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demo.html
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demo.html
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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, user-scalable=yes, initial-scale=1, maximum-scale=1">
<title>OpenCV NodeJS Demo</title>
</head>
<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.6.0/jquery.min.js"></script>
<script src="https://webrtc.github.io/adapter/adapter-latest.js"></script>
<script async src="opencv.js" onload="onOpenCvReady();" type="text/javascript"></script>
<script>
function onOpenCvReady() {
console.log('OpenCV Ready', cv);
}
</script>
<body>
<div>
<select id="cameraList"></select>
<div class="control"><button id="startAndStop" onclick=cameraTrigger()>啟動Camera</button></div>
<div style="display: table; margin-bottom: 10px;">
<div style="float: left; width: 320px; height: 240px; margin: 10px; border: 5px solid #555;">
<video id="videoInput" style="-webkit-transform: scaleX(-1); transform: scaleX(-1);" width=320 height=240 playsinline webkit-playsinline></video>
</div>
<div id="vidoOutputContainer" style="float: left; width: 320px; height: 240px; margin: 10px; border: 5px solid #555;">
<canvas id="videoOutput" style="-webkit-transform: scaleX(-1); transform: scaleX(-1);"></canvas>
</div>
</div>
<p id="">Camera FPS：<span id="cameraFPS"></span></p>
<p id="">完成處理 FPS：<span id="detectLineFPS"></span></p>
leftUpX:
<input type="number" min="0" id="input_leftUpX">
leftUpY:
<input type="number" min="0" id="input_leftUpY">
<br>
rightUpX:
<input type="number" min="0" id="input_rightUpX">
rightUpY:
<input type="number" min="0" id="input_rightUpY">
<br>
rightDownX:
<input type="number" min="0" id="input_rightDownX">
rightDownY:
<input type="number" min="0" id="input_rightDownY">
<br>
leftDownX:
<input type="number" min="0" id="input_leftDownX">
leftDownY:
<input type="number" min="0" id="input_leftDownY">
<br>
<button onclick=ChangeValue()>ChangeValue</button>
</div>
</body>
<script type="text/javascript">
// $(document).ready(function() {
// alert('載入完成');
// if(navigator.mediaDevices != undefined) {
// if(navigator.mediaDevices.enumerateDevices != undefined) {
// navigator.mediaDevices.enumerateDevices()
// .then(function(devices) {
// devices.forEach(function(device) {
// console.log(device);
// alert(device.kind + ": " + device.label +
// " id = " + device.deviceId);
// });
// })
// .catch(function(err) {
// alert(err.name + ": " + err.message);
// });
// }
// }
// });
var isDetectCameraFPS = false;
var cameraFPS = 0;
var isDetectDectectLineFPS = false;
var detectLineFPS = 0;
//相機用的參數
var video = document.getElementById('videoInput');
var canvasOutput = document.getElementById('videoOutput');
var canvasContext = canvasOutput.getContext('2d');
var startAndStop = document.getElementById('startAndStop');
var src = null;
var dst = null;
var cap = null;
//將黃色成白色的方法參數
var rgbMat = null;
var hsvMat = null;
var upperYellow = null;
var lowerYellow = null;
var maskInverseMat = null;
var grayMat = null;
var masked_replace_white = null;
//轉成灰階
var toGrayScaleMat = null;
//高斯模糊用
var gausianKernelValue = 5;
var gaussianBlurMat = null;
var ksize = null;
//邊緣偵測
var cannyThreshold1 = 100;
var cannyThreshold2 = 200;
var apertureSize = 3;
var cannyMat = null;
//region_of_interest
var mask = null;
var maskPolyColor = null;
var leftUpX = 46;
var leftUpY = 90;
var rightUpX = 266;
var rightUpY = 90;
var rightDownX = 316;
var rightDownY = 150;
var leftDownX = 0;
var leftDownY = 150;
document.getElementById("input_leftUpX").value = leftUpX;
document.getElementById("input_leftUpY").value = leftUpY;
document.getElementById("input_rightUpX").value = rightUpX;
