GHZMRSpaceXR/Assets/OpenCVForUnity/Examples/Advanced/HandPoseEstimationExample/HandPoseEstimationExample.cs

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

namespace OpenCVForUnityExample
{
    /// <summary>
    /// Hand Pose Estimation Example
    /// Referring to https://www.youtube.com/watch?v=KuGpOxOcpds.
    /// </summary>
    [RequireComponent (typeof(WebCamTextureToMatHelper))]
    public class HandPoseEstimationExample : MonoBehaviour
    {
        /// <summary>
        /// The number of fingers text.
        /// </summary>
        public UnityEngine.UI.Text numberOfFingersText;

        /// <summary>
        /// The threashold slider.
        /// </summary>
        public Slider threasholdSlider;

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

        /// <summary>
        /// The BLOB color hsv.
        /// </summary>
        Scalar blobColorHsv;

        ///// <summary>
        ///// The BLOB color rgba.
        ///// </summary>
        //Scalar blobColorRgba;

        /// <summary>
        /// The detector.
        /// </summary>
        ColorBlobDetector detector;

        /// <summary>
        /// The spectrum mat.
        /// </summary>
        Mat spectrumMat;

        /// <summary>
        /// Indicates whether is color selected.
        /// </summary>
        bool isColorSelected = false;

        /// <summary>
        /// The spectrum size.
        /// </summary>
        Size SPECTRUM_SIZE;

        /// <summary>
        /// The contour color.
        /// </summary>
        Scalar CONTOUR_COLOR;

        /// <summary>
        /// The contour color white.
        /// </summary>
        Scalar CONTOUR_COLOR_WHITE;

        /// <summary>
        /// The number of fingers.
        /// </summary>
        int numberOfFingers = 0;

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

        /// <summary>
        /// The stored touch point.
        /// </summary>
        Point storedTouchPoint;

        /// <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 ());
                fpsMonitor.consoleText = "Please touch the area of the open hand.";
            }


            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;
            }

            detector = new ColorBlobDetector ();
            spectrumMat = new Mat ();
            //blobColorRgba = new Scalar (255);
            blobColorHsv = new Scalar (255);
            SPECTRUM_SIZE = new Size (200, 64);
            CONTOUR_COLOR = new Scalar (255, 0, 0, 255);
            CONTOUR_COLOR_WHITE = new Scalar (255, 255, 255, 255);
        }

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

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

        /// <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 ((UNITY_ANDROID || UNITY_IOS) && !UNITY_EDITOR)
            //Touch
            int touchCount = Input.touchCount;
            if (touchCount == 1)
            {
                Touch t = Input.GetTouch (0);
                if(t.phase == TouchPhase.Ended && !EventSystem.current.IsPointerOverGameObject (t.fingerId)) {
                    storedTouchPoint = new Point (t.position.x, t.position.y);
                    //Debug.Log ("touch X " + t.position.x);
                    //Debug.Log ("touch Y " + t.position.y);
                }
            }
            #else
            //Mouse
            if (Input.GetMouseButtonUp (0) && !EventSystem.current.IsPointerOverGameObject ()) {
                storedTouchPoint = new Point (Input.mousePosition.x, Input.mousePosition.y);
                //Debug.Log ("mouse X " + Input.mousePosition.x);
                //Debug.Log ("mouse Y " + Input.mousePosition.y);
            }
            #endif

            if (webCamTextureToMatHelper.IsPlaying () && webCamTextureToMatHelper.DidUpdateThisFrame ()) {
                
                Mat rgbaMat = webCamTextureToMatHelper.GetMat ();

                if (storedTouchPoint != null) {
                    ConvertScreenPointToTexturePoint (storedTouchPoint, storedTouchPoint, gameObject, rgbaMat.cols (), rgbaMat.rows ());
                    OnTouch (rgbaMat, storedTouchPoint);
                    storedTouchPoint = null;
                }
                
                HandPoseEstimationProcess (rgbaMat);
                
//                Imgproc.putText (rgbaMat, "Please touch the area of the open hand.", 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);
            }
        }

        private void HandPoseEstimationProcess (Mat rgbaMat)
        {
            //Imgproc.blur(mRgba, mRgba, new Size(5,5));
            Imgproc.GaussianBlur (rgbaMat, rgbaMat, new Size (3, 3), 1, 1);
            //Imgproc.medianBlur(mRgba, mRgba, 3);
            
            if (!isColorSelected)
                return;
            
            List<MatOfPoint> contours = detector.GetContours ();
            detector.Process (rgbaMat);
            
//            Debug.Log ("Contours count: " + contours.Count);
            
            if (contours.Count <= 0) {
                return;
            }
            
            RotatedRect rect = Imgproc.minAreaRect (new MatOfPoint2f (contours [0].toArray ()));
            
            double boundWidth = rect.size.width;
            double boundHeight = rect.size.height;
            int boundPos = 0;
            
            for (int i = 1; i < contours.Count; i++) {
                rect = Imgproc.minAreaRect (new MatOfPoint2f (contours [i].toArray ()));
                if (rect.size.width * rect.size.height > boundWidth * boundHeight) {
                    boundWidth = rect.size.width;
                    boundHeight = rect.size.height;
                    boundPos = i;
                }
            }

