public static void Run()
{
string imagePath = "./images/geo.jpg";
Mat img = Cv2.ImRead(imagePath);
SimpleBlobDetector.Params blobDetectorParams = new SimpleBlobDetector.Params();
blobDetectorParams.MinThreshold = 10;
blobDetectorParams.MaxThreshold = 100;
FlannBasedMatcher matcher = new FlannBasedMatcher(null, null);
blobDetectorParams.FilterByArea = true;
blobDetectorParams.MinArea = 150;
blobDetectorParams.FilterByCircularity = true;
blobDetectorParams.MinCircularity = 0.3f;
blobDetectorParams.FilterByConvexity = true;
blobDetectorParams.MinConvexity = 0.2f;
blobDetectorParams.FilterByInertia = true;
blobDetectorParams.MinInertiaRatio = 0.1f;
var detector = SimpleBlobDetector.Create(blobDetectorParams);
var keypoints = detector.Detect(img);
Mat output = new Mat();
Cv2.DrawKeypoints(img, keypoints, output, new Scalar(0, 0, 255), DrawMatchesFlags.DrawRichKeypoints);
Cv2.ImShow("Output", output);
Cv2.WaitKey(0);
}
protected override void SandwormSolveInstance(IGH_DataAccess DA)
{
SetupLogging();
markerColors = new List <Color>();
DA.GetDataList(0, markerColors);
DA.GetData(1, ref colorFuzz);
GetSandwormOptions(DA, 2, 0, 0);
SetupKinect();
Core.LogTiming(ref output, timer, "Initial setup"); // Debug Info
var binaryImage = GenerateColorImage();
Core.LogTiming(ref output, timer, "Image generation"); // Debug Info
if (binaryImage != null)
{
// Search image for the color and identify/classify
var keyPoints = new List <KeyPoint>();
var detectorParameters = new SimpleBlobDetector.Params
{
FilterByArea = true,
FilterByColor = true, // If it doesn't work; pre-filter the image
MinDistBetweenBlobs = 1,
MinArea = 10,
MaxArea = 20
};
Core.LogTiming(ref output, timer, "Detector setup"); // Debug Info
foreach (Color markerColor in markerColors)
{
var blobDetector = SimpleBlobDetector.Create(detectorParameters);
keyPoints.AddRange(blobDetector.Detect(binaryImage));
blobDetector.Dispose();
}
Core.LogTiming(ref output, timer, "Image blob detection"); // Debug Info
// Translate identified points back into Grasshopper geometry
markerPoints = new List <Point3d>();
foreach (KeyPoint keyPoint in keyPoints)
{
var x = keyPoint.Pt.X;
var y = keyPoint.Pt.Y;
markerPoints.Add(new Point3d(x, y, 0));
}
DA.SetDataList(0, markerPoints);
Core.LogTiming(ref output, timer, "Blob output"); // Debug Info
}
else
{
// TODO: add warning?
}
binaryImage.Dispose();
DA.SetDataList(1, output); // For logging/debugging
ScheduleSolve();
}
void CamUpdate()
{
CvUtil.GetWebCamMat(webCamTexture, ref mat);
Cv2.CvtColor(mat, greyMat, ColorConversionCodes.RGBA2GRAY);
Cv2.Threshold(greyMat, greyMat, 100, 255, ThresholdTypes.Binary);
var detectorParams = new SimpleBlobDetector.Params
{
//MinDistBetweenBlobs = 10, // 10 pixels between blobs
//MinRepeatability = 1,
//MinThreshold = 100,
//MaxThreshold = 255,
//ThresholdStep = 5,
FilterByArea = false,
//FilterByArea = true,
//MinArea = 0.001f, // 10 pixels squared
//MaxArea = 500,
FilterByCircularity = false,
//FilterByCircularity = true,
//MinCircularity = 0.001f,
FilterByConvexity = false,
//FilterByConvexity = true,
//MinConvexity = 0.001f,
//MaxConvexity = 10,
FilterByInertia = false,
//FilterByInertia = true,
//MinInertiaRatio = 0.001f,
FilterByColor = false
//FilterByColor = true,
//BlobColor = 255 // to extract light blobs
};
var simpleBlobDetector = SimpleBlobDetector.Create(detectorParams);
var keyPoints = simpleBlobDetector.Detect(greyMat);
Cv2.DrawKeypoints(
image: greyMat,
keypoints: keyPoints,
outImage: mat,
color: Scalar.FromRgb(255, 0, 0),
flags: DrawMatchesFlags.DrawRichKeypoints);
CvConvert.MatToTexture2D(mat, ref tex);
rawImage.texture = tex;
}
// find circles/dots using blob detection
private static void FindBlob(CvCapture cap, CvWindow winScr)
{
SimpleBlobDetector.Params blobParameters = new SimpleBlobDetector.Params();
// threshold (gray value)
blobParameters.MinThreshold = blobMinThreshold;
blobParameters.MaxThreshold = blobMaxThreshold;
// area (pixel count)
blobParameters.FilterByArea = true;
blobParameters.MinArea = blobMinArea;
blobParameters.MaxArea = blobMaxArea;
// circularity
blobParameters.FilterByCircularity = true;
blobParameters.MinCircularity = blobMinCircularity;
// convexity - probably not needed - maybe eleminates false positives
blobParameters.FilterByConvexity = true;
blobParameters.MinConvexity = blobMinConvexity;
//// inertia - what does the values mean exactly
//blobParameters.FilterByInertia = true;
//blobParameters.MinInertiaRatio =
SimpleBlobDetector blobDetector = new SimpleBlobDetector(blobParameters);
gray = new IplImage(cap.QueryFrame().Size, BitDepth.U8, 1);
while (CvWindow.WaitKey(10) != 27)
{
IplImage iplImage = PerspectiveCorretoin.GetCorrectedImage(cap.QueryFrame());
Cv.CvtColor(iplImage, gray, ColorConversion.RgbToGray);
Mat mat = new Mat(gray);
mat.PyrDown(new Size(mat.Width / 2, mat.Height / 2));
KeyPoint[] keypoints = blobDetector.Detect(mat);
foreach (KeyPoint item in keypoints)
{
Cv.DrawCircle(gray, new CvPoint2D32f(item.Pt.X, item.Pt.Y), (int)(item.Size * 3), CvColor.Green);
Console.WriteLine("Found blob | size = " + item.Size);
}
winScr.Image = gray;
}
}
public void Run()
{
using var src = Cv2.ImRead(FilePath.Image.Shapes);
using var detectedCircles = new Mat();
using var detectedOvals = new Mat();
// Invert the image. Shapes has a black background and SimpleBlobDetector doesn't seem to work well with that.
Cv2.BitwiseNot(src, src);
// Parameters tuned to detect only circles
var circleParams = new SimpleBlobDetector.Params
{
MinThreshold = 10,
MaxThreshold = 230,
// The area is the number of pixels in the blob.
FilterByArea = true,
MinArea = 500,
MaxArea = 50000,
// Circularity is a ratio of the area to the perimeter. Polygons with more sides are more circular.
