public double GetCellLengthWithBoundingBoxPoint(VectorOfPoint contour)
{
var tempRect = CvInvoke.MinAreaRect(contour);
var boxPoints = CvInvoke.BoxPoints(tempRect);
return(GetCellLengthFromBoxPoints(boxPoints));
}
/// <summary>
/// 获取机器人法兰中心移动坐标和旋转角度，camera=0代表右侧相机，camera=1代表前方向机
/// </summary>
/// <param name="bitmap">产品图像</param>
/// <param name="cameraID">相机编号</param>
public ImageInfo GetProductParamters(Bitmap bitmap, int cameraID, int spongeH)
{
ImageInfo imageInfo = new ImageInfo();
List <VectorOfPoint> imageContours = GetContours(bitmap, cameraID, spongeH);
VectorOfPoint productContour = imageContours.Max();
MCvMoments cvMoments = CvInvoke.Moments(productContour, false);
int gravityX = Convert.ToInt32(cvMoments.M10 / cvMoments.M00);
int gravityY = Convert.ToInt32(cvMoments.M01 / cvMoments.M00);
Trace.WriteLine("用矩计算质心：X = " + gravityX.ToString() + "\tY = " + gravityY.ToString());
if (productContour != null)
{
var minRect = CvInvoke.MinAreaRect(productContour); //最小外接矩形
PointF[] pt = CvInvoke.BoxPoints(minRect); //最小外接矩形四个角点
PointF po = minRect.Center; //最小外接矩形中心
Trace.WriteLine("当前外接矩形中心：" + po.ToString());
imageInfo.CenterOfImg = po;
//长轴,短轴,倾角计算:
//AxisLong = Math.Sqrt(Math.Pow(pt[1].X - pt[0].X, 2) + Math.Pow(pt[1].Y - pt[0].Y, 2));
imageInfo.AxisLong = minRect.Size.Width > minRect.Size.Height ? minRect.Size.Width : minRect.Size.Height;
//AxisShort = Math.Sqrt(Math.Pow(pt[2].X - pt[1].X, 2) + Math.Pow(pt[2].Y - pt[1].Y, 2));
imageInfo.AxisShort = minRect.Size.Height <= minRect.Size.Width ? minRect.Size.Height : minRect.Size.Width;;
imageInfo.ImageCorner = pt;
imageInfo.RotatedAngle = Math.Abs(minRect.Angle) > 45?minRect.Angle + 90:minRect.Angle;
Matrix <double> imgCenter = new Matrix <double>(3, 1)
{
public void SaveImgWithContours(Point point)
{
var imgToSave = Image;
foreach (var contour in Contours.ToArrayOfArray())
{
var tempVector = new VectorOfPoint(contour);
CvInvoke.DrawContours(imgToSave, tempVector, 0, new MCvScalar(0, 255, 0), 2);
var tempRect = CvInvoke.MinAreaRect(tempVector);
var box = CvInvoke.BoxPoints(tempRect);
var boxVec = new VectorOfPointF(box);
CvInvoke.DrawContours(imgToSave, boxVec, 0, new MCvScalar(0, 0, 255), 2);
if (CvInvoke.PointPolygonTest(tempVector, point, true) >= 0)
{
CvInvoke.PutText(ContourImage, tempRect.Size.Height.ToString(CultureInfo.InvariantCulture),
new Point((int)(10 + boxVec[0].X), (int)(10 + boxVec[0].Y)),
FontFace.HersheySimplex, 0.65, new MCvScalar(255, 100, 100, 255), 2);
}
}
var processedDir = FolderName + Path.DirectorySeparatorChar + "processed";
if (!Directory.Exists(processedDir))
{
Directory.CreateDirectory(processedDir);
}
CvInvoke.Imwrite(processedDir + Path.DirectorySeparatorChar + OpenedImgNumber + ".jpg", imgToSave);
}
/// <summary>
/// Get the minimum enclosing rectangle for this Box
/// </summary>
/// <returns>The minimum enclosing rectangle for this Box</returns>
public System.Drawing.Rectangle MinAreaRect()
{
PointF[] data = CvInvoke.BoxPoints(this);
int minX = (int)Math.Round(Math.Min(Math.Min(data[0].X, data[1].X), Math.Min(data[2].X, data[3].X)));
int maxX = (int)Math.Round(Math.Max(Math.Max(data[0].X, data[1].X), Math.Max(data[2].X, data[3].X)));
int minY = (int)Math.Round(Math.Min(Math.Min(data[0].Y, data[1].Y), Math.Min(data[2].Y, data[3].Y)));
int maxY = (int)Math.Round(Math.Max(Math.Max(data[0].Y, data[1].Y), Math.Max(data[2].Y, data[3].Y)));
return new Rectangle(minX, minY, maxX - minX, maxY - minY);
}
public void DrawAllCellContourSizes()
{
foreach (var contour in Contours.ToArrayOfArray())
{
var tempVector = new VectorOfPoint(contour);
var tempRect = CvInvoke.MinAreaRect(tempVector);
var box = CvInvoke.BoxPoints(tempRect);
var boxVec = new VectorOfPointF(box);
CvInvoke.PutText(ContourImage, tempRect.Size.Height.ToString(CultureInfo.InvariantCulture),
new Point((int)(10 + boxVec[0].X), (int)(10 + boxVec[0].Y)),
FontFace.HersheySimplex, 0.65, new MCvScalar(255, 100, 100, 255), 2);
}
}
public string FindContourOnRoiFrame(CamService cam)
{
var allContours = new VectorOfVectorOfPoint();
CvInvoke.FindContours(cam.RoiFrame,
allContours,
new Mat(),
RetrType.External,
ChainApproxMethod.ChainApproxNone);
var contour = new VectorOfPoint();
var contourArс = 0.0;
var contourArea = 0.0;
var contourWidth = 0.0;
for (var i = 0; i < allContours.Size; i++)
{
var tempContour = allContours[i];
var tempContourArс = CvInvoke.ArcLength(tempContour, true);
if (tempContourArс > contourArс)
{
contour = tempContour;
contourArс = tempContourArс;
}
}
if (contourArс > 0)
{
contourArea = CvInvoke.ContourArea(contour);
var rect = CvInvoke.MinAreaRect(contour);
var box = CvInvoke.BoxPoints(rect);
var contourBoxPoint1 = new PointF(box[0].X, (float)cam.roiPosYSlider + box[0].Y);
var contourBoxPoint2 = new PointF(box[1].X, (float)cam.roiPosYSlider + box[1].Y);
var contourBoxPoint4 = new PointF(box[3].X, (float)cam.roiPosYSlider + box[3].Y);
var side1 = MeasureService.FindDistance(contourBoxPoint1, contourBoxPoint2);
var side2 = MeasureService.FindDistance(contourBoxPoint4, contourBoxPoint1);
contourWidth = side1 < side2
? side1
: side2;
}
return(Converter.ToString($"Contour\n" +
$"Arc:\n" +
$"{(int) contourArс}\n" +
$"Area:\n" +
$"{(int) contourArea}\n" +
$"Width:\n" +
$"{(int) contourWidth}\n"
));
}
//void DrawBoxSequance( Image<Bgr , byte> dst, List<RotatedRect> rects , int iterNum)
//{
// if ( rects == null ) return;
// dst = dst?.DrawRotatedRect( rects [ iterNum - 1 ] , new Bgr(50,240,10));
// if ( iterNum == 0 ) return;
// DrawBoxSequance( dst , rects , iterNum - 1 );
//}
void DrawBoxSequance(Image <Bgr, byte> dst, List <RotatedRect> rects, int iterNum)
{
for (int i = 0; i < rects.Count; i++)
{
var points = CvInvoke.BoxPoints(rects [i]);
var lines = Enumerable.Range(0, points.GetLength(0))
.Select(j =>
new LineSegment2DF(points[j], points [(j + 1) % 4]))
.ToArray();
foreach (var line in lines)
{
dst.Draw(line, new Bgr(50, 240, 10), 2);
}
}
}
public double GetCellLengthWithBoundingBoxPoint(Point point)
{
foreach (var contour in Boxes.ToArrayOfArray())
{
var tempVector = new VectorOfPoint(contour);
if (!(CvInvoke.PointPolygonTest(tempVector, point, true) >= 0))
{
continue;
}
var tempRect = CvInvoke.MinAreaRect(tempVector);
var boxPoints = CvInvoke.BoxPoints(tempRect);
return(GetCellLengthFromBoxPoints(boxPoints));
}
return(-1.0);
}
public static Image <Bgr, TDepth> DrawRotatedRect <TDepth>(
this Image <Bgr, TDepth> src
, RotatedRect rect
, Bgr color)
where TDepth : new()
{
var output = src.Clone();
var points = CvInvoke.BoxPoints(rect);
var lines = Enumerable.Range(0, points.GetLength(0))
.Select(i =>
new LineSegment2DF(points[i], points [(i + 1) % 4]))
.ToArray()
.ActLoop(x => output.Draw(x, color, 2));
return(output);
}
/// <summary>
/// 画最小外接矩
/// </summary>
private void DrawContourMinRectangle(ContoursArgs e)
{
VectorOfPoint cnt = e.Contours[e.ContourIndex];
RotatedRect rotatedRect = CvInvoke.MinAreaRect(cnt);
PointF[] pointF = CvInvoke.BoxPoints(rotatedRect);
//取整
Point[] pointInt = new Point[pointF.Length];
for (int i = 0; i < pointF.Length; i++)
{
pointInt[i] = Point.Round(pointF[i]);
}
VectorOfPoint vector = new VectorOfPoint(pointInt);
VectorOfVectorOfPoint vector2 = new VectorOfVectorOfPoint(vector);
CvInvoke.DrawContours(mTempImage, vector2, -1, e.Color, e.Thickness);
}
private static List <PointF> GetMiniBox(VectorOfPoint contours, out float minEdgeSize)
{
List <PointF> box = new List <PointF>();
RotatedRect rrect = CvInvoke.MinAreaRect(contours);
PointF[] points = CvInvoke.BoxPoints(rrect);
minEdgeSize = Math.Min(rrect.Size.Width, rrect.Size.Height);
List <PointF> thePoints = new List <PointF>(points);
thePoints.Sort(CompareByX);
int index_1 = 0, index_2 = 1, index_3 = 2, index_4 = 3;
if (thePoints[1].Y > thePoints[0].Y)
{
index_1 = 0;
index_4 = 1;
}
else
{
index_1 = 1;
index_4 = 0;
}
if (thePoints[3].Y > thePoints[2].Y)
{
index_2 = 2;
index_3 = 3;
}
else
{
index_2 = 3;
index_3 = 2;
}
box.Add(thePoints[index_1]);
box.Add(thePoints[index_2]);
box.Add(thePoints[index_3]);
