public IplImage InpaintImage(IplImage src)
{
inpaint = new IplImage(src.Size, BitDepth.U8, 3);
IplImage paint = src.Clone();
IplImage mask = new IplImage(src.Size, BitDepth.U8, 1);
CvWindow win_Paint = new CvWindow("Paint", WindowMode.AutoSize, paint);
CvPoint prevPt = new CvPoint(-1, -1);
win_Paint.OnMouseCallback += delegate(MouseEvent eve, int x, int y, MouseEvent flag)
{
if (eve == MouseEvent.LButtonDown)
{
prevPt = new CvPoint(x, y);
}
else if (eve == MouseEvent.LButtonUp || (flag & MouseEvent.FlagLButton) == 0)
{
prevPt = new CvPoint(-1, -1);
}
else if (eve == MouseEvent.MouseMove && (flag & MouseEvent.FlagLButton) != 0)
{
CvPoint pt = new CvPoint(x, y);
Cv.DrawLine(mask, prevPt, pt, CvColor.White, 5, LineType.AntiAlias, 0);
Cv.DrawLine(paint, prevPt, pt, CvColor.White, 5, LineType.AntiAlias, 0);
prevPt = pt;
win_Paint.ShowImage(paint);
}
};
bool repeat = true;
while (repeat)
{
switch (CvWindow.WaitKey(0))
{
case 'r':
mask.SetZero();
Cv.Copy(src, paint);
win_Paint.ShowImage(paint);
break;
case '\r':
CvWindow win_Inpaint = new CvWindow("Inpainted", WindowMode.AutoSize);
Cv.Inpaint(paint, mask, inpaint, 3, InpaintMethod.NS);
win_Inpaint.ShowImage(inpaint);
break;
case (char)27:
CvWindow.DestroyAllWindows();
repeat = false;
break;
}
}
return(inpaint);
}
public VideoWriter()
{
// (1)カメラに対するキャプチャ構造体を作成する
using (CvCapture capture = CvCapture.FromCamera(0))
{
// (2)キャプチャサイズを取得する(この設定は，利用するカメラに依存する)
int width = capture.FrameWidth;
int height = capture.FrameHeight;
double fps = 15;//capture.Fps;
// (3)ビデオライタ構造体を作成する
using (CvVideoWriter writer = new CvVideoWriter("cap.avi", FourCC.Prompt, fps, new CvSize(width, height)))
using (CvFont font = new CvFont(FontFace.HersheyComplex, 0.7, 0.7))
using (CvWindow window = new CvWindow("Capture", WindowMode.AutoSize))
{
// (4)カメラから画像をキャプチャし，ファイルに書き出す
for (int frames = 0; ; frames++)
{
IplImage frame = capture.QueryFrame();
string str = string.Format("{0}[frame]", frames);
frame.PutText(str, new CvPoint(10, 20), font, new CvColor(0, 255, 100));
writer.WriteFrame(frame);
window.ShowImage(frame);
int key = CvWindow.WaitKey((int)(1000 / fps));
if (key == '\x1b')
{
break;
}
}
}
}
}
static void ShowImage(IplImage image)
{
using (CvWindow win = new CvWindow("OpenCV Window"))
{
win.ShowImage(image);
CvWindow.WaitKey(0);
}
//ShowImages(new IplImage[] { image });
}
public Histogram()
{
// cvCalcHist
// コントラストや明度をいろいろ変えられるサンプル
const int histSize = 64;
float[] range0 = { 0, 256 };
float[][] ranges = { range0 };
// 画像の読み込み
using (IplImage srcImg = new IplImage(Const.ImageLenna, LoadMode.GrayScale))
using (IplImage dstImg = srcImg.Clone())
using (IplImage histImg = new IplImage(new CvSize(400, 400), BitDepth.U8, 1))
using (CvHistogram hist = new CvHistogram(new int[] { histSize }, HistogramFormat.Array, ranges, true))
{
using (CvWindow windowImage = new CvWindow("image", WindowMode.AutoSize))
using (CvWindow windowHist = new CvWindow("histogram", WindowMode.AutoSize))
{
// トラックバーが動かされた時の処理
CvTrackbar ctBrightness = null;
CvTrackbar ctContrast = null;
CvTrackbarCallback callback = delegate(int pos)
{
int brightness = ctBrightness.Pos - 100;
int contrast = ctContrast.Pos - 100;
// LUTの適用
byte[] lut = CalcLut(contrast, brightness);
srcImg.LUT(dstImg, lut);
// ヒストグラムの描画
CalcHist(dstImg, hist);
DrawHist(histImg, hist, histSize);
// ウィンドウに表示
windowImage.ShowImage(dstImg);
windowHist.ShowImage(histImg);
dstImg.Zero();
histImg.Zero();
};
// トラックバーの作成
// (OpenCVでは現在位置にポインタを渡すことでトラックバーの位置の変化が取得できるが、
// .NETではGCによりポインタが移動してしまうので廃止した。別の方法でうまく取得すべし。)
ctBrightness = windowImage.CreateTrackbar("brightness", 100, 200, callback);
ctContrast = windowImage.CreateTrackbar("contrast", 100, 200, callback);
// 初回描画
callback(0);
// キー入力待ち
Cv.WaitKey(0);
}
}
}
public ConvexHull()
{
using (IplImage img = Cv.CreateImage(new CvSize(500, 500), BitDepth.U8, 3))
using (CvWindow window = new CvWindow("hull"))
{
