gameObject.transform.rotation = rotation;
});
}
public void OnFrameMatAcquired(Mat bgraMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix)
{
Mat downScaleMat = null;
float DOWNSCALE_RATIO;
if (enableDownScale)
{
downScaleMat = imageOptimizationHelper.GetDownScaleMat(bgraMat);
DOWNSCALE_RATIO = imageOptimizationHelper.downscaleRatio;
}
else
{
downScaleMat = bgraMat;
DOWNSCALE_RATIO = 1.0f;
}
Imgproc.cvtColor(downScaleMat, grayMat, CVTCOLOR_CODE);
Imgproc.equalizeHist(grayMat, grayMat);
if (enableDetection && !isDetecting)
{
isDetecting = true;
grayMat.copyTo(grayMat4Thread);
System.Threading.Tasks.Task.Run(() =>
{
isThreadRunning = true;
DetectObject(grayMat4Thread, out detectionResult, cascade4Thread);
isThreadRunning = false;
OnDetectionDone();
});
}
Rect[] rects;
if (!useSeparateDetection)
{
if (hasUpdatedDetectionResult)
{
hasUpdatedDetectionResult = false;
lock (rectangleTracker)
{
rectangleTracker.UpdateTrackedObjects(detectionResult);
}
}
lock (rectangleTracker)
{
rectangleTracker.GetObjects(resultObjects, true);
}
rects = resultObjects.ToArray();
}
else
{
Rect[] rectsWhereRegions;
if (hasUpdatedDetectionResult)
{
hasUpdatedDetectionResult = false;
//UnityEngine.WSA.Application.InvokeOnAppThread (() => {
// Debug.Log("process: get rectsWhereRegions were got from detectionResult");
//}, true);
lock (rectangleTracker)
{
rectsWhereRegions = detectionResult.ToArray();
}
}
else
{
//UnityEngine.WSA.Application.InvokeOnAppThread (() => {
// Debug.Log("process: get rectsWhereRegions from previous positions");
//}, true);
lock (rectangleTracker)
{
rectsWhereRegions = rectangleTracker.CreateCorrectionBySpeedOfRects();
}
}
detectedObjectsInRegions.Clear();
int len = rectsWhereRegions.Length;
for (int i = 0; i < len; i++)
{
DetectInRegion(grayMat, rectsWhereRegions[i], detectedObjectsInRegions, cascade);
}
lock (rectangleTracker)
{
rectangleTracker.UpdateTrackedObjects(detectedObjectsInRegions);
rectangleTracker.GetObjects(resultObjects, true);
}
rects = resultObjects.ToArray();
}
if (enableDownScale)
{
int len = rects.Length;
for (int i = 0; i < len; i++)
{
Rect rect = rects[i];
// restore to original size rect
rect.x = (int)(rect.x * DOWNSCALE_RATIO);
rect.y = (int)(rect.y * DOWNSCALE_RATIO);
rect.width = (int)(rect.width * DOWNSCALE_RATIO);
rect.height = (int)(rect.height * DOWNSCALE_RATIO);
}
}
Enqueue(() =>
{
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
DrawRects(rects, bgraMat.width(), bgraMat.height());
bgraMat.Dispose();
Vector3 ccCameraSpacePos = UnProjectVector(projectionMatrix, new Vector3(0.0f, 0.0f, overlayDistance));
Vector3 tlCameraSpacePos = UnProjectVector(projectionMatrix, new Vector3(-overlayDistance, overlayDistance, overlayDistance));
//position
Vector3 position = cameraToWorldMatrix.MultiplyPoint3x4(ccCameraSpacePos);
gameObject.transform.position = position;
//scale
Vector3 scale = new Vector3(Mathf.Abs(tlCameraSpacePos.x - ccCameraSpacePos.x) * 2, Mathf.Abs(tlCameraSpacePos.y - ccCameraSpacePos.y) * 2, 1);
gameObject.transform.localScale = scale;
// Rotate the canvas object so that it faces the user.
