public void ProcessFinger(Mat rgbaImage)
{
Imgproc.pyrDown(rgbaImage, mPyrDownMat);
Imgproc.pyrDown(mPyrDownMat, mPyrDownMat);
Imgproc.cvtColor(mPyrDownMat, mHsvMat, Imgproc.COLOR_RGB2HSV_FULL);
Imgproc.cvtColor(mPyrDownMat, mRGBAMat, Imgproc.COLOR_RGB2RGBA);
Imgproc.cvtColor(mPyrDownMat, mYCrCbMat, Imgproc.COLOR_RGB2YCrCb);
Core.inRange(mHsvMat, fLowerBoundHSV, fUpperBoundHSV, fMaskHSV);
fMask = fMaskHSV;
Imgproc.dilate(fMask, fDilatedMask, new Mat());
List <MatOfPoint> contoursFinger = new List <MatOfPoint>();
Imgproc.findContours(fDilatedMask, contoursFinger, fHierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
if (contoursFinger.Count == 0)
{
FingerContour = null;
return;
}
// Find max contour area
double maxArea = 0;
MatOfPoint biggestContour = null;
foreach (MatOfPoint each in contoursFinger)
{
MatOfPoint wrapper = each;
double area = Imgproc.contourArea(wrapper);
if (area > maxArea)
{
maxArea = area;
biggestContour = each;
}
}
if (maxArea < 130)
{
FingerContour = null;
return;
}
//Debug.Log("Finger contour area" + maxArea.ToString());
MatOfPoint2f contours_res2f = new MatOfPoint2f();
MatOfPoint2f biggestContour2f = new MatOfPoint2f(biggestContour.toArray());
Imgproc.approxPolyDP(biggestContour2f, contours_res2f, 3, true);
FingerContour = new MatOfPoint(contours_res2f.toArray());
contours_res2f.Dispose();
biggestContour2f.Dispose();
if (Imgproc.contourArea(FingerContour) > mMinContourArea * maxArea)
{
Core.multiply(FingerContour, new Scalar(4, 4), FingerContour);
}
}
/// <summary>
/// Points the of vertices.
/// </summary>
/// <param name="contour">Contour.</param>
private static void _pointOfVertices(Mat rgbaMat, MatOfPoint contour)
{
//multiplyでガウシアンピラミッドで分解されたサイズを掛け算で実画像サイズに戻す
Core.multiply(contour, new Scalar(4, 4), contour);
//輪郭の頂点がまだらにあるので識別しやすいようにポリゴン近似でサンプリングする。
MatOfPoint2f pointMat = new MatOfPoint2f();
Imgproc.approxPolyDP(new MatOfPoint2f(contour.toArray()), pointMat, 3, true);
contour = new MatOfPoint(pointMat.toArray());
}
private void EstimateHand(Mat mat, List <MatOfPoint> contours, RecordHandDetectResult resultSetter)
{
//画像処理としてはcontourがあったが、今調べてる側については
if (contours.Count == 0)
{
resultSetter.HasValidHandArea = false;
return;
}
var contour = SelectLargestContour(contours);
var boundRect = Imgproc.boundingRect(contour);
//画像の下側で手首の凹み部分を検出することがあるのを、指の凹みと誤認識しないためのガードです。
double defectMinY = boundRect.y + boundRect.height * 0.7;
var pointMat = new MatOfPoint2f();
Imgproc.approxPolyDP(new MatOfPoint2f(contour.toArray()), pointMat, 3, true);
contour = new MatOfPoint(pointMat.toArray());
var handArea = Imgproc.minAreaRect(pointMat);
var handAreaCenter = handArea.center;
var handAreaSize = handArea.size;
//方向固定のBoundを使うとこう。
resultSetter.HandAreaCenter = new Vector2(boundRect.x + boundRect.width / 2, boundRect.y + boundRect.height / 2);
resultSetter.HandAreaSize = new Vector2(boundRect.width, boundRect.height);
resultSetter.HandAreaRotation = (float)handArea.angle;
//OBBを使うとこうなるが、これだけだとangleが45度超えてるときの挙動が直感に反する事があるので要注意
// resultSetter.HandAreaCenter = new Vector2((float)handAreaCenter.x, (float)handAreaCenter.y);
// resultSetter.HandAreaSize = new Vector2((float)handAreaSize.width, (float)handAreaSize.height);
// resultSetter.HandAreaRotation = (float)handArea.angle;
Imgproc.convexHull(contour, _hullIndices);
var hullIndicesArray = _hullIndices.toArray();
//通常ありえないが、凸包がちゃんと作れてないケース
if (hullIndicesArray.Length < 3)
{
resultSetter.HasValidHandArea = false;
return;
}
UpdateConvexityDefection(contour, _hullIndices, defectMinY, resultSetter);
}
/// <summary>
/// Converts the screen point.
/// </summary>
/// <returns>The screen point.</returns>
/// <param name="screenPoint">Screen point.</param>
/// <param name="quad">Quad.</param>
/// <param name="cam">Cam.</param>
static Point convertScreenPoint(Point screenPoint, GameObject quad, Camera cam)
{
Vector2 tl;
Vector2 tr;
Vector2 br;
Vector2 bl;
if (Input.deviceOrientation == DeviceOrientation.Portrait || Input.deviceOrientation == DeviceOrientation.PortraitUpsideDown)
{
tl = cam.WorldToScreenPoint(new Vector3(quad.transform.localPosition.x + quad.transform.localScale.y / 2, quad.transform.localPosition.y + quad.transform.localScale.x / 2, quad.transform.localPosition.z));
tr = cam.WorldToScreenPoint(new Vector3(quad.transform.localPosition.x + quad.transform.localScale.y / 2, quad.transform.localPosition.y - quad.transform.localScale.x / 2, quad.transform.localPosition.z));
br = cam.WorldToScreenPoint(new Vector3(quad.transform.localPosition.x - quad.transform.localScale.y / 2, quad.transform.localPosition.y - quad.transform.localScale.x / 2, quad.transform.localPosition.z));
bl = cam.WorldToScreenPoint(new Vector3(quad.transform.localPosition.x - quad.transform.localScale.y / 2, quad.transform.localPosition.y + quad.transform.localScale.x / 2, quad.transform.localPosition.z));
}
else
{
tl = cam.WorldToScreenPoint(new Vector3(quad.transform.localPosition.x - quad.transform.localScale.x / 2, quad.transform.localPosition.y + quad.transform.localScale.y / 2, quad.transform.localPosition.z));
tr = cam.WorldToScreenPoint(new Vector3(quad.transform.localPosition.x + quad.transform.localScale.x / 2, quad.transform.localPosition.y + quad.transform.localScale.y / 2, quad.transform.localPosition.z));
br = cam.WorldToScreenPoint(new Vector3(quad.transform.localPosition.x + quad.transform.localScale.x / 2, quad.transform.localPosition.y - quad.transform.localScale.y / 2, quad.transform.localPosition.z));
bl = cam.WorldToScreenPoint(new Vector3(quad.transform.localPosition.x - quad.transform.localScale.x / 2, quad.transform.localPosition.y - quad.transform.localScale.y / 2, quad.transform.localPosition.z));
}
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, br.x, br.y, bl.x, bl.y);
dstRectMat.put(0, 0, 0.0, 0.0, quad.transform.localScale.x, 0.0, quad.transform.localScale.x, quad.transform.localScale.y, 0.0, quad.transform.localScale.y);
Mat perspectiveTransform = Imgproc.getPerspectiveTransform(srcRectMat, dstRectMat);
// Debug.Log ("srcRectMat " + srcRectMat.dump ());
// Debug.Log ("dstRectMat " + dstRectMat.dump ());
// Debug.Log ("perspectiveTransform " + perspectiveTransform.dump ());
MatOfPoint2f srcPointMat = new MatOfPoint2f(screenPoint);
MatOfPoint2f dstPointMat = new MatOfPoint2f();
Core.perspectiveTransform(srcPointMat, dstPointMat, perspectiveTransform);
// Debug.Log ("srcPointMat " + srcPointMat.dump ());
// Debug.Log ("dstPointMat " + dstPointMat.dump ());
return(dstPointMat.toArray() [0]);
}
Point convertScreenPoint(Point screenPoint, GameObject quad, Camera cam)
{
Vector2 tl;
Vector2 tr;
Vector2 br;
Vector2 bl;
tl = cam.WorldToScreenPoint(
new Vector3(quad.transform.localPosition.x - quad.transform.localScale.x / 2,
quad.transform.localPosition.y + quad.transform.localScale.y / 2,
quad.transform.localPosition.z));
tr = cam.WorldToScreenPoint(
new Vector3(quad.transform.localPosition.x + quad.transform.localScale.x / 2,
quad.transform.localPosition.y + quad.transform.localScale.y / 2,
quad.transform.localPosition.z));
br = cam.WorldToScreenPoint(
new Vector3(quad.transform.localPosition.x + quad.transform.localScale.x / 2,
quad.transform.localPosition.y - quad.transform.localScale.y / 2,
quad.transform.localPosition.z));
bl = cam.WorldToScreenPoint(
new Vector3(quad.transform.localPosition.x - quad.transform.localScale.x / 2,
quad.transform.localPosition.y - quad.transform.localScale.y / 2,
quad.transform.localPosition.z));
Mat srcRectMat = new Mat(4, 1, CvType.CV_32FC2);
Mat dstRectMat = new Mat(4, 1, CvType.CV_32FC2);
srcRectMat.put(0, 0, 0, cameraTexture.height, cameraTexture.width,
cameraTexture.height, cameraTexture.width, 0, 0, 0);
dstRectMat.put(0, 0, 0.0, 0.0, cameraTexture.width,
0.0, cameraTexture.width, cameraTexture.height,
0.0, cameraTexture.height);
Mat perspectiveTransform = Imgproc.getPerspectiveTransform(srcRectMat, dstRectMat);
MatOfPoint2f srcPointMat = new MatOfPoint2f(screenPoint);
MatOfPoint2f dstPointMat = new MatOfPoint2f();
Core.perspectiveTransform(srcPointMat, dstPointMat, perspectiveTransform);
return(dstPointMat.toArray()[0]);
}
//タップ座標を取得
private static Point _convertScreenPoint(Mat rgbaMat, Point screenPoint)
{
//台形補正を行いタップされた位置の座標を正確に取得する
Vector2 tl = Camera.main.WorldToScreenPoint(new Vector3(-rgbaMat.width() / 2, rgbaMat.height() / 2));
Vector2 tr = Camera.main.WorldToScreenPoint(new Vector3(rgbaMat.width() / 2, rgbaMat.height() / 2));
Vector2 br = Camera.main.WorldToScreenPoint(new Vector3(rgbaMat.width() / 2, -rgbaMat.height() / 2));
Vector2 bl = Camera.main.WorldToScreenPoint(new Vector3(-rgbaMat.width() / 2, -rgbaMat.height() / 2));
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, br.x, br.y, bl.x, bl.y);
dstRectMat.put(0, 0, 0.0, 0.0, rgbaMat.width(), 0.0, rgbaMat.width(), rgbaMat.height(), 0.0, rgbaMat.height());
Mat perspectiveTransform = Imgproc.getPerspectiveTransform(srcRectMat, dstRectMat);
MatOfPoint2f srcPointMat = new MatOfPoint2f(screenPoint);
MatOfPoint2f dstPointMat = new MatOfPoint2f();
Core.perspectiveTransform(srcPointMat, dstPointMat, perspectiveTransform);
return(dstPointMat.toArray()[0]);
}
// Update is called once per frame
void Update()
{
Resources.UnloadUnusedAssets(); //Fixes the memory leak
//Get new picture from camera
imgTexture = new Texture2D(webcamTexture.width, webcamTexture.height);
imgTexture.SetPixels(webcamTexture.GetPixels());
imgTexture.Apply();
Mat imgMat = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC3);
Utils.texture2DToMat(imgTexture, imgMat);
Mat maskMat = new Mat();
Mat maskMatOP = new Mat();
Mat grayMat = new Mat();
Imgproc.dilate(imgMat, imgMat, Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(1, 1)));
//Grayscale the picture
Imgproc.cvtColor(imgMat, grayMat, Imgproc.COLOR_RGB2GRAY);
//Blur the picture
Imgproc.GaussianBlur(grayMat, grayMat, new Size(3, 3), 1);
Imgproc.equalizeHist(grayMat, grayMat);
//Find Edges
Mat edgesOfPicture = new Mat();
Imgproc.Canny(grayMat, edgesOfPicture, 75, 225);
List <MatOfPoint> contours = new List <MatOfPoint>();
Mat hierarchy = new Mat();
Imgproc.findContours(edgesOfPicture, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
MatOfPoint2f matOfPoint2f = new MatOfPoint2f();
MatOfPoint2f approxCurve = new MatOfPoint2f();
List <Rect> rectPre = new List <Rect>();
List <Rect> rectAfter = new List <Rect>();
try
{
List <MatOfPoint2f> kvadrater = new List <MatOfPoint2f>();
for (int idx = 0; idx >= 0; idx = (int)hierarchy.get(0, idx)[0])
{
MatOfPoint contour = contours[idx];
Rect rect = Imgproc.boundingRect(contour);
double contourArea = Imgproc.contourArea(contour);
matOfPoint2f.fromList(contour.toList());
Imgproc.approxPolyDP(matOfPoint2f, approxCurve, Imgproc.arcLength(matOfPoint2f, true) * 0.02, true);
long total = approxCurve.total();
if (total > 0)
{
kvadrater.Add(approxCurve);
ArrayList cos = new ArrayList();
Point[] points = approxCurve.toArray();
for (int j = 2; j < total + 1; j++)
{
cos.Add(angle(points[(int)(j % total)], points[j - 2], points[j - 1]));
}
cos.Sort();
Double minCos = (Double)cos[0];
Double maxCos = (Double)cos[cos.Count - 1];
bool isRect = total == 4 && minCos >= -0.1 && maxCos <= 0.3;
//List<double[]> Colors = new List<double[]>();
if (isRect)
{
if (rect.width > 20)
{
rectPre.Add(rect);
}
List <Color> Colors = new List <Color>();
List <double[]> colorDoubles = new List <double[]>();
for (int op = 0; op < 9; op++)
{
if (rectPre.Count == 9)
{
// print("Pre verify: " + rectPre.ToString());
//rectPre = CoordinateVerifier.Verify(rectPre); Använd inte LINQ !! ! ! ! !
