private List<GridQuad> FindBoardQuads(BoardFinder boardLineFinder)
{
List<GridQuad> quads = new List<GridQuad>();
for (int hi1 = 0; hi1 < boardLineFinder.HorizLines.Length - 1; hi1++)
for (int hi2 = hi1 + 1; hi2 < boardLineFinder.HorizLines.Length; hi2++)
{
var lineH1 = boardLineFinder.HorizLines[hi1];
var lineH2 = boardLineFinder.HorizLines[hi2];
for (int vi1 = 0; vi1 < boardLineFinder.VertLines.Length - 1; vi1++)
for (int vi2 = vi1 + 1; vi2 < boardLineFinder.VertLines.Length; vi2++)
{
var lineV1 = boardLineFinder.VertLines[vi1];
var lineV2 = boardLineFinder.VertLines[vi2];
PointF[] points = FindQuad(lineH1, lineH2, lineV1, lineV2);
if (points != null)
{
quads.Add(new GridQuad(points));
}
}
}
return quads;
}
public void FindBoard()
{
// Convert the image to grayscale and filter out the noise
GrayImage = BoardImage.Convert<Gray, Byte>().PyrDown().PyrUp();
// Do canny filter
CannyImage = GrayImage.Canny(170.0, 50.0);
// Do Edge finder
Lines = CannyImage.HoughLinesBinary(
1, //Distance resolution in pixel-related units
Math.PI / 360.0, //Angle resolution measured in radians.
50, //threshold
30, //min Line width
20 //gap between lines
)[0]; //Get the lines from the first channel
// Find board
BoardFinder boardLineFinder1 = new BoardFinder();
boardLineFinder1.BuildLineSets(Lines, Lines, Math.PI / 10.0, Math.PI / 40.0);
// Make lines image
Image<Bgr, Byte> linesImage = BoardImage.CopyBlank();
foreach (LineSegment2D line in Lines)
linesImage.Draw(line, new Bgr(System.Drawing.Color.Gray), 1);
foreach (LineSegment2D line in boardLineFinder1.HorizLines)
linesImage.Draw(line, new Bgr(System.Drawing.Color.Red), 1);
foreach (LineSegment2D line in boardLineFinder1.VertLines)
linesImage.Draw(line, new Bgr(System.Drawing.Color.Green), 1);
LinesImage = linesImage;
// Remove perspective from image
RemovePerspective(boardLineFinder1.GetBoardRegression());
// Convert the warped image to grayscale and filter out the noise
WarpedGrayImage = WarpedImage.Convert<Gray, Byte>().PyrDown().PyrUp();
// Do canny filter on warped image
WarpedCannyImage = WarpedGrayImage.Canny(160, 90);
// Do Edge finder on warped image
WarpedVertLines = WarpedCannyImage.HoughLinesBinary(
1, //Distance resolution in pixel-related units
Math.PI / 360, //Angle resolution measured in radians.
30, //threshold
40, //min Line width
20 //gap between lines
)[0]; //Get the lines from the first channel
WarpedHorizLines = WarpedCannyImage.HoughLinesBinary(
1, //Distance resolution in pixel-related units
Math.PI / 360, //Angle resolution measured in radians.
60, //threshold
70, //min Line width
40 //gap between lines
)[0]; //Get the lines from the first channel
// Find board
BoardFinder boardLineFinder2 = new BoardFinder();
boardLineFinder2.BuildLineSets(WarpedVertLines, WarpedHorizLines, Math.PI / 60.0, Math.PI / 60.0);
// Make lines image
Image<Bgr, Byte> warpedLinesImage = WarpedImage.CopyBlank();
Image<Gray, Byte> warpedGridLinesImage = WarpedGrayImage.CopyBlank();
//foreach (LineSegment2D line in WarpedVertLines.Union(WarpedHorizLines))
// warpedLinesImage.Draw(line, new Bgr(System.Drawing.Color.Gray), 1);
foreach (LineSegment2D line in boardLineFinder2.HorizLines)
{
warpedGridLinesImage.Draw(line, new Gray(100), 1);
warpedLinesImage.Draw(line, new Bgr(System.Drawing.Color.Red), 1);
}
foreach (LineSegment2D line in boardLineFinder2.VertLines)
{
warpedGridLinesImage.Draw(line, new Gray(100), 1);
warpedLinesImage.Draw(line, new Bgr(System.Drawing.Color.Green), 1);
}
WarpedLinesImage = warpedLinesImage;
GridQuadsImage = WarpedImage.Copy();
BoardImageWithBoxes = BoardImage.Copy();
try
{
// Find grid quads
List<GridQuad> quads = FindBoardQuads(boardLineFinder2);
GridQuad[] quadsToChase = FilterOutBadQuads(quads);
GridQuad[,] quadsToDraw = ChaseThe64Quads(quadsToChase);
for (int i = 0; i < 8; i++)
for (int j = 0; j < 8; j++)
{
if (quadsToDraw[i, j] != null)
DrawRectangle(GridQuadsImage, quadsToDraw[i, j].p, new Bgr(120, 190, 20), 2);
}
DrawRectangle(GridQuadsImage, medianBox.p, new Bgr(220, 250, 20), 2);
// Set up return array
Quads = new GridQuad[8, 8];
for (int i = 0; i < 8; i++)
for (int j = 0; j < 8; j++)
{
if (quadsToDraw[i, j] != null)
{
Quads[i, j] = new GridQuad(quadsToDraw[i, j].p);
m_InverseWarpMatrix.ProjectPoints(Quads[i, j].p);
DrawRectangle(BoardImageWithBoxes, Quads[i, j].p, new Bgr(120, 190, 20), 2);
}
}
}
catch { }
}
