static void MSER_Preprocessing(ref Mat img, out OpenCvSharp.Point offset_bounding_rec, List <OpenCvSharp.Point[]> contours_final)
{
OpenCvSharp.Point[][] temp = new Point[1][];
Cv2.GaussianBlur(img, img, new OpenCvSharp.Size(7, 7), 0, 0);
/*
* //忽略內圈和外圈一些面積
* OpenCvSharp.Point[][] temp = new Point[1][];
* temp[0] = contours_final[0];
* Cv2.DrawContours(img_copy, temp, -1, 255, 40);
* temp[0] = contours_final[1];
* Cv2.DrawContours(img_copy, temp, -1, 255, 40);
*/
//忽略外圈一些面積
temp[0] = contours_final[1];
Cv2.DrawContours(img, temp, -1, 255, 100);
//temp[0] = contours_final[0];
//Cv2.DrawContours(img, temp, -1, 255, 20);
//200原因:外圈預留空間
var biggestContourRect = Cv2.BoundingRect(contours_final[0]);
var expand_rect = new Rect(biggestContourRect.TopLeft.X - 200, biggestContourRect.TopLeft.Y - 200, biggestContourRect.Width + 200, biggestContourRect.Height + 200);
img = new Mat(img, expand_rect);
offset_bounding_rec = expand_rect.TopLeft;
}
// private static readonly Scalar green = new Scalar(0, 255, 0);
public static void Draw(Mat frame, Point p1, Point p2, float confidence, Color color)
{
var thickness = (int)(5 * confidence);
if (thickness <= 0)
{
thickness = 1;
}
Scalar c = new Scalar(color.R, color.G, color.B);
Cv2.Rectangle(frame, p1, p2, c, thickness, LineTypes.Link4);
var text = $"{confidence:N}";
// Cv2.PutText(frame, text, new Point(x1, y1), HersheyFonts.HersheySimplex, 10, Scalar.Green, 5, LineTypes.AntiAlias, false);
// Cv2.PutText(frame, text, new Point(x2, y2), HersheyFonts.HersheySimplex, 1, Scalar.Red, 5, LineTypes.AntiAlias, false);
// Cv2.PutText(frame, text, new Point(x2, y1), HersheyFonts.HersheySimplex, 2, Scalar.BlueViolet, 5, LineTypes.AntiAlias, false);
// var p1s = $"({p1.X} , {p1.Y})";
// Cv2.PutText(frame, p1s, p1, HersheyFonts.HersheySimplex, 0.5, Scalar.Red, 2, LineTypes.AntiAlias, false);
//
// p1 = new Point(x2, y2);
// p1s = $"({p1.X} , {p1.Y})";
// Cv2.PutText(frame, p1s, p1, HersheyFonts.HersheySimplex, 0.5, green, 2, LineTypes.AntiAlias, false);
var pText = new Point(p1.X + 10, p2.Y - 10);
Cv2.PutText(frame, text, pText, HersheyFonts.HersheySimplex, 0.5, c, 2, LineTypes.AntiAlias, false);
}
/// <summary>
/// 画像が見つかるまでスリープ
/// </summary>
/// <param name="templatePath"></param>
/// <param name="maxWaitTime"></param>
public static void SleepUntilTemplateMatching(string templatePath, int maxWaitTime = 60000)
{
try {
int count = 0;
while (true)
{
Thread.Sleep(1000);
if (maxWaitTime <= 1000 * count)
{
break;
}
Bitmap deskTopBmp = GetDeskTopBmp();
OpenCvSharp.Point minPoint = new OpenCvSharp.Point();
OpenCvSharp.Point maxPoint = new OpenCvSharp.Point();
double minVal = 0;
double maxVal = 0;
Mat result = GetTemplateMatchingMat(templatePath, deskTopBmp);
Cv2.MinMaxLoc(result, out minVal, out maxVal, out minPoint, out maxPoint);
if (maxVal >= 0.9)
{
//終了画像を見つけた
Trace.WriteLine("終了画像を見つけた:" + maxVal.ToString());
SetCursorPos(maxPoint.X + 10, maxPoint.Y + 10);
break;
}
count++;
}
} catch (OpenCvSharp.OpenCVException ee) {
System.Diagnostics.Debug.WriteLine(ee.ErrMsg);
}
}
private OpenCvSharp.Point getOMRImage(String path)
{
int offset = 100;
Mat src, gray, binary, canny;
src = Cv2.ImRead(path);
Rect rect = new Rect(offset, offset, src.Width - offset * 2, src.Height - offset * 2);
src = src.SubMat(rect);
gray = new Mat();
binary = new Mat();
canny = new Mat();
Cv2.CvtColor(src, gray, ColorConversionCodes.BGR2GRAY);
Cv2.Threshold(gray, binary, 150, 255, ThresholdTypes.Binary);
Cv2.Canny(binary, canny, 0, 0, 3);
// width, height
OpenCvSharp.Point pt = projectPerspective(src, canny);
src.Dispose();
gray.Dispose();
binary.Dispose();
canny.Dispose();
return(pt);
}
private Point2f ComputeVector(CircleSegment c, OpenCvSharp.Point target, bool forward)
{
double x = (target.X - c.Center.X);
double y = (target.Y - c.Center.Y);
var maxRadius = Math.Max(c.Radius, Math.Sqrt(x * x + y * y));
x /= maxRadius;
y /= maxRadius;
// could return ship pitch and roll here ...