FilterByCircularity = true,
MinCircularity = 0.9f,
// Convexity is the ratio of the area of the blob to the area of its convex hull.
FilterByConvexity = true,
MinConvexity = 0.95f,
// A circle's inertia ratio is 1. A line's is 0. An oval is between 0 and 1.
FilterByInertia = true,
MinInertiaRatio = 0.95f
};
// Parameters tuned to find the ovals in the Shapes image.
var ovalParams = new SimpleBlobDetector.Params
{
MinThreshold = 10,
MaxThreshold = 230,
FilterByArea = true,
MinArea = 500,
// The ovals are the smallest blobs in Shapes, so we limit the max area to eliminate the larger blobs.
MaxArea = 10000,
FilterByCircularity = true,
MinCircularity = 0.58f,
FilterByConvexity = true,
MinConvexity = 0.96f,
FilterByInertia = true,
MinInertiaRatio = 0.1f
};
using var circleDetector = SimpleBlobDetector.Create(circleParams);
var circleKeyPoints = circleDetector.Detect(src);
Cv2.DrawKeypoints(src, circleKeyPoints, detectedCircles, Scalar.HotPink, DrawMatchesFlags.DrawRichKeypoints);
using var ovalDetector = SimpleBlobDetector.Create(ovalParams);
var ovalKeyPoints = ovalDetector.Detect(src);
Cv2.DrawKeypoints(src, ovalKeyPoints, detectedOvals, Scalar.HotPink, DrawMatchesFlags.DrawRichKeypoints);
using var w1 = new Window("Detected Circles", detectedCircles);
using var w2 = new Window("Detected Ovals", detectedOvals);
Cv2.WaitKey();
}
public void Labeling_example()
{
var srcImage = new Mat("./TextSample.png");
Cv2.ImShow("Source", srcImage);
Cv2.WaitKey(1);
var binaryImage = new Mat(srcImage.Size(), MatType.CV_8UC1);
Cv2.CvtColor(srcImage, binaryImage, ColorConversionCodes.BGRA2GRAY);
Cv2.Threshold(binaryImage, binaryImage, thresh: 100, maxval: 255, type: ThresholdTypes.Binary);
var detectorParams = new SimpleBlobDetector.Params
{
//MinDistBetweenBlobs = 10,
//MinRepeatability = 1,
//MinThreshold = 100,
//MaxThreshold = 255,
//ThresholdStep = 5,
FilterByArea = false,
//FilterByArea = true,
//MinArea = 0.001f,
//MaxArea = 500,
FilterByCircularity = false,
//FilterByCircularity = true,
//MinCircularity = 0.001f,
FilterByConvexity = false,
//FilterByConvexity = true,
//MinConvexity = 0.001f,
//MaxConvexity = 10,
FilterByInertia = false,
//FilterByInertia = true,
//MinInertiaRatio = 0.001f,
FilterByColor = false
//FilterByColor = true,
//BlobColor = 255
};
var simpleBlobDetector = SimpleBlobDetector.Create(detectorParams);
var keyPoints = simpleBlobDetector.Detect(binaryImage);
foreach (var keyPoint in keyPoints)
{
Debug.WriteLine("X: {0}, Y: {1}", keyPoint.Pt.X, keyPoint.Pt.Y);
}
var imageWithKeyPoints = new Mat();
Cv2.DrawKeypoints(
image: binaryImage,
keypoints: keyPoints,
outImage: imageWithKeyPoints,
color: Scalar.FromRgb(255, 0, 0),
flags: DrawMatchesFlags.DrawRichKeypoints);
Cv2.ImShow("Key Points", imageWithKeyPoints);
Cv2.DestroyAllWindows();
srcImage.Dispose();
imageWithKeyPoints.Dispose();
}
private void DemoIRBlobTrack()
{
int IRWidth = kinectManager.IRWidth;
int IRHeight = kinectManager.IRHeight;
//get image and convert to threshold image
Mat irImage = new Mat(IRHeight, IRWidth, MatType.CV_8UC4, kinectManager.IRRawData); //rows=height, cols=width
Mat ir8Bit = new Mat();
Cv2.CvtColor(irImage, ir8Bit, ColorConversionCodes.RGBA2GRAY);
Cv2.Threshold(ir8Bit, ir8Bit, thresh: 200, maxval: 255, type: ThresholdTypes.Binary);
//Find blobs
SimpleBlobDetector.Params detectorParams = new SimpleBlobDetector.Params
{
//MinDistBetweenBlobs = 10, // 10 pixels between blobs
//MinRepeatability = 1,
//MinThreshold = 100,
//MaxThreshold = 255,
//ThresholdStep = 5,
FilterByArea = false,
//FilterByArea = true,
//MinArea = 0.001f, // 10 pixels squared
//MaxArea = 500,
FilterByCircularity = false,
//FilterByCircularity = true,
//MinCircularity = 0.001f,
FilterByConvexity = false,
//FilterByConvexity = true,
//MinConvexity = 0.001f,
//MaxConvexity = 10,
FilterByInertia = false,
//FilterByInertia = true,
//MinInertiaRatio = 0.001f,
FilterByColor = false
//FilterByColor = true,
//BlobColor = 255 // to extract light blobs
};
SimpleBlobDetector simpleBlobDetector = SimpleBlobDetector.Create(detectorParams);
KeyPoint[] blobs = simpleBlobDetector.Detect(ir8Bit);
foreach (KeyPoint kp in blobs)
{
Vector2 blobPt = new Vector2(kp.Pt.X, kp.Pt.Y);
//transform ir point to unity world space
Vector2 irDimensions = new Vector2(kinectManager.IRWidth, kinectManager.IRHeight);
irTrack.transform.localPosition = KinectCVUtilities.TransformTextureToUnity(irPlane, irDimensions, blobPt) + irOffset;
//transform ir point to color space, then world space
DepthSpacePoint depthPt = new DepthSpacePoint();
depthPt.X = blobPt.x;
depthPt.Y = blobPt.y;
double depth = GetAvg(kinectManager.DepthData, (int)depthPt.X, (int)depthPt.Y, kinectManager.DepthWidth, kinectManager.DepthHeight);
ColorSpacePoint colorMappedPt = kinectManager.Sensor.CoordinateMapper.MapDepthPointToColorSpace(depthPt, (ushort)depth);
Vector2 colorDimensions = new Vector2(kinectManager.ColorWidth, kinectManager.ColorHeight);
Vector2 colorPt = new Vector2(colorMappedPt.X, colorMappedPt.Y);
colorTrack.transform.localPosition = KinectCVUtilities.TransformTextureToUnity(colorPlane, colorDimensions, colorPt) + colorOffset;