            MatOfPoint contour = contours [boundPos];
            
            OpenCVForUnity.CoreModule.Rect boundRect = Imgproc.boundingRect (new MatOfPoint (contour.toArray ()));
            Imgproc.rectangle (rgbaMat, boundRect.tl (), boundRect.br (), CONTOUR_COLOR_WHITE, 2, 8, 0);
            
//            Debug.Log (
//                " Row start [" + 
//                    (int)boundRect.tl ().y + "] row end [" +
//                    (int)boundRect.br ().y + "] Col start [" +
//                    (int)boundRect.tl ().x + "] Col end [" +
//                    (int)boundRect.br ().x + "]");
            
            
            double a = boundRect.br ().y - boundRect.tl ().y;
            a = a * 0.7;
            a = boundRect.tl ().y + a;
            
//            Debug.Log (" A [" + a + "] br y - tl y = [" + (boundRect.br ().y - boundRect.tl ().y) + "]");

            Imgproc.rectangle (rgbaMat, boundRect.tl (), new Point (boundRect.br ().x, a), CONTOUR_COLOR, 2, 8, 0);
            
            MatOfPoint2f pointMat = new MatOfPoint2f ();
            Imgproc.approxPolyDP (new MatOfPoint2f (contour.toArray ()), pointMat, 3, true);
            contour = new MatOfPoint (pointMat.toArray ());
            
            MatOfInt hull = new MatOfInt ();
            MatOfInt4 convexDefect = new MatOfInt4 ();
            Imgproc.convexHull (new MatOfPoint (contour.toArray ()), hull);
            
            if (hull.toArray ().Length < 3)
                return;
            
            Imgproc.convexityDefects (new MatOfPoint (contour.toArray ()), hull, convexDefect);
            
            List<MatOfPoint> hullPoints = new List<MatOfPoint> ();
            List<Point> listPo = new List<Point> ();
            for (int j = 0; j < hull.toList ().Count; j++) {
                listPo.Add (contour.toList () [hull.toList () [j]]);
            }
            
            MatOfPoint e = new MatOfPoint ();
            e.fromList (listPo);
            hullPoints.Add (e);

            List<Point> listPoDefect = new List<Point> ();

            if (convexDefect.rows () > 0) {
                List<int> convexDefectList = convexDefect.toList ();
                List<Point> contourList = contour.toList ();
                for (int j = 0; j < convexDefectList.Count; j = j + 4) {
                    Point farPoint = contourList [convexDefectList [j + 2]];
                    int depth = convexDefectList [j + 3];
                    if (depth > threasholdSlider.value && farPoint.y < a) {
                        listPoDefect.Add (contourList [convexDefectList [j + 2]]);
                    }
//                    Debug.Log ("convexDefectList [" + j + "] " + convexDefectList [j + 3]);
                }
            }

            
//            Debug.Log ("hull: " + hull.toList ());
//            if (convexDefect.rows () > 0) {
//                Debug.Log ("defects: " + convexDefect.toList ());
//            }
            
            Imgproc.drawContours (rgbaMat, hullPoints, -1, CONTOUR_COLOR, 3);
            
//            int defectsTotal = (int)convexDefect.total();
//            Debug.Log ("Defect total " + defectsTotal);
            
            this.numberOfFingers = listPoDefect.Count;
            if (this.numberOfFingers > 5)
                this.numberOfFingers = 5;
            
//            Debug.Log ("numberOfFingers " + numberOfFingers);
            
//            Imgproc.putText (rgbaMat, "" + numberOfFingers, new Point (rgbaMat.cols () / 2, rgbaMat.rows () / 2), Imgproc.FONT_HERSHEY_PLAIN, 4.0, new Scalar (255, 255, 255, 255), 6, Imgproc.LINE_AA, false);
            numberOfFingersText.text = numberOfFingers.ToString ();
            
            
            foreach (Point p in listPoDefect) {
                Imgproc.circle (rgbaMat, p, 6, new Scalar (255, 0, 255, 255), -1);
            }
        }

        private void OnTouch (Mat img, Point touchPoint)
        {
            int cols = img.cols ();
            int rows = img.rows ();
            
            int x = (int)touchPoint.x;
            int y = (int)touchPoint.y;
            
            //Debug.Log ("Touch image coordinates: (" + x + ", " + y + ")");
            
            if ((x < 0) || (y < 0) || (x > cols) || (y > rows))
                return;
            
