/*
* public IplImage HoughLines_Point(IplImage src, int canny1, int canny2, int thresh, int sideData)
* {
* // cvHoughLines2
* // 확률적 허프 변환을 지정해 선분의 검출을 실시한다
*
* // (1) 화상 읽기
* IplImage srcImgStd = src.Clone();
* IplImage srcImgGray = new IplImage(src.Size, BitDepth.U8, 1);
*
* CvMemStorage storage = new CvMemStorage();
* CvSeq houghLines;
* Cv.CvtColor(srcImgStd, srcImgGray, ColorConversion.BgrToGray);
* Cv.Canny(srcImgGray, srcImgGray, canny1, canny2, ApertureSize.Size3);
* houghLines = srcImgGray.HoughLines2(storage, HoughLinesMethod.Probabilistic, 1, Math.PI/180, thresh, 5, 0);
*
*
* LinePoints.Clear();
* int limit = Math.Min(houghLines.Total, 6);
* for (int i = 0; i < limit; i++)
* {
* CvLineSegmentPolar elem = houghLines.GetSeqElem<CvLineSegmentPolar>(i).Value;
* CvPoint pt1 = houghLines.GetSeqElem<CvLineSegmentPoint>(i).Value.P1;
* CvPoint pt2 = houghLines.GetSeqElem<CvLineSegmentPoint>(i).Value.P2;
*
* //Trace.WriteLine(pt1.X.ToString("000.00000 ") + pt1.Y.ToString("000.00000 ") + pt2.X.ToString("000.00000 ")+ pt2.Y.ToString("000.00000"));
*
* srcImgStd.Line(pt1, pt2, CvColor.Red, 1, LineType.AntiAlias, 0);
*
* LinePoints.Add(pt1);
* LinePoints.Add(pt2);
* }
* srcImgStd.Dispose();
* srcImgGray.Dispose();
* houghLines.Dispose();
* storage.Dispose();
* return srcImgStd;
* }
*/
public IplImage HoughLines_Point08(IplImage src, int canny1, int canny2, int thresh, int sideData)
{
List <CvPoint> LinePoints = new List <CvPoint>();
int lineMinLength = 0;
if (sideData == 0 && sideData == 2)
{
lineMinLength = src.Width / 2;
}
else
{
lineMinLength = src.Height / 2;
}
// cvHoughLines2
// 확률적 허프 변환을 지정해 선분의 검출을 실시한다
// (1) 화상 읽기
using (IplImage srcImgStd = src.Clone())
using (IplImage srcImgGray = new IplImage(src.Size, BitDepth.U8, 1))
{
Cv.CvtColor(srcImgStd, srcImgGray, ColorConversion.BgrToGray);
// (2) 허프변환을 위한 캐니엣지 처리
//Cv.Canny(srcImgGray, srcImgGray, 50, 200, ApertureSize.Size3);
Cv.Canny(srcImgGray, srcImgGray, canny1, canny2, ApertureSize.Size3);
houghLine = srcImgGray.Clone();
using (CvMemStorage storage = new CvMemStorage())
{
LinePoints.Clear();
// (3) 표준적 허프 변환에 의한 선의 검출과 검출된 선 그리기
CvSeq lines = srcImgGray.HoughLines2(storage, HoughLinesMethod.Probabilistic, 1, Math.PI / 180, thresh, 5, 0);
int limit = Math.Min(lines.Total, 6);
for (int i = 0; i < limit; i++)
{
CvLineSegmentPolar elem = lines.GetSeqElem <CvLineSegmentPolar>(i).Value;
CvPoint pt1 = lines.GetSeqElem <CvLineSegmentPoint>(i).Value.P1;
CvPoint pt2 = lines.GetSeqElem <CvLineSegmentPoint>(i).Value.P2;
//Trace.WriteLine(pt1.X.ToString("000.00000 ") + pt1.Y.ToString("000.00000 ") + pt2.X.ToString("000.00000 ")+ pt2.Y.ToString("000.00000"));
srcImgStd.Line(pt1, pt2, CvColor.Red, 1, LineType.AntiAlias, 0);
LinePoints.Add(pt1);
LinePoints.Add(pt2);
houghLine = srcImgStd.Clone();
}
}
}
return(houghLine);
}
public IplImage PostProcess(IplImage preProcessedImage, IplImage postProcessedImage)
{
using (CvMemStorage storage = new CvMemStorage())
{
CvSeq seq = preProcessedImage.HoughLines2(storage, HoughLinesMethod.Probabilistic, 1, Math.PI / 180, 30, 40, 15);
var lines = new List <CvLineSegmentPoint>();
for (int i = 0; i < seq.Total; i++)
{