}
//convert back to unity texture, add nice debug drawings
Mat irImageKeyPoints = new Mat();
Cv2.DrawKeypoints(ir8Bit, blobs, irImageKeyPoints, color: Scalar.FromRgb(255, 0, 0),
flags: DrawMatchesFlags.DrawRichKeypoints);
//Convert back to RGBA32
Mat irImageOut = new Mat(IRWidth, IRHeight, MatType.CV_8UC4);
Cv2.CvtColor(irImageKeyPoints, irImageOut, ColorConversionCodes.BGR2RGBA); //OpenCV is weird and has it in BGR format
//load onto texture
byte[] rawTextureData = KinectCVUtilities.ConvertMatToBytes(irImageOut);
if (overrideIRTexture)
{
kinectManager.IRTexture.LoadRawTextureData(rawTextureData);
kinectManager.IRTexture.Apply();
}
}
static void Main(string[] args)
{
var srcImage = new Mat(@"..\..\Images\cvlbl.png");
Cv2.ImShow("Source", srcImage);
Cv2.WaitKey(1); // do events
var binaryImage = new Mat(srcImage.Size(), MatType.CV_8UC1);
Cv2.CvtColor(srcImage, binaryImage, ColorConversionCodes.BGRA2GRAY);
Cv2.Threshold(binaryImage, binaryImage, thresh: 100, maxval: 255, type: ThresholdTypes.Binary);
var detectorParams = new SimpleBlobDetector.Params
{
//MinDistBetweenBlobs = 10, // 10 pixels between blobs
//MinRepeatability = 1,
//MinThreshold = 100,
//MaxThreshold = 255,
//ThresholdStep = 5,
FilterByArea = false,
//FilterByArea = true,
//MinArea = 0.001f, // 10 pixels squared
//MaxArea = 500,
FilterByCircularity = false,
//FilterByCircularity = true,
//MinCircularity = 0.001f,
FilterByConvexity = false,
//FilterByConvexity = true,
//MinConvexity = 0.001f,
//MaxConvexity = 10,
FilterByInertia = false,
//FilterByInertia = true,
//MinInertiaRatio = 0.001f,
FilterByColor = false
//FilterByColor = true,
//BlobColor = 255 // to extract light blobs
};
var simpleBlobDetector = SimpleBlobDetector.Create(detectorParams);
var keyPoints = simpleBlobDetector.Detect(binaryImage);
Console.WriteLine("keyPoints: {0}", keyPoints.Length);
foreach (var keyPoint in keyPoints)
{
Console.WriteLine("X: {0}, Y: {1}", keyPoint.Pt.X, keyPoint.Pt.Y);
}
var imageWithKeyPoints = new Mat();
Cv2.DrawKeypoints(
image: binaryImage,
keypoints: keyPoints,
outImage: imageWithKeyPoints,
color: Scalar.FromRgb(255, 0, 0),
flags: DrawMatchesFlags.DrawRichKeypoints);
Cv2.ImShow("Key Points", imageWithKeyPoints);
Cv2.WaitKey(1); // do events
Cv2.WaitKey(0);
Cv2.DestroyAllWindows();
srcImage.Dispose();
imageWithKeyPoints.Dispose();
}
Vector3 triangulate(int j, HyperMegaStuff.HyperMegaLines drawer = null)
{
Ray[] rays = new Ray[2];
Mat workingImage = new Mat(calibrationDevices[j].webcam.leftImage.Height,
calibrationDevices[j].webcam.leftImage.Width,
calibrationDevices[j].webcam.leftImage.Type(), 0);
for (int i = 0; i < 2; i++)
{
Mat curMat = i == 0 ? calibrationDevices[j].webcam.leftImage :
calibrationDevices[j].webcam.rightImage;
if (calibrationDevices[j].subtractionImage[i] != null)
{
// Subtract the background from the curMat
Cv2.Subtract(curMat, calibrationDevices[j].subtractionImage[i], workingImage);
// Threshold the image to separate black and white
Cv2.Threshold(workingImage, workingImage, blobThreshold, 255, ThresholdTypes.BinaryInv); // TODO MAKE THRESHOLD TUNABLE
// Detect Blobs using the Mask
var settings = new SimpleBlobDetector.Params();
settings.FilterByArea = false;
settings.FilterByColor = false;
settings.FilterByInertia = true;
settings.FilterByConvexity = true;
settings.FilterByCircularity = false;
SimpleBlobDetector detector = SimpleBlobDetector.Create();
KeyPoint[] blobs = detector.Detect(workingImage, calibrationDevices[j].maskImage[i]);
Cv2.DrawKeypoints(workingImage, blobs, workingImage, 255);
int biggest = -1; float size = 0;
for (int k = 0; k < blobs.Length; k++)
{
if (blobs[k].Size > size)
{
biggest = k;
size = blobs[k].Size;
}
}
// If there's only one blob in this image, assume it's the white circle
if (blobs.Length > 0)
{
float[] pointArr = { blobs[biggest].Pt.X, blobs[biggest].Pt.Y };
Mat point = new Mat(1, 1, MatType.CV_32FC2, pointArr);
Mat undistortedPoint = new Mat(1, 1, MatType.CV_32FC2, 0);
Cv2.UndistortPoints(point, undistortedPoint, calibrationDevices[j].calibration.cameras[i].cameraMatrixMat,
calibrationDevices[j].calibration.cameras[i].distCoeffsMat,
calibrationDevices[j].calibration.cameras[i].rectificationMatrixMat);
Point2f[] rectilinear = new Point2f[1];
undistortedPoint.GetArray(0, 0, rectilinear);
Transform camera = i == 0 ? calibrationDevices[j].LeftCamera : calibrationDevices[j].RightCamera;
rays[i] = new Ray(camera.position, camera.TransformDirection(
new Vector3(-rectilinear[0].X, rectilinear[0].Y, 1f)));
if (drawer != null)
{
drawer.color = ((j == 0) != (i == 0)) ? Color.cyan : Color.red;
drawer.DrawRay(rays[i].origin, rays[i].direction);
}
}
}
}
workingImage.Release();
// Only accept the triangulated point if the rays match up closely enough
if (rays[0].origin != Vector3.zero &&
rays[1].origin != Vector3.zero)
{
Vector3 point1 = RayRayIntersection(rays[0], rays[1]);
Vector3 point2 = RayRayIntersection(rays[1], rays[0]);
if (Vector3.Distance(point1, point2) < 0.005f)
{
return((point1 + point2) * 0.5f);
}
else
{
return(Vector3.zero);
}
}
else
{
return(Vector3.zero);
}
}
/// <summary>
