319 lines
12 KiB
C#
319 lines
12 KiB
C#
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using UnityEngine;
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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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/// OpticalFlow Example
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/// http://stackoverflow.com/questions/6505779/android-optical-flow-with-opencv?rq=1
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/// http://docs.opencv.org/3.2.0/d7/d8b/tutorial_py_lucas_kanade.html
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/// </summary>
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[RequireComponent (typeof(WebCamTextureToMatHelper))]
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public class OpticalFlowExample : MonoBehaviour
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{
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/// <summary>
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/// The mat op flow this.
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/// </summary>
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Mat matOpFlowThis;
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/// <summary>
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/// The mat op flow previous.
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/// </summary>
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Mat matOpFlowPrev;
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/// <summary>
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/// The i GFFT max.
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/// </summary>
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int iGFFTMax = 40;
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/// <summary>
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/// The MO pcorners.
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/// </summary>
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MatOfPoint MOPcorners;
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/// <summary>
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/// The m MO p2fpts this.
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/// </summary>
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MatOfPoint2f mMOP2fptsThis;
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/// <summary>
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/// The m MO p2fpts previous.
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/// </summary>
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MatOfPoint2f mMOP2fptsPrev;
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/// <summary>
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/// The m MO p2fpts safe.
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/// </summary>
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MatOfPoint2f mMOP2fptsSafe;
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/// <summary>
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/// The m MOB status.
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/// </summary>
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MatOfByte mMOBStatus;
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/// <summary>
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/// The m MO ferr.
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/// </summary>
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MatOfFloat mMOFerr;
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/// <summary>
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/// The color red.
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/// </summary>
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Scalar colorRed = new Scalar (255, 0, 0, 255);
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/// <summary>
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/// The i line thickness.
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/// </summary>
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int iLineThickness = 3;
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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 web cam 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 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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}
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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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matOpFlowThis = new Mat ();
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matOpFlowPrev = new Mat ();
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MOPcorners = new MatOfPoint ();
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mMOP2fptsThis = new MatOfPoint2f ();
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mMOP2fptsPrev = new MatOfPoint2f ();
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mMOP2fptsSafe = new MatOfPoint2f ();
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mMOBStatus = new MatOfByte ();
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mMOFerr = new MatOfFloat ();
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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 (texture != null) {
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Texture2D.Destroy (texture);
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texture = null;
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}
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if (matOpFlowThis != null)
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matOpFlowThis.Dispose ();
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if (matOpFlowPrev != null)
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matOpFlowPrev.Dispose ();
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if (MOPcorners != null)
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MOPcorners.Dispose ();
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if (mMOP2fptsThis != null)
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mMOP2fptsThis.Dispose ();
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if (mMOP2fptsPrev != null)
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mMOP2fptsPrev.Dispose ();
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if (mMOP2fptsSafe != null)
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mMOP2fptsSafe.Dispose ();
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if (mMOBStatus != null)
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mMOBStatus.Dispose ();
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if (mMOFerr != null)
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mMOFerr.Dispose ();
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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 (webCamTextureToMatHelper.IsPlaying () && webCamTextureToMatHelper.DidUpdateThisFrame ()) {
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Mat rgbaMat = webCamTextureToMatHelper.GetMat ();
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if (mMOP2fptsPrev.rows () == 0) {
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// first time through the loop so we need prev and this mats
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// plus prev points
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// get this mat
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Imgproc.cvtColor (rgbaMat, matOpFlowThis, Imgproc.COLOR_RGBA2GRAY);
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// copy that to prev mat
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matOpFlowThis.copyTo (matOpFlowPrev);
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// get prev corners
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Imgproc.goodFeaturesToTrack (matOpFlowPrev, MOPcorners, iGFFTMax, 0.05, 20);
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mMOP2fptsPrev.fromArray (MOPcorners.toArray ());
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// get safe copy of this corners
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mMOP2fptsPrev.copyTo (mMOP2fptsSafe);
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} else {
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// we've been through before so
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// this mat is valid. Copy it to prev mat
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matOpFlowThis.copyTo (matOpFlowPrev);
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// get this mat
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Imgproc.cvtColor (rgbaMat, matOpFlowThis, Imgproc.COLOR_RGBA2GRAY);
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// get the corners for this mat
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Imgproc.goodFeaturesToTrack (matOpFlowThis, MOPcorners, iGFFTMax, 0.05, 20);
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mMOP2fptsThis.fromArray (MOPcorners.toArray ());
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// retrieve the corners from the prev mat
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// (saves calculating them again)
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mMOP2fptsSafe.copyTo (mMOP2fptsPrev);
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// and save this corners for next time through
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mMOP2fptsThis.copyTo (mMOP2fptsSafe);
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}
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/*
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Parameters:
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prevImg first 8-bit input image
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nextImg second input image
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prevPts vector of 2D points for which the flow needs to be found; point coordinates must be single-precision floating-point numbers.
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nextPts output vector of 2D points (with single-precision floating-point coordinates) containing the calculated new positions of input features in the second image; when OPTFLOW_USE_INITIAL_FLOW flag is passed, the vector must have the same size as in the input.
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status output status vector (of unsigned chars); each element of the vector is set to 1 if the flow for the corresponding features has been found, otherwise, it is set to 0.
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err output vector of errors; each element of the vector is set to an error for the corresponding feature, type of the error measure can be set in flags parameter; if the flow wasn't found then the error is not defined (use the status parameter to find such cases).
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*/
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Video.calcOpticalFlowPyrLK (matOpFlowPrev, matOpFlowThis, mMOP2fptsPrev, mMOP2fptsThis, mMOBStatus, mMOFerr);
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if (mMOBStatus.rows () > 0) {
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List<Point> cornersPrev = mMOP2fptsPrev.toList ();
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List<Point> cornersThis = mMOP2fptsThis.toList ();
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List<byte> byteStatus = mMOBStatus.toList ();
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int x = 0;
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int y = byteStatus.Count - 1;
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for (x = 0; x < y; x++) {
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if (byteStatus [x] == 1) {
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Point pt = cornersThis [x];
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Point pt2 = cornersPrev [x];
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Imgproc.circle (rgbaMat, pt, 5, colorRed, iLineThickness - 1);
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Imgproc.line (rgbaMat, pt, pt2, colorRed, iLineThickness);
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}
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}
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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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/// <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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