496 lines
20 KiB
C#
496 lines
20 KiB
C#
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using UnityEngine;
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using UnityEngine.EventSystems;
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using UnityEngine.SceneManagement;
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using UnityEngine.UI;
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using System.Collections;
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using System.Collections.Generic;
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using OpenCVForUnity.CoreModule;
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using OpenCVForUnity.ImgprocModule;
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using OpenCVForUnity.UnityUtils.Helper;
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using OpenCVForUnity.UnityUtils;
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namespace OpenCVForUnityExample
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{
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/// <summary>
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/// Hand Pose Estimation Example
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/// Referring to https://www.youtube.com/watch?v=KuGpOxOcpds.
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/// </summary>
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[RequireComponent (typeof(WebCamTextureToMatHelper))]
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public class HandPoseEstimationExample : MonoBehaviour
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{
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/// <summary>
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/// The number of fingers text.
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/// </summary>
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public UnityEngine.UI.Text numberOfFingersText;
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/// <summary>
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/// The threashold slider.
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/// </summary>
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public Slider threasholdSlider;
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/// <summary>
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/// The texture.
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/// </summary>
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Texture2D texture;
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/// <summary>
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/// The BLOB color hsv.
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/// </summary>
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Scalar blobColorHsv;
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///// <summary>
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///// The BLOB color rgba.
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///// </summary>
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//Scalar blobColorRgba;
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/// <summary>
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/// The detector.
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/// </summary>
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ColorBlobDetector detector;
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/// <summary>
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/// The spectrum mat.
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/// </summary>
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Mat spectrumMat;
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/// <summary>
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/// Indicates whether is color selected.
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/// </summary>
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bool isColorSelected = false;
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/// <summary>
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/// The spectrum size.
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/// </summary>
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Size SPECTRUM_SIZE;
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/// <summary>
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/// The contour color.
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/// </summary>
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Scalar CONTOUR_COLOR;
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/// <summary>
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/// The contour color white.
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/// </summary>
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Scalar CONTOUR_COLOR_WHITE;
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/// <summary>
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/// The number of fingers.
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/// </summary>
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int numberOfFingers = 0;
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/// <summary>
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/// The webcam texture to mat helper.
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/// </summary>
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WebCamTextureToMatHelper webCamTextureToMatHelper;
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/// <summary>
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/// The stored touch point.
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/// </summary>
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Point storedTouchPoint;
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/// <summary>
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/// The FPS monitor.
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/// </summary>
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FpsMonitor fpsMonitor;
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// Use this for initialization
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void Start ()
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{
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fpsMonitor = GetComponent<FpsMonitor> ();
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webCamTextureToMatHelper = gameObject.GetComponent<WebCamTextureToMatHelper> ();
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#if UNITY_ANDROID && !UNITY_EDITOR
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// Avoids the front camera low light issue that occurs in only some Android devices (e.g. Google Pixel, Pixel2).
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webCamTextureToMatHelper.avoidAndroidFrontCameraLowLightIssue = true;
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#endif
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webCamTextureToMatHelper.Initialize ();
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}
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/// <summary>
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/// Raises the web cam texture to mat helper initialized event.