/// 最大値サーチ
/// </summary>
public void detect()
{
if (appSettings.CamPlatform == Platform.MT2)
{
theta_c = -udpkv.cal_mt2_theta(appSettings.Flipmode, appSettings.FlipOn) - appSettings.Theta;
}
if (!appSettings.UseDetect)
{
return;
}
int th_id = System.Threading.Thread.CurrentThread.ManagedThreadId; Console.WriteLine("detect ThreadID : " + th_id);
#region 位置検出1(MaxMin)
// Mask update
if (imgdata.id % 30 == 0)
{
//using (Mat img_avg = img_mask.Clone())
{
try
{
double gain = 1.0;
double offset = 0.0;//-8;
double star_thres = 32;
// Cv2.Min(imgdata.img, img_mask, img2); //fixed Mask
//Cv.Sub(imgdata.img, img_dark8, img2);
//Cv.ConvertScale(imgAvg, img_avg, gain, offset);
img_mask2 = imgAvg.ConvertScaleAbs(gain, offset);
//using (var img_avg = img_mask2 - img_dark8)
using (var img_avg = img_mask2.Clone())
using (Mat binary = img_mask2.Clone())
using (Mat binaryAdaptive = img_mask2.Clone())
{
Cv2.Threshold(img_avg, binary, star_thres, 255, ThresholdTypes.BinaryInv); // 4ms
Cv2.AdaptiveThreshold(img_avg, binaryAdaptive, 255,
AdaptiveThresholdTypes.GaussianC, ThresholdTypes.Binary, 19, star_adaptive_threshold); // 9x9 53ms
//cvwin.Image = binaryAdaptive;
Cv2.Min(binaryAdaptive, binary, binaryAdaptive);
//cvwin.Image = binary;
Cv2.Min(img_mask, binaryAdaptive, img_mask2);
//cvwin.Image = img_mask2;
img2 = imgdata.img - img_avg; // Cv2.Sub(imgdata.img, img_avg, img2);
//cvwin.Image = img2;
//Cv2.ImShow("binaryAdaptive", binaryAdaptive);
//Cv2.ImShow("binary", binary);
//Cv2.ImShow("img-avg", img2.PyrDown().PyrDown());
}
} // ms
catch (KeyNotFoundException)
{
MessageBox.Show("KeyNotFoundException:211a");
}
}
try
{
double minv;
Point minloc, maxloc;
//Cv.Smooth(imgdata.img, img2, SmoothType.Median, 5, 0, 0, 0);
//Cv.Threshold(img2, img2, appSettings.ThresholdBlob, 255, ThresholdType.Binary); //2ms
Cv2.MinMaxLoc(img2, out minv, out max_val, out minloc, out maxloc, img_mask2);
gx = maxloc.X; gy = maxloc.Y;
//Cv.Threshold(imgdata.img, img2, appSettings.ThresholdBlob, 255, ThresholdType.Binary); //2ms fishはマスクが必要
//blobs.Label(img2); //3ms
}//8ms
catch (KeyNotFoundException)
{
MessageBox.Show("KeyNotFoundException:211");
}
}
#endregion
#region 位置検出2(Blob)
try
{
//Cv.Smooth(imgdata.img, img2, SmoothType.Median, 5, 0, 0, 0);
//Cv.Threshold(img2, img2, appSettings.ThresholdBlob, 255, ThresholdType.Binary); //2ms
//Cv.Min(imgdata.img, img_mask, img2);
Cv2.Threshold(imgdata.img, img2, appSettings.ThresholdBlob, 255, ThresholdTypes.Binary); //2ms fishはマスクが必要
SimpleBlobDetector.Params param = new SimpleBlobDetector.Params();
param.MaxArea = 100000;
var detector = SimpleBlobDetector.Create(param);
var keypoints1 = detector.Detect(img2);
KeyPoint maxkey = new KeyPoint(new Point2f(0, 0), -1);
foreach (var keyPoint in keypoints1)
{
if (maxkey.Size < keyPoint.Size)
{
maxkey = keyPoint;
}
Console.WriteLine("X: {0}, Y: {1}", keyPoint.Pt.X, keyPoint.Pt.Y);
}
Console.WriteLine("MAX X: {0}, Y: {1} Size: {2}", maxkey.Pt.X, maxkey.Pt.Y, maxkey.Size);
maxKeyPoint = maxkey;
//blobs.Label(img2); //3ms
}//8ms
catch (KeyNotFoundException)
{
MessageBox.Show("KeyNotFoundException:211");
}
if (appSettings.UseDetect)
{
return; //必ずreturn
}
try
{
if (blobs.Count > 0)
{
int min_area = Math.Max(2, (int)(appSettings.ThresholdMinArea * maxBlob.Area));
blobs.FilterByArea(min_area, int.MaxValue); //2ms 面積がmin_area未満のblobを削除
}
max_label = 0;
if (blobs.Count > 0)
{
max_label = pos_mes.mesure(blobs); //4ms
//max_label = pos_mes.mesure(keyPoints1); //4ms
}
}//1ms
catch (KeyNotFoundException)
{
MessageBox.Show("KeyNotFoundException:213");
}
if (max_label > 0 && blobs.ContainsKey(max_label))
{
try
{
maxBlob = blobs[max_label];
}
catch (KeyNotFoundException)
{
MessageBox.Show("KeyNotFoundException:2171");
}
try
{
max_centroid = maxBlob.Centroid;
}
catch (KeyNotFoundException)
{
MessageBox.Show("KeyNotFoundException:2172");
}
try
{
gx = max_centroid.X;
gy = max_centroid.Y;
max_val = maxBlob.Area;
blob_rect = maxBlob.Rect;
}
catch (KeyNotFoundException)
{
MessageBox.Show("KeyNotFoundException:2173");
}
// 観測値(kalman)
measurement.Set <double>(0, 0, (float)(gx - xoa)); //2ms
measurement.Set <double>(1, 0, (float)(gy - yoa)); //7ms
if (kalman_id++ == 0)
{
// 初期値設定
double errcov = 1.0;
kalman.StatePost.Set(0, measurement.At <double>(0));
kalman.StatePost.Set(1, measurement.At <double>(1));
Cv2.SetIdentity(kalman.ErrorCovPost, new Scalar(errcov));
}//2ms
// 修正フェーズ(kalman)
try
{
correction = kalman.Correct(measurement);
}
catch (KeyNotFoundException)
{
MessageBox.Show("KeyNotFoundException:216");
}
// 予測フェーズ(kalman)
try
{
prediction = kalman.Predict();
kgx = prediction.At <double>(0, 0) + xoa;
kgy = prediction.At <double>(0, 1) + yoa;
kvx = prediction.At <double>(0, 2);
kvy = prediction.At <double>(0, 3);
} //1ms
catch (KeyNotFoundException)
{
MessageBox.Show("KeyNotFoundException:215");
}
// カルマン or 観測重心 の選択
sgx = gx; sgy = gy;
if ((Math.Abs(kgx - gx) + Math.Abs(kgy - gy) < 15)) //
{
sgx = kgx;
sgy = kgy;
//imgSrc.Circle(new CvPoint((int)(prediction.DataArraySingle[0] + xoa), (int)(prediction.DataArraySingle[1] + yoa)), 30, new CvColor(100, 100, 255));