Random rand = new Random();
for (; ;)
{
int count = rand.Next() % 100 + 1;
// create sequence of random points
CvPoint[] ptseq = new CvPoint[count];
for (int i = 0; i < ptseq.Length; i++)
{
ptseq[i] = new CvPoint
{
X = rand.Next() % (img.Width / 2) + img.Width / 4,
Y = rand.Next() % (img.Height / 2) + img.Height / 4
};
}
// draw points
Cv.Zero(img);
foreach (CvPoint pt in ptseq)
{
Cv.Circle(img, pt, 2, new CvColor(255, 0, 0), -1);
}
// find hull
CvPoint[] hull;
Cv.ConvexHull2(ptseq, out hull, ConvexHullOrientation.Clockwise);
// draw hull
CvPoint pt0 = hull.Last();
foreach (CvPoint pt in hull)
{
Cv.Line(img, pt0, pt, CvColor.Green);
pt0 = pt;
}
window.ShowImage(img);
if (Cv.WaitKey(0) == 27) // 'ESC'
{
break;
}
}
}
}
private static void Track()
{
using (var video = new CvCapture("data/bach.mp4"))
{
IplImage frame = null;
IplImage gray = null;
IplImage binary = null;
IplImage render = null;
IplImage renderTracks = null;
CvTracks tracks = new CvTracks();
CvWindow window = new CvWindow("render");
CvWindow windowTracks = new CvWindow("tracks");
for (int i = 0; ; i++)
{
frame = video.QueryFrame();
//if (frame == null)
// frame = new IplImage("data/shapes.png");
if (gray == null)
{
gray = new IplImage(frame.Size, BitDepth.U8, 1);
binary = new IplImage(frame.Size, BitDepth.U8, 1);
render = new IplImage(frame.Size, BitDepth.U8, 3);
renderTracks = new IplImage(frame.Size, BitDepth.U8, 3);
}
render.Zero();
renderTracks.Zero();
Cv.CvtColor(frame, gray, ColorConversion.BgrToGray);
Cv.Threshold(gray, binary, 0, 255, ThresholdType.Otsu);
CvBlobs blobs = new CvBlobs(binary);
CvBlobs newBlobs = new CvBlobs(blobs
.OrderByDescending(pair => pair.Value.Area)
.Take(200)
.ToDictionary(pair => pair.Key, pair => pair.Value), blobs.Labels);
newBlobs.RenderBlobs(binary, render);
window.ShowImage(render);
newBlobs.UpdateTracks(tracks, 10.0, Int32.MaxValue);
tracks.Render(binary, renderTracks);
windowTracks.ShowImage(renderTracks);
Cv.WaitKey(200);
Console.WriteLine(i);
}
}
}
public Moments()
{
// (1)画像を読み込む．3チャンネル画像の場合はCOIがセットされていなければならない
using (IplImage srcImg = new IplImage(Const.ImageLenna, LoadMode.AnyColor | LoadMode.AnyDepth))
{
if (srcImg.NChannels == 3 && srcImg.COI == 0)
{
srcImg.COI = 1;
}
// (2)入力画像の３次までの画像モーメントを計算する
CvMoments moments = new CvMoments(srcImg, false);
srcImg.COI = 0;
// (3)モーメントやHuモーメント不変量を，得られたCvMoments構造体の値を使って計算する．
double spatialMoment = moments.GetSpatialMoment(0, 0);
double centralMoment = moments.GetCentralMoment(0, 0);
double normCMoment = moments.GetNormalizedCentralMoment(0, 0);
CvHuMoments huMoments = new CvHuMoments(moments);
// (4)得られたモーメントやHuモーメント不変量を文字として画像に描画
using (CvFont font = new CvFont(FontFace.HersheySimplex, 1.0, 1.0, 0, 2, LineType.Link8))
{
string[] text = new string[10];
text[0] = string.Format("spatial={0:F3}", spatialMoment);
text[1] = string.Format("central={0:F3}", centralMoment);
text[2] = string.Format("norm={0:F3}", spatialMoment);
text[3] = string.Format("hu1={0:F10}", huMoments.Hu1);
text[4] = string.Format("hu2={0:F10}", huMoments.Hu2);
text[5] = string.Format("hu3={0:F10}", huMoments.Hu3);
text[6] = string.Format("hu4={0:F10}", huMoments.Hu4);
text[7] = string.Format("hu5={0:F10}", huMoments.Hu5);
text[8] = string.Format("hu6={0:F10}", huMoments.Hu6);
text[9] = string.Format("hu7={0:F10}", huMoments.Hu7);
CvSize textSize = font.GetTextSize(text[0]);
for (int i = 0; i < 10; i++)
{
srcImg.PutText(text[i], new CvPoint(10, (textSize.Height + 3) * (i + 1)), font, CvColor.Black);
}
}
// (5)入力画像とモーメント計算結果を表示，キーが押されたときに終了
using (CvWindow window = new CvWindow("Image", WindowMode.AutoSize))
{
window.ShowImage(srcImg);
Cv.WaitKey(0);
}
}
}
public IplImage BuildHist(IplImage src_tmp)
{
const int histSize = 64;
float[] range0 = { 0, 256 };
float[][] ranges = { range0 };
// 화상의 읽기
using (IplImage srcImg = new IplImage(src_tmp.Size, BitDepth.U8, 1))
using (IplImage dstImg = new IplImage(src_tmp.Size, BitDepth.U8, 1))
