public IplImage DrawShapeClips(IplImage source, ShapeClip[] clips)
{
IplImage result = source;// new IplImage(source.Size, BitDepth.U8, 3);
//Cv.CvtColor(source, result, ColorConversion.GrayToRgb);
foreach (var clip in clips)
{
CvScalar color = CvColor.Red;
if (clip.DetectionState == DetectionState.SemiOriented)
{
color = CvColor.Yellow;
}
else if (clip.DetectionState == DetectionState.FullyOriented)
{
color = CvColor.Green;
}
result.DrawCircle((int)clip.Position.X, (int)clip.Position.Y, (int)clip.BoundingBox.Length, color, 1);
result.DrawLine(
(int)clip.Position.X, (int)clip.Position.Y,
(int)(clip.Position.X + (clip.BoundingBox.Length * Math.Cos((Math.PI / 180.0) * clip.Angle))),
(int)(clip.Position.Y + (clip.BoundingBox.Length * Math.Sin((Math.PI / 180.0) * clip.Angle))),
color, 1);
}
return(result);
}
/// <summary>
/// ConvexityDefectsの描画
/// </summary>
/// <param name="img"></param>
/// <param name="defect"></param>
private void DrawDefects(IplImage img, CvSeq <CvConvexityDefect> defect)
{
int count = 0;
foreach (CvConvexityDefect item in defect)
{
CvPoint p1 = item.Start, p2 = item.End;
double dist = GetDistance(p1, p2);
CvPoint2D64f mid = GetMidpoint(p1, p2);
img.DrawLine(p1, p2, CvColor.White, 3);
img.DrawCircle(item.DepthPoint, 10, CvColor.Green, -1);
img.DrawLine(mid, item.DepthPoint, CvColor.White, 1);
Console.WriteLine("No:{0} Depth:{1} Dist:{2}", count, item.Depth, dist);
count++;
}
}
/// <summary>
/// Обработка изображения выполняющаяся в отдельном потоке
/// </summary>
private void routine()
{
IplImage cam = new IplImage(Camera.FrameSize, BitDepth.U8, 3);
CvPoint[] mostLengthHole = new CvPoint[0];
RoutineAction innerAction;
bool innerIsRunOnce;
while (isRunning)
{
// Копируем новое значение состояния
innerAction = action;
innerIsRunOnce = isRunOnce;
// Определяем что будем делать в следующем цикле
if (innerIsRunOnce)
{
action = RoutineAction.Pause;
}
// Если поток на паузе, то ничего не делаем
if (innerAction == RoutineAction.Pause)
{
continue;
}
if (isRunning && BeforeProcessingEvent != null)
{
BeforeProcessingEvent();
}
// Захватываем изображение с камеры
Camera.GetIplImage(ref cam);
if (innerAction == RoutineAction.FindContour || innerAction == RoutineAction.Measure)
{
mostLengthHole = Finder.FindMostLengthHole(cam);
}
if (innerAction == RoutineAction.DrawCorners || innerAction == RoutineAction.Calibrate)
{
Calibrator.SetImage(cam);
}
switch (innerAction)
{
case RoutineAction.GetImage:
{
if (isRunning && GetImageEvent != null)
{
GetImageEvent(cam.ToBitmap());
}
break;
}
case RoutineAction.DrawCorners:
{
Calibrator.FindCorners();
if (isRunning && DrawCornersEvent != null)
{
DrawCornersEvent(cam.ToBitmap());
}
break;
}
case RoutineAction.Calibrate:
{
bool result = Calibrator.TryToCalibrate(out Transformer);
if (isRunning && CalibrateEvent != null)
{
CalibrateEvent(result);
}
break;
}
case RoutineAction.FindContour:
{
if (mostLengthHole.Length > 0)
{
cam.DrawPolyLine(new CvPoint[][] { mostLengthHole }, true, Cv.RGB(0, 255, 0), 2);
}
if (isRunning && FindContoursEvent != null)
{
FindContoursEvent(cam.ToBitmap());
}
break;
}
case RoutineAction.Measure:
{
if (mostLengthHole.Length > 0)
{
CvPoint2D32f[] realPoints = Transformer.GetRealPoints(mostLengthHole);
CvCircleSegment realCircle = CircleApproximator.Approximate(realPoints);
CvCircleSegment imageCircle = CircleApproximator.Approximate(mostLengthHole);
// Вносим поправки
float ratio = imageCircle.Radius / realCircle.Radius;
realCircle.Radius = realCircle.Radius * CorrectionMultiplier + CorrectionOffset;
imageCircle.Radius = imageCircle.Radius * CorrectionMultiplier + CorrectionOffset * ratio;
int circleRadius = (int)Math.Round(imageCircle.Radius);
CvPoint circleCenter = new CvPoint
(
(int)Math.Round(imageCircle.Center.X),
(int)Math.Round(imageCircle.Center.Y)
);
// Обводим внутреннюю границу кольца
if (circleRadius > 0)
{
cam.DrawCircle(circleCenter, circleRadius, Cv.RGB(0, 0, 255), 2);
}
// Отмечаем откалиброванную зону
cam.DrawPolyLine(new CvPoint[][] { Calibrator.CalibratedZone }, true, Cv.RGB(255, 255, 0), 2);
if (isRunning && MeasureEvent != null)
{
MeasureEvent(cam.ToBitmap(), realCircle.Radius);
}
}
break;
}
}
}
Camera.Close();
}
/// <summary>
/// ConvexityDefectsの描画
/// </summary>
/// <param name="img"></param>
/// <param name="defect"></param>
private void DrawDefects(IplImage img, CvSeq<CvConvexityDefect> defect)
{
int count = 0;
foreach (CvConvexityDefect item in defect)
{
CvPoint p1 = item.Start, p2 = item.End;
double dist = GetDistance(p1, p2);
CvPoint2D64f mid = GetMidpoint(p1, p2);
img.DrawLine(p1, p2, CvColor.White, 3);
img.DrawCircle(item.DepthPoint, 10, CvColor.Green, -1);
img.DrawLine(mid, item.DepthPoint, CvColor.White, 1);
Console.WriteLine("No:{0} Depth:{1} Dist:{2}", count, item.Depth, dist);
count++;
}
}