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/// </summary>
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public void OnWebCamTextureToMatHelperInitialized ()
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{
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Debug.Log ("OnWebCamTextureToMatHelperInitialized");
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Mat webCamTextureMat = webCamTextureToMatHelper.GetMat ();
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texture = new Texture2D (webCamTextureMat.cols (), webCamTextureMat.rows (), TextureFormat.RGBA32, false);
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gameObject.GetComponent<Renderer> ().material.mainTexture = texture;
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gameObject.transform.localScale = new Vector3 (webCamTextureMat.cols (), webCamTextureMat.rows (), 1);
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Debug.Log ("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
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if (fpsMonitor != null) {
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fpsMonitor.Add ("width", webCamTextureMat.width ().ToString ());
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fpsMonitor.Add ("height", webCamTextureMat.height ().ToString ());
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fpsMonitor.Add ("orientation", Screen.orientation.ToString ());
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fpsMonitor.consoleText = "Please touch the area of the open hand.";
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}
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float width = webCamTextureMat.width ();
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float height = webCamTextureMat.height ();
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float widthScale = (float)Screen.width / width;
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float heightScale = (float)Screen.height / height;
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if (widthScale < heightScale) {
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Camera.main.orthographicSize = (width * (float)Screen.height / (float)Screen.width) / 2;
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} else {
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Camera.main.orthographicSize = height / 2;
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}
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detector = new ColorBlobDetector ();
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spectrumMat = new Mat ();
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//blobColorRgba = new Scalar (255);
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blobColorHsv = new Scalar (255);
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SPECTRUM_SIZE = new Size (200, 64);
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CONTOUR_COLOR = new Scalar (255, 0, 0, 255);
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CONTOUR_COLOR_WHITE = new Scalar (255, 255, 255, 255);
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}
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/// <summary>
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/// Raises the web cam texture to mat helper disposed event.
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/// </summary>
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public void OnWebCamTextureToMatHelperDisposed ()
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{
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Debug.Log ("OnWebCamTextureToMatHelperDisposed");
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if (spectrumMat != null) {
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spectrumMat.Dispose ();
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spectrumMat = null;
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}
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if (texture != null) {
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Texture2D.Destroy (texture);
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texture = null;
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}
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}
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/// <summary>
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/// Raises the web cam texture to mat helper error occurred event.
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/// </summary>
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/// <param name="errorCode">Error code.</param>
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public void OnWebCamTextureToMatHelperErrorOccurred (WebCamTextureToMatHelper.ErrorCode errorCode)
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{
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Debug.Log ("OnWebCamTextureToMatHelperErrorOccurred " + errorCode);
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}
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// Update is called once per frame
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void Update ()
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{
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#if ((UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR)
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//Touch
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int touchCount = Input.touchCount;
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if (touchCount == 1)
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{
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Touch t = Input.GetTouch (0);
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if(t.phase == TouchPhase.Ended && !EventSystem.current.IsPointerOverGameObject (t.fingerId)) {
