public MainWindow()
{
InitializeComponent();
//ViewModel からのｽｸﾘﾌﾟﾄ実行用のdelegate
DataContextChanged += (o, e) =>
{
ViewModel vm = DataContext as ViewModel;
if (vm != null)
{
vm._ExecuteScript += (sender, arg) =>
{
Dispatcher.Invoke(new Action(() => { pythonConsole.Pad.Console.RunStatements(arg.cmd); }));
};
vm._DrawCameraBitmap += (sender, arg) =>
{
Dispatcher.BeginInvoke(new Action(() =>
{
IplImage img = vm.VisionControl.GetCameraImage();
DrawCameraViewEventArgs a = arg as DrawCameraViewEventArgs;
if (a._draw == 1)
{
CvRect rect = new CvRect(a._x1, a._y1, a._x2, a._y2);
img.DrawRect(rect, new CvScalar(255, 0, 0), 2);
}
else if (a._draw == 2)
{
int x1 = a._x1 - a._x2 / 2;
int x2 = a._x1 + a._x2 / 2;
int y1 = a._y1 - a._y2 / 2;
int y2 = a._y1 + a._y2 / 2;
img.DrawLine(x1, a._y1, x2, a._y1, new CvScalar(255, 0, 0), 2);
img.DrawLine(a._x1, y1, a._x1, y2, new CvScalar(255, 0, 0), 2);
}
if (VM.CenterLine == true)
{
img.DrawLine(0, 320, 640, 320, new CvScalar(255, 0, 0, 0), 2);
img.DrawLine(320, 0, 320, 640, new CvScalar(255, 0, 0, 0), 2);
}
WriteableBitmapConverter.ToWriteableBitmap(img, _col_wb);
cameraImage.Source = _col_wb;
img.Dispose();
//cameraImage.Source = vm.VisionControl.GetCameraBitmap();
}));
};
}
};
pythonConsole.Pad.Host.ConsoleCreated += new PythonConsoleControl.ConsoleCreatedEventHandler(Host_ConsoleCreated);
}
/// <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++;
}
}
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);
}
}//求平面交点，输入交点的顺利有讲究（前两个点是是第一副图的轮廓点，后两个是极线上的点）
List <double[]> Compute_epiline_contour_intersection(CvMat right_epiline_point, double[,] ref_img_contour, int n)//n表示划分bin的个数
{
//计时
//Stopwatch sw = new Stopwatch();
//sw.Start();
double[] epipole = new double[2];
//计算极点
double X1 = right_epiline_point[2, 0];
double Y1 = right_epiline_point[1, 0];
double X2 = right_epiline_point[2, 1];
double Y2 = right_epiline_point[1, 1];
epipole[0] = (Y2 - Y1) / (Y2 / X2 - Y1 / X1);
epipole[1] = (X2 - X1) / (X2 / Y2 - X1 / Y1);
double temp;
double radius;
double x, y;
double min_radius = 200.0;
double max_radius = -200.0;
//double min_radius_contour_point;
//double max_radius_contour_point;
double[] temp_radius = new double[ref_img_contour.GetLength(1)];
for (int i = 0; i < ref_img_contour.GetLength(1); i++)//不用最后一个轮廓点
{
//求角度 tan -> 角度，将其分到一个盒子中，一共有n=360/m个盒子
x = ref_img_contour[0, i] - epipole[0];
y = ref_img_contour[1, i] - epipole[1];
//cacu_angle
temp_radius[i] = Math.Atan2(y, x) + Math.PI;//x轴负方向为0,2pi,x轴正方向为pi
if (temp_radius[i] < min_radius)
{
min_radius = temp_radius[i];
//min_radius_contour_point = i;
}
else if (temp_radius[i] > max_radius)
{
max_radius = temp_radius[i];
//max_radius_contour_point = i;
}
}
List <int>[] bins = new List <int> [n + 1];
for (int i = 0; i < bins.GetLength(0); i++)
{
bins[i] = new List <int>();
}
for (int i = 0; i < ref_img_contour.GetLength(1); i++)//不用最后一个轮廓点
{
//put_in_bins