using (IplImage histImg = new IplImage(new CvSize(400, 400), BitDepth.U8, 1))
using (CvHistogram hist = new CvHistogram(new int[] { histSize }, HistogramFormat.Array, ranges, true))
{
src_tmp.CvtColor(srcImg, ColorConversion.BgrToGray);
srcImg.Copy(dstImg);
using (CvWindow windowImage = new CvWindow("변환된 이미지", WindowMode.AutoSize))
using (CvWindow windowHist = new CvWindow("히스토그램", WindowMode.AutoSize))
{
// 트랙바가 동작되었을 때의 처리
CvTrackbar ctBrightness = null;
CvTrackbar ctContrast = null;
CvTrackbarCallback callback = delegate(int pos)
{
int brightness = ctBrightness.Pos - 100;
int contrast = ctContrast.Pos - 100;
// LUT의 적용
byte[] lut = CalcLut(contrast, brightness);
srcImg.LUT(dstImg, lut);
// 히스토그램 그리기
CalcHist(dstImg, hist);
DrawHist(histImg, hist, histSize);
// 윈도우에 표시
DstHist = histImg.Clone();
windowImage.ShowImage(dstImg);
windowHist.ShowImage(histImg);
dstImg.Zero();
histImg.Zero();
};
// 트랙바의 작성
ctBrightness = windowImage.CreateTrackbar("명도", 100, 200, callback);
ctContrast = windowImage.CreateTrackbar("대조", 100, 200, callback);
// 첫회 그리기
callback(0);
// 키 입력대기
Cv.WaitKey(0);
}
return(DstHist);
}
}
static void LeafBorders()
{
using (CvWindow win2 = new CvWindow("OpenCv Window2"))
using (CvWindow win = new CvWindow("OpenCv Window"))
{
using (IplImage src = Cv.LoadImage("Resources/maple_leaf.jpg", LoadMode.Color))
{
//dst.FindContours()
win2.ShowImage(src);
win.ShowImage(GetLeafBorders(src));
}
CvWindow.WaitKey();
win.Image.Dispose();
}
}
public Moments()
{
using (IplImage srcImg = new IplImage(FilePath.Image.Lenna, LoadMode.AnyColor | LoadMode.AnyDepth))
{
if (srcImg.NChannels == 3 && srcImg.COI == 0)
{
srcImg.COI = 1;
}
CvMoments moments = new CvMoments(srcImg, false);
srcImg.COI = 0;
double spatialMoment = moments.GetSpatialMoment(0, 0);
double centralMoment = moments.GetCentralMoment(0, 0);
double normCMoment = moments.GetNormalizedCentralMoment(0, 0);
CvHuMoments huMoments = new CvHuMoments(moments);
// drawing
using (CvFont font = new CvFont(FontFace.HersheySimplex, 1.0, 1.0, 0, 2, LineType.Link8))
{
string[] text = new string[10];
text[0] = string.Format("spatial={0:F3}", spatialMoment);
text[1] = string.Format("central={0:F3}", centralMoment);
text[2] = string.Format("norm={0:F3}", spatialMoment);
text[3] = string.Format("hu1={0:F10}", huMoments.Hu1);
text[4] = string.Format("hu2={0:F10}", huMoments.Hu2);
text[5] = string.Format("hu3={0:F10}", huMoments.Hu3);
text[6] = string.Format("hu4={0:F10}", huMoments.Hu4);
text[7] = string.Format("hu5={0:F10}", huMoments.Hu5);
text[8] = string.Format("hu6={0:F10}", huMoments.Hu6);
text[9] = string.Format("hu7={0:F10}", huMoments.Hu7);
CvSize textSize = font.GetTextSize(text[0]);
for (int i = 0; i < 10; i++)
{
srcImg.PutText(text[i], new CvPoint(10, (textSize.Height + 3) * (i + 1)), font, CvColor.Black);
}
}
using (var window = new CvWindow("Image", WindowMode.AutoSize))
{
window.ShowImage(srcImg);
Cv.WaitKey(0);
}
}
}
public Histogram()
{
// cvCalcHist
const int histSize = 64;
float[] range0 = { 0, 256 };
float[][] ranges = { range0 };
using (IplImage srcImg = new IplImage(FilePath.Image.Lenna, LoadMode.GrayScale))
using (IplImage dstImg = srcImg.Clone())
using (IplImage histImg = new IplImage(new CvSize(400, 400), BitDepth.U8, 1))
using (CvHistogram hist = new CvHistogram(new int[] { histSize }, HistogramFormat.Array, ranges, true))
{
using (CvWindow windowImage = new CvWindow("image", WindowMode.AutoSize))
using (CvWindow windowHist = new CvWindow("histogram", WindowMode.AutoSize))
{
CvTrackbar ctBrightness = null;
CvTrackbar ctContrast = null;
CvTrackbarCallback callback = delegate(int pos)
{
int brightness = ctBrightness.Pos - 100;
int contrast = ctContrast.Pos - 100;
// perform LUT
byte[] lut = CalcLut(contrast, brightness);
srcImg.LUT(dstImg, lut);
// draws histogram
CalcHist(dstImg, hist);
DrawHist(histImg, hist, histSize);