// print("After verify: " + rectPre.ToString());
var punkt = imgTexture.GetPixel(rect.x + (rect.width / 2), rect.y + (rect.height / 2));
Imgproc.putText(imgMat, op.ToString(), new Point(rectPre[op].x + 20, rectPre[op].y + 30), Core.FONT_HERSHEY_DUPLEX, 3, new Scalar(200));
Rgb rgb = new Rgb(punkt.r, punkt.g, punkt.b);
// print("rect[" + op + "] was found at" + rect.x.ToString() + "and y: " + rect.y.ToString());
var hsv = rgb.To <Hsv>();
String farg = "Ingen farg";
if (hsv.H >= 45 && hsv.H <= 70)
{
farg = "Gul";
}
if (hsv.H >= 10 && hsv.H <= 45)
{
farg = "Orange";
}
// print(farg);
Colors.Clear();
for (int q = 0; q < rectPre.Count; q++)
{
Color[] blockOfColour = imgTexture.GetPixels(rectPre[q].x + (rectPre[q].width / 2), rectPre[q].y + (rectPre[q].height / 2), rectPre[q].width / 3, rectPre[q].height / 3, 0);
float r = 0, g = 0, b = 0;
foreach (Color pixelBlock in blockOfColour)
{
r += pixelBlock.r;
g += pixelBlock.g;
b += pixelBlock.b;
}
r = r / blockOfColour.Length;
g = g / blockOfColour.Length;
b = b / blockOfColour.Length;
var eColor = _colorDetection.ColorEnumFromScalarColor(new double[] { r * 255, g * 255, b * 255 });
var color = ColorDetection.UnityColorFromEnum(eColor);
Colors.Add(color);
}
if (Colors.Count == 9)
{
ColorTracker.Instance.addToTemp(Colors);
foreach (Color c in Colors)
{
// print(c.ToString());
}
}
}
}
Imgproc.drawContours(imgMat, contours, idx, new Scalar(255, 100, 155), 4);
}
}
}
}
catch (ArgumentOutOfRangeException e)
{
}
Texture2D texture = new Texture2D(imgMat.cols(), imgMat.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(imgMat, texture);
gameObject.GetComponent <Renderer>().material.mainTexture = texture;
}
//public RawImage document;
void Update()
{
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
{
Mat mainMat = webCamTextureToMatHelper.GetMat();
if (!selectTarget) //find paper by contours
{
grayMat = new Mat();
// convert texture to matrix
mainMat.copyTo(grayMat);
mainMat = findPaper(mainMat);
// display matrix on the screen
Utils.fastMatToTexture2D(mainMat, texture);
}
else
{ // using optical flow
// set the currentGrayMat mat
currentGrayMat = new Mat(mainMat.rows(), mainMat.cols(), Imgproc.COLOR_RGB2GRAY);
Imgproc.cvtColor(mainMat, currentGrayMat, Imgproc.COLOR_RGBA2GRAY);
if (initOpticalFlow == true) // doing the init setting for optical flow
{
// create 40 points
Point[] points = new Point[40];
// set those points near the corner
// paperCornerMatOfPoint is the corner of the paper
for (int i = 0; i < 4; i++)
{
points[i * 10] = new Point(paperCornerMatOfPoint.toList()[i].x, paperCornerMatOfPoint.toList()[i].y);
points[i * 10 + 1] = new Point(paperCornerMatOfPoint.toList()[i].x + 1, paperCornerMatOfPoint.toList()[i].y);
points[i * 10 + 2] = new Point(paperCornerMatOfPoint.toList()[i].x, paperCornerMatOfPoint.toList()[i].y + 1);
points[i * 10 + 3] = new Point(paperCornerMatOfPoint.toList()[i].x + 1, paperCornerMatOfPoint.toList()[i].y + 1);
points[i * 10 + 4] = new Point(paperCornerMatOfPoint.toList()[i].x, paperCornerMatOfPoint.toList()[i].y - 1);
points[i * 10 + 5] = new Point(paperCornerMatOfPoint.toList()[i].x - 1, paperCornerMatOfPoint.toList()[i].y);
points[i * 10 + 6] = new Point(paperCornerMatOfPoint.toList()[i].x - 2, paperCornerMatOfPoint.toList()[i].y - 1);
points[i * 10 + 7] = new Point(paperCornerMatOfPoint.toList()[i].x, paperCornerMatOfPoint.toList()[i].y - 2);
points[i * 10 + 8] = new Point(paperCornerMatOfPoint.toList()[i].x - 2, paperCornerMatOfPoint.toList()[i].y - 2);
points[i * 10 + 9] = new Point(paperCornerMatOfPoint.toList()[i].x + 2, paperCornerMatOfPoint.toList()[i].y + 2);
}
// make the points closer to the corners (Harris Corner Detection )
//Imgproc.goodFeaturesToTrack(currentGrayMat, corners, 40, qualityLevel, minDistance, none, blockSize, false, 0.04);
//Imgproc.goodFeaturesToTrack(currentGrayMat, corners, 40,0.05,20);
corners.fromArray(points);
prevFeatures.fromList(corners.toList());
currentFeatures.fromList(corners.toList());
prevGrayMat = currentGrayMat.clone();
// won't go back t again
initOpticalFlow = false;
// not that useful lol
// create random color
// not working now
for (int i = 0; i < maxCorners; i++)
{
color.Add(new Scalar((int)(Random.value * 255), (int)(Random.value * 255),
(int)(Random.value * 255), 255));
}
}
else
{
// Don't want ball move
//currentFeatures.fromArray(prevFeatures.toArray());
// want ball move
prevFeatures.fromArray(currentFeatures.toArray());
// optical flow it will changes the valu of currentFeatures
Video.calcOpticalFlowPyrLK(prevGrayMat, currentGrayMat, prevFeatures, currentFeatures, mMOBStatus, err);
//Debug.Log(st.rows());
// change to points list
List <Point> prevList = prevFeatures.toList(),
nextList = currentFeatures.toList();
List <byte> byteStatus = mMOBStatus.toList();
int x = 0;
int y = byteStatus.Count - 1;
for (x = 0; x < y; x++)
{
if (byteStatus[x] == 1)
{
Point pt = nextList[x];
Point pt2 = prevList[x];
Imgproc.circle(mainMat, pt, 10, new Scalar(0, 0, 255), -1);
Imgproc.line(mainMat, pt, pt2, new Scalar(0, 0, 255));
}
}
// draw the data
//for (int i = 0; i < prevList.Count; i++)
//{
// //Imgproc.circle(frame, prevList[i], 5, color[10]);
// Imgproc.circle(mainMat, nextList[i], 10, new Scalar(0, 0, 255), -1);
// Imgproc.line(mainMat, prevList[i], nextList[i], color[20]);
//}
List <List <Point> > cornersFeatures = new List <List <Point> >(40);
cornersFeatures.Add(new List <Point>(10));
// put the corners features data into the list
int tmp = 0;
bool last = true;
for (int i = 0; i < nextList.Count - 1; i++)
{
if (Mathf.Abs((float)(nextList[i].x - nextList[i + 1].x)) < 10 && Mathf.Abs((float)(nextList[i].y - nextList[i + 1].y)) < 10)
{
if (last == true)
{
cornersFeatures[tmp].Add(nextList[i]);
}
else
{
cornersFeatures.Add(new List <Point>(10));
tmp = tmp + 1;
cornersFeatures[tmp].Add(nextList[i]);
}
last = true;
}
else
{
last = false;
}
}
// count corners
int manyCornersFeatures = 0;
for (int i = 0; i < cornersFeatures.Count; i++)
{
Debug.Log(cornersFeatures[i].Count);
if (cornersFeatures[i].Count < 5)
{
cornersFeatures.RemoveAt(i);
}
else
{
manyCornersFeatures++;
}
}
//Debug.Log("Length" + manyCornersFeatures);
// if corners equal 4 then diplay virtual docunment into the frame
// doing the perspective transform
if (manyCornersFeatures == 4)
{
Mat documentMat = new Mat(document.height, document.width, CvType.CV_8UC3);
Utils.texture2DToMat(document, documentMat);
List <Point> srcPoints = new List <Point>();
srcPoints.Add(new Point(0, 0));
srcPoints.Add(new Point(documentMat.cols(), 0));
srcPoints.Add(new Point(documentMat.cols(), documentMat.rows()));
srcPoints.Add(new Point(0, documentMat.rows()));
Mat srcPointsMat = Converters.vector_Point_to_Mat(srcPoints, CvType.CV_32F);
List <Point> dstPoints = new List <Point>()
{
cornersFeatures[0][0], cornersFeatures[1][0], cornersFeatures[2][0], cornersFeatures[3][0]
};
Mat dstPointsMat = Converters.vector_Point_to_Mat(dstPoints, CvType.CV_32F);
//Make perspective transform
Mat m = Imgproc.getPerspectiveTransform(srcPointsMat, dstPointsMat);
Mat warpedMat = new Mat(new Size(), documentMat.type());
Debug.Log((cornersFeatures[1][0].x - cornersFeatures[0][0].x) + " " + (cornersFeatures[2][0].y - cornersFeatures[1][0].y));
Imgproc.warpPerspective(documentMat, warpedMat, m, mainMat.size(), Imgproc.INTER_LINEAR);
//warpedMat.convertTo(warpedMat, CvType.CV_32F);
//warpedMat.convertTo(warpedMat, CvType.CV_8UC3);
warpedMat.convertTo(warpedMat, CvType.CV_8UC3);
// same size as frame
Mat dst = new Mat(mainMat.size(), CvType.CV_8UC3);
//Mat dst = new Mat(frame.size(), CvType.CV_8UC3);
//Mat dst2 = new Mat();
Imgproc.cvtColor(mainMat, dst, Imgproc.COLOR_RGBA2RGB);
//dst.setTo(new Scalar(0, 255, 0));
//currentGrayMat.copyTo(dst);
//dst.convertTo(dst, CvType.CV_8UC3);
//Imgproc.cvtColor(currentGrayMat, frame, Imgproc.COLOR_GRAY2RGBA);
Mat img1 = new Mat();
Mat mask = new Mat(mainMat.size(), CvType.CV_8UC1, new Scalar(0));
Imgproc.cvtColor(warpedMat, img1, Imgproc.COLOR_RGB2GRAY);
Imgproc.Canny(img1, img1, 100, 200);
List <MatOfPoint> doc_contours = new List <MatOfPoint>();;
Imgproc.findContours(img1, doc_contours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_NONE);
Imgproc.drawContours(mask, doc_contours, -1, new Scalar(255), Core.FILLED);
warpedMat.copyTo(dst, mask);
dst.convertTo(dst, CvType.CV_8UC3);
Debug.Log("dst" + dst.size());
Imgproc.cvtColor(dst, mainMat, Imgproc.COLOR_RGB2RGBA);
// display on the right
Texture2D finalTextue = new Texture2D(dst.width(), dst.height(), TextureFormat.RGB24, false);
Utils.matToTexture2D(dst, finalTextue);
targetRawImage.texture = finalTextue;
}
// current frame to old frame
prevGrayMat = currentGrayMat.clone();
//Imgproc.cvtColor(currentGrayMat, frame, Imgproc.COLOR_GRAY2RGBA);
// display matrix on the screen
Utils.fastMatToTexture2D(mainMat, texture);
}
}
}
}
private IEnumerator init()
{
if (webCamTexture != null) {
webCamTexture.Stop ();
initDone = false;
rgbaMat.Dispose ();
hsvMat.Dispose ();
if (roiHistMat != null)
roiHistMat.Dispose ();
roiPointList.Clear ();
}
// Checks how many and which cameras are available on the device
for (int cameraIndex = 0; cameraIndex < WebCamTexture.devices.Length; cameraIndex++) {
if (WebCamTexture.devices [cameraIndex].isFrontFacing == isFrontFacing) {
Debug.Log (cameraIndex + " name " + WebCamTexture.devices [cameraIndex].name + " isFrontFacing " + WebCamTexture.devices [cameraIndex].isFrontFacing);
webCamDevice = WebCamTexture.devices [cameraIndex];
webCamTexture = new WebCamTexture (webCamDevice.name, width, height);
break;
}
}
if (webCamTexture == null) {
webCamDevice = WebCamTexture.devices [0];
webCamTexture = new WebCamTexture (webCamDevice.name, width, height);
}
Debug.Log ("width " + webCamTexture.width + " height " + webCamTexture.height + " fps " + webCamTexture.requestedFPS);
// Starts the camera
webCamTexture.Play ();
while (true) {
//If you want to use webcamTexture.width and webcamTexture.height on iOS, you have to wait until webcamTexture.didUpdateThisFrame == 1, otherwise these two values will be equal to 16. (http://forum.unity3d.com/threads/webcamtexture-and-error-0x0502.123922/)
#if UNITY_IOS && !UNITY_EDITOR && (UNITY_4_6_3 || UNITY_4_6_4 || UNITY_5_0_0 || UNITY_5_0_1)
if (webCamTexture.width > 16 && webCamTexture.height > 16) {
#else
if (webCamTexture.didUpdateThisFrame) {
#endif
Debug.Log ("width " + webCamTexture.width + " height " + webCamTexture.height + " fps " + webCamTexture.requestedFPS);
Debug.Log ("videoRotationAngle " + webCamTexture.videoRotationAngle + " videoVerticallyMirrored " + webCamTexture.videoVerticallyMirrored + " isFrongFacing " + webCamDevice.isFrontFacing);
colors = new Color32[webCamTexture.width * webCamTexture.height];
rgbaMat = new Mat (webCamTexture.height, webCamTexture.width, CvType.CV_8UC4);
hsvMat = new Mat (webCamTexture.height, webCamTexture.width, CvType.CV_8UC3);
texture = new Texture2D (webCamTexture.width, webCamTexture.height, TextureFormat.RGBA32, false);
gameObject.transform.eulerAngles = new Vector3 (0, 0, 0);
#if (UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR
gameObject.transform.eulerAngles = new Vector3 (0, 0, -90);
#endif
// gameObject.transform.rotation = gameObject.transform.rotation * Quaternion.AngleAxis (webCamTexture.videoRotationAngle, Vector3.back);
gameObject.transform.localScale = new Vector3 (webCamTexture.width, webCamTexture.height, 1);
// bool videoVerticallyMirrored = webCamTexture.videoVerticallyMirrored;
// float scaleX = 1;
// float scaleY = videoVerticallyMirrored ? -1.0f : 1.0f;
// if (webCamTexture.videoRotationAngle == 270)
// scaleY = -1.0f;
// gameObject.transform.localScale = new Vector3 (scaleX * gameObject.transform.localScale.x, scaleY * gameObject.transform.localScale.y, 1);
gameObject.GetComponent<Renderer> ().material.mainTexture = texture;
#if (UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR
Camera.main.orthographicSize = (((float)Screen.height/(float)Screen.width) * (float)webCamTexture.height) / 2.0f;
#else
Camera.main.orthographicSize = webCamTexture.height / 2;
#endif
initDone = true;
break;
} else {
yield return 0;
}
}
}
// Update is called once per frame
void Update ()
{
if (!initDone)
return;
#if UNITY_IOS && !UNITY_EDITOR && (UNITY_4_6_3 || UNITY_4_6_4 || UNITY_5_0_0 || UNITY_5_0_1)
if (webCamTexture.width > 16 && webCamTexture.height > 16) {
#else
if (webCamTexture.didUpdateThisFrame) {
#endif
Utils.webCamTextureToMat (webCamTexture, rgbaMat, colors);
if (webCamTexture.videoVerticallyMirrored) {
if (webCamDevice.isFrontFacing) {
if (webCamTexture.videoRotationAngle == 0) {
Core.flip (rgbaMat, rgbaMat, 1);
} else if (webCamTexture.videoRotationAngle == 90) {
Core.flip (rgbaMat, rgbaMat, 0);
} else if (webCamTexture.videoRotationAngle == 270) {
Core.flip (rgbaMat, rgbaMat, 1);
}
} else {
if (webCamTexture.videoRotationAngle == 90) {
} else if (webCamTexture.videoRotationAngle == 270) {
Core.flip (rgbaMat, rgbaMat, -1);
}
}
} else {
if (webCamDevice.isFrontFacing) {
if (webCamTexture.videoRotationAngle == 0) {
Core.flip (rgbaMat, rgbaMat, 1);
} else if (webCamTexture.videoRotationAngle == 90) {
Core.flip (rgbaMat, rgbaMat, 0);
} else if (webCamTexture.videoRotationAngle == 270) {
Core.flip (rgbaMat, rgbaMat, 1);
}
} else {
if (webCamTexture.videoRotationAngle == 90) {
} else if (webCamTexture.videoRotationAngle == 270) {
Core.flip (rgbaMat, rgbaMat, -1);
}
}
}
Imgproc.cvtColor (rgbaMat, hsvMat, Imgproc.COLOR_RGBA2RGB);
Imgproc.cvtColor (hsvMat, hsvMat, Imgproc.COLOR_RGB2HSV);
Point[] points = roiPointList.ToArray ();
if (roiPointList.Count == 4) {
using (Mat backProj = new Mat ()) {
Imgproc.calcBackProject (new List<Mat> (new Mat[]{hsvMat}), new MatOfInt (0), roiHistMat, backProj, new MatOfFloat (0, 180), 1.0);
RotatedRect r = Video.CamShift (backProj, roiRect, termination);
r.points (points);
}
#if ((UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR)
//Touch
int touchCount = Input.touchCount;
if (touchCount == 1)
{
if(Input.GetTouch(0).phase == TouchPhase.Ended){
roiPointList.Clear ();
}
}
#else
if (Input.GetMouseButtonUp (0)) {
roiPointList.Clear ();
}
#endif
}
if (roiPointList.Count < 4) {
#if ((UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR)
//Touch
int touchCount = Input.touchCount;
if (touchCount == 1)
{
Touch t = Input.GetTouch(0);
if(t.phase == TouchPhase.Ended){
roiPointList.Add (convertScreenPoint (new Point (t.position.x, t.position.y), gameObject, Camera.main));
// Debug.Log ("touch X " + t.position.x);
// Debug.Log ("touch Y " + t.position.y);
if (!(new OpenCVForUnity.Rect (0, 0, hsvMat.width (), hsvMat.height ()).contains (roiPointList [roiPointList.Count - 1]))) {
roiPointList.RemoveAt (roiPointList.Count - 1);
}
}
}
#else
//Mouse
if (Input.GetMouseButtonUp (0)) {
roiPointList.Add (convertScreenPoint (new Point (Input.mousePosition.x, Input.mousePosition.y), gameObject, Camera.main));
// Debug.Log ("mouse X " + Input.mousePosition.x);
// Debug.Log ("mouse Y " + Input.mousePosition.y);
if (!(new OpenCVForUnity.Rect (0, 0, hsvMat.width (), hsvMat.height ()).contains (roiPointList [roiPointList.Count - 1]))) {
roiPointList.RemoveAt (roiPointList.Count - 1);
}
}
#endif
if (roiPointList.Count == 4) {
using (MatOfPoint roiPointMat = new MatOfPoint (roiPointList.ToArray ())) {
roiRect = Imgproc.boundingRect (roiPointMat);
}
if (roiHistMat != null) {
roiHistMat.Dispose ();
roiHistMat = null;
}
roiHistMat = new Mat ();
using (Mat roiHSVMat = new Mat(hsvMat, roiRect))
using (Mat maskMat = new Mat ()) {
Imgproc.calcHist (new List<Mat> (new Mat[]{roiHSVMat}), new MatOfInt (0), maskMat, roiHistMat, new MatOfInt (16), new MatOfFloat (0, 180));
Core.normalize (roiHistMat, roiHistMat, 0, 255, Core.NORM_MINMAX);
// Debug.Log ("roiHist " + roiHistMat.ToString ());
}
}
}
if (points.Length < 4) {
for (int i = 0; i < points.Length; i++) {
Core.circle (rgbaMat, points [i], 6, new Scalar (0, 0, 255, 255), 2);
}
} else {
for (int i = 0; i < 4; i++) {
Core.line (rgbaMat, points [i], points [(i + 1) % 4], new Scalar (255, 0, 0, 255), 2);
}
Core.rectangle (rgbaMat, roiRect.tl (), roiRect.br (), new Scalar (0, 255, 0, 255), 2);
}
Core.putText (rgbaMat, "PLEASE TOUCH 4 POINTS", new Point (5, 25), Core.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (255, 255, 255, 255), 2, Core.LINE_AA, false);
Utils.matToTexture2D (rgbaMat, texture, colors);
gameObject.GetComponent<Renderer> ().material.mainTexture = texture;
}
}
void OnDisable ()
{
webCamTexture.Stop ();
}
void OnGUI ()
{
float screenScale = Screen.width / 240.0f;
Matrix4x4 scaledMatrix = Matrix4x4.Scale (new Vector3 (screenScale, screenScale, screenScale));
GUI.matrix = scaledMatrix;
GUILayout.BeginVertical ();
if (GUILayout.Button ("back")) {
Application.LoadLevel ("OpenCVForUnitySample");
}
if (GUILayout.Button ("change camera")) {
isFrontFacing = !isFrontFacing;
StartCoroutine (init ());
}
GUILayout.EndVertical ();
}
/// <summary>
/// Converts the screen point.