box.Add(thePoints[index_4]);
return(box);
}
public Mat DrawAllCellContourBoundingBoxes()
{
var matToReturn = ContourImage.CreateNewMatLikeThis();
var boxVecOfVectorPoint = new VectorOfVectorOfPointF();
foreach (var contour in Contours.ToArrayOfArray())
{
var tempVector = new VectorOfPoint(contour);
var tempRect = CvInvoke.MinAreaRect(tempVector);
var box = CvInvoke.BoxPoints(tempRect);
var boxVec = new VectorOfPointF(box);
boxVecOfVectorPoint.Push(boxVec);
}
var convertedVectorOfVectorPoint = boxVecOfVectorPoint.ConvertToVectorOfPoint();
CvInvoke.DrawContours(matToReturn, convertedVectorOfVectorPoint, -1, new MCvScalar(0, 255, 0, 255), 2);
return(matToReturn);
}
private void DrawSelectedCellContourBoxToMat(Mat imgToMod, VectorOfPoint tempVector)
{
var matToReturn = imgToMod.CreateNewHardCopyFromMat();
if (matToReturn.NumberOfChannels < 3)
{
CvInvoke.CvtColor(matToReturn, matToReturn, ColorConversion.Gray2Bgr);
}
var boxVecOfVectorPoint = new VectorOfVectorOfPointF();
var tempRect = CvInvoke.MinAreaRect(tempVector);
var box = CvInvoke.BoxPoints(tempRect);
var boxVec = new VectorOfPointF(box);
boxVecOfVectorPoint.Push(boxVec);
var convertedVectorOfVectorPoint = boxVecOfVectorPoint.ConvertToVectorOfPoint();
CvInvoke.DrawContours(matToReturn, convertedVectorOfVectorPoint, -1, new MCvScalar(0, 114, 251, 0), 3);
}
public Mat DrawAllCellContourBoundingBoxes(Mat imgToMod)
{
var matToReturn = imgToMod.CreateNewHardCopyFromMat();
CvInvoke.CvtColor(matToReturn, matToReturn, ColorConversion.Gray2Bgr);
var boxVecOfVectorPoint = new VectorOfVectorOfPointF();
foreach (var contour in Contours.ToArrayOfArray())
{
var tempVector = new VectorOfPoint(contour);
var tempRect = CvInvoke.MinAreaRect(tempVector);
var box = CvInvoke.BoxPoints(tempRect);
var boxVec = new VectorOfPointF(box);
boxVecOfVectorPoint.Push(boxVec);
}
var convertedVectorOfVectorPoint = boxVecOfVectorPoint.ConvertToVectorOfPoint();
CvInvoke.DrawContours(matToReturn, convertedVectorOfVectorPoint, -1, new MCvScalar(0, 255, 0, 255), 2);
return(matToReturn);
}
/// <summary>
/// Here, bounding rectangle is drawn with minimum area
/// </summary>
/// <param name="scr"></param>
/// <returns></returns>
private Point[] Find_Rectangle(Image <Bgr, byte> scr)
{
// Declare variable
Point[] rect = new Point[4];
double area = 0;
int index_contours = 0;
VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint();
Mat hierarchy = new Mat();
Image <Gray, byte> GrayImages = scr.Convert <Gray, byte>();
Image <Gray, byte> ThresholdImages = new Image <Gray, byte>(GrayImages.Size);
// Find contours
CvInvoke.Threshold(GrayImages, ThresholdImages, threshold_value, 255, ThresholdType.Binary);
CvInvoke.FindContours(ThresholdImages, contours, hierarchy, RetrType.External, ChainApproxMethod.ChainApproxSimple);
for (int i = 0; i < contours.Size; i++)
{
double s = CvInvoke.ContourArea(contours[i]);
if (area < s)
{
area = s;
index_contours = i;
}
}
// Find Rectangle Box With 4 Points
RotatedRect RectangleMin = CvInvoke.MinAreaRect(contours[index_contours]);
PointF[] RectangleMin_Tip = CvInvoke.BoxPoints(RectangleMin);
for (int i = 0; i < 4; i++)
{
rect[i] = Point.Round(RectangleMin_Tip[i]);
}
// Clear memory
GrayImages.Dispose();
ThresholdImages.Dispose();
contours.Dispose();
hierarchy.Dispose();
return(rect);
}
private void PrepareContour()
{
var contour = workingCam.workingContours.Pop();
contourMoments = CvInvoke.Moments(contour);
contourCenterPoint = new Point((int)(contourMoments.M10 / contourMoments.M00), (int)workingCam.roiPosYSlider + (int)(contourMoments.M01 / contourMoments.M00));
drawman.DrawCircle(workingCam.linedFrame, contourCenterPoint, 4, new Bgr(Color.Blue).MCvScalar, 3);
// Find contour rectangle
var rect = CvInvoke.MinAreaRect(contour);
var box = CvInvoke.BoxPoints(rect);
contourBoxPoint1 = new Point((int)box[0].X, (int)workingCam.roiPosYSlider + (int)box[0].Y);
contourBoxPoint2 = new Point((int)box[1].X, (int)workingCam.roiPosYSlider + (int)box[1].Y);
contourBoxPoint3 = new Point((int)box[2].X, (int)workingCam.roiPosYSlider + (int)box[2].Y);
contourBoxPoint4 = new Point((int)box[3].X, (int)workingCam.roiPosYSlider + (int)box[3].Y);
drawman.DrawLine(workingCam.linedFrame, contourBoxPoint1, contourBoxPoint2, view.CamContourRectColor, view.CamContourRectThickness);
drawman.DrawLine(workingCam.linedFrame, contourBoxPoint2, contourBoxPoint3, view.CamContourRectColor, view.CamContourRectThickness);
drawman.DrawLine(workingCam.linedFrame, contourBoxPoint3, contourBoxPoint4, view.CamContourRectColor, view.CamContourRectThickness);
drawman.DrawLine(workingCam.linedFrame, contourBoxPoint4, contourBoxPoint1, view.CamContourRectColor, view.CamContourRectThickness);
// Setup vertical contour middlepoints
var contourWidth = FindDistance(contourBoxPoint1, contourBoxPoint2);
var contourHeight = FindDistance(contourBoxPoint4, contourBoxPoint1);
if (contourWidth < contourHeight)
{
contourBoxMiddlePoint1 = FindMiddle(contourBoxPoint1, contourBoxPoint2);
contourBoxMiddlePoint2 = FindMiddle(contourBoxPoint4, contourBoxPoint3);
}
else
{
contourBoxMiddlePoint1 = FindMiddle(contourBoxPoint4, contourBoxPoint1);
contourBoxMiddlePoint2 = FindMiddle(contourBoxPoint3, contourBoxPoint2);
}
}
private void Button_Click(object sender, RoutedEventArgs e)
{
// decode();
// buttonClick();
//以锐化效果显示图像
try
{
Bitmap oldBitmap = new Bitmap(@"D:\Desktop\DIYcode\微孔-识别\RT5911A9OMZ3000973.jpg");
oldBitmap.RotateFlip(RotateFlipType.Rotate270FlipNone);
int Height = oldBitmap.Height;
int Width = oldBitmap.Width;
Bitmap newBitmap = new Bitmap(Width, Height);
Color pixel;
//拉普拉斯模板
//int[] Laplacian = { -1, -1, -1, -1, 9, -1, -1, -1, -1 };
//for (int x = 1; x < Width - 1; x++)
// for (int y = 1; y < Height - 1; y++)
// {
// int r = 0, g = 0, b = 0;
// int Index = 0;
// for (int col = -1; col <= 1; col++)
// for (int row = -1; row <= 1; row++)
// {
// pixel = oldBitmap.GetPixel(x + row, y + col); r += pixel.R * Laplacian[Index];
// g += pixel.G * Laplacian[Index];
// b += pixel.B * Laplacian[Index];
// Index++;
// }
// //处理颜色值溢出
// r = r > 255 ? 255 : r;
// r = r < 0 ? 0 : r;
// g = g > 255 ? 255 : g;
// g = g < 0 ? 0 : g;
// b = b > 255 ? 255 : b;
// b = b < 0 ? 0 : b;
// newBitmap.SetPixel(x - 1, y - 1, Color.FromArgb(r, g, b));
// }
// new GrayBitmapData(newBitmap).NewFilter(9);
// newBitmap.Save(@"D:\Desktop\DIYcode\newBitmap.jpg");
Image <Gray, Byte> matimg = OtsuThreshold(oldBitmap);
matimg.Save(@"D:\Desktop\DIYcode\matimg.jpg");
matimg = matimg.SmoothMedian(11);
matimg.Save(@"D:\Desktop\DIYcode\SmoothMedian.jpg");
Image <Gray, Byte> edges = new Image <Gray, byte>(newBitmap.Width, newBitmap.Height);
Image <Bgr, Byte> contoursimg = new Image <Bgr, byte>(oldBitmap);
Mat hierarchy = new Mat();
// Image<Gray, Byte> hierarchy = new Image<Gray, byte>(matimg.Width, matimg.Height);
VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint();
VectorOfVectorOfPointF VectorOfPointF = new VectorOfVectorOfPointF();
CvInvoke.Canny(matimg, edges, 0, 200);
CvInvoke.FindContours(edges,
contours,
hierarchy,
RetrType.Tree,
ChainApproxMethod.ChainApproxSimple);
List <int> fater_contours = new List <int>();
int[,,] arraylist = ((int[, , ])(hierarchy.GetData()));
for (int k = 0; k < contours.Size; k++)
{
int i = k;
int c = 0;
while (arraylist[0, i, 2] != -1)
{
i = arraylist[0, i, 2];
c = c + 1;
if (c >= 5)
{
fater_contours.Add(k);
}
}
}
for (int j = 0; j < fater_contours.Count; j++)
{
RotatedRect rect = CvInvoke.MinAreaRect(contours[fater_contours[j]]); //minAreaRect
PointF[] pf = CvInvoke.BoxPoints(rect); //BoxPoints();
// VectorOfPointF.Push(new VectorOfPointF(pf));
contoursimg.Draw(rect, new Bgr(255, 0, 0), 2);
// CvInvoke.DrawContours(new Image<Bgr, Byte>(newBitmap), VectorOfPointF, -1, new MCvScalar(0, 255, 0), 1, LineType.AntiAlias);
}
var str = decode(matimg.ToBitmap());
ImgContorl.Source = ToBitmapsource(contoursimg.ToBitmap());
//CvInvoke.DrawContours(new Image<Bgr, Byte>(newBitmap), VectorOfPointF, -1 , new MCvScalar(0, 255, 0), 1, LineType.AntiAlias);
