Contour kinda works
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@ -162,7 +162,6 @@ public class Homo_script : MonoBehaviour
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Mat outputSkullMat = skullTextureMat.clone();
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Imgproc.warpPerspective(skullTextureMat, outputSkullMat, homo.inv(), new Size(outputSkullMat.width(), outputSkullMat.height()));
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var rectOutputMat = new Mat(outputMat, new OpenCVForUnity.CoreModule.Rect(0, 0, width, height));
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@ -170,12 +169,8 @@ public class Homo_script : MonoBehaviour
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MatDisplay.MatToTexture(rectOutputMat, ref outputTexture);
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Mat anotherCamImg = camImageMat.clone();
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Core.addWeighted(camImageMat, 0.95f, outputSkullMat, 0.4f, 0.0, anotherCamImg);
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//Display the Mat that includes video feed and debug points
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MatDisplay.DisplayMat(anotherCamImg, MatDisplaySettings.FULL_BACKGROUND);
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MatDisplay.DisplayMat(camImageMat, MatDisplaySettings.FULL_BACKGROUND);
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rend.sharedMaterial.mainTexture = outputTexture;
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File diff suppressed because it is too large
Load Diff
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@ -6,7 +6,7 @@ using OpenCVForUnity.ImgprocModule;
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using System.Linq;
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using Vuforia;
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public class detection_script : MonoBehaviour
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public class detection_script_2 : MonoBehaviour
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{
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Mat cameraImageMat;
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Mat stylizedMat = new Mat();
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228
AR-2b/Assets/detection_script_2.cs
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228
AR-2b/Assets/detection_script_2.cs
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@ -0,0 +1,228 @@
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using OpenCVForUnity.CoreModule;
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using OpenCVForUnity.ImgprocModule;
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using System.Linq;
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using Vuforia;
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public class detection_script : MonoBehaviour
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{
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Mat cameraImageMat;
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Mat stylizedMat = new Mat();
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Mat greyMat = new Mat();
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int width = 100;
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int height = 100;
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Texture2D outputTexture;
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MatOfPoint2f dstPointsInv;
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MatOfPoint2f imagePoints;
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private Mat skullTextureMat;
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// Start is called before the first frame update
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void Start()
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{
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skullTextureMat = MatDisplay.LoadRGBATexture("Resources/flying_skull_tex.png");
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dstPointsInv = new MatOfPoint2f();
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dstPointsInv.alloc(4);
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dstPointsInv.put(2, 0, 0, height);
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dstPointsInv.put(3, 0, width, height);
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dstPointsInv.put(0, 0, 0, 0);
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dstPointsInv.put(1, 0, width, 0);
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outputTexture = new Texture2D(width, height, TextureFormat.RGBA32, false);
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imagePoints = new MatOfPoint2f();
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imagePoints.alloc(4);
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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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MatDisplay.SetCameraFoV(41.5f);
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Image cameraImage = CameraDevice.Instance.GetCameraImage(Image.PIXEL_FORMAT.RGBA8888);
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if (cameraImage != null)
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{
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if (cameraImageMat == null)
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{
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cameraImageMat = new Mat(cameraImage.Height, cameraImage.Width, CvType.CV_8UC4);
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}
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cameraImageMat.put(0, 0, cameraImage.Pixels);
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Imgproc.cvtColor(cameraImageMat, greyMat, Imgproc.COLOR_RGB2GRAY);
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Imgproc.threshold(greyMat, stylizedMat, 69, 255, Imgproc.THRESH_BINARY);
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List<MatOfPoint> contourList = new List<MatOfPoint>();
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Mat hierarchy = new Mat();
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Imgproc.findContours(stylizedMat, contourList, hierarchy, Imgproc.RETR_LIST, Imgproc.CHAIN_APPROX_SIMPLE);
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//Imgproc.drawContours(cameraImageMat, contourList, -1, new Scalar(255,0,0), 2);
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List<MatOfPoint2f> squareContours = new List<MatOfPoint2f>();
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foreach (var contour in contourList)
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{
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MatOfPoint2f contour2f = new MatOfPoint2f();
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contour.convertTo(contour2f, CvType.CV_32FC2);
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double epsilon = 0.01f * Imgproc.arcLength(contour2f, true);
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MatOfPoint2f approx = new MatOfPoint2f();
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Imgproc.approxPolyDP(contour2f, approx, epsilon, true);
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if (approx.toList().Count == 4)
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{
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Imgproc.drawContours(cameraImageMat, new List<MatOfPoint> { contour }, -1, new Scalar(255,0,0), 2);
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squareContours.Add(approx);
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}
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}
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MatOfPoint2f square = findSquare(squareContours);
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MatOfPoint greenSquare = new MatOfPoint();
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square.convertTo(greenSquare, CvType.CV_32S);
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Imgproc.drawContours(cameraImageMat, new List<MatOfPoint> { greenSquare }, -1, new Scalar(0, 255, 0), 2);