/// </summary>
/// <returns>The screen point.</returns>
/// <param name="screenPoint">Screen point.</param>
/// <param name="quad">Quad.</param>
/// <param name="cam">Cam.</param>
static Point convertScreenPoint (Point screenPoint, GameObject quad, Camera cam)
{
#if ((UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR)
Vector2 tl = cam.WorldToScreenPoint (new Vector3 (quad.transform.localPosition.x + quad.transform.localScale.y / 2, quad.transform.localPosition.y + quad.transform.localScale.x / 2, quad.transform.localPosition.z));
Vector2 tr = cam.WorldToScreenPoint (new Vector3 (quad.transform.localPosition.x + quad.transform.localScale.y / 2, quad.transform.localPosition.y - quad.transform.localScale.x / 2, quad.transform.localPosition.z));
Vector2 br = cam.WorldToScreenPoint (new Vector3 (quad.transform.localPosition.x - quad.transform.localScale.y / 2, quad.transform.localPosition.y - quad.transform.localScale.x / 2, quad.transform.localPosition.z));
Vector2 bl = cam.WorldToScreenPoint (new Vector3 (quad.transform.localPosition.x - quad.transform.localScale.y / 2, quad.transform.localPosition.y + quad.transform.localScale.x / 2, quad.transform.localPosition.z));
#else
Vector2 tl = cam.WorldToScreenPoint (new Vector3 (quad.transform.localPosition.x - quad.transform.localScale.x / 2, quad.transform.localPosition.y + quad.transform.localScale.y / 2, quad.transform.localPosition.z));
Vector2 tr = cam.WorldToScreenPoint (new Vector3 (quad.transform.localPosition.x + quad.transform.localScale.x / 2, quad.transform.localPosition.y + quad.transform.localScale.y / 2, quad.transform.localPosition.z));
Vector2 br = cam.WorldToScreenPoint (new Vector3 (quad.transform.localPosition.x + quad.transform.localScale.x / 2, quad.transform.localPosition.y - quad.transform.localScale.y / 2, quad.transform.localPosition.z));
Vector2 bl = cam.WorldToScreenPoint (new Vector3 (quad.transform.localPosition.x - quad.transform.localScale.x / 2, quad.transform.localPosition.y - quad.transform.localScale.y / 2, quad.transform.localPosition.z));
#endif
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, br.x, br.y, bl.x, bl.y);
dstRectMat.put (0, 0, 0.0, 0.0, quad.transform.localScale.x, 0.0, quad.transform.localScale.x, quad.transform.localScale.y, 0.0, quad.transform.localScale.y);
Mat perspectiveTransform = Imgproc.getPerspectiveTransform (srcRectMat, dstRectMat);
// Debug.Log ("srcRectMat " + srcRectMat.dump ());
// Debug.Log ("dstRectMat " + dstRectMat.dump ());
// Debug.Log ("perspectiveTransform " + perspectiveTransform.dump ());
MatOfPoint2f srcPointMat = new MatOfPoint2f (screenPoint);
MatOfPoint2f dstPointMat = new MatOfPoint2f ();
Core.perspectiveTransform (srcPointMat, dstPointMat, perspectiveTransform);
// Debug.Log ("srcPointMat " + srcPointMat.dump ());
// Debug.Log ("dstPointMat " + dstPointMat.dump ());
return dstPointMat.toArray () [0];
}
}
/// <summary>
/// Converts the screen point.
/// </summary>
/// <returns>The screen point.</returns>
/// <param name="screenPoint">Screen point.</param>
/// <param name="quad">Quad.</param>
/// <param name="cam">Cam.</param>
static Point convertScreenPoint(Point screenPoint, GameObject quad, Camera cam)
{
Vector2 tl;
Vector2 tr;
Vector2 br;
Vector2 bl;
tl = cam.WorldToScreenPoint (new Vector3 (quad.transform.localPosition.x - quad.transform.localScale.x / 2, quad.transform.localPosition.y + quad.transform.localScale.y / 2, quad.transform.localPosition.z));
tr = cam.WorldToScreenPoint (new Vector3 (quad.transform.localPosition.x + quad.transform.localScale.x / 2, quad.transform.localPosition.y + quad.transform.localScale.y / 2, quad.transform.localPosition.z));
br = cam.WorldToScreenPoint (new Vector3 (quad.transform.localPosition.x + quad.transform.localScale.x / 2, quad.transform.localPosition.y - quad.transform.localScale.y / 2, quad.transform.localPosition.z));
bl = cam.WorldToScreenPoint (new Vector3 (quad.transform.localPosition.x - quad.transform.localScale.x / 2, quad.transform.localPosition.y - quad.transform.localScale.y / 2, quad.transform.localPosition.z));
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, br.x, br.y, bl.x, bl.y);
dstRectMat.put (0, 0, 0.0, 0.0, quad.transform.localScale.x, 0.0, quad.transform.localScale.x, quad.transform.localScale.y, 0.0, quad.transform.localScale.y);
Mat perspectiveTransform = Imgproc.getPerspectiveTransform (srcRectMat, dstRectMat);
// Debug.Log ("srcRectMat " + srcRectMat.dump ());
// Debug.Log ("dstRectMat " + dstRectMat.dump ());
// Debug.Log ("perspectiveTransform " + perspectiveTransform.dump ());
MatOfPoint2f srcPointMat = new MatOfPoint2f (screenPoint);
MatOfPoint2f dstPointMat = new MatOfPoint2f ();
Core.perspectiveTransform (srcPointMat, dstPointMat, perspectiveTransform);
// Debug.Log ("srcPointMat " + srcPointMat.dump ());
// Debug.Log ("dstPointMat " + dstPointMat.dump ());
return dstPointMat.toArray () [0];
}
/// <summary>
/// Hands the pose estimation process.
/// </summary>
public void handPoseEstimationProcess(Mat rgbaMat)
{
//Imgproc.blur(mRgba, mRgba, new Size(5,5));
Imgproc.GaussianBlur(rgbaMat, rgbaMat, new OpenCVForUnity.Size(3, 3), 1, 1);
//Imgproc.medianBlur(mRgba, mRgba, 3);
if (!isColorSelected)
{
return;
}
List <MatOfPoint> contours = detector.getContours();
detector.process(rgbaMat);
//Debug.Log(contours + " | " + contours.Count);
//string[] output = contours.ToArray();
for (int i = 0; i < contours.Count; i++)
{
//Debug.Log("MatOfPoint2f " + new MatOfPoint2f(contours[i].toArray()) + " | " + i);
//Debug.Log("MatOfPoint " + contours [i] + " | " + i);
//Imgproc.circle(rgbaMat, contours[i], 6, new Scalar(0, 255, 0, 255), -1);
//Debug.Log ("kotka" + MatOfPoint.ReferenceEquals(x, y));
}
if (contours.Count <= 0)
{
return;
}
RotatedRect rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[0].toArray()));
double boundWidth = rect.size.width;
double boundHeight = rect.size.height;
int boundPos = 0;
for (int i = 1; i < contours.Count; i++)
{
rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[i].toArray()));
if (rect.size.width * rect.size.height > boundWidth * boundHeight)
{
boundWidth = rect.size.width;
boundHeight = rect.size.height;
boundPos = i;
}
}
OpenCVForUnity.Rect boundRect = Imgproc.boundingRect(new MatOfPoint(contours[boundPos].toArray()));
Imgproc.rectangle(rgbaMat, boundRect.tl(), boundRect.br(), CONTOUR_COLOR_WHITE, 2, 8, 0);
//tochkaX = boundRect.tl ().x;
//tochkaY = boundRect.tl ().y;
Imgproc.circle(rgbaMat, boundRect.tl(), 6, new Scalar(0, 255, 0, 255), -1);
Imgproc.circle(rgbaMat, boundRect.br(), 6, new Scalar(0, 255, 0, 255), -1);
pointbX = boundRect.br().x;
pointbY = boundRect.br().y;
pointaX = boundRect.x;
pointbY = boundRect.y;
double a = boundRect.br().y - boundRect.tl().y;
a = a * 0.7;
a = boundRect.tl().y + a;
Imgproc.rectangle(rgbaMat, boundRect.tl(), new Point(boundRect.br().x, a), CONTOUR_COLOR, 2, 8, 0);
MatOfPoint2f pointMat = new MatOfPoint2f();
Imgproc.approxPolyDP(new MatOfPoint2f(contours[boundPos].toArray()), pointMat, 3, true);
contours[boundPos] = new MatOfPoint(pointMat.toArray());
MatOfInt hull = new MatOfInt();
MatOfInt4 convexDefect = new MatOfInt4();
Imgproc.convexHull(new MatOfPoint(contours[boundPos].toArray()), hull);
if (hull.toArray().Length < 3)
{
return;
}
Imgproc.convexityDefects(new MatOfPoint(contours[boundPos].toArray()), hull, convexDefect);
List <MatOfPoint> hullPoints = new List <MatOfPoint>();
List <Point> listPo = new List <Point>();
for (int j = 0; j < hull.toList().Count; j++)
{
listPo.Add(contours[boundPos].toList()[hull.toList()[j]]);
}
MatOfPoint e = new MatOfPoint();
e.fromList(listPo);
hullPoints.Add(e);
List <MatOfPoint> defectPoints = new List <MatOfPoint>();
List <Point> listPoDefect = new List <Point>();
for (int j = 0; j < convexDefect.toList().Count; j = j + 4)
{
Point farPoint = contours[boundPos].toList()[convexDefect.toList()[j + 2]];
int depth = convexDefect.toList()[j + 3];
if (depth > 8700 && farPoint.y < a)
{
listPoDefect.Add(contours[boundPos].toList()[convexDefect.toList()[j + 2]]);
}
}
MatOfPoint e2 = new MatOfPoint();
e2.fromList(listPo);
defectPoints.Add(e2);
Imgproc.drawContours(rgbaMat, hullPoints, -1, CONTOUR_COLOR, 3);
this.numberOfFingers = listPoDefect.Count;
if (this.numberOfFingers > 5)
{
this.numberOfFingers = 5;
}
foreach (Point p in listPoDefect)
{
Imgproc.circle(rgbaMat, p, 6, new Scalar(255, 0, 255, 255), -1);
}
}
// Update is called once per frame
void Update()
{
Resources.UnloadUnusedAssets(); //Fixes the memory leak
//Get new picture from camera
imgTexture = new Texture2D(webcamTexture.width, webcamTexture.height);
imgTexture.SetPixels(webcamTexture.GetPixels());
imgTexture.Apply();
Mat imgMat = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC3);
Utils.texture2DToMat(imgTexture, imgMat);
Mat processedMat = new Mat();
Imgproc.dilate(imgMat, imgMat, Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(1, 1)));
//Grayscale the picture
Imgproc.cvtColor(imgMat, processedMat, Imgproc.COLOR_RGB2GRAY);
//Blur the picture
Imgproc.GaussianBlur(processedMat, processedMat, new Size(3, 3), 1);
Imgproc.equalizeHist(processedMat, processedMat);
//Find Edges
Mat edgesOfPicture = new Mat();
Imgproc.Canny(processedMat, edgesOfPicture, 75, 225);
List <MatOfPoint> contours = new List <MatOfPoint>();
Mat hierarchy = new Mat();
Imgproc.findContours(edgesOfPicture, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
MatOfPoint2f matOfPoint2f = new MatOfPoint2f();
MatOfPoint2f approxCurve = new MatOfPoint2f();
List <Rect> rects = new List <Rect>();
try
{
for (int idx = 0; idx >= 0; idx = (int)hierarchy.get(0, idx)[0])
{
MatOfPoint contour = contours[idx];
Rect rect = Imgproc.boundingRect(contour);
double contourArea = Imgproc.contourArea(contour);
matOfPoint2f.fromList(contour.toList());
Imgproc.approxPolyDP(matOfPoint2f, approxCurve, Imgproc.arcLength(matOfPoint2f, true) * 0.02, true);
long total = approxCurve.total();
if (total == 4)
{
ArrayList cos = new ArrayList();
Point[] points = approxCurve.toArray();
for (int j = 2; j < total + 1; j++)
{
cos.Add(angle(points[(int)(j % total)], points[j - 2], points[j - 1]));
}
cos.Sort();
Double minCos = (Double)cos[0];
Double maxCos = (Double)cos[cos.Count - 1];
bool isRect = total == 4 && minCos >= -0.1 && maxCos <= 0.3;
if (isRect)
{
if (rect.width > 20)
{
rects.Add(rect);
}
List <double[]> Colors = new List <double[]>();
for (int op = 0; op < 10; op++)
{
if (rects.Count == 9)
{
allCubiesScaned = true;
Color[] blockOfColour = imgTexture.GetPixels(rect.x + rect.width / 2, rect.y + rect.height, rect.width / 3, rect.height / 3, 0);
float r = 0, g = 0, b = 0;
foreach (Color pixelBlock in blockOfColour)
{
r += pixelBlock.r;
g += pixelBlock.g;
b += pixelBlock.b;
}
r = r / blockOfColour.Length;
g = g / blockOfColour.Length;
b = b / blockOfColour.Length;
Rgb rgb = new Rgb(r, g, b);
Colors.Add(new double[] { rgb.R * 255, rgb.G * 255, rgb.B * 255 });
print(Colors.Count);
if (Colors.Count == 9)
{
ColorMap.Colors = Colors;
ColorMap.Redraw();
}
}
}
Imgproc.drawContours(imgMat, contours, idx, new Scalar(255, 100, 155), 4);
}
}
}
}
catch (ArgumentOutOfRangeException e)
{
}
Texture2D texture = new Texture2D(imgMat.cols(), imgMat.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(imgMat, texture);
gameObject.GetComponent <Renderer>().material.mainTexture = texture;
}
void FormatImageSquare()
{
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);
//Blur
Imgproc.GaussianBlur(grayMat, grayMat, new Size(25, 25), 0);
//contrast
Imgproc.threshold(grayMat, grayMat, 0, 255, Imgproc.THRESH_OTSU);
//extract edge
Imgproc.Canny(grayMat, grayMat, 50, 50);
//prepare for the finding contours
List <MatOfPoint> contours = new List <MatOfPoint>();
//find the contour from canny edge image
Imgproc.findContours(grayMat, contours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
List <MatOfPoint> tempTargets = new List <MatOfPoint>();
for (int i = 0; i < contours.Count; i++)
{
MatOfPoint cp = contours[i];
MatOfPoint2f cn = new MatOfPoint2f(cp.toArray());
