Add opencvsharp.dll / Add Rendertexture observation / add Canny
This commit is contained in:
Tobi
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//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;
|
||||
|
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// // OpenCVSharp parameters
|
||||
// private Mat videoSourceImage;
|
||||
// private Mat cannyImage;
|
||||
// private Texture2D processedTexture;
|
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// private Vec3b[] videoSourceImageData;
|
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// private byte[] cannyImageData;
|
||||
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// // Frame rate parameter
|
||||
// private int updateFrameCount = 0;
|
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// 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();
|
||||
|
||||
//}
|
||||
|
||||
|
||||
//}
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@@ -0,0 +1,11 @@
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fileFormatVersion: 2
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guid: 4d6afecccc2c5aa42a5c437ddf20a25c
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MonoImporter:
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externalObjects: {}
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serializedVersion: 2
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defaultReferences: []
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executionOrder: 0
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icon: {instanceID: 0}
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userData:
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||||
assetBundleName:
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assetBundleVariant:
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@@ -0,0 +1,127 @@
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using OpenCvSharp;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
public class OnRenderImageTest : MonoBehaviour
|
||||
{
|
||||
public MeshRenderer processedImageRenderer;
|
||||
|
||||
// OpenCVSharp parameters
|
||||
private Mat videoSourceImage;
|
||||
private Mat cannyImage;
|
||||
private Texture2D processedTexture;
|
||||
private Vec3b[] videoSourceImageData;
|
||||
private byte[] cannyImageData;
|
||||
|
||||
|
||||
private const int imWidth = 320; //TODO: Set width and height based on agent observation size
|
||||
private const int imHeight = 240;
|
||||
|
||||
private Camera textureCamera;
|
||||
|
||||
private void Start()
|
||||
{
|
||||
textureCamera = GetComponent<Camera>();
|
||||
|
||||
//assign the processed targetTexture to the renderer to display the image
|
||||
processedImageRenderer.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];
|
||||
}
|
||||
|
||||
|
||||
private void OnRenderImage(RenderTexture source, RenderTexture destination)
|
||||
{
|
||||
Texture2D tex = RenderTextureToTexture2D(source);
|
||||
videoSourceImage = TextureToMat(tex);
|
||||
cannyImage = ProcessImage(videoSourceImage);
|
||||
processedTexture = MatToTexture(cannyImage);
|
||||
Graphics.Blit(processedTexture, destination);
|
||||
}
|
||||
|
||||
private Texture2D RenderTextureToTexture2D(RenderTexture rTex)
|
||||
{
|
||||
Texture2D tex = new Texture2D(imWidth, imHeight, TextureFormat.RGBA32, true, true);
|
||||
RenderTexture.active = rTex;
|
||||
tex.ReadPixels(new UnityEngine.Rect(0, 0, rTex.width, rTex.height), 0, 0);
|
||||
tex.Apply();
|
||||
return tex;
|
||||
}
|
||||
|
||||
// Convert Unity Texture2D object to OpenCVSharp Mat object
|
||||
private Mat TextureToMat(Texture2D source)
|
||||
{
|
||||
// Color32 array : r, g, b, a
|
||||
Color32[] c = source.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
|
||||
Mat tmpMat = new Mat(imHeight, imWidth, MatType.CV_8UC3);
|
||||
tmpMat.SetArray(0, 0, videoSourceImageData);
|
||||
return tmpMat;
|
||||
}
|
||||
|
||||
// Simple example of canny edge detect
|
||||
private Mat ProcessImage(Mat _image)
|
||||
{
|
||||
Mat cannyImg = new Mat();
|
||||
Cv2.Canny(_image, cannyImg, 100, 100);
|
||||
return cannyImg;
|
||||
}
|
||||
|
||||
// Convert OpenCVSharp Mat object to Unity Texture2D object
|
||||
private Texture2D MatToTexture(Mat mat)
|
||||
{
|
||||
// cannyImageData is byte array, because canny image is grayscale
|
||||
mat.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;
|
||||
}
|
||||
});
|
||||
|
||||
Texture2D texture = new Texture2D(imWidth, imHeight, TextureFormat.RGBA32, true, true);
|
||||
texture.SetPixels32(c);
|
||||
// to update the texture, OpenGL manner
|
||||
texture.Apply();
|
||||
return texture;
|
||||
}
|
||||
}
|
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fileFormatVersion: 2
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guid: b940f59f459dc49479614595d02dcbbc