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MatDisplay.DisplayMat(cameraImageMat, MatDisplaySettings.FULL_BACKGROUND);
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return;
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if (square != null)
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{
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for (int i = 0; i < 4; i++)
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{
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print($"Square: {square.get(i, 0)}, idx {i}");
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imagePoints.put(i, 0, square.get(i, 0)[0], square.get(i, 0)[1]);
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}
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//Debug draw points using OpenCV's drawing functions
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Point imgPnt1 = new Point(imagePoints.get(0, 0));
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Point imgPnt2 = new Point(imagePoints.get(1, 0));
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Point imgPnt3 = new Point(imagePoints.get(2, 0));
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Point imgPnt4 = new Point(imagePoints.get(3, 0));
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Mat camImgCopy = cameraImageMat.clone();
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Mat outputMat = camImgCopy.clone();
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Imgproc.circle(cameraImageMat, imgPnt1, 5, new Scalar(255, 0, 0, 255));
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Imgproc.circle(cameraImageMat, imgPnt2, 5, new Scalar(0, 255, 0, 255));
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Imgproc.circle(cameraImageMat, imgPnt3, 5, new Scalar(0, 0, 255, 255));
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Imgproc.circle(cameraImageMat, imgPnt4, 5, new Scalar(255, 255, 0, 255));
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//Imgproc.drawContours(cameraImageMat, new List<MatOfPoint> { square }, -1, new Scalar(0, 255, 0), 2);
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Mat homo = ComputeHomo(imagePoints, dstPointsInv);
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Mat outputSkullMat = cameraImageMat.clone();
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Imgproc.warpPerspective(skullTextureMat, outputSkullMat, homo.inv(), outputSkullMat.size());
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Mat dstCam = cameraImageMat.clone();
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Core.addWeighted(cameraImageMat, 0.95f, outputSkullMat, 0.7f, 0.0f, dstCam);
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//Display the Mat that includes video feed and debug points
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MatDisplay.DisplayMat(dstCam, MatDisplaySettings.FULL_BACKGROUND);
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}
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else
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{
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MatDisplay.DisplayMat(cameraImageMat, MatDisplaySettings.FULL_BACKGROUND);
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}
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}
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}
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MatOfPoint2f findSquare (List<MatOfPoint2f> squareContours)
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{
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foreach (var outer_square in squareContours)
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{
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var outer_maxX = outer_square.toList().Max(point => point.x);
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var outer_maxY = outer_square.toList().Max(point => point.y);
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var outer_minX = outer_square.toList().Min(point => point.x);
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var outer_minY = outer_square.toList().Min(point => point.y);
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foreach (var inner_square in squareContours)
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{
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var inner_maxX = inner_square.toList().Max(point => point.x);
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var inner_maxY = inner_square.toList().Max(point => point.y);
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var inner_minX = inner_square.toList().Min(point => point.x);
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var inner_minY = inner_square.toList().Min(point => point.y);
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if (outer_minX < inner_minX &&
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outer_minY < inner_minY &&
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outer_maxX > inner_maxX &&
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outer_maxY > inner_maxY)
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{
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List<Point> sortedOuterSquare = outer_square.toList().OrderBy(p => p.x).ThenBy(p => p.y).ToList();
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MatOfPoint2f res = new MatOfPoint2f();
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for (int i = 0; i < 4; i++)
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{
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res.put(i, 0, sortedOuterSquare[i].x, sortedOuterSquare[i].y);
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}
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print("--------------------------------");
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return res;
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}
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}
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}
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return null;
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}
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Mat ComputeHomo(MatOfPoint2f imgPoints, MatOfPoint2f destPoints)
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{
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Mat H = new Mat(8, 1, CvType.CV_32FC1);
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Mat A = new Mat(8, 8, CvType.CV_32FC1);
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Mat b = new Mat(8, 1, CvType.CV_32FC1);
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for (int i = 0; i < 4; i++)
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{
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var u = destPoints.get(i, 0)[0];
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var v = destPoints.get(i, 0)[1];
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b.put(i * 2, 0, u);
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b.put((i * 2) + 1, 0, v);
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var x = imgPoints.get(i, 0)[0];
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var y = imgPoints.get(i, 0)[1];
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A.put(i * 2, 0, x, y, 1, 0, 0, 0, -u * x, -u * y);
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A.put((i * 2) + 1, 0, 0, 0, 0, x, y, 1, -v * x, -v * y);
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}
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Core.solve(A, b, H);
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Mat ShitsReal = new Mat(3, 3, CvType.CV_32FC1);
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ShitsReal.put(0, 0, H.get(0, 0)[0], H.get(1, 0)[0], H.get(2, 0)[0]);
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ShitsReal.put(1, 0, H.get(3, 0)[0], H.get(4, 0)[0], H.get(5, 0)[0]);
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ShitsReal.put(2, 0, H.get(6, 0)[0], H.get(7, 0)[0], 1);
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return ShitsReal;
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}
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}
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