double p = Imgproc.arcLength(cn, true);
MatOfPoint2f approx = new MatOfPoint2f();
//convret to polygon
Imgproc.approxPolyDP(cn, approx, 0.03 * p, true);
//find a contour with four points and large area
int minContourArea = 10000;
if (approx.toArray().Length == 4 && Imgproc.contourArea(approx) > minContourArea)
{
MatOfPoint approxPt = new MatOfPoint();
approx.convertTo(approxPt, CvType.CV_32S);
float maxCosine = 0;
for (int j = 2; j < 5; j++)
{
Vector2 v1 = new Vector2((float)(approx.toArray()[j % 4].x - approx.toArray()[j - 1].x), (float)(approx.toArray()[j % 4].y - approx.toArray()[j - 1].y));
Vector2 v2 = new Vector2((float)(approx.toArray()[j - 2].x - approx.toArray()[j - 1].x), (float)(approx.toArray()[j - 2].y - approx.toArray()[j - 1].y));
float angle = Mathf.Abs(Vector2.Angle(v1, v2));
maxCosine = Mathf.Max(maxCosine, angle);
}
if (maxCosine < 135f)
{
tempTargets.Add(approxPt);
}
}
}
if (tempTargets.Count > 0)
{
//Get the first contour
MatOfPoint approxPt = tempTargets[0];
//Making Source Mat
Mat srcPointMat = Converters.vector_Point_to_Mat(approxPt.toList(), CvType.CV_32F);
//Making Destination Mat
/*change these values*/
List <Point> dstPoints = new List <Point>();
dstPoints.Add(new Point(512, 0));
dstPoints.Add(new Point(0, 0));
dstPoints.Add(new Point(0, 512));
dstPoints.Add(new Point(512, 512));
Mat dstPointMat = Converters.vector_Point_to_Mat(dstPoints, CvType.CV_32F);
//Make Perp transform
Mat M = Imgproc.getPerspectiveTransform(srcPointMat, dstPointMat);
Mat warpedMat = new Mat(mainMat.size(), mainMat.type());
//Crop and warp the image
Imgproc.warpPerspective(mainMat, warpedMat, M, new Size(512, 512), Imgproc.INTER_LINEAR);
warpedMat.convertTo(warpedMat, CvType.CV_8UC3);
//Convert color to gray
Imgproc.cvtColor(warpedMat, warpedMat, Imgproc.COLOR_BGR2GRAY);
////Blur
//Imgproc.GaussianBlur(warpedMat, warpedMat, new Size(25, 25), 0);
//contrast
Imgproc.threshold(warpedMat, warpedMat, 0, 255, Imgproc.THRESH_OTSU);
//resize
Imgproc.resize(warpedMat, warpedMat, new Size(28, 28));
//Create an empty final texture
finalTexture = new Texture2D(warpedMat.width(), warpedMat.height(), TextureFormat.RGB24, false);
//Convert material to texture2d
Utils.matToTexture2D(warpedMat, finalTexture);
targetRawImage.texture = finalTexture;
}
}
private void HandPoseEstimationProcess(Mat rgbaMat)
{
// rgbaMat.copyTo(mRgba);
float DOWNSCALE_RATIO = 1.0f;
if (enableDownScale)
{
mRgba = imageOptimizationHelper.GetDownScaleMat(rgbaMat);
DOWNSCALE_RATIO = imageOptimizationHelper.downscaleRatio;
}
else
{
// mRgba = rgbaMat;
rgbaMat.copyTo(mRgba);
DOWNSCALE_RATIO = 1.0f;
}
// Imgproc.blur(mRgba, mRgba, new Size(5,5));
Imgproc.GaussianBlur(mRgba, mRgba, new Size(3, 3), 1, 1);
// Imgproc.medianBlur(mRgba, mRgba, 3);
if (!isColorSelected)
{
return;
}
List <MatOfPoint> contours = detector.GetContours();
detector.Process(mRgba);
// Debug.Log ("Contours count: " + contours.Count);
if (contours.Count <= 0)
{
return;
}
RotatedRect rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[0].toArray()));
double boundWidth = rect.size.width;
double boundHeight = rect.size.height;
int boundPos = 0;
for (int i = 1; i < contours.Count; i++)
{
rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[i].toArray()));
if (rect.size.width * rect.size.height > boundWidth * boundHeight)
{
boundWidth = rect.size.width;
boundHeight = rect.size.height;
boundPos = i;
}
}
MatOfPoint contour = contours[boundPos];
OpenCVForUnity.CoreModule.Rect boundRect = Imgproc.boundingRect(new MatOfPoint(contour.toArray()));
Imgproc.rectangle(mRgba, boundRect.tl(), boundRect.br(), CONTOUR_COLOR_WHITE, 2, 8, 0);
// Debug.Log (
// " Row start [" +
// (int)boundRect.tl ().y + "] row end [" +
// (int)boundRect.br ().y + "] Col start [" +
// (int)boundRect.tl ().x + "] Col end [" +
// (int)boundRect.br ().x + "]");
double a = boundRect.br().y - boundRect.tl().y;
a = a * 0.7;
a = boundRect.tl().y + a;
// Debug.Log (" A [" + a + "] br y - tl y = [" + (boundRect.br ().y - boundRect.tl ().y) + "]");
// Imgproc.rectangle(mRgba, boundRect.tl(), new Point(boundRect.br().x, a), CONTOUR_COLOR, 2, 8, 0);
MatOfPoint2f pointMat = new MatOfPoint2f();
Imgproc.approxPolyDP(new MatOfPoint2f(contour.toArray()), pointMat, 3, true);
contour = new MatOfPoint(pointMat.toArray());
MatOfInt hull = new MatOfInt();
MatOfInt4 convexDefect = new MatOfInt4();
Imgproc.convexHull(new MatOfPoint(contour.toArray()), hull);
if (hull.toArray().Length < 3)
{
return;
}
Imgproc.convexityDefects(new MatOfPoint(contour.toArray()), hull, convexDefect);
List <MatOfPoint> hullPoints = new List <MatOfPoint>();
List <Point> listPo = new List <Point>();
for (int j = 0; j < hull.toList().Count; j++)
{
listPo.Add(contour.toList()[hull.toList()[j]] * DOWNSCALE_RATIO);
}
/*
* MatOfPoint e = new MatOfPoint();
* e.fromList(listPo);
* hullPoints.Add(e);
*
* List<Point> listPoDefect = new List<Point>();
*
* if (convexDefect.rows() > 0)
* {
* List<int> convexDefectList = convexDefect.toList();
* List<Point> contourList = contour.toList();
* for (int j = 0; j < convexDefectList.Count; j = j + 4)
* {
* Point farPoint = contourList[convexDefectList[j + 2]];
* int depth = convexDefectList[j + 3];
* if (depth > threshholdDetect && farPoint.y < a)
* {
* listPoDefect.Add(contourList[convexDefectList[j + 2]]);
* Imgproc.line(rgbaMat, farPoint, listPo[convexDefectList[j + 2]], new Scalar(255, 0, 0, 255),1,1);
* }
* // Debug.Log ("convexDefectList [" + j + "] " + convexDefectList [j + 3]);
* }
* }*/
// Debug.Log ("hull: " + hull.toList ());
// if (convexDefect.rows () > 0) {
// Debug.Log ("defects: " + convexDefect.toList ());
// }
//Imgproc.drawContours (rgbaMat, hullPoints, -1, CONTOUR_COLOR, 3);
for (int p = 0; p < listPo.Count; p++)
{
if (p % 2 == 0)
{
Imgproc.circle(rgbaMat, listPo[p], 6, new Scalar(255, 0, 0, 255), -1);
// Imgproc.putText(rgbaMat,p.ToString(),listPo[p],1,1,new Scalar(255,0,0,255));
// check if close
List <Point> fLMscaled = OpenCVForUnityUtils.ConvertVector2ListToPointList(facePoints);
for (int q = 0; q < fLMscaled.Count; q++)
{
if (ifLessThanDPoint(listPo[p], fLMscaled[q], 8))
{
//Point1 = listPo[p];
//Point2 = fLMscaled[q];
handPoint = p;
facePoint = q;
print(Point1 + " " + Point2);
}
}
if (p == handPoint && facePoint != 0)
{
Point1 = listPo[p];
Point2 = fLMscaled[facePoint];
Imgproc.line(rgbaMat, Point1, Point2, new Scalar(255, 255, 255, 255));
}
}
}
// int defectsTotal = (int)convexDefect.total();
// Debug.Log ("Defect total " + defectsTotal);
/* numberOfFingers = listPoDefect.Count;
* if (numberOfFingers > 5)
* numberOfFingers = 5;/
*
* // Debug.Log ("numberOfFingers " + numberOfFingers);
*
* // Imgproc.putText (rgbaMat, "" + numberOfFingers, new Point (rgbaMat.cols () / 2, rgbaMat.rows () / 2), Imgproc.FONT_HERSHEY_PLAIN, 4.0, new Scalar (255, 255, 255, 255), 6, Imgproc.LINE_AA, false);
*
*
* /* foreach (Point p in listPoDefect) {
*
* Point tempp = GetNearestL(p, listPo);
* tempp = ConvertDownscale(tempp, DOWNSCALE_RATIO);
* Point p2 = ConvertDownscale(p, DOWNSCALE_RATIO);
*
* Imgproc.circle (rgbaMat, tempp, 6, new Scalar (0, 0, 255, 255), -1);
* Imgproc.circle(rgbaMat, p2, 6, new Scalar(255, 0, 255, 255), -1);
* }*/
}
public void ProcessSkin(Mat rgbaImage)
{
Imgproc.pyrDown(rgbaImage, mPyrDownMat);
Imgproc.pyrDown(mPyrDownMat, mPyrDownMat);
Imgproc.cvtColor(mPyrDownMat, mHsvMat, Imgproc.COLOR_RGB2HSV_FULL);
Imgproc.cvtColor(mPyrDownMat, mRGBAMat, Imgproc.COLOR_RGB2RGBA);
Imgproc.cvtColor(mPyrDownMat, mYCrCbMat, Imgproc.COLOR_RGB2YCrCb);
Core.inRange(mHsvMat, mLowerBoundHSV, mUpperBoundHSV, mMaskHSV);
Core.inRange(mPyrDownMat, mLowerBoundRGB, mUpperBoundRGB, mMaskRGB);
Core.inRange(mYCrCbMat, mLowerBoundYCrCb, mUpperBoundYCrCb, mMaskYCrCb);
mMask = mMaskYCrCb & mMaskHSV & mMaskRGB;
Imgproc.dilate(mMask, mDilatedMask, new Mat());
List <MatOfPoint> contours = new List <MatOfPoint>();
Imgproc.findContours(mDilatedMask, contours, mHierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
if (contours.Count == 0)
{
return;
}
// Find max contour area
double maxArea = 0;
double secondMaxArea = 0;
MatOfPoint biggestContour = null;
MatOfPoint secondBiggestContour = null;
foreach (MatOfPoint each in contours)
{
MatOfPoint wrapper = each;
double area = Imgproc.contourArea(wrapper);
if (area > maxArea)
{
secondMaxArea = maxArea;
secondBiggestContour = biggestContour;
maxArea = area;
biggestContour = each;
}
else if (area > secondMaxArea)
{
secondMaxArea = area;
secondBiggestContour = each;
}
}
handContourSize = maxArea;
if ((biggestContour != null) && (secondBiggestContour != null) && (ComputeAVGXForContour(biggestContour) >= ComputeAVGXForContour(secondBiggestContour)) && (secondMaxArea >= 0.3 * maxArea))
{
biggestContour = secondBiggestContour;
handContourSize = secondMaxArea;
}
MatOfPoint2f contours_res2f = new MatOfPoint2f();
MatOfPoint2f biggestContour2f = new MatOfPoint2f(biggestContour.toArray());
Imgproc.approxPolyDP(biggestContour2f, contours_res2f, 3, true);
handContour = new MatOfPoint(contours_res2f.toArray());
contours_res2f.Dispose();
biggestContour2f.Dispose();
if (Imgproc.contourArea(handContour) > mMinContourArea * maxArea)
{
Core.multiply(handContour, new Scalar(4, 4), handContour);
}
// Filter contours by area and resize to fit the original image size
mContours.Clear();
foreach (MatOfPoint each in contours)
{
MatOfPoint contour = each;
if (Imgproc.contourArea(contour) > mMinContourArea * maxArea)
{
Core.multiply(contour, new Scalar(4, 4), contour);
mContours.Add(contour);
}
}
}
/// <summary>
/// Finds the candidates.
/// </summary>
/// <param name="contours">Contours.</param>
/// <param name="detectedMarkers">Detected markers.</param>
void findCandidates (List<MatOfPoint> contours, List<Marker> detectedMarkers)
{
MatOfPoint2f approxCurve = new MatOfPoint2f ();
List<Marker> possibleMarkers = new List<Marker> ();
// For each contour, analyze if it is a parallelepiped likely to be the marker
for (int i=0; i<contours.Count; i++) {
// Approximate to a polygon
double eps = contours [i].toArray ().Length * 0.05;
Imgproc.approxPolyDP (new MatOfPoint2f (contours [i].toArray ()), approxCurve, eps, true);
Point[] approxCurveArray = approxCurve.toArray ();
// We interested only in polygons that contains only four points
if (approxCurveArray.Length != 4)
continue;
// And they have to be convex
if (!Imgproc.isContourConvex (new MatOfPoint (approxCurveArray)))
continue;
// Ensure that the distance between consecutive points is large enough
float minDist = float.MaxValue;
for (int p = 0; p < 4; p++) {
Point side = new Point (approxCurveArray [p].x - approxCurveArray [(p + 1) % 4].x, approxCurveArray [p].y - approxCurveArray [(p + 1) % 4].y);
float squaredSideLength = (float)side.dot (side);
minDist = Mathf.Min (minDist, squaredSideLength);
}
// Check that distance is not very small
if (minDist < m_minContourLengthAllowed)
continue;
// All tests are passed. Save marker candidate:
Marker m = new Marker ();
m.points = new MatOfPoint ();
List<Point> markerPointsList = new List<Point> ();
for (int p = 0; p<4; p++)
markerPointsList.Add (new Point (approxCurveArray [p].x, approxCurveArray [p].y));
// Sort the points in anti-clockwise order
// Trace a line between the first and second point.
// If the third point is at the right side, then the points are anti-clockwise
Point v1 = new Point (markerPointsList [1].x - markerPointsList [0].x, markerPointsList [1].y - markerPointsList [0].y);
Point v2 = new Point (markerPointsList [2].x - markerPointsList [0].x, markerPointsList [2].y - markerPointsList [0].y);
double o = (v1.x * v2.y) - (v1.y * v2.x);
if (o < 0.0) { //if the third point is in the left side, then sort in anti-clockwise order
Point tmp = markerPointsList [1];
markerPointsList [1] = markerPointsList [3];
markerPointsList [3] = tmp;
}
m.points.fromList (markerPointsList);
possibleMarkers.Add (m);
}
approxCurve.Dispose ();
//Debug.Log ("possibleMarkers " + possibleMarkers.Count);
// Remove these elements which corners are too close to each other.