/*
* var rollangle = Math.Atan2(x, -y); // wrong order on purpose so that up is 0 degrees roll.
* var pitchangle = Math.Asin(Math.Sqrt(x*x + y*y) / maxRadius);
* if (!forward)
* pitchangle = Math.PI - pitchangle;
* return new PointF((float)pitchangle, (float)rollangle);
*/
// but x/y is actually easier to handle since we are only doing a crude alignment, and not computing angular velocities or anything
if (!forward)
{
y = (y > 0) ? 2 - y : -2 - y; // if target is behind, add lots of pitch offset so that exactly wrong direction is 2/-2.
}
return(new Point2f((float)x, (float)y));
}
private double Hypotenuse(OpenCvSharp.Point p1, OpenCvSharp.Point p2)
{
var widthSquared = Math.Pow(p1.X - p2.X, 2);
var heightSquared = Math.Pow(p1.Y - p2.Y, 2);
return(Math.Sqrt(widthSquared + heightSquared));
}
private static int GetSquareSize(CvPoint p1, CvPoint p0)
{
var dx = p1.X - p0.X;
var dy = p1.Y - p0.Y;
return(dx * dx + dy * dy);
}
public static int ptDist(ref OpenCvSharp.Point p1, ref OpenCvSharp.Point p2) // rms distance. Среднеквадратичное расстояние между точками
{
var dx = p2.X - p1.X;
var dy = p2.Y - p1.Y;
return((int)Math.Sqrt(dx * dx + dy * dy));
}
private static Mat DetectFace(CascadeClassifier cascade, Mat photo)
{
Mat result;
//Mat src = photo;
using (var src = photo)
using (var gray = new Mat())
{
result = src.Clone();
Cv2.CvtColor(src, gray, ColorConversionCodes.BGR2GRAY);
// Detect faces
Rect[] faces = cascade.DetectMultiScale(
gray, 1.08, 2, HaarDetectionType.ScaleImage, new OpenCvSharp.Size(30, 30));
// Render all detected faces
foreach (Rect face in faces)
{
var center = new OpenCvSharp.Point
{
X = (int)(face.X + face.Width * 0.5),
Y = (int)(face.Y + face.Height * 0.5)
};
var axes = new OpenCvSharp.Size
{
Width = (int)(face.Width * 0.5),
Height = (int)(face.Height * 0.5)
};
Cv2.Ellipse(result, center, axes, 0, 0, 360, new Scalar(255, 0, 255), 4);
}
return(result);
}
}
public OpenCvSharp.Point searchIMG(Bitmap screen_img, Bitmap find_img)
{
OpenCvSharp.Point result = new OpenCvSharp.Point();
//스크린 이미지 선언
using (Mat ScreenMat = OpenCvSharp.Extensions.BitmapConverter.ToMat(screen_img))
//찾을 이미지 선언
using (Mat FindMat = OpenCvSharp.Extensions.BitmapConverter.ToMat(find_img))
//스크린 이미지에서 FindMat 이미지를 찾아라
using (Mat res = ScreenMat.MatchTemplate(FindMat, TemplateMatchModes.CCoeffNormed))
{
//찾은 이미지의 유사도를 담을 더블형 최대 최소 값을 선언합니다.
double minval, maxval = 0;
//찾은 이미지의 위치를 담을 포인트형을 선업합니다.
