Ejemplo n.º 1
0
        public override MarkerFrame Process(IplImage input)
        {
            var hInput     = input.DangerousGetHandle();
            var hCamMatrix = cameraMatrix != null?cameraMatrix.DangerousGetHandle() : IntPtr.Zero;

            var hDistortion = distortion != null?distortion.DangerousGetHandle() : IntPtr.Zero;

            detector.ThresholdType    = ThresholdType;
            detector.Param1           = Param1;
            detector.Param2           = Param2;
            detector.CornerRefinement = CornerRefinement;

            var detectedMarkers = detector.Detect(hInput, hCamMatrix, hDistortion, MarkerSize);

            return(new MarkerFrame(parameters, detectedMarkers));
        }
Ejemplo n.º 2
0
        private void CameraLoop()
        {
            CancellationToken cancellationToken = cancellationTokenSource.Token;
            var  parameters = new CameraParameters();
            Size size;
            var  cameraMatrix = new Mat(3, 3, Depth.F32, 1);
            var  distortion   = new Mat(1, 4, Depth.F32, 1);

            parameters.CopyParameters(cameraMatrix, distortion, out size);
            using (var detector = new MarkerDetector())
            {
                detector.ThresholdMethod  = ThresholdMethod.AdaptiveThreshold;
                detector.Param1           = 7.0;
                detector.Param2           = 7.0;
                detector.MinSize          = 0.04f;
                detector.MaxSize          = 0.5f;
                detector.CornerRefinement = CornerRefinementMethod.Lines;
                var markerSize = 10;
                using (var capture = Capture.CreateCameraCapture(0))
                {
                    while (!cancellationToken.IsCancellationRequested)
                    {
                        IplImage image           = capture.QueryFrame();
                        var      detectedMarkers = detector.Detect(image, cameraMatrix, distortion, markerSize);
                        foreach (var marker in detectedMarkers)
                        {
                            if (marker.Id == _MarkerIndex)
                            {
                                double sideOffset  = Map(marker.Center.X, 46, 590, -8, 8);
                                double hightOffset = Map(marker.Center.Y, 46, 435, 6, -6);
                                double height      = Map(marker.Area, 6280, 10150, 18.5, 14);
                                armDistance += hightOffset > 1.0 ? 0.4 : (hightOffset < -1.0 ? -0.4 : 0);
                                armAngle    += sideOffset > 1.0 ? 0.7 : (sideOffset < -1.0 ? -0.7 : 0);
                                //armDistance += hightOffset;
                                _Arm?.MoveToRelativeAsync(armAngle, armDistance, armHeight);
                                marker.Draw(image, Scalar.Rgb(1, 0, 0));
                            }
                            else
                            {
                                marker.Draw(image, Scalar.Rgb(0, 1, 0));
                            }
                        }
                        WindwoDisplay(image);
                    }
                }
            }
        }
Ejemplo n.º 3
0
        public override IObservable <MarkerFrame> Process(IObservable <IplImage> source)
        {
            return(Observable.Defer(() =>
            {
                Mat cameraMatrix = null;
                Mat distortion = null;
                CameraParameters parameters = null;
                var detector = new MarkerDetector();

                Size size;
                cameraMatrix = new Mat(3, 3, Depth.F32, 1);
                distortion = new Mat(1, 4, Depth.F32, 1);
                var parametersFileName = CameraParameters;
                if (!string.IsNullOrEmpty(parametersFileName))
                {
                    if (!File.Exists(parametersFileName))
                    {
                        throw new InvalidOperationException("Failed to open the camera parameters at the specified path.");
                    }

                    parameters = new CameraParameters();
                    parameters.ReadFromXmlFile(parametersFileName);
                    parameters.CopyParameters(cameraMatrix, distortion, out size);
                }

                return source.Select(input =>
                {
                    detector.ThresholdMethod = ThresholdMethod;
                    detector.Param1 = Param1;
                    detector.Param2 = Param2;
                    detector.MinSize = MinSize;
                    detector.MaxSize = MaxSize;
                    detector.CornerRefinement = CornerRefinement;

                    var detectedMarkers = detector.Detect(input, cameraMatrix, distortion, MarkerSize);
                    return new MarkerFrame(parameters, detectedMarkers);
                });
            }));
        }