windowImage.ShowImage(dstImg);
windowHist.ShowImage(histImg);
dstImg.Zero();
histImg.Zero();
};
ctBrightness = windowImage.CreateTrackbar("brightness", 100, 200, callback);
ctContrast = windowImage.CreateTrackbar("contrast", 100, 200, callback);
// initial action
callback(0);
Cv.WaitKey(0);
}
}
}
public QtTest()
{
using (CvWindow window = new CvWindow("window", WindowMode.ExpandedGui))
using (IplImage img = new IplImage(Const.ImageLenna, LoadMode.Color))
{
if (CvWindow.HasQt)
{
// cvAddText
CvFont font = new CvFontQt("MS UI Gothic", 48, CvColor.Red, FontWeight.Bold, FontStyle.Italic);
img.AddText("Hello Qt!!", new CvPoint(50, img.Height - 50), font);
// cvDisplayOverlay, cvDisplayStatusBar
window.DisplayOverlay("overlay text", 2000);
window.DisplayStatusBar("statusbar text", 3000);
// cvCreateButton
CvButtonCallback buttonCallback = delegate(int state, object userdata)
{
Console.WriteLine("Button state:{0} userdata:{1} ({2})", state, userdata, userdata.GetType());
};
Cv.CreateButton("button1", buttonCallback, "my userstate", ButtonType.Checkbox, 0);
Cv.CreateButton("button2", buttonCallback, 12345.6789, ButtonType.Checkbox, 0);
// cvSaveWindowParameters
//window.SaveWindowParameters();
}
window.ShowImage(img);
// cvCreateTrackbar2
CvTrackbarCallback2 trackbarCallback = delegate(int pos, object userdata)
{
Console.WriteLine("Trackbar pos:{0} userdata:{1} ({2})", pos, userdata, userdata.GetType());
};
window.CreateTrackbar2("trackbar1", 128, 256, trackbarCallback, "foobar");
Cv.WaitKey();
}
}
public static CameraCalibrationData CalibrateLens(List <Bitmap> bitmaps, int calibrationTakes)
{
int ImageNum = calibrationTakes;
const int PatRow = 7;
const int PatCol = 10;
const int PatSize = PatRow * PatCol;
int AllPoints = ImageNum * PatSize;
const float ChessSize = 24.0f;
// Convert bitmaps into Ipl Images
IplImage[] srcImg = new IplImage[bitmaps.Count];
for (int i = 0; i < bitmaps.Count; i++)
{
srcImg[i] = OpenCVUtil.IplImageFromBitmap(bitmaps[i]);
}
CvPoint3D32f[, ,] objects = new CvPoint3D32f[ImageNum, PatRow, PatCol];
for (int i = 0; i < ImageNum; i++)
{
for (int j = 0; j < PatRow; j++)
{
for (int k = 0; k < PatCol; k++)
{
objects[i, j, k] = new CvPoint3D32f
{
X = j * ChessSize,
Y = k * ChessSize,
Z = 0.0f
};
}
}
}
CvMat objectPoints = new CvMat(AllPoints, 3, MatrixType.F32C1, objects);
CvSize patternSize = new CvSize(PatCol, PatRow);
int foundNum = 0;
List <CvPoint2D32f> allCorners = new List <CvPoint2D32f>(AllPoints);
int[] pointCountsValue = new int[ImageNum];
using (CvWindow window = new CvWindow("Calibration", WindowMode.AutoSize))
{
for (int i = 0; i < ImageNum; i++)
{
CvPoint2D32f[] corners;
bool found = Cv.FindChessboardCorners(srcImg[i], patternSize, out corners);
Debug.Print("{0:D2}...", i);
if (found)
{
Debug.Print("ok");
foundNum++;
}
else
{
Debug.Print("fail");
}
using (IplImage srcGray = new IplImage(srcImg[i].Size, BitDepth.U8, 1))
{
Cv.CvtColor(srcImg[i], srcGray, ColorConversion.BgrToGray);
Cv.FindCornerSubPix(srcGray, corners, corners.Length, new CvSize(3, 3), new CvSize(-1, -1), new CvTermCriteria(20, 0.03));
Cv.DrawChessboardCorners(srcImg[i], patternSize, corners, found);
pointCountsValue[i] = corners.Length;
window.ShowImage(srcImg[i]);
//Cv.WaitKey(0);
}
allCorners.AddRange(corners);
}
if (foundNum != ImageNum)
{
Debug.Assert(false);
}
}
CvMat imagePoints = new CvMat(AllPoints, 1, MatrixType.F32C2, allCorners.ToArray());
CvMat pointCounts = new CvMat(ImageNum, 1, MatrixType.S32C1, pointCountsValue);
CvMat intrinsic = new CvMat(3, 3, MatrixType.F64C1);
CvMat distortion = new CvMat(1, 4, MatrixType.F64C1);
CvMat rotation = new CvMat(ImageNum, 3, MatrixType.F64C1);
CvMat translation = new CvMat(ImageNum, 3, MatrixType.F64C1);
Cv.CalibrateCamera2(objectPoints, imagePoints, pointCounts, srcImg[0].Size, intrinsic, distortion, rotation, translation, CalibrationFlag.Default);