//double area = CvInvoke.ContourArea(contours[k]);
//if (area > 20000 && area < 30000)
//{
// CvInvoke.DrawContours(contoursimg, contours, k, new MCvScalar(0, 255, 0), 1, Emgu.CV.CvEnum.LineType.AntiAlias);
// contoursimg.Save(@"D:\Desktop\DIYcode\contoursimg" + k.ToString() + ".jpg");
// vector.Push(ofPoint);
//}
//if (area > 3300 && area < 3800)
//{
// CvInvoke.DrawContours(contoursimg, contours, k, new MCvScalar(255, 0, 0), 1, Emgu.CV.CvEnum.LineType.AntiAlias);
// contoursimg.Save(@"D:\Desktop\DIYcode\werwer" + k.ToString() + ".jpg");
// vector.Push(ofPoint);
//}
//if (area>500)
//{
// CvInvoke.DrawContours(contoursimg, contours, k, new MCvScalar(255, 0, 0), 1, Emgu.CV.CvEnum.LineType.AntiAlias);
//}
// CvInvoke.DrawContours(disp, contours, k, new MCvScalar(0, 255, 0), 1, Emgu.CV.CvEnum.LineType.AntiAlias, null, 1);
// }
//}
}
catch (Exception ex)
{
// return null;
// MessageBox.Show(ex.Message, "信息提示");
}
}
private void SetImg(string path)
{
try
{
Bitmap oldBitmap = new Bitmap(path);
oldBitmap.RotateFlip(RotateFlipType.Rotate270FlipNone);
Image <Gray, Byte> matimg = OtsuThreshold(oldBitmap);
matimg = matimg.SmoothMedian(11);
Image <Gray, Byte> edges = new Image <Gray, byte>(oldBitmap.Width, oldBitmap.Height);
Image <Bgr, Byte> contoursimg = new Image <Bgr, byte>(oldBitmap);
Mat hierarchy = new Mat();
VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint();
//VectorOfVectorOfPointF VectorOfPointF = new VectorOfVectorOfPointF();
CvInvoke.Canny(matimg, edges, 0, 200);
CvInvoke.FindContours(edges,
contours,
hierarchy,
RetrType.Tree,
ChainApproxMethod.ChainApproxSimple);
List <int> fater_contours = new List <int>();
int[,,] arraylist = ((int[, , ])(hierarchy.GetData()));
for (int k = 0; k < contours.Size; k++)
{
int i = k;
int c = 0;
while (arraylist[0, i, 2] != -1)
{
i = arraylist[0, i, 2];
c = c + 1;
if (c > 4)
{
fater_contours.Add(k);
}
}
}
for (int j = 0; j < fater_contours.Count; j++)
{
RotatedRect rect = CvInvoke.MinAreaRect(contours[fater_contours[j]]); //minAreaRect
MudelSize = rect.Size.Width > rect.Size.Height ? (int)rect.Size.Height : (int)rect.Size.Width;
PointF[] pf = CvInvoke.BoxPoints(rect);//BoxPoints();
Point[] point = new Point[pf.Length];
int[] pointx = new int[4];
int[] pointy = new int[4];
for (int i = 0; i < pf.Length; i++)
{
pointx[i] = (int)pf[i].X;
pointy[i] = (int)pf[i].Y;
}
Rectangles.Add(new Rectangle()
{
X = pointx.Min(), Y = pointy.Min(), Width = MudelSize, Height = MudelSize
});
contoursimg.Draw(rect, new Bgr(255, 0, 0), 2);
// CvInvoke.DrawContours(new Image<Bgr, Byte>(newBitmap), VectorOfPointF, -1, new MCvScalar(0, 255, 0), 1, LineType.AntiAlias);
}
}
catch (Exception ex)
{
// return null;
// MessageBox.Show(ex.Message, "信息提示");
}
}
public void ProcessDartContour()
{
logger.Debug($"Process dartContour for cam_{camService.camNumber} start");
// Moments and centerpoint
// var contourMoments = CvInvoke.Moments(processedContour);
// var contourCenterPoint = new PointF((float) (contourMoments.M10 / contourMoments.M00),
// (float) camService.roiPosYSlider + (float) (contourMoments.M01 / contourMoments.M00));
// Find contour rectangle
var rect = CvInvoke.MinAreaRect(dartContour.ContourPoints);
var box = CvInvoke.BoxPoints(rect);
var contourBoxPoint1 = new PointF(box[0].X, (float)camService.roiPosYSlider + box[0].Y);
var contourBoxPoint2 = new PointF(box[1].X, (float)camService.roiPosYSlider + box[1].Y);
var contourBoxPoint3 = new PointF(box[2].X, (float)camService.roiPosYSlider + box[2].Y);
var contourBoxPoint4 = new PointF(box[3].X, (float)camService.roiPosYSlider + box[3].Y);
// Setup vertical contour middlepoints
var contourHeight = FindDistance(contourBoxPoint1, contourBoxPoint2);
var contourWidth = FindDistance(contourBoxPoint4, contourBoxPoint1);
PointF contourBoxMiddlePoint1;
PointF contourBoxMiddlePoint2;
if (contourWidth > contourHeight)
{
contourBoxMiddlePoint1 = FindMiddle(contourBoxPoint1, contourBoxPoint2);
contourBoxMiddlePoint2 = FindMiddle(contourBoxPoint4, contourBoxPoint3);
}
else
{
contourBoxMiddlePoint1 = FindMiddle(contourBoxPoint4, contourBoxPoint1);
contourBoxMiddlePoint2 = FindMiddle(contourBoxPoint3, contourBoxPoint2);
}
// Find spikeLine to surface
var spikeLinePoint1 = contourBoxMiddlePoint1;
var spikeLinePoint2 = contourBoxMiddlePoint2;
var spikeLineLength = camService.surfacePoint2.Y - contourBoxMiddlePoint2.Y;
var spikeAngle = FindAngle(contourBoxMiddlePoint2, contourBoxMiddlePoint1);
spikeLinePoint1.X = (float)(contourBoxMiddlePoint2.X + Math.Cos(spikeAngle) * spikeLineLength);
spikeLinePoint1.Y = (float)(contourBoxMiddlePoint2.Y + Math.Sin(spikeAngle) * spikeLineLength);
// Find point of impact with surface
PointF?camPoi = FindLinesIntersection(spikeLinePoint1, spikeLinePoint2, camService.surfacePoint1, camService.surfacePoint2);
// Translate cam surface POI to dartboard projection
var frameWidth = camService.RoiLastThrowFrame.Cols;
var frameSemiWidth = frameWidth / 2;
var camFovSemiAngle = camFovAngle / 2;
var projectionToCenter = new PointF();
var surfacePoiToCenterDistance = FindDistance(camService.surfaceCenterPoint1, camPoi.GetValueOrDefault());
var surfaceLeftToPoiDistance = FindDistance(camService.surfaceLeftPoint1, camPoi.GetValueOrDefault());
var surfaceRightToPoiDistance = FindDistance(camService.surfaceRightPoint1, camPoi.GetValueOrDefault());
var projectionCamToCenterDistance = frameSemiWidth / Math.Sin(Math.PI * camFovSemiAngle / 180.0) * Math.Cos(Math.PI * camFovSemiAngle / 180.0);
var projectionCamToPoiDistance = Math.Sqrt(Math.Pow(projectionCamToCenterDistance, 2) + Math.Pow(surfacePoiToCenterDistance, 2));
var projectionPoiToCenterDistance = Math.Sqrt(Math.Pow(projectionCamToPoiDistance, 2) - Math.Pow(projectionCamToCenterDistance, 2));
var poiCamCenterAngle = Math.Asin(projectionPoiToCenterDistance / projectionCamToPoiDistance);
projectionToCenter.X = (float)(camService.setupPoint.X - Math.Cos(camService.toBullAngle) * projectionCamToCenterDistance);
projectionToCenter.Y = (float)(camService.setupPoint.Y - Math.Sin(camService.toBullAngle) * projectionCamToCenterDistance);
if (surfaceLeftToPoiDistance < surfaceRightToPoiDistance)
{
poiCamCenterAngle *= -1;
}
var projectionPoi = new PointF
{
X = (float)(camService.setupPoint.X + Math.Cos(camService.toBullAngle + poiCamCenterAngle) * 2000),
Y = (float)(camService.setupPoint.Y + Math.Sin(camService.toBullAngle + poiCamCenterAngle) * 2000)
};
// Draw line from cam through projection POI
var rayPoint = projectionPoi;
var angle = FindAngle(camService.setupPoint, rayPoint);
rayPoint.X = (float)(camService.setupPoint.X + Math.Cos(angle) * 2000);
rayPoint.Y = (float)(camService.setupPoint.Y + Math.Sin(angle) * 2000);
drawService.ProjectionDrawLine(camService.setupPoint, rayPoint, new Bgr(Color.DodgerBlue).MCvScalar);
var ray = new Ray(camService.camNumber, camService.setupPoint, rayPoint, dartContour.Arc);
throwService.SaveRay(ray);
logger.Debug($"Process dartContour for cam_{camService.camNumber} end. Ray saved:{ray}");
}
/// <summary>
/// 获取机器人法兰中心移动坐标和旋转角度，camera=0代表右侧相机，camera=1代表前方向机
/// </summary>
/// <param name="bitmap">产品图像</param>
/// <param name="cameraID">相机编号</param>
public ImageInfo GetProductParamters(Bitmap bitmap, int cameraID, int spongeH)
{
ImageInfo imageInfo = new ImageInfo();
Dictionary <Point, int> dividedCoutour;//记录四条边的点集
List <double> motorShif = new List <double>();
List <VectorOfPoint> imageContours = GetContours(bitmap, cameraID, spongeH);
VectorOfPoint productContour = imageContours.Max();
Point[] pst = productContour.ToArray();//获取轮廓上所有的点集
//用矩计算质心
MCvMoments cvMoments = CvInvoke.Moments(productContour, false);
float gravityX = (float)(cvMoments.M10 / cvMoments.M00);
float gravityY = (float)(cvMoments.M01 / cvMoments.M00);
PointF gravityCenter = new PointF(gravityX, gravityY);
imageInfo.GravityCenterOfImg = gravityCenter;
//用X均值和Y均值计算质心
float vx = 0;
float vy = 0;
foreach (var item in pst)
{
vx += item.X;
vy += item.Y;
}