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storedTouchPoint = new Point (t.position.x, t.position.y);
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//Debug.Log ("touch X " + t.position.x);
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//Debug.Log ("touch Y " + t.position.y);
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}
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}
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#else
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//Mouse
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if (Input.GetMouseButtonUp (0) && !EventSystem.current.IsPointerOverGameObject ()) {
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storedTouchPoint = new Point (Input.mousePosition.x, Input.mousePosition.y);
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//Debug.Log ("mouse X " + Input.mousePosition.x);
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//Debug.Log ("mouse Y " + Input.mousePosition.y);
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}
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#endif
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if (webCamTextureToMatHelper.IsPlaying () && webCamTextureToMatHelper.DidUpdateThisFrame ()) {
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Mat rgbaMat = webCamTextureToMatHelper.GetMat ();
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if (storedTouchPoint != null) {
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ConvertScreenPointToTexturePoint (storedTouchPoint, storedTouchPoint, gameObject, rgbaMat.cols (), rgbaMat.rows ());
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OnTouch (rgbaMat, storedTouchPoint);
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storedTouchPoint = null;
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}
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HandPoseEstimationProcess (rgbaMat);
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// Imgproc.putText (rgbaMat, "Please touch the area of the open hand.", new Point (5, rgbaMat.rows () - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
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Utils.fastMatToTexture2D (rgbaMat, texture);
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}
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}
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private void HandPoseEstimationProcess (Mat rgbaMat)
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{
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//Imgproc.blur(mRgba, mRgba, new Size(5,5));
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Imgproc.GaussianBlur (rgbaMat, rgbaMat, new Size (3, 3), 1, 1);
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//Imgproc.medianBlur(mRgba, mRgba, 3);
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if (!isColorSelected)
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return;
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List<MatOfPoint> contours = detector.GetContours ();
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detector.Process (rgbaMat);
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// Debug.Log ("Contours count: " + contours.Count);
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if (contours.Count <= 0) {
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return;
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}
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RotatedRect rect = Imgproc.minAreaRect (new MatOfPoint2f (contours [0].toArray ()));
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double boundWidth = rect.size.width;
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double boundHeight = rect.size.height;
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int boundPos = 0;
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for (int i = 1; i < contours.Count; i++) {
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rect = Imgproc.minAreaRect (new MatOfPoint2f (contours [i].toArray ()));
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if (rect.size.width * rect.size.height > boundWidth * boundHeight) {
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boundWidth = rect.size.width;
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boundHeight = rect.size.height;
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boundPos = i;
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}
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}
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MatOfPoint contour = contours [boundPos];
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OpenCVForUnity.CoreModule.Rect boundRect = Imgproc.boundingRect (new MatOfPoint (contour.toArray ()));
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Imgproc.rectangle (rgbaMat, boundRect.tl (), boundRect.br (), CONTOUR_COLOR_WHITE, 2, 8, 0);
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// Debug.Log (
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// " Row start [" +
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// (int)boundRect.tl ().y + "] row end [" +
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// (int)boundRect.br ().y + "] Col start [" +
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// (int)boundRect.tl ().x + "] Col end [" +
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// (int)boundRect.br ().x + "]");
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double a = boundRect.br ().y - boundRect.tl ().y;
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a = a * 0.7;
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a = boundRect.tl ().y + a;
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// Debug.Log (" A [" + a + "] br y - tl y = [" + (boundRect.br ().y - boundRect.tl ().y) + "]");
