public TrackPointContext(CvSize imageSize, int maxPointsCount)
{
gray = new IplImage(imageSize, 8, 1);
pyramid = new IplImage(imageSize, 8, 1);
points = new StructureSafeMemoryBox<CvPoint2D32f>(maxPointsCount);
isFading = new bool[maxPointsCount];
}
private void OnInitialize(IplImage frame)
{
lastFrame = new IplImage(frame.Size,
CxCore.IPL_DEPTH_8U, frame.Channels);
flipImage = frame.Origin == CxCore.IPL_ORIGIN_BL;
PointTracker.InitializeTrackPoints(lastFrame);
}
int[] GetAveragePixelsColor(IplImage image, int x, int y, int width, int height)
{
double r = 0, g = 0, b = 0;
for (int i = 0; i < height; i++)
{
for (int j = 0; j < width; j++)
{
CvScalar color = image.GetPixel(x + j, y + i);
r += color.R;
g += color.G;
b += color.B;
}
}
int pixelsCount = height * width;
return new int[] { (int)(r / pixelsCount), (int)(g / pixelsCount), (int)(b / pixelsCount) };
}
public static void TrackPoints(IplImage image, List<CvPoint> rects)
{
if (rects.Count == 0)
{
needToInitialize = true;
return;
}
CvSize imageSize = image.Size;
image.ConvertColor(context1.Gray, Cv.CV_BGR2GRAY);
if (needToInitialize)
{
using (IplImage eig = new IplImage(imageSize, 32, 1),
temp = new IplImage(imageSize, 32, 1))
{
int k = 0;
for (int i = 0; i < rects.Count; i++)
{
CvPoint p = rects[i];
if (!InPoints(p, rects, 0, i - 1))
context1.Points[k++] = new CvPoint2D32f(p.x, p.y);
}
context1.Count = k;
Cv.cvFindCornerSubPix(context1.Gray, context1.Points.Pointer, context1.Count, new CvSize(WinSize, WinSize),
new CvSize(-1, -1), defaultTermCriteria);
}
}
else if (context0.Count > 0)
{
Cv.cvCalcOpticalFlowPyrLK(context0.Gray, context1.Gray, context0.Pyramid, context1.Pyramid,
context0.Points.Pointer, context1.Points.Pointer,
context0.Count, new CvSize(WinSize, WinSize), 3,
status.Pointer, IntPtr.Zero, new CvTermCriteria(20, 0.03), flags);
flags |= Cv.CV_LKFLOW_PYR_A_READY;
bool[] inTracking = new bool[rects.Count];
List<CvPoint> pointsInTrack = new List<CvPoint>();
List<TrackedPoint> trackedPoints = new List<TrackedPoint>();
int k = 0;
for (int i = 0; i < context0.Count; i++)
{
if (status[i] == 0) continue;
CvPoint2D32f sp = context1.Points[i];
bool valid = false;
CvPoint p = sp.ToCvPoint();
for (int j = 0; j < rects.Count; j++)
{
if (CvPoint.Distance2(p, rects[j]) < 25)
{
inTracking[j] = true;
valid = true;
}
}
if (!valid && context0.IsFading[i]) continue;
pointsInTrack.Add(p);
context1.Points[k] = sp;
context1.IsFading[k] = !valid;
++k;
TrackedPoint tp = new TrackedPoint();
tp.p = sp;
CvPoint2D32f sp0 = context0.Points[i];
tp.offset = new CvPoint2D32f(sp.x - sp0.x, sp.y - sp0.y);
tp.isNewPoint = false;
trackedPoints.Add(tp);
}
int l = k;
for (int i = 0; i < rects.Count; i++)
{
CvPoint p = rects[i];
if (!inTracking[i] && !InPoints(p, pointsInTrack, 0, pointsInTrack.Count))
{
pointsInTrack.Add(rects[i]);
CvPoint2D32f sp = new CvPoint2D32f(p.x, p.y);
context1.Points[k++] = sp;
TrackedPoint tp = new TrackedPoint();
tp.p = sp;
tp.isNewPoint = true;
trackedPoints.Add(tp);
}
}
if (l < k)
{
Cv.cvFindCornerSubPix(context1.Gray,
new IntPtr(context1.Points.Pointer.ToInt32() + 4 * l), k - l, new CvSize(WinSize, WinSize),
new CvSize(-1, -1), defaultTermCriteria);
}
context1.Count = k;
PointTracker.trackedPoints = trackedPoints.ToArray();
}
else
{
context1.Count = 0;
PointTracker.trackedPoints = null;
}
if (context1.Count == 0)
{
needToInitialize = true;
return;
}
TrackPointContext c = context1; context1 = context0; context0 = c;
needToInitialize = false;
}
public static void InitializeTrackPoints(IplImage image)
{
status = new ByteSafeMemoryBox(MaxPointsCount);