CvMat subImagePoints, subObjectPoints;
Cv.GetRows(imagePoints, out subImagePoints, 0, PatSize);
Cv.GetRows(objectPoints, out subObjectPoints, 0, PatSize);
CvMat rotation_ = new CvMat(1, 3, MatrixType.F32C1);
CvMat translation_ = new CvMat(1, 3, MatrixType.F32C1);
Cv.FindExtrinsicCameraParams2(subObjectPoints, subImagePoints, intrinsic, distortion, rotation_, translation_, false);
//Cv.FindExtrinsicCameraParams2_(subObjectPoints, subImagePoints, intrinsic, distortion, rotation_, translation_, false);
// Free IplImages
foreach (IplImage img in srcImg)
{
img.Dispose();
}
// Construct and return camera calibration data
CameraCalibrationData camCal = new CameraCalibrationData();
camCal.IsValid = foundNum > (ImageNum / 2); // Consider valid if at least half were successes
camCal.Intrinsic = intrinsic;
camCal.Translation = translation_;
camCal.Rotation = rotation_;
camCal.Distortion = distortion;
return(camCal);
}
private static void Track()
{
using (var video = new CvCapture("data/bach.mp4"))
{
IplImage frame = null;
IplImage gray = null;
IplImage binary = null;
IplImage render = null;
IplImage renderTracks = null;
CvTracks tracks = new CvTracks();
CvWindow window = new CvWindow("render");
CvWindow windowTracks = new CvWindow("tracks");
for (int i = 0; ; i++)
{
frame = video.QueryFrame();
//if (frame == null)
// frame = new IplImage("data/shapes.png");
if (gray == null)
{
gray = new IplImage(frame.Size, BitDepth.U8, 1);
binary = new IplImage(frame.Size, BitDepth.U8, 1);
render = new IplImage(frame.Size, BitDepth.U8, 3);
renderTracks = new IplImage(frame.Size, BitDepth.U8, 3);
}
render.Zero();
renderTracks.Zero();
Cv.CvtColor(frame, gray, ColorConversion.BgrToGray);
Cv.Threshold(gray, binary, 0, 255, ThresholdType.Otsu);
CvBlobs blobs = new CvBlobs(binary);
CvBlobs newBlobs = new CvBlobs(blobs
.OrderByDescending(pair => pair.Value.Area)
.Take(200)
.ToDictionary(pair => pair.Key, pair => pair.Value), blobs.Labels);
newBlobs.RenderBlobs(binary, render);
window.ShowImage(render);
newBlobs.UpdateTracks(tracks, 10.0, Int32.MaxValue);
tracks.Render(binary, renderTracks);
windowTracks.ShowImage(renderTracks);
Cv.WaitKey(200);
Console.WriteLine(i);
}
}
}
// Update is called once per frame
void Update()
{
// Webカメラから1フレーム分の画像を取得
_Frame = Cv.QueryFrame(_Capture);
// Webカメラ画像をコピーしてSTEP1の入力画像に使用
IplImage img = _Frame.Clone();
// STEP1用変数
IplImage smoothed = new IplImage(img.Size, BitDepth.U8, 3);
// STEP2用変数
IplImage hsv = new IplImage(img.Size, BitDepth.U8, 3);
// STEP3用変数
IplImage segmented = new IplImage(img.Size, BitDepth.U8, 1);
CvMemStorage storage = new CvMemStorage();
// STEP4用変数
IplImage imgTmp = new IplImage(img.Size, BitDepth.U8, 1);
IplImage morphology = new IplImage(img.Size, BitDepth.U8, 1);
// STEP5用変数
CvSeq <CvPoint> contours;
IplImage detected = _Frame.Clone();
// STEP1: ノイズ除去
Cv.Smooth(img, smoothed, SmoothType.Blur, 1);
//Cv.ShowImage("window",smoothed);
//Cv.Smooth(smoothed, smoothed, SmoothType.Gaussian,1);
// STEP2: 色をRGBからHSVに変換
Cv.CvtColor(smoothed, hsv, ColorConversion.BgrToHsv);
//Cv.ShowImage("window",hsv);
// STEP3: 領域分割
storage.Clear();
Cv.InRangeS(hsv,
new CvScalar((pointhsv.Val0) - RANGE_H,
(pointhsv.Val1) - RANGE_S,
(pointhsv.Val2) - RANGE_V),
new CvScalar((pointhsv.Val0) + RANGE_H,
(pointhsv.Val1) + RANGE_S,
(pointhsv.Val2) + RANGE_V),
segmented);
//Cv.ShowImage("window",segmented);
// STEP4: ノイズ除去
Cv.Dilate(segmented, imgTmp);
Cv.Erode(imgTmp, imgTmp);
Cv.Erode(imgTmp, imgTmp);
Cv.Dilate(imgTmp, morphology);
//Cv.ShowImage("window",morphology);
// STEP5: 円の検出
Cv.FindContours(morphology, storage, out contours,
CvContour.SizeOf, ContourRetrieval.Tree,
ContourChain.ApproxNone);
if (contours == null)
{
Debug.Log("PSMove is not detected");
}
else
{
contours = Cv.ApproxPoly(contours, CvContour.SizeOf,
storage, ApproxPolyMethod.DP,
Cv.ContourPerimeter(contours) * CTR_PARAM, true);
Cv.DrawContours(morphology, contours,
