Add CenterOfGravity detection / Add reward function

Assets/Scripts/CannyEdgeDetection/ImageProcessor.cs

@@ -4,9 +4,10 @@ using UnityEngine;
 using OpenCvSharp;
 using System.Threading.Tasks;
 
-public class OnRenderImageTest : MonoBehaviour
+public class ImageProcessor : MonoBehaviour
 {
     public MeshRenderer processedImageRenderer;
+    public Point CenterOfGravity { get; private set; }
 
     // OpenCVSharp parameters
     private Mat videoSourceImage;
@@ -41,6 +42,7 @@ public class OnRenderImageTest : MonoBehaviour
         Texture2D tex = RenderTextureToTexture2D(source);
         videoSourceImage = TextureToMat(tex);
         cannyImage = ProcessImage(videoSourceImage);
+        CenterOfGravityTest(cannyImage);
         processedTexture = MatToTexture(cannyImage);
         Graphics.Blit(processedTexture, destination);
     }
@@ -124,4 +126,18 @@ public class OnRenderImageTest : MonoBehaviour
         texture.Apply();
         return texture;
     }
+
+
+    private void CenterOfGravityTest(Mat processedImage)
+    {
+        // find moments of the image
+        Moments m = new Moments(processedImage, true);
+        CenterOfGravity = new Point(m.M10 / m.M00, m.M01 / m.M00);
+
+        // show the image with a point mark at the centroid
+        Cv2.Circle(processedImage, CenterOfGravity, 5, new Scalar(128, 0, 0), -1);
+        Cv2.Flip(processedImage, processedImage, FlipMode.X);
+        Cv2.ImShow("Image with center", processedImage);
+        //Cv2.WaitKey(0);
+    }
 }