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Imgproc.rectangle (rgbaMat, boundRect.tl (), new Point (boundRect.br ().x, a), CONTOUR_COLOR, 2, 8, 0);
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MatOfPoint2f pointMat = new MatOfPoint2f ();
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Imgproc.approxPolyDP (new MatOfPoint2f (contour.toArray ()), pointMat, 3, true);
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contour = new MatOfPoint (pointMat.toArray ());
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MatOfInt hull = new MatOfInt ();
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MatOfInt4 convexDefect = new MatOfInt4 ();
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Imgproc.convexHull (new MatOfPoint (contour.toArray ()), hull);
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if (hull.toArray ().Length < 3)
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return;
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Imgproc.convexityDefects (new MatOfPoint (contour.toArray ()), hull, convexDefect);
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List<MatOfPoint> hullPoints = new List<MatOfPoint> ();
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List<Point> listPo = new List<Point> ();
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for (int j = 0; j < hull.toList ().Count; j++) {
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listPo.Add (contour.toList () [hull.toList () [j]]);
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}
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MatOfPoint e = new MatOfPoint ();
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e.fromList (listPo);
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hullPoints.Add (e);
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List<Point> listPoDefect = new List<Point> ();
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if (convexDefect.rows () > 0) {
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List<int> convexDefectList = convexDefect.toList ();
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List<Point> contourList = contour.toList ();
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for (int j = 0; j < convexDefectList.Count; j = j + 4) {
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Point farPoint = contourList [convexDefectList [j + 2]];
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int depth = convexDefectList [j + 3];
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if (depth > threasholdSlider.value && farPoint.y < a) {
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listPoDefect.Add (contourList [convexDefectList [j + 2]]);
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}
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// Debug.Log ("convexDefectList [" + j + "] " + convexDefectList [j + 3]);
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}
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}
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// Debug.Log ("hull: " + hull.toList ());
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// if (convexDefect.rows () > 0) {
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// Debug.Log ("defects: " + convexDefect.toList ());
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// }
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Imgproc.drawContours (rgbaMat, hullPoints, -1, CONTOUR_COLOR, 3);
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// int defectsTotal = (int)convexDefect.total();
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// Debug.Log ("Defect total " + defectsTotal);
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this.numberOfFingers = listPoDefect.Count;
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if (this.numberOfFingers > 5)
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this.numberOfFingers = 5;
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// Debug.Log ("numberOfFingers " + numberOfFingers);
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// 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);
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numberOfFingersText.text = numberOfFingers.ToString ();
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foreach (Point p in listPoDefect) {
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Imgproc.circle (rgbaMat, p, 6, new Scalar (255, 0, 255, 255), -1);
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}
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}
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private void OnTouch (Mat img, Point touchPoint)
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{
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int cols = img.cols ();
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int rows = img.rows ();
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int x = (int)touchPoint.x;
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int y = (int)touchPoint.y;
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//Debug.Log ("Touch image coordinates: (" + x + ", " + y + ")");
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if ((x < 0) || (y < 0) || (x > cols) || (y > rows))
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return;
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OpenCVForUnity.CoreModule.Rect touchedRect = new OpenCVForUnity.CoreModule.Rect ();
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touchedRect.x = (x > 5) ? x - 5 : 0;
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touchedRect.y = (y > 5) ? y - 5 : 0;
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touchedRect.width = (x + 5 < cols) ? x + 5 - touchedRect.x : cols - touchedRect.x;
