fix

AR-2b/Assets/NewTestMaterial.mat

@@ -0,0 +1,77 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!21 &2100000
+Material:
+  serializedVersion: 6
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_Name: NewTestMaterial
+  m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0}
+  m_ShaderKeywords: 
+  m_LightmapFlags: 4
+  m_EnableInstancingVariants: 0
+  m_DoubleSidedGI: 0
+  m_CustomRenderQueue: -1
+  stringTagMap: {}
+  disabledShaderPasses: []
+  m_SavedProperties:
+    serializedVersion: 3
+    m_TexEnvs:
+    - _BumpMap:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - _DetailAlbedoMap:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - _DetailMask:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - _DetailNormalMap:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - _EmissionMap:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - _MainTex:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - _MetallicGlossMap:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - _OcclusionMap:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - _ParallaxMap:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    m_Floats:
+    - _BumpScale: 1
+    - _Cutoff: 0.5
+    - _DetailNormalMapScale: 1
+    - _DstBlend: 0
+    - _GlossMapScale: 1
+    - _Glossiness: 0.5
+    - _GlossyReflections: 1
+    - _Metallic: 0
+    - _Mode: 0
+    - _OcclusionStrength: 1
+    - _Parallax: 0.02
+    - _SmoothnessTextureChannel: 0
+    - _SpecularHighlights: 1
+    - _SrcBlend: 1
+    - _UVSec: 0
+    - _ZWrite: 1
+    m_Colors:
+    - _Color: {r: 1, g: 1, b: 1, a: 1}
+    - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}

AR-2b/Assets/detection_script.cs

@@ -6,29 +6,52 @@ using OpenCVForUnity.ImgprocModule;
 using System.Linq;
 using Vuforia;
 
-public class detection_script_2 : MonoBehaviour
+public class detection_script : MonoBehaviour
 {
     Mat cameraImageMat;
     Mat stylizedMat = new Mat();
     Mat greyMat = new Mat();
 
 
-    int width = 400;
+    int width = 1050;
-    int height = 400;
+    int height = 1050;
 
     Texture2D outputTexture;
     MatOfPoint2f dstPoints;
+    MatOfPoint2f dstPointsInv;
+
+
+    Mat skullTextureMat;
+
+
+    private GameObject pls;
+    private Renderer rend;
 
     // Start is called before the first frame update
     void Start()
     {
+        skullTextureMat = MatDisplay.LoadRGBATexture("Resources/flying_skull_tex.png");
+
         dstPoints = new MatOfPoint2f();
         dstPoints.alloc(4);
-        dstPoints.put(3, 0, width, height);
+        /*dstPoints.put(3, 0, width, height);
         dstPoints.put(2, 0, 0, height);
         dstPoints.put(1, 0, width, 0);
-        dstPoints.put(0, 0, 0, 0);
+        dstPoints.put(0, 0, 0, 0);*/
+
+
+        dstPoints.put(3, 0, 0, 0);
+        dstPoints.put(2, 0, width, 0);
+        dstPoints.put(0, 0, 0, height);
+        dstPoints.put(1, 0, width, height);
+
+
+
+
         outputTexture = new Texture2D(width, height, TextureFormat.RGBA32, false);
+
+        pls = GameObject.Find("flying_skull_001");
+        rend = pls.GetComponent<Renderer>();
     }
 
     // Update is called once per frame
@@ -58,7 +81,7 @@ public class detection_script_2 : MonoBehaviour
 
             //Imgproc.drawContours(cameraImageMat, contourList, -1, new Scalar(255,0,0), 2);
 
-            List<MatOfPoint> squareContours = new List<MatOfPoint>();
+            List<MatOfPoint2f> squareContours = new List<MatOfPoint2f>();
             foreach (var contour in contourList)
             {
                 MatOfPoint2f contour2f = new MatOfPoint2f();
@@ -70,13 +93,13 @@ public class detection_script_2 : MonoBehaviour
 
                 if (approx.toList().Count == 4)
                 {
-                    Imgproc.drawContours(cameraImageMat, new List<MatOfPoint> { contour }, -1, new Scalar(255,0,0), 2);
+                    Imgproc.drawContours(cameraImageMat, new List<MatOfPoint> { contour }, -1, new Scalar(255, 0, 0), 2);
-                    squareContours.Add(contour);
+                    squareContours.Add(approx);
                 }
             }
 
 
-            MatOfPoint square = findSquare(squareContours);
+            MatOfPoint2f square = findSquare(squareContours);
             if (square == null)
             {
                 MatDisplay.DisplayMat(cameraImageMat, MatDisplaySettings.FULL_BACKGROUND);
@@ -84,16 +107,79 @@ public class detection_script_2 : MonoBehaviour
                 return;
             }
 