//w2.WriteLine("{0:D3} {1:F2} {2:F2} {3:F2} {4:F2} {5} {6} {7}", i, max_centroid.X, max_centroid.Y, prediction.DataArraySingle[0] + xc, prediction.DataArraySingle[1] + yc, vm, dx, dy);
}
dx = sgx - appSettings.Xoa;
dy = sgy - appSettings.Yoa;
// 目標位置からの誤差(pix)からターゲットの位置を計算
if (appSettings.CamPlatform == Platform.MT3)
{
try
{
theta_c = -udpkv.cal_mt3_theta() - appSettings.Theta;
udpkv.cxcy2azalt(-dx, -dy, udpkv.az2_c, udpkv.alt2_c, udpkv.mt3mode, theta_c, appSettings.FocalLength, appSettings.Ccdpx, appSettings.Ccdpy, ref az, ref alt);
udpkv.cxcy2azalt(-(dx + kvx), -(dy + kvy), udpkv.az2_c, udpkv.alt2_c, udpkv.mt3mode, theta_c, appSettings.FocalLength, appSettings.Ccdpx, appSettings.Ccdpy, ref az1, ref alt1);
vaz = udpkv.vaz2_kv + (az1 - az) * appSettings.Framerate;
valt = udpkv.valt2_kv + (alt1 - alt) * appSettings.Framerate;
daz = az - udpkv.az2_c; dalt = alt - udpkv.alt2_c; //位置誤差
//dvaz = (daz - daz1) / dt; dvalt = (dalt - dalt1) / dt; //速度誤差
//diff_vaz = (az - az_pre1) / dt; diff_valt = (alt - alt_pre1) / dt; //速度差
az0 = az; alt0 = alt;
}
catch (KeyNotFoundException)
{
MessageBox.Show("KeyNotFoundException:218");
}
}
else if (appSettings.CamPlatform == Platform.MT2)
{
try
{
theta_c = -udpkv.cal_mt2_theta(appSettings.Flipmode, appSettings.FlipOn) - appSettings.Theta;
udpkv.cxcy2azalt_mt2(+dx, +dy, udpkv.az1_c, udpkv.alt1_c, udpkv.mt2mode, theta_c, appSettings.FocalLength, appSettings.Ccdpx, appSettings.Ccdpy, ref az, ref alt);
udpkv.cxcy2azalt_mt2(+(dx + kvx), +(dy + kvy), udpkv.az1_c, udpkv.alt1_c, udpkv.mt2mode, theta_c, appSettings.FocalLength, appSettings.Ccdpx, appSettings.Ccdpy, ref az1, ref alt1);
vaz = udpkv.vaz1_kv + (az1 - az) * appSettings.Framerate;
valt = udpkv.valt1_kv + (alt1 - alt) * appSettings.Framerate;
daz = az - udpkv.az1_c; dalt = alt - udpkv.alt1_c; //位置誤差
az0 = az; alt0 = alt;
}
catch (KeyNotFoundException)
{
MessageBox.Show("KeyNotFoundException:218b");
}
}
// Data send
if (ImgSaveFlag == TRUE)
{
// 観測目標移動速作成
double vk = 1000; // [pixel/frame]
if (kalman_id > 3)
{
vk = Math.Sqrt(kvx * kvx + kvy * kvy);
}
// 観測データ送信
//Pid_Data_Send(true);
short id_short = (short)frame_id;
if (id_short < 0)
{
id_short = (short)(-id_short);
}
Pid_Data_Send_KV1000_SpCam2(id_short, daz, dalt, vk); // 32767->7FFF
if (Math.Abs(udpkv.vaz2_kv) > 0.1 || Math.Abs(udpkv.valt2_kv) > 0.1)
{
// 保存時間延長
//timerSavePostTime.Stop();
timerSavePost.Stop();
timerSavePost.Start();
}
}
}
else
{
if (ImgSaveFlag == TRUE)
{
// 観測データ送信
//Pid_Data_Send(false);
////Pid_Data_Send_KV1000_SpCam2((short)(-(id & 32767)), (az - udpkv.az2_c), (alt - udpkv.alt2_c), -1000);
}
gx = gy = 0;
sgx = sgy = 0;
max_val = 0;
}
// ｋｖデータのチェック用
if (ImgSaveFlag == TRUE)
{
//xpos = ((kd.x1 << 8) + kd.x0) << 4; // <<16 ->256*256 <<8 ->256
//ypos = ((kd.y1 << 8) + kd.y0) << 4; // <<16 ->256*256 <<8 ->256
string st = DateTime.Now.ToString("yyyy/MM/dd HH:mm:ss.fff ") + "(" + udpkv.xpos + " " + udpkv.ypos + ")( " + udpkv.x2pos + " " + udpkv.y2pos + ") " + udpkv.kd.x1 + " " + udpkv.kd.x0 + " " + udpkv.kd.y1 + " " + udpkv.kd.y0 + "\n";
logger.Info(st);
}
#endregion
elapsed2 = sw.ElapsedTicks; sw.Stop(); sw.Reset();
// 処理速度
double sf = (double)Stopwatch.Frequency / 1000; //msec
lap0 = (1 - alpha) * lap0 + alpha * elapsed0 / sf;
lap1 = (1 - alpha) * lap1 + alpha * elapsed1 / sf;
lap2 = (1 - alpha) * lap2 + alpha * elapsed2 / sf;
fr_str = String.Format("ID:{0,5:D1} L0:{1,4:F2} L1:{2,4:F2} L2:{3,4:F2}", frame_id, lap0, lap1, lap2);
// ワイドダイナミックレンジ用設定 Exp 100-1-100-1-
if (checkBox_DispMode.Checked)
{
// IDS
if (cam_maker == Camera_Maker.IDS)
{
// statusRet = cam.Timing.Exposure.Get(out gx);
// if (gx > set_exposure - 1)
// statusRet = cam.Timing.Exposure.Set(set_exposure1);
// else
// statusRet = cam.Timing.Exposure.Set(set_exposure);
}
}
}
static void Main(string[] args)
{
//Thread capturaVideoThread = new Thread(new ThreadStart(Program.CapturarVideo));
//capturaVideoThread.Start();
VideoCapture captura = new VideoCapture("D:\\Dictuc\\out1.avi");
VideoWriter salida = new VideoWriter("D:\\Dictuc\\outSegmentado.avi", FourCC.XVID, 10.0, new Size(captura.FrameWidth, captura.FrameHeight), true);
Mat imagenProcesada = new Mat();
int numImg = 0;
while (true)
{
//captura.Read(imagen);
imagen = Cv2.ImRead("D:\\uvas2.jpg");
mutex.WaitOne();
imagen.CopyTo(imagenProcesada);
mutex.ReleaseMutex();
Mat imagenRuidoFiltrado = FiltradoRuido(imagenProcesada);
Mat imagenGrisContraste = EscalaGrisesEqualizada(imagenRuidoFiltrado);
Mat imagenGrisFrecAltasProc = FrecuenciasAltasPotenciadasContraste(imagenGrisContraste);
EdgeDetector edgeDetector = new EdgeDetector()
{
Threshold = (byte)18,
SparseDistance = 3,
WeightPreviousPoint = (float)2.0,
WeightCurrentPoint = (float)1.0,
WeightAfterPoint = (float)2.0,
};
EdgeDetector edgeDetector2 = new EdgeDetector()
{
Threshold = (byte)20,
SparseDistance = 5,
WeightPreviousPoint = (float)0.5,
WeightCurrentPoint = (float)1.0,
WeightAfterPoint = (float)0.5,
};
Mat imagenBordes = edgeDetector.EdgeImage(imagenGrisContraste);
Mat imagenBordes2 = edgeDetector2.EdgeImage(imagenGrisContraste);
Mat imagenBinaria, imagenAberturaRelleno;