new CvScalar(MAX_G, 0, 0), new CvScalar(0, MAX_B, 0), 3, -1);
Cv.MinEnclosingCircle(contours, out _Center, out _Radius);
Cv.DrawCircle(morphology, _Center, 2, new CvScalar(0, MAX_B, 0));
// STEP6: 画像をウィンドウに出力
Sz = fx * SPHERE_R / _Radius;
Sx = -((_Center.X - ux) * Sz) / fx;
Sy = -((_Center.Y - uy) * Sz) / fy;
}
_Window.ShowImage(_Frame);
Cv.ShowImage("Original", img);
Cv.ShowImage("STEP1:Smoothing", smoothed);
Cv.ShowImage("STEP2:HSV", hsv);
Cv.ShowImage("STEP3:Segmentation", segmented);
Cv.ShowImage("STEP4:Morphology", morphology);
Cv.ShowImage("STEP5:Detected", detected);
}
public SURFSample()
{
// cvExtractSURF
// SURFで対応点検出
// call cv::initModule_nonfree() before using SURF/SIFT.
Cv2.InitModule_NonFree();
using (IplImage obj = Cv.LoadImage(Const.ImageSurfBox, LoadMode.GrayScale))
using (IplImage image = Cv.LoadImage(Const.ImageSurfBoxinscene, LoadMode.GrayScale))
using (IplImage objColor = Cv.CreateImage(obj.Size, BitDepth.U8, 3))
using (IplImage correspond = Cv.CreateImage(new CvSize(image.Width, obj.Height + image.Height), BitDepth.U8, 1))
{
Cv.CvtColor(obj, objColor, ColorConversion.GrayToBgr);
Cv.SetImageROI(correspond, new CvRect(0, 0, obj.Width, obj.Height));
Cv.Copy(obj, correspond);
Cv.SetImageROI(correspond, new CvRect(0, obj.Height, correspond.Width, correspond.Height));
Cv.Copy(image, correspond);
Cv.ResetImageROI(correspond);
// SURFの処理
CvSURFPoint[] objectKeypoints, imageKeypoints;
float[][] objectDescriptors, imageDescriptors;
Stopwatch watch = Stopwatch.StartNew();
{
CvSURFParams param = new CvSURFParams(500, true);
Cv.ExtractSURF(obj, null, out objectKeypoints, out objectDescriptors, param);
Console.WriteLine("Object Descriptors: {0}", objectDescriptors.Length);
Cv.ExtractSURF(image, null, out imageKeypoints, out imageDescriptors, param);
Console.WriteLine("Image Descriptors: {0}", imageDescriptors.Length);
}
watch.Stop();
Console.WriteLine("Extraction time = {0}ms", watch.ElapsedMilliseconds);
watch.Reset();
watch.Start();
// シーン画像にある局所画像の領域を線で囲む
CvPoint[] srcCorners = new CvPoint[4]
{
new CvPoint(0, 0), new CvPoint(obj.Width, 0), new CvPoint(obj.Width, obj.Height), new CvPoint(0, obj.Height)
};
CvPoint[] dstCorners = LocatePlanarObject(objectKeypoints, objectDescriptors, imageKeypoints, imageDescriptors, srcCorners);
if (dstCorners != null)
{
for (int i = 0; i < 4; i++)
{
CvPoint r1 = dstCorners[i % 4];
CvPoint r2 = dstCorners[(i + 1) % 4];
Cv.Line(correspond, new CvPoint(r1.X, r1.Y + obj.Height), new CvPoint(r2.X, r2.Y + obj.Height), CvColor.White);
}
}
// 対応点同士を線で引く
int[] ptPairs = FindPairs(objectKeypoints, objectDescriptors, imageKeypoints, imageDescriptors);
for (int i = 0; i < ptPairs.Length; i += 2)
{
CvSURFPoint r1 = objectKeypoints[ptPairs[i]];
CvSURFPoint r2 = imageKeypoints[ptPairs[i + 1]];
Cv.Line(correspond, r1.Pt, new CvPoint(Cv.Round(r2.Pt.X), Cv.Round(r2.Pt.Y + obj.Height)), CvColor.White);
}
// 特徴点の場所に円を描く
for (int i = 0; i < objectKeypoints.Length; i++)
{
CvSURFPoint r = objectKeypoints[i];
CvPoint center = new CvPoint(Cv.Round(r.Pt.X), Cv.Round(r.Pt.Y));
int radius = Cv.Round(r.Size * (1.2 / 9.0) * 2);
Cv.Circle(objColor, center, radius, CvColor.Red, 1, LineType.AntiAlias, 0);
}
watch.Stop();
Console.WriteLine("Drawing time = {0}ms", watch.ElapsedMilliseconds);
// ウィンドウに表示
using (CvWindow windowObject = new CvWindow("Object", WindowMode.AutoSize))
using (CvWindow windowCorrespond = new CvWindow("Object Correspond", WindowMode.AutoSize))
{
windowObject.ShowImage(correspond);
windowCorrespond.ShowImage(objColor);
Cv.WaitKey(0);
}
}
}
public Inpaint()
{
// cvInpaint
Console.WriteLine(
"Hot keys: \n" +
"\tESC - quit the program\n" +
"\tr - restore the original image\n" +
"\ti or ENTER - run inpainting algorithm\n" +
"\t\t(before running it, paint something on the image)\n" +
"\ts - save the original image, mask image, original+mask image and inpainted image to desktop."