var cvLineSegmentPoint = seq.GetSeqElem <CvLineSegmentPoint>(i);
if (cvLineSegmentPoint != null)
{
lines.Add(cvLineSegmentPoint.Value);
}
}
var groupedLines = RectangleFinder.GroupSegments(lines);
var rects = RectangleFinder.Convert(groupedLines);
RectangleFinder.Filter(rects);
foreach (var cvRect in rects)
{
postProcessedImage.Rectangle(cvRect, CvColor.Red, 3, LineType.AntiAlias);
}
//for (int i = 0; i < groupedLines.Count; i++)
//{
// var color = new CvColor(i*255/max,i*255/max,i*255/max);
// var group = groupedLines[i];
// for (int j = 0; j < group.Lines.Count; j++)
// {
// CvLineSegmentPoint elem = group.Lines[j];
// imgHough.Line(elem.P1, elem.P2, color, 3, LineType.AntiAlias, 0);
// }
//}
//Console.WriteLine(groupedLines.Count);
CvSeq <CvCircleSegment> seq1 = preProcessedImage.HoughCircles(storage,
HoughCirclesMethod.Gradient, 1,
//imgGray.Size.Height / 8, 150, 55, 0, 50);
15, 100, 30, 9, 51);
foreach (CvCircleSegment item in seq1)
{
postProcessedImage.Circle(item.Center, (int)item.Radius, CvColor.Red, 3);
}
}
return(postProcessedImage);
}
public IplImage HoughLines(IplImage src)
{
houline = new IplImage(src.Size, BitDepth.U8, 3);
bin = this.Binary(src, 150);
Cv.Dilate(bin, bin, null, 1);
Cv.Erode(bin, bin, null, 3);
Cv.Dilate(bin, bin, null, 2);
Cv.Canny(bin, bin, 0, 255);
Cv.CvtColor(bin, houline, ColorConversion.GrayToBgr);
CvMemStorage Storage = new CvMemStorage();
CvSeq lines = canny.HoughLines2(Storage, HoughLinesMethod.Probabilistic, 1, Math.PI / 180, 140, 50, 10);
//for (int i = 0; i < Math.Min(lines.Total, 20); i++)
//{
// CvLineSegmentPolar element = lines.GetSeqElem<CvLineSegmentPolar>(i).Value;
// float r = element.Rho;
// float theta = element.Theta;
// double a = Math.Cos(theta);
// double b = Math.Sin(theta);
// double x0 = r * a;
// double y0 = r * b;
// int scale = src.Size.Width + src.Size.Height;
// CvPoint pt1 = new CvPoint(Convert.ToInt32(x0 - scale * b), Convert.ToInt32(y0 + scale * a));
// CvPoint pt2 = new CvPoint(Convert.ToInt32(x0 + scale * b), Convert.ToInt32(y0 - scale * a));
// houline.Line(pt1, pt2, CvColor.Red, 1, LineType.AntiAlias);
//}
for (int i = 0; i < Math.Min(lines.Total, 20); i++)
{
CvLineSegmentPoint element = lines.GetSeqElem <CvLineSegmentPoint>(i).Value;
houline.Line(element.P1, element.P2, CvColor.Yellow, 1, LineType.AntiAlias);
}
return(houline);
}
/// <summary>
/// sample of C style wrapper
/// </summary>
private void SampleC()
{
// cvHoughLines2
using (IplImage srcImgGray = new IplImage(FilePath.Image.Goryokaku, LoadMode.GrayScale))
using (IplImage srcImgStd = new IplImage(FilePath.Image.Goryokaku, LoadMode.Color))
using (IplImage srcImgProb = srcImgStd.Clone())
{
Cv.Canny(srcImgGray, srcImgGray, 50, 200, ApertureSize.Size3);
using (CvMemStorage storage = new CvMemStorage())
{
// Standard algorithm
CvSeq lines = srcImgGray.HoughLines2(storage, HoughLinesMethod.Standard, 1, Math.PI / 180, 50, 0, 0);
// wrapper style
//CvLineSegmentPolar[] lines = src_img_gray.HoughLinesStandard(1, Math.PI / 180, 50, 0, 0);
int limit = Math.Min(lines.Total, 10);
for (int i = 0; i < limit; i++)
{
// native code style
/*
* unsafe
* {
* float* line = (float*)lines.GetElem<IntPtr>(i).Value.ToPointer();