OpenCvSharp.Point minloc, maxloc;
//찾은 이미지의 유사도 및 위치 값을 받습니다.
Cv2.MinMaxLoc(res, out minval, out maxval, out minloc, out maxloc);
Debug.WriteLine("찾은 이미지의 유사도 : " + maxval);
//이미지를 찾았을 경우 클릭이벤트를 발생!!
if (maxval >= 0.8)
{
result = maxloc;
//InClick(maxloc.X, maxloc.Y);
return(result);
}
}
return(result);
}
public POINT FindPoint(string imgName)
{
Bitmap fullScreen = GetFullScreen();
OpenCvSharp.Point pt = searchIMG(fullScreen, picture[imgName]);
return(new POINT(pt.X, pt.Y));
}
//Removing closest points. Удаляем ближайшие точки по принципу из ближайших точек выбираем самую дальнюю от ценрта ладони
public static void SimplifyNeighbors(ref List <OpenCvSharp.Point> handPTS, ref OpenCvSharp.Point center_of_palm)
{
for (int it = 0; it < handPTS.Count; it++)
{
for (int j = it + 1; j < handPTS.Count;)
{
var pointHere = handPTS[it];
var pointThere = handPTS[j];
var PtFirst_to_palm = ptDist(ref center_of_palm, ref pointHere);
var PTsec_to_palm = ptDist(ref center_of_palm, ref pointThere);
var Exdistance = ptDist(ref pointHere, ref pointThere);
if (Exdistance <= 25)
{
if (PTsec_to_palm > PtFirst_to_palm)
{
handPTS.RemoveAt(it);
}
else
{
handPTS.RemoveAt(j);
}
}
else
{
j += 1;
}
}
}
}
private void readFile(int index = 0)
{
currentCenter = new OpenCvSharp.Point();
currentRadius = 0;
circleSizeVelocity = 0;
if (files.Length > 0)
{
index = Math.Min(index, files.Length - 1);
index = Math.Max(index, 0);
string filePath = files[index].FullName;
if (pictureBox.Image != null)
{
pictureBox.Image.Dispose();
}
pictureBox.Image = Image.FromFile(filePath);
imageSizeLabel.Text = $"이미지크기 : {pictureBox.Image.Width} x {pictureBox.Image.Height}";
fileIndex = index;
fileNumberTextBox.Text = (fileIndex + 1).ToString();
fileTextBox.Text = filePath;
faceDetect(filePath);
}
else
{
fileTextBox.Text = "없음";
}
}
private TXYW DrawToOutput(IEnumerable <OPoint> contour, Parameters para)
{
bool detectAngle = para.DetectAngle && (para.Shape != Parameters.TargetShape.Circle);
rawmat.CopyTo(output3);
Moments m = Cv2.Moments(contour);
TXYW txyw = new TXYW();
output3.DrawContours(new IEnumerable <OPoint>[] { contour }, 0, Scalar.Red, 5);
double comx = m.M10 / m.M00;
double comy = m.M01 / m.M00;
Cv2.Circle(output3, (int)comx, (int)comy, 10, Scalar.Red, -1);
txyw.t = PosFrames;
txyw.x = comx;
txyw.y = comy;
if (detectAngle)
{
double angle = 0.5 * Math.Atan2(2 * m.Mu11, m.Mu20 - m.Mu02);
const double r = 50;
OPoint arrow = new OPoint(comx + r * Math.Cos(angle), comy + r * Math.Sin(angle));
Cv2.Line(output3, new OPoint(comx, comy), arrow, Scalar.Red, 5);
txyw.w = angle;
}
Cv2.PutText(output3, $"frame:{txyw.t}",
new OPoint(20, videoCapture.FrameHeight - 20),
HersheyFonts.HersheySimplex, 2, Scalar.Red, 3);
return(txyw);
}
public void GetLocations(out Point2f[] pts0, out Point2i pt1, out Point2i pt2)
{
List <Point2f> ptsList0 = new List <Point2f>();
if (centres0.Count != 0)
{
foreach (Point2i c0 in centres0)
{
ptsList0.Add(c0);
}
centres0.Clear();
}
// else ptsList0.Add(new Point2f(-1, -1));
pts0 = ptsList0.ToArray();
if (centres1.Count != 0)
{
pt1 = centres1[0];
centres1.Clear();
}
else
{
pt1 = new Point2i(-1, -1);
}
if (centres2.Count != 0)
{
pt2 = centres2[0];
centres2.Clear();
}
else
{
pt2 = new Point2i(-1, -1);
}
}
private OpenCvSharp.Point Midpoints(OpenCvSharp.Point p1, OpenCvSharp.Point p2)
{
int x = (int)(p1.X + p2.X) / 2;
int y = (int)(p1.Y + p2.Y) / 2;
