public static Mat vector_RotatedRect_to_Mat(List <RotatedRect> rs)
{
Mat res;
int count = (rs != null) ? rs.Count : 0;
if (count > 0)
{
res = new Mat(count, 1, CvType.CV_32FC(5));
float[] buff = new float[5 * count];
for (int i = 0; i < count; i++)
{
RotatedRect r = rs[i];
buff[5 * i] = (float)r.center.x;
buff[5 * i + 1] = (float)r.center.y;
buff[5 * i + 2] = (float)r.size.width;
buff[5 * i + 3] = (float)r.size.height;
buff[5 * i + 4] = (float)r.angle;
}
res.put(0, 0, buff);
}
else
{
res = new Mat();
}
return(res);
}
public EmsacExpansion(EmsacSoundInfo info)
{
Version = info.Version;
Transformation = info.Transformation;
ChannelCount = info.ChannelCount;
SubbandDegree = info.SubbandDegree;
LappedDegree = info.LappedDegree;
}
protected string ToStringHighDimsMat(Mat mat)
{
string size = "";
for (int i = 0; i < mat.dims(); ++i)
{
size += mat.size(i) + "*";
}
return("Mat [ " + size + CvType.typeToString(mat.type()) + ", isCont=" + mat.isContinuous() + ", isSubmat=" + mat.isSubmatrix()
+ ", nativeObj=" + mat.nativeObj + ", dataAddr=" + mat.dataAddr() + " ]");
}
void CalcImageSizeInBlocks (CvType fdwTransformation)
{
m_info.Transformation = fdwTransformation;
m_nWidthBlocks = (((int)m_info.Width + m_nBlockSize * 2 - 1) >> (m_info.BlockingDegree + 1));
m_nHeightBlocks = ((int)m_info.Height + m_nBlockSize * 2 - 1) >> (m_info.BlockingDegree + 1);
if (CvType.LOT_ERI == fdwTransformation)
{
++m_nWidthBlocks;
++m_nHeightBlocks;
}
}
/// <summary>
/// Initializes this instance by coroutine.
/// </summary>
protected override IEnumerator _Initialize()
{
if (hasInitDone)
{
StartCoroutine(_Stop());
while (isChangeVideoModeWaiting)
{
yield return(null);
}
ReleaseResources();
if (onDisposed != null)
{
onDisposed.Invoke();
}
}
isInitWaiting = true;
while (isChangeVideoModeWaiting)
{
yield return(null);
}
isChangeVideoModeWaiting = true;
if (videoCapture != null)
{
videoCapture.StopVideoModeAsync(result1 =>
{
cameraParams = CreateCameraParams(videoCapture);
videoCapture.StartVideoModeAsync(cameraParams, result2 =>
{
if (!result2.success)
{
isChangeVideoModeWaiting = false;
isInitWaiting = false;
CancelInitCoroutine();
if (onErrorOccurred != null)
{
onErrorOccurred.Invoke(ErrorCode.UNKNOWN);
}
}
else
{
isChangeVideoModeWaiting = false;
}
});
});
}
else
{
//Fetch a pointer to Unity's spatial coordinate system if you need pixel mapping
#if UNITY_2017_2_OR_NEWER
spatialCoordinateSystemPtr = UnityEngine.XR.WSA.WorldManager.GetNativeISpatialCoordinateSystemPtr();
#else
spatialCoordinateSystemPtr = UnityEngine.VR.WSA.WorldManager.GetNativeISpatialCoordinateSystemPtr();
#endif
HoloLensCameraStream.VideoCapture.CreateAync(videoCapture =>
{
if (initCoroutine == null)
{
return;
}
if (videoCapture == null)
{
Debug.LogError("Did not find a video capture object. You may not be using the HoloLens.");
isChangeVideoModeWaiting = false;
isInitWaiting = false;
CancelInitCoroutine();
if (onErrorOccurred != null)
{
onErrorOccurred.Invoke(ErrorCode.CAMERA_DEVICE_NOT_EXIST);
}
return;
}
this.videoCapture = videoCapture;
//Request the spatial coordinate ptr if you want fetch the camera and set it if you need to
videoCapture.WorldOriginPtr = spatialCoordinateSystemPtr;
cameraParams = CreateCameraParams(videoCapture);
videoCapture.FrameSampleAcquired -= OnFrameSampleAcquired;
videoCapture.FrameSampleAcquired += OnFrameSampleAcquired;
videoCapture.StartVideoModeAsync(cameraParams, result =>
{
if (!result.success)
{
isChangeVideoModeWaiting = false;
isInitWaiting = false;
CancelInitCoroutine();
if (onErrorOccurred != null)
{
onErrorOccurred.Invoke(ErrorCode.UNKNOWN);
}
}
else
{
isChangeVideoModeWaiting = false;
}
});
});
}
int initFrameCount = 0;
bool isTimeout = false;
while (true)
{
if (initFrameCount > _timeoutFrameCount)
{
isTimeout = true;
break;
}
else if (didUpdateThisFrame)
{