* float rho = line[0];
* float theta = line[1];
* }
* //*/
// wrapper style
CvLineSegmentPolar elem = lines.GetSeqElem <CvLineSegmentPolar>(i).Value;
float rho = elem.Rho;
float theta = elem.Theta;
double a = Math.Cos(theta);
double b = Math.Sin(theta);
double x0 = a * rho;
double y0 = b * rho;
CvPoint pt1 = new CvPoint {
X = Cv.Round(x0 + 1000 * (-b)), Y = Cv.Round(y0 + 1000 * (a))
};
CvPoint pt2 = new CvPoint {
X = Cv.Round(x0 - 1000 * (-b)), Y = Cv.Round(y0 - 1000 * (a))
};
srcImgStd.Line(pt1, pt2, CvColor.Red, 3, LineType.AntiAlias, 0);
}
// Probabilistic algorithm
lines = srcImgGray.HoughLines2(storage, HoughLinesMethod.Probabilistic, 1, Math.PI / 180, 50, 50, 10);
// wrapper style
//CvLineSegmentPoint[] lines = src_img_gray.HoughLinesProbabilistic(1, Math.PI / 180, 50, 0, 0);
for (int i = 0; i < lines.Total; i++)
{
// native code style
/*
* unsafe
* {
* CvPoint* point = (CvPoint*)lines.GetElem<IntPtr>(i).Value.ToPointer();
* src_img_prob.Line(point[0], point[1], CvColor.Red, 3, LineType.AntiAlias, 0);
* }
* //*/
// wrapper style
CvLineSegmentPoint elem = lines.GetSeqElem <CvLineSegmentPoint>(i).Value;
srcImgProb.Line(elem.P1, elem.P2, CvColor.Red, 3, LineType.AntiAlias, 0);
}
}
using (new CvWindow("Hough_line_standard", WindowMode.AutoSize, srcImgStd))
using (new CvWindow("Hough_line_probabilistic", WindowMode.AutoSize, srcImgProb))
{
CvWindow.WaitKey(0);
}
}
}
//HoughLines2()
//확률적 허프 변환을 지정해 선분의 검출을 실시한다
//1. CvArr* image : 변환을 할 이미지가 들어간다.
//2. void* line_storage : 라인을 저장할 공간
//3. int method : 허프변환에는 3개의 방법이 있다 . 이 방법을 설정하는 인자
//4. double rho / double theta : 이 둘은 얼마나 조밀한 단위(?)를 사용할 것인가를 정하는 인자 이다. (예로 rho=1이라면 1픽셀단위로 조사를 하고 theta = PI/180 이라면 1도 단위로 조사를 하겠다는 뜻)
//5. int threshold : 허프 공간상에 그려지는 곡선들이 중첩되는 부분을 이용해서 직선을 검출하는데 threshold 값보다 중첩되는 갯수가 많으면 직선으로 간주한다는 뜻이다. 숫자가 커지면 당연히 더 직선의 기준이 엄격하게 된다.
//6.double param1 : probabilistic 일 경우 직선의 최소 길이를 설정할 수 있다.
//7.double param2 : probabilistic 일 경우 직선의 최대 길이를 설정할 수 있다.
public IplImage HoughLines(IplImage src, IplImage boxImage, ref IplImage resultImage)
{
// cvHoughLines2
// 확률적 허프 변환을 지정해 선분의 검출을 실시한다
IplImage orImage = boxImage.Clone();
// (1) 화상 읽기
using (IplImage srcImgStd = src.Clone())
using (IplImage srcImgGray = new IplImage(src.Size, BitDepth.U8, 1))
{
Cv.CvtColor(srcImgStd, srcImgGray, ColorConversion.BgrToGray);
// (2) 허프변환을 위한 캐니엣지 처리
Cv.Canny(srcImgGray, srcImgGray, 50, 200, ApertureSize.Size3);
houghLine = srcImgGray.Clone();
int lineMinLength = srcImgStd.Width / 2;
int lineMaxLength = srcImgStd.Width;
using (CvMemStorage storage = new CvMemStorage())
{
// (3) 표준적 허프 변환에 의한 선의 검출과 검출된 선 그리기
CvSeq lines = srcImgGray.HoughLines2(storage, HoughLinesMethod.Standard, 1, Math.PI / 180, 50, 0, 0);
int limit = Math.Min(lines.Total, 10);
for (int i = 0; i < limit; i++)
{
CvLineSegmentPolar elem = lines.GetSeqElem <CvLineSegmentPolar>(i).Value;
float rho = elem.Rho;
float theta = elem.Theta;
double a = Math.Cos(theta);
double b = Math.Sin(theta);
double x0 = a * rho;
double y0 = b * rho;
CvPoint pt1 = new CvPoint {
X = Cv.Round(x0 + src.Width * (-b)), Y = Cv.Round(y0 + src.Height * (a))
};
CvPoint pt2 = new CvPoint {
X = Cv.Round(x0 - src.Width * (-b)), Y = Cv.Round(y0 - src.Height * (a))