            OpenCVForUnity.CoreModule.Rect touchedRect = new OpenCVForUnity.CoreModule.Rect ();
            
            touchedRect.x = (x > 5) ? x - 5 : 0;
            touchedRect.y = (y > 5) ? y - 5 : 0;
            
            touchedRect.width = (x + 5 < cols) ? x + 5 - touchedRect.x : cols - touchedRect.x;
            touchedRect.height = (y + 5 < rows) ? y + 5 - touchedRect.y : rows - touchedRect.y;
            
            using (Mat touchedRegionRgba = img.submat (touchedRect))
            using (Mat touchedRegionHsv = new Mat ()) {
                Imgproc.cvtColor (touchedRegionRgba, touchedRegionHsv, Imgproc.COLOR_RGB2HSV_FULL);
            
                // Calculate average color of touched region
                blobColorHsv = Core.sumElems (touchedRegionHsv);
                int pointCount = touchedRect.width * touchedRect.height;
                for (int i = 0; i < blobColorHsv.val.Length; i++)
                    blobColorHsv.val [i] /= pointCount;
            
                //blobColorRgba = ConverScalarHsv2Rgba (blobColorHsv);            
                //Debug.Log ("Touched rgba color: (" + mBlobColorRgba.val [0] + ", " + mBlobColorRgba.val [1] +
                //  ", " + mBlobColorRgba.val [2] + ", " + mBlobColorRgba.val [3] + ")");
            
                detector.SetHsvColor (blobColorHsv);
            
                Imgproc.resize (detector.GetSpectrum (), spectrumMat, SPECTRUM_SIZE);
            
                isColorSelected = true;
            }
        }

        private Scalar ConverScalarHsv2Rgba (Scalar hsvColor)
        {
            Scalar rgbaColor;
            using (Mat pointMatRgba = new Mat ())
            using (Mat pointMatHsv = new Mat (1, 1, CvType.CV_8UC3, hsvColor)) {
                Imgproc.cvtColor (pointMatHsv, pointMatRgba, Imgproc.COLOR_HSV2RGB_FULL, 4);
                rgbaColor = new Scalar (pointMatRgba.get (0, 0));
            }
            
            return rgbaColor;
        }

        /// <summary>
        /// Converts the screen point to texture point.
        /// </summary>
        /// <param name="screenPoint">Screen point.</param>
        /// <param name="dstPoint">Dst point.</param>
        /// <param name="texturQuad">Texture quad.</param>
        /// <param name="textureWidth">Texture width.</param>
        /// <param name="textureHeight">Texture height.</param>
        /// <param name="camera">Camera.</param>
        private void ConvertScreenPointToTexturePoint (Point screenPoint, Point dstPoint, GameObject textureQuad, int textureWidth = -1, int textureHeight = -1, Camera camera = null)
        {
            if (textureWidth < 0 || textureHeight < 0) {
                Renderer r = textureQuad.GetComponent<Renderer> ();
                if (r != null && r.material != null && r.material.mainTexture != null) {
                    textureWidth = r.material.mainTexture.width;
                    textureHeight = r.material.mainTexture.height;
                } else {
                    textureWidth = (int)textureQuad.transform.localScale.x;
                    textureHeight = (int)textureQuad.transform.localScale.y;
                }
            }

            if (camera == null)
                camera = Camera.main;

            Vector3 quadPosition = textureQuad.transform.localPosition;
            Vector3 quadScale = textureQuad.transform.localScale;

            Vector2 tl = camera.WorldToScreenPoint (new Vector3 (quadPosition.x - quadScale.x / 2, quadPosition.y + quadScale.y / 2, quadPosition.z));
            Vector2 tr = camera.WorldToScreenPoint (new Vector3 (quadPosition.x + quadScale.x / 2, quadPosition.y + quadScale.y / 2, quadPosition.z));
            Vector2 br = camera.WorldToScreenPoint (new Vector3 (quadPosition.x + quadScale.x / 2, quadPosition.y - quadScale.y / 2, quadPosition.z));
            Vector2 bl = camera.WorldToScreenPoint (new Vector3 (quadPosition.x - quadScale.x / 2, quadPosition.y - quadScale.y / 2, quadPosition.z));                       

            using (Mat srcRectMat = new Mat (4, 1, CvType.CV_32FC2))
            using (Mat dstRectMat = new Mat (4, 1, CvType.CV_32FC2)) {
                srcRectMat.put (0, 0, tl.x, tl.y, tr.x, tr.y, br.x, br.y, bl.x, bl.y);
                dstRectMat.put (0, 0, 0, 0, quadScale.x, 0, quadScale.x, quadScale.y, 0, quadScale.y);            

                using (Mat perspectiveTransform = Imgproc.getPerspectiveTransform (srcRectMat, dstRectMat))
                using (MatOfPoint2f srcPointMat = new MatOfPoint2f (screenPoint))
                using (MatOfPoint2f dstPointMat = new MatOfPoint2f ()) {
                    Core.perspectiveTransform (srcPointMat, dstPointMat, perspectiveTransform);

                    dstPoint.x = dstPointMat.get (0, 0) [0] * textureWidth / quadScale.x;
                    dstPoint.y = dstPointMat.get (0, 0) [1] * textureHeight / quadScale.y;
                }
            }
        }

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

            if (detector != null)
                detector.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 ();
        }
    }
}