GHZMRSpaceXR/Assets/OpenCVForUnity/Examples/MainModules/video/OpticalFlowExample/OpticalFlowExample.cs

using UnityEngine;
using UnityEngine.SceneManagement;
using System.Collections;
using System.Collections.Generic;
using OpenCVForUnity.CoreModule;
using OpenCVForUnity.ImgprocModule;
using OpenCVForUnity.VideoModule;
using OpenCVForUnity.UnityUtils;
using OpenCVForUnity.UnityUtils.Helper;

namespace OpenCVForUnityExample
{
    /// <summary>
    /// OpticalFlow Example
    /// http://stackoverflow.com/questions/6505779/android-optical-flow-with-opencv?rq=1
    /// http://docs.opencv.org/3.2.0/d7/d8b/tutorial_py_lucas_kanade.html
    /// </summary>
    [RequireComponent (typeof(WebCamTextureToMatHelper))]
    public class OpticalFlowExample : MonoBehaviour
    {
        /// <summary>
        /// The mat op flow this.
        /// </summary>
        Mat matOpFlowThis;

        /// <summary>
        /// The mat op flow previous.
        /// </summary>
        Mat matOpFlowPrev;

        /// <summary>
        /// The i GFFT max.
        /// </summary>
        int iGFFTMax = 40;

        /// <summary>
        /// The MO pcorners.
        /// </summary>
        MatOfPoint MOPcorners;

        /// <summary>
        /// The m MO p2fpts this.
        /// </summary>
        MatOfPoint2f mMOP2fptsThis;

        /// <summary>
        /// The m MO p2fpts previous.
        /// </summary>
        MatOfPoint2f mMOP2fptsPrev;

        /// <summary>
        /// The m MO p2fpts safe.
        /// </summary>
        MatOfPoint2f mMOP2fptsSafe;

        /// <summary>
        /// The m MOB status.
        /// </summary>
        MatOfByte mMOBStatus;

        /// <summary>
        /// The m MO ferr.
        /// </summary>
        MatOfFloat mMOFerr;

        /// <summary>
        /// The color red.
        /// </summary>
        Scalar colorRed = new Scalar (255, 0, 0, 255);

        /// <summary>
        /// The i line thickness.
        /// </summary>
        int iLineThickness = 3;

        /// <summary>
        /// The texture.
        /// </summary>
        Texture2D texture;

        /// <summary>
        /// The web cam texture to mat helper.
        /// </summary>
        WebCamTextureToMatHelper webCamTextureToMatHelper;

        /// <summary>
        /// The FPS monitor.
        /// </summary>
        FpsMonitor fpsMonitor;

        // Use this for initialization
        void Start ()
        {
            fpsMonitor = GetComponent<FpsMonitor> ();

            webCamTextureToMatHelper = gameObject.GetComponent<WebCamTextureToMatHelper> ();

            #if UNITY_ANDROID && !UNITY_EDITOR
            // Avoids the front camera low light issue that occurs in only some Android devices (e.g. Google Pixel, Pixel2).
            webCamTextureToMatHelper.avoidAndroidFrontCameraLowLightIssue = true;
            #endif
            webCamTextureToMatHelper.Initialize ();
        }

        /// <summary>
        /// Raises the web cam texture to mat helper initialized event.
        /// </summary>
        public void OnWebCamTextureToMatHelperInitialized ()
        {
            Debug.Log ("OnWebCamTextureToMatHelperInitialized");
            
            Mat webCamTextureMat = webCamTextureToMatHelper.GetMat ();

            texture = new Texture2D (webCamTextureMat.cols (), webCamTextureMat.rows (), TextureFormat.RGBA32, false);

            gameObject.GetComponent<Renderer> ().material.mainTexture = texture;

            gameObject.transform.localScale = new Vector3 (webCamTextureMat.cols (), webCamTextureMat.rows (), 1);
            
            Debug.Log ("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);

            if (fpsMonitor != null) {
                fpsMonitor.Add ("width", webCamTextureMat.width ().ToString ());
                fpsMonitor.Add ("height", webCamTextureMat.height ().ToString ());
                fpsMonitor.Add ("orientation", Screen.orientation.ToString ());
            }

            
            float width = webCamTextureMat.width ();
            float height = webCamTextureMat.height ();
            
            float widthScale = (float)Screen.width / width;
            float heightScale = (float)Screen.height / height;
            if (widthScale < heightScale) {
                Camera.main.orthographicSize = (width * (float)Screen.height / (float)Screen.width) / 2;
            } else {
                Camera.main.orthographicSize = height / 2;
            }

            matOpFlowThis = new Mat ();
            matOpFlowPrev = new Mat ();
            MOPcorners = new MatOfPoint ();
            mMOP2fptsThis = new MatOfPoint2f ();
            mMOP2fptsPrev = new MatOfPoint2f ();
            mMOP2fptsSafe = new MatOfPoint2f ();
            mMOBStatus = new MatOfByte ();
            mMOFerr = new MatOfFloat ();
        }

        /// <summary>
        /// Raises the web cam texture to mat helper disposed event.
        /// </summary>
        public void OnWebCamTextureToMatHelperDisposed ()
        {
            Debug.Log ("OnWebCamTextureToMatHelperDisposed");

            if (texture != null) {
                Texture2D.Destroy (texture);
                texture = null;
            }

            if (matOpFlowThis != null)
                matOpFlowThis.Dispose ();
            if (matOpFlowPrev != null)
                matOpFlowPrev.Dispose ();
            if (MOPcorners != null)
                MOPcorners.Dispose ();
            if (mMOP2fptsThis != null)
                mMOP2fptsThis.Dispose ();
            if (mMOP2fptsPrev != null)
                mMOP2fptsPrev.Dispose ();
            if (mMOP2fptsSafe != null)
                mMOP2fptsSafe.Dispose ();
            if (mMOBStatus != null)
                mMOBStatus.Dispose ();
            if (mMOFerr != null)
                mMOFerr.Dispose ();
        }