};
if (pt1.X < 1)
{
pt1.X = 0;
pt2.X = src.Width;
}
if (pt2.X < 1)
{
pt1.X = src.Width;
pt2.X = 0;
}
if (pt1.Y < 1)
{
pt1.Y = 0;
pt2.Y = src.Height;
}
if (pt2.Y < 1)
{
pt1.Y = src.Height;
pt2.Y = 0;
}
srcImgStd.Line(pt1, pt2, CvColor.Red, 1, LineType.AntiAlias, 0);
houghLine = srcImgStd.Clone();
orImage.Line(pt1, pt2, CvColor.Red, 1, LineType.AntiAlias, 0);
houghLine = orImage.Clone();
return(houghLine);
}
}
}
return(houghLine);
}
public IplImage HoughLines_Line(IplImage src, int canny1, int canny2, int thresh)
{
// cvHoughLines2
// 확률적 허프 변환을 지정해 선분의 검출을 실시한다
List <CvPoint> LinePoints = new List <CvPoint>();
// (1) 화상 읽기
using (IplImage srcImgStd = src.Clone())
using (IplImage srcImgGray = new IplImage(src.Size, BitDepth.U8, 1))
{
Cv.CvtColor(srcImgStd, srcImgGray, ColorConversion.BgrToGray);
// (2) 허프변환을 위한 캐니엣지 처리
//Cv.Canny(srcImgGray, srcImgGray, 50, 200, ApertureSize.Size3);
Cv.Canny(srcImgGray, srcImgGray, canny1, canny2, ApertureSize.Size3);
houghLine = srcImgGray.Clone();
using (CvMemStorage storage = new CvMemStorage())
{
LinePoints.Clear();
// (3) 표준적 허프 변환에 의한 선의 검출과 검출된 선 그리기
CvSeq lines = srcImgGray.HoughLines2(storage, HoughLinesMethod.Standard, 1, Math.PI / 180, thresh, 0, 0);
//int limit = Math.Min(lines.Total, 10);
for (int i = 0; i < Math.Min(lines.Total, 3); i++)
{
CvLineSegmentPolar elem = lines.GetSeqElem <CvLineSegmentPolar>(i).Value;
float rho = elem.Rho;
float theta = elem.Theta;
double a = Math.Cos(theta), b = Math.Sin(theta);
double x0 = a * rho, y0 = b * rho;
CvPoint pt1, pt2;
//pt1.X = Cv.Round(x0 + 1000*(-b));
//pt1.Y = Cv.Round(y0 + 1000*(a));
//pt2.X = Cv.Round(x0 - 1000*(-b));
//pt2.Y = Cv.Round(y0 - 1000*(a));
pt1.X = Cv.Round(x0 + srcImgStd.Width * (-b));
pt1.Y = Cv.Round(y0 + srcImgStd.Height * (a));
pt2.X = Cv.Round(x0 - srcImgStd.Width * (-b));
pt2.Y = Cv.Round(y0 - srcImgStd.Height * (a));
if (pt1.X < 0)
{
pt1.X = 0;
pt2.X = src.Width;
}
else if (pt2.X < 0)
{
pt1.X = src.Width;
pt2.X = 0;
}
if (pt1.Y < 0)
{
pt1.Y = 0;
pt2.Y = src.Height;
}
else if (pt2.Y < 0)
{
pt1.Y = src.Height;
pt2.Y = 0;
}
//Trace.WriteLine(pt1.X.ToString("000.00000 ") + pt1.Y.ToString("000.00000 ") + pt2.X.ToString("000.00000 ") + pt2.Y.ToString("000.00000"));
srcImgStd.Line(pt1, pt2, CvColor.Red, 1, LineType.AntiAlias, 0);
LinePoints.Add(pt1);
LinePoints.Add(pt2);
houghLine = srcImgStd.Clone();
}
}
}
return(houghLine);
}
//private CvSeq houghLines;
//public IplImage srcImgGray = new IplImage();
//public IplImage srcImgStd = new IplImage();
//public CvMemStorage storage = new CvMemStorage();
public List <CvPoint> HoughLines_Point(IplImage src, int edge1, int edge2, int line1, int line2, int line3)
{
try
{
// 확률적 허프 변환을 지정해 선분의 검출을 실시한다
List <CvPoint> LinePoints = new List <CvPoint>();
IplImage srcImgStd = new IplImage(src.ROI.Size, BitDepth.U8, 3);
Cv.Copy(src, srcImgStd);
IplImage srcImgGray = new IplImage(src.ROI.Size, BitDepth.U8, 1);
Cv.CvtColor(srcImgStd, srcImgGray, ColorConversion.BgrToGray);
Cv.Canny(srcImgGray, srcImgGray, edge1, edge2, ApertureSize.Size3);
CvMemStorage storage = new CvMemStorage();
