inverse homo stuff
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cbc2adb73a
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@ -1,21 +1,21 @@
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.IO;
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using OpenCVForUnity.CoreModule;
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using System.Diagnostics;
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using System.IO;
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using OpenCVForUnity.CoreModule;
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using UnityEngine;
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using Vuforia;
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using Newtonsoft.Json;
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using OpenCVForUnity.Calib3dModule;
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using OpenCVForUnity.ImgprocModule;
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using OpenCVForUnity.ImgcodecsModule;
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public class HomographyPoints
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using OpenCVForUnity.ImgcodecsModule;
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public class HomographyAndState
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{
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public List<List<float>> src_points { get; set; }
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public List<List<float>> dst_points { get; set; }
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public List<List<float>> homography { get; set; }
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public List<List<int>> board { get; set; }
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}
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public class python_test : MonoBehaviour
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{
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Mat camImageMat;
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@ -23,28 +23,38 @@ public class python_test : MonoBehaviour
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int baselineWidth = 1500;
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int baselineHeight = 1500;
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Mat loadedImage;
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GameObject rue;
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bool displayWarped = false;
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double rueX = 0.51;
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double rueY = 0.71;
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Mat camImgCopy;
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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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loadedImage = Imgcodecs.imread("/Users/alexandermunch-hansen/projects/chess_stuff/advancedskrald/whole_boards/boards_for_empty/board_1554285984.187497_rank_4.png");
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loadedImage = Imgcodecs.imread("/Users/alexandermunch-hansen/projects/chess_stuff/advancedskrald/whole_boards/boards_for_empty/board_1554285984.187497_rank_4.png");
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camImgCopy = loadedImage.clone();
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}
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string runCmd(Mat image)
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{
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var buffer = new MatOfByte();
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string runCmd(Mat image)
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{
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var buffer = new MatOfByte();
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OpenCVForUnity.ImgcodecsModule.Imgcodecs.imencode(".png", camImageMat, buffer);
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string base64 = Convert.ToBase64String(buffer.toArray());
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ProcessStartInfo start = new ProcessStartInfo();
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start.FileName = "/Users/alexandermunch-hansen/.virtualenvs/cv/bin/python3";
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var cmd = "/Users/alexandermunch-hansen/projects/chess_stuff/advancedskrald/adapter.py";
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var args = "";
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start.Arguments = string.Format("\"{0}\" \"{1}\"", cmd, args);
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print(start.Arguments);
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start.UseShellExecute = false;// Do not use OS shell
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start.CreateNoWindow = true; // We don't need new window
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start.RedirectStandardInput = true;
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@ -52,16 +62,15 @@ public class python_test : MonoBehaviour
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start.RedirectStandardError = true; // Any error in standard output will be redirected back (for example exceptions)
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using (Process process = Process.Start(start))
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{
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using (StreamWriter writer = process.StandardInput)
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{
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writer.WriteLine(base64);
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writer.Close();
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}
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process.WaitForExit();
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string err = process.StandardError.ReadToEnd();
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print(err);
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using (StreamWriter writer = process.StandardInput)
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{
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writer.WriteLine(base64);
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writer.Close();
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}
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process.WaitForExit();
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using (StreamReader reader = process.StandardOutput)
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{
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@ -69,22 +78,22 @@ public class python_test : MonoBehaviour
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return (string) result;
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}
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}
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}
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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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Image camImg = CameraDevice.Instance.GetCameraImage(Image.PIXEL_FORMAT.RGBA8888);
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{
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Image camImg = CameraDevice.Instance.GetCameraImage(Image.PIXEL_FORMAT.RGBA8888);
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Mat outputMat = null;
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if (camImg != null)
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{
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if (camImageMat == null)
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{
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camImageMat = new Mat(camImg.Height, camImg.Width, CvType.CV_8UC4);
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}
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{
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if (camImageMat == null)
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{