PointF centriod = new PointF((float)vx / (float)pst.Length, (float)vy / (float)pst.Length);
if (productContour != null)
{
RotatedRect minRect = CvInvoke.MinAreaRect(productContour); //最小外接矩形
PointF[] pt = CvInvoke.BoxPoints(minRect); //最小外接矩形四个角点
PointF po = minRect.Center; //最小外接矩形中心
double rectRotatedAngle = Math.Abs(minRect.Angle) > 45 ? minRect.Angle + 90 : minRect.Angle;
//长轴,短轴,倾角计算:
//AxisLong = Math.Sqrt(Math.Pow(pt[1].X - pt[0].X, 2) + Math.Pow(pt[1].Y - pt[0].Y, 2));
double AxisLong = minRect.Size.Width > minRect.Size.Height ? minRect.Size.Width : minRect.Size.Height;
//AxisShort = Math.Sqrt(Math.Pow(pt[2].X - pt[1].X, 2) + Math.Pow(pt[2].Y - pt[1].Y, 2));
double AxisShort = minRect.Size.Height <= minRect.Size.Width ? minRect.Size.Height : minRect.Size.Width;
imageInfo.ImageCorner = pt;
imageInfo.RectCenterOfImg = po;
imageInfo.CenterOfImg = centriod;
imageInfo.RectRotatedAngle = rectRotatedAngle;
imageInfo.AxisLong = AxisLong;
imageInfo.AxisShort = AxisShort;
Trace.WriteLine("当前轮廓质心：" + centriod.ToString());
Trace.WriteLine("当前外界矩形中心：" + po.ToString());
Trace.WriteLine("X差值" + Math.Abs(centriod.X - po.X).ToString(), "Y差值" + Math.Abs(centriod.Y - po.Y).ToString());
#region 计算电气抓位移
dividedCoutour = new Dictionary <Point, int>();//储存四条分组的边的点集
for (int i = 0; i < pt.Length; i++)
{
Point p1 = new Point((int)pt[i].X, (int)pt[i].Y);
Point p2 = new Point((int)pt[(i + 1) % 4].X, (int)pt[(i + 1) % 4].Y);
if (p1.X < width / 2 && p1.Y > height / 2)//左
{
foreach (var item in pst)
{
if (item.X <= (p1.X >= p2.X ? p1.X : p2.X) + 20 && item.X >= (p1.X > p2.X ? p2.X : p1.X) - 20 && item.Y <= (p1.Y >= p2.Y ? p1.Y : p2.Y) - 20 && item.Y >= (p1.Y > p2.Y ? p2.Y : p1.Y) + 20)
{
dividedCoutour[item] = 0;
}
}
}
else if (p1.X < width / 2 && p1.Y < height / 2)//上
{
foreach (var item in pst)
{
if (item.X <= (p1.X >= p2.X ? p1.X : p2.X) - 20 && item.X >= (p1.X > p2.X ? p2.X : p1.X) + 20 && item.Y <= (p1.Y >= p2.Y ? p1.Y : p2.Y) + 20 && item.Y >= (p1.Y > p2.Y ? p2.Y : p1.Y) - 20)
{
dividedCoutour[item] = 1;
}
}
}
else if (p1.X > width / 2 && p1.Y < height / 2)//右
{
foreach (var item in pst)
{
if (item.X <= (p1.X >= p2.X ? p1.X : p2.X) + 20 && item.X >= (p1.X > p2.X ? p2.X : p1.X) - 20 && item.Y <= (p1.Y >= p2.Y ? p1.Y : p2.Y) - 20 && item.Y >= (p1.Y > p2.Y ? p2.Y : p1.Y) + 20)
{
dividedCoutour[item] = 2;
}
}
}
else if (p1.X > width / 2 && p1.Y > height / 2)//下
{
foreach (var item in pst)
{
if (item.X <= (p1.X >= p2.X ? p1.X : p2.X) - 20 && item.X >= (p1.X > p2.X ? p2.X : p1.X) + 20 && item.Y <= (p1.Y >= p2.Y ? p1.Y : p2.Y) + 20 && item.Y >= (p1.Y > p2.Y ? p2.Y : p1.Y) - 20)
{
dividedCoutour[item] = 3;
}
}
}
}
/*计算拟合直线斜率*/
LineParamters leftLineParamter = LinearRegression(dividedCoutour.Where(a => a.Value == 0).Select(a => a.Key).ToArray());
LineParamters upLineParamter = LinearRegression(dividedCoutour.Where(a => a.Value == 1).Select(a => a.Key).ToArray());
LineParamters rightLineParamter = LinearRegression(dividedCoutour.Where(a => a.Value == 2).Select(a => a.Key).ToArray());
LineParamters bottomLineParamter = LinearRegression(dividedCoutour.Where(a => a.Value == 3).Select(a => a.Key).ToArray());
Dictionary <double, double> fourLineParmter = new Dictionary <double, double>();
//fourLineParmter.Add(leftLineParamter.K, leftLineParamter.B);
//fourLineParmter.Add(upLineParamter.K, upLineParamter.B);
//fourLineParmter.Add(rightLineParamter.K, rightLineParamter.B);
//fourLineParmter.Add(bottomLineParamter.K, bottomLineParamter.B);
imageInfo.fourLineParam = fourLineParmter;
double leftAngle = Math.Atan(leftLineParamter.K) * 180f / Math.PI;
double upAngle = Math.Atan(upLineParamter.K) * 180f / Math.PI;
double rightAngle = Math.Atan(rightLineParamter.K) * 180f / Math.PI;
double bottomAngle = Math.Atan(bottomLineParamter.K) * 180f / Math.PI;
double RotatedAngle;
if (Math.Abs(Math.Abs(leftAngle - upAngle) - 90f) <= Math.Abs(Math.Abs(upAngle - rightAngle) - 90f))
{
RotatedAngle = Math.Abs(leftAngle) < Math.Abs(upAngle) ? leftAngle : upAngle;
}
else
{
RotatedAngle = Math.Abs(rightAngle) < Math.Abs(upAngle) ? rightAngle : upAngle;
}
imageInfo.RotatedAngle = RotatedAngle;
/*计算拟合直线斜率*/
DividedContours = dividedCoutour;
//验证一段分5组：
List <double> up = new List <double>();
List <double> bottom = new List <double>();
List <double> left = new List <double>();
List <double> right = new List <double>();
left = GetFiveDistanceOnLine(rectRotatedAngle, new Point((int)gravityCenter.X, (int)gravityCenter.Y), AxisLong, AxisShort, dividedCoutour.Where(a => a.Value == 0).ToDictionary(a => a.Key, a => a.Value));
//if (cameraID == 0)//R
//{
// for (int i = 0; i < left.Count; i++)
// {
// if (left[i] > AxisLong * 3 / 5f)
// {
// left[i] = 0;
// }
// }
//}
for (int i = 0; i < left.Count; i++)
{
if (left[i] > AxisLong * 3 / 5f)
{
left[i] = 0;
}
}
up = GetFiveDistanceOnLine(rectRotatedAngle, new Point((int)gravityCenter.X, (int)gravityCenter.Y), AxisLong, AxisShort, dividedCoutour.Where(a => a.Value == 1).ToDictionary(a => a.Key, a => a.Value));
//if (cameraID == 1)//F
//{
// for (int i = 0; i < up.Count; i++)
// {
// if (up[i] > AxisLong * 3 / 5f)
// {
// up[i] = 0;
// }
// }
//}
for (int i = 0; i < up.Count; i++)
{
if (up[i] > AxisShort * 3 / 5f)
{
up[i] = 0;
}
}
right = GetFiveDistanceOnLine(rectRotatedAngle, new Point((int)gravityCenter.X, (int)gravityCenter.Y), AxisLong, AxisShort, dividedCoutour.Where(a => a.Value == 2).ToDictionary(a => a.Key, a => a.Value));
//if (cameraID == 0)//R
//{
// for (int i = 0; i < right.Count; i++)
// {
// if (right[i] > AxisLong * 3 / 5f)
// {
// right[i] = 0;
// }
// }
//}
for (int i = 0; i < right.Count; i++)
{
if (right[i] > AxisLong * 3 / 5f)
{
right[i] = 0;
}
}
bottom = GetFiveDistanceOnLine(rectRotatedAngle, new Point((int)gravityCenter.X, (int)gravityCenter.Y), AxisLong, AxisShort, dividedCoutour.Where(a => a.Value == 3).ToDictionary(a => a.Key, a => a.Value));
//if (cameraID == 1)//F
//{
// for (int i = 0; i < bottom.Count; i++)
// {
// if (bottom[i] > AxisLong * 3 / 5f)
// {
// bottom[i] = 0;
// }
// }
//}
for (int i = 0; i < bottom.Count; i++)
{
if (bottom[i] > AxisShort * 3 / 5f)
{
bottom[i] = 0;
}
}
//if (cameraID == 1)//F
//{
motorShif = left.Concat(up).Concat(right).Concat(bottom).ToList <double>();//左-上-右-下
//}
//else
//{
// motorShif = bottom.Concat(left).Concat(up).Concat(right).ToList<double>();//下-左-上-右
//}
double _20 = motorShif[19];
double _21 = motorShif[9];
double _22 = motorShif[8];
double _23 = motorShif[18];
motorShif.Add(_20);
motorShif.Add(_21);
motorShif.Add(_22);
motorShif.Add(_23);
imageInfo.MotorShift = motorShif.ToArray();
#endregion
//foreach (var item in dividedCoutour)
//{
// File.AppendAllText("ContourPoints.txt", "X=" + item.Key.X.ToString() +"\t\t"+ "Y=" + item.Key.Y.ToString() +"\t\t"+"Key="+item.Value.ToString()+ "\n\r");
//}
Matrix <double> imgCenter = new Matrix <double>(3, 1)
{
// Maximum Value, Minimum Value and their locations
// Mean Color or Mean Intensity
public void calcularRegionProps(Image <Gray, byte> inputRegionIMG, double AreaMin)
{
// Declaração do vetor de vetores de pontos
Emgu.CV.Util.VectorOfVectorOfPoint vetordeVetdePontos = new Emgu.CV.Util.VectorOfVectorOfPoint();
// Declaração de uma matriz
Mat hierarquia = new Mat();
// Aplicação da função FindContour
CvInvoke.FindContours(
inputRegionIMG // Recebe a imagem de entrada
, vetordeVetdePontos // Recebe um vetor de pontos de contorno
, hierarquia // Recebe a hierarquia dos pontos
, Emgu.CV.CvEnum.RetrType.Tree // Recebe o tipo de arvore e contornos
, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxNone // Tip de aproximação aos contornos
, new Point(0, 0) // Offset do ponto, posso omitir ou declarar um ponto a 0 0
);
Image <Bgr, Byte> input = inputRegionIMG.Convert <Bgr, byte>();
//Até aqui encontro o contorno. Deve ser só 1!!!, portanto deve ser o contorno 0,
//mas mesmo assim vamos fazer um teste para ver qual o contorno a usar
// Pontos buffer
PointF buffer_Minx = new PointF(inputRegionIMG.Width, inputRegionIMG.Height);
PointF buffer_MaxX = new PointF(0, 0);