-            Imgproc.drawContours(cameraImageMat, new List<MatOfPoint> { square }, -1, new Scalar(0, 255, 0), 2);
+            for (int i = 0; i < 4; i++)
+            {
+                double x = square.get(i, 0)[0];
+                double y = square.get(i, 0)[1];
+                Imgproc.circle(cameraImageMat, new Point(x, y), 10, new Scalar(0, 255, 0, 255));
+
+
+            }
+
+            Mat homo = ComputeHomo(square, dstPoints);
+
+
+            Mat outputSkullMat = cameraImageMat.clone();
+            //Mat outputSkullMat = skullTextureMat.clone();
+
+            Imgproc.warpPerspective(skullTextureMat, outputSkullMat, homo.inv(), outputSkullMat.size());
 
 
 
-            MatDisplay.DisplayMat(cameraImageMat, MatDisplaySettings.FULL_BACKGROUND);
+
-            
+
+
+
+            Mat dstCam = cameraImageMat.clone();
+
+
+            Core.addWeighted(cameraImageMat, 0.95f, outputSkullMat, 0.7f, 0.0f, dstCam);
+
+            //Display the Mat that includes video feed and debug points
+            MatDisplay.DisplayMat(dstCam, MatDisplaySettings.FULL_BACKGROUND);
+
+
+
+
+            /*
+            Mat homo = new Mat();
+            homo = ComputeHomo(square, dstPoints);
+
+            Mat outputMat = cameraImageMat.clone();
+
+            Imgproc.warpPerspective(cameraImageMat, outputMat, homo, new Size(outputMat.width(), outputMat.height()));
+
+
+            Mat outputSkullMat = skullTextureMat.clone();
+
+
+
+
+            var rectOutputMat = new Mat(outputMat, new OpenCVForUnity.CoreModule.Rect(0, 0, width, height));
+
+            MatDisplay.MatToTexture(rectOutputMat, ref outputTexture);
+
+
+            rend.sharedMaterial.mainTexture = outputTexture;
+
+            */
+
+
+            //MatDisplay.DisplayMat(cameraImageMat, MatDisplaySettings.FULL_BACKGROUND);
+
         }
     }
 
-    MatOfPoint findSquare (List<MatOfPoint> squareContours)
+
+
+    bool checkSize(double outer, double inner)
+    {
+        print(outer);
+        print(inner);
+        return  (outer > inner && outer < (inner * 2));
+    }
+
+    MatOfPoint2f findSquare (List<MatOfPoint2f> squareContours)
     {
         foreach (var outer_square in squareContours)
         {
@@ -103,6 +189,9 @@ public class detection_script_2 : MonoBehaviour
             var outer_minX = outer_square.toList().Min(point => point.x);
             var outer_minY = outer_square.toList().Min(point => point.y);
 
+            var outer_size = (outer_maxX - outer_minX) * (outer_maxY - outer_minY);
+
+
             foreach (var inner_square in squareContours)
             {
                 var inner_maxX = inner_square.toList().Max(point => point.x);
@@ -111,15 +200,58 @@ public class detection_script_2 : MonoBehaviour
                 var inner_minX = inner_square.toList().Min(point => point.x);
                 var inner_minY = inner_square.toList().Min(point => point.y);
 
+                var inner_size = (inner_maxX - inner_minX) * (inner_maxY - inner_minY);
+
                 if (outer_minX < inner_minX &&
                     outer_minY < inner_minY &&
                     outer_maxX > inner_maxX &&
-                    outer_maxY > inner_maxY)
+                    outer_maxY > inner_maxY &&
+                    checkSize(outer_size, inner_size))
                 {
+                
                     return outer_square;
                 }
             }
         }
         return null;
     }
+
+
+    Mat ComputeHomo(MatOfPoint2f imgPoints, MatOfPoint2f destPoints)
+    {
+
+
+        Mat H = new Mat(8, 1, CvType.CV_32FC1);
+        Mat A = new Mat(8, 8, CvType.CV_32FC1);
+        Mat b = new Mat(8, 1, CvType.CV_32FC1);
+
+
+        for (int i = 0; i < 4; i++)
+        {
+            var u = destPoints.get(i, 0)[0];
+            var v = destPoints.get(i, 0)[1];
+
+            b.put(i * 2, 0, u);
+            b.put((i * 2) + 1, 0, v);
+
+
+
+            var x = imgPoints.get(i, 0)[0];
+            var y = imgPoints.get(i, 0)[1];
+
+            A.put(i * 2, 0, x, y, 1, 0, 0, 0, -u * x, -u * y);
+            A.put((i * 2) + 1, 0, 0, 0, 0, x, y, 1, -v * x, -v * y);
+
+        }
+
+        Core.solve(A, b, H);
+
+        Mat ShitsReal = new Mat(3, 3, CvType.CV_32FC1);
+        ShitsReal.put(0, 0, H.get(0, 0)[0], H.get(1, 0)[0], H.get(2, 0)[0]);
+        ShitsReal.put(1, 0, H.get(3, 0)[0], H.get(4, 0)[0], H.get(5, 0)[0]);
+        ShitsReal.put(2, 0, H.get(6, 0)[0], H.get(7, 0)[0], 1);
+
+        return ShitsReal;
+    }
+
 }