document.getElementById("input_rightUpY").value = rightUpY;
document.getElementById("input_rightDownX").value = rightDownX;
document.getElementById("input_rightDownY").value = rightDownY;
document.getElementById("input_leftDownX").value = leftDownX;
document.getElementById("input_leftDownY").value = leftDownY;
var square_point_data = new Int32Array([
leftUpX, leftUpY,
rightUpX, rightUpY,
rightDownX, rightDownY,
leftDownX, leftDownY]);
var square_points = null;
var pts = null;
var emptyMat = null;
//推斷
var checkPosSlopes = 0.50;
var checkNegSlopes = -0.50;
var cannyOutPutMat = null;
var lineColor = null;
var isinital = false;
let isCameraOpen = false;
function detectLine_function() {
console.log("Detect Line FPS: ", detectLineFPS);
if (isDetectDectectLineFPS) {
detectLineFPS = 0;
setTimeout(detectLine_function, 1000);
}
}
function isStartDetectLineFPS() {
if (!isDetectDectectLineFPS) {
isDetectDectectLineFPS = true;
detectLineFPS = 0;
setTimeout(detectLine_function, 1000);
} else {
isDetectDectectLineFPS = false;
}
}
function detectFPS_function() {
console.log("Camera FPS: ", cameraFPS);
document.getElementById('cameraFPS').innerHTML= cameraFPS;
if (isDetectCameraFPS) {
cameraFPS = 0;
setTimeout(detectFPS_function, 1000);
}
}
function isStartDetectCameraFPS(isStart) {
if (!isDetectCameraFPS) {
isDetectCameraFPS = true;
cameraFPS = 0;
setTimeout(detectFPS_function, 1000);
} else {
isDetectCameraFPS = false;
}
}
function onOrientationChange(){
// console.log('onOrientationChange window.orientation: ' + window.orientation);
// console.log('onOrientationChange window innerWidth: ' + window.innerWidth);
// console.log('onOrientationChange window innerHeight: ' + window.innerHeight);
// console.log('onOrientationChange document.documentElement.clientWidth: ' + document.documentElement.clientWidth);
// console.log('onOrientationChange document.documentElement.clientHeight: ' + document.documentElement.clientHeight);
// console.log('onOrientationChange window.screen.width: ' + window.screen.width);
// console.log('onOrientationChange window.screen.height: ' + window.screen.height);
// console.log('onOrientationChange screen.width: ' + document.body.clientWidth);
// console.log('onOrientationChange screen.height: ' + document.body.clientHeight);
if(video != null && video.srcObject != null){
console.log(' video.videoWidth: ' + video.videoWidth);
console.log('video.videoHeight: ' + video.videoHeight);
console.log(' video.offsetWidth: ' + video.offsetWidth);
console.log('video.offsetHeight: ' + video.offsetHeight);
// let settingWidth = video.getVideoTracks()[0].getSetting().width
// let settingHeight = video.getVideoTracks()[0].getSetting().height
// console.log(' settingWidth: ' + settingWidth);
// console.log('settingHeight: ' + settingHeight);
let constraints = getConstraintsByWindow()
video.srcObject.getVideoTracks()[0].applyConstraints(constraints).then(()=>{
console.log('onOrientationChange landScape video.videoWidth: ' + video.videoWidth);
console.log('onOrientationChange landScape video.videoHeight: ' + video.videoHeight);
});
}
}
function getConstraintsByWindow(){
if(window.orientation == 90 || window.orientation == -90){
// landScape
let constraints = {
aspectRatio: 4/3
};
return constraints
}else{
// portrait
let constraints = {
aspectRatio: 3/4
};
return constraints
}
}
window.addEventListener('orientationchange', onOrientationChange);
function openDeviceCamera(callBack) {
if (isCameraOpen == false) {
//{ video: true, audio: false }
navigator.mediaDevices.getUserMedia({ audio: false, video: true }).then(function (stream) {
isCameraOpen = true;
let tracks = stream.getVideoTracks();