CalculoMatrizBinariaYRelleno(imagenBordes2, out imagenBinaria, out imagenAberturaRelleno);
Mat mascaraInv = 255 - imagenAberturaRelleno;
Mat DistSureFg = new Mat();
Mat AreasSureFg = new Mat();
Mat Unknown = new Mat();
AreasSureFg += 1;
Cv2.DistanceTransform(imagenAberturaRelleno, DistSureFg, DistanceTypes.L1, DistanceMaskSize.Mask5);
int numAreas = Cv2.ConnectedComponents(imagenAberturaRelleno, AreasSureFg, PixelConnectivity.Connectivity8);
float[,] distValues = new float[DistSureFg.Rows, DistSureFg.Cols];
for (int i = 0; i < DistSureFg.Rows; i++)
{
for (int j = 0; j < DistSureFg.Cols; j++)
{
distValues[i, j] = DistSureFg.At <float>(i, j);
}
}
Segment[] segments = new Segment[numAreas];
for (int i = 0; i < AreasSureFg.Rows; i++)
{
for (int j = 0; j < AreasSureFg.Cols; j++)
{
int m = AreasSureFg.At <Int32>(i, j);
byte pixelSurrounding = 0;
float distance = (float)0;
//if (i >= 1)
//{
// distance = distValues[i - 1, j];
// if (distance == 2)
// {
// pixelSurrounding |= Segment.PIXEL_SURROUNDED_LEFT;
// }
//}
//if (i < AreasSureFg.Rows - 1)
//{
// distance = distValues[i + 1, j];
// if (distance == 2)
// {
// pixelSurrounding |= Segment.PIXEL_SURROUNDED_RIGHT;
// }
//}
//if (j >= 1)
//{
// distance = distValues[i, j - 1];
// if (distance == 2)
// {
// pixelSurrounding |= Segment.PIXEL_SURROUNDED_DOWN;
// }
//}
//if (j < AreasSureFg.Cols - 1)
//{
// distance = distValues[i, j + 1];
// if (distance == 2)
// {
// pixelSurrounding |= Segment.PIXEL_SURROUNDED_UP;
// }
//}
SegmentPixelData newPixel = new SegmentPixelData()
{
Distance = distValues[i, j],
CoordsXY = new int[] { i, j },
Concave = 0,
Indexes = new int[] { -1, -1 },
PixelsSurrounding = pixelSurrounding,
SubsegmentLabel = 0,
};
if (segments[m] == null)
{
segments[m] = new Segment()
{
SegmentId = m,
PixelData = new List <SegmentPixelData>(),
};
}
else
{
segments[m].MaxDistance = (segments[m].MaxDistance > newPixel.Distance) ? (int)segments[m].MaxDistance : (int)newPixel.Distance;
segments[m].PixelData.Add(newPixel);
}
}
}
Mat Centroides = new Mat();
imagenAberturaRelleno.CopyTo(Centroides);
var indexadorCentroides = Centroides.GetGenericIndexer <byte>();
var indexadorFiguras = AreasSureFg.GetGenericIndexer <Int32>();
foreach (var s in segments.Where(s => s.Circularity <= 0.9))
{
int distancia = 0;
if (s.Circularity > 0.7)
{
distancia = 5;
}
else if (s.Circularity > 0.5)
{
distancia = 5;
}
else if (s.Circularity > 0.25)
{
distancia = 6;
}
else
{
distancia = 6;
}
distancia = (distancia < s.MaxDistance) ? distancia : s.MaxDistance - 1;
foreach (var p in s.PixelData.Where(p => p.Distance <= distancia))
{
if (imagenAberturaRelleno.At <byte>(p.CoordsXY[0], p.CoordsXY[1]) != (byte)0)
{
indexadorCentroides[p.CoordsXY[0], p.CoordsXY[1]] = 0;
}
}
}
Cv2.Subtract(imagenAberturaRelleno + 255, Centroides, Unknown);
#region segmentStuff
//List<int> indexConcavos = segments.Where(s => s.Circularity > 1).Select(s => s.SegmentId).ToList();
//foreach (var s in segments.Where(s => s.Circularity < 1.1 && s.Circularity > 0.9))
//{
// foreach (var p in s.PixelData/*.Where(p => p.Distance == 1)*/)
// {
// if (imagenAberturaRelleno.At<byte>(p.CoordsXY[0], p.CoordsXY[1]) != (byte)0)
// {
// indexadorFiguras[p.CoordsXY[0], p.CoordsXY[1]] = 255;
// }
// }
//}
//foreach (var s in segments.Where(s => s.Circularity >= 1.1))
//{
// foreach (var p in s.PixelData/*.Where(p => p.Distance == 1)*/)
// {
// if (imagenAberturaRelleno.At<byte>(p.CoordsXY[0], p.CoordsXY[1]) != (byte)0)
// {
// indexadorFiguras[p.CoordsXY[0], p.CoordsXY[1]] = 255;
// }
// }
//}
//foreach (var s in segments)
//{
// s.SetPixelConcavity();
// s.Segmentation();
// foreach (var p in s.PixelData.Where(p => p.Distance == 1))
// {
// if (p.Concave == 1)
// {
// indexadorFiguras[p.CoordsXY[0], p.CoordsXY[1]] = 255;
// }
// if (p.Concave == -1)
// {
// indexadorFiguras[p.CoordsXY[0], p.CoordsXY[1]] = 255;
// }
// }
//}
//foreach (var s in segments)
//{
// //s.SetPixelConcavity();
// //s.Segmentation();
// foreach (var p in s.PixelData.Where(p => p.Distance == 2))
// {
// indexadorFiguras[p.CoordsXY[0], p.CoordsXY[1]] = 230;
// }
//}
//imagenAberturaRelleno.CopyTo(SureFg);
#endregion
Mat colormap = new Mat();
Mat Marcadores = new Mat();
Cv2.ConnectedComponents(Centroides, Marcadores);
Marcadores = Marcadores + 1;
var indexador2 = Marcadores.GetGenericIndexer <Int32>();
for (int i = 0; i < Unknown.Rows; i++)
{
for (int j = 0; j < Unknown.Cols; j++)
{
if (Unknown.At <byte>(i, j) == 255)
{
indexador2[i, j] = 0;
}
}
}
Marcadores.CopyTo(colormap);
colormap.ConvertTo(colormap, MatType.CV_8UC3);
Cv2.ApplyColorMap(colormap, colormap, ColormapTypes.Rainbow);
Cv2.ImWrite("D:\\Dictuc\\marcadores.png", Marcadores);
//Mat img1 = new Mat();
//imagen.CopyTo(img1);
Mat DistColor = new Mat();
//imagenGrisContraste = 255 - imagenGrisContraste;
Cv2.CvtColor(imagenAberturaRelleno, DistColor, ColorConversionCodes.GRAY2BGR);
DistColor.ConvertTo(DistColor, MatType.CV_8U);
Cv2.Watershed(DistColor, Marcadores);
Cv2.ImWrite("D:\\Dictuc\\watersheedIn.png", DistColor);
var indexador4 = imagen.GetGenericIndexer <Vec3i>();
//for (int i = 0; i < imagen.Rows; i++)
//{