CvSeq houghLines = srcImgGray.HoughLines2(storage, HoughLinesMethod.Probabilistic, 1, Math.PI / 180, line1, line2, line3);
//CvWindow.ShowImages(src);
//Hough_Lines_Point LinesFinder = new Hough_Lines_Point();
//LinesFinder.srcImgGray = new IplImage(src.Size, BitDepth.U8, 1);
//Cv.CvtColor(src, LinesFinder.srcImgGray, ColorConversion.BgrToGray);
//Cv.Canny(LinesFinder.srcImgGray, LinesFinder.srcImgGray, edge1, edge2, ApertureSize.Size3);
//CvMemStorage storage = new CvMemStorage();
//CvSeq houghLines = LinesFinder.srcImgGray.HoughLines2(storage, HoughLinesMethod.Probabilistic, 1, Math.PI / 180, line1, line2, line3);
//CvWindow.ShowImages(LinesFinder.srcImgGray);
//bool tmpFalg = true;
// for(int i = 1; i < 256;i++)
// {
// if (houghLines.Total >= 10)
// {
// break;
// }
// houghLines = LinesFinder.srcImgGray.HoughLines2(LinesFinder.storage, HoughLinesMethod.Probabilistic, 1, Math.PI / 180, 2, line2, line3);
// }
//LinePoints = new List<CvPoint>();
LinePoints.Clear();
int limit = Math.Min(houghLines.Total, 10);
for (int i = 0; i < limit; i++)
{
CvLineSegmentPolar elem = houghLines.GetSeqElem <CvLineSegmentPolar>(i).Value;
CvPoint pt1 = houghLines.GetSeqElem <CvLineSegmentPoint>(i).Value.P1;
CvPoint pt2 = houghLines.GetSeqElem <CvLineSegmentPoint>(i).Value.P2;
//Trace.WriteLine(pt1.X.ToString("000.00000 ") + pt1.Y.ToString("000.00000 ") + pt2.X.ToString("000.00000 ")+ pt2.Y.ToString("000.00000"));
//LinesFinder.srcImgStd.Line(LinesFinder.pt1, LinesFinder.pt2, CvColor.LawnGreen, 3, LineType.AntiAlias, 0);
//TestImage = LinesFinder.srcImgStd.Clone();
//src.Line(pt1, pt2, CvColor.LawnGreen, 3, LineType.AntiAlias, 0);
//CvWindow.ShowImages(src);
//TestImage = src.Clone();
LinePoints.Add(pt1);
LinePoints.Add(pt2);
}
srcImgStd.Dispose();
srcImgGray.Dispose();
houghLines.Dispose();
storage.Dispose();
return(LinePoints);
}
catch (Exception e)
{
MessageBox.Show(MethodBase.GetCurrentMethod().Name + " " + e.Message);
throw;
}
}
public IplImage HoughLines(IplImage src) //허프를 통한 차선 검출
{
flag_yellow = 0;
flag_white = 0;
slice = this.SliceImage(src);
hsv = this.YellowTransform(slice);
hls = this.WhiteTransform(slice);
blur = this.BlurImage(hsv);
bin = this.Binary(hsv, 50); //Adaptive Thresholding로 변환
Cv.Canny(bin, bin, 50, 200, ApertureSize.Size3);
CvMemStorage Storage = new CvMemStorage();
/* Probabilistic 검출*/
CvSeq lines = bin.HoughLines2(Storage, HoughLinesMethod.Probabilistic, 1, Math.PI / 180, 50, 100, 100);
double[] LineAngle = new double[lines.Total];
double[] LineAngle_q = new double[lines.Total];
if (lines != null)
{
for (int i = 0; i < lines.Total; i++) //검출된 모든 라인을 검사
{
CvLineSegmentPoint elem = lines.GetSeqElem <CvLineSegmentPoint>(i).Value; // 해당 라인의 데이터를 가져옴
int dx = elem.P2.X - elem.P1.X; //x좌표의 차
int dy = elem.P2.Y - elem.P1.Y; //y좌표의 차
double angle = Math.Atan2(dy, dx) * 180 / Math.PI; //기울기 구하기
LineAngle[i] = angle;
LineAngle_q[i] = angle;
}
if (lines.Total != 0)
{
Quick_Sort(LineAngle_q, lines.Total);
}
for (int i = 0; i < lines.Total; i++)
{
CvLineSegmentPoint elem = lines.GetSeqElem <CvLineSegmentPoint>(i).Value; // 해당 라인의 데이터를 가져옴
int dx = elem.P2.X - elem.P1.X; //x좌표의 차
int dy = elem.P2.Y - elem.P1.Y; //y좌표의 차
double angle = Math.Atan2(dy, dx) * 180 / Math.PI; //기울기 구하기