console.log('Using stream device: ' + stream);
console.log('Using tracks device: ' + tracks);
let constraints = getConstraintsByWindow()
tracks[0].applyConstraints(constraints).then(()=>{
video.srcObject = stream;
video.crossOrigin = "Anonymous";
isStartDetectCameraFPS();
isStartDetectLineFPS();
video.play();
callBack();
startAndStop.innerText = '關閉攝像頭';
})
}).catch(function (err) {
console.log("An error occurred! " + err);
alert(err);
});
}
}
function closeDeviceCamera() {
if (video) {
video.pause();
video.srcObject.getVideoTracks()[0].stop();
video.srcObject = null;
}
isCameraOpen = false;
isinital = false;
startAndStop.innerText = 'Start';
// document.getElementById('detectLineFPS').innerHTML="detectLineFPS:";
// document.getElementById('cameraFPS').innerHTML="cameraFPS:";
}
function cameraTrigger() {
if (isCameraOpen) {
closeDeviceCamera();
isStartDetectCameraFPS();
isStartDetectLineFPS();
} else {
openDeviceCamera(processVideo);
}
}
function ChangeValue() {
leftUpX = parseInt(document.getElementById("input_leftUpX").value);
leftUpY = parseInt(document.getElementById("input_leftUpY").value);
rightUpX = parseInt(document.getElementById("input_rightUpX").value);
rightUpY = parseInt(document.getElementById("input_rightUpY").value);
rightDownX = parseInt(document.getElementById("input_rightDownX").value);
rightDownY = parseInt(document.getElementById("input_rightDownY").value);
leftDownX = parseInt(document.getElementById("input_leftDownX").value);
leftDownY = parseInt(document.getElementById("input_leftDownY").value);
square_point_data = null;
square_point_data = new Int32Array([
leftUpX, leftUpY,
rightUpX, rightUpY,
rightDownX, rightDownY,
leftDownX, leftDownY]);
square_points = cv.matFromArray(square_point_data.length / 2, 1, cv.CV_32SC2, square_point_data);
}
function initParameters() {
if (isinital == false) {
if (src == null) {
src = new cv.Mat(video.height, video.width, cv.CV_8UC4);
}
if (dst == null) {
dst = new cv.Mat();
}
if (rgbMat == null) {
rgbMat = new cv.Mat();
}
if (hsvMat == null) {
hsvMat = new cv.Mat();
}
if (maskInverseMat == null) {
maskInverseMat = new cv.Mat();
}
if (grayMat == null) {
grayMat = new cv.Mat();
}
if (masked_replace_white == null) {
masked_replace_white = new cv.Mat();
}
if (gaussianBlurMat == null) {
gaussianBlurMat = new cv.Mat()
}
if (ksize == null) {
ksize = new cv.Size(gausianKernelValue, gausianKernelValue)
}
if (toGrayScaleMat == null) {
toGrayScaleMat = new cv.Mat();
}
if (cannyMat == null) {
cannyMat = new cv.Mat();
}
if (cannyOutPutMat == null) {
cannyOutPutMat = new cv.Mat();
}
if (maskPolyColor == null) {
maskPolyColor = new cv.Scalar(255);
}
if (square_points == null) {
square_points = cv.matFromArray(square_point_data.length / 2, 1, cv.CV_32SC2, square_point_data);
}
if (pts == null) {
pts = new cv.MatVector();
}
if (emptyMat == null) {
emptyMat = new cv.Mat()
}
if (lineColor == null) {
lineColor = new cv.Scalar(0, 0, 255);
}
if (cap == null && video != null) {
cap = new cv.VideoCapture(video);
}
isinital = true;
}
}
function processVideo() {
//這樣作的目地是為了保證不會死在 opencv.js 30行，而且完全不知道錯誤是什麼！！！
initParameters();
const FPS = 30;
if (!video.srcObject) {
// clean and stop.
return;
}
let begin = Date.now();
// start processing.
try {
cap.read(src);
cameraFPS++;
} catch (error) {
console.log("camera error: ", error);
}
// console.log('image width: ' + src.cols + '\n' +
// 'image height: ' + src.rows + '\n' +
// 'image size: ' + src.size().width + '*' + src.size().height + '\n' +
// 'image depth: ' + src.depth() + '\n' +
// 'image channels ' + src.channels() + '\n' +
// 'image type: ' + src.type() + '\n');
// cv.cvtColor(src, dst, cv.COLOR_RGBA2GRAY);
let startTime = Date.now();