// for (int j = 0; j < imagen.Cols; j++)
// {
// //if (Centroides.At<byte>(i, j) > 0)
// // indexador4[i, j] = new Vec3i(0, 0, 255);
// if (Marcadores.At<Int32>(i, j) == -1)
// indexador4[i, j] = new Vec3i(255, 20, 20);
// }
//}
for (int i = 0; i < imagen.Rows; i++)
{
for (int j = 0; j < imagen.Cols; j++)
{
//if (Centroides.At<byte>(i, j) > 0)
// indexador4[i, j] = new Vec3i(0, 0, 255);
if (imagenBordes.At <char>(i, j) > 0)
{
indexador4[i, j] = new Vec3i(255, 20, 20);
}
}
}
Mat seg = new Mat();
Marcadores.CopyTo(seg);
var indexador5 = seg.GetGenericIndexer <int>();
for (int i = 0; i < Marcadores.Rows; i++)
{
for (int j = 0; j < Marcadores.Cols; j++)
{
indexador5[i, j] = (Math.Abs(indexador5[i, j]) > 1) ? 255 : 0;
}
}
Mat kE1 = Cv2.GetStructuringElement(MorphShapes.Rect, new Size(1, 1));
Cv2.Erode(seg, seg, kE1, iterations: 3);
int thrs1 = 1500;
int thrs2 = 1800;
Mat edge1 = new Mat();
seg.ConvertTo(seg, MatType.CV_8U);
Cv2.Canny(seg, edge1, thrs1, thrs2, apertureSize: 5);
SimpleBlobDetector.Params params1 = new SimpleBlobDetector.Params()
{
MinThreshold = 0,
MaxThreshold = 255,
FilterByArea = true,
MinArea = 15,
FilterByCircularity = false,
MinCircularity = (float)0.01,
FilterByConvexity = false,
MinConvexity = (float)0.1,
FilterByInertia = false,
MinInertiaRatio = (float)0.01,
};
SimpleBlobDetector detectorBlobs = SimpleBlobDetector.Create(params1);
KeyPoint[] segmentosBlob = detectorBlobs.Detect(edge1);
Mat segmentosBlobMat = new Mat(1, segmentosBlob.Count(), MatType.CV_32FC1);
var indexador6 = segmentosBlobMat.GetGenericIndexer <float>();
for (int i = 0; i < segmentosBlob.Count(); i++)
{
indexador6[0, i] = segmentosBlob[i].Size;
}
Mat hist = new Mat();
Rangef[] ranges = { new Rangef(0, (float)segmentosBlob.Max(x => x.Size)) };
Cv2.CalcHist(new Mat[] { segmentosBlobMat }, new int[] { 0 }, null, hist, 1, new int[] { 100 }, ranges, uniform: true, accumulate: true);
float[] histAcumulado = new float[hist.Rows];
float[] histAcumuladoPorcentaje = new float[11];
histAcumulado[0] = hist.At <float>(0, 0);
for (int i = 1; i < hist.Rows; i++)
{
histAcumulado[i] = hist.At <float>(i, 0) + histAcumulado[i - 1];
}
int k = 1;
for (int i = 1; i < histAcumuladoPorcentaje.Count(); i++)
{
for (; k < hist.Rows; k++)
{
float porcentajeActual = histAcumulado[k] / segmentosBlob.Count() * 100;
float porcentajeAnterior = histAcumulado[k - 1] / segmentosBlob.Count() * 100;
float porcentajeRequerido = (float)((i < 10) ? i * 10 : 99.3);
if (porcentajeRequerido <= porcentajeActual)
{
float tamañoPorcentajeActual = (float)(k * (float)segmentosBlob.Max(x => x.Size) / 100.0);
float tamañoPorcentajeAnterior = (float)((k - 1) * (float)segmentosBlob.Max(x => x.Size) / 100.0);
float tasaVariacionTamañoPorcentaje = (tamañoPorcentajeActual - tamañoPorcentajeAnterior) / (porcentajeActual - porcentajeAnterior);
histAcumuladoPorcentaje[i] = tamañoPorcentajeAnterior + tasaVariacionTamañoPorcentaje * (i * 10 - porcentajeAnterior);
break;
}
}
}
for (int i = 0; i < histAcumuladoPorcentaje.Count(); i++)
{
Console.Write(histAcumuladoPorcentaje[i] + ",");
}
Console.WriteLine("");
// data1 = [];
// for i in range(0, len(keypoints1)):
// data1.append(keypoints1[i].size * coefTamano)
// #tamano.write(str(i)+'\t'+str(keypoints1[i].size*2*0.3)+'\n')
// cv2.line(im_with_keypoints1, (int(float(keypoints1[i].pt[0] - keypoints1[i].size)), int(float(keypoints1[i].pt[1]))), (int(float(keypoints1[i].pt[0] + keypoints1[i].size)), int(float(keypoints1[i].pt[1]))), (255, 0, 0), 1)
// cv2.line(im_with_keypoints1, (int(float(keypoints1[i].pt[0])), int(float(keypoints1[i].pt[1] - keypoints1[i].size))), (int(float(keypoints1[i].pt[0])), int(float(keypoints1[i].pt[1] + keypoints1[i].size))), (255, 0, 0), 1)
//# print(data1)
//n1, bins1, patches1 = hist(data1, 200,[0, max(data1)], normed = 100, cumulative = True, bottom = True, histtype = 'stepfilled', align = 'mid', orientation = 'vertical', rwidth = 1, log = False, color = "r")
// tamano = open(temp + "instancia_" + instancia + ".txt", "w")
// x = np.array(bins1)
// y = np.append([0], n1)
// xnew = [x[1], x[21], x[36], x[45], x[53], x[60], x[69], x[78], x[88], x[97], x[200]]
//ynew = [y[1], y[21], y[36], y[45], y[53], y[60], y[69], y[78], y[88], y[97], y[200]]
//tamano.write('INSERT INTO [dbo].[Granulometria](Cod_Instancia,Fecha,P_10,P_20,P_30,P_40,P_50,P_60,P_70,P_80,P_90,P_100, Filename) values (')
//tamano.write(instancia + ",CONVERT(datetime, '" + sys.argv[1][0:4] + "-" + sys.argv[1][4:6] + "-" + sys.argv[1][6:8] + ' ' + sys.argv[1][9:11] + ':' + sys.argv[1][11:13] + ':' + sys.argv[1][13:15] + "', 120)")
//for j in range(1, len(xnew)):
// #tamano.write (str(j)+'\t'+str(round(xnew[j],1))+'\t'+str(round(ynew[j]*100,2))+'\n')
// tamano.write(',' + str(round(xnew[j], 1)))
//tamano.write(",'" + sys.argv[1] + " - Resultado.jpg'")
//tamano.write(')')
//CvXImgProc.Thinning(mascaraInv, mascaraInv, ThinningTypes.ZHANGSUEN);
Mat imWithKeypoints1 = new Mat();
Cv2.DrawKeypoints(imagen, segmentosBlob, imWithKeypoints1, new Scalar(0, 0, 255), DrawMatchesFlags.DrawRichKeypoints);
var dataTamaños = segmentosBlob.Select(s => s.Size).ToArray();
