public void ProcessImage(Emgu.CV.Image<Emgu.CV.Structure.Bgr, byte> image) {
MCvBox2D mybox = new MCvBox2D(new System.Drawing.PointF(100, 100), new System.Drawing.Size(50, 30), 110);
MCvBox2D mybox2 = new MCvBox2D(new System.Drawing.PointF(100, 100), new System.Drawing.Size(50, 30), 0);
image.Draw(new Ellipse(mybox), new Bgr(0,0,255), 2);
image.Draw(new Ellipse(mybox2), new Bgr(0, 255, 0), 2);
}
public virtual void ProcessImage(Emgu.CV.Image<Emgu.CV.Structure.Bgr, byte> image) {
Emgu.CV.Image<Gray, byte> gray = image.Convert<Gray, byte>();
gray._ThresholdBinary(new Gray(_threshold), new Gray(255.0));
gray._Not();
Parsley.Core.EllipseDetector ed = new Parsley.Core.EllipseDetector();
ed.MinimumContourCount = _min_contour_count;
List < Parsley.Core.DetectedEllipse > ellipses =
new List<Parsley.Core.DetectedEllipse>(ed.DetectEllipses(gray));
List < Parsley.Core.DetectedEllipse > finals =
new List<Parsley.Core.DetectedEllipse>(
ellipses.Where(e => { return e.Rating < _distance_threshold; })
);
finals.Sort(
(a, b) => {
double dista = a.Ellipse.MCvBox2D.center.X * a.Ellipse.MCvBox2D.center.X + a.Ellipse.MCvBox2D.center.Y * a.Ellipse.MCvBox2D.center.Y;
double distb = b.Ellipse.MCvBox2D.center.X * b.Ellipse.MCvBox2D.center.X + b.Ellipse.MCvBox2D.center.Y * b.Ellipse.MCvBox2D.center.Y;
return dista.CompareTo(distb);
}
);
Bgr bgr = new Bgr(0, 255, 0);
MCvFont f = new MCvFont(Emgu.CV.CvEnum.FONT.CV_FONT_HERSHEY_PLAIN, 0.8, 0.8);
int count = 1;
foreach (Parsley.Core.DetectedEllipse e in finals) {
image.Draw(e.Ellipse, bgr, 2);
image.Draw(count.ToString(), ref f, new System.Drawing.Point((int)e.Ellipse.MCvBox2D.center.X, (int)e.Ellipse.MCvBox2D.center.Y), bgr);
count++;
}
}
/// <summary>
/// Draw a visual indication of the pattern coordinate frame
/// </summary>
/// <param name="img">Image to draw to</param>
/// <param name="ecp">Extrinsic calibration</param>
/// <param name="icp">Intrinsic calibration</param>
public static void DrawCoordinateFrame(
Emgu.CV.Image<Bgr, Byte> img,
Emgu.CV.ExtrinsicCameraParameters ecp,
Emgu.CV.IntrinsicCameraParameters icp) {
float extension = img.Width / 10;
PointF[] coords = Emgu.CV.CameraCalibration.ProjectPoints(
new MCvPoint3D32f[] {
new MCvPoint3D32f(0, 0, 0),
new MCvPoint3D32f(extension, 0, 0),
new MCvPoint3D32f(0, extension, 0),
new MCvPoint3D32f(0, 0, extension),
},
ecp, icp);
img.Draw(new LineSegment2DF(coords[0], coords[1]), new Bgr(System.Drawing.Color.Red), 2);
img.Draw(new LineSegment2DF(coords[0], coords[2]), new Bgr(System.Drawing.Color.Green), 2);
img.Draw(new LineSegment2DF(coords[0], coords[3]), new Bgr(System.Drawing.Color.Blue), 2);
}
public void ProcessImage(Emgu.CV.Image<Emgu.CV.Structure.Bgr, byte> image) {
Emgu.CV.Image<Gray, byte> gray = image.Convert<Gray, byte>();
Emgu.CV.Image<Gray, byte> binary = new Image<Gray,byte>(image.Size);
CvInvoke.cvThreshold(gray, binary, 40, 255, THRESH.CV_THRESH_BINARY | THRESH.CV_THRESH_OTSU);
binary._Not();
Emgu.CV.Contour<System.Drawing.Point> contour_points = binary.FindContours();
MemStorage storage = new MemStorage();
Matrix<double> warp = new Matrix<double>(3, 3);
while (contour_points != null) {
Contour<Point> c = contour_points.ApproxPoly(contour_points.Perimeter * 0.05, storage);
double p = c.Perimeter;
if (c.Total == 4 && p > 300) {
PointF[] src = new PointF[] {
new PointF(c[0].X, c[0].Y),
new PointF(c[1].X, c[1].Y),
new PointF(c[2].X, c[2].Y),
new PointF(c[3].X, c[3].Y)};
CvInvoke.cvGetPerspectiveTransform(src, _dest, warp);
int flags = (int)INTER.CV_INTER_LINEAR + (int)WARP.CV_WARP_FILL_OUTLIERS;
CvInvoke.cvWarpPerspective(gray, _roi, warp, flags, new MCvScalar(0));
double min_error;
Orientation orient;
FindBestOrientation(out min_error, out orient);
if (min_error < 0.4) {
image.DrawPolyline(c.ToArray(), true, new Bgr(Color.Green), 2);
System.Console.WriteLine(min_error + " " + orient);
switch (orient) {
case Orientation.Degrees0:
