/// <summary>
/// use 1920x1080
/// </summary>
/// <param name="curr_img"></param>
/// <returns></returns>
public float GetSpeed(Mat curr_img)
{
Point2f[] curr_feature_pts = new Point2f[100];
byte[] status;
float[] err;
Cv2.PyrDown(curr_img, curr_img_resize, curr_img_resize.Size());
var feature_mask = NMS(hog.Detect(curr_img_resize), 0.8f);
if (feature_mask == Rect.Empty)
{
return(-1.0f);
}
feature_mask = new Rect(feature_mask.X - (feature_mask.Width / 2), feature_mask.Y - (feature_mask.Height / 2), feature_mask.Width, feature_mask.Height);
Cv2.CalcOpticalFlowPyrLK(prev_img, curr_img_resize, FeaturePoints, ref curr_feature_pts, out status, out err);
var speed = CalcSpeed(FeaturePoints, curr_feature_pts, feature_mask, status, err, between_frame);
var acc = Math.Abs(speed - prev_speed);
FeaturePoints = curr_feature_pts;
curr_img_resize.CopyTo(prev_img);
DetectedRect = feature_mask;
//var result = anomaly.DataRecorded(speed, 0.03f * 1);
//Trace.WriteLine(msg); // test
var estimation = new SpeedEstimation();
estimation.speed = speed;
estimation.accelation = acc;
estimation.result = 1;
prev_speed = speed;
return(estimation.speed);
}
void opticalFlow()
{
InputOutputArray feature_next = new Mat();
OutputArray status = new Mat();
OutputArray err = new Mat();
Point2f good_prev;
Point2f good_next;
for (int i = 0; i < 2; i++)
{
//歪み補正を追加?
grayNext[i] = leapUVC.LeftRightFrame[i].Clone();
Cv2.CvtColor(grayNext[i], colorFrame[i], ColorConversionCodes.GRAY2BGR);
//左カメラ
if (i == 0)
{
//オプティカルフロー検出
Mat feature_prev = new Mat(1, feature_prev_l.Length, MatType.CV_32FC2, feature_prev_l);
feature_prev = feature_prev.T();
//Debug.Log(feature_prev.Size());
Cv2.CalcOpticalFlowPyrLK(grayPrev[i], grayNext[i], feature_prev, feature_next, status, err, winSize, maxLevel, criteria);
//Mat st = status.GetMat();
}
else
{
Mat feature_prev = new Mat(1, feature_prev_r.Length, MatType.CV_32FC2, feature_prev_r);
feature_prev = feature_prev.T();
Cv2.CalcOpticalFlowPyrLK(grayPrev[i], grayNext[i], feature_prev, feature_next, status, err, winSize, maxLevel, criteria);
}
Mat feature_nextMat = feature_next.GetMat();
for (int j = 0; j < feature_nextMat.Height; j++)
{
Debug.Log(j);
}
}
}