Pownie/arskrald
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inverse homo stuff

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This commit is contained in:
Alexander Munch-Hansen 2019-04-23 12:53:37 +02:00
parent cbc2adb73a
commit be7dc71647
1 changed files with 116 additions and 69 deletions
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185
AR-3/Assets/python_test.cs
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@ -1,21 +1,21 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Diagnostics; using System.Diagnostics;
using System.IO; using System.IO;
using OpenCVForUnity.CoreModule; using OpenCVForUnity.CoreModule;
using UnityEngine; using UnityEngine;
using Vuforia; using Vuforia;
using Newtonsoft.Json; using Newtonsoft.Json;
using OpenCVForUnity.Calib3dModule; using OpenCVForUnity.Calib3dModule;
using OpenCVForUnity.ImgprocModule; using OpenCVForUnity.ImgprocModule;
using OpenCVForUnity.ImgcodecsModule; using OpenCVForUnity.ImgcodecsModule;
public class HomographyPoints public class HomographyAndState
{ {
public List<List<float>> src_points { get; set; } public List<List<float>> homography { get; set; }
public List<List<float>> dst_points { get; set; } public List<List<int>> board { get; set; }
} }
public class python_test : MonoBehaviour public class python_test : MonoBehaviour
{ {
Mat camImageMat; Mat camImageMat;
@ -23,28 +23,38 @@ public class python_test : MonoBehaviour
int baselineWidth = 1500; int baselineWidth = 1500;
int baselineHeight = 1500; int baselineHeight = 1500;
Mat loadedImage; Mat loadedImage;
GameObject rue;
bool displayWarped = false;
double rueX = 0.51;
double rueY = 0.71;
Mat camImgCopy;
// Start is called before the first frame update // Start is called before the first frame update
void Start() void Start()
{ {
loadedImage = Imgcodecs.imread("/Users/alexandermunch-hansen/projects/chess_stuff/advancedskrald/whole_boards/boards_for_empty/board_1554285984.187497_rank_4.png"); loadedImage = Imgcodecs.imread("/Users/alexandermunch-hansen/projects/chess_stuff/advancedskrald/whole_boards/boards_for_empty/board_1554285984.187497_rank_4.png");
camImgCopy = loadedImage.clone();
} }
string runCmd(Mat image) string runCmd(Mat image)
{ {
var buffer = new MatOfByte(); var buffer = new MatOfByte();
OpenCVForUnity.ImgcodecsModule.Imgcodecs.imencode(".png", camImageMat, buffer); OpenCVForUnity.ImgcodecsModule.Imgcodecs.imencode(".png", camImageMat, buffer);
string base64 = Convert.ToBase64String(buffer.toArray()); string base64 = Convert.ToBase64String(buffer.toArray());
ProcessStartInfo start = new ProcessStartInfo(); ProcessStartInfo start = new ProcessStartInfo();
start.FileName = "/Users/alexandermunch-hansen/.virtualenvs/cv/bin/python3"; start.FileName = "/Users/alexandermunch-hansen/.virtualenvs/cv/bin/python3";
var cmd = "/Users/alexandermunch-hansen/projects/chess_stuff/advancedskrald/adapter.py"; var cmd = "/Users/alexandermunch-hansen/projects/chess_stuff/advancedskrald/adapter.py";
var args = ""; var args = "";
start.Arguments = string.Format("\"{0}\" \"{1}\"", cmd, args); start.Arguments = string.Format("\"{0}\" \"{1}\"", cmd, args);
print(start.Arguments);
start.UseShellExecute = false;// Do not use OS shell start.UseShellExecute = false;// Do not use OS shell
start.CreateNoWindow = true; // We don't need new window start.CreateNoWindow = true; // We don't need new window
start.RedirectStandardInput = true; start.RedirectStandardInput = true;
@ -52,16 +62,15 @@ public class python_test : MonoBehaviour
start.RedirectStandardError = true; // Any error in standard output will be redirected back (for example exceptions) start.RedirectStandardError = true; // Any error in standard output will be redirected back (for example exceptions)
using (Process process = Process.Start(start)) using (Process process = Process.Start(start))
{ {
using (StreamWriter writer = process.StandardInput)
{
writer.WriteLine(base64);
writer.Close();
}
process.WaitForExit(); using (StreamWriter writer = process.StandardInput)
{
string err = process.StandardError.ReadToEnd(); writer.WriteLine(base64);
print(err); writer.Close();