AR-2b/Assets/detection_script_2.cs

@@ -1,228 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-using OpenCVForUnity.CoreModule;
-using OpenCVForUnity.ImgprocModule;
-using System.Linq;
-using Vuforia;
-
-public class detection_script : MonoBehaviour
-{
-    Mat cameraImageMat;
-    Mat stylizedMat = new Mat();
-    Mat greyMat = new Mat();
-
-
-    int width = 100;
-    int height = 100;
-
-    Texture2D outputTexture;
-    MatOfPoint2f dstPointsInv;
-
-    MatOfPoint2f imagePoints;
-
-    private Mat skullTextureMat;
-
-
-
-    // Start is called before the first frame update
-    void Start()
-    {
-        skullTextureMat = MatDisplay.LoadRGBATexture("Resources/flying_skull_tex.png");
-
-        dstPointsInv = new MatOfPoint2f();
-        dstPointsInv.alloc(4);
-
-        dstPointsInv.put(2, 0, 0, height);
-        dstPointsInv.put(3, 0, width, height);
-        dstPointsInv.put(0, 0, 0, 0);
-        dstPointsInv.put(1, 0, width, 0);
-
-        outputTexture = new Texture2D(width, height, TextureFormat.RGBA32, false);
-
-        imagePoints = new MatOfPoint2f();
-        imagePoints.alloc(4);
-    }
-
-    // Update is called once per frame
-    void Update()
-    {
-        MatDisplay.SetCameraFoV(41.5f);
-
-        Image cameraImage = CameraDevice.Instance.GetCameraImage(Image.PIXEL_FORMAT.RGBA8888);
-
-        if (cameraImage != null)
-        {
-            if (cameraImageMat == null)
-            {
-                cameraImageMat = new Mat(cameraImage.Height, cameraImage.Width, CvType.CV_8UC4);
-            }
-            cameraImageMat.put(0, 0, cameraImage.Pixels);
-
-            Imgproc.cvtColor(cameraImageMat, greyMat, Imgproc.COLOR_RGB2GRAY);
-
-
-            Imgproc.threshold(greyMat, stylizedMat, 69, 255, Imgproc.THRESH_BINARY);
-
-
-            List<MatOfPoint> contourList = new List<MatOfPoint>();
-            Mat hierarchy = new Mat();
-            Imgproc.findContours(stylizedMat, contourList, hierarchy, Imgproc.RETR_LIST, Imgproc.CHAIN_APPROX_SIMPLE);
-
-            //Imgproc.drawContours(cameraImageMat, contourList, -1, new Scalar(255,0,0), 2);
-
-            List<MatOfPoint2f> squareContours = new List<MatOfPoint2f>();
-            foreach (var contour in contourList)
-            {
-                MatOfPoint2f contour2f = new MatOfPoint2f();
-                contour.convertTo(contour2f, CvType.CV_32FC2);
-
-                double epsilon = 0.01f * Imgproc.arcLength(contour2f, true);
-                MatOfPoint2f approx = new MatOfPoint2f();
-                Imgproc.approxPolyDP(contour2f, approx, epsilon, true);
-
-                if (approx.toList().Count == 4)
-                {
-                    Imgproc.drawContours(cameraImageMat, new List<MatOfPoint> { contour }, -1, new Scalar(255,0,0), 2);
-                    squareContours.Add(approx);
-                }
-            }
-
-
-            MatOfPoint2f square = findSquare(squareContours);
-            MatOfPoint greenSquare = new MatOfPoint();
-            square.convertTo(greenSquare, CvType.CV_32S);
-            Imgproc.drawContours(cameraImageMat, new List<MatOfPoint> { greenSquare }, -1, new Scalar(0, 255, 0), 2);
-            MatDisplay.DisplayMat(cameraImageMat, MatDisplaySettings.FULL_BACKGROUND);
-
-            return;
-
-            if (square != null)
-            {
-                
-                for (int i = 0; i < 4; i++)
-                {
-                    print($"Square: {square.get(i, 0)}, idx {i}");
-                    imagePoints.put(i, 0, square.get(i, 0)[0], square.get(i, 0)[1]);
-                }
-
-                //Debug draw points using OpenCV's drawing functions
-                Point imgPnt1 = new Point(imagePoints.get(0, 0));
-                Point imgPnt2 = new Point(imagePoints.get(1, 0));
-                Point imgPnt3 = new Point(imagePoints.get(2, 0));
-                Point imgPnt4 = new Point(imagePoints.get(3, 0));
-                Mat camImgCopy = cameraImageMat.clone();
