360 lines
14 KiB
C#
360 lines
14 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 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.VideoModule;
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using OpenCVForUnity.UnityUtils;
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using OpenCVForUnity.UnityUtils.Helper;
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namespace OpenCVForUnityExample
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{
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/// <summary>
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/// CamShift Example
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/// An example of object tracking using the Video.Camshift function.
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/// Referring to http://www.computervisiononline.com/blog/tutorial-using-camshift-track-objects-video.
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/// http://docs.opencv.org/3.2.0/db/df8/tutorial_py_meanshift.html
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/// </summary>
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[RequireComponent (typeof(WebCamTextureToMatHelper))]
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public class CamShiftExample : MonoBehaviour
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{
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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 roi point list.
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/// </summary>
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List<Point> roiPointList;
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/// <summary>
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/// The roi rect.
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/// </summary>
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OpenCVForUnity.CoreModule.Rect roiRect;
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/// <summary>
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/// The hsv mat.
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/// </summary>
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Mat hsvMat;
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/// <summary>
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/// The roi hist mat.
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/// </summary>
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Mat roiHistMat;
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/// <summary>
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/// The termination.
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/// </summary>
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TermCriteria termination;
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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 flag for requesting the start of the CamShift Method.
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/// </summary>
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bool shouldStartCamShift = false;
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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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roiPointList = new List<Point> ();
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termination = new TermCriteria (TermCriteria.EPS | TermCriteria.COUNT, 10, 1);
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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 webcam 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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}
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if (fpsMonitor != null) {
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fpsMonitor.consoleText = "Please touch the 4 points surrounding the tracking object.";
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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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hsvMat = new Mat (webCamTextureMat.rows (), webCamTextureMat.cols (), CvType.CV_8UC3);
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}
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/// <summary>
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/// Raises the webcam 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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hsvMat.Dispose ();
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if (roiHistMat != null)
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roiHistMat.Dispose ();
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roiPointList.Clear ();
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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 webcam 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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Imgproc.cvtColor (rgbaMat, hsvMat, Imgproc.COLOR_RGBA2RGB);
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Imgproc.cvtColor (hsvMat, hsvMat, Imgproc.COLOR_RGB2HSV);
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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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Point[] points = roiPointList.ToArray ();
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if (shouldStartCamShift) {
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shouldStartCamShift = false;
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using (MatOfPoint roiPointMat = new MatOfPoint (points)) {
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roiRect = Imgproc.boundingRect (roiPointMat);
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}
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if (roiHistMat != null) {
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roiHistMat.Dispose ();
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roiHistMat = null;
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}
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roiHistMat = new Mat ();
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using (Mat roiHSVMat = new Mat (hsvMat, roiRect))
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using (Mat maskMat = new Mat ()) {
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Imgproc.calcHist (new List<Mat> (new Mat[]{ roiHSVMat }), new MatOfInt (0), maskMat, roiHistMat, new MatOfInt (16), new MatOfFloat (0, 180));
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Core.normalize (roiHistMat, roiHistMat, 0, 255, Core.NORM_MINMAX);
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//Debug.Log ("roiHist " + roiHistMat.ToString ());
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}
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} else if (points.Length == 4) {
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using (Mat backProj = new Mat ()) {
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Imgproc.calcBackProject (new List<Mat> (new Mat[]{ hsvMat }), new MatOfInt (0), roiHistMat, backProj, new MatOfFloat (0, 180), 1.0);
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RotatedRect r = Video.CamShift (backProj, roiRect, termination);
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r.points (points);
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}
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}
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if (points.Length < 4) {
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for (int i = 0; i < points.Length; i++) {
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Imgproc.circle (rgbaMat, points [i], 6, new Scalar (0, 0, 255, 255), 2);
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}
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} else {
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for (int i = 0; i < 4; i++) {
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Imgproc.line (rgbaMat, points [i], points [(i + 1) % 4], new Scalar (255, 0, 0, 255), 2);
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}
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Imgproc.rectangle (rgbaMat, roiRect.tl (), roiRect.br (), new Scalar (0, 255, 0, 255), 2);
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}
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// Imgproc.putText (rgbaMat, "W:" + rgbaMat.width () + " H:" + rgbaMat.height () + " SO:" + Screen.orientation, 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 OnTouch (Mat img, Point touchPoint)
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{
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if (roiPointList.Count == 4) {
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roiPointList.Clear ();
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}
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if (roiPointList.Count < 4) {
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roiPointList.Add (touchPoint);
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if (!(new OpenCVForUnity.CoreModule.Rect (0, 0, img.width (), img.height ()).contains (roiPointList [roiPointList.Count - 1]))) {
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roiPointList.RemoveAt (roiPointList.Count - 1);
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}
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if (roiPointList.Count == 4) {
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shouldStartCamShift = true;
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}
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}
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}
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/// <summary>
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/// Converts the screen point to texture point.