        /// <summary>
        /// Raises the web cam texture to mat helper error occurred event.
        /// </summary>
        /// <param name="errorCode">Error code.</param>
        public void OnWebCamTextureToMatHelperErrorOccurred (WebCamTextureToMatHelper.ErrorCode errorCode)
        {
            Debug.Log ("OnWebCamTextureToMatHelperErrorOccurred " + errorCode);
        }

        // Update is called once per frame
        void Update ()
        {
            if (webCamTextureToMatHelper.IsPlaying () && webCamTextureToMatHelper.DidUpdateThisFrame ()) {
                
                Mat rgbaMat = webCamTextureToMatHelper.GetMat ();

                if (mMOP2fptsPrev.rows () == 0) {
                
                    // first time through the loop so we need prev and this mats
                    // plus prev points
                    // get this mat
                    Imgproc.cvtColor (rgbaMat, matOpFlowThis, Imgproc.COLOR_RGBA2GRAY);
                                    
                    // copy that to prev mat
                    matOpFlowThis.copyTo (matOpFlowPrev);
                                    
                    // get prev corners
                    Imgproc.goodFeaturesToTrack (matOpFlowPrev, MOPcorners, iGFFTMax, 0.05, 20);
                    mMOP2fptsPrev.fromArray (MOPcorners.toArray ());
                                    
                    // get safe copy of this corners
                    mMOP2fptsPrev.copyTo (mMOP2fptsSafe);
                } else {
                    // we've been through before so
                    // this mat is valid. Copy it to prev mat
                    matOpFlowThis.copyTo (matOpFlowPrev);
                                    
                    // get this mat
                    Imgproc.cvtColor (rgbaMat, matOpFlowThis, Imgproc.COLOR_RGBA2GRAY);
                                    
                    // get the corners for this mat
                    Imgproc.goodFeaturesToTrack (matOpFlowThis, MOPcorners, iGFFTMax, 0.05, 20);
                    mMOP2fptsThis.fromArray (MOPcorners.toArray ());
                                    
                    // retrieve the corners from the prev mat
                    // (saves calculating them again)
                    mMOP2fptsSafe.copyTo (mMOP2fptsPrev);
                                    
                    // and save this corners for next time through
                                    
                    mMOP2fptsThis.copyTo (mMOP2fptsSafe);
                }


                /*
                    Parameters:
                        prevImg first 8-bit input image
                        nextImg second input image
                        prevPts vector of 2D points for which the flow needs to be found; point coordinates must be single-precision floating-point numbers.
                        nextPts output vector of 2D points (with single-precision floating-point coordinates) containing the calculated new positions of input features in the second image; when OPTFLOW_USE_INITIAL_FLOW flag is passed, the vector must have the same size as in the input.
                        status output status vector (of unsigned chars); each element of the vector is set to 1 if the flow for the corresponding features has been found, otherwise, it is set to 0.
                        err output vector of errors; each element of the vector is set to an error for the corresponding feature, type of the error measure can be set in flags parameter; if the flow wasn't found then the error is not defined (use the status parameter to find such cases).
                */
                Video.calcOpticalFlowPyrLK (matOpFlowPrev, matOpFlowThis, mMOP2fptsPrev, mMOP2fptsThis, mMOBStatus, mMOFerr);
                
                if (mMOBStatus.rows () > 0) {
                    List<Point> cornersPrev = mMOP2fptsPrev.toList ();
                    List<Point> cornersThis = mMOP2fptsThis.toList ();
                    List<byte> byteStatus = mMOBStatus.toList ();
                
                    int x = 0;
                    int y = byteStatus.Count - 1;
                                                    
                    for (x = 0; x < y; x++) {
                        if (byteStatus [x] == 1) {
                            Point pt = cornersThis [x];
                            Point pt2 = cornersPrev [x];
                                        
                            Imgproc.circle (rgbaMat, pt, 5, colorRed, iLineThickness - 1);
                                        
                            Imgproc.line (rgbaMat, pt, pt2, colorRed, iLineThickness);
                        }
                    }
                }
                
//                Imgproc.putText (rgbaMat, "W:" + rgbaMat.width () + " H:" + rgbaMat.height () + " SO:" + Screen.orientation, new Point (5, rgbaMat.rows () - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 1.0, new Scalar (255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
                
                Utils.fastMatToTexture2D (rgbaMat, texture);
            }
        }

        /// <summary>
        /// Raises the destroy event.
        /// </summary>
        void OnDestroy ()
        {
            webCamTextureToMatHelper.Dispose ();
        }

        /// <summary>
        /// Raises the back button click event.
        /// </summary>
        public void OnBackButtonClick ()
        {
            SceneManager.LoadScene ("OpenCVForUnityExample");
        }

        /// <summary>
        /// Raises the play button click event.
        /// </summary>
        public void OnPlayButtonClick ()
        {
            webCamTextureToMatHelper.Play ();
        }

        /// <summary>
        /// Raises the pause button click event.
        /// </summary>
        public void OnPauseButtonClick ()
        {
            webCamTextureToMatHelper.Pause ();
        }

        /// <summary>
        /// Raises the stop button click event.
        /// </summary>
        public void OnStopButtonClick ()
        {
            webCamTextureToMatHelper.Stop ();
        }

        /// <summary>
        /// Raises the change camera button click event.
        /// </summary>
        public void OnChangeCameraButtonClick ()
        {
            webCamTextureToMatHelper.requestedIsFrontFacing = !webCamTextureToMatHelper.IsFrontFacing ();
        }
    }
}