Debug.Log("HololensCameraStreamToMatHelper:: " + "name:" + "" + " width:" + cameraParams.cameraResolutionWidth + " height:" + cameraParams.cameraResolutionHeight + " fps:" + cameraParams.frameRate);
baseColorFormat = (outputColorFormat == ColorFormat.GRAY) ? ColorFormat.GRAY : ColorFormat.BGRA;
baseMat = new Mat(cameraParams.cameraResolutionHeight, cameraParams.cameraResolutionWidth, CvType.CV_8UC(Channels(baseColorFormat)));
if (baseColorFormat == outputColorFormat)
{
frameMat = baseMat;
}
else
{
frameMat = new Mat(baseMat.rows(), baseMat.cols(), CvType.CV_8UC(Channels(outputColorFormat)));
}
if (_rotate90Degree)
{
rotatedFrameMat = new Mat(frameMat.cols(), frameMat.rows(), CvType.CV_8UC(Channels(outputColorFormat)));
}
isInitWaiting = false;
hasInitDone = true;
initCoroutine = null;
if (onInitialized != null)
{
onInitialized.Invoke();
}
hasInitEventCompleted = true;
break;
}
else
{
initFrameCount++;
yield return(null);
}
}
if (isTimeout)
{
if (videoCapture != null)
{
videoCapture.FrameSampleAcquired -= OnFrameSampleAcquired;
isChangeVideoModeWaiting = true;
videoCapture.StopVideoModeAsync(result =>
{
videoCapture.Dispose();
videoCapture = null;
isChangeVideoModeWaiting = false;
});
isInitWaiting = false;
initCoroutine = null;
if (onErrorOccurred != null)
{
onErrorOccurred.Invoke(ErrorCode.TIMEOUT);
}
}
else
{
isInitWaiting = false;
initCoroutine = null;
if (onErrorOccurred != null)
{
onErrorOccurred.Invoke(ErrorCode.TIMEOUT);
}
}
}
}
protected virtual void OnFrameSampleAcquired(VideoCaptureSample sample)
{
lock (latestImageBytesLockObject)
{
//When copying the bytes out of the buffer, you must supply a byte[] that is appropriately sized.
//You can reuse this byte[] until you need to resize it (for whatever reason).
if (_latestImageBytes == null || _latestImageBytes.Length < sample.dataLength)
{
_latestImageBytes = new byte[sample.dataLength];
}
sample.CopyRawImageDataIntoBuffer(_latestImageBytes);
}
float[] cameraToWorldMatrixAsFloat;
if (sample.TryGetCameraToWorldMatrix(out cameraToWorldMatrixAsFloat) == false)
{
sample.Dispose();
return;
}
float[] projectionMatrixAsFloat;
if (sample.TryGetProjectionMatrix(out projectionMatrixAsFloat) == false)
{
sample.Dispose();
return;
}
// Right now we pass things across the pipe as a float array then convert them back into UnityEngine.Matrix using a utility method
projectionMatrix = LocatableCameraUtils.ConvertFloatArrayToMatrix4x4(projectionMatrixAsFloat);
cameraToWorldMatrix = LocatableCameraUtils.ConvertFloatArrayToMatrix4x4(cameraToWorldMatrixAsFloat);
cameraIntrinsics = sample.cameraIntrinsics;
sample.Dispose();
didUpdateThisFrame = true;
didUpdateImageBufferInCurrentFrame = true;
if (hasInitEventCompleted && frameMatAcquired != null)
{
Mat mat = new Mat(cameraParams.cameraResolutionHeight, cameraParams.cameraResolutionWidth, CvType.CV_8UC(Channels(outputColorFormat)));
if (baseColorFormat == outputColorFormat)
{
MatUtils.copyToMat <byte>(latestImageBytes, mat);
}
else
{
Mat baseMat = new Mat(cameraParams.cameraResolutionHeight, cameraParams.cameraResolutionWidth, CvType.CV_8UC(Channels(baseColorFormat)));
MatUtils.copyToMat <byte>(latestImageBytes, baseMat);
Imgproc.cvtColor(baseMat, mat, ColorConversionCodes(baseColorFormat, outputColorFormat));
}
if (_rotate90Degree)
{
Mat rotatedFrameMat = new Mat(cameraParams.cameraResolutionWidth, cameraParams.cameraResolutionHeight, CvType.CV_8UC(Channels(outputColorFormat)));
Core.rotate(mat, rotatedFrameMat, Core.ROTATE_90_CLOCKWISE);
mat.Dispose();
FlipMat(rotatedFrameMat, _flipVertical, _flipHorizontal);
frameMatAcquired.Invoke(rotatedFrameMat, projectionMatrix, cameraToWorldMatrix, cameraIntrinsics);
}
else
{
FlipMat(mat, _flipVertical, _flipHorizontal);
frameMatAcquired.Invoke(mat, projectionMatrix, cameraToWorldMatrix, cameraIntrinsics);
}
}
}
/// <summary>
/// Initializes this instance by coroutine.