if (LineAngle_q[lines.Total - 1] == LineAngle[i] || LineAngle_q[0] == LineAngle[i])
{
//P2에 50을 더해도 P1보다 작거나, P2에 50을 빼도 P1보다 큰경우
if (elem.P1.Y > elem.P2.Y || elem.P1.Y < elem.P2.Y) //P1 :시작점, P2 : 도착점
{
if (Math.Abs(angle) >= 14 && Math.Abs(angle) <= 80)
{
Cv.PutText(src, "Yellow angle : " + angle.ToString(), new CvPoint(100, 50), new CvFont(FontFace.HersheyComplex, 1, 1), CvColor.Yellow);
P1 = elem.P1;
P2 = elem.P2;
d_dx = Math.Abs(P2.X - P1.X);
d_dy = Math.Abs(P2.Y - P1.Y);
while (true)
{
if (P1.Y > P2.Y)
{
if (P1.Y < src.Height)
{
if (P1.X < P2.X)
{
P1.X -= d_dx / 100;
P1.Y += d_dy / 100;
}
else
{
P1.X += d_dx / 100;
P1.Y += d_dy / 100;
}
}
else if (P2.Y > src.Height * 5 / 8)
{
if (P1.X > P2.X)
{
P2.X -= d_dx / 100;
P2.Y -= d_dy / 100;
}
else
{
P2.X += d_dx / 100;
P2.Y -= d_dy / 100;
}
}
else
{
break;
}
}
else
{
if (P2.Y < src.Height)
{
if (P1.X > P2.X)
{
P2.X -= d_dx / 100;
P2.Y += d_dy / 100;
}
else
{
P2.X += d_dx / 100;
P2.Y += d_dy / 100;
}
}
else if (P1.Y > src.Height * 5 / 8)
{
if (P1.X < P2.X)
{
P1.X -= d_dx / 100;
P1.Y -= d_dy / 100;
}
else
{
P1.X += d_dx / 100;
P1.Y -= d_dy / 100;
}
}
else
{
break;
}
}
d_dx = Math.Abs(P2.X - P1.X);
d_dy = Math.Abs(P2.Y - P1.Y);
}
flag_yellow = 1;
prev_elemLeft.P1 = P1;
prev_elemLeft.P2 = P2;
src.Line(P1, P2, CvColor.Yellow, 10, LineType.AntiAlias, 0); //P1,P2의 좌표를 가지고 사용자에게 정보를 줄수있음(ex) angle이 심하게 올라가면 차선이탈
break;
}
}
}
}
}
blur = this.BlurImage(hls);
bin = this.Binary(hls, 50); //Adaptive Thresholding로 변환
Cv.Canny(bin, bin, 50, 150, ApertureSize.Size3);
/* Probabilistic 검출*/
lines = bin.HoughLines2(Storage, HoughLinesMethod.Probabilistic, 1, Math.PI / 180, 50, 100, 100);
LineAngle = new double[lines.Total];
LineAngle_q = new double[lines.Total];
if (lines != null)
{
for (int i = 0; i < lines.Total; i++) //검출된 모든 라인을 검사
{
CvLineSegmentPoint elem = lines.GetSeqElem <CvLineSegmentPoint>(i).Value; // 해당 라인의 데이터를 가져옴
int dx = elem.P2.X - elem.P1.X; //x좌표의 차
int dy = elem.P2.Y - elem.P1.Y; //y좌표의 차
double angle = Math.Atan2(dy, dx) * 180 / Math.PI; //기울기 구하기
LineAngle[i] = angle;
LineAngle_q[i] = angle;
}
if (lines.Total != 0)
{
Quick_Sort(LineAngle_q, lines.Total);
}
for (int i = 0; i < lines.Total; i++)
{
CvLineSegmentPoint elem = lines.GetSeqElem <CvLineSegmentPoint>(i).Value; // 해당 라인의 데이터를 가져옴
int dx = elem.P2.X - elem.P1.X; //x좌표의 차
int dy = elem.P2.Y - elem.P1.Y; //y좌표의 차
double angle = Math.Atan2(dy, dx) * 180 / Math.PI; //기울기 구하기
if (LineAngle_q[lines.Total - 1] == LineAngle[i] || LineAngle_q[0] == LineAngle[i])
{
//P2에 50을 더해도 P1보다 작거나, P2에 50을 빼도 P1보다 큰경우
if (elem.P1.Y > elem.P2.Y || elem.P1.Y < elem.P2.Y) //P1 :시작점, P2 : 도착점
{
if (Math.Abs(angle) >= 14 && Math.Abs(angle) <= 80)
{
Cv.PutText(src, "Whtie angle : " + angle.ToString(), new CvPoint(100, 100), new CvFont(FontFace.HersheyComplex, 1, 1), CvColor.White);
P1 = elem.P1;
P2 = elem.P2;
d_dx = Math.Abs(P2.X - P1.X);
d_dy = Math.Abs(P2.Y - P1.Y);
while (true)
{
if (P1.Y > P2.Y)
{
if (P1.Y < src.Height)
{
if (P1.X < P2.X)
{
P1.X -= d_dx / 100;
P1.Y += d_dy / 100;
}
else
{
P1.X += d_dx / 100;
P1.Y += d_dy / 100;
}
}
else if (P2.Y > src.Height * 5 / 8)
{
if (P1.X > P2.X)
{
P2.X -= d_dx / 100;
P2.Y -= d_dy / 100;