PointF buffer_MinY = new PointF(inputRegionIMG.Width, inputRegionIMG.Height);
PointF buffer_MaxY = new PointF(0, 0);
for (int i = 0; i < vetordeVetdePontos.Size; i++)
{
Area = Math.Abs(CvInvoke.ContourArea(vetordeVetdePontos[i], true)); // calcula a area do contorno
if (Area >= AreaMin)
{
for (int iter = 0; iter < vetordeVetdePontos[i].Size; iter++)
{
//----------------- Calculo do extreme -----------------
// Calcula o valor do ponto mais à esquerda
if (vetordeVetdePontos[i][iter].X < buffer_Minx.X)
{
buffer_Minx = vetordeVetdePontos[i][iter];
}
// Calcula o valor do ponto mais à direita
if (vetordeVetdePontos[i][iter].X > buffer_MaxX.X)
{
buffer_MaxX = vetordeVetdePontos[i][iter];
}
// Calcula o valor do ponto Y mais em cima
if (vetordeVetdePontos[i][iter].Y < buffer_MinY.Y)
{
buffer_MinY = vetordeVetdePontos[i][iter];
}
// Calcula o valor do ponto Y mais em baixo
if (vetordeVetdePontos[i][iter].Y > buffer_MaxY.Y)
{
buffer_MaxY = vetordeVetdePontos[i][iter];
}
//----------------- Fim do calculo do extreme -----------------
}
// ------------- Calculo do Centroid ---------------------
Moments momento = CvInvoke.Moments(vetordeVetdePontos[i]);
int X = (int)(momento.M10 / momento.M00);
int Y = (int)(momento.M01 / momento.M00);
Centroid = new PointF(X, Y);
// ------------------------------------------------------
// ------------ Calculo do AspectRatio ------------------
AspectRatio = inputRegionIMG.Width / inputRegionIMG.Height;
//-------------------------------------------------------
//------------- Calculo da BoundingBox ------------------
BoundingBox = CvInvoke.BoundingRectangle(vetordeVetdePontos[i]);
//-------------------------------------------------------
// ------------ Calculo do Extent -------------------
float rect_area = BoundingBox.Width * BoundingBox.Height;
Extent = (float)Area / rect_area;
// ------------------------------------------------------
// --------------- ConvectHULL --------------------------
CvInvoke.ConvexHull(vetordeVetdePontos[i], ConvexHull, false);
//-------------------------------------------------------
// --------------- ConvectHULL_area ---------------------
ConvexHull_area = CvInvoke.ContourArea(ConvexHull);
//-------------------------------------------------------
//----------------- Solidity ---------------------------
Solidity = Area / ConvexHull_area;
// ------------------------------------------------------
//-------------- Diametro Equivalente -------------------
EquivalentDiameter = Math.Sqrt(4 * Area / Math.PI);
// ------------------------------------------------------
//--------------- Circulo Envolvente --------------------
CirculoEnvolvente = CvInvoke.MinEnclosingCircle(vetordeVetdePontos[i]);
//-------------------------------------------------------
//--------------- Circulo Perimetro --------------------
perimetro = CvInvoke.ArcLength(vetordeVetdePontos[i], true);
// -----------------------------------------------------
// -------------- Circularity (Fator de forma)----------
Circularity = (4 * Math.PI * Area) / (perimetro * perimetro);
//------------------------------------------------------
// --------------- Verifica se é convexo ---------------
isConvex = CvInvoke.IsContourConvex(vetordeVetdePontos[i]);
//------------------------------------------------------
// ------------- Apriximação do contorno ---------------
CvInvoke.ApproxPolyDP(
vetordeVetdePontos[i], // Cada vetor de um contorno iterado
ContourApproximation, // Vetor que vai conter a aproximação
0.1 * perimetro, // Expande o perimetro
true // Calcula um aproximação ao contorno externo
);
// -----------------------------------------------------
// ------------- Devolve o contorno --------------------
Contorno = vetordeVetdePontos[i];
// ------------------------------------------------------
// ------------ Retangulo rodado ---------------------
RotatedRect retanguloRodado = CvInvoke.MinAreaRect(vetordeVetdePontos[i]);
PointF[] vetorPontos = CvInvoke.BoxPoints(retanguloRodado);
BoundingBoxRectRodado = new Point[vetorPontos.Length];
for (int iterador = 0; iterador < vetorPontos.Length; iterador++)
{
BoundingBoxRectRodado[iterador].X = (int)vetorPontos[iterador].X;
BoundingBoxRectRodado[iterador].Y = (int)vetorPontos[iterador].Y;
}
// ------------ AnguloRecExterior ----------------------
AnguloRectExterior = retanguloRodado.Angle;
// -----------------------------------------------------
// ------------ EllipseImagem --------------------------
EllipseValores = CvInvoke.FitEllipseAMS(vetordeVetdePontos[i]);
// -----------------------------------------------------
// Fitting a Line ---------------
//---------------------------
// salta do ciclo for
i = vetordeVetdePontos.Size;
}
}
Extreme.Mais_a_esquerda = buffer_Minx;
Extreme.Mais_a_Direita = buffer_MaxX;
Extreme.Mais_em_baixo = buffer_MaxY;
Extreme.Mais_em_cima = buffer_MinY;
}
/// <summary>
/// Get the 4 verticies of this Box.
/// </summary>
/// <returns>The vertives of this RotatedRect</returns>
public System.Drawing.PointF[] GetVertices()
{
return(CvInvoke.BoxPoints(this));
}
/// <summary>
/// 图漾获取产品特征及位置
/// </summary>
/// <param name="myblob"></param>
/// <param name="point_3d"></param>
/// <returns></returns>
public static bool getProduceInfo(Emgu.CV.Cvb.CvBlob myblob, float[] point_3d)
{
//#########################################【1】,获取最小外接矩形中心点下标#################################################
Point[] ctr = myblob.GetContour(); //获取轮廓
RotatedRect rect = CvInvoke.MinAreaRect(new VectorOfPoint(ctr)); //最小矩形
PointF[] pt = CvInvoke.BoxPoints(rect); //最小外接矩形四个角点
PointF po = rect.Center; //最小外接矩形中心
int xc = (int)po.X; //最小外接矩形中心X坐标
int yc = (int)po.Y; //最小外接矩形中心Y坐标
//#########################################【2】,绘制外接最小矩形(紧贴连通域):#################################################
for (int i = 0; i < 4; ++i)
{
Point p1 = new Point((int)pt[i].X, (int)pt[i].Y);
//GLB.obj.jd.Add(p1);//角点存下备画轨迹用
Point p2 = new Point((int)pt[(i + 1) % 4].X, (int)pt[(i + 1) % 4].Y);
CvInvoke.Line(GLB.MyFrame, p1, p2, new MCvScalar(0, 0, 255), 2);
}
//#########################################【3】真实角点):#################################################
List <Point3> pointReal = new List <Point3>();
for (int i = 0; i < 4; ++i)
{
Point3 Ang_temp = new Point3(0, 0, 0);//0.8视场角点坐标
Ang_temp.X = xc + 0.8 * (pt[i].X - xc);
Ang_temp.Y = yc + 0.8 * (pt[i].Y - yc);
if (Ang_temp.Y < 0 || Ang_temp.Y > 960 - 2 || Ang_temp.X < 0 || Ang_temp.X > 1280 - 2)
{
return(false); ///////无效角点
}
Point3 Ang_point = new Point3(0, 0, 0); //0.8角点坐标
Ang_point.X = point_3d[((int)Ang_temp.Y * GLB.BUFW + (int)Ang_temp.X) * 3 + 0];
Ang_point.Y = point_3d[((int)Ang_temp.Y * GLB.BUFW + (int)Ang_temp.X) * 3 + 1];
Ang_point.Z = point_3d[((int)Ang_temp.Y * GLB.BUFW + (int)Ang_temp.X) * 3 + 2];
if (double.IsNaN(Ang_point.Z))
{
return(false); ///////////////////////////////////////////////////////////无效角点
}
pointReal.Add(Ang_point);
RotatedRect myrect = new RotatedRect(new PointF((float)Ang_temp.X, (float)Ang_temp.Y), new Size(8, 8), 0);
CvInvoke.Ellipse(GLB.MyFrame, myrect, new MCvScalar(255, 0, 0), 2);//在角上一个小圆
}
//GLB.obj.Depth = (int)pointReal.Average(o => o.Z);//中心点的深度//Z
//GLB.obj.yCenter = (int)pointReal.Average(o => o.Y);//Y
//GLB.obj.xCenter = (int)pointReal.Average(o => o.X); ;//X
////#########################################队列求均值--获取中心坐标#################################################
GLB.avgCameraPoint3.Enqueue(new Point3(pointReal.Average(o => o.X), pointReal.Average(o => o.Y), (int)pointReal.Average(o => o.Z)));
if (GLB.avgCameraPoint3.Count > 5)
{
GLB.avgCameraPoint3.Dequeue();
}
else
{
return(false);
}
GLB.obj.Depth = (int)GLB.avgCameraPoint3.Average(o => o.Z); //中心点的深度//Z
GLB.obj.yCenter = (int)GLB.avgCameraPoint3.Average(o => o.Y); //Y
GLB.obj.xCenter = (int)GLB.avgCameraPoint3.Average(o => o.X); //X
//#########################################获取质心#################################################
//PointF gravity = myblob.Centroid;
//int gravity_x = (int)gravity.X;
//int gravity_y = (int)gravity.Y;