CvSize imageSize = image.Size;
context0 = new TrackPointContext(imageSize, MaxPointsCount);
context1 = new TrackPointContext(imageSize, MaxPointsCount);
}
public IplImage CloneGray()
{
IplImage newImage = new IplImage(Size, Depth, 1);
ConvertColor(newImage, Cv.CV_BGR2GRAY);
return newImage;
}
public static List<CvPoint> FindRectangles(IplImage image)
{
storage.Clear();
const int N = 11;
const int thresh = 50;
CvSize imageSize = image.Size;
CvSize evenImageSize = new CvSize(imageSize.width & ~1, imageSize.height & ~1);
double MinArea = (evenImageSize.height / 12) * (evenImageSize.height / 12);
double MaxArea = (evenImageSize.height / 4) * (evenImageSize.height / 4);
List<CvPoint> squares = new List<CvPoint>();
using (IplImage timg = new IplImage(imageSize, 8, 3),
gray = new IplImage(evenImageSize, 8, 1),
pyr = new IplImage(new CvSize(evenImageSize.width / 2, evenImageSize.height / 2), 8, 3))
{
Cv.cvCvtColor(image, timg, Cv.CV_BGR2HSV);
CxCore.cvSetImageROI(timg, new CvRect(new CvPoint(), evenImageSize));
Cv.cvPyrDown(timg, pyr, 7);
Cv.cvPyrUp(pyr, timg, 7);
IplImage tgray = new IplImage(evenImageSize, 8, 1);
for (int c = 0; c < 3; c++)
{
CxCore.cvSetImageCOI(timg, c + 1);
timg.CopyTo(tgray);
for (int l = 0; l < N; l++)
{
if (l == 0)
{
Cv.cvCanny(tgray, gray, 0, thresh, 5);
Cv.cvDilate(gray, gray, IntPtr.Zero, 1);
}
else
{
Cv.cvThreshold(tgray, gray, (l + 1) * 255 / N, 255, 0);
}
CvSeqNavigator contours;
using (IntPtrSafeMemoryBox box = new IntPtrSafeMemoryBox())
{
Cv.cvFindContours(gray, storage, box.Pointer, CvTypeSizes.CvContourSize,
Cv.CV_RETR_LIST, Cv.CV_CHAIN_APPROX_SIMPLE, new CvPoint());
contours = new CvSeqNavigator(box.Value);
}
while (!contours.IsEmpty)
{
IntPtr resultSeq = Cv.cvApproxPoly(contours.Pointer,
CvTypeSizes.CvContourSize, storage, Cv.CV_POLY_APPROX_DP,
Cv.cvContourPerimeter(contours) * 0.02, 0);
CvSeqCollection<CvPoint> result = new CvSeqCollection<CvPoint>(resultSeq, true);
if (result.Count == 4)
{
double area = Math.Abs(Cv.cvContourArea(resultSeq, CvSlice.WholeSeq));
if (area >= MinArea && area <= MaxArea &&
Cv.cvCheckContourConvexity(resultSeq) != 0)
{
CvPoint[] resultArray = result.ToArray();
double dist1 = Math.Sqrt(CvPoint.Distance2(resultArray[0], resultArray[1]));
double dist2 = Math.Sqrt(CvPoint.Distance2(resultArray[1], resultArray[2]));
double dist3 = Math.Sqrt(CvPoint.Distance2(resultArray[2], resultArray[3]));
double dist4 = Math.Sqrt(CvPoint.Distance2(resultArray[3], resultArray[0]));
bool found = Math.Abs((dist1 - dist3) / (dist1 + dist3)) < 0.1 &&
Math.Abs((dist2 - dist4) / (dist2 + dist4)) < 0.1 &&
Math.Abs((dist1 - dist2) / (dist1 + dist2)) < 0.1;
if (found)
{
for (int i = 0; i < 4; i++)
{
squares.Add(result[i]);
}
}
}
}
contours.Next();
}
}
}
}
return squares;
}
public static void Flip(IplImage source, IplImage destination, int mode)
{
CxCore.cvFlip(source.Handle, destination.Handle, mode);
}
public static void Not(IplImage source, IplImage destination)
{
CxCore.cvNot(source.Handle, destination.Handle);
}
public static void Copy(IplImage source, IplImage destination, IplImage mask)
{
CxCore.cvCopy(source.Handle, destination.Handle, mask.Handle);
}
public static void Copy(IplImage source, IplImage destination)
{
CxCore.cvCopy(source.Handle, destination.Handle, IntPtr.Zero);
}
public void CopyTo(IplImage destination, IplImage mask)
{
CxCore.cvCopy(Handle, destination.Handle, mask.Handle);
}
public void CopyTo(IplImage destination)
{
CxCore.cvCopy(Handle, destination.Handle, IntPtr.Zero);
}
public void ConvertColor(IplImage destination, int code)
{
Cv.cvCvtColor(Handle, destination.Handle, code);
}