return(new OpenCvSharp.Point(x, y));
}
static void Main(string[] args)
{
Console.WriteLine("[+] Starting...");
while (is_window())
{
Console.WriteLine("[-] Capture Window");
capture();
sleep();
Tuple <OpenCvSharp.Point, string> match_result = template_match();
OpenCvSharp.Point match_point = match_result.Item1;
string match_type = match_result.Item2;
if (match_point.X == 0 && match_point.Y == 0)
{
Console.WriteLine("[-] {0}", match_type);
}
else
{
Console.WriteLine("[*] {0}", match_type);
mouse_click(get_window_point().X + match_point.X, get_window_point().Y + match_point.Y);
//break;
}
//break;
sleep();
}
}
/// <summary>
/// Render detected faces via OpenCV.
/// </summary>
/// <param name="state">Current frame state.</param>
/// <param name="image">Web cam or video frame.</param>
/// <returns>Returns new image frame.</returns>
private static Mat RenderFaces(FrameState state, Mat image)
{
Mat result = image.Clone();
Cv2.CvtColor(image, image, ColorConversionCodes.BGR2GRAY);
// Render all detected faces
foreach (var face in state.Faces)
{
var center = new OpenCvSharp.Point
{
X = face.Center.X,
Y = face.Center.Y
};
var axes = new OpenCvSharp.Size
{
Width = (int)(face.Size.Width * 0.5) + 10,
Height = (int)(face.Size.Height * 0.5) + 10
};
Cv2.Ellipse(result, center, axes, 0, 0, 360, _faceColorBrush, 4);
}
return(result);
}
private void resize_ROIs(System.Drawing.Size before, System.Drawing.Size after)
///<summary>
/// Resize the ROIs when the size of Form is being changed
///</summary>
///<param name="after"> the new form size after resizing </param>
///<param name="before"> the original form size before resizing </param>
{
Cv2.Resize(maskTrackArea, maskTrackArea, new OpenCvSharp.Size(after.Width, after.Height));
for (int i = 0; i < roiLines.Count; i++)
{
for (int j = 0; j < roiLines[i].Count; j++)
{
double x = roiLines[i][j].X * after.Width / before.Width;
double y = roiLines[i][j].Y * after.Height / before.Height;
roiLines[i][j] = new OpenCvSharp.Point(x, y);
}
}
for (int j = 0; j < roiTrackArea.Count; j++)
{
double x = roiTrackArea[j].X * after.Width / before.Width;
double y = roiTrackArea[j].Y * after.Height / before.Height;
roiTrackArea[j] = new OpenCvSharp.Point(x, y);
}
}
/// <summary>
/// Draws the connection line between two items and also the lenght
/// </summary>
/// <param name="uiImage"></param>
/// <param name="item"></param>
/// <param name="item2"></param>
public void DrawLineFromItemToItem(Mat uiImage, YoloItem item, YoloItem item2, out Line line)
{
var startPoint = new OpenCvSharp.Point(item.Center().X *SCALE, item.Center().Y *SCALE);
var endPoint = new OpenCvSharp.Point(item2.Center().X *SCALE, item2.Center().Y *SCALE);
line = new Line()
{
X1 = item.Center().X *SCALE,
Y1 = item.Center().Y *SCALE,
X2 = item2.Center().X *SCALE,
Y2 = item2.Center().Y *SCALE
};
// Draw the line
Cv2.Line(uiImage,
startPoint,
endPoint,
Scalar.Red, 2);
// Draw distance and length
// Casting from points to points is really annoying... TODO: Refactor that.
var sysStartPoint = new System.Windows.Point(startPoint.X, startPoint.Y);
var sysEndPoint = new System.Windows.Point(endPoint.X, endPoint.Y);
var distance = GeometryHelper.Distance(sysStartPoint, sysEndPoint);
var length = distance * coordinateLength;
var centerOfLine = GeometryHelper.GetCenterOfLine(sysStartPoint, sysEndPoint);
// Put text in it.
