private void DealWithLines(LineSegment2D[] lines)
{
foreach (LineSegment2D line in lines)
{
//以不同颜色绘制两大类线段:
int dltX = line.P2.X - line.P1.X;
int dltY = line.P2.Y - line.P1.Y;
double Ang = 57.3 * Math.Atan2(dltY, dltX);
CvInvoke.Line(myImg, line.P1, line.P2, new MCvScalar((byte)(127 + Ang % 128), (byte)(3 * Ang % 255), (byte)(2 * Ang % 255)), 5);
//CvInvoke.Line(remapImg, line.P1, line.P2, new MCvScalar(0), 5);
}
SegmentsClass sc = new SegmentsClass(lines);
List <Segment> LS = sc.GroupLines(50, 3, 170);
string s = ""; string s2 = "";
for (int k = 0; k < LS.Count; k++)
{
double x1 = LS[k].a;
double y1 = 0;
double x2 = 0;
double y2 = LS[k].b;
if (Math.Abs(Math.PI / 2f - LS[k].az) > 0.0001)
{
CvInvoke.Line(myImg, new Point((int)x1, (int)y1), new Point((int)x2, (int)y2), new MCvScalar(0, 0, 255), 3);
CvInvoke.Line(remapImg, new Point((int)x1, (int)y1), new Point((int)x2, (int)y2), new MCvScalar(0), 3);
}
else
{
CvInvoke.Line(myImg, new Point((int)x1, 0), new Point((int)x1, 1024), new MCvScalar(0, 0, 255), 3);
CvInvoke.Line(remapImg, new Point((int)x1, 0), new Point((int)x1, 1024), new MCvScalar(0), 3);
}
//s+="\r\n"+k +":az="+ LS[k].az+",ro="+ LS[k].ro;
s += "\r\n" + string.Format("A={0:0.##}, B={1:0.##}, C={2:0.##}, ro={3:0.##}, az={4:0.##}, a={5:0.##}, b={6:0.##}",
LS[k].A, LS[k].B, LS[k].C, LS[k].ro, LS[k].az, LS[k].a, LS[k].b);
s2 += string.Format(" Theta{0}={1:0.####}", k + 1, 57.3 * Math.Atan(LS[k].az));
}
//
//输出矩形,长方形:
//if (sc.Corner.X != -65536)
//{
// CvInvoke.Circle(remapImg,new Point((int)sc.Corner.X,(int)sc.Corner.Y),5,new MCvScalar(0),5);
// CvInvoke.Rectangle(myImg, new Rectangle((int)sc.Corner.X -3, (int)sc.Corner.Y-3 ,6, 6), new MCvScalar(25, 255, 55),5 );
// CvInvoke.PutText(myImg, string.Format("x0={0:0.##} y0={1:0.##}", sc.Corner.X, sc.Corner.Y), new Point((int)sc.Corner.X +20, (int)sc.Corner.Y - 10), FontFace.HersheyPlain, 2, new MCvScalar(0, 255, 0), 1);
// CvInvoke.PutText(remapImg, string.Format("x={0:0.##} y=`{1:0.##}", sc.Corner.X, sc.Corner.Y), new Point((int)sc.Corner.X - 60, (int)sc.Corner.Y + 20), Emgu.CV.CvEnum.FontFace.HersheyPlain, 2, new MCvScalar(0, 255, 0), 1);
// CvInvoke.PutText(myImg, s2, new Point((int)sc.Corner.X, (int)sc.Corner.Y - 40), FontFace.HersheyPlain, 2, new MCvScalar(0, 255, 255), 2);
// CvInvoke.PutText(remapImg, s2, new Point((int)sc.Corner.X - 80, (int)sc.Corner.Y + 40), Emgu.CV.CvEnum.FontFace.HersheyPlain, 2, new MCvScalar(0, 0, 255), 1);
//}
pictureBox1.Image = myImg.ToBitmap();
pictureBox2.Image = remapImg.ToBitmap();
btnMethodCal.Enabled = true;
}
/// <summary>
/// 获取直线角点和斜率
/// </summary>
/// <param name="img"></param>
/// <returns></returns>
public CornerPointK GetCornerAndK(Bitmap img, int cameraID)
{
GetLinesByHough(img, cameraID);
SegmentsClass sc = new SegmentsClass(lines);
List <Segment> LS = sc.GroupLines(80, 3, 170);
if (LS.Count != 0)
{
cornerPointK.Corner = sc.Corner;
cornerPointK.LineK1 = LS[0].az;
cornerPointK.LineK2 = LS[1].az == LS[0].az?LS[2].az:LS[1].az;
//cornerPointK.Center = new PointF(cornerPointK.Corner.Average(a => a.X), cornerPointK.Corner.Average(a => a.Y));
Matrix <double> camerCenter = new Matrix <double>(1, 3)
{
/// <summary>
/// 获取直线角点和斜率
/// </summary>
/// <param name="img"></param>
/// <returns></returns>
public void GetCornerAndSlope(Bitmap img, int cameraID)
{
GetLinesByHough(img, cameraID);
SegmentsClass sc = new SegmentsClass(lines);
List <Segment> LS = sc.GroupLines(80, 3, 170);
if (LS.Count != 0)
{
Corner = sc.Corner;
LineK1 = LS[0].az;
LineK2 = LS[1].az == LS[0].az ? LS[2].az : LS[1].az;
double tempAngle = LineK1 <= LineK2 ? LineK1 : LineK2;
if (tempAngle * 180f / Math.PI <= 45)//顺时针
{
RotatedAngle = tempAngle * 180f / Math.PI;
}
else//逆时针
{
RotatedAngle = -(90 - tempAngle * 180f / Math.PI);
}
//cornerPointK.Center = new PointF(cornerPointK.Corner.Average(a => a.X), cornerPointK.Corner.Average(a => a.Y));
Matrix <double> camerCenter = new Matrix <double>(1, 3)
{