Quaternion rotation = Quaternion.LookRotation(-cameraToWorldMatrix.GetColumn(2), cameraToWorldMatrix.GetColumn(1));
gameObject.transform.rotation = rotation;
rectOverlay.UpdateOverlayTransform(gameObject.transform);
});
}
public void OnFrameMatAcquired(Mat bgraMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix)
{
Imgproc.cvtColor(bgraMat, grayMat, Imgproc.COLOR_BGRA2GRAY);
Imgproc.equalizeHist(grayMat, grayMat);
if (enableDetection && !isDetecting)
{
isDetecting = true;
grayMat.copyTo(grayMat4Thread);
System.Threading.Tasks.Task.Run(() => {
isThreadRunning = true;
DetectObject();
isThreadRunning = false;
OnDetectionDone();
});
}
Rect[] rects;
if (!useSeparateDetection)
{
if (hasUpdatedDetectionResult)
{
hasUpdatedDetectionResult = false;
lock (rectangleTracker) {
rectangleTracker.UpdateTrackedObjects(detectionResult.toList());
}
}
lock (rectangleTracker) {
rectangleTracker.GetObjects(resultObjects, true);
}
rects = resultObjects.ToArray();
}
else
{
if (hasUpdatedDetectionResult)
{
hasUpdatedDetectionResult = false;
//UnityEngine.WSA.Application.InvokeOnAppThread (() => {
// Debug.Log("process: get rectsWhereRegions were got from detectionResult");
//}, true);
lock (rectangleTracker) {
rectsWhereRegions = detectionResult.toArray();
}
rects = rectsWhereRegions;
}
else
{
//UnityEngine.WSA.Application.InvokeOnAppThread (() => {
// Debug.Log("process: get rectsWhereRegions from previous positions");
//}, true);
lock (rectangleTracker) {
rectsWhereRegions = rectangleTracker.CreateCorrectionBySpeedOfRects();
}
rects = rectsWhereRegions;
}
detectedObjectsInRegions.Clear();
if (rectsWhereRegions.Length > 0)
{
int len = rectsWhereRegions.Length;
for (int i = 0; i < len; i++)
{
DetectInRegion(grayMat, rectsWhereRegions [i], detectedObjectsInRegions);
}
}
lock (rectangleTracker) {
rectangleTracker.UpdateTrackedObjects(detectedObjectsInRegions);
rectangleTracker.GetObjects(resultObjects, true);
}
rects = resultObjects.ToArray();
}
UnityEngine.WSA.Application.InvokeOnAppThread(() => {
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
DrawRects(rects, bgraMat.width(), bgraMat.height());
bgraMat.Dispose();
Vector3 ccCameraSpacePos = UnProjectVector(projectionMatrix, new Vector3(0.0f, 0.0f, overlayDistance));
Vector3 tlCameraSpacePos = UnProjectVector(projectionMatrix, new Vector3(-overlayDistance, overlayDistance, overlayDistance));
//position
Vector3 position = cameraToWorldMatrix.MultiplyPoint3x4(ccCameraSpacePos);
gameObject.transform.position = position;
//scale
Vector3 scale = new Vector3(Mathf.Abs(tlCameraSpacePos.x - ccCameraSpacePos.x) * 2, Mathf.Abs(tlCameraSpacePos.y - ccCameraSpacePos.y) * 2, 1);
gameObject.transform.localScale = scale;
// Rotate the canvas object so that it faces the user.
