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b/AR-2b/Assets/detection_script.cs index 6aa496d..9816858 100644 --- a/AR-2b/Assets/detection_script.cs +++ b/AR-2b/Assets/detection_script.cs @@ -6,7 +6,7 @@ using OpenCVForUnity.ImgprocModule; using System.Linq; using Vuforia; -public class detection_script : MonoBehaviour +public class detection_script_2 : MonoBehaviour { Mat cameraImageMat; Mat stylizedMat = new Mat(); diff --git a/AR-2b/Assets/detection_script_2.cs b/AR-2b/Assets/detection_script_2.cs new file mode 100644 index 0000000..2645063 --- /dev/null +++ b/AR-2b/Assets/detection_script_2.cs @@ -0,0 +1,228 @@ +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 contourList = new List(); + 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 squareContours = new List(); + 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 { 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 { 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 { 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 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 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); + 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