image.Draw(new LineSegment2D(c[0], c[3]), new Bgr(System.Drawing.Color.Red), 2);
break;
case Orientation.Degrees90:
image.Draw(new LineSegment2D(c[1], c[0]), new Bgr(System.Drawing.Color.Red), 2);
break;
case Orientation.Degrees180:
image.Draw(new LineSegment2D(c[2], c[1]), new Bgr(System.Drawing.Color.Red), 2);
break;
case Orientation.Degrees270:
image.Draw(new LineSegment2D(c[3], c[2]), new Bgr(System.Drawing.Color.Red), 2);
break;
}
}
// 0 degrees
}
contour_points = contour_points.HNext;
}
}
override protected void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image<Emgu.CV.Structure.Bgr, byte> img) {
if (Context.ROIHandler.Last != Rectangle.Empty) {
img.Draw(Context.ROIHandler.Last, new Emgu.CV.Structure.Bgr(Color.Green), 1);
}
}
public void ProcessImage(Emgu.CV.Image<Emgu.CV.Structure.Bgr, byte> image)
{
Emgu.CV.Image<Gray, byte> gray = image.Convert<Gray, byte>();
gray._ThresholdBinary(new Gray(_threshold), new Gray(255.0));
gray._Not();
//Emgu.CV.Contour<System.Drawing.Point> c = gray.FindContours(Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_CODE, Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_LIST);
Emgu.CV.Contour<System.Drawing.Point> c = gray.FindContours();
List<Ellipse> ellipses = new List<Ellipse>();
while (c != null)
{
if (c.Count() >= _min_contour_count)
{
System.Drawing.PointF[] mypoints = Array.ConvertAll(
c.ToArray<System.Drawing.Point>(),
value => new System.Drawing.PointF(value.X, value.Y)
);
Ellipse e = Emgu.CV.PointCollection.EllipseLeastSquareFitting(mypoints);
MCvBox2D box = e.MCvBox2D;
box.size.Height *= 0.5f;
box.size.Width *= 0.5f;
Ellipse final_ellipse = new Ellipse(box);
Matrix m = Matrix.Identity(3, 3);
m[0, 0] = Math.Cos(final_ellipse.MCvBox2D.angle);
m[0, 1] = -Math.Sin(final_ellipse.MCvBox2D.angle);
m[0, 2] = final_ellipse.MCvBox2D.center.X;
m[1, 0] = Math.Sin(final_ellipse.MCvBox2D.angle);
m[1, 1] = Math.Cos(final_ellipse.MCvBox2D.angle);
m[1, 2] = final_ellipse.MCvBox2D.center.Y;
Matrix inv = m.Inverse();
double rating = 0.0;
double a = final_ellipse.MCvBox2D.size.Width;
double b = final_ellipse.MCvBox2D.size.Height;
if (a < b)
{
double tmp = a;
a = b;
a = tmp;
}
foreach (System.Drawing.PointF p in mypoints)
{
Vector x = new Vector(new double[] { p.X, p.Y, 1 });
Matrix r = inv.Multiply(x.ToColumnMatrix());
rating += Math.Abs((Math.Pow(r[0, 0] / a, 2) + Math.Pow(r[1, 0] / b, 2)) - 1);
}
Console.WriteLine(rating);
if (rating < 50)
{
ellipses.Add(final_ellipse);
}
}
c = c.HNext;
}
ellipses.Sort(
(a, b) =>
{
double dista = a.MCvBox2D.center.X * a.MCvBox2D.center.X + a.MCvBox2D.center.Y * a.MCvBox2D.center.Y;
double distb = b.MCvBox2D.center.X * b.MCvBox2D.center.X + b.MCvBox2D.center.Y * b.MCvBox2D.center.Y;
return dista.CompareTo(distb);
}
);
Bgr bgr = new Bgr(0, 255, 0);
MCvFont f = new MCvFont(Emgu.CV.CvEnum.FONT.CV_FONT_HERSHEY_PLAIN, 0.8, 0.8);
int count = 1;
foreach (Ellipse e in ellipses)
{
image.Draw(e, bgr, 2);
image.Draw(count.ToString(), ref f, new System.Drawing.Point((int)e.MCvBox2D.center.X, (int)e.MCvBox2D.center.Y), bgr);
count++;
}
}
public static void VisualizeError(
Emgu.CV.Image<Bgr, Byte> img,
Emgu.CV.ExtrinsicCameraParameters ecp,
Emgu.CV.IntrinsicCameraParameters icp,
double[] deviations,
Vector[] isect_points)
{
Bgr bgr = new Bgr(System.Drawing.Color.Green);
MCvFont f = new MCvFont(Emgu.CV.CvEnum.FONT.CV_FONT_HERSHEY_PLAIN, 0.8, 0.8);
foreach (Vector p in isect_points) {
System.Drawing.PointF[] coords = Emgu.CV.CameraCalibration.ProjectPoints(
new MCvPoint3D32f[] { p.ToEmguF() },
ecp, icp
);
img.Draw(new CircleF(coords[0], 1), bgr, 1);
}
}
/// <summary>
/// Draw rectangle to image
/// </summary>
/// <param name="o">Rectangle</param>
/// <param name="img">Image</param>
public void DrawIndicator(object o, Emgu.CV.Image<Emgu.CV.Structure.Bgr, byte> img) {
img.Draw((Rectangle)o, new Emgu.CV.Structure.Bgr(Color.Green), 1);
}
/// <summary>
/// Draw pattern to image.