DrawTextblockWithBackground(
uiImage,
centerOfLine,
$"{string.Format("{0:0.00}", length)}m",
Scalar.Red
);
}
private void bStart_MouseClick(object sender, MouseEventArgs e)
{
//CvCapture camera = new CvCapture("C:\\rosbank\\facedetect\\test\\media\\test.avi");
var capture = new VideoCapture("C:\\rosbank\\facedetect\\test\\media\\test.avi");
//capture.Set(CaptureProperty.FrameWidth, 320);
//capture.Set(CaptureProperty.FrameHeight, 240);
int sleepTime = (int)Math.Round(1000 / capture.Fps);
Mat image = new Mat();
Rect[] faces = null;
int i = 0;
while (true)
{
i++;
capture.Read(image);
if (image.Empty())
{
break;
}
Mat small = new Mat();
Cv2.Resize(image, small, new OpenCvSharp.Size(320, 240), 0, 0, InterpolationFlags.Lanczos4);
if (i % 5 == 0)
{
var cascade = new CascadeClassifier(@"C:\opencv3\opencv\sources\data\haarcascades\haarcascade_frontalface_alt.xml");
faces = cascade.DetectMultiScale(small, 1.08, 2, HaarDetectionType.ScaleImage, new OpenCvSharp.Size(30, 30));
}
if (faces != null && faces.Length > 0)
{
foreach (Rect face in faces)
{
var center = new OpenCvSharp.Point
{
X = (int)(face.X + face.Width * 0.5),
Y = (int)(face.Y + face.Height * 0.5)
};
var axes = new OpenCvSharp.Size
{
Width = (int)(face.Width * 0.5),
Height = (int)(face.Height * 0.5)
};
Mat f = new Mat(small, face);
pb1.Image = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(f);
pb1.Refresh();
Cv2.Ellipse(small, center, axes, 0, 0, 360, new Scalar(255, 0, 255), 2);
}
}
bpMain.Image = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(small);
bpMain.Refresh();
Cv2.WaitKey(100);
}
}
private string Verify(string patternpath)
{
string tmpname = $"tmp{DateTime.Now.ToString("hh_mm_ss")}.png";
fifaImage.Save(tmpname);
var image = new Mat(tmpname);
File.Delete(tmpname);
var template = new Mat(patternpath);
var w = (image.Width - template.Width) + 1;
var h = (image.Height - template.Height) + 1;
double minVal, maxVal;
OpenCvSharp.Point minLoc, maxLoc;
var result = image.MatchTemplate(template, TemplateMatchModes.CCorrNormed);
result.MinMaxLoc(out minVal, out maxVal, out minLoc, out maxLoc);
string VaryName = Path.GetFileNameWithoutExtension(patternpath);
//MessageBox.Show($"Is it {VaryName}? : match={maxVal}");
if (maxVal > 0.9999900)
{
this.mutchLoc = maxLoc;
return(patternpath);
}
return("");
}
public Mat Overlay(Mat frame, OpenCvSharp.Point offset)
{
if (this.State != GmapState.Collapsed && this.Gmap.Empty())
{
return(frame);
}
var area = new OpenCvSharp.Rect(offset, this.GetGmapSize(frame));
if (this.State == GmapState.Collapsed)
{
frame = frame.CvtColor(ColorConversionCodes.BGR2BGRA);
var icon = this._icon.Resize(area.Size);
var mask = this._mask.Resize(area.Size);
icon.CopyTo(new Mat(frame, area), mask);
frame = frame.CvtColor(ColorConversionCodes.BGRA2BGR);
}
else if (this.State == GmapState.Expanded)
{
var gmap = this.Gmap.Resize(area.Size);
gmap.CopyTo(new Mat(frame, area));
}
else
{
var gmap = this.Gmap.Resize(area.Size);
frame = gmap;
}
this._currentFrame = frame;
return(this._currentFrame);
}
public static OpenCvSharp.Point[] Square(Mat src)
{
Mat[] split = Cv2.Split(src);
Mat blur = new Mat();
Mat binary = new Mat();