//if (double.IsNaN(point_3d[(gravity_y * GLB.BUFW + gravity_x) * 3 + 2])) return false;/////////////////////空值不执行
//GLB.obj.Depth = (int)point_3d[(gravity_y * GLB.BUFW + gravity_x) * 3 + 2];//Z
//GLB.obj.yCenter = (int)point_3d[(gravity_y * GLB.BUFW + gravity_x) * 3 + 1];//Y
//GLB.obj.xCenter = (int)point_3d[(gravity_y * GLB.BUFW + gravity_x) * 3 + 0];//X
//######################################### 显示本区块中心[画圆]:#################################################
RotatedRect boxCenter = new RotatedRect(new PointF(xc, yc), new Size(8, 8), 0);
CvInvoke.Ellipse(GLB.MyFrame, boxCenter, new MCvScalar(255, 0, 0), 4); //在中心画一个小圆
CvInvoke.PutText(GLB.MyFrame, "x:" + xc + "y:" + yc + "XC=" + GLB.obj.xCenter + "YC=" + GLB.obj.yCenter + "Depth=" + GLB.obj.Depth, new System.Drawing.Point(xc - 176, yc + 25), Emgu.CV.CvEnum.FontFace.HersheyDuplex, .75, new MCvScalar(255, 255, 255), 2); //深度显示
//#########################################【4】真实的长轴,短轴,倾角计算:#################################################
double axisLong = 1.25 * Math.Sqrt(Math.Pow(pointReal[1].X - pointReal[0].X, 2) + Math.Pow(pointReal[1].Y - pointReal[0].Y, 2) + Math.Pow(pointReal[1].Z - pointReal[0].Z, 2));
double axisShort = 1.25 * Math.Sqrt(Math.Pow(pointReal[2].X - pointReal[1].X, 2) + Math.Pow(pointReal[2].Y - pointReal[1].Y, 2) + Math.Pow(pointReal[2].Z - pointReal[1].Z, 2));
if (axisShort > axisLong)
{
double temp = axisLong;
axisLong = axisShort;
axisShort = temp;
}
double Angl = rect.Angle;//矩形框角度
// Angl *= 180d / Math.PI; //换算成角度制
if (Math.Abs(Angl) > 45)
{
Angl = Angl + 90;
}
if (Angl >= 90)//控制旋转范围
{
Angl -= 180;
}
if (Angl <= -90)
{
Angl += 180;
}
//GLB.obj.Angle = Angl;//旋转角
////队列求均值
GLB.avgAngle.Enqueue((float)Angl);
if (GLB.avgAngle.Count > 5)
{
GLB.avgAngle.Dequeue();
}
else
{
return(false);
}
GLB.obj.Angle = GLB.avgAngle.Average();//旋转角
GLB.obj.axisLong = axisLong; //长轴
GLB.obj.axisShort = axisShort; //短轴
GLB.obj.L2S = axisLong / axisShort; //长短轴之比;
GLB.obj.realArea = axisLong * axisShort; //估算的物件尺寸
//像尺寸显示:
CvInvoke.PutText(GLB.MyFrame, "Lr=" + (int)axisLong + ",Sr=" + (int)axisShort, new System.Drawing.Point((int)pt[2].X, (int)pt[2].Y), Emgu.CV.CvEnum.FontFace.HersheyDuplex, .75, new MCvScalar(0, 0, 255), 2);
CvInvoke.PutText(GLB.MyFrame, "Angl=" + Angl, new System.Drawing.Point((int)pt[3].X, (int)pt[3].Y), Emgu.CV.CvEnum.FontFace.HersheyDuplex, .75, new MCvScalar(0, 0, 255), 2);
return(true);
}
public RotatedBox(RotatedRect pixel)
{
_pixel = pixel;
_vertices = CvInvoke.BoxPoints(_pixel);
}
/// <summary>
/// 映美金获取产品特征及位置
/// </summary>
/// <param name="productContour"></param>
public static void getProduceInfoForYMJ(VectorOfPoint productContour)
{
//#########################################【1】,获取最小外接矩形中心点下标#################################################
RotatedRect rect = CvInvoke.MinAreaRect(productContour); //最小矩形
PointF[] pt = CvInvoke.BoxPoints(rect); //最小外接矩形四个角点
PointF po = rect.Center; //最小外接矩形中心
int xc = (int)po.X; //最小外接矩形中心X坐标
int yc = (int)po.Y; //最小外接矩形中心Y坐标
//#########################################【2】,绘制外接最小矩形(紧贴连通域):#################################################
for (int i = 0; i < 4; ++i)
{
Point p1 = new Point((int)pt[i].X, (int)pt[i].Y);
Point p2 = new Point((int)pt[(i + 1) % 4].X, (int)pt[(i + 1) % 4].Y);
CvInvoke.Line(TisCamera.YMJImage, p1, p2, new MCvScalar(0, 0, 255), 8);
}
//#########################################【3】长轴，短轴，旋转角:#################################################
float width = rect.Size.Width; //像素宽
float height = rect.Size.Height; //像素长
if (height > width)
{
float temp = height;
height = width;
width = temp;
}
double Angl = rect.Angle;//矩形框角度
// Angl *= 180d / Math.PI; //换算成角度制
if (Math.Abs(Angl) > 45)
{
Angl = Angl + 90;
}
if (Angl >= 90)//控制旋转范围
{
Angl -= 180;
}
if (Angl <= -90)
{
Angl += 180;
}
GLB.obj.Angle = Angl; //旋转角
GLB.obj.axisLong = width * 0.466; //长轴 一个像素0.466mm
GLB.obj.axisShort = height * 0.466; //短轴
GLB.obj.L2S = width / height; //长短轴之比;
GLB.obj.realArea = GLB.obj.axisLong * GLB.obj.axisShort; //估算的物件尺寸
//像尺寸显示:
CvInvoke.PutText(TisCamera.YMJImage, "Lr=" + (int)GLB.obj.axisLong + ",Sr=" + (int)GLB.obj.axisShort, new System.Drawing.Point((int)pt[2].X, (int)pt[2].Y), Emgu.CV.CvEnum.FontFace.HersheyDuplex, 1.75, new MCvScalar(0, 0, 255), 8);
CvInvoke.PutText(TisCamera.YMJImage, "Angl=" + Angl, new System.Drawing.Point((int)pt[3].X, (int)pt[3].Y), Emgu.CV.CvEnum.FontFace.HersheyDuplex, 1.75, new MCvScalar(0, 0, 255), 8);
//#########################################【4】获取质心#################################################
MCvMoments moments = CvInvoke.Moments(productContour, false); //计算当前轮廓的矩
int gravity_x = Convert.ToInt32(moments.M10 / moments.M00); //计算当前轮廓中心点坐标
int gravity_y = Convert.ToInt32(moments.M01 / moments.M00);
GLB.obj.Depth = 990; //平台高度//Z
GLB.obj.xCenter = gravity_x; //X
GLB.obj.yCenter = gravity_y; //Y
//#########################################【5】显示本区块中心[画圆]:#################################################
RotatedRect boxCenter = new RotatedRect(new PointF(xc, yc), new Size(18, 18), 0);
CvInvoke.Ellipse(TisCamera.YMJImage, boxCenter, new MCvScalar(255, 0, 0), 8); //在中心画一个小圆
CvInvoke.PutText(TisCamera.YMJImage, "x:" + xc + "y:" + yc + "XC=" + GLB.obj.xCenter + "YC=" + GLB.obj.yCenter + "Depth=" + GLB.obj.Depth, new System.Drawing.Point(xc - 176, yc + 25), Emgu.CV.CvEnum.FontFace.HersheyDuplex, 1.75, new MCvScalar(0, 0, 255), 8); //深度显示
}
private MovesDetectionResult DetectMoves(CamService cam)
{
var maxDartContourArc = configService.MaxContourArcValue * 1.5;
var maxDartContourArea = configService.MaxContourAreaValue * 1.5;
var maxDartContourWidth = configService.MaxContourWidthValue * 1.5;
var minDartContourArc = configService.MinContourArcValue;
var minDartContourArea = configService.MinContourAreaValue;
var minDartContourWidth = configService.MinContourWidthValue;
var allContours = new VectorOfVectorOfPoint();
CvInvoke.FindContours(cam.ThrowExtractedRoiFrame,
allContours,
new Mat(),
RetrType.External,
ChainApproxMethod.ChainApproxNone);
if (!detectionEnabled || allContours.Size == 0)
{
return(MovesDetectionResult.Nothing);
}
var contourWithMaxArc = new VectorOfPoint();
var contourWithMaxArea = new VectorOfPoint();
var contourWithMaxWidth = new VectorOfPoint();
var maxArс = 0.0;
var maxArea = 0.0;
var maxWidth = 0.0;
for (var i = 0; i < allContours.Size; i++)
{
var tempContour = allContours[i];
var tempContourArс = CvInvoke.ArcLength(tempContour, true);
if (tempContourArс > maxArс)
{
maxArс = tempContourArс;
contourWithMaxArc = tempContour;
}
var tempContourArea = CvInvoke.ContourArea(tempContour);
if (tempContourArea > maxArea)
{
maxArea = tempContourArea;
contourWithMaxArea = tempContour;
}
var rect = CvInvoke.MinAreaRect(tempContour);
var box = CvInvoke.BoxPoints(rect);
var contourBoxPoint1 = new PointF(box[0].X, (float)cam.roiPosYSlider + box[0].Y);
var contourBoxPoint2 = new PointF(box[1].X, (float)cam.roiPosYSlider + box[1].Y);
var contourBoxPoint4 = new PointF(box[3].X, (float)cam.roiPosYSlider + box[3].Y);
var side1 = MeasureService.FindDistance(contourBoxPoint1, contourBoxPoint2);
var side2 = MeasureService.FindDistance(contourBoxPoint4, contourBoxPoint1);
var tempContourWidth = side1 < side2
? side1
: side2;
if (tempContourWidth > maxWidth)
{
maxWidth = tempContourWidth;
contourWithMaxWidth = tempContour;
}
}
if (workingMode == DetectionServiceWorkingMode.Crossing ||
maxArс >= minDartContourArc &&
maxArс <= maxDartContourArc &&
maxArea >= minDartContourArea &&
maxArea <= maxDartContourArea &&
maxWidth >= minDartContourWidth &&
maxWidth <= maxDartContourWidth &&
contourWithMaxArc.Equals(contourWithMaxArea) &&
contourWithMaxArea.Equals(contourWithMaxWidth) &&
contourWithMaxWidth.Equals(contourWithMaxArc)
)
{
return(MovesDetectionResult.Throw);
}
if (maxArс > maxDartContourArc ||
maxArea > maxDartContourArea ||
maxWidth > maxDartContourWidth)
{
return(MovesDetectionResult.Extraction);
}
return(MovesDetectionResult.Nothing);
}
/// <summary>
/// check whether the plate is tilted or not, if yes, rotate it.
