/// <summary>
/// 最適blobの選定
/// </summary>
/// <remarks>
/// 最適blobの選定（areaの大きさと前回からの距離）
/// </remarks>
public int mesure(CvBlobs blobs)
{
if (blobs.Count == 0)
{
return(0);
}
CvPoint2D64f pos_ans = new CvPoint2D64f(-1, -1);
CvBlob maxBlob = blobs.LargestBlob();
int max_label = blobs.GreaterBlob().Label;
if (blobs.Count == 0)
{
return(0);
}
pos_ans = maxBlob.Centroid;
distance0 = Cal_distance_const(distance_pre);
if (blobs.Count > 1)
{
// 最適blobの選定
double eval, eval_max = 0;
foreach (var item in blobs)
{
eval = position_mesure.Cal_Evaluate(item.Value.Centroid, item.Value.Area, pos_pre, distance0);
if (eval > eval_max)
{
eval_max = eval;
max_label = item.Key;
pos_ans = item.Value.Centroid;
Console.WriteLine("{0} | Centroid:{1} Area:{2} eval:{3}", item.Key, item.Value.Centroid, item.Value.Area, eval);
//w.WriteLine("{0} {1} {2} {3} {4}", dis, dv, i, item.Key, item.Value.Area);
}
//sw.Stop(); t5 = 1000.0 * sw.ElapsedTicks / Stopwatch.Frequency; sw.Reset(); sw.Start();
Console.WriteLine(" pos_ans:{0}", pos_ans);
}
}
double dis = Cal_distance(pos_ans, pos_pre);
if (distance_pre > dis)
{
distance_pre = (1 - dist_alpha) * distance_pre + dist_alpha * dis;
}
else
{
distance_pre = dis;
}
pos_pre = pos_ans;
return(max_label);
}
/// <summary>
/// Gets the largest blob
/// </summary>
/// <param name="imgSrc"></param>
/// <param name="imgRender"></param>
private void FilterByMaximumBlob(IplImage imgSrc, IplImage imgDst)
{
CvBlobs blobs = new CvBlobs();
imgDst.Zero();
blobs.Label(imgSrc);
CvBlob max = blobs.GreaterBlob();
if (max == null)
{
return;
}
blobs.FilterByArea(max.Area, max.Area);
blobs.FilterLabels(imgDst);
}
private static void FilterByMaximalBlob(IplImage imgSrc, IplImage imgDst)
{
using (CvBlobs blobs = new CvBlobs())
using (IplImage imgLabelData = new IplImage(imgSrc.Size, CvBlobLib.DepthLabel, 1))
{
imgDst.Zero();
blobs.Label(imgSrc, imgLabelData);
CvBlob max = blobs[blobs.GreaterBlob()];
if (max == null)
{
return;
}
blobs.FilterByArea(max.Area, max.Area);
blobs.FilterLabels(imgLabelData, imgDst);
}
}
public static IplImage test(IplImage target)
{
CvBlobs blobs = new CvBlobs();
IplImage lableImg = new IplImage(target.Size, CvBlobLib.DepthLabel, 1);
IplImage retImg = new IplImage(target.Size, BitDepth.U8, 1);
blobs.Label(target);
CvBlob max = blobs.GreaterBlob();
if (max == null)
{
return(target);
}
blobs.FilterByArea(max.Area, max.Area);
blobs.FilterLabels(retImg);
return(retImg);
}
/// <summary>
/// ラベリングにより最大の面積の領域を残す
/// </summary>
/// <param name="imgSrc"></param>
/// <param name="imgRender"></param>
private void FilterByMaximalBlob(IplImage imgSrc, IplImage imgDst)
{
CvBlobs blobs = new CvBlobs();
imgDst.Zero();
blobs.Label(imgSrc);
CvBlob max = blobs.GreaterBlob();
if (max == null)
return;
blobs.FilterByArea(max.Area, max.Area);
blobs.FilterLabels(imgDst);
}
/// <summary>
/// Find greater blob. (cvGreaterBlob)
/// </summary>
/// <param name="blobs">List of blobs.</param>
/// <returns>The greater blob.</returns>
public static CvBlob GreaterBlob(CvBlobs blobs)
{
if (blobs == null)
throw new ArgumentNullException(nameof(blobs));
return blobs.GreaterBlob();
}
// 別スレッド処理（キャプチャー）
private void worker_DoWork(object sender, DoWorkEventArgs e)
{
BackgroundWorker bw = (BackgroundWorker)sender;
Stopwatch sw = new Stopwatch();
string str;
id = 0;
//PID送信用UDP
//バインドするローカルポート番号
// FSI_PID_DATA pid_data = new FSI_PID_DATA();
int localPort = mmFsiUdpPortMT3PV;
System.Net.Sockets.UdpClient udpc2 = null;;
/* try
* {
* udpc2 = new System.Net.Sockets.UdpClient(localPort);
*
* }
* catch (Exception ex)
* {
* //匿名デリゲートで表示する
* this.Invoke(new dlgSetString(ShowRText), new object[] { richTextBox1, ex.ToString() });
* }
*/
//videoInputオブジェクト
const int DeviceID = 0; // 0; // 3 (pro), 4(piccolo) 7(DMK)
const int CaptureFps = 30; // 30
int interval = (int)(1000 / CaptureFps / 10);
const int CaptureWidth = 640;
const int CaptureHeight = 480;
// 画像保存枚数
int mmFsiPostRec = 60;
int save_counter = mmFsiPostRec;
using (VideoInput vi = new VideoInput())
{
vi.SetIdealFramerate(DeviceID, CaptureFps);
vi.SetupDevice(DeviceID, CaptureWidth, CaptureHeight);
int width = vi.GetWidth(DeviceID);
int height = vi.GetHeight(DeviceID);
using (IplImage img = new IplImage(width, height, BitDepth.U8, 3))
using (IplImage img_dark8 = Cv.LoadImage(@"C:\piccolo\MT3V_dark.bmp", LoadMode.GrayScale))
//using (IplImage img_dark = new IplImage(width, height, BitDepth.U8, 3))
using (IplImage img_mono = new IplImage(width, height, BitDepth.U8, 1))
using (IplImage img2 = new IplImage(width, height, BitDepth.U8, 1))
// using (Bitmap bitmap = new Bitmap(width, height, PixelFormat.Format24bppRgb))
using (CvFont font = new CvFont(FontFace.HersheyComplex, 0.45, 0.45))
//using (CvWindow window0 = new CvWindow("FIFO0", WindowMode.AutoSize))
{
//this.Size = new Size(width + 12, height + 148);
double min_val, max_val;
CvPoint min_loc, max_loc;
int size = 15;
int size2x = size / 2;
int size2y = size / 2;
int crop = 20;
double sigma = 3;
long elapsed0 = 0, elapsed1 = 0;
double framerate0 = 0, framerate1 = 0;
double alfa_fr = 0.99;
sw.Start();
while (bw.CancellationPending == false)
{
if (vi.IsFrameNew(DeviceID))
{
DateTime dn = DateTime.Now; //取得時刻
vi.GetPixels(DeviceID, img.ImageData, false, true);
// 画面time表示
str = String.Format("Wide ID:{0:D2} ", id) + dn.ToString("yyyyMMdd_HHmmss_fff");// +String.Format(" ({0,000:F2},{1,000:F2}) ({2,000:0},{3,000:0})({4,0:F1})", gx, gy, max_loc.X, max_loc.Y, max_val);
img.PutText(str, new CvPoint(10, 475), font, new CvColor(0, 100, 40));
Cv.CvtColor(img, img_mono, ColorConversion.BgrToGray);
Cv.Sub(img_mono, img_dark8, imgdata.img); // dark減算
imgdata.id = ++id;
imgdata.t = dn;
imgdata.ImgSaveFlag = !(ImgSaveFlag != 0); //int->bool変換
if (fifo.Count == MaxFrame - 1)
{
fifo.EraseLast();
}
fifo.InsertFirst(imgdata);
#region 位置検出1//MinMaxLoc
/*// 位置検出
* Cv.Smooth(imgdata.img, img2, SmoothType.Gaussian, size, 0, sigma, 0);
* CvRect rect;
* if (PvMode == MyDETECT)
* {
* rect = new CvRect( (int)(gx+0.5) - size, (int)(gy+0.5) - size, size*2, size*2);
* Cv.SetImageROI(img2, rect);
* Cv.MinMaxLoc(img2, out min_val, out max_val, out min_loc, out max_loc, null);
* Cv.ResetImageROI(img2);
* max_loc.X += (int)(gx + 0.5) - size; // 基準点が(1,1)のため＋１
* max_loc.Y += (int)(gy + 0.5) - size;
* }
* else
* {
* rect = new CvRect(crop, crop, width - (crop + crop), height - (crop + crop));
* Cv.SetImageROI(img2, rect);
* Cv.MinMaxLoc(img2, out min_val, out max_val, out min_loc, out max_loc, null);
* Cv.ResetImageROI(img2);
* max_loc.X += crop; // 基準点が(1,1)のため＋１
* max_loc.Y += crop;
* }
* window0.ShowImage(img2);
*
* double m00, m10, m01;
* size2x = size2y = size / 2;
* if (max_loc.X - size2x < 0) size2x = max_loc.X;