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camImageMat = new Mat(camImg.Height, camImg.Width, CvType.CV_8UC4);
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}
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camImageMat.put(0, 0, camImg.Pixels);
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if (Input.GetKeyDown("space"))
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if (Input.GetKeyDown("space"))
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{
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/*
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@ -95,53 +104,91 @@ public class python_test : MonoBehaviour
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print("------------------------------------");
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print(loadedImage.size());
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var camImgCopy = loadedImage.clone();
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outputMat = camImgCopy.clone();
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camImageMat = loadedImage.clone();
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print("------------------------------------");
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camImageMat = loadedImage.clone();
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print("------------------------------------");
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var pls = runCmd(camImageMat);
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print(pls);
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HomographyPoints homographyPoints = JsonConvert.DeserializeObject<HomographyPoints>(pls);
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print(homographyPoints.src_points);
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MatOfPoint2f imagePoints = new MatOfPoint2f();
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imagePoints.alloc(homographyPoints.src_points.Count);
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print(homographyPoints.src_points.Count);
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MatOfPoint2f dstPoints = new MatOfPoint2f();
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dstPoints.alloc(homographyPoints.dst_points.Count);
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Mat homography = new Mat(new Size(3, 3), CvType.CV_64F);
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for (int i = 0; i < homographyPoints.src_points.Count; i++)
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{
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imagePoints.put(i, 0, (int) homographyPoints.src_points[i][0], (int) homographyPoints.src_points[i][1]);
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}
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for (int i = 0; i < homographyPoints.dst_points.Count; i++)
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HomographyAndState homographyAndState = JsonConvert.DeserializeObject<HomographyAndState>(pls);
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print(homographyAndState.homography);
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for (int i = 0; i < 3; i++)
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{
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for (int j = 0; j < 3; j++)
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{
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homography.put(i, j, homographyAndState.homography[i][j]);
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print(homographyAndState.homography[i][j]);
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}
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}
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dstPoints.put(i, 0, (int) homographyPoints.dst_points[i][0], (int) homographyPoints.dst_points[i][1]);
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}
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var homography = Calib3d.findHomography(imagePoints, dstPoints, Calib3d.RANSAC);
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Imgproc.warpPerspective(camImgCopy, outputMat, homography, new Size(baselineWidth, baselineHeight));
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imagePoints.Dispose();
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dstPoints.Dispose();
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}
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foreach (var row in homographyAndState.board) {
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foreach (var lel in row) {
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print(lel);
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}
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}
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if (outputMat != null)
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MatDisplay.DisplayMat(outputMat, MatDisplaySettings.FULL_BACKGROUND);
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}
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}
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//List<Point> points = new List<Point>();
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MatOfPoint2f points = new MatOfPoint2f();
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points.alloc(16);
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int cur_level = 0;
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int index = 0;
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for (int x = 0; x < 8; x++)
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{
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cur_level += 165;
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foreach (int y in new List<int> { 150, 315 })
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{
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//points.put(index, 0, cur_level, y);
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//index += 1;
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Imgproc.circle(outputMat, new Point(cur_level, y), 50, new Scalar(255, 0, 0), -1);
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}
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}
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//Core.perspectiveTransform(points, transformedPoints, homography.inv());
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//for (int i = 0; i < 16; i++)
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//{
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// Imgproc.circle(loadedImage, transformedPoints.get(i, 0), 5, new Scalar(255, 0, 0), -1);
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//}
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if (displayWarped)
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{
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camImgCopy = loadedImage.clone();
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Mat tmpCopy = camImgCopy.clone();
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Imgproc.warpPerspective(outputMat,tmpCopy, homography.inv(), camImgCopy.size());
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Core.addWeighted(tmpCopy, 0.80f, camImgCopy, 0.7f, 0.0f, camImgCopy);
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displayWarped = false;
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}
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else
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{
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displayWarped = true;
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MatDisplay.DisplayMat(outputMat, MatDisplaySettings.FULL_BACKGROUND);
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}
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}
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if (!displayWarped)
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MatDisplay.DisplayMat(camImgCopy, MatDisplaySettings.FULL_BACKGROUND);
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}
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}
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}
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