);
using (IplImage img0 = new IplImage(FilePath.Image.Fruits, LoadMode.AnyDepth | LoadMode.AnyColor))
{
using (IplImage img = img0.Clone())
using (IplImage inpaintMask = new IplImage(img0.Size, BitDepth.U8, 1))
using (IplImage inpainted = img0.Clone())
{
inpainted.Zero();
inpaintMask.Zero();
using (CvWindow wImage = new CvWindow("image", WindowMode.AutoSize, img))
{
CvPoint prevPt = new CvPoint(-1, -1);
wImage.OnMouseCallback += delegate(MouseEvent ev, int x, int y, MouseEvent flags)
{
if (ev == MouseEvent.LButtonUp || (flags & MouseEvent.FlagLButton) == 0)
{
prevPt = new CvPoint(-1, -1);
}
else if (ev == MouseEvent.LButtonDown)
{
prevPt = new CvPoint(x, y);
}
else if (ev == MouseEvent.MouseMove && (flags & MouseEvent.FlagLButton) != 0)
{
CvPoint pt = new CvPoint(x, y);
if (prevPt.X < 0)
{
prevPt = pt;
}
inpaintMask.Line(prevPt, pt, CvColor.White, 5, LineType.AntiAlias, 0);
img.Line(prevPt, pt, CvColor.White, 5, LineType.AntiAlias, 0);
prevPt = pt;
wImage.ShowImage(img);
}
};
for (; ;)
{
switch ((char)CvWindow.WaitKey(0))
{
case (char)27: // exit
CvWindow.DestroyAllWindows();
return;
case 'r': // restore original image
inpaintMask.Zero();
img0.Copy(img);
wImage.ShowImage(img);
break;
case 'i': // do Inpaint
case '\r':
CvWindow wInpaint = new CvWindow("inpainted image", WindowMode.AutoSize);
img.Inpaint(inpaintMask, inpainted, 3, InpaintMethod.Telea);
wInpaint.ShowImage(inpainted);
break;
case 's': // save images
string desktop = Environment.GetFolderPath(Environment.SpecialFolder.Desktop);
img0.SaveImage(Path.Combine(desktop, "original.png"));
inpaintMask.SaveImage(Path.Combine(desktop, "mask.png"));
img.SaveImage(Path.Combine(desktop, "original+mask.png"));
inpainted.SaveImage(Path.Combine(desktop, "inpainted.png"));
break;
}
}
}
}
}
}
public IplImage BinarizerMethod_Hist(IplImage src)
{
bina = new IplImage(src.Size, BitDepth.U8, 1);
gray = this.GrayScale(src);
int area = 200;
int num = 0;
int row = (src.Width % area == 0) ? (int)(src.Width / area) : (int)(src.Width / area + 1);
int col = (src.Height % area == 0) ? (int)(src.Height / area) : (int)(src.Height / area + 1);
int count = row * col;
float[] data = new float[count];
IplImage[] piece = new IplImage[count];
CvRect[] piece_roi = new CvRect[count];
for (int x = 0; x < src.Width; x = x + area)
{
for (int y = 0; y < src.Height; y = y + area)
{
CvRect roi = new CvRect
{
X = x,
Y = y,
Width = area,
Height = area
};
if (roi.X + roi.Width > src.Width)
{
roi.Width = area - ((roi.X + roi.Width) - src.Width);
}
if (roi.Y + roi.Height > src.Height)
{
roi.Height = area - ((roi.Y + roi.Height) - src.Height);
}
gray.SetROI(roi);
piece[num] = new IplImage(gray.ROI.Size, BitDepth.U8, 1);
Cv.Copy(gray, piece[num]);
gray.ResetROI();
//히스토그램 계산//
int[] size = { area };
CvHistogram hist = new CvHistogram(size, HistogramFormat.Array);
Cv.CalcHist(piece[num], hist);
float minValue, maxValue;
hist.GetMinMaxValue(out minValue, out maxValue);
int highlevel = 0;
for (int i = 0; i < area; i++)
{
if (maxValue == hist.Bins[i].Val0)
{
highlevel = i;
}
}
piece_roi[num] = roi;
data[num] = highlevel;
num++;
}
}
CvMat kernel = new CvMat(row, col, MatrixType.F32C1, data);
Cv.Normalize(kernel, kernel, 255, 0, NormType.C);
for (int r = 0; r < count; r++)
{
Cv.Threshold(piece[r], piece[r], kernel[r], 255, ThresholdType.Otsu);
Cv.SetImageROI(bina, piece_roi[r]);
Cv.Copy(piece[r], bina);
bina.ResetROI();
}
//37강 - 윈도우 창//
CvWindow win = new CvWindow("window", WindowMode.StretchImage, src);