* if (max_loc.Y - size2y < 0) size2y = max_loc.Y;
* if (max_loc.X + size2x >= width ) size2x = width -max_loc.X -1;
* if (max_loc.Y + size2y >= height) size2y = height -max_loc.Y -1;
* rect = new CvRect(max_loc.X - size2x, max_loc.Y - size2y, size, size);
* CvMoments moments;
* Cv.SetImageROI(img2, rect);
* Cv.Moments(img2, out moments, false);
* Cv.ResetImageROI(img2);
* m00 = Cv.GetSpatialMoment(moments, 0, 0);
* m10 = Cv.GetSpatialMoment(moments, 1, 0);
* m01 = Cv.GetSpatialMoment(moments, 0, 1);
* gx = max_loc.X - size2x + m10 / m00;
* gy = max_loc.Y - size2y + m01 / m00;
*/
#endregion
#region 位置検出2 //Blob
Cv.Threshold(imgdata.img, img2, threshold_blob, 255, ThresholdType.Binary); //2ms
blobs.Label(img2, imgLabel); //1.4ms
max_label = blobs.GreaterBlob();
elapsed1 = sw.ElapsedTicks; //1.3ms
if (blobs.Count > 1 && gx >= 0)
{
uint min_area = (uint)(threshold_min_area * blobs[max_label].Area);
blobs.FilterByArea(min_area, uint.MaxValue); //0.001ms
// 最適blobの選定（area大 かつ 前回からの距離小）
double x = blobs[max_label].Centroid.X;
double y = blobs[max_label].Centroid.Y;
uint area = blobs[max_label].Area;
//CvRect rect;
distance_min = ((x - gx) * (x - gx) + (y - gy) * (y - gy)); //Math.Sqrt()
foreach (var item in blobs)
{
//Console.WriteLine("{0} | Centroid:{1} Area:{2}", item.Key, item.Value.Centroid, item.Value.Area);
x = item.Value.Centroid.X;
y = item.Value.Centroid.Y;
//rect = item.Value.Rect;
distance = ((x - gx) * (x - gx) + (y - gy) * (y - gy)); //将来はマハラノビス距離
if (distance < distance_min)
{
d_val = (item.Value.Area) / max_area;
if (distance <= 25) //近距離(5pix)
{
if (d_val >= 0.4) //&& d_val <= 1.2)
{
max_label = item.Key;
distance_min = distance;
}
}
else
{
if (d_val >= 0.8 && d_val <= 1.5)
{
max_label = item.Key;
distance_min = distance;
}
}
}
//w.WriteLine("{0} {1} {2} {3} {4}", dis, dv, i, item.Key, item.Value.Area);
}
//gx = x; gy = y; max_val = area;
}
if (max_label > 0)
{
maxBlob = blobs[max_label];
max_centroid = maxBlob.Centroid;
gx = max_centroid.X;
gy = max_centroid.Y;
max_area = maxBlob.Area;
if (this.States == SAVE)
{
Pid_Data_Send();
timerSavePostTime.Stop();
timerSaveMainTime.Stop();
timerSaveMainTime.Start();
}
}
else
{
gx = gy = 0;
max_area = 0;
}
#endregion
// 画面表示
str = String.Format("ID:{0:D2} ", id) + dn.ToString("yyyyMMdd_HHmmss_fff") + String.Format(" ({0,000:F2},{1,000:F2}) ({2,000:0},{3,000:0})({4,0:F1})", gx, gy, xoa, yoa, max_area);
if (imgdata.ImgSaveFlag)
{
str += " True";
}
img.PutText(str, new CvPoint(10, 20), font, new CvColor(0, 255, 100));
img.Circle(new CvPoint((int)gx, (int)gy), 10, new CvColor(255, 255, 100));
bw.ReportProgress(0, img);
// 処理速度
elapsed0 = sw.ElapsedTicks - elapsed1; // 1frameのticks
elapsed1 = sw.ElapsedTicks;
framerate0 = alfa_fr * framerate1 + (1 - alfa_fr) * (Stopwatch.Frequency / (double)elapsed0);
framerate1 = framerate0;
str = String.Format("fr time = {0}({1}){2:F1}", sw.Elapsed, id, framerate0); //," ", sw.ElapsedMilliseconds);
//匿名デリゲートで現在の時間をラベルに表示する
this.Invoke(new dlgSetString(ShowText), new object[] { textBox1, str });
//img.ToBitmap(bitmap);
//pictureBox1.Refresh();
}
Application.DoEvents();
Thread.Sleep(interval);
}
this.States = STOP;
this.Invoke(new dlgSetColor(SetColor), new object[] { ObsStart, this.States });
this.Invoke(new dlgSetColor(SetColor), new object[] { ObsEndButton, this.States });
vi.StopDevice(DeviceID);
//udpc2.Close();
}
}
}