// Update is called once per frame
void Update()
{
//MOVEMENT INPUT
Vector3 moveInput = new Vector3(Input.GetAxisRaw("Horizontal"), 0, Input.GetAxisRaw("Vertical"));
Vector3 moveVelocity = moveInput.normalized * mvtSpeed;
controller.Move(moveVelocity);
//LOOK INPUT
Ray ray = view.ScreenPointToRay(Input.mousePosition);
Plane groundPlane = new Plane(Vector3.up, Vector3.zero);
float rayDist;
if (groundPlane.Raycast(ray, out rayDist))
{
Vector3 intersect = ray.GetPoint(rayDist);
//Debug.DrawLine(ray.origin, intersect, Color.red);
controller.LookAt(intersect);
}
//WEAPON INPUT
if (Input.GetMouseButton(0))
{
canonController.Shoot();
}
}
// Update is called once per frame
void Update()
{
imageOrig = webCam.QueryFrame();
if (imageOrig != null)
{
imageGray = new Mat();
imageHSV = new Mat();
Mat imageAverage = new Mat();
Mat imageMedian = new Mat();
Mat imageGaussian = new Mat();
Mat imageBilateral = new Mat();
imageResult = new Mat();
CvInvoke.Flip(imageOrig, imageOrig, FlipType.Horizontal);
CvInvoke.Resize(imageOrig, imageOrig, new Size(imSize, imSize * webCam.Height / webCam.Width));
CvInvoke.CvtColor(imageOrig, imageGray, ColorConversion.Bgr2Gray);
CvInvoke.CvtColor(imageOrig, imageHSV, ColorConversion.Bgr2Hsv);
// Draw Original Image
//CvInvoke.Imshow(imNameOrig, imageOrig);
// Draw Original Image
CvInvoke.Imshow(imNameColor, imageHSV);
Mat filteredImg = new Mat();
//CvInvoke.BilateralFilter( imageHSV, filteredImg, 3, 75, 75 );
//CvInvoke.GaussianBlur( imageHSV, filteredImg, new Size(7,7), 0 );
CvInvoke.MedianBlur(imageHSV, filteredImg, 7);
Image <Hsv, System.Byte> rangeImg = filteredImg.ToImage <Hsv, System.Byte>();
// Yellow 40-70; 0-255; 0-255
Hsv bottomHsv = new Hsv(18, 127, 127); // 0-179, 0-255, 0-255
Hsv topHsv = new Hsv(35, 240, 240);
if (detectColorBlue)
{
// BLue 230-180; 0-255; 0-255
bottomHsv = new Hsv(80, 70, 70); // 0-179, 0-255, 0-255
topHsv = new Hsv(120, 250, 250);
}
//rangeImg.Data[0,0,0];
Mat imagBW = rangeImg.InRange(bottomHsv, topHsv).Mat;
int elementSize = 5;
Mat structureElement = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(elementSize, elementSize), new Point(-1, -1));
CvInvoke.Erode(imagBW, imagBW, structureElement, new Point(-1, -1), 1, BorderType.Constant, new MCvScalar(0));
CvInvoke.Dilate(imagBW, imagBW, structureElement, new Point(-1, -1), 1, BorderType.Constant, new MCvScalar(0));
// Contours
VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint();
int biggestContourIndex = -1;
double biggestContourArea = -1;
Mat hierarchy = new Mat();
CvInvoke.FindContours(imagBW, contours, hierarchy, RetrType.List, ChainApproxMethod.ChainApproxNone);
if (contours.Size > 0)
{
biggestContourIndex = 0;
biggestContourArea = CvInvoke.ContourArea(contours[biggestContourIndex]);
}
for (int i = 1; i < contours.Size; i++)
{
double currentArea = CvInvoke.ContourArea(contours[i]);
if (currentArea > biggestContourArea)
{
biggestContourIndex = i;
biggestContourArea = currentArea;
}
}
if (contours.Size > 0)
{
VectorOfPoint biggestContour = contours[biggestContourIndex];
CvInvoke.DrawContours(imageOrig, contours, biggestContourIndex, new MCvScalar(255, 0, 0), 5);
if (previousBiggestContourArea > 0) // Object entering
{
if (biggestContourArea > previousBiggestContourArea * 1.6)
{
// Going Foward
//Debug.Log( "Front" );
if (canon)
{
canon.Shoot();
}
}
else if (biggestContourArea * 1.6 < previousBiggestContourArea)
{
// Going backward
//Debug.Log( "Back" );
}
}
previousBiggestContourArea = biggestContourArea;
//* Centroid
MCvMoments moment = CvInvoke.Moments(contours[biggestContourIndex]);
int cx = (int)(moment.M10 / moment.M00);
int cy = (int)(moment.M01 / moment.M00);
imageOrig = drawPoint(imageOrig, cx, cy, 5);
if (canon)
{
canon.setHorizontalPosition(cx / (float)imSize);
}
//*/
//* Top Point
Point top = biggestContour[0];
for (int i = 1; i < biggestContour.Size; i++)
{
Point p = biggestContour[i];
if (top.Y > p.Y)
{
top = p;
}
}
if (canon)
{
canon.setVerticalPosition(((float)imageOrig.SizeOfDimemsion[0] - top.Y) / (float)imageOrig.SizeOfDimemsion[0]);
}
imageOrig = drawPoint(imageOrig, top.X, top.Y, 5, 255, 0, 0);
//*/
}
else
{
// Object leaving
previousBiggestContourArea = -1;
}
CvInvoke.Imshow("BW", imagBW);
CvInvoke.Imshow(imNameOrig, imageOrig);
// Filtering
/*CvInvoke.Blur( imageHSV, imageAverage, new Size(5,5), new Point(-1,-1) );
* CvInvoke.Imshow("Average", imageAverage);
* CvInvoke.MedianBlur( imageHSV, imageMedian, 5 );
* CvInvoke.Imshow("Median", imageMedian);
* CvInvoke.GaussianBlur( imageHSV, imageGaussian, new Size(5,5), 0 );
* CvInvoke.Imshow("Gaussian", imageGaussian);
* CvInvoke.BilateralFilter( imageHSV, imageBilateral, 3, 75, 75 );
* CvInvoke.Imshow("Bilateral", imageBilateral);*/
//CvInvoke.Imshow(imNameResult, imageResult);
// Storing
writer.Write(imageOrig);
}
else
{
webCam = new VideoCapture(imAddress);
}
if (Input.GetKeyDown(KeyCode.Escape))
{
Application.Quit();
}
}