Quaternion rotation = Quaternion.LookRotation(-cameraToWorldMatrix.GetColumn(2), cameraToWorldMatrix.GetColumn(1));
gameObject.transform.rotation = rotation;
rectOverlay.UpdateOverlayTransform(gameObject.transform);
}, false);
}
public void OnFrameMatAcquired(Mat grayMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix, CameraIntrinsics cameraIntrinsics)
{
isDetectingInFrameArrivedThread = true;
DebugUtils.VideoTick();
Mat downScaleMat = null;
float DOWNSCALE_RATIO;
if (enableDownScale)
{
downScaleMat = imageOptimizationHelper.GetDownScaleMat(grayMat);
DOWNSCALE_RATIO = imageOptimizationHelper.downscaleRatio;
}
else
{
downScaleMat = grayMat;
DOWNSCALE_RATIO = 1.0f;
}
Imgproc.equalizeHist(downScaleMat, downScaleMat);
if (enableDetection && !isDetecting)
{
isDetecting = true;
downScaleMat.copyTo(grayMat4Thread);
System.Threading.Tasks.Task.Run(() =>
{
isThreadRunning = true;
DetectObject(grayMat4Thread, out detectionResult, cascade4Thread);
isThreadRunning = false;
OnDetectionDone();
});
}
if (!useSeparateDetection)
{
if (hasUpdatedDetectionResult)
{
hasUpdatedDetectionResult = false;
lock (rectangleTracker)
{
rectangleTracker.UpdateTrackedObjects(detectionResult);
}
}
lock (rectangleTracker)
{
rectangleTracker.GetObjects(resultObjects, true);
}
if (!displayCameraImage)
{
// fill all black.
Imgproc.rectangle(grayMat, new Point(0, 0), new Point(grayMat.width(), grayMat.height()), new Scalar(0, 0, 0, 0), -1);
}
// draw face rect.
DrawDownScaleFaceRects(grayMat, resultObjects.ToArray(), DOWNSCALE_RATIO, COLOR_WHITE, 6);
}
else
{
Rect[] rectsWhereRegions;
if (hasUpdatedDetectionResult)
{
hasUpdatedDetectionResult = false;
//Enqueue(() =>
//{
// Debug.Log("process: get rectsWhereRegions were got from detectionResult");
//});
lock (rectangleTracker)
{
rectsWhereRegions = detectionResult.ToArray();
}
}
else
{
//Enqueue(() =>
//{
// Debug.Log("process: get rectsWhereRegions from previous positions");
//});
lock (rectangleTracker)
{
rectsWhereRegions = rectangleTracker.CreateCorrectionBySpeedOfRects();
}
}
detectedObjectsInRegions.Clear();
int len = rectsWhereRegions.Length;
for (int i = 0; i < len; i++)
{
DetectInRegion(downScaleMat, rectsWhereRegions[i], detectedObjectsInRegions, cascade);
}
lock (rectangleTracker)
{
rectangleTracker.UpdateTrackedObjects(detectedObjectsInRegions);
rectangleTracker.GetObjects(resultObjects, true);
}
if (!displayCameraImage)
{
// fill all black.
Imgproc.rectangle(grayMat, new Point(0, 0), new Point(grayMat.width(), grayMat.height()), new Scalar(0, 0, 0, 0), -1);
}
// draw previous rect.
DrawDownScaleFaceRects(grayMat, rectsWhereRegions, DOWNSCALE_RATIO, COLOR_GRAY, 1);
// draw face rect.
DrawDownScaleFaceRects(grayMat, resultObjects.ToArray(), DOWNSCALE_RATIO, COLOR_WHITE, 6);
}
DebugUtils.TrackTick();
Enqueue(() =>
{
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
Utils.fastMatToTexture2D(grayMat, texture);
grayMat.Dispose();
Matrix4x4 worldToCameraMatrix = cameraToWorldMatrix.inverse;
quad_renderer.sharedMaterial.SetMatrix("_WorldToCameraMatrix", worldToCameraMatrix);
// Position the canvas object slightly in front
// of the real world web camera.
Vector3 position = cameraToWorldMatrix.GetColumn(3) - cameraToWorldMatrix.GetColumn(2) * 2.2f;
// Rotate the canvas object so that it faces the user.
Quaternion rotation = Quaternion.LookRotation(-cameraToWorldMatrix.GetColumn(2), cameraToWorldMatrix.GetColumn(1));
gameObject.transform.position = position;
gameObject.transform.rotation = rotation;
});
isDetectingInFrameArrivedThread = false;
}
//OnFrameMatAcquired == update pero para el HL builded
/*20n versionskeleton */
#if NETFX_CORE && !DISABLE_HOLOLENSCAMSTREAM_API
public void OnFrameMatAcquired(Mat bgraMat, Matrix4x4 projectionMatrix, Matrix4x4 cameraToWorldMatrix)
{
Imgproc.cvtColor(bgraMat, grayMat, Imgproc.COLOR_BGRA2GRAY);
//Debug.Log("Entré al onframeaquired desde el tracker");
//26n Debug.Log("si hay puntos " + p1.x.ToString("0.00") + ";" + p1.y.ToString("0.00")); //yep
//textDebug.text = "p2:"+p2.x +","+ p2.y; //never leave a textMesh inside a Hololen's Update
//28n pm
//if (p1 != null && p2 != null) {
// Imgproc.circle(bgraMat, p1, 5, new Scalar(255, 0, 0, 255), 2);
// Imgproc.circle(bgraMat, p2, 5, new Scalar(0, 255, 0, 255), 2);
//}
//Imgproc.rectangle(bgraMat, p1, p2, new Scalar(255, 255, 255, 255), 2, 1, 0);
if (storedTouchPoint != null) //osea si el tipo es allguien
{
//28n selectedPointList.Add(storedTouchPoint);
p1 = new Point(storedTouchPoint.x - 50, storedTouchPoint.y - 50);
p2 = new Point(storedTouchPoint.x + 50, storedTouchPoint.y + 50);
//#ToDo crete the ROI with two taps like MonoTrackingExample.cs
selectedPointList.Add(p1);
selectedPointList.Add(p2);
//Imgproc.circle(bgraMat, p2, 6, new Scalar(0, 0, 0, 255), 2);
using (MatOfPoint selectedPointMat = new MatOfPoint(selectedPointList.ToArray()))
{
OpenCVForUnity.Rect region = Imgproc.boundingRect(selectedPointMat); //si se necesita al fin y al cabo
Debug.Log("region de ancho " + region.width);
SelectTracker(tracker_type); //16n monotracker = TrackerKCF.create(); //8n
trackerInitialized = monotracker.init(grayMat, new Rect2d(region.x, region.y, region.width, region.height));
}
storedTouchPoint = null;
}
//21N
//22nif (selectedPointList.Count != 0)
//{
// //p1 = new Point(bgraMat.width() / 2, bgraMat.height() / 2);
// //p2 = new Point(bgraMat.width() * 2 / 3, bgraMat.height() * 2 / 3); //21n vamos a reiniciar los puntos para ver si es cosa de coordenada o de que solo pinta por un ratico, yepsi los pinta
// Debug.Log("si hay puntos "+ p1.x.ToString("0.00") +";"+ p1.y.ToString("0.00")); //yep
// //textDebug.text = "p2:"+p2.x +","+ p2.y; //nunca maaaas mesh.text en un upate del HL
// Imgproc.circle(bgraMat, p1, 6, new Scalar(255, 0, 0, 255), 2);
// Imgproc.circle(bgraMat, p2, 6, new Scalar(0, 255, 0, 255), 2);
// Imgproc.rectangle(bgraMat, p1, p2, new Scalar(255, 255, 255, 255), 2, 1, 0);
// //pues debe ser que a este paso ya no hay punticos mijo!