/// </summary>
/// <param name="plate"></param>
/// <param name="plate_feature"></param>
/// <returns>rotated image</returns>
private static Image <Gray, byte> crop_and_rotated_plate(Image <Gray, byte> plate, RotatedRect plate_feature)
{
PointF[] boxes = CvInvoke.BoxPoints(plate_feature);
List <double> Xs = new List <double>();
List <double> Ys = new List <double>();
foreach (PointF box in boxes)
{
Xs.Add(box.X);
Ys.Add(box.Y);
}
double Xmax = Xs.Max();
double Ymax = Ys.Max();
double Xmin = Xs.Min();
double Ymin = Ys.Min();
Rectangle r = plate_feature.MinAreaRect();
double X = r.X;
double Y = r.Y;
double W = r.Width;
double H = r.Height;
double angle = plate_feature.Angle;
float X_center = (float)(Xmax + Xmin) / 2;
float Y_center = (float)(Ymax + Ymin) / 2;
Size patch_size = new Size((int)(Xmax - Xmin), (int)(Ymax - Ymin));
if (angle < (-45))
{
angle = angle + 90;
}
if (angle == 0)
{
return(plate);
}
Mat map_matrix = new Mat(new Size(2, 3), DepthType.Cv64F, 1);
PointF center = new PointF(X_center, Y_center);
CvInvoke.GetRotationMatrix2D(center, angle, 1.0, map_matrix);
Image <Gray, byte> cropped = new Image <Gray, byte>(patch_size);
CvInvoke.GetRectSubPix(plate, patch_size, center, cropped);
Image <Gray, byte> warp_affine = cropped.WarpAffine(map_matrix, Inter.Linear, Warp.Default, BorderType.Default, new Gray(0));
int warp_H = 0;
int warp_W = 0;
if (warp_affine.Width > warp_affine.Height)
{
warp_H = warp_affine.Height;
warp_W = warp_affine.Width;
}
else
{
warp_H = warp_affine.Width;
warp_W = warp_affine.Height;
}
Image <Gray, byte> output = new Image <Gray, byte>(warp_W, warp_H);
CvInvoke.GetRectSubPix(warp_affine, new Size(warp_W, warp_H), center, output);
//CvInvoke.Imshow("warpaffine", warp_affine);
//CvInvoke.Imshow("GetRectSubPix", output);
//CvInvoke.WaitKey();
//CvInvoke.Imshow("plate", output);
//CvInvoke.WaitKey();
return(warp_affine);
//return plate;
}
private Ray ProcessDartContour(CamService cam, DartContour dartContour)
{
// Moments and centerpoint
// var contourMoments = CvInvoke.Moments(processedContour);
// var contourCenterPoint = new PointF((float) (contourMoments.M10 / contourMoments.M00),
// (float) camService.roiPosYSlider + (float) (contourMoments.M01 / contourMoments.M00));
// Find contour rectangle
var rect = CvInvoke.MinAreaRect(dartContour.ContourPoints);
var box = CvInvoke.BoxPoints(rect);
var contourBoxPoint1 = new PointF(box[0].X, (float)cam.roiPosYSlider + box[0].Y);
var contourBoxPoint2 = new PointF(box[1].X, (float)cam.roiPosYSlider + box[1].Y);
var contourBoxPoint3 = new PointF(box[2].X, (float)cam.roiPosYSlider + box[2].Y);
var contourBoxPoint4 = new PointF(box[3].X, (float)cam.roiPosYSlider + box[3].Y);
// Setup vertical contour middlepoints
var contourHeight = MeasureService.FindDistance(contourBoxPoint1, contourBoxPoint2);
var contourWidth = MeasureService.FindDistance(contourBoxPoint4, contourBoxPoint1);
PointF contourBoxMiddlePoint1;
PointF contourBoxMiddlePoint2;
if (contourWidth > contourHeight)
{
contourBoxMiddlePoint1 = MeasureService.FindMiddle(contourBoxPoint1, contourBoxPoint2);
contourBoxMiddlePoint2 = MeasureService.FindMiddle(contourBoxPoint4, contourBoxPoint3);
}
else
{
contourBoxMiddlePoint1 = MeasureService.FindMiddle(contourBoxPoint4, contourBoxPoint1);
contourBoxMiddlePoint2 = MeasureService.FindMiddle(contourBoxPoint3, contourBoxPoint2);
}
// Find spikeLine to surface
var spikeLinePoint1 = contourBoxMiddlePoint1;
var spikeLinePoint2 = contourBoxMiddlePoint2;
var spikeLineLength = cam.surfaceSlider - contourBoxMiddlePoint2.Y;
var spikeAngle = MeasureService.FindAngle(contourBoxMiddlePoint2, contourBoxMiddlePoint1);
spikeLinePoint1.X = (float)(contourBoxMiddlePoint2.X + Math.Cos(spikeAngle) * spikeLineLength);
spikeLinePoint1.Y = (float)(contourBoxMiddlePoint2.Y + Math.Sin(spikeAngle) * spikeLineLength);
// Find point of impact with surface
PointF?camPoi = MeasureService.FindLinesIntersection(spikeLinePoint1,
spikeLinePoint2,
new PointF(0,
(float)cam.surfaceSlider),
new PointF(cam.resolutionWidth,
(float)cam.surfaceSlider));
// Translate cam surface POI to dartboard projection
var frameSemiWidth = cam.resolutionWidth / 2;
var camFovSemiAngle = cam.camFovAngle / 2;
var projectionToCenter = new PointF();
var surfacePoiToCenterDistance = MeasureService.FindDistance(new PointF((float)cam.surfaceCenterSlider,
(float)cam.surfaceSlider),
camPoi.GetValueOrDefault());
var surfaceLeftToPoiDistance = MeasureService.FindDistance(new PointF((float)cam.surfaceCenterSlider - cam.resolutionWidth / 3,
(float)cam.surfaceSlider),
camPoi.GetValueOrDefault());
var surfaceRightToPoiDistance = MeasureService.FindDistance(new PointF((float)cam.surfaceCenterSlider + cam.resolutionWidth / 3,
(float)cam.surfaceSlider),
camPoi.GetValueOrDefault());
var projectionCamToCenterDistance = frameSemiWidth / Math.Sin(Math.PI * camFovSemiAngle / 180.0) * Math.Cos(Math.PI * camFovSemiAngle / 180.0);
var projectionCamToPoiDistance = Math.Sqrt(Math.Pow(projectionCamToCenterDistance, 2) + Math.Pow(surfacePoiToCenterDistance, 2));
var projectionPoiToCenterDistance = Math.Sqrt(Math.Pow(projectionCamToPoiDistance, 2) - Math.Pow(projectionCamToCenterDistance, 2));
var poiCamCenterAngle = Math.Asin(projectionPoiToCenterDistance / projectionCamToPoiDistance);
projectionToCenter.X = (float)(cam.camSetupPoint.X - Math.Cos(cam.toBullAngle) * projectionCamToCenterDistance);
projectionToCenter.Y = (float)(cam.camSetupPoint.Y - Math.Sin(cam.toBullAngle) * projectionCamToCenterDistance);
if (surfaceLeftToPoiDistance < surfaceRightToPoiDistance)
{
poiCamCenterAngle *= -1;
}
var projectionPoi = new PointF((float)(cam.camSetupPoint.X + Math.Cos(cam.toBullAngle + poiCamCenterAngle) * 2000),
(float)(cam.camSetupPoint.Y + Math.Sin(cam.toBullAngle + poiCamCenterAngle) * 2000));
// Draw line from cam through projection POI
var rayPoint = projectionPoi;
var angle = MeasureService.FindAngle(cam.camSetupPoint, rayPoint);
rayPoint.X = (float)(cam.camSetupPoint.X + Math.Cos(angle) * 2000);
rayPoint.Y = (float)(cam.camSetupPoint.Y + Math.Sin(angle) * 2000);
return(new Ray(cam.camNumber, cam.camSetupPoint, rayPoint, dartContour.Area));
}
public void Process()
{
if (null == this.ImageMat)
{
return;
}
try
{
this.OgImageMat = this.ImageMat.CreateNewHardCopyFromMat();
//Itt megkellene nézni, hogy mik vannak minden enum mögött, hogy van-e jobb alternatíva
//Blurring image
var tempSize = new Size(5, 5);
//Using input | output arrays instead of temp objects
CvInvoke.GaussianBlur(this.ImageMat, this.ImageMat, tempSize, 0);
MainWindow.ImageProcessorExaminer.AddImage(ImageMat.CreateNewHardCopyFromMat(), "ImageProcessor_GaussianBlur");
//Adaptive threshold
var tempAdaptiveThreshold = this.AdaptiveThresholdConstant;
//Azt az 59-et majd meg kell lesni, hogy miért az van
CvInvoke.AdaptiveThreshold(this.ImageMat, this.ImageMat, 255, Emgu.CV.CvEnum.AdaptiveThresholdType.MeanC, Emgu.CV.CvEnum.ThresholdType.BinaryInv, 59, this.AdaptiveThresholdConstant);
MainWindow.ImageProcessorExaminer.AddImage(ImageMat.CreateNewHardCopyFromMat(), "ImageProcessor_AdaptiveThreshold");
//Get contours and remove small patches
Contours = new VectorOfVectorOfPoint();
Mat hierarchy = new Mat();
// meg kellene nézni miez ez a mat, vactorofvectorpoint és input, output és inoutputarrayek
CvInvoke.FindContours(this.ImageMat, Contours, hierarchy, Emgu.CV.CvEnum.RetrType.List, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxSimple);
var dims = Contours.Size;
for (var idx = 0; idx < dims; idx++)
{
var con = Contours[idx];
if (!(CvInvoke.ContourArea(con) < 800))
{
continue;
}
var color = new MCvScalar(0, 0, 0);
//CvInvoke.FillPoly(this.ImageMat, con, color);
//TODO ezt lehet meg kellene még vizsgálni
CvInvoke.FillConvexPoly(this.ImageMat, con, color);
}
MainWindow.ImageProcessorExaminer.AddImage(ImageMat.CreateNewHardCopyFromMat(), "ImageProcessor_FillConvexPoly");
//Open then close to close gaps
var kernelMat1 = CvInvoke.GetStructuringElement(Emgu.CV.CvEnum.ElementShape.Rectangle, new Size(3, 3), new Point(-1, -1));