yellowToWhiteImage(src)
cv.cvtColor(masked_replace_white, toGrayScaleMat, cv.COLOR_RGB2GRAY);
let gaussianBlurMat2 = new cv.Mat();
cv.GaussianBlur(toGrayScaleMat, gaussianBlurMat2, ksize, 0, 0, cv.BORDER_DEFAULT);
cv.Canny(gaussianBlurMat2, cannyMat, cannyThreshold1, cannyThreshold2, apertureSize, false);
gaussianBlurMat2.delete();
//region_of_interest
if (mask == null) {
mask = cv.Mat.zeros(cannyMat.rows, cannyMat.cols, cannyMat.type());
}
if (pts != null) {
pts.delete()
pts = new cv.MatVector();
pts.push_back(square_points);
}
cv.fillPoly(mask, pts, maskPolyColor);
cv.bitwise_and(cannyMat, mask, cannyOutPutMat, emptyMat);
//找線
let houghLinesPMat = cannyOutPutMat.clone();
let linesMat = new cv.Mat()
try {
cv.HoughLinesP(houghLinesPMat, linesMat, 1.0, Math.PI / 180, 20, 5, 5);
} catch (error) {
console.log("HoughLinesP Error: " + error)
}
houghLinesPMat.delete();
//推斷
// drawLine(src, linesMat);
// console.log("lines (linesMat.rows) :", linesMat.rows);
let lines = matToVec4i(linesMat);
linesMat.delete();
// console.log("lines: ",lines);
if (lines.length > 0) {
let slopes = apply_along_axis_similar(lines);
let pos_slopes = checkSlopesVectorValue(slopes, 0, checkPosSlopes);
let pos_lines = fillterVectorValue(lines, pos_slopes);
// console.log("slopes: ",slopes);
// console.log("pos_slopes: ",pos_slopes);
let neg_slopes = checkSlopesVectorValue(slopes, 1, checkNegSlopes);
let neg_lines = fillterVectorValue(lines, neg_slopes);
let posResult = lines_linreg_by_OpenCV(pos_lines, linesMat);
let negResult = lines_linreg_by_OpenCV(neg_lines, linesMat);
// console.log("posResult: ",posResult);
// console.log("negResult: ",negResult);
if (posResult != null && negResult != null) {
detectLineFPS++;
// console.log("posResult: ",posResult);
// console.log("negResult: ",negResult);
let bottom_left_y = leftDownY;
let bottom_left_x = parseInt((bottom_left_y - negResult.c) / negResult.m);
// let min_top_y = 0;
// if(pos_lines.length > 0 && neg_lines.length > 0){
// let neg_y_MinValue = Math.min.apply(null, negResult.yArray);
// let pos_y_MinValue = Math.min.apply(null, posResult.yArray);
// min_top_y = Math.min(neg_y_MinValue, pos_y_MinValue);
// }
// else if(pos_lines.size() > 0){
// min_top_y = Math.min.apply(null, posResult.yArray);
// }
// else if(neg_lines.size() > 0){
// min_top_y = Math.min.apply(null, negResult.yArray);
// }
let top_left_y = leftUpY;
let top_left_x = parseInt((top_left_y - negResult.c) / negResult.m);
let top_right_y = rightUpY;
let top_right_x = parseInt((top_right_y - posResult.c) / posResult.m);
let bottom_right_y = rightDownY;
let bottom_right_x = parseInt((bottom_right_y - posResult.c) / posResult.m);
let topLeft = new cv.Point(top_left_x, top_left_y);
let topRight = new cv.Point(top_right_x, top_right_y);
let bottomLeft = new cv.Point(bottom_left_x, bottom_left_y);
let bottomRight = new cv.Point(bottom_right_x, bottom_right_y);
// console.log(" topRight: ",topRight);
// console.log("bottomRight: ",bottomRight);
cv.line(src, bottomLeft, topLeft, lineColor, 2, cv.LINE_AA, 0);
cv.line(src, topRight, bottomRight, lineColor, 2, cv.LINE_AA, 0);
}
}
let roiImage = new cv.Mat.zeros(src.rows, src.cols, src.type());
cv.fillPoly(roiImage, pts, new cv.Scalar(0, 72, 0, 30));
let output = new cv.Mat();
cv.addWeighted(src, 1, roiImage, 1, 0, output);
roiImage.delete();
let endTime = Date.now();
let detectFps = 1000 / (endTime - startTime);
// console.log("detectFps:", detectFps);
document.getElementById('detectLineFPS').innerHTML= detectFps.toFixed(2);
try {
cv.imshow('videoOutput', output);
output.delete();
} catch (error) {
console.log("cv imShow Error: " + error)
output.delete();
}
// schedule the next one.