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touchedRect.height = (y + 5 < rows) ? y + 5 - touchedRect.y : rows - touchedRect.y;
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using (Mat touchedRegionRgba = img.submat (touchedRect))
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using (Mat touchedRegionHsv = new Mat ()) {
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Imgproc.cvtColor (touchedRegionRgba, touchedRegionHsv, Imgproc.COLOR_RGB2HSV_FULL);
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// Calculate average color of touched region
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|
|
blobColorHsv = Core.sumElems (touchedRegionHsv);
|
||
|
|
int pointCount = touchedRect.width * touchedRect.height;
|
||
|
|
for (int i = 0; i < blobColorHsv.val.Length; i++)
|
||
|
|
blobColorHsv.val [i] /= pointCount;
|
||
|
|
|
||
|
|
//blobColorRgba = ConverScalarHsv2Rgba (blobColorHsv);
|
||
|
|
//Debug.Log ("Touched rgba color: (" + mBlobColorRgba.val [0] + ", " + mBlobColorRgba.val [1] +
|
||
|
|
// ", " + mBlobColorRgba.val [2] + ", " + mBlobColorRgba.val [3] + ")");
|
||
|
|
|
||
|
|
detector.SetHsvColor (blobColorHsv);
|
||
|
|
|
||
|
|
Imgproc.resize (detector.GetSpectrum (), spectrumMat, SPECTRUM_SIZE);
|
||
|
|
|
||
|
|
isColorSelected = true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
private Scalar ConverScalarHsv2Rgba (Scalar hsvColor)
|
||
|
|
{
|
||
|
|
Scalar rgbaColor;
|
||
|
|
using (Mat pointMatRgba = new Mat ())
|
||
|
|
using (Mat pointMatHsv = new Mat (1, 1, CvType.CV_8UC3, hsvColor)) {
|
||
|
|
Imgproc.cvtColor (pointMatHsv, pointMatRgba, Imgproc.COLOR_HSV2RGB_FULL, 4);
|
||
|
|
rgbaColor = new Scalar (pointMatRgba.get (0, 0));
|
||
|
|
}
|
||
|
|
|
||
|
|
return rgbaColor;
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Converts the screen point to texture point.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name="screenPoint">Screen point.</param>
|
||
|
|
/// <param name="dstPoint">Dst point.</param>
|
||
|
|
/// <param name="texturQuad">Texture quad.</param>
|
||
|
|
/// <param name="textureWidth">Texture width.</param>
|
||
|
|
/// <param name="textureHeight">Texture height.</param>
|
||
|
|
/// <param name="camera">Camera.</param>
|
||
|
|
private void ConvertScreenPointToTexturePoint (Point screenPoint, Point dstPoint, GameObject textureQuad, int textureWidth = -1, int textureHeight = -1, Camera camera = null)
|
||
|
|
{
|
||
|
|
if (textureWidth < 0 || textureHeight < 0) {
|
||
|
|
Renderer r = textureQuad.GetComponent<Renderer> ();
|
||
|
|
if (r != null && r.material != null && r.material.mainTexture != null) {
|
||
|
|
textureWidth = r.material.mainTexture.width;
|
||
|
|
textureHeight = r.material.mainTexture.height;
|
||
|
|
} else {
|
||
|
|
textureWidth = (int)textureQuad.transform.localScale.x;
|
||
|
|
textureHeight = (int)textureQuad.transform.localScale.y;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (camera == null)
|
||
|
|
camera = Camera.main;
|
||
|
|
|
||
|
|
Vector3 quadPosition = textureQuad.transform.localPosition;
|
||
|
|
Vector3 quadScale = textureQuad.transform.localScale;
|
||
|
|
|
||
|
|
Vector2 tl = camera.WorldToScreenPoint (new Vector3 (quadPosition.x - quadScale.x / 2, quadPosition.y + quadScale.y / 2, quadPosition.z));
|
||
|
|
Vector2 tr = camera.WorldToScreenPoint (new Vector3 (quadPosition.x + quadScale.x / 2, quadPosition.y + quadScale.y / 2, quadPosition.z));
|
||
|
|
Vector2 br = camera.WorldToScreenPoint (new Vector3 (quadPosition.x + quadScale.x / 2, quadPosition.y - quadScale.y / 2, quadPosition.z));
|
||
|
|
Vector2 bl = camera.WorldToScreenPoint (new Vector3 (quadPosition.x - quadScale.x / 2, quadPosition.y - quadScale.y / 2, quadPosition.z));
|
||
|
|
|
||
|
|
using (Mat srcRectMat = new Mat (4, 1, CvType.CV_32FC2))
|
||
|
|
using (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, quadScale.x, 0, quadScale.x, quadScale.y, 0, quadScale.y);
|
||
|
|
|
||
|
|
using (Mat perspectiveTransform = Imgproc.getPerspectiveTransform (srcRectMat, dstRectMat))
|
||
|
|
using (MatOfPoint2f srcPointMat = new MatOfPoint2f (screenPoint))
|
||
|
|
using (MatOfPoint2f dstPointMat = new MatOfPoint2f ()) {
|
||
|
|
Core.perspectiveTransform (srcPointMat, dstPointMat, perspectiveTransform);
|
||
|
|
|
||
|
|
dstPoint.x = dstPointMat.get (0, 0) [0] * textureWidth / quadScale.x;
|
||
|
|
dstPoint.y = dstPointMat.get (0, 0) [1] * textureHeight / quadScale.y;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the destroy event.
|
||
|
|
/// </summary>
|
||
|
|
void OnDestroy ()
|
||
|
|
{
|
||
|
|
webCamTextureToMatHelper.Dispose ();
|
||
|
|
|
||
|
|
if (detector != null)
|
||
|
|
detector.Dispose ();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the back button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnBackButtonClick ()
|
||
|
|
{
|
||
|
|
SceneManager.LoadScene ("OpenCVForUnityExample");
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the play button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnPlayButtonClick ()
|
||
|
|
{
|
||
|
|
webCamTextureToMatHelper.Play ();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the pause button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnPauseButtonClick ()
|
||
|
|
{
|
||
|
|
webCamTextureToMatHelper.Pause ();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the stop button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnStopButtonClick ()
|
||
|
|
{
|
||
|
|
webCamTextureToMatHelper.Stop ();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the change camera button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnChangeCameraButtonClick ()
|
||
|
|
{
|
||
|
|
webCamTextureToMatHelper.requestedIsFrontFacing = !webCamTextureToMatHelper.IsFrontFacing ();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|