-                Mat outputMat = camImgCopy.clone();
-
-
-
-                Imgproc.circle(cameraImageMat, imgPnt1, 5, new Scalar(255, 0, 0, 255));
-                Imgproc.circle(cameraImageMat, imgPnt2, 5, new Scalar(0, 255, 0, 255));
-                Imgproc.circle(cameraImageMat, imgPnt3, 5, new Scalar(0, 0, 255, 255));
-                Imgproc.circle(cameraImageMat, imgPnt4, 5, new Scalar(255, 255, 0, 255));
-
-
-                //Imgproc.drawContours(cameraImageMat, new List<MatOfPoint> { square }, -1, new Scalar(0, 255, 0), 2);
-
-
-                Mat homo = ComputeHomo(imagePoints, dstPointsInv);
-
-
-                Mat outputSkullMat = cameraImageMat.clone();
-                Imgproc.warpPerspective(skullTextureMat, outputSkullMat, homo.inv(), outputSkullMat.size());
-
-
-                Mat dstCam = cameraImageMat.clone();
-
-                Core.addWeighted(cameraImageMat, 0.95f, outputSkullMat, 0.7f, 0.0f, dstCam);
-
-                //Display the Mat that includes video feed and debug points
-                MatDisplay.DisplayMat(dstCam, MatDisplaySettings.FULL_BACKGROUND);
-
-            }
-            else
-            {
-                MatDisplay.DisplayMat(cameraImageMat, MatDisplaySettings.FULL_BACKGROUND);
-            }
-            
-        }
-    }
-
-    MatOfPoint2f findSquare (List<MatOfPoint2f> squareContours)
-    {
-        foreach (var outer_square in squareContours)
-        {
-            var outer_maxX = outer_square.toList().Max(point => point.x);
-            var outer_maxY = outer_square.toList().Max(point => point.y);
-
-            var outer_minX = outer_square.toList().Min(point => point.x);
-            var outer_minY = outer_square.toList().Min(point => point.y);
-
-            foreach (var inner_square in squareContours)
-            {
-                var inner_maxX = inner_square.toList().Max(point => point.x);
-                var inner_maxY = inner_square.toList().Max(point => point.y);
-
-                var inner_minX = inner_square.toList().Min(point => point.x);
-                var inner_minY = inner_square.toList().Min(point => point.y);
-
-                if (outer_minX < inner_minX &&
-                    outer_minY < inner_minY &&
-                    outer_maxX > inner_maxX &&
-                    outer_maxY > inner_maxY)
-                {
- 
-                    List<Point> sortedOuterSquare = outer_square.toList().OrderBy(p => p.x).ThenBy(p => p.y).ToList();
-
-                    MatOfPoint2f res = new MatOfPoint2f();
-
-                    for (int i = 0; i < 4; i++)
-                    {
-                        res.put(i, 0, sortedOuterSquare[i].x, sortedOuterSquare[i].y);
-                    }
-
-                    print("--------------------------------");
-                    return res;
-                }
-            }
-        }
-        return null;
-    }
-
-    Mat ComputeHomo(MatOfPoint2f imgPoints, MatOfPoint2f destPoints)
-    {
-
-
-        Mat H = new Mat(8, 1, CvType.CV_32FC1);
-        Mat A = new Mat(8, 8, CvType.CV_32FC1);
-        Mat b = new Mat(8, 1, CvType.CV_32FC1);
-
-
-        for (int i = 0; i < 4; i++)
-        {
-            var u = destPoints.get(i, 0)[0];
-            var v = destPoints.get(i, 0)[1];
-
-            b.put(i * 2, 0, u);
-            b.put((i * 2) + 1, 0, v);
-
-
-
-            var x = imgPoints.get(i, 0)[0];
-            var y = imgPoints.get(i, 0)[1];
-
-            A.put(i * 2, 0, x, y, 1, 0, 0, 0, -u * x, -u * y);
-            A.put((i * 2) + 1, 0, 0, 0, 0, x, y, 1, -v * x, -v * y);
-
-        }
-
-        Core.solve(A, b, H);
-
-        Mat ShitsReal = new Mat(3, 3, CvType.CV_32FC1);
-        ShitsReal.put(0, 0, H.get(0, 0)[0], H.get(1, 0)[0], H.get(2, 0)[0]);
-        ShitsReal.put(1, 0, H.get(3, 0)[0], H.get(4, 0)[0], H.get(5, 0)[0]);
-        ShitsReal.put(2, 0, H.get(6, 0)[0], H.get(7, 0)[0], 1);
-
-        return ShitsReal;
-    }
-}