let delay = 1000 / FPS - (Date.now() - begin);
if (delay < 0) {
delay = 0;
}
// console.log("delay: "+delay);
setTimeout(processVideo, delay);
}
function lines_linreg_by_OpenCV(slopeLines, debugLineMat) {
if (slopeLines.length > 0) {
// console.log("slopeLines: ", slopeLines);
let pointArray = [];
let xEmptyContainer = [];
let yEmptyContainer = [];
for (let i = 0; i < slopeLines.length; i++) {
let line = slopeLines[i];
pointArray.push(line.x1);
pointArray.push(line.y1);
pointArray.push(line.x2);
pointArray.push(line.y2);
xEmptyContainer.push(line.x1);
xEmptyContainer.push(line.x2);
}
let pointMatrix = cv.matFromArray(pointArray.length / 2, 1, cv.CV_32SC2, pointArray);
let line = new cv.Mat();
cv.fitLine(pointMatrix, line, cv.DIST_L2, 0, 0.01, 0.01);
let m = line.data32F[1] / line.data32F[0];
let tmp = m * line.data32F[2];
let c = line.data32F[3] - tmp;
if (c > 10000 || c < -10000) {
// console.log("debugLineMat: ", debugLineMat.data32S)
// console.log("line.data32S: ", line.data32S);
// console.log("line.data32F: ", line.data32F);
// console.log("m: ", m);
// console.log("c: ", c);
}
for (let i = 0; i < xEmptyContainer.length; i++) {
//var intValue = parseInt(floatValue, 10);
let y = parseInt(parseFloat(xEmptyContainer[i]) * m + c);
// console.log("doubleY: ", doubleY);
// console.log("intY: ", intY);
yEmptyContainer.push(y);
}
// console.log("yEmptyContainer: ", yEmptyContainer);
// console.log("pointMatrix: ", pointMatrix);
// console.log("line: ", line);
return { m: m, c: c, xArray: xEmptyContainer, yArray: yEmptyContainer };
} else {
return null;
}
}
function fillterVectorValue(valueArray, fillterArray) {
let checkedArray = []
if (valueArray.length > 0 && fillterArray.length > 0) {
for (let i = 0; i < valueArray.length; ++i) {
if (fillterArray[i]) {
checkedArray.push(valueArray[i]);
}
}
}
return checkedArray
}
function checkSlopesVectorValue(slopes, type, checkValue) {
let checkArray = []
for (let i = 0; i < slopes.length; ++i) {
let arrayValue = slopes[i];
let result = false;
if (type == 0)// >
{
if (!isNaN(arrayValue) && isFinite(arrayValue)) {
result = arrayValue >= checkValue;
} else {
result = false;
}
}
else if (type == 1)// <
{
if (!isNaN(arrayValue) && isFinite(arrayValue)) {
result = arrayValue <= checkValue;
} else {
result = false;
}
}
else // ==
{
result = arrayValue == checkValue;
}
checkArray.push(result);
}
return checkArray
}
function apply_along_axis_similar(lines) {
let slopes = [];
if (lines.length > 0) {
for (let i = 0; i < lines.length; ++i) {
let point = lines[i];
let x1 = point.x1;
let y1 = point.y1;
let x2 = point.x2;
let y2 = point.y2;
let value = (y2 - y1) / (x2 - x1);
slopes.push(value);
// if(!isNaN(value) && isFinite(value)){
// slopes.push(value);
// }
}
}
return slopes;
}
function matToVec4i(linesMat) {
let lines = []
if (linesMat.rows > 0) {
// console.log("linesMat.data32S: ", linesMat.data32S);
for (let i = 0; i < linesMat.rows; ++i) {
let x1 = linesMat.data32S[i * 4];
let y1 = linesMat.data32S[i * 4 + 1];
let x2 = linesMat.data32S[i * 4 + 2];
let y2 = linesMat.data32S[i * 4 + 3];
let point = { x1: x1, y1: y1, x2: x2, y2: y2 };
lines.push(point);
}
}
return lines
}
function drawLine(outMat, linesMat) {
for (let i = 0; i < linesMat.rows; ++i) {
let startPoint = new cv.Point(linesMat.data32S[i * 4], linesMat.data32S[i * 4 + 1]);
let endPoint = new cv.Point(linesMat.data32S[i * 4 + 2], linesMat.data32S[i * 4 + 3]);
console.log("startPoint: ", startPoint);
console.log(" endPoint : ", endPoint);
cv.line(outMat, startPoint, endPoint, lineColor);
}
}
function yellowToWhiteImage(sorceMat) {
if (sorceMat) {
cv.cvtColor(sorceMat, rgbMat, cv.COLOR_RGBA2RGB);
cv.cvtColor(rgbMat, hsvMat, cv.COLOR_BGR2HSV);
if (upperYellow == null) {
upperYellow = new cv.Mat(hsvMat.rows, hsvMat.cols, hsvMat.type(), [100, 255, 255, 0]);
}
if (lowerYellow == null) {
lowerYellow = new cv.Mat(hsvMat.rows, hsvMat.cols, hsvMat.type(), [80, 100, 100, 0]);
}
cv.inRange(hsvMat, lowerYellow, upperYellow, maskInverseMat);
cv.cvtColor(maskInverseMat, grayMat, cv.COLOR_GRAY2RGB);
cv.addWeighted(rgbMat, 1, grayMat, 1, 0, masked_replace_white);
} else {
}
}
</script>
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