/// </summary>
protected virtual IEnumerator _Initialize()
{
if (hasInitDone)
{
ReleaseResources();
if (onDisposed != null)
{
onDisposed.Invoke();
}
}
isInitWaiting = true;
#if (UNITY_IOS || UNITY_ANDROID) && !UNITY_EDITOR
// Checks camera permission state.
IEnumerator coroutine = hasUserAuthorizedCameraPermission();
yield return(coroutine);
if (!(bool)coroutine.Current)
{
isInitWaiting = false;
initCoroutine = null;
if (onErrorOccurred != null)
{
onErrorOccurred.Invoke(ErrorCode.CAMERA_PERMISSION_DENIED);
}
yield break;
}
#endif
float requestedFPS = this.requestedFPS;
// Creates the camera
var devices = WebCamTexture.devices;
if (!String.IsNullOrEmpty(requestedDeviceName))
{
int requestedDeviceIndex = -1;
if (Int32.TryParse(requestedDeviceName, out requestedDeviceIndex))
{
if (requestedDeviceIndex >= 0 && requestedDeviceIndex < devices.Length)
{
webCamDevice = devices[requestedDeviceIndex];
if (avoidAndroidFrontCameraLowLightIssue && webCamDevice.isFrontFacing == true)
{
requestedFPS = 15f;
}
if (requestedFPS < 0)
{
webCamTexture = new WebCamTexture(webCamDevice.name, requestedWidth, requestedHeight);
}
else
{
webCamTexture = new WebCamTexture(webCamDevice.name, requestedWidth, requestedHeight, (int)requestedFPS);
}
}
}
else
{
for (int cameraIndex = 0; cameraIndex < devices.Length; cameraIndex++)
{
if (devices[cameraIndex].name == requestedDeviceName)
{
webCamDevice = devices[cameraIndex];
if (avoidAndroidFrontCameraLowLightIssue && webCamDevice.isFrontFacing == true)
{
requestedFPS = 15f;
}
if (requestedFPS < 0)
{
webCamTexture = new WebCamTexture(webCamDevice.name, requestedWidth, requestedHeight);
}
else
{
webCamTexture = new WebCamTexture(webCamDevice.name, requestedWidth, requestedHeight, (int)requestedFPS);
}
break;
}
}
}
if (webCamTexture == null)
{
Debug.Log("Cannot find camera device " + requestedDeviceName + ".");
}
}
if (webCamTexture == null)
{
// Checks how many and which cameras are available on the device
for (int cameraIndex = 0; cameraIndex < devices.Length; cameraIndex++)
{
#if UNITY_2018_3_OR_NEWER
if (devices[cameraIndex].kind != WebCamKind.ColorAndDepth && devices[cameraIndex].isFrontFacing == requestedIsFrontFacing)
#else
if (devices[cameraIndex].isFrontFacing == requestedIsFrontFacing)
#endif
{
webCamDevice = devices[cameraIndex];
if (avoidAndroidFrontCameraLowLightIssue && webCamDevice.isFrontFacing == true)
{
requestedFPS = 15f;
}
if (requestedFPS < 0)
{
webCamTexture = new WebCamTexture(webCamDevice.name, requestedWidth, requestedHeight);
}
else
{
webCamTexture = new WebCamTexture(webCamDevice.name, requestedWidth, requestedHeight, (int)requestedFPS);
}
break;
}
}
}
if (webCamTexture == null)
{
if (devices.Length > 0)
{
webCamDevice = devices[0];
if (avoidAndroidFrontCameraLowLightIssue && webCamDevice.isFrontFacing == true)
{
requestedFPS = 15f;
}
if (requestedFPS < 0)
{
webCamTexture = new WebCamTexture(webCamDevice.name, requestedWidth, requestedHeight);
}
else
{
webCamTexture = new WebCamTexture(webCamDevice.name, requestedWidth, requestedHeight, (int)requestedFPS);
}
}
else
{
isInitWaiting = false;
initCoroutine = null;
if (onErrorOccurred != null)
{
onErrorOccurred.Invoke(ErrorCode.CAMERA_DEVICE_NOT_EXIST);
}
yield break;
}
}
// Starts the camera
webCamTexture.Play();
int initFrameCount = 0;
bool isTimeout = false;
while (true)
{
if (initFrameCount > timeoutFrameCount)
{
isTimeout = true;