//}
if (trackerInitialized)
{
Debug.Log("SI inicializo el tracking");
bool updated = monotracker.update(grayMat, bbox);//8n //pero nunca le pasa la bbox ni las coordenadas, unicamente al momento de tracker.init
if (bbox.width != 0 && bbox.height != 0)
{
//Debug.Log("tracking por aca:" + bbox.x + ";" + bbox.y);
Imgproc.rectangle(bgraMat, bbox.tl(), bbox.br(), new Scalar(255, 255, 255, 255), 2, 1, 0);
previousBox = new Rect2d(bbox.x, bbox.y, bbox.width, bbox.height);
// ------ 3D LOCATION ----------- #Todo
//28n is like a task, take long time to response, then keep going with others
//ray = cameraInstance.ScreenPointToRay(new Vector3((float)(bbox.x + bbox.width/2), (float)(bbox.y + bbox.height/2), 0));
//Debug.Log("dime que no te trabas ahi porfa" + ray.ToString("F2"));
//if (Physics.Raycast(ray, out hit))
//{
// box3DPosition = hit.transform.position;
// print("I'm looking at " + box3DPosition);
// Debug.Log("the box is in" + box3DPosition);
//}
//else
// print("I'm looking at nothing!");
}
else
{
if (previousBox != null)
{
Debug.Log("Se perdio en:" + previousBox.x + ";" + previousBox.y);
Imgproc.rectangle(bgraMat, previousBox.tl(), previousBox.br(), new Scalar(0, 0, 255, 255), 2, 1, 0); //8n
}
}
}
//new HL
UnityEngine.WSA.Application.InvokeOnAppThread(() => {
if (!webCamTextureToMatHelper.IsPlaying())
{
return;
}
Utils.fastMatToTexture2D(bgraMat, texture);
bgraMat.Dispose();
Matrix4x4 worldToCameraMatrix = cameraToWorldMatrix.inverse;
quad_renderer.sharedMaterial.SetMatrix("_WorldToCameraMatrix", worldToCameraMatrix);
// Position the canvas object slightly in front
// of the real world web camera.
Vector3 position = cameraToWorldMatrix.GetColumn(3) - cameraToWorldMatrix.GetColumn(2);
position *= 1.2f;
// Rotate the canvas object so that it faces the user.
Quaternion rotation = Quaternion.LookRotation(-cameraToWorldMatrix.GetColumn(2), cameraToWorldMatrix.GetColumn(1));
gameObject.transform.position = position;
gameObject.transform.rotation = rotation;
}, false);
}
// Update is called once per frame, in webcam
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
//19n
//Vector3 posWorld = GazeManager.Instance.HitPosition;
//textMesh.text = posWorld + "";
//Vector2 posWorld2Screen = WorldCoordsToScreen(webCamTextureToMatHelper.GetCameraToWorldMatrix(), webCamTextureToMatHelper.GetProjectionMatrix(), posWorld /*not used because of gaze*/);
//textScreenGazePos.text = posWorld2Screen + "";
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
Imgproc.cvtColor(rgbaMat, grayMat, Imgproc.COLOR_RGBA2GRAY);
//textMesh.text = selectedPointList.Count+"";
//Here starts the OpenCV script
Vector2 posWorld2Screen = WorldCoordsToScreen(webCamTextureToMatHelper.GetCameraToWorldMatrix(), webCamTextureToMatHelper.GetProjectionMatrix(), sphere.transform.position);//19N
storedTouchPoint = new Point(posWorld2Screen.x, posWorld2Screen.y);
textMesh.text = storedTouchPoint.x + ";" + storedTouchPoint.y;
//pintemelo en la screen
/*
* if (selectedPointList.Count < 2)
* {
* foreach (var point in selectedPointList)
* {
* Imgproc.circle(rgbaMat, point, 6, new Scalar(0, 0, 255), 2);
* }
* }*/
Utils.fastMatToTexture2D(rgbaMat, texture);
}
if (webCamTextureToMatHelper.IsPlaying())
{
Matrix4x4 cameraToWorldMatrix = webCamTextureToMatHelper.GetCameraToWorldMatrix();
Matrix4x4 worldToCameraMatrix = cameraToWorldMatrix.inverse;
quad_renderer.sharedMaterial.SetMatrix("_WorldToCameraMatrix", worldToCameraMatrix);
// Position the canvas object slightly in front
// of the real world web camera.
Vector3 position = cameraToWorldMatrix.GetColumn(3) - cameraToWorldMatrix.GetColumn(2);
position *= 1.2f;
// Rotate the canvas object so that it faces the user.
Quaternion rotation = Quaternion.LookRotation(-cameraToWorldMatrix.GetColumn(2), cameraToWorldMatrix.GetColumn(1));
gameObject.transform.position = position;
gameObject.transform.rotation = rotation;
}
}