}
else
{
P2.X += d_dx / 100;
P2.Y -= d_dy / 100;
}
}
else
{
break;
}
}
else
{
if (P2.Y < src.Height)
{
if (P1.X > P2.X)
{
P2.X -= d_dx / 100;
P2.Y += d_dy / 100;
}
else
{
P2.X += d_dx / 100;
P2.Y += d_dy / 100;
}
}
else if (P1.Y > src.Height * 5 / 8)
{
if (P1.X < P2.X)
{
P1.X -= d_dx / 100;
P1.Y -= d_dy / 100;
}
else
{
P1.X += d_dx / 100;
P1.Y -= d_dy / 100;
}
}
else
{
break;
}
}
d_dx = Math.Abs(P2.X - P1.X);
d_dy = Math.Abs(P2.Y - P1.Y);
}
flag_white = 1;
prev_elemRight.P1 = P1;
prev_elemRight.P2 = P2;
src.Line(P1, P2, CvColor.White, 10, LineType.AntiAlias, 0); //P1,P2의 좌표를 가지고 사용자에게 정보를 줄수있음(ex) angle이 심하게 올라가면 차선이탈
break;
}
}
}
}
}
if (flag_yellow == 0)
{
src.Line(prev_elemLeft.P1, prev_elemLeft.P2, CvColor.Yellow, 10, LineType.AntiAlias, 0);
}
if (flag_white == 0)
{
src.Line(prev_elemRight.P1, prev_elemRight.P2, CvColor.White, 10, LineType.AntiAlias, 0);
}
Cv.ReleaseMemStorage(Storage);
//vehicle_detection = this.VDConvert.VehicleDetect(src);
Dispose();
return(src);
}
/// <summary>
/// sample of C style wrapper
/// </summary>
private void SampleC()
{
// cvHoughLines2
// 標準的ハフ変換と確率的ハフ変換を指定して線（線分）の検出を行なう．サンプルコード内の各パラメータ値は処理例の画像に対してチューニングされている．
// (1)画像の読み込み
using (IplImage srcImgGray = new IplImage(Const.ImageGoryokaku, LoadMode.GrayScale))
using (IplImage srcImgStd = new IplImage(Const.ImageGoryokaku, LoadMode.Color))
using (IplImage srcImgProb = srcImgStd.Clone())
{
// (2)ハフ変換のための前処理
Cv.Canny(srcImgGray, srcImgGray, 50, 200, ApertureSize.Size3);
using (CvMemStorage storage = new CvMemStorage())
{
// (3)標準的ハフ変換による線の検出と検出した線の描画
CvSeq lines = srcImgGray.HoughLines2(storage, HoughLinesMethod.Standard, 1, Math.PI / 180, 50, 0, 0);
// wrapper style
//CvLineSegmentPolar[] lines = src_img_gray.HoughLinesStandard(1, Math.PI / 180, 50, 0, 0);
int limit = Math.Min(lines.Total, 10);
for (int i = 0; i < limit; i++)
{
// native code style
/*
* unsafe
* {
* float* line = (float*)lines.GetElem<IntPtr>(i).Value.ToPointer();
* float rho = line[0];
* float theta = line[1];
* }
* //*/
// wrapper style
CvLineSegmentPolar elem = lines.GetSeqElem <CvLineSegmentPolar>(i).Value;
float rho = elem.Rho;
float theta = elem.Theta;
double a = Math.Cos(theta);
double b = Math.Sin(theta);
double x0 = a * rho;
double y0 = b * rho;
CvPoint pt1 = new CvPoint {
X = Cv.Round(x0 + 1000 * (-b)), Y = Cv.Round(y0 + 1000 * (a))
};
CvPoint pt2 = new CvPoint {
X = Cv.Round(x0 - 1000 * (-b)), Y = Cv.Round(y0 - 1000 * (a))
};
srcImgStd.Line(pt1, pt2, CvColor.Red, 3, LineType.AntiAlias, 0);
}
// (4)確率的ハフ変換による線分の検出と検出した線分の描画
lines = srcImgGray.HoughLines2(storage, HoughLinesMethod.Probabilistic, 1, Math.PI / 180, 50, 50, 10);
// wrapper style
//CvLineSegmentPoint[] lines = src_img_gray.HoughLinesProbabilistic(1, Math.PI / 180, 50, 0, 0);
for (int i = 0; i < lines.Total; i++)
{
// native code style
/*
* unsafe
* {
* CvPoint* point = (CvPoint*)lines.GetElem<IntPtr>(i).Value.ToPointer();
* src_img_prob.Line(point[0], point[1], CvColor.Red, 3, LineType.AntiAlias, 0);
* }
* //*/
// wrapper style
CvLineSegmentPoint elem = lines.GetSeqElem <CvLineSegmentPoint>(i).Value;
srcImgProb.Line(elem.P1, elem.P2, CvColor.Red, 3, LineType.AntiAlias, 0);
}
}
// (5)検出結果表示用のウィンドウを確保し表示する