OpenCvSharp.Point[] squares = new OpenCvSharp.Point[4];
int N = 10;
double max = src.Size().Width *src.Size().Height * 0.9;
double min = src.Size().Width *src.Size().Height * 0.1;
for (int channel = 0; channel < 3; channel++)
{
Cv2.GaussianBlur(split[channel], blur, new OpenCvSharp.Size(5, 5), 1);
for (int i = 0; i < N; i++)
{
Cv2.Threshold(blur, binary, i * 255 / N, 255, ThresholdTypes.Binary);
OpenCvSharp.Point[][] contours;
HierarchyIndex[] hierarchy;
Cv2.FindContours(binary, out contours, out hierarchy, RetrievalModes.List, ContourApproximationModes.ApproxTC89KCOS);
}
}
}
public static OpenCvSharp.Point[] Square(Mat src)
{
Mat[] split = Cv2.Split(src);
Mat blur = new Mat();
Mat binary = new Mat();
OpenCvSharp.Point[] squares = new OpenCvSharp.Point[4];
int N = 10;
double max = src.Size().Width *src.Size().Height * 0.9;
double min = src.Size().Width *src.Size().Height * 0.1;
for (int channel = 0; channel < 3; channel++)
{
Cv2.GaussianBlur(split[channel], blur, new OpenCvSharp.Size(5, 5), 1);
for (int i = 0; i < N; i++)
{
Cv2.Threshold(blur, binary, i * 255 / N, 255, ThresholdTypes.Binary);
OpenCvSharp.Point[][] contours;
HierarchyIndex[] hierarchy;
Cv2.FindContours(binary, out contours, out hierarchy, RetrievalModes.List, ContourApproximationModes.ApproxTC89KCOS);
for (int j = 0; j < contours.Length; j++)
{
double perimeter = Cv2.ArcLength(contours[j], true);
OpenCvSharp.Point[] result = Cv2.ApproxPolyDP(contours[j], perimeter * 0.02, true);
double area = Cv2.ContourArea(result);
bool convex = Cv2.IsContourConvex(result);
}
}
}
}
internal bool SearchImageFromDict(Dictionary <string, Bitmap> buttonImages, out Point centerPoint, out string name)
{
window = autoIt.window;
double threshold = 0.85;
name = null;
centerPoint = new OpenCvSharp.Point();
gameScreen_graphics.CopyFromScreen(window.X, window.Y, 0, 0, size_region);
using Mat result = new Mat();
using Mat gameScreen = OpenCvSharp.Extensions.BitmapConverter.ToMat(gameScreen_bitmap); //Сохраняем скрин экрана в mat
using Mat mat_region_desktop_gray = gameScreen.CvtColor(ColorConversionCodes.BGR2GRAY);
foreach (KeyValuePair <string, Bitmap> buttonImage in buttonImages)
{
using Mat searchImg = OpenCvSharp.Extensions.BitmapConverter.ToMat(buttonImage.Value);
using Mat searchImg_gray = searchImg.CvtColor(ColorConversionCodes.BGR2GRAY);
Cv2.MatchTemplate(mat_region_desktop_gray, searchImg_gray, result, TemplateMatchModes.CCoeffNormed); //Поиск шаблона
Cv2.Threshold(result, result, threshold, 1.0, ThresholdTypes.Tozero);
Cv2.MinMaxLoc(result, out double minVal, out double maxVal, out OpenCvSharp.Point minLoc, out OpenCvSharp.Point maxLoc); //Поиск точки
if (maxVal > threshold)
{
centerPoint = new OpenCvSharp.Point(maxLoc.X + buttonImage.Value.Width / 2, maxLoc.Y + buttonImage.Value.Height / 2);
overlay.DrawRect(maxLoc.X, maxLoc.Y, buttonImage.Value.Width, buttonImage.Value.Height);
name = buttonImage.Key;
return(true);
}
}
return(false);
}
private void find_max_area(Mat src_gray, ref OpenCvSharp.Point center, ref Mat dst_color)//カラーで返す
{
src_gray.Threshold(0, 255, ThresholdTypes.Otsu | ThresholdTypes.Binary);
Mat[] contours;
Mat hie = new Mat();
