⭐ Unity里 用OpenCv 插件 将图片生成Gcode

现在遇到一个需求，用Unity里用图片生成Gcode

告知硬件让它去画出来

翻阅了一些资料，最后决定用OpenCV去做

下图左侧是生成的Gcode文件 右侧是要画的图片

话不多说直接上代码

using System.IO;
using UnityEngine;
using OpenCVForUnity.CoreModule;
using OpenCVForUnity.ImgprocModule;
using OpenCVForUnity.UnityUtils;
using System.Collections.Generic;
using OpenCVForUnity.ImgcodecsModule;

public class ImageToGCode : MonoBehaviour
{
    void Start()
    {
        // 加载图像
        Mat src = Imgcodecs.imread("C:/Users/Administrator/Desktop/edc86edc_E375522_2c6a6d08.png");

        // 转换为灰度图像
        Mat gray = new Mat();
        Imgproc.cvtColor(src, gray, Imgproc.COLOR_BGR2GRAY);

        // 应用二值化
        Mat binary = new Mat();
        Imgproc.threshold(gray, binary, 128, 255, Imgproc.THRESH_BINARY_INV);

        // 边缘检测
        Mat edges = new Mat();
        Imgproc.Canny(binary, edges, 50, 150, 3, false);

        // 查找轮廓
        List contours = new List();
        Mat hierarchy = new Mat();
        Imgproc.findContours(edges, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);

        Debug.Log(contours.Count+"<=数量");
        // 将轮廓转换成G-code
        string gcode = generateGCode(contours);

        // 输出G-code到文件
        using (StreamWriter writer = new StreamWriter("C:/Users/Administrator/Desktop/output001.gcode"))
        {
            writer.Write(gcode);
        }
    }

    private static string generateGCode(List contours)
    {
        System.Text.StringBuilder sb = new System.Text.StringBuilder();

        // G-code初始化，设置单位等
        sb.Append("G21 ; Set units to millimeters\n");
        sb.Append("G90 ; Use absolute coordinates\n");
        sb.Append("M3 S0 ; Turn off laser\n");

        for (int i = 0; i < contours.Count; i++)
        {
            MatOfPoint contour = contours[i];

            // 获取轮廓的第一个点
            Point[] points = contour.toArray();
            Point firstPoint = points[0];
            sb.Append(string.Format("G0 X{0:F3} Y{1:F3} F1500.00\n", firstPoint.x * 0.5, firstPoint.y * 0.5));
            sb.Append("M3 S1000 ; Turn on laser to start cutting\n");

            // 遍历轮廓的其他点
            for (int j = 1; j < points.Length; j++)
            {
                Point point = points[j];
                sb.Append(string.Format("G1 X{0:F3} Y{1:F3} F1500.00\n", point.x * 0.5, point.y * 0.5));
            }

            // 关闭激光并移动到下一个轮廓的起始点
            sb.Append("M3 S0 ; Turn off laser\n");
        }

        // 结束G-code
        sb.Append("M5 ; Stop laser/spindle\n");
        sb.Append("G0 X0 Y0 ; Return to home\n");

        return sb.ToString();
    }
}