temp = (temp_radius[i] - min_radius) / ((max_radius - min_radius) / n);
bins[(int)((temp_radius[i] - min_radius) / ((max_radius - min_radius) / n))].Add(i);//将第i个点放入盒子中
}
IplImage img = Cv.CreateImage(new CvSize(2000, 1500), BitDepth.U8, 3);
Cv.Set(img, new CvScalar(255, 255, 255));
for (int i = 0; i < bins.Length; i++)
{
Random rand = new Random();
int r = rand.Next() % 255;
int g = rand.Next() % 255;
int b = rand.Next() % 255;
if (i == 0)
{
r = 255; g = 0; b = 0;
}
else if (i == 1)
{
r = 0; g = 255; b = 0;
}
else if (i == 2)
{
r = 0; g = 0; b = 255;
}
else if (i == 3)
{
r = 0; g = 255; b = 255;
}
else if (i == 4)
{
r = 255; g = 0; b = 255;
}
else if (i == 5)
{
r = 255; g = 255; b = 0;
}
for (int j = 0; j < bins[i].Count; j++)
{
int k = bins[i][j];
img.DrawLine(new CvPoint((int)ref_img_contour[0, k], (int)ref_img_contour[1, k]),
new CvPoint((int)(ref_img_contour[0, k] + 1), (int)(ref_img_contour[1, k]) + 1), Cv.RGB(r, g, b), 2);
}
}
Cv.SaveImage("bins.jpg", img);
////将最后一个点和第一个点连起来
//y = ref_img_contour[0, 1] - ref_img_contour[0, ref_img_contour_num-1];
//x = ref_img_contour[0, 0] - ref_img_contour[0, ref_img_contour_num-2];
//radius = Math.Atan2(y, x)+Math.PI;
//bins[(int)(radius / (2*Math.PI / n))].Add(ref_img_contour_num/2-1);//将第i个点放入盒子中
double[] intersection_point;
List <double[]> intersection_point_list = new List <double[]>();
CvPoint epiline_point_start;
CvPoint epiline_end_point_end;
CvPoint contour_line_point_start;
CvPoint contour_line_point_end;
//计算极线所在的bin
int current_bin;
for (int i = 0; i < right_epiline_point.GetDimSize(1); i++)
{
y = right_epiline_point[1, i] - right_epiline_point[3, i];
x = right_epiline_point[0, i] - right_epiline_point[2, i];
radius = Math.Atan2(y, x) + Math.PI;
if (radius >= min_radius && radius <= max_radius)
{
current_bin = (int)((radius - min_radius) / ((max_radius - min_radius) / n));
for (int j = 0; j < bins[current_bin].Count - 1; j++)
{
epiline_point_start.X = (int)(right_epiline_point[0, i]);
epiline_point_start.Y = (int)(right_epiline_point[1, i]);
epiline_end_point_end.X = (int)(right_epiline_point[2, i]);
epiline_end_point_end.Y = (int)(right_epiline_point[3, i]);
contour_line_point_start.X = (int)(ref_img_contour[0, bins[current_bin][j]]);
contour_line_point_start.Y = (int)(ref_img_contour[1, bins[current_bin][j]]);
contour_line_point_end.X = (int)(ref_img_contour[0, bins[current_bin][j] + 1]);
contour_line_point_end.Y = (int)(ref_img_contour[1, bins[current_bin][j] + 1]);
intersection_point = SL_Cross_Intersection(contour_line_point_start, contour_line_point_end, epiline_point_start, epiline_end_point_end);
if (intersection_point[0] > 0.0)
{
intersection_point[0] = i;
intersection_point_list.Add(intersection_point);
}
}
}
}
////显示计时时间
//sw.Stop();
//MessageBox.Show(sw.ElapsedMilliseconds.ToString());
return(intersection_point_list);
}
/// <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++;
}
}