using (new CvWindow("Hough_line_standard", WindowMode.AutoSize, srcImgStd))
using (new CvWindow("Hough_line_probabilistic", WindowMode.AutoSize, srcImgProb))
{
CvWindow.WaitKey(0);
}
}
}
static void Main()
{
// CvCapture cap = CvCapture.FromFile("video.avi");
CvCapture cap = CvCapture.FromFile("road_3.avi");
CvWindow w = new CvWindow("Lane Detection");
CvWindow canny = new CvWindow("Lane Detection_2");
CvWindow hough = new CvWindow("Lane Detection");
// CvWindow smoothing = new CvWindow("Lane Detection_3");
IplImage src, gray, dstCanny, halfFrame, smallImg;
CvMemStorage storage = new CvMemStorage();
CvSeq lines;
CvHaarClassifierCascade cascade = CvHaarClassifierCascade.FromFile("haarcascade_cars3.xml");
const double Scale = 2.0;
const double ScaleFactor = 1.05;
const int MinNeighbors = 3;
double min_range = 70;
double max_range = 120;
CvSeq <CvAvgComp> cars;
while (CvWindow.WaitKey(10) < 0)
{
src = cap.QueryFrame();
halfFrame = new IplImage(new CvSize(src.Size.Width / 2, src.Size.Height / 2), BitDepth.U8, 3);
Cv.PyrDown(src, halfFrame, CvFilter.Gaussian5x5);
gray = new IplImage(src.Size, BitDepth.U8, 1);
dstCanny = new IplImage(src.Size, BitDepth.U8, 1);
/*
*
* smallImg = new IplImage(new CvSize(Cv.Round(src.Width / Scale), Cv.Round(src.Height / Scale)), BitDepth.U8, 1);
* using (IplImage grey = new IplImage(src.Size, BitDepth.U8, 1))
* {
* Cv.CvtColor(src, grey, ColorConversion.BgrToGray);
* Cv.Resize(grey, smallImg, Interpolation.Linear);
* Cv.EqualizeHist(smallImg, smallImg);
* }
*
* cars = Cv.HaarDetectObjects(smallImg, cascade, storage, ScaleFactor, MinNeighbors, HaarDetectionType.DoCannyPruning, new CvSize(30, 30));
*
* for (int i = 0; i < cars.Total; i++)
* {
* CvRect r = cars[i].Value.Rect;
* CvPoint center = new CvPoint
* {
* X = Cv.Round((r.X + r.Width * 0.5) * Scale),
* Y = Cv.Round((r.Y + r.Height * 0.5) * Scale)
* };
* int radius = Cv.Round((r.Width + r.Height) * 0.25 * Scale);
* src.Circle(center, radius, CvColor.Blue, 2, LineType.AntiAlias, 0);
* } */
// Crop off top half of image since we're only interested in the lower portion of the video
int halfWidth = src.Width / 2;
int halfHeight = src.Height / 2;
int startX = halfWidth - (halfWidth / 2);
src.SetROI(new CvRect(0, halfHeight - 0, src.Width - 1, src.Height - 1));
gray.SetROI(src.GetROI());
dstCanny.SetROI(src.GetROI());
src.CvtColor(gray, ColorConversion.BgrToGray);
Cv.Smooth(gray, gray, SmoothType.Gaussian, 5, 5);
Cv.Canny(gray, dstCanny, 50, 200, ApertureSize.Size3);
storage.Clear();
lines = dstCanny.HoughLines2(storage, HoughLinesMethod.Probabilistic, 1, Math.PI / 180, 50, 50, 100);
for (int i = 0; i < lines.Total; i++)
{
CvLineSegmentPoint elem = lines.GetSeqElem <CvLineSegmentPoint>(i).Value;
int dx = elem.P2.X - elem.P1.X;
int dy = elem.P2.Y - elem.P1.Y;
double angle = Math.Atan2(dy, dx) * 180 / Math.PI;
// if (Math.Abs(angle) <= 10)
// continue;
if (elem.P1.Y > elem.P2.Y + 50 || elem.P1.Y < elem.P2.Y - 50)
{
src.Line(elem.P1, elem.P2, CvColor.Green, 9, LineType.Link8, 0);
}
}
src.ResetROI();
storage.Clear();
w.Image = src;
// canny.Image = dstCanny;
// smoothing.Image = gray;
// w.Image = dstCanny;
// w.Image = dstCanny;
}
}