Cv2.FindContours(src_gray, out contours, hie, RetrievalModes.External, ContourApproximationModes.ApproxSimple);
if (contours.Length > 0)
{
double max_size = 0;
int max_index = 0;
for (int i = 0; i < contours.Length; i++)
{
double size = Cv2.ContourArea(contours[i]);
if (max_size < size)
{
max_size = size;
max_index = i;
}
}
Cv2.DrawContours(dst_color, contours, max_index, new Scalar(255, 255, 255), -1);
RotatedRect box = Cv2.MinAreaRect(contours[max_index]);
center = box.Center;
}
contours = null;
hie.Dispose();
src_gray.Dispose();
}
public Tracker()
{
InitializeComponent();
//UI
label_RedBG.SendToBack();
label_BlueBG.SendToBack();
label_RedBG.Controls.Add(label_CarA);
label_RedBG.Controls.Add(labelAScore);
label_BlueBG.Controls.Add(label_CarB);
int newX = label_CarB.Location.X - label_BlueBG.Location.X;
int newY = label_CarB.Location.Y - label_BlueBG.Location.Y;
label_CarB.Location = new System.Drawing.Point(newX, newY);
label_BlueBG.Controls.Add(labelBScore);
newX = labelBScore.Location.X - label_BlueBG.Location.X;
newY = labelBScore.Location.Y - label_BlueBG.Location.Y;
labelBScore.Location = new System.Drawing.Point(newX, newY);
label_GameCount.Text = "上半场";
InitialCaiServer();
MessageBox.Show("TCP IP is " + server.getUsedIP().ToString() + " port is " + server.getPort().ToString());
udp = new CaiNetwork.CaiUDP();
MessageBox.Show("UDP IP is " + udp.broadcastIpEndPoint.Address.ToString() + " port is " + udp.broadcastIpEndPoint.Port.ToString());
// Init
flags = new MyFlags();
flags.Init();
flags.Start();
ptsShowCorners = new Point2f[4];
cc = new CoordinateConverter(flags);
localiser = new Localiser();
capture = new VideoCapture();
// threadCamera = new Thread(CameraReading);
capture.Open(0);
timeCamNow = DateTime.Now;
timeCamPrev = timeCamNow;
car1 = new Point2i();
car2 = new Point2i();
buttonStart.Enabled = true;
buttonPause.Enabled = false;
button_AReset.Enabled = false;
button_BReset.Enabled = false;
Game.LoadMap();
game = new Game();
if (capture.IsOpened())
{
capture.FrameWidth = flags.cameraSize.Width;
capture.FrameHeight = flags.cameraSize.Height;
capture.ConvertRgb = true;
timer100ms.Interval = 75;
timer100ms.Start();
//Cv2.NamedWindow("binary");
}
}
/// <summary>
/// カメラ画像を取得して次々に表示を切り替える
/// </summary>
public virtual void Capture(object state)
{
var haarCascade = new CascadeClassifier("data/haarcascades/haarcascade_frontalface_default.xml");
var camera = new VideoCapture(0 /*0番目のデバイスを指定*/)
{
// キャプチャする画像のサイズフレームレートの指定
FrameWidth = 480,
FrameHeight = 270,
// Fps = 60
};
using (var img = new Mat()) // 撮影した画像を受ける変数
using (camera) {
while (true)
{
if (this.IsExitCapture)
{
this.Dispatcher.Invoke(() => this._Image.Source = null);
break;
}
camera.Read(img); // Webカメラの読み取り（バッファに入までブロックされる
if (img.Empty())
{
break;
}
var result = img.Clone();
using (var gray = new Mat()) {
Cv2.CvtColor(img, gray, ColorConversionCodes.BGR2GRAY);
var faces = haarCascade.DetectMultiScale(
gray,
1.08,
2,
HaarDetectionType.FindBiggestObject,
new OpenCvSharp.Size(50, 50)
);
foreach (var face in faces)
{
var center = new OpenCvSharp.Point {
X = (int)(face.X + face.Width * 0.5),
Y = (int)(face.Y + face.Height * 0.5)
};