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MonoImporter:
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externalObjects: {}
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serializedVersion: 2
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defaultReferences: []
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executionOrder: 0
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userData:
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assetBundleName:
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assetBundleVariant:
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@@ -6,4 +6,39 @@ using UnityEngine;
|
||||
public class CozmoAgent : Agent
|
||||
{
|
||||
|
||||
public Camera renderCamera;
|
||||
public Academy academy;
|
||||
public float timeBetweenDecisionsAtInference;
|
||||
private float timeSinceDecision;
|
||||
|
||||
public void FixedUpdate()
|
||||
{
|
||||
WaitTimeInference();
|
||||
}
|
||||
|
||||
private void WaitTimeInference()
|
||||
{
|
||||
if (renderCamera != null)
|
||||
{
|
||||
renderCamera.Render();
|
||||
}
|
||||
|
||||
if (!academy.GetIsInference())
|
||||
{
|
||||
RequestDecision();
|
||||
}
|
||||
else
|
||||
{
|
||||
if (timeSinceDecision >= timeBetweenDecisionsAtInference)
|
||||
{
|
||||
timeSinceDecision = 0f;
|
||||
RequestDecision();
|
||||
}
|
||||
else
|
||||
{
|
||||
timeSinceDecision += Time.fixedDeltaTime;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -22,6 +22,10 @@ public class CozmoMovementTester : MonoBehaviour
|
||||
[Tooltip("Choose which speed of the virtual cozmo should be tested.")]
|
||||
public TestStates testState = TestStates.MovementSpeed;
|
||||
|
||||
[Tooltip("Start and stop testing")]
|
||||
public bool isTesting = false;
|
||||
|
||||
|
||||
void Start()
|
||||
{
|
||||
movement = GetComponent<CozmoMovement>();
|
||||
@@ -35,13 +39,16 @@ public class CozmoMovementTester : MonoBehaviour
|
||||
|
||||
private void FixedUpdate()
|
||||
{
|
||||
if (testState == TestStates.MovementSpeed)
|
||||
if (isTesting)
|
||||
{
|
||||
TestMovementSpeed();
|
||||
}
|
||||
else if (testState == TestStates.RotationSpeed)
|
||||
{
|
||||
TestRotationSpeed();
|
||||
if (testState == TestStates.MovementSpeed)
|
||||
{
|
||||
TestMovementSpeed();
|
||||
}
|
||||
else if (testState == TestStates.RotationSpeed)
|
||||
{
|
||||
TestRotationSpeed();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -60,6 +67,7 @@ public class CozmoMovementTester : MonoBehaviour
|
||||
"\nElapsed time in milliseconds (Rotation): " + rotationWatch.ElapsedMilliseconds);
|
||||
}
|
||||
|
||||
isTesting = false;
|
||||
return;
|
||||
}
|
||||
else
|
||||
@@ -87,6 +95,7 @@ public class CozmoMovementTester : MonoBehaviour
|
||||
"/nElapsed time in milliseconds (Movement): " + movementWatch.ElapsedMilliseconds);
|
||||
}
|
||||
|
||||
isTesting = false;
|
||||
return;
|
||||
}
|
||||
else
|
||||
|
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@@ -0,0 +1,8 @@
|
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fileFormatVersion: 2
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guid: 1da60215cacd462438eae4718c228f73
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folderAsset: yes
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DefaultImporter:
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externalObjects: {}
|
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userData:
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assetBundleName:
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assetBundleVariant:
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@@ -0,0 +1,8 @@
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fileFormatVersion: 2
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guid: 09e41ca9f5a54064f8def1c95e27fd08
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folderAsset: yes
|
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DefaultImporter:
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externalObjects: {}
|
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userData:
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assetBundleName:
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assetBundleVariant:
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@@ -0,0 +1,8 @@
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fileFormatVersion: 2
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guid: fe96f34bf245cba42abda9c0a289dbaa
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folderAsset: yes
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externalObjects: {}
|
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userData:
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assetBundleName:
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Reference in New Issue
Block a user