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/// </summary>
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/// <param name="screenPoint">Screen point.</param>
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/// <param name="dstPoint">Dst point.</param>
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/// <param name="texturQuad">Texture quad.</param>
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/// <param name="textureWidth">Texture width.</param>
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/// <param name="textureHeight">Texture height.</param>
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/// <param name="camera">Camera.</param>
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private void ConvertScreenPointToTexturePoint (Point screenPoint, Point dstPoint, GameObject textureQuad, int textureWidth = -1, int textureHeight = -1, Camera camera = null)
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{
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if (textureWidth < 0 || textureHeight < 0) {
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Renderer r = textureQuad.GetComponent<Renderer> ();
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if (r != null && r.material != null && r.material.mainTexture != null) {
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textureWidth = r.material.mainTexture.width;
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textureHeight = r.material.mainTexture.height;
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} else {
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textureWidth = (int)textureQuad.transform.localScale.x;
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textureHeight = (int)textureQuad.transform.localScale.y;
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}
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}
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if (camera == null)
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camera = Camera.main;
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Vector3 quadPosition = textureQuad.transform.localPosition;
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Vector3 quadScale = textureQuad.transform.localScale;
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Vector2 tl = camera.WorldToScreenPoint (new Vector3 (quadPosition.x - quadScale.x / 2, quadPosition.y + quadScale.y / 2, quadPosition.z));
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Vector2 tr = camera.WorldToScreenPoint (new Vector3 (quadPosition.x + quadScale.x / 2, quadPosition.y + quadScale.y / 2, quadPosition.z));
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Vector2 br = camera.WorldToScreenPoint (new Vector3 (quadPosition.x + quadScale.x / 2, quadPosition.y - quadScale.y / 2, quadPosition.z));
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Vector2 bl = camera.WorldToScreenPoint (new Vector3 (quadPosition.x - quadScale.x / 2, quadPosition.y - quadScale.y / 2, quadPosition.z));
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using (Mat srcRectMat = new Mat (4, 1, CvType.CV_32FC2))
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using (Mat dstRectMat = new Mat (4, 1, CvType.CV_32FC2)) {
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srcRectMat.put (0, 0, tl.x, tl.y, tr.x, tr.y, br.x, br.y, bl.x, bl.y);
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dstRectMat.put (0, 0, 0, 0, quadScale.x, 0, quadScale.x, quadScale.y, 0, quadScale.y);
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using (Mat perspectiveTransform = Imgproc.getPerspectiveTransform (srcRectMat, dstRectMat))
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using (MatOfPoint2f srcPointMat = new MatOfPoint2f (screenPoint))
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using (MatOfPoint2f dstPointMat = new MatOfPoint2f ()) {
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Core.perspectiveTransform (srcPointMat, dstPointMat, perspectiveTransform);
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dstPoint.x = dstPointMat.get (0, 0) [0] * textureWidth / quadScale.x;
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dstPoint.y = dstPointMat.get (0, 0) [1] * textureHeight / quadScale.y;
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}
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}
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}
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/// <summary>
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/// Raises the destroy event.
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/// </summary>
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void OnDestroy ()
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{
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webCamTextureToMatHelper.Dispose ();
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}
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/// <summary>
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/// Raises the back button click event.
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/// </summary>
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public void OnBackButtonClick ()
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{
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SceneManager.LoadScene ("OpenCVForUnityExample");
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}
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/// <summary>
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/// Raises the play button click event.
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/// </summary>
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public void OnPlayButtonClick ()
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{
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webCamTextureToMatHelper.Play ();
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}
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/// <summary>
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/// Raises the pause button click event.
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/// </summary>
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public void OnPauseButtonClick ()
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{
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webCamTextureToMatHelper.Pause ();
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}
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/// <summary>
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/// Raises the stop button click event.
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/// </summary>
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public void OnStopButtonClick ()
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{
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webCamTextureToMatHelper.Stop ();
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}
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/// <summary>
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/// Raises the change camera button click event.
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/// </summary>
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public void OnChangeCameraButtonClick ()
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{
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webCamTextureToMatHelper.requestedIsFrontFacing = !webCamTextureToMatHelper.IsFrontFacing ();
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}
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}
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}
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