var axes = new OpenCvSharp.Size {
Width = (int)(face.Width * 0.5),
Height = (int)(face.Height * 0.5)
};
Cv2.Ellipse(result, center, axes, 0, 0, 360, new Scalar(255, 0, 255), 4);
}
}
this.Dispatcher.Invoke(() => {
this._Image.Source = result.ToWriteableBitmap(); // WPFに画像を表示
});
}
}
}
/// <summary>
/// Create a processed image of the dynamic threshold algorithm used as visual feedback for the user
/// and rendered in the video feed panel on the user interface <br/>
///Image processing algorithm
/// </summary>
/// <param name="img">input image, of type OpenCvSharp.Mat</param>
/// <param name="largestContourArea">desired contour, of type OpenCvSharp.Mat</param>
/// <param name="contourCenter">center point of desired contour, of type OpenCvSharp.Point</param>
/// <param name="actuatorPositionPixels">position of an actuator translated into pixels, of type System.Drawing.Point</param>
/// <returns>output image, of type OpenCvSharp.Mat</returns>
public Mat ComposeImageDTC(ref Mat img, ref Mat largestContourArea, ref OpenCvSharp.Point contourCenter, ref System.Drawing.Point actuatorPositionPixels)
{
// Convert to RGB, draw largest contour, draw largest contour center, put coordinates text, draw actuators position
Cv2.CvtColor(img, imgComposed, ColorConversionCodes.GRAY2BGR);
Cv2.DrawContours(imgComposed, new Mat[] { largestContourArea }, -1, Scalar.FromRgb(0, 128, 255), 2);
Cv2.Circle(imgComposed, contourCenter, 2, Scalar.FromRgb(250, 50, 50), 5);
Cv2.PutText(imgComposed, contourCenter.X.ToString() + "," + contourCenter.Y.ToString(), contourCenter, HersheyFonts.HersheySimplex, 1, Scalar.FromRgb(250, 50, 50), 2);
//Cv2.Rectangle(imgComposed, new OpenCvSharp.Point(100, 100), new OpenCvSharp.Point(300, 300), Scalar.Azure, 2, LineTypes.AntiAlias, 0);
// Draw actuator position line - Either axis X, either Y, either both
foreach (Enums.Axis axis in TASettings.ConnectedAxisList)
{
if (axis == Enums.Axis.X)
{
Cv2.Line(imgComposed, new OpenCvSharp.Point(actuatorPositionPixels.X, 0), new OpenCvSharp.Point(actuatorPositionPixels.X, imgComposed.Height - 1), Scalar.FromRgb(0, 250, 100), 3);
}
else if (axis == Enums.Axis.Y)
{
Cv2.Line(imgComposed, new OpenCvSharp.Point(0, actuatorPositionPixels.Y), new OpenCvSharp.Point(imgComposed.Width - 1, actuatorPositionPixels.Y), Scalar.FromRgb(0, 250, 100), 3);
}
}
// Draw IDC bounding box if necessary
if (TrackingSettings.TrackingAlgorithm == Enums.TrackingAlgoirthm.ImageDistance)
{
imgComposed = DrawBoundingBox(ref imgGrayscale,
new OpenCvSharp.Point()
{
X = IDCSettings.BoxTopLeft.X, Y = IDCSettings.BoxTopLeft.Y
},
new OpenCvSharp.Point()
{
X = IDCSettings.BoxBottomRight.X, Y = IDCSettings.BoxBottomRight.Y
},
Scalar.Orange,
LineTypes.Link4
);
}
// Draw bounding box if necessary
if (TrackingSettings.TrackingAlgorithm == Enums.TrackingAlgoirthm.BoundingBox)
{
imgComposed = DrawBoundingBox(ref imgGrayscale,
new OpenCvSharp.Point()
{
X = BoundingBoxCalib.TopLeftPixelPos.X, Y = BoundingBoxCalib.TopLeftPixelPos.Y
},
new OpenCvSharp.Point()
{
X = BoundingBoxCalib.BottomRightPixelPos.X, Y = BoundingBoxCalib.BottomRightPixelPos.Y
},
Scalar.BlueViolet,
LineTypes.Link4
);
}
return(imgComposed);
}