BachelorarbeitCozmo/Assets/Scripts/CannyEdgeDetection/CannyTest.cs

//using UnityEngine;
//using OpenCvSharp;
//using System.Threading.Tasks;


//public class CannyTest : MonoBehaviour
//{

//    // Video parameters
//    public MeshRenderer CameraRenderer;
//    public MeshRenderer ProcessedImageRenderer;
//    public Camera textureCamera;

//    // Video size
//    private const int imWidth = 1280; //TODO: Set width and height based on agent observation size
//    private const int imHeight = 720;
//    private int imFrameRate;

//    // OpenCVSharp parameters
//    private Mat videoSourceImage;
//    private Mat cannyImage;
//    private Texture2D processedTexture;
//    private Vec3b[] videoSourceImageData;
//    private byte[] cannyImageData;

//    // Frame rate parameter
//    private int updateFrameCount = 0;
//    private int textureCount = 0;
//    private int displayCount = 0;

//    void Start()
//    {
//        // assign the camera texture to the meshrenderer
//        CameraRenderer.material.mainTexture = textureCamera.targetTexture;

//        // initialize video / image with given size
//        videoSourceImage = new Mat(imHeight, imWidth, MatType.CV_8UC3);
//        videoSourceImageData = new Vec3b[imHeight * imWidth];
//        cannyImage = new Mat(imHeight, imWidth, MatType.CV_8UC1);
//        cannyImageData = new byte[imHeight * imWidth];

//        // create processed video texture as Texture2D object
//        processedTexture = new Texture2D(imWidth, imHeight, TextureFormat.RGBA32, true, true);

//        // assign the processedTexture to the meshrenderer for display
//        ProcessedImageRenderer.material.mainTexture = processedTexture;
//    }



//    void Update()
//    {

//        updateFrameCount++;



//        if (textureCamera.targetTexture.didUpdateThisFrame)
//        {

//            textureCount++;

//            // convert texture of original video to OpenCVSharp Mat object
//            TextureToMat();
//            // update the opencv window of source video
//            UpdateWindow(videoSourceImage);
//            // create the canny edge image out of source image
//            ProcessImage(videoSourceImage);
//            // convert the OpenCVSharp Mat of canny image to Texture2D
//            // the texture will be displayed automatically
//            MatToTexture();

//        }

//    }
//        else
//        {
//            Debug.Log("Can't find camera!");
//        }


//        // output frame rate information
//        if (updateFrameCount % 30 == 0)
//        {
//            Debug.Log("Frame count: " + updateFrameCount + ", Texture count: " + textureCount + ", Display count: " + displayCount);
//        }


//    }


//    // Convert Unity Texture2D object to OpenCVSharp Mat object
//    void TextureToMat()
//{
//    // Color32 array : r, g, b, a
//    Color32[] c = _webcamTexture.GetPixels32();

//    // Parallel for loop
//    // convert Color32 object to Vec3b object
//    // Vec3b is the representation of pixel for Mat
//    Parallel.For(0, imHeight, i =>
//    {
//        for (var j = 0; j < imWidth; j++)
//        {
//            var col = c[j + i * imWidth];
//            var vec3 = new Vec3b
//            {
//                Item0 = col.b,
//                Item1 = col.g,
//                Item2 = col.r
//            };
//            // set pixel to an array
//            videoSourceImageData[j + i * imWidth] = vec3;
//        }
//    });
//    // assign the Vec3b array to Mat
//    videoSourceImage.SetArray(0, 0, videoSourceImageData);
//}



//// Convert OpenCVSharp Mat object to Unity Texture2D object
//void MatToTexture()
//{
//    // cannyImageData is byte array, because canny image is grayscale
//    cannyImage.GetArray(0, 0, cannyImageData);
//    // create Color32 array that can be assigned to Texture2D directly
//    Color32[] c = new Color32[imHeight * imWidth];

//    // parallel for loop
//    Parallel.For(0, imHeight, i =>
//    {
//        for (var j = 0; j < imWidth; j++)
//        {
//            byte vec = cannyImageData[j + i * imWidth];
//            var color32 = new Color32
//            {
//                r = vec,
//                g = vec,
//                b = vec,
//                a = 0
//            };
//            c[j + i * imWidth] = color32;
//        }
//    });

//    processedTexture.SetPixels32(c);
//    // to update the texture, OpenGL manner
//    processedTexture.Apply();
//}



//// Simple example of canny edge detect
//void ProcessImage(Mat _image)
//{
//    Cv2.Flip(_image, _image, FlipMode.X);
//    Cv2.Canny(_image, cannyImage, 100, 100);
//}


//// Display the original video in a opencv window
//void UpdateWindow(Mat _image)
//{
//    Cv2.Flip(_image, _image, FlipMode.X);
//    Cv2.ImShow("Copy video", _image);
//    displayCount++;
//}

//// close the opencv window
//public void OnDestroy()
//{
//    Cv2.DestroyAllWindows();

//}


//}