}
process.WaitForExit();
using (StreamReader reader = process.StandardOutput) using (StreamReader reader = process.StandardOutput)
{ {
@ -69,22 +78,22 @@ public class python_test : MonoBehaviour
return (string) result; return (string) result;
} }
} }
} }
// Update is called once per frame // Update is called once per frame
void Update() void Update()
{ {
Image camImg = CameraDevice.Instance.GetCameraImage(Image.PIXEL_FORMAT.RGBA8888); Image camImg = CameraDevice.Instance.GetCameraImage(Image.PIXEL_FORMAT.RGBA8888);
Mat outputMat = null; Mat outputMat = null;
if (camImg != null) if (camImg != null)
{ {
if (camImageMat == null) if (camImageMat == null)
{ {
camImageMat = new Mat(camImg.Height, camImg.Width, CvType.CV_8UC4); camImageMat = new Mat(camImg.Height, camImg.Width, CvType.CV_8UC4);
} }
camImageMat.put(0, 0, camImg.Pixels); camImageMat.put(0, 0, camImg.Pixels);
if (Input.GetKeyDown("space")) if (Input.GetKeyDown("space"))
{ {
/* /*
@ -95,53 +104,91 @@ public class python_test : MonoBehaviour
print("------------------------------------"); print("------------------------------------");
print(loadedImage.size()); print(loadedImage.size());
var camImgCopy = loadedImage.clone();
outputMat = camImgCopy.clone(); outputMat = camImgCopy.clone();
camImageMat = loadedImage.clone(); camImageMat = loadedImage.clone();
print("------------------------------------"); print("------------------------------------");
var pls = runCmd(camImageMat); var pls = runCmd(camImageMat);
print(pls); Mat homography = new Mat(new Size(3, 3), CvType.CV_64F);
HomographyPoints homographyPoints = JsonConvert.DeserializeObject<HomographyPoints>(pls);
print(homographyPoints.src_points);
MatOfPoint2f imagePoints = new MatOfPoint2f();
imagePoints.alloc(homographyPoints.src_points.Count);
print(homographyPoints.src_points.Count);
MatOfPoint2f dstPoints = new MatOfPoint2f();
dstPoints.alloc(homographyPoints.dst_points.Count);
for (int i = 0; i < homographyPoints.src_points.Count; i++)
{ HomographyAndState homographyAndState = JsonConvert.DeserializeObject<HomographyAndState>(pls);
imagePoints.put(i, 0, (int) homographyPoints.src_points[i][0], (int) homographyPoints.src_points[i][1]);
} print(homographyAndState.homography);
for (int i = 0; i < homographyPoints.dst_points.Count; i++) for (int i = 0; i < 3; i++)
{ {
for (int j = 0; j < 3; j++)
{
homography.put(i, j, homographyAndState.homography[i][j]);
print(homographyAndState.homography[i][j]);
}
}
dstPoints.put(i, 0, (int) homographyPoints.dst_points[i][0], (int) homographyPoints.dst_points[i][1]);
}
var homography = Calib3d.findHomography(imagePoints, dstPoints, Calib3d.RANSAC);
Imgproc.warpPerspective(camImgCopy, outputMat, homography, new Size(baselineWidth, baselineHeight)); Imgproc.warpPerspective(camImgCopy, outputMat, homography, new Size(baselineWidth, baselineHeight));
imagePoints.Dispose(); foreach (var row in homographyAndState.board) {
dstPoints.Dispose(); foreach (var lel in row) {
print(lel);
} }
}
if (outputMat != null)
MatDisplay.DisplayMat(outputMat, MatDisplaySettings.FULL_BACKGROUND); //List<Point> points = new List<Point>();
} MatOfPoint2f points = new MatOfPoint2f();
} points.alloc(16);
int cur_level = 0;
int index = 0;
for (int x = 0; x < 8; x++)
{
cur_level += 165;
foreach (int y in new List<int> { 150, 315 })
{
//points.put(index, 0, cur_level, y);
//index += 1;
Imgproc.circle(outputMat, new Point(cur_level, y), 50, new Scalar(255, 0, 0), -1);
}
}
//Core.perspectiveTransform(points, transformedPoints, homography.inv());
//for (int i = 0; i < 16; i++)
//{
// Imgproc.circle(loadedImage, transformedPoints.get(i, 0), 5, new Scalar(255, 0, 0), -1);
//}
if (displayWarped)
{
camImgCopy = loadedImage.clone();
Mat tmpCopy = camImgCopy.clone();
Imgproc.warpPerspective(outputMat,tmpCopy, homography.inv(), camImgCopy.size());
Core.addWeighted(tmpCopy, 0.80f, camImgCopy, 0.7f, 0.0f, camImgCopy);
displayWarped = false;
}
else
{
displayWarped = true;
MatDisplay.DisplayMat(outputMat, MatDisplaySettings.FULL_BACKGROUND);
}
}
if (!displayWarped)
MatDisplay.DisplayMat(camImgCopy, MatDisplaySettings.FULL_BACKGROUND);
}
}
} }