CvInvoke.MorphologyEx(
this.ImageMat,
this.ImageMat,
Emgu.CV.CvEnum.MorphOp.Open,
kernelMat1,
new Point(-1, -1),
1, Emgu.CV.CvEnum.BorderType.Default,
new MCvScalar());
MainWindow.ImageProcessorExaminer.AddImage(ImageMat.CreateNewHardCopyFromMat(), "ImageProcessor_MorphologyEx_Open");
var kernelMat2 = CvInvoke.GetStructuringElement(Emgu.CV.CvEnum.ElementShape.Rectangle, new Size(7, 7), new Point(-1, -1));
CvInvoke.MorphologyEx(
this.ImageMat,
this.ImageMat,
Emgu.CV.CvEnum.MorphOp.Close,
kernelMat2,
new Point(-1, -1),
2,
Emgu.CV.CvEnum.BorderType.Default,
new MCvScalar());
MainWindow.ImageProcessorExaminer.AddImage(ImageMat.CreateNewHardCopyFromMat(), "ImageProcessor_MorphologyEx_Close");
//Get new contours find the correct ones by size and hierarchy draw them onto the img, draw bounding box, and length
CvInvoke.FindContours(this.ImageMat, Contours, hierarchy, Emgu.CV.CvEnum.RetrType.Tree, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxSimple);
//Empty out objects contours
ContoursToReturn = new VectorOfVectorOfPoint();
//Image to be overlayed, with alpha values
//ContourImageMat = new Mat(this.ImageMat.Rows, this.ImageMat.Cols, Emgu.CV.CvEnum.DepthType.Cv8U, 4);
ContourImageMat = OgImageMat.CreateNewHardCopyFromMat();
CvInvoke.CvtColor(ContourImageMat, ContourImageMat, ColorConversion.Gray2Bgr);
//ContourImageMat = new Mat(this.ImageMat.Rows, this.ImageMat.Cols, Emgu.CV.CvEnum.DepthType.Cv8U, 1);
//MainWindow.ImageProcessorExaminer.AddImage(ContourImageMat.CreateNewHardCopyFromMat(), "ImageProcessor_ContourImageMat");
dims = Contours.Size;
var tempVoVoPointF = new VectorOfVectorOfPointF();
for (var idx = 0; idx < dims; idx++)
{
var con = Contours[idx];
//Skip small patches
if (CvInvoke.ContourArea(con) < 300)
{
continue;
}
//Only use ones that have parents, so the inner ones
//https://stackoverflow.com/questions/41560048/c-sharp-emgu-cv-findcontours-hierarchy-data-always-null
//https://stackoverflow.com/questions/37408481/navigate-through-hierarchy-of-contours-found-by-findcontours-method/37470968#37470968
//http://www.emgu.com/forum/viewtopic.php?t=6333
//http://www.emgu.com/forum/viewtopic.php?f=7&t=5263
//https://stackoverrun.com/fr/q/11437249
if ((int)hierarchy.GetData().GetValue(0, idx, 3) < 0)
{
continue;
}
ContoursToReturn.Push(con);
//UprightBoundingRectangles.Add(CvInvoke.BoundingRectangle(con));
//CvInvoke.DrawContours(ContourImageMat, Contours, 0, new MCvScalar(0, 255, 0, 255), 2);
CvInvoke.DrawContours(ContourImageMat, Contours, -1, new MCvScalar(0, 255, 0, 255), 1);
var rect = CvInvoke.MinAreaRect(con);
var box = CvInvoke.BoxPoints(rect);
var boxVec = new VectorOfPointF(box);
tempVoVoPointF.Push(boxVec);
/*
* var rect = CvInvoke.MinAreaRect(con);
* //var box = CvInvoke.BoxPoints(rect);
* //VectorOfPointF boxVec = new VectorOfPointF(box);
* VectorOfVectorOfPoint boxVec = new VectorOfVectorOfPoint(con);
* //az jókérdés, hogy ez most a megfelelő alak-e vagy sem
* CvInvoke.DrawContours(ContourImageMat, boxVec, 0, new MCvScalar(0, 255, 0, 255), 2);
*/
}
MainWindow.ImageProcessorExaminer.AddImage(ContourImageMat.CreateNewHardCopyFromMat(), "ImageProcessor_ContourImageMat");
this.AngledBoundingBoxesToReturn = tempVoVoPointF.ConvertToVectorOfPoint();
MainWindow.ImageProcessorExaminer.AddImage(ContourImageMat.CreateNewHardCopyFromMat(), "ImageProcessor_ContourImageMat_2");
//CvInvoke.PutText(this.ImageMat, "{" + ContoursToReturn.Size + "}", new Point(100, 300), Emgu.CV.CvEnum.FontFace.HersheySimplex, 8.0, new MCvScalar(255), 5);
//this.DetectedCellCount = ContoursToReturn.Size;
//MainWindow.ImageProcessorExaminer.AddImage(ImageMat.CreateNewHardCopyFromMat(), "ImageProcessor_PutText");
//CvInvoke.EqualizeHist(this.ImageMat,this.ImageMat);
//new PopupImage(ImageMat, "ImgProcessor_ImageMat").Show();
//new PopupImage(ContourImageMat, "ImgProcessor_ContourImageMat").Show();
}
catch (Exception e)
{
MessageBox.Show(e.Message);
}
}
/// <summary>
/// 获取最小外接矩形并处理相关参数
/// </summary>
/// <param name="contour">对应轮廓</param>
/// <param name="block_num">编号</param>
public bool getMinAreaRect11(VectorOfPoint contour, int block_num)
{
//本区块颜色定义:
MCvScalar color = new MCvScalar(53 * block_num % 255, 255 - 73 * block_num % 255, 93 * block_num % 255);//B,G,R
//1,获取最小外接矩形中心点的深度:
try
{
RotatedRect box = CvInvoke.MinAreaRect(contour); //最小外接矩形
PointF[] pt = CvInvoke.BoxPoints(box); //最小外接矩形四个角点
PointF po = box.Center; //最小外接矩形中心
int xc = (int)po.X; //最小外接矩形中心X坐标
int yc = (int)po.Y; //最小外接矩形中心Y坐标
if (double.IsNaN(GLB.myp3d[(yc * GLB.BUFW + xc) * 3 + 2]))
{
return(false); //空值不执行
}
GLB.obj[block_num].Depth = (int)GLB.myp3d[(yc * GLB.BUFW + xc) * 3 + 2];
GLB.obj[block_num].yCenter = (int)GLB.myp3d[(yc * GLB.BUFW + xc) * 3 + 1];
GLB.obj[block_num].xCenter = (int)GLB.myp3d[(yc * GLB.BUFW + xc) * 3 + 0];
//1b,绘制外接最小矩形(紧贴连通域):
for (int i = 0; i < 4; ++i)
{
Point p1 = new Point((int)pt[i].X, (int)pt[i].Y);
GLB.obj[block_num].jd.Add(p1);//角点存下备画轨迹用
Point p2 = new Point((int)pt[(i + 1) % 4].X, (int)pt[(i + 1) % 4].Y);
CvInvoke.Line(GLB.frame, p1, p2, color, 2);
}
List <Point3> pr = new List <Point3>();//真实角点
for (int i = 0; i < 4; ++i)
{
Point3 Ang_temp = new Point3(0, 0, 0);//0.8视场角点坐标
Ang_temp.X = xc + 0.8 * (pt[i].X - xc);
Ang_temp.Y = yc + 0.8 * (pt[i].Y - yc);
if (Ang_temp.Y < 0 || Ang_temp.Y > 960 - 2 || Ang_temp.X < 0 || Ang_temp.X > 1280 - 2)
{
return(false); //无效角点
}
Point3 Ang_point = new Point3(0, 0, 0); //0.8角点坐标
Ang_point.X = GLB.myp3d[((int)Ang_temp.Y * GLB.BUFW + (int)Ang_temp.X) * 3 + 0];
Ang_point.Y = GLB.myp3d[((int)Ang_temp.Y * GLB.BUFW + (int)Ang_temp.X) * 3 + 1];
Ang_point.Z = GLB.myp3d[((int)Ang_temp.Y * GLB.BUFW + (int)Ang_temp.X) * 3 + 2];
if (double.IsNaN(Ang_point.Z))
{
return(false);//无效角点
}
pr.Add(Ang_point);
RotatedRect myrect = new RotatedRect(new PointF((float)Ang_temp.X, (float)Ang_temp.Y), new Size(8, 8), 0);
CvInvoke.Ellipse(GLB.frame, myrect, new MCvScalar(255, 0, 0), 2);//在角上一个小圆
}
//GLB.obj[block_num].xCenter = (int)pr.Average(o => o.X);
//GLB.obj[block_num].yCenter = (int)pr.Average(o => o.Y);
//GLB.obj[block_num].Depth = (int)pr.Average(o => o.Z);//中心点的深度
//1a,显示本区块中心[画圆]:
RotatedRect boxCenter = new RotatedRect(new PointF(xc, yc), new Size(8, 8), 0);
CvInvoke.Ellipse(GLB.frame, boxCenter, new MCvScalar(0, 255, 255), 4); //在中心画一个小圆
CvInvoke.PutText(GLB.frame, "Depth=" + GLB.obj[block_num].Depth + "XC=" + GLB.obj[block_num].xCenter + "YC=" + GLB.obj[block_num].yCenter, new System.Drawing.Point(xc - 76, yc + 25), Emgu.CV.CvEnum.FontFace.HersheyDuplex, .75, new MCvScalar(0, 0, 255), 2); //深度显示
//CvInvoke.PutText(frame, "Depth=" + GLB.obj[block_num].Depth , new System.Drawing.Point(xc - 76, yc + 25), Emgu.CV.CvEnum.FontFace.HersheyDuplex, .75, new MCvScalar(0, 0, 255), 2);//深度显示
//真实的长轴,短轴,倾角计算:
double axisLong = 1.25 * Math.Sqrt(Math.Pow(pr[1].X - pr[0].X, 2) + Math.Pow(pr[1].Y - pr[0].Y, 2) + Math.Pow(pr[1].Z - pr[0].Z, 2));
double axisShort = 1.25 * Math.Sqrt(Math.Pow(pr[2].X - pr[1].X, 2) + Math.Pow(pr[2].Y - pr[1].Y, 2) + Math.Pow(pr[2].Z - pr[1].Z, 2));
double Angl = box.Angle;//矩形框角度
if (axisShort > axisLong)
{
double temp = axisLong;
axisLong = axisShort;
axisShort = temp;
}
//img_Angle = Angl;//显示区夹角
if (Math.Abs(Angl) > 45)
{
Angl = Angl + 90;
}
if (GLB.img_mode == 0) //样品匹配时用//转换到机器人坐标
{
if (Angl >= 90) //控制旋转范围
{
Angl -= 180;
}
if (Angl <= -90)
{
Angl += 180;
}
}
GLB.obj[block_num].Angle = Angl; //旋转角
GLB.obj[block_num].axisLong = axisLong; //长轴
GLB.obj[block_num].axisShort = axisShort; //短轴
GLB.obj[block_num].L2S = axisLong / axisShort; //长短轴之比;
GLB.obj[block_num].SZ = axisLong * axisShort; //估算的物件尺寸
//像尺寸显示:
CvInvoke.PutText(GLB.frame, "Lr=" + (int)axisLong + ",Sr=" + (int)axisShort, new System.Drawing.Point((int)pt[2].X, (int)pt[2].Y), Emgu.CV.CvEnum.FontFace.HersheyDuplex, .75, color, 2);
CvInvoke.PutText(GLB.frame, "Angl=" + Angl, new System.Drawing.Point((int)pt[3].X, (int)pt[3].Y), Emgu.CV.CvEnum.FontFace.HersheyDuplex, .75, color, 2);
return(true);
}
catch
{
// MessageBox.Show("有异常");
return(false);
}
}