// First detect candidates for removal:
List< Point > tooNearCandidates = new List<Point> ();
for (int i=0; i<possibleMarkers.Count; i++) {
Marker m1 = possibleMarkers [i];
Point[] m1PointsArray = m1.points.toArray ();
//calculate the average distance of each corner to the nearest corner of the other marker candidate
for (int j=i+1; j<possibleMarkers.Count; j++) {
Marker m2 = possibleMarkers [j];
Point[] m2PointsArray = m2.points.toArray ();
float distSquared = 0;
for (int c = 0; c < 4; c++) {
Point v = new Point (m1PointsArray [c].x - m2PointsArray [c].x, m1PointsArray [c].y - m2PointsArray [c].y);
distSquared += (float)v.dot (v);
}
distSquared /= 4;
if (distSquared < 100) {
tooNearCandidates.Add (new Point (i, j));
}
}
}
// Mark for removal the element of the pair with smaller perimeter
List<bool> removalMask = new List<bool> (possibleMarkers.Count);
for (int i = 0; i < possibleMarkers.Count; i++) {
removalMask.Add (false);
}
for (int i=0; i<tooNearCandidates.Count; i++) {
float p1 = perimeter (possibleMarkers [(int)tooNearCandidates [i].x].points);
float p2 = perimeter (possibleMarkers [(int)tooNearCandidates [i].y].points);
int removalIndex;
if (p1 > p2)
removalIndex = (int)tooNearCandidates [i].x;
else
removalIndex = (int)tooNearCandidates [i].y;
removalMask [removalIndex] = true;
}
// Return candidates
detectedMarkers.Clear ();
for (int i=0; i<possibleMarkers.Count; i++) {
if (!removalMask [i])
detectedMarkers.Add (possibleMarkers [i]);
}
}
/// <summary>
/// Hands the pose estimation process.
/// </summary>
public void handPoseEstimationProcess(Mat rgbaMat)
{
//Imgproc.blur(mRgba, mRgba, new Size(5,5));
Imgproc.GaussianBlur (rgbaMat, rgbaMat, new OpenCVForUnity.Size (3, 3), 1, 1);
//Imgproc.medianBlur(mRgba, mRgba, 3);
if (!isColorSelected)
return;
List<MatOfPoint> contours = detector.getContours ();
detector.process (rgbaMat);
// Debug.Log ("Contours count: " + contours.Count);
if (contours.Count <= 0) {
return;
}
RotatedRect rect = Imgproc.minAreaRect (new MatOfPoint2f (contours [0].toArray ()));
double boundWidth = rect.size.width;
double boundHeight = rect.size.height;
int boundPos = 0;
for (int i = 1; i < contours.Count; i++) {
rect = Imgproc.minAreaRect (new MatOfPoint2f (contours [i].toArray ()));
if (rect.size.width * rect.size.height > boundWidth * boundHeight) {
boundWidth = rect.size.width;
boundHeight = rect.size.height;
boundPos = i;
}
}
OpenCVForUnity.Rect boundRect = Imgproc.boundingRect (new MatOfPoint (contours [boundPos].toArray ()));
Imgproc.rectangle (rgbaMat, boundRect.tl (), boundRect.br (), CONTOUR_COLOR_WHITE, 2, 8, 0);
// Debug.Log (
// " Row start [" +
// (int)boundRect.tl ().y + "] row end [" +
// (int)boundRect.br ().y + "] Col start [" +
// (int)boundRect.tl ().x + "] Col end [" +
// (int)boundRect.br ().x + "]");
double a = boundRect.br ().y - boundRect.tl ().y;
a = a * 0.7;
a = boundRect.tl ().y + a;
// Debug.Log (
// " A [" + a + "] br y - tl y = [" + (boundRect.br ().y - boundRect.tl ().y) + "]");
//Core.rectangle( mRgba, boundRect.tl(), boundRect.br(), CONTOUR_COLOR, 2, 8, 0 );
Imgproc.rectangle (rgbaMat, boundRect.tl (), new Point (boundRect.br ().x, a), CONTOUR_COLOR, 2, 8, 0);
MatOfPoint2f pointMat = new MatOfPoint2f ();
Imgproc.approxPolyDP (new MatOfPoint2f (contours [boundPos].toArray ()), pointMat, 3, true);
contours [boundPos] = new MatOfPoint (pointMat.toArray ());
MatOfInt hull = new MatOfInt ();
MatOfInt4 convexDefect = new MatOfInt4 ();
Imgproc.convexHull (new MatOfPoint (contours [boundPos].toArray ()), hull);
if (hull.toArray ().Length < 3)
return;
Imgproc.convexityDefects (new MatOfPoint (contours [boundPos] .toArray ()), hull, convexDefect);
List<MatOfPoint> hullPoints = new List<MatOfPoint> ();
List<Point> listPo = new List<Point> ();
for (int j = 0; j < hull.toList().Count; j++) {
listPo.Add (contours [boundPos].toList () [hull.toList () [j]]);
}
MatOfPoint e = new MatOfPoint ();
e.fromList (listPo);
hullPoints.Add (e);
List<MatOfPoint> defectPoints = new List<MatOfPoint> ();
List<Point> listPoDefect = new List<Point> ();
for (int j = 0; j < convexDefect.toList().Count; j = j+4) {
Point farPoint = contours [boundPos].toList () [convexDefect.toList () [j + 2]];
int depth = convexDefect.toList () [j + 3];
if (depth > threasholdSlider.value && farPoint.y < a) {
listPoDefect.Add (contours [boundPos].toList () [convexDefect.toList () [j + 2]]);
}
// Debug.Log ("defects [" + j + "] " + convexDefect.toList () [j + 3]);
}
MatOfPoint e2 = new MatOfPoint ();
e2.fromList (listPo);
defectPoints.Add (e2);
// Debug.Log ("hull: " + hull.toList ());
// Debug.Log ("defects: " + convexDefect.toList ());
Imgproc.drawContours (rgbaMat, hullPoints, -1, CONTOUR_COLOR, 3);
// int defectsTotal = (int)convexDefect.total();
// Debug.Log ("Defect total " + defectsTotal);
this.numberOfFingers = listPoDefect.Count;
if (this.numberOfFingers > 5)
this.numberOfFingers = 5;
// Debug.Log ("numberOfFingers " + numberOfFingers);
// Core.putText (mRgba, "" + numberOfFingers, new Point (mRgba.cols () / 2, mRgba.rows () / 2), Core.FONT_HERSHEY_PLAIN, 4.0, new Scalar (255, 255, 255, 255), 6, Core.LINE_AA, false);
numberOfFingersText.text = numberOfFingers.ToString ();
foreach (Point p in listPoDefect) {
Imgproc.circle (rgbaMat, p, 6, new Scalar (255, 0, 255, 255), -1);
}
}
void Start()
{
Mat mainMat = new Mat(baseTexture.height, baseTexture.width, CvType.CV_8UC3);
Mat grayMat = new Mat();
sourceRawImage.texture = baseTexture;
Utils.texture2DToMat(baseTexture, mainMat);
mainMat.copyTo(grayMat);
Imgproc.cvtColor(grayMat, grayMat, Imgproc.COLOR_BGR2GRAY);
Imgproc.GaussianBlur(grayMat, grayMat, new Size(5, 5), 0);
Imgproc.threshold(grayMat, grayMat, 110, 225, Imgproc.THRESH_BINARY);
Imgproc.Canny(grayMat, grayMat, 20, 190);
List <MatOfPoint> contours = new List <MatOfPoint>();
Imgproc.findContours(grayMat, contours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
int num = 0;
List <MatOfPoint> contours_list = new List <MatOfPoint>();
// new logic
// List<MatOfPoint> contours_list = new List<MatOfPoint>();
for (int i = 0; i < contours.Count; i++)
{
MatOfPoint cp = contours[i];
MatOfPoint2f cn = new MatOfPoint2f(cp.toArray());
double p = Imgproc.arcLength(cn, true);
MatOfPoint2f approx = new MatOfPoint2f();
Imgproc.approxPolyDP(cn, approx, 0.01 * p, true);
double area = Imgproc.contourArea(contours[i]);
if ((area > 30 && area < 100) && approx.toArray().Length > 8)
{
// Imgproc.drawContours(mainMat, contours, -1, new Scalar(0, 255, 0), 4);
contours_list.Add(contours[i]);
num = num + 1;
Debug.Log(area);
}
}
// previously working
// for(int i =0; i< contours.Count ; i++){
// MatOfPoint cp = contours[i];
// MatOfPoint2f cn = new MatOfPoint2f(cp.toArray());
// double p = Imgproc.arcLength(cn,true);
// // fron akshay file
// double area = Imgproc.contourArea(contours[i]);
// if(area > 50){
// Imgproc.drawContours(mainMat, contours, -1, new Scalar(0, 255, 0), 4);
// num = num + 1;
// Debug.Log(area);
// }
// }
// for(int i =0; i< contours.Count ; i++){
// double area = Imgproc.contourArea(contours[i]);
// if(area > 50){
// // Imgproc.drawContours(mainMat, contours, -1, new Scalar(0, 255, 0), 4);
// contours_list.Add(contours[i]);
// num = num + 1;
// }
// }
for (int i = 0; i < contours_list.Count; i++)
{
Imgproc.drawContours(mainMat, contours_list, -1, new Scalar(0, 255, 0), 4);
}
Debug.Log("Number : " + num);
info.text += (num - 1).ToString();
Texture2D finaltexture = new Texture2D(grayMat.cols(), grayMat.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(grayMat, finaltexture);
sourceRawImage.texture = finaltexture;
}
/// <summary>
/// Finds the candidates.
/// </summary>
/// <param name="contours">Contours.</param>
/// <param name="detectedMarkers">Detected markers.</param>
void findCandidates(List <MatOfPoint> contours, List <Marker> detectedMarkers)
{
MatOfPoint2f approxCurve = new MatOfPoint2f();
List <Marker> possibleMarkers = new List <Marker> ();
// For each contour, analyze if it is a parallelepiped likely to be the marker
for (int i = 0; i < contours.Count; i++)
{
// Approximate to a polygon
double eps = contours [i].toArray().Length * 0.05;
Imgproc.approxPolyDP(new MatOfPoint2f(contours [i].toArray()), approxCurve, eps, true);
Point[] approxCurveArray = approxCurve.toArray();
// We interested only in polygons that contains only four points
if (approxCurveArray.Length != 4)
{
continue;
}
// And they have to be convex
if (!Imgproc.isContourConvex(new MatOfPoint(approxCurveArray)))
{
continue;
}
// Ensure that the distance between consecutive points is large enough
float minDist = float.MaxValue;
for (int p = 0; p < 4; p++)
{
Point side = new Point(approxCurveArray [p].x - approxCurveArray [(p + 1) % 4].x, approxCurveArray [p].y - approxCurveArray [(p + 1) % 4].y);
float squaredSideLength = (float)side.dot(side);
minDist = Mathf.Min(minDist, squaredSideLength);
}
// Check that distance is not very small
if (minDist < m_minContourLengthAllowed)
{
continue;
}
// All tests are passed. Save marker candidate:
Marker m = new Marker();
m.points = new MatOfPoint();
List <Point> markerPointsList = new List <Point> ();
for (int p = 0; p < 4; p++)
{
markerPointsList.Add(new Point(approxCurveArray [p].x, approxCurveArray [p].y));
}
// Sort the points in anti-clockwise order
// Trace a line between the first and second point.
// If the third point is at the right side, then the points are anti-clockwise
Point v1 = new Point(markerPointsList [1].x - markerPointsList [0].x, markerPointsList [1].y - markerPointsList [0].y);
Point v2 = new Point(markerPointsList [2].x - markerPointsList [0].x, markerPointsList [2].y - markerPointsList [0].y);
double o = (v1.x * v2.y) - (v1.y * v2.x);
if (o < 0.0) //if the third point is in the left side, then sort in anti-clockwise order
{
Point tmp = markerPointsList [1];
markerPointsList [1] = markerPointsList [3];
markerPointsList [3] = tmp;
}
m.points.fromList(markerPointsList);
possibleMarkers.Add(m);
}
approxCurve.Dispose();
//Debug.Log ("possibleMarkers " + possibleMarkers.Count);
// Remove these elements which corners are too close to each other.
// First detect candidates for removal:
List <Point> tooNearCandidates = new List <Point> ();
for (int i = 0; i < possibleMarkers.Count; i++)
{
Marker m1 = possibleMarkers [i];
Point[] m1PointsArray = m1.points.toArray();
//calculate the average distance of each corner to the nearest corner of the other marker candidate
for (int j = i + 1; j < possibleMarkers.Count; j++)
{
Marker m2 = possibleMarkers [j];
Point[] m2PointsArray = m2.points.toArray();
float distSquared = 0;
for (int c = 0; c < 4; c++)
{
Point v = new Point(m1PointsArray [c].x - m2PointsArray [c].x, m1PointsArray [c].y - m2PointsArray [c].y);
distSquared += (float)v.dot(v);
}
distSquared /= 4;
if (distSquared < 100)
{
tooNearCandidates.Add(new Point(i, j));
}
}
}
// Mark for removal the element of the pair with smaller perimeter
List <bool> removalMask = new List <bool> (possibleMarkers.Count);
for (int i = 0; i < possibleMarkers.Count; i++)
{
removalMask.Add(false);
}
for (int i = 0; i < tooNearCandidates.Count; i++)
{
float p1 = perimeter(possibleMarkers [(int)tooNearCandidates [i].x].points);
float p2 = perimeter(possibleMarkers [(int)tooNearCandidates [i].y].points);
int removalIndex;
if (p1 > p2)
{
removalIndex = (int)tooNearCandidates [i].x;
}
else
{
removalIndex = (int)tooNearCandidates [i].y;
}
removalMask [removalIndex] = true;
}
// Return candidates
detectedMarkers.Clear();
for (int i = 0; i < possibleMarkers.Count; i++)
{
if (!removalMask [i])
{
detectedMarkers.Add(possibleMarkers [i]);
}
}
}
// Use this for initialization
void Start()
{
//if true, The error log of the Native side OpenCV will be displayed on the Unity Editor Console.
Utils.setDebugMode(true);
Texture2D imgTexture = Resources.Load("lena") as Texture2D;
Mat img = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC4);
Utils.texture2DToMat(imgTexture, img);
Debug.Log("imgMat.ToString() " + img.ToString());
OpenCVForUnity.ShapeModule.ThinPlateSplineShapeTransformer tps = Shape.createThinPlateSplineShapeTransformer(0);
MatOfPoint2f sourcePoints = new MatOfPoint2f(
new Point(0, 0),
new Point(512, 0),
new Point(0, 512),
new Point(250, 200),
new Point(400, 400),
new Point(200, 400),
new Point(512, 512)
);
MatOfPoint2f targetPoints = new MatOfPoint2f(
new Point(0, 0),
new Point(512, 0),
new Point(0, 599),
new Point(250, 120),
new Point(450, 450),
new Point(100, 450),
new Point(512, 512)
);
MatOfDMatch matches = new MatOfDMatch(
new DMatch(0, 0, 0),
new DMatch(1, 1, 0),
new DMatch(2, 2, 0),
new DMatch(3, 3, 0),
new DMatch(4, 4, 0),
new DMatch(5, 5, 0),
new DMatch(6, 6, 0)
);
//http://stackoverflow.com/questions/32207085/shape-transformers-and-interfaces-opencv3-0
Core.transpose(sourcePoints, sourcePoints);
Core.transpose(targetPoints, targetPoints);
Debug.Log("sourcePoints " + sourcePoints.ToString());
Debug.Log("targetPoints " + targetPoints.ToString());
tps.estimateTransformation(targetPoints, sourcePoints, matches);
MatOfPoint2f transPoints = new MatOfPoint2f();
tps.applyTransformation(sourcePoints, transPoints);
Debug.Log("sourcePoints " + sourcePoints.dump());
Debug.Log("targetPoints " + targetPoints.dump());
Debug.Log("transPoints " + transPoints.dump());
Mat res = new Mat();
tps.warpImage(img, res);
//plot points
Point[] sourcePointsArray = sourcePoints.toArray();
Point[] targetPointsArray = targetPoints.toArray();
for (int i = 0; i < sourcePointsArray.Length; i++)
{
Imgproc.arrowedLine(res, sourcePointsArray [i], targetPointsArray [i], new Scalar(255, 255, 0, 255), 3, Imgproc.LINE_AA, 0, 0.2);
Imgproc.circle(res, sourcePointsArray [i], 10, new Scalar(255, 0, 0, 255), -1);
Imgproc.circle(res, targetPointsArray [i], 10, new Scalar(0, 0, 255, 255), -1);
}
Texture2D texture = new Texture2D(res.cols(), res.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(res, texture);
gameObject.GetComponent <Renderer> ().material.mainTexture = texture;
Utils.setDebugMode(false);
}
/// <summary>
/// Hands the pose estimation process.
/// </summary>
public void handPoseEstimationProcess(Mat rgbaMat)
{
//Imgproc.blur(mRgba, mRgba, new Size(5,5));
Imgproc.GaussianBlur(rgbaMat, rgbaMat, new OpenCVForUnity.Size(3, 3), 1, 1);
//Imgproc.medianBlur(mRgba, mRgba, 3);
if (!isColorSelected)
{
return;
}
List <MatOfPoint> contours = detector.getContours();
detector.process(rgbaMat);
// Debug.Log ("Contours count: " + contours.Count);
if (contours.Count <= 0)
{
return;
}
RotatedRect rect = Imgproc.minAreaRect(new MatOfPoint2f(contours [0].toArray()));
double boundWidth = rect.size.width;
double boundHeight = rect.size.height;
int boundPos = 0;
for (int i = 1; i < contours.Count; i++)
{
rect = Imgproc.minAreaRect(new MatOfPoint2f(contours [i].toArray()));
if (rect.size.width * rect.size.height > boundWidth * boundHeight)
{
boundWidth = rect.size.width;
boundHeight = rect.size.height;
boundPos = i;
}
}
OpenCVForUnity.Rect boundRect = Imgproc.boundingRect(new MatOfPoint(contours [boundPos].toArray()));
Core.rectangle(rgbaMat, boundRect.tl(), boundRect.br(), CONTOUR_COLOR_WHITE, 2, 8, 0);
// Debug.Log (
// " Row start [" +
// (int)boundRect.tl ().y + "] row end [" +
// (int)boundRect.br ().y + "] Col start [" +
// (int)boundRect.tl ().x + "] Col end [" +
// (int)boundRect.br ().x + "]");
double a = boundRect.br().y - boundRect.tl().y;
a = a * 0.7;
a = boundRect.tl().y + a;
// Debug.Log (
// " A [" + a + "] br y - tl y = [" + (boundRect.br ().y - boundRect.tl ().y) + "]");
//Core.rectangle( mRgba, boundRect.tl(), boundRect.br(), CONTOUR_COLOR, 2, 8, 0 );
Core.rectangle(rgbaMat, boundRect.tl(), new Point(boundRect.br().x, a), CONTOUR_COLOR, 2, 8, 0);
MatOfPoint2f pointMat = new MatOfPoint2f();
Imgproc.approxPolyDP(new MatOfPoint2f(contours [boundPos].toArray()), pointMat, 3, true);
contours [boundPos] = new MatOfPoint(pointMat.toArray());
MatOfInt hull = new MatOfInt();
MatOfInt4 convexDefect = new MatOfInt4();
Imgproc.convexHull(new MatOfPoint(contours [boundPos].toArray()), hull);
if (hull.toArray().Length < 3)
{
return;
}
Imgproc.convexityDefects(new MatOfPoint(contours [boundPos].toArray()), hull, convexDefect);
List <MatOfPoint> hullPoints = new List <MatOfPoint> ();
List <Point> listPo = new List <Point> ();
for (int j = 0; j < hull.toList().Count; j++)
{
listPo.Add(contours [boundPos].toList() [hull.toList() [j]]);
}
MatOfPoint e = new MatOfPoint();
e.fromList(listPo);
hullPoints.Add(e);
List <MatOfPoint> defectPoints = new List <MatOfPoint> ();
List <Point> listPoDefect = new List <Point> ();
for (int j = 0; j < convexDefect.toList().Count; j = j + 4)
{
Point farPoint = contours [boundPos].toList() [convexDefect.toList() [j + 2]];
int depth = convexDefect.toList() [j + 3];
if (depth > threasholdSlider.value && farPoint.y < a)
{
listPoDefect.Add(contours [boundPos].toList() [convexDefect.toList() [j + 2]]);
}
// Debug.Log ("defects [" + j + "] " + convexDefect.toList () [j + 3]);
}
MatOfPoint e2 = new MatOfPoint();
e2.fromList(listPo);
defectPoints.Add(e2);
// Debug.Log ("hull: " + hull.toList ());
// Debug.Log ("defects: " + convexDefect.toList ());
Imgproc.drawContours(rgbaMat, hullPoints, -1, CONTOUR_COLOR, 3);
// int defectsTotal = (int)convexDefect.total();
// Debug.Log ("Defect total " + defectsTotal);
this.numberOfFingers = listPoDefect.Count;
if (this.numberOfFingers > 5)
{
this.numberOfFingers = 5;
}
// Debug.Log ("numberOfFingers " + numberOfFingers);
// Core.putText (mRgba, "" + numberOfFingers, new Point (mRgba.cols () / 2, mRgba.rows () / 2), Core.FONT_HERSHEY_PLAIN, 4.0, new Scalar (255, 255, 255, 255), 6, Core.LINE_AA, false);
numberOfFingersText.text = numberOfFingers.ToString();
foreach (Point p in listPoDefect)
{
Core.circle(rgbaMat, p, 6, new Scalar(255, 0, 255, 255), -1);
}
}
//public delegate void Process(int[] tgrdeteced);
void tagramDetect(Mat t_rgbaMat, Action <TangramResultModel, List <MyShape> > prc)
{
List <MyShape> lms = new List <MyShape>();
System.Diagnostics.Stopwatch watch = null;
long elapsedMs;
TangramResultModel trm = null;
Observable.Start(() =>
{
mut.WaitOne();
Imgproc.resize(t_rgbaMat, rgbaMat, new Size(nW_goc, nH_goc));
watch = System.Diagnostics.Stopwatch.StartNew();
if (warp != null)
{
warp.Init(rgbaMat);
Mat wMat = warp.warpPerspective(rgbaMat);
rgbaMat = wMat.submat(0, nH, 0, nW);
}
else
{
rgbaMat = rgbaMat.submat(0, nH, 0, nW);
}
all_thresh = Mat.zeros(nH, nW, CvType.CV_8UC3);
all_thresh_afct = Mat.zeros(nH, nW, CvType.CV_8UC3);
dbMat = Mat.zeros(nH, nW, CvType.CV_8UC3);
all_thresh_af = Mat.zeros(nH, nW, CvType.CV_8UC3);
rgbaMat.copyTo(rgbMat);
rgbMat.convertTo(rgbMat2, CvType.CV_8UC3, 0.8, 60);
rgbMat2.copyTo(rgbMat2copy);
rgbMat.convertTo(rgbMat3, CvType.CV_8UC3, 1, 60);
rgbMat.convertTo(rgbMat4, CvType.CV_8UC3, 1.25, 35);
rgbMat.convertTo(rgbMat, CvType.CV_8UC3, 1.25, 35);
Imgproc.cvtColor(rgbMat, hsvMat, Imgproc.COLOR_RGB2HSV);
Imgproc.cvtColor(rgbMat2, hsvMat2, Imgproc.COLOR_RGB2HSV);
Imgproc.cvtColor(rgbMat3, hsvMat3, Imgproc.COLOR_RGB2HSV);
Imgproc.cvtColor(rgbMat3, hsvMat4, Imgproc.COLOR_RGB2HSV);
watch.Stop();
elapsedMs = watch.ElapsedMilliseconds;
Mat markers = Mat.zeros(rgbaMat.size(), CvType.CV_32SC1);
watch = System.Diagnostics.Stopwatch.StartNew();
for (int obj_i = 0; obj_i < ls_obj.Length; obj_i++)
{
var obj = ls_obj[obj_i];
if (obj_i == (int)tgr.ORANGE | obj_i == (int)tgr.YELLOW | obj_i == (int)tgr.GREEN)
{
Core.inRange(hsvMat2, obj.getHSVmin(), obj.getHSVmax(), thresholdMat);
}
else if (obj_i == (int)tgr.LIGHTBLUE)
{
Core.inRange(hsvMat, obj.getHSVmin(), obj.getHSVmax(), thresholdMat);
}
else
{
Core.inRange(hsvMat, obj.getHSVmin(), obj.getHSVmax(), thresholdMat);
}
if (obj_i == (int)tgr.RED)
{
Core.inRange(hsvMat, new Scalar(0, 20, 45), new Scalar(5, 255, 255), thresholdMat2);
thresholdMat2.copyTo(thresholdMat, thresholdMat2);
}
thresholdMatArr[obj_i] = thresholdMat.clone();
}
//thresholdMatArr[(int)tgr.LIGHTBLUE].setTo(new Scalar(0), thresholdMatArr[(int)tgr.BLUE]);
//thresholdMatArr[(int)tgr.LIGHTBLUE].setTo(new Scalar(0), thresholdMatArr[(int)tgr.GREEN]);
for (int obj_i = 0; obj_i < ls_obj.Length; obj_i++)
{
var obj = ls_obj[obj_i];
all_cts.Clear();
thresholdMat = thresholdMatArr[obj_i];
if (toggle_db[obj_i] == true)
{
all_thresh.setTo(obj.ColorRGB, thresholdMat);
}
if (true | obj_i == (int)tgr.PURPLE | obj_i == (int)tgr.YELLOW | obj_i == (int)tgr.RED | obj_i == (int)tgr.GREEN | obj_i == (int)tgr.ORANGE)
{
Imgproc.erode(thresholdMat, thresholdMat2, Imgproc.getStructuringElement(Imgproc.MORPH_ELLIPSE, new Size(5, 5)), new Point(-1, -1), 1);
}
if (obj_i == (int)tgr.LIGHTBLUE | obj_i == (int)tgr.PURPLE)
{
Imgproc.erode(thresholdMat, thresholdMat2, Imgproc.getStructuringElement(Imgproc.MORPH_ELLIPSE, new Size(5, 5)), new Point(-1, -1), 1);
}
if (toggle_db[obj_i] == true)
{
all_thresh_af.setTo(obj.ColorRGB, thresholdMat2);
}
all_thresh_afct.setTo(new Scalar(obj_i + 1), thresholdMat2);
color_filter.Add(thresholdMat2.clone());
Imgproc.findContours(thresholdMat2, all_cts, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
Scalar c = obj.getColor();
for (int ct_i = 0; ct_i < all_cts.Count; ct_i++)
{
double area = Imgproc.contourArea(all_cts[ct_i]);
// if (area < MIN_OBJECT_AREA)
if (area < MIN_OBJECT_AREAS[obj_i] * 0.55)
{
all_cts.RemoveAt(ct_i);
ct_i--;
}
if (area > MAX_OBJECT_AREAS[obj_i] * 1.3)
{
all_cts.RemoveAt(ct_i);
ct_i--;
}
}
MyShape chon = null;
MyShape ms = new MyShape();
float dt = 1000000;
for (int ct_i = 0; ct_i < all_cts.Count; ct_i++)
{
var ct = all_cts[ct_i];
var peri = Imgproc.arcLength(new MatOfPoint2f(ct.toArray()), true);
var epsilon = 0.1 * peri;
if (obj_i == (int)tgr.ORANGE || obj_i == (int)tgr.YELLOW)
{
epsilon = 0.065 * peri;
}
Imgproc.approxPolyDP(new MatOfPoint2f(ct.toArray()), approx_ct, epsilon, true);
MatOfInt pts_cvh = new MatOfInt();
Imgproc.convexHull(ct, pts_cvh, true);
var cvh_numPts = pts_cvh.toArray().Length;
Point[] cvh_pts = new Point[cvh_numPts];
var ct_pts = ct.toArray();
for (int i = 0; i < cvh_numPts; i++)
{
var i1 = pts_cvh.toArray()[i];
var p1 = ct_pts[i1];
cvh_pts[i] = p1;
try
{
if (debug == true)
{
var i2 = pts_cvh.toArray()[(i + 1) % cvh_numPts];
var p2 = ct_pts[i2];
Imgproc.circle(rgbMat2, p1, 1, c, 2);
}
}
catch (Exception e)
{
Utilities.LogFormat("Here3:{0},{1},{2}", rgbMat2 == null, p1 == null, c == null);
Utilities.Log("Exception is {0}", e.ToString());
Utilities.Log("Trace is {0}", e.StackTrace.ToString());
}
}
MatOfPoint2f approx_cvh = new MatOfPoint2f();
var epsilon2 = peri * 0.1;
if (obj_i == (int)tgr.ORANGE)
{
epsilon2 = peri * 0.065;
}
Imgproc.approxPolyDP(new MatOfPoint2f(cvh_pts), approx_cvh, epsilon2, true);
var ct_ori = new MatOfPoint(ct.toArray());
MatOfPoint approx_ct2 = new MatOfPoint(approx_ct.toArray());
List <MatOfPoint> approx_cvh2 = new List <MatOfPoint>();
approx_cvh2.Add(new MatOfPoint(approx_cvh.toArray()));
var mu = Imgproc.moments(approx_cvh2[0], true);
cterTgr.x = mu.m10 / mu.m00;
cterTgr.y = mu.m01 / mu.m00;
if (approx_ct2.size().height == 3 | approx_ct2.size().height == 4)
{
var points = approx_cvh2[0].toArray();
var numpoints = points.Length;
ms._id = obj_i;
ms.ps = new Point[numpoints];
double rat = 1.16;
if (obj_i == (int)tgr.PURPLE)
{
rat = 1.20;
}
else if (obj_i == (int)tgr.LIGHTBLUE)
{
rat = 1.20;
}
else if (obj_i == (int)tgr.RED | obj_i == (int)tgr.BLUE)
{
rat = 1.09;
}
else if (obj_i == (int)tgr.YELLOW)
{
rat = 1.10;
}
else if (obj_i == (int)tgr.ORANGE)
{
rat = 1.10;
}
else if (obj_i == (int)tgr.GREEN)
{
rat = 1.10;
}
var ind_huyen = 0;
var max = -1d;
if (numpoints == 3 || numpoints == 4)
{
for (int p_i = 0; p_i < numpoints; p_i++)
{
var p = points[p_i];
var p2 = points[(p_i + 1) % numpoints];
var vect = p - cterTgr;
vect = vect * rat;
var p_new = cterTgr + vect;
points[p_i].x = (int)(p_new.x * 100) / 100f;
points[p_i].y = (int)(p_new.y * 100) / 100f;
if (numpoints == 4)
{
ms.ps[p_i] = p_new;
}
if (numpoints == 3)
{
var vt = p2 - p;
var length = vt.x * vt.x + vt.y * vt.y;
if (length > max)
{
ind_huyen = p_i;
max = length;
}
}
}
}
if (numpoints == 3)
{
var i_nhon1 = ind_huyen;
var i_nhon2 = (ind_huyen + 1) % numpoints;
var i_vuong = (ind_huyen + 2) % numpoints;
ms.ps[0] = points[i_vuong];
ms.ps[1] = points[i_nhon1];
ms.ps[2] = points[i_nhon2];
}
else if (numpoints == 4)
{
if (obj_i == (int)tgr.ORANGE)
{
var vt_cheo1 = ms.ps[0] - ms.ps[2];
var vt_cheo2 = ms.ps[1] - ms.ps[3];
var leng_cheo1 = vt_cheo1.x * vt_cheo1.x + vt_cheo1.y * vt_cheo1.y;
var leng_cheo2 = vt_cheo2.x * vt_cheo2.x + vt_cheo2.y * vt_cheo2.y;
var i_nhon = 0;
if (leng_cheo2 > leng_cheo1)
{
i_nhon = 1;
}
ms.ps[0] = points[i_nhon];
ms.ps[1] = points[(i_nhon + 1)];
ms.ps[2] = points[(i_nhon + 2)];
ms.ps[3] = points[(i_nhon + 3) % numpoints];
var i_prvNhon = (i_nhon + 4 - 1) % numpoints;
var i_aftNhon = i_nhon + 1;
var vt_prvNhon = points[i_prvNhon] - points[i_nhon];
var vt_aftNhon = points[i_aftNhon] - points[i_nhon];
var len_prvNhon = vt_prvNhon.x * vt_prvNhon.x + vt_prvNhon.y * vt_prvNhon.y;
var len_aftNhon = vt_aftNhon.x * vt_aftNhon.x + vt_aftNhon.y * vt_aftNhon.y;
Imgproc.line(dbMat, points[i_prvNhon], points[i_nhon], c, 1);
if (len_prvNhon > len_aftNhon)
{
ms.isFlip = true;
Imgproc.putText(dbMat, " IsFLIP", ms.ps[3], 1, 1, c, 1);
}
else
{
ms.isFlip = false;
Imgproc.putText(dbMat, " IsNOTFLIP", ms.ps[3], 1, 1, c, 1);
}
}
}
var centerMat = new Point(rgbMat.width() / 2f, rgbMat.height() / 2f);
var vtLech = centerMat - cterTgr;
var dt2 = vtLech.x * vtLech.x + vtLech.y * vtLech.y;
if (dt2 < dt)
{
chon = ms;
}
}
try
{
Imgproc.circle(rgbMat, cterTgr, 1, c, 1);
Imgproc.putText(rgbMat, mu.m00.ToString(), cterTgr, 1, 1, c, 1);
}
catch (Exception e)
{
Utilities.LogFormat("Here2:{0},{1},{2}", rgbMat == null, cterTgr == null, c == null);
Utilities.Log("Exception is {0}", e.ToString());
Utilities.Log("Trace is {0}", e.StackTrace.ToString());
}
//if (approx_ct2.size().height == 3 | approx_ct2.size().height == 4) break;
}
if (chon != null)
{
lms.Add(chon);
var ps = chon.ps;
for (int i = 0; i < ps.Length; i++)
{
var p1 = ps[i];
var p2 = ps[(i + 1) % ps.Length];
try
{
Imgproc.line(rgbMat2, p1, p2, c, 1);
Imgproc.line(all_thresh_afct, p1, p2, new Scalar(255, 255, 255), 1);
Imgproc.line(dbMat, p1, p2, c, 1);
Imgproc.circle(dbMat, p1, 1, c);
}
catch (Exception e)
{
Utilities.LogFormat("Here1:{0},{1},{2}", rgbMat2 == null, p1 == null, p2 == null);
Utilities.Log("Exception is {0}", e.ToString());