Cv2.ImWrite("D:\\Dictuc\\output0" + numImg + ".png", imagen);
Cv2.ImWrite("D:\\Dictuc\\output1" + numImg++ + ".png", imWithKeypoints1);
Cv2.ImShow("Segmentado", imagen);
Cv2.ImShow("GrisContraste", imagenGrisContraste);
Cv2.ImShow("bordes90", imagenBordes);
Cv2.ImShow("bordes50", imagenBordes2);
salida.Write(imagen);
//System.Threading.Thread.Sleep(10);
Cv2.WaitKey(10);
imagenRuidoFiltrado.Release();
imagenGrisContraste.Release();
imagenGrisFrecAltasProc.Release();
imagenBordes.Release();
imagenBinaria.Release();
imagenAberturaRelleno.Release();
}
}
private unsafe void OpenCV(ref Bitmap bitmap)
{
Mat testMat = BitmapConverter.ToMat(bitmap);
MatOfDouble mu = new MatOfDouble();
MatOfDouble sigma = new MatOfDouble();
Cv2.MeanStdDev(testMat, mu, sigma);
double mean = mu.GetArray(0, 0)[0];
mu.Dispose();
sigma.Dispose();
SimpleBlobDetector.Params circleParameters = new SimpleBlobDetector.Params();
circleParameters.FilterByCircularity = true;
circleParameters.MinCircularity = (float)0.85;
circleParameters.MaxCircularity = (float)1;
circleParameters.MinArea = 30; // Modify the value on the fly (TODO use bigger circle)
SimpleBlobDetector detectCircleBlobs = new SimpleBlobDetector(circleParameters);
fingerPoints = detectCircleBlobs.Detect(testMat);
detectCircleBlobs.Dispose();
// If Finger found basically
if (fingerPoints != null)
{
this.fingerSize = 0;
int fingerIndex = -1;
for (int i = 0; i < fingerPoints.Length; i++)
{
if (fingerPoints[i].Size >= this.fingerSize)
{
this.fingerSize = (int)fingerPoints[i].Size;
fingerIndex = i;
}
}
if (fingerIndex != -1)
{
OpenCvSharp.CPlusPlus.Point coordinate = fingerPoints[fingerIndex].Pt;
this.fingerSize = (int)((fingerPoints[fingerIndex].Size) * Math.Sqrt(2));
testMat.Set <Vec3b>(coordinate.Y, coordinate.X, new Vec3b(0, 255, 0));
RotatedRect rRect = new RotatedRect(new Point2f(coordinate.X, coordinate.Y), new Size2f(this.fingerSize, this.fingerSize), 0);
Point2f[] circleVerticies = rRect.Points();
//this.fingerCoordinates[0] = coordinate.X;
//this.fingerCoordinates[1] = coordinate.Y;
int height = (int)(circleVerticies[0].Y - circleVerticies[1].Y);
int width = (int)(circleVerticies[2].X - circleVerticies[1].X);
int startX = (int)(circleVerticies[0].X);
int startY = (int)(circleVerticies[1].Y);
this.fingerDepth = MapColortoDepth(startX, startY, this.fingerSize, this.fingerSize);
OpenCvSharp.CPlusPlus.Rect featureRect = new OpenCvSharp.CPlusPlus.Rect(startX, startY, this.fingerSize, this.fingerSize);
// Draw box around finger
for (int j = 0; j < 4; j++)
{
Cv2.Line(testMat, circleVerticies[j], circleVerticies[(j + 1) % 4], new Scalar(0, 255, 0));
}
Boolean intersectOccurance = false;
List <int> intersectIndicies = new List <int>();
for (int i = 0; i < this.controls.Count; i++)
{
if (this.controls[i].boundingRect.IntersectsWith(featureRect))
{
double diff = fingerDepth - this.controls[i].depth;
if (Math.Abs(diff) < 0.5)
{
intersectOccurance = true;
intersectIndicies.Add(i);
}
}
}
System.Text.StringBuilder append = new System.Text.StringBuilder();
if (intersectOccurance)
{
for (int i = 0; i < intersectIndicies.Count; i++)
{
append.Append(" " + this.controls[intersectIndicies[i]].title + " " + intersectIndicies[i].ToString());
}
this.OutputText = "Pressed Button" + append; //TODO Make this more obvious
}
else
{
this.OutputText = "No State";
}
}
}
bitmap = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(testMat);
testMat.Dispose();
}
static void Main(string[] args)
{
var srcImage = new Mat(@"..\..\Images\cvlbl.png");
Cv2.ImShow("Source", srcImage);
Cv2.WaitKey(1); // do events
var binaryImage = new Mat(srcImage.Size(), MatType.CV_8UC1);
Cv2.CvtColor(srcImage, binaryImage, ColorConversion.BgrToGray);
Cv2.Threshold(binaryImage, binaryImage, thresh: 100, maxval: 255, type: ThresholdType.Binary);
var detectorParams = new SimpleBlobDetector.Params
{
//MinDistBetweenBlobs = 10, // 10 pixels between blobs
//MinRepeatability = 1,
//MinThreshold = 100,
//MaxThreshold = 255,
//ThresholdStep = 5,
FilterByArea = false,
//FilterByArea = true,
//MinArea = 0.001f, // 10 pixels squared
//MaxArea = 500,
FilterByCircularity = false,
//FilterByCircularity = true,
//MinCircularity = 0.001f,
FilterByConvexity = false,
//FilterByConvexity = true,
//MinConvexity = 0.001f,
//MaxConvexity = 10,
FilterByInertia = false,
//FilterByInertia = true,
//MinInertiaRatio = 0.001f,
FilterByColor = false
//FilterByColor = true,
//BlobColor = 255 // to extract light blobs
};
var simpleBlobDetector = new SimpleBlobDetector(detectorParams);
var keyPoints = simpleBlobDetector.Detect(binaryImage);
Console.WriteLine("keyPoints: {0}", keyPoints.Length);
foreach (var keyPoint in keyPoints)
{
Console.WriteLine("X: {0}, Y: {1}", keyPoint.Pt.X, keyPoint.Pt.Y);
}
var imageWithKeyPoints = new Mat();
Cv2.DrawKeypoints(
image: binaryImage,
keypoints: keyPoints,
outImage: imageWithKeyPoints,
color: Scalar.FromRgb(255, 0, 0),
flags: DrawMatchesFlags.DrawRichKeypoints);
Cv2.ImShow("Key Points", imageWithKeyPoints);
Cv2.WaitKey(1); // do events
Cv2.WaitKey(0);
Cv2.DestroyAllWindows();
srcImage.Dispose();
imageWithKeyPoints.Dispose();
}