/// </summary>
/// <param name="img">Colored image to draw to.</param>
/// <param name="image_points">Image center points.</param>
/// <param name="pattern_found">If true green indicators are drawn, red ones otherwise.</param>
public virtual void DrawPattern(Emgu.CV.Image<Bgr, Byte> img, PointF[] image_points, bool pattern_found) {
if (image_points == null)
return;
System.Drawing.Color color = pattern_found ? System.Drawing.Color.Green : System.Drawing.Color.Red;
Bgr bgr = new Bgr(color);
MCvFont f = new MCvFont(Emgu.CV.CvEnum.FONT.CV_FONT_HERSHEY_PLAIN, 0.8, 0.8);
int count = 1;
foreach (PointF point in image_points) {
img.Draw(new CircleF(point, 4), bgr, 2);
Point p = point.ToNearestPoint();
img.Draw(count.ToString(), ref f, new System.Drawing.Point(p.X + 5, p.Y - 5), bgr);
count++;
}
}
/// <summary>
/// Function takes in a grayscale image and a colour image. Rectangles are located
/// in the grayscale image (this is usually a thresholded image - so shapes are
/// strongly visible) and borders around them are drawn on the same coordinates in
/// the colour image.
/// </summary>
/// <param name="img">Grayscale image where rectangles would be located</param>
/// <param name="original">Original (colour) image where the rectangle borders will be drawn</param>
private void drawBoxes(Emgu.CV.Image<Gray, Byte> img, Emgu.CV.Image<Bgr, Byte> original)
{
Gray cannyThreshold = new Gray(180);
Gray cannyThresholdLinking = new Gray(120);
Gray circleAccumulatorThreshold = new Gray(120);
Image<Gray, Byte> cannyEdges = img.Canny(cannyThreshold, cannyThresholdLinking);
LineSegment2D[] lines = cannyEdges.HoughLinesBinary(
1, //Distance resolution in pixel-related units
Math.PI / 45.0, //Angle resolution measured in radians.
20, //threshold
30, //min Line width
10 //gap between lines
)[0]; //Get the lines from the first channel
#region Find rectangles
List<MCvBox2D> boxList = new List<MCvBox2D>();
using (MemStorage storage = new MemStorage()) //allocate storage for contour approximation
for (Contour<Point> contours = cannyEdges.FindContours(); contours != null; contours = contours.HNext)
{
Contour<Point> currentContour = contours.ApproxPoly(contours.Perimeter * 0.05, storage);
if (contours.Area > 250) //only consider contours with area greater than 250
{
if (currentContour.Total == 4) //The contour has 4 vertices.
{
#region determine if all the angles in the contour are within the range of [80, 100] degree
bool isRectangle = true;
Point[] pts = currentContour.ToArray();
LineSegment2D[] edges = PointCollection.PolyLine(pts, true);
for (int i = 0; i < edges.Length; i++)
{
double angle = Math.Abs(
edges[(i + 1) % edges.Length].GetExteriorAngleDegree(edges[i]));
if (angle < 80 || angle > 100)
{
isRectangle = false;
break;
}
}
#endregion
if (isRectangle) boxList.Add(currentContour.GetMinAreaRect());
}
}
}
#endregion
#region draw rectangles
Image<Bgr, Byte> rectangleImage = new Image<Bgr, byte>(img.Width, img.Height);
foreach (MCvBox2D box in boxList)
{
rectangleImage.Draw(box, new Bgr(Color.DarkOrange), 2);
original.Draw(box, new Bgr(Color.DarkOrange), 2);
}
capturedImageBox.Image = rectangleImage;
#endregion
}