Utilities.Log("Trace is {0}", e.StackTrace.ToString());
}
}
}
watch.Stop();
elapsedMs = watch.ElapsedMilliseconds;
}
TangramShape msl = new TangramShape();
msl.datas = lms;
var json = JsonUtility.ToJson(msl);
watch = System.Diagnostics.Stopwatch.StartNew();
trm = tangramFeatureModelList.Detect(msl.datas.ToArray());
watch.Stop();
elapsedMs = watch.ElapsedMilliseconds;
mut.ReleaseMutex();
}).ObserveOnMainThread().Subscribe((rx) =>
{
prc(trm, lms);
if (debug == true)
{
mut.WaitOne();
if (texture != null && debug == true)
{
Utils.matToTexture2D(dbMat, texture);
}
if (dbText1 != null && debug == true)
{
Utils.matToTexture2D(rgbMat2copy, dbText1);
}
if (dbText2 != null && debug == true)
{
Utils.matToTexture2D(rgbMat3, dbText2);
}
if (dbText3 != null && debug == true)
{
Utils.matToTexture2D(rgbMat4, dbText3);
}
if (dbText4 != null && debug == true)
{
Utils.matToTexture2D(rgbMat, dbText4);
}
all_thresh_afct = all_thresh_afct * 25;
Imgproc.cvtColor(rgbMat2, rgbMat2, Imgproc.COLOR_RGBA2RGB);
Imgproc.cvtColor(all_thresh, all_thresh, Imgproc.COLOR_RGBA2RGB);
Mat a = new Mat(all_thresh.size(), CvType.CV_8UC3);
Core.addWeighted(all_thresh, 0.2, rgbMat2, 0.8, 0, a);
if (dbText5 != null && debug == true)
{
Utils.matToTexture2D(a, dbText5);
}
if (dbText6 != null && debug == true)
{
Utils.matToTexture2D(all_thresh, dbText6);
}
if (dbText7 != null && debug == true)
{
Utils.matToTexture2D(all_thresh_afct, dbText7);
}
if (dbText8 != null && debug == true)
{
Utils.matToTexture2D(all_thresh_af, dbText8);
}
mut.ReleaseMutex();
}
});
}
//手を検出して画像に描画する
private static void _handPoseEstimationProcess(Mat rgbaMat, Color handColor)
{
Imgproc.GaussianBlur(rgbaMat, rgbaMat, new OpenCVForUnity.Size(3, 3), 1, 1);
//検出器に色を設定
detector.setHsvColor(HGColorSpuiter.ColorToScalar(handColor));
List <MatOfPoint> contours = detector.getContours();
detector.process(rgbaMat);
if (contours.Count <= 0)
{
return;
}
//手の角度に傾いた外接矩形を作成
RotatedRect rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[0].toArray()));
double boundWidth = rect.size.width;
double boundHeight = rect.size.height;
int boundPos = 0;
for (int i = 1; i < contours.Count; i++)
{
rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[i].toArray()));
if (rect.size.width * rect.size.height > boundWidth * boundHeight)
{
boundWidth = rect.size.width;
boundHeight = rect.size.height;
boundPos = i;
}
}
OpenCVForUnity.Rect boundRect = Imgproc.boundingRect(new MatOfPoint(contours[boundPos].toArray()));
//手首までの範囲を描画
Imgproc.rectangle(rgbaMat, boundRect.tl(), boundRect.br(), HGColorSpuiter.ColorToScalar(WristRangeColor), 2, 8, 0);
double a = boundRect.br().y - boundRect.tl().y;
a = a * 0.7;
a = boundRect.tl().y + a;
//手のひらの範囲を描画
Imgproc.rectangle(rgbaMat, boundRect.tl(), new Point(boundRect.br().x, a), HGColorSpuiter.ColorToScalar(PalmsRangeColor), 2, 8, 0);
//折れ線カーブまたはポリゴンを，互いの距離が指定された精度以下になるように，より少ない頂点数のカーブやポリゴンで近似します
MatOfPoint2f pointMat = new MatOfPoint2f();
Imgproc.approxPolyDP(new MatOfPoint2f(contours[boundPos].toArray()), pointMat, 3, true);
contours[boundPos] = new MatOfPoint(pointMat.toArray());
//点とポリゴンの最短距離を計算
MatOfInt hull = new MatOfInt();
MatOfInt4 convexDefect = new MatOfInt4();
Imgproc.convexHull(new MatOfPoint(contours[boundPos].toArray()), hull);
if (hull.toArray().Length < 3)
{
return;
}
Imgproc.convexityDefects(new MatOfPoint(contours[boundPos].toArray()), hull, convexDefect);
//手の範囲を取得
List <MatOfPoint> hullPoints = new List <MatOfPoint>();
List <Point> listPo = new List <Point>();
for (int j = 0; j < hull.toList().Count; j++)
{
listPo.Add(contours[boundPos].toList()[hull.toList()[j]]);
}
MatOfPoint e = new MatOfPoint();
e.fromList(listPo);
hullPoints.Add(e);
//手の範囲を描画
Imgproc.drawContours(rgbaMat, hullPoints, -1, HGColorSpuiter.ColorToScalar(HandRangeColor), 3);
//指と認識した場所を取得
List <MatOfPoint> defectPoints = new List <MatOfPoint>();
List <Point> listPoDefect = new List <Point>();
for (int j = 0; j < convexDefect.toList().Count; j = j + 4)
{
Point farPoint = contours[boundPos].toList()[convexDefect.toList()[j + 2]];
int depth = convexDefect.toList()[j + 3];
if (depth > depthThreashold && farPoint.y < a)
{
listPoDefect.Add(contours[boundPos].toList()[convexDefect.toList()[j + 2]]);
}
}
MatOfPoint e2 = new MatOfPoint();
e2.fromList(listPo);
defectPoints.Add(e2);
//検出した指の本数を更新
numberOfFingers = listPoDefect.Count;
if (numberOfFingers > 5)
{
numberOfFingers = 5;
}
//指の間に点を描画
foreach (Point p in listPoDefect)
{
Imgproc.circle(rgbaMat, p, 6, HGColorSpuiter.ColorToScalar(BetweenFingersColor), -1);
}
}
string getFeatureTangram(string path)
{
Mat rgbMat = Imgcodecs.imread(path);
var width = rgbMat.width();
var height = rgbMat.height();
var ofsetx = 0;
var ofsety = 0;
if (width > 4096)
{
ofsetx = (width - 4096) / 2;
}
if (height > 4096)
{
ofsety = (height - 4096) / 2;
}
var rat = (float)rgbMat.width() / (float)rgbMat.height();
Imgproc.cvtColor(rgbMat, rgbMat, Imgproc.COLOR_RGBA2BGR);
Mat rgbMat2 = new Mat(rgbMat.size(), rgbMat.type());
if (debug == true)
{
mainDebug.GetComponent <AspectRatioFitter>().aspectRatio = rat;
debug1.GetComponent <AspectRatioFitter>().aspectRatio = rat;
debug2.GetComponent <AspectRatioFitter>().aspectRatio = rat;
debug3.GetComponent <AspectRatioFitter>().aspectRatio = rat;
debug4.GetComponent <AspectRatioFitter>().aspectRatio = rat;
debug5.GetComponent <AspectRatioFitter>().aspectRatio = rat;
debug6.GetComponent <AspectRatioFitter>().aspectRatio = rat;
debug7.GetComponent <AspectRatioFitter>().aspectRatio = rat;
debug8.GetComponent <AspectRatioFitter>().aspectRatio = rat;
}
Mat hsvMat = new Mat();
Imgproc.cvtColor(rgbMat, hsvMat, Imgproc.COLOR_RGB2HSV);
Debug.Log(rgbMat.width());
if (debug == true)
{
maxHeight = (int)(maxWidth / rat);
texture = new Texture2D(maxWidth, maxHeight, TextureFormat.RGBA32, false);
dbTxt1 = new Texture2D(maxWidth, maxHeight, TextureFormat.RGBA32, false);
dbTxt2 = new Texture2D(maxWidth, maxHeight, TextureFormat.RGBA32, false);
dbTxt3 = new Texture2D(maxWidth, maxHeight, TextureFormat.RGBA32, false);
dbTxt4 = new Texture2D(maxWidth, maxHeight, TextureFormat.RGBA32, false);
dbTxt5 = new Texture2D(maxWidth, maxHeight, TextureFormat.RGBA32, false);
dbTxt6 = new Texture2D(maxWidth, maxHeight, TextureFormat.RGBA32, false);
dbTxt7 = new Texture2D(maxWidth, maxHeight, TextureFormat.RGBA32, false);
dbTxt8 = new Texture2D(maxWidth, maxHeight, TextureFormat.RGBA32, false);
mainDebug.texture = texture;
debug1.texture = dbTxt1;
debug2.texture = dbTxt2;
debug3.texture = dbTxt3;
debug4.texture = dbTxt4;
debug5.texture = dbTxt5;
debug6.texture = dbTxt6;
debug7.texture = dbTxt7;
debug8.texture = dbTxt8;
}
if (debug)
{
Mat a = new Mat();
Imgproc.resize(rgbMat, a, new Size(maxWidth, maxHeight));
Utils.matToTexture2D(a, dbTxt4);
}
Mat threshold = new Mat();
Mat threshold2 = new Mat();
List <MatOfPoint> contours = new List <MatOfPoint>();
Mat hierarchy = new Mat();
MatOfPoint2f mop2f = new MatOfPoint2f();
TangramShape blackShape = new TangramShape();
List <MyShape> ls_shapes = new List <MyShape>();
blackShape.datas = ls_shapes;
bool[] OK = new bool[7];
for (var obj_i = 0; obj_i < 7; obj_i++)
{
var obj = ls_obj[obj_i];
Core.inRange(hsvMat, obj.HSVmin, obj.HSVmax, threshold);
if (obj_i == (int)tgr.RED)
{
Core.inRange(hsvMat, obj.lower_HSVMin, obj.lower_HSVMax, threshold2);
threshold2.copyTo(threshold, threshold2);
}
if (obj_i == (int)tgr.YELLOW)
{
if (debug)
{
matToTexture(threshold, dbTxt3);
}
}
contours.Clear();
Imgproc.findContours(threshold, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
for (int ct_i = 0; ct_i < contours.Count; ct_i++)
{
if (Imgproc.contourArea(contours[ct_i]) < MIN_OBJECT_AREA)
{
contours.RemoveAt(ct_i);
ct_i--;
}
}
Scalar c = hsv2rgb(obj.getColor());
for (int ct_i = 0; ct_i < contours.Count; ct_i++)
{
var ct = contours[ct_i];
var peri = Imgproc.arcLength(new MatOfPoint2f(ct.toArray()), true);
Imgproc.approxPolyDP(new MatOfPoint2f(ct.toArray()), mop2f, 0.05 * peri, true);
{
MyShape ms = new MyShape();
var points = mop2f.toArray();
var index = -1;
var max = -1d;
var numPoints = points.Length;
ms._id = obj_i;
ms.ps = new Point[numPoints];
if (numPoints == 3)
{
OK[obj_i] = true;
for (var p_i = 0; p_i < numPoints; p_i++)
{
//Debug.LogFormat("p1 = {0}, p2 = {1}", p_i % numPoints, (p_i + 1) % numPoints);
var p1 = points[p_i % numPoints];
var p2 = points[(p_i + 1) % numPoints];
var vt = p2 - p1;
float len = (float)(vt.x * vt.x + vt.y * vt.y);
if (len > max)
{
index = p_i;
max = len;
}
}
var i_nhon1 = index;
var i_nhon2 = (index + 1) % numPoints;
var i_vuong = (index + 2) % numPoints;
ms.ps[0] = points[i_vuong];
ms.ps[1] = points[i_nhon1];
ms.ps[2] = points[i_nhon2];
Imgproc.putText(rgbMat2, "1", points[i_nhon1], 1, 20, c, 10);
Imgproc.putText(rgbMat2, "2", points[i_nhon2], 1, 20, c, 10);
Imgproc.putText(rgbMat2, "0", points[i_vuong], 1, 20, c, 10);
}
else if (numPoints == 4)
{
if (obj_i == (int)tgr.YELLOW)
{
OK[obj_i] = true;
Debug.Log("Xin chao the mau vang");
ms.ps[0] = points[0];
ms.ps[1] = points[1];
ms.ps[2] = points[2];
ms.ps[3] = points[3];
}
else if (obj_i == (int)tgr.ORANGE)
{
OK[obj_i] = true;
Debug.Log("Xin chao the gioi");
var vt_cheo1 = points[0] - points[2];
var vt_cheo2 = points[1] - points[3];
var len_cheo1 = vt_cheo1.x * vt_cheo1.x + vt_cheo1.y * vt_cheo1.y;
var len_cheo2 = vt_cheo2.x * vt_cheo2.x + vt_cheo2.y * vt_cheo2.y;
var i_nhon = 0;
if (len_cheo2 > len_cheo1)
{
i_nhon = 1;
}
ms.ps[0] = points[i_nhon];
ms.ps[1] = points[(i_nhon + 1)];
ms.ps[2] = points[(i_nhon + 2)];
ms.ps[3] = points[(i_nhon + 3) % numPoints];
var i_prvNhon = (i_nhon + 4 - 1) % numPoints;
var i_aftNhon = i_nhon + 1;
var vt_prvNhon = points[i_prvNhon] - points[i_nhon];
var vt_aftNhon = points[i_aftNhon] - points[i_nhon];
//Imgproc.line(rgbMat2, points[i_prvNhon], points[i_nhon], c, 10);
var len_prvNhon = vt_prvNhon.x * vt_prvNhon.x + vt_prvNhon.y * vt_prvNhon.y;
var len_aftNhon = vt_aftNhon.x * vt_aftNhon.x + vt_aftNhon.y * vt_aftNhon.y;
if (len_prvNhon > len_aftNhon)
{
ms.isFlip = true;
Imgproc.putText(rgbMat2, " IsFLIP", ms.ps[3], 1, 20, c, 10);
}
else
{
ms.isFlip = false;
Imgproc.putText(rgbMat2, " IsNOTFLIP", ms.ps[3], 1, 20, c, 10);
}
Debug.Log(ms.ps.Length);
Debug.Log((i_nhon + 3) % numPoints);
if (debug == true)
{
Imgproc.putText(rgbMat2, "0", ms.ps[0], 1, 20, c, 10);
Imgproc.putText(rgbMat2, "1", ms.ps[1], 1, 20, c, 10);
Imgproc.putText(rgbMat2, "2", ms.ps[2], 1, 20, c, 10);
Imgproc.putText(rgbMat2, "3", ms.ps[3], 1, 20, c, 10);
}
}
}
ls_shapes.Add(ms);
}
}
}
for (var ok_i = 0; ok_i < 7; ok_i++)
{
if (OK[ok_i] == false)
{
Debug.LogError("Sai mau: " + ok_i);
}
}
if (debug)
{
Imgproc.circle(rgbMat2, new Point(1851, 3172), 20, yellow.getColor(), 10);
Imgproc.circle(rgbMat2, new Point(1245, 2565), 20, yellow.getColor(), 10);
Imgproc.circle(rgbMat2, new Point(883, 2925), 20, red.getColor(), 10);
Imgproc.circle(rgbMat2, new Point(2100, 1709), 20, red.getColor(), 10);
Mat a = new Mat();
Imgproc.resize(rgbMat, a, new Size(maxWidth, maxHeight));
Utils.matToTexture2D(a, texture);
Imgproc.resize(hsvMat, a, new Size(maxWidth, maxHeight));
Utils.matToTexture2D(a, dbTxt1);
Imgproc.resize(rgbMat2, a, new Size(maxWidth, maxHeight));
Utils.matToTexture2D(a, dbTxt2);
}
for (int i = 0; i < blackShape.datas.Count; i++)
{
for (int j = 0; j < blackShape.datas[i].ps.Length; j++)
{
blackShape.datas[i].ps[j].x -= ofsetx;
blackShape.datas[i].ps[j].y -= ofsety;
}
}
var json = JsonUtility.ToJson(blackShape);
return(json);
}
private Mat findPaper(Mat mainMat)
{
Imgproc.cvtColor(grayMat, grayMat, Imgproc.COLOR_BGR2GRAY);
// blur image
Imgproc.GaussianBlur(grayMat, grayMat, new Size(5, 5), 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);
//thresholding make mage blake and white
Imgproc.threshold(grayMat, grayMat, 0, 255, Imgproc.THRESH_OTSU);
//extract the edge image
Imgproc.Canny(grayMat, grayMat, 50, 50);
//prepare for finding contours
List <MatOfPoint> contours = new List <MatOfPoint>();
Imgproc.findContours(grayMat, contours, new Mat(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
List <MatOfPoint> tmpTargets = new List <MatOfPoint>();
for (int i = 0; i < contours.Count; i++)
{
MatOfPoint cp = contours[i];
MatOfPoint2f cn = new MatOfPoint2f(cp.toArray());
double p = Imgproc.arcLength(cn, true);
MatOfPoint2f approx = new MatOfPoint2f();
// lager skew greater 0.03?
//convert contours to readable polyagon
Imgproc.approxPolyDP(cn, approx, 0.03 * p, true);
//find contours with 4 points
if (approx.toArray().Length == 4)
{
MatOfPoint approxPt = new MatOfPoint();
approx.convertTo(approxPt, CvType.CV_32S);
float maxCosine = 0;
float rate = 0;
float min_length = 100000000000000;
for (int j = 2; j < 5; j++)
{
Vector2 v1 = new Vector2((float)(approx.toArray()[j % 4].x - approx.toArray()[j - 1].x), (float)(approx.toArray()[j % 4].y - approx.toArray()[j - 1].y));
Vector2 v2 = new Vector2((float)(approx.toArray()[j - 2].x - approx.toArray()[j - 1].x), (float)(approx.toArray()[j - 2].y - approx.toArray()[j - 1].y));
float v1_length = Mathf.Sqrt(v1.x * v1.x + v1.y * v1.y);
float v2_length = Mathf.Sqrt(v2.x * v2.x + v2.y * v2.y);
min_length = Mathf.Min(Mathf.Min((float)(v1_length), (float)v2_length), min_length);
if (v1_length > v2_length)
{
rate = v2_length / v1_length;
}
else
{
rate = v1_length / v2_length;
}
float angle = Mathf.Abs(Vector2.Angle(v1, v2));
maxCosine = Mathf.Max(maxCosine, angle);
}
if (min_length > 100 && maxCosine < 135f)// && rate >= 0.6 maxCosine < 135f &&
{
tmpTargets.Add(approxPt);
//Debug.Log("Length -----------" + min_length);
//Debug.Log("------------rate" + rate + "---------------");
}
}
}
if (tmpTargets.Count > 0)
{
// -----------------------DRAW RECTANGLE---------------------------
//MatOfPoint2f approxCurve = new MatOfPoint2f();
//for (int i = 0; i < tmpTargets.Count; i++)
//{
// //Convert contours(i) from MatOfPoint to MatOfPoint2f
// MatOfPoint2f contour2f = new MatOfPoint2f(tmpTargets[i].toArray());
// //Processing on mMOP2f1 which is in type MatOfPoint2f
// double approxDistance = Imgproc.arcLength(contour2f, true) * 0.02;
// Imgproc.approxPolyDP(contour2f, approxCurve, approxDistance, true);
// //Convert back to MatOfPoint
// MatOfPoint points = new MatOfPoint(approxCurve.toArray());
// // Get bounding rect of contour
// OpenCVForUnity.Rect rect = Imgproc.boundingRect(points);
// // draw enclosing rectangle (all same color, but you could use variable i to make them unique)
// Imgproc.rectangle(mainMat, new Point(rect.x, rect.y), new Point(rect.x + rect.width, rect.y + rect.height), new Scalar(0, 130, 255), 3);
// Imgproc.rectangle(mainMat, new Point(rect.x, rect.y), new Point(rect.x + 5, rect.y + 5), new Scalar(0, 0, 255), 5);
// Imgproc.rectangle(mainMat, new Point(rect.x + rect.width, rect.y), new Point(rect.x + +rect.width + 5, rect.y + 5), new Scalar(0, 0, 255), 5);
// Imgproc.rectangle(mainMat, new Point(rect.x + rect.width, rect.y + rect.height), new Point(rect.x + +rect.width + 5, rect.y + rect.height + 5), new Scalar(0, 0, 255), 5);
// Imgproc.rectangle(mainMat, new Point(rect.x, rect.y + rect.height), new Point(rect.x + 5, rect.y + rect.height + 5), new Scalar(0, 0, 255), 5);
//}
// -----------------------DRAW RECTANGLE---------------------------
// get the first contours
int largestPaper = findLargestContour(tmpTargets);
//Debug.Log(largestPaper);
// using the largest one
paperCornerMatOfPoint = tmpTargets[largestPaper];
// draw boundary
Imgproc.line(mainMat, paperCornerMatOfPoint.toList()[0], paperCornerMatOfPoint.toList()[1], new Scalar(0, 255, 0), 3);
Imgproc.line(mainMat, paperCornerMatOfPoint.toList()[0], paperCornerMatOfPoint.toList()[3], new Scalar(0, 255, 0), 3);
Imgproc.line(mainMat, paperCornerMatOfPoint.toList()[2], paperCornerMatOfPoint.toList()[3], new Scalar(0, 255, 0), 3);
Imgproc.line(mainMat, paperCornerMatOfPoint.toList()[1], paperCornerMatOfPoint.toList()[2], new Scalar(0, 255, 0), 3);
// extract target from the frame and adjust some angle....
Mat srcPointsMat = Converters.vector_Point_to_Mat(paperCornerMatOfPoint.toList(), CvType.CV_32F);
List <Point> dstPoints = new List <Point>();
dstPoints.Add(new Point(0, 0));
dstPoints.Add(new Point(0, 300));
dstPoints.Add(new Point(200, 300));
dstPoints.Add(new Point(200, 0));
Mat dstPointsMat = Converters.vector_Point_to_Mat(dstPoints, CvType.CV_32F);
//Make perspective transform
Mat m = Imgproc.getPerspectiveTransform(srcPointsMat, dstPointsMat);
Mat warpedMat = new Mat(mainMat.size(), mainMat.type());
Imgproc.warpPerspective(mainMat, warpedMat, m, new Size(200, 300), Imgproc.INTER_LINEAR);
warpedMat.convertTo(warpedMat, CvType.CV_8UC3);
Texture2D finalTargetTextue = new Texture2D(warpedMat.width(), warpedMat.height(), TextureFormat.RGB24, false);
Utils.matToTexture2D(warpedMat, finalTargetTextue);
targetRawImage.texture = finalTargetTextue;
//Debug.Log(paperCornerMatOfPoint.toList()[0].ToString() + " " + paperCornerMatOfPoint.toList()[1].ToString()+ " " + paperCornerMatOfPoint.toList()[2].ToString()+ " " + paperCornerMatOfPoint.toList()[3].ToString());
}
//--------------------------------------------------------
return(mainMat);
}
private void HandPoseEstimationProcess(Mat rgbaMat)
{
//Imgproc.blur(mRgba, mRgba, new Size(5,5));
Imgproc.GaussianBlur(rgbaMat, rgbaMat, new Size(3, 3), 1, 1);
//Imgproc.medianBlur(mRgba, mRgba, 3);
if (!isColorSelected)
{
return;
}
List <MatOfPoint> contours = detector.GetContours();
detector.Process(rgbaMat);
//Debug.Log ("Contours count: " + contours.Count);
if (contours.Count <= 0)
{
return;
}
RotatedRect rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[0].toArray()));
double boundWidth = rect.size.width;
double boundHeight = rect.size.height;
int boundPos = 0;
for (int i = 1; i < contours.Count; i++)
{
rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[i].toArray()));
if (rect.size.width * rect.size.height > boundWidth * boundHeight)
{
boundWidth = rect.size.width;
boundHeight = rect.size.height;
boundPos = i;
}
}
MatOfPoint contour = contours[boundPos];
OpenCVForUnity.CoreModule.Rect boundRect = Imgproc.boundingRect(new MatOfPoint(contour.toArray()));
Imgproc.rectangle(rgbaMat, boundRect.tl(), boundRect.br(), CONTOUR_COLOR_WHITE, 2, 8, 0);
// Debug.Log (
// " Row start [" +
//(int)boundRect.tl ().y + "] row end [" +
// (int)boundRect.br ().y + "] Col start [" +
// (int)boundRect.tl ().x + "] Col end [" +
// (int)boundRect.br ().x + "]");
Point bottomLeft = new Point(boundRect.x, boundRect.y + boundRect.height);
Point topLeft = new Point(boundRect.x, boundRect.y);
Point bottomRight = new Point(boundRect.x + boundRect.width, boundRect.y + boundRect.height);
Point topRight = new Point(boundRect.x + boundRect.width, boundRect.y);
rectPoints = new MatOfPoint2f(new Point(boundRect.x, boundRect.y), //topleft
new Point(boundRect.x + boundRect.width, boundRect.y), //Top Right
new Point(boundRect.x + boundRect.width, boundRect.y + boundRect.height), //Bottom Right
new Point(boundRect.x, boundRect.y + boundRect.height) //Bottom Left
);
//double a = boundRect.br ().y - boundRect.tl ().y;
//a = a * 0.7;
//a = boundRect.tl ().y + a;
//Debug.Log (" A [" + a + "] br y - tl y = [" + (boundRect.br ().y - boundRect.tl ().y) + "]");
//Imgproc.rectangle (rgbaMat, boundRect.tl (), new Point (boundRect.br ().x, a), CONTOUR_COLOR, 2, 8, 0);
List <Point3> m_markerCorners3dList = new List <Point3>();
m_markerCorners3dList.Add(new Point3(-0.5f, -0.5f, 0)); //Top, Left (A)
m_markerCorners3dList.Add(new Point3(+0.5f, -0.5f, 0)); //Top, Right (B)
m_markerCorners3dList.Add(new Point3(+0.5f, +0.5f, 0)); //Bottom, Right (C)
m_markerCorners3dList.Add(new Point3(-0.5f, +0.5f, 0)); //Bottom, Left (D)
m_markerCorners3d.fromList(m_markerCorners3dList);
//estimate pose
Mat Rvec = new Mat();
Mat Tvec = new Mat();
Mat raux = new Mat();
Mat taux = new Mat();
Calib3d.solvePnP(m_markerCorners3d, rectPoints, camMatrix, distCoeff, raux, taux);
raux.convertTo(Rvec, CvType.CV_32F);
taux.convertTo(Tvec, CvType.CV_32F);
rotMat = new Mat(3, 3, CvType.CV_64FC1);
Calib3d.Rodrigues(Rvec, rotMat);
transformationM.SetRow(0, new Vector4((float)rotMat.get(0, 0)[0], (float)rotMat.get(0, 1)[0], (float)rotMat.get(0, 2)[0], (float)Tvec.get(0, 0)[0]));
transformationM.SetRow(1, new Vector4((float)rotMat.get(1, 0)[0], (float)rotMat.get(1, 1)[0], (float)rotMat.get(1, 2)[0], (float)Tvec.get(1, 0)[0]));
transformationM.SetRow(2, new Vector4((float)rotMat.get(2, 0)[0], (float)rotMat.get(2, 1)[0], (float)rotMat.get(2, 2)[0], (float)Tvec.get(2, 0)[0]));
transformationM.SetRow(3, new Vector4(0, 0, 0, 1));
//Debug.Log ("transformationM " + transformationM.ToString ());
Rvec.Dispose();
Tvec.Dispose();
raux.Dispose();
taux.Dispose();
rotMat.Dispose();
ARM = ARCamera.transform.localToWorldMatrix * invertYM * transformationM * invertZM;
//Debug.Log("arM " + ARM.ToString());
if (ARGameObject != null)
{
ARUtils.SetTransformFromMatrix(ARGameObject.transform, ref ARM);
if (deactivateCoroutine == null)
{
deactivateCoroutine = StartCoroutine(Wait(10.0f));
}
ARGameObject.SetActive(true);
}
//end pose estimation
MatOfPoint2f pointMat = new MatOfPoint2f();
Imgproc.approxPolyDP(new MatOfPoint2f(contour.toArray()), pointMat, 3, true);
contour = new MatOfPoint(pointMat.toArray());
MatOfInt hull = new MatOfInt();
MatOfInt4 convexDefect = new MatOfInt4();
Imgproc.convexHull(new MatOfPoint(contour.toArray()), hull);
if (hull.toArray().Length < 3)
{
return;
}
Imgproc.convexityDefects(new MatOfPoint(contour.toArray()), hull, convexDefect);
List <MatOfPoint> hullPoints = new List <MatOfPoint>();
List <Point> listPo = new List <Point>();
for (int j = 0; j < hull.toList().Count; j++)
{
listPo.Add(contour.toList()[hull.toList()[j]]);
}
MatOfPoint e = new MatOfPoint();
e.fromList(listPo);
hullPoints.Add(e);
List <Point> listPoDefect = new List <Point>();
if (convexDefect.rows() > 0)
{
List <int> convexDefectList = convexDefect.toList();
List <Point> contourList = contour.toList();
for (int j = 0; j < convexDefectList.Count; j = j + 4)
{
Point farPoint = contourList[convexDefectList[j + 2]];
int depth = convexDefectList[j + 3];
//if (depth > threasholdSlider.value && farPoint.y < a)
//{
// listPoDefect.Add(contourList[convexDefectList[j + 2]]);
//}
//Debug.Log ("convexDefectList [" + j + "] " + convexDefectList [j + 3]);
}
}
Debug.Log("hull: " + hull.toList());
if (convexDefect.rows() > 0)
{
Debug.Log("defects: " + convexDefect.toList());
}
//use these contours to do heart detection
Imgproc.drawContours(rgbaMat, hullPoints, -1, CONTOUR_COLOR, 3);
int defectsTotal = (int)convexDefect.total();
Debug.Log("Defect total " + defectsTotal);
this.numberOfFingers = listPoDefect.Count;
if (this.numberOfFingers > 5)
{
this.numberOfFingers = 5;
}
Debug.Log("numberOfFingers " + numberOfFingers);
Imgproc.putText(rgbaMat, "" + numberOfFingers, new Point(rgbaMat.cols() / 2, rgbaMat.rows() / 2), Imgproc.FONT_HERSHEY_PLAIN, 4.0, new Scalar(255, 255, 255, 255), 6, Imgproc.LINE_AA, false);
numberOfFingersText.text = numberOfFingers.ToString();
foreach (Point p in listPoDefect)
{
Imgproc.circle(rgbaMat, p, 6, new Scalar(255, 0, 255, 255), -1);
}
}