break;
}
else if (webCamTexture.didUpdateThisFrame)
{
Debug.Log("WebCamTextureToMatHelper:: " + "devicename:" + webCamTexture.deviceName + " name:" + webCamTexture.name + " width:" + webCamTexture.width + " height:" + webCamTexture.height + " fps:" + webCamTexture.requestedFPS
+ " videoRotationAngle:" + webCamTexture.videoRotationAngle + " videoVerticallyMirrored:" + webCamTexture.videoVerticallyMirrored + " isFrongFacing:" + webCamDevice.isFrontFacing);
if (colors == null || colors.Length != webCamTexture.width * webCamTexture.height)
{
colors = new Color32[webCamTexture.width * webCamTexture.height];
}
baseMat = new Mat(webCamTexture.height, webCamTexture.width, CvType.CV_8UC4);
if (baseColorFormat == outputColorFormat)
{
frameMat = baseMat;
}
else
{
frameMat = new Mat(baseMat.rows(), baseMat.cols(), CvType.CV_8UC(Channels(outputColorFormat)));
}
screenOrientation = Screen.orientation;
screenWidth = Screen.width;
screenHeight = Screen.height;
bool isRotatedFrame = false;
#if !UNITY_EDITOR && !(UNITY_STANDALONE || UNITY_WEBGL)
if (screenOrientation == ScreenOrientation.Portrait || screenOrientation == ScreenOrientation.PortraitUpsideDown)
{
if (!rotate90Degree)
{
isRotatedFrame = true;
}
}
else if (rotate90Degree)
{
isRotatedFrame = true;
}
#else
if (rotate90Degree)
{
isRotatedFrame = true;
}
#endif
if (isRotatedFrame)
{
rotatedFrameMat = new Mat(frameMat.cols(), frameMat.rows(), CvType.CV_8UC(Channels(outputColorFormat)));
}
isInitWaiting = false;
hasInitDone = true;
initCoroutine = null;
if (onInitialized != null)
{
onInitialized.Invoke();
}
break;
}
else
{
initFrameCount++;
yield return(null);
}
}
if (isTimeout)
{
webCamTexture.Stop();
webCamTexture = null;
isInitWaiting = false;
initCoroutine = null;
if (onErrorOccurred != null)
{
onErrorOccurred.Invoke(ErrorCode.TIMEOUT);
}
}
}
// Update is called once per frame
protected virtual void Update()
{
if (hasInitDone)
{
// Catch the orientation change of the screen and correct the mat image to the correct direction.
if (screenOrientation != Screen.orientation && (screenWidth != Screen.width || screenHeight != Screen.height))
{
if (onDisposed != null)
{
onDisposed.Invoke();
}
if (frameMat != null)
{
frameMat.Dispose();
frameMat = null;
}
if (baseMat != null)
{
baseMat.Dispose();
baseMat = null;
}
if (rotatedFrameMat != null)
{
rotatedFrameMat.Dispose();
rotatedFrameMat = null;
}
baseMat = new Mat(webCamTexture.height, webCamTexture.width, CvType.CV_8UC4, new Scalar(0, 0, 0, 255));
if (baseColorFormat == outputColorFormat)
{
frameMat = baseMat;
}
else
{
frameMat = new Mat(baseMat.rows(), baseMat.cols(), CvType.CV_8UC(Channels(outputColorFormat)));
}
screenOrientation = Screen.orientation;
screenWidth = Screen.width;
screenHeight = Screen.height;
bool isRotatedFrame = false;
#if !UNITY_EDITOR && !(UNITY_STANDALONE || UNITY_WEBGL)
if (screenOrientation == ScreenOrientation.Portrait || screenOrientation == ScreenOrientation.PortraitUpsideDown)
{
if (!rotate90Degree)
{
isRotatedFrame = true;
}
}
else if (rotate90Degree)
{
isRotatedFrame = true;
}
#else
if (rotate90Degree)
{
isRotatedFrame = true;
}
#endif
if (isRotatedFrame)
{
rotatedFrameMat = new Mat(frameMat.cols(), frameMat.rows(), CvType.CV_8UC(Channels(outputColorFormat)), new Scalar(0, 0, 0, 255));
}
if (onInitialized != null)
{
onInitialized.Invoke();
}
}
else
{
screenWidth = Screen.width;
screenHeight = Screen.height;
}
}
}