win.Resize(640, 480);
win.Move(100, 0);
win.ShowImage(piece[0]);
win.Close();
new CvWindow(piece[0]).Move(0, 0);
new CvWindow(piece[1]).Move(0, 200);
new CvWindow(piece[2]).Move(0, 400);
//37강 - 윈도우 창//
return(bina);
}
public CalibrateCamera()
{
const int ImageNum = 3;
const int PatRow = 7;
const int PatCol = 10;
const int PatSize = PatRow * PatCol;
const int AllPoints = ImageNum * PatSize;
const float ChessSize = 24.0f;
IplImage[] srcImg = new IplImage[ImageNum];
for (int i = 0; i < ImageNum; i++)
{
srcImg[i] = new IplImage(string.Format(FilePath.Image.Calibration, i), LoadMode.Color);
}
CvPoint3D32f[,,] objects = new CvPoint3D32f[ImageNum, PatRow, PatCol];
for (int i = 0; i < ImageNum; i++)
{
for (int j = 0; j < PatRow; j++)
{
for (int k = 0; k < PatCol; k++)
{
objects[i, j, k] = new CvPoint3D32f
{
X = j * ChessSize,
Y = k * ChessSize,
Z = 0.0f
};
}
}
}
CvMat objectPoints = new CvMat(AllPoints, 3, MatrixType.F32C1, objects);
CvSize patternSize = new CvSize(PatCol, PatRow);
int foundNum = 0;
List <CvPoint2D32f> allCorners = new List <CvPoint2D32f>(AllPoints);
int[] pointCountsValue = new int[ImageNum];
using (CvWindow window = new CvWindow("Calibration", WindowMode.AutoSize))
{
for (int i = 0; i < ImageNum; i++)
{
CvPoint2D32f[] corners;
bool found = Cv.FindChessboardCorners(srcImg[i], patternSize, out corners);
Debug.Print("{0:D2}...", i);
if (found)
{
Debug.Print("ok");
foundNum++;
}
else
{
Debug.Print("fail");
}
using (IplImage srcGray = new IplImage(srcImg[i].Size, BitDepth.U8, 1))
{
Cv.CvtColor(srcImg[i], srcGray, ColorConversion.BgrToGray);
Cv.FindCornerSubPix(srcGray, corners, corners.Length, new CvSize(3, 3), new CvSize(-1, -1), new CvTermCriteria(20, 0.03));
Cv.DrawChessboardCorners(srcImg[i], patternSize, corners, found);
pointCountsValue[i] = corners.Length;
window.ShowImage(srcImg[i]);
Cv.WaitKey(0);
}
allCorners.AddRange(corners);
}
if (foundNum != ImageNum)
{
Debug.Assert(false);
}
}
CvMat imagePoints = new CvMat(AllPoints, 1, MatrixType.F32C2, allCorners.ToArray());
CvMat pointCounts = new CvMat(ImageNum, 1, MatrixType.S32C1, pointCountsValue);
CvMat intrinsic = new CvMat(3, 3, MatrixType.F64C1);
CvMat distortion = new CvMat(1, 4, MatrixType.F64C1);
CvMat rotation = new CvMat(ImageNum, 3, MatrixType.F64C1);
CvMat translation = new CvMat(ImageNum, 3, MatrixType.F64C1);
Cv.CalibrateCamera2(objectPoints, imagePoints, pointCounts, srcImg[0].Size, intrinsic, distortion, rotation, translation, CalibrationFlag.Default);
CvMat subImagePoints, subObjectPoints;
Cv.GetRows(imagePoints, out subImagePoints, 0, PatSize);
Cv.GetRows(objectPoints, out subObjectPoints, 0, PatSize);
CvMat rotation_ = new CvMat(1, 3, MatrixType.F32C1);
CvMat translation_ = new CvMat(1, 3, MatrixType.F32C1);
Cv.FindExtrinsicCameraParams2(subObjectPoints, subImagePoints, intrinsic, distortion, rotation_, translation_, false);
//Cv.FindExtrinsicCameraParams2_(subObjectPoints, subImagePoints, intrinsic, distortion, rotation_, translation_, false);
using (var fs = new CvFileStorage("camera.xml", null, OpenCvSharp.FileStorageMode.Write))
{
fs.Write("intrinsic", intrinsic);
fs.Write("rotation", rotation_);
fs.Write("translation", translation_);
fs.Write("distortion", distortion);
}
foreach (IplImage img in srcImg)
{
img.Dispose();
}
// 書き込んだファイルを表示
Console.WriteLine(File.ReadAllText("camera.xml"));
Console.Read();
}
public unsafe Kalman()
{
// cvKalmanPredict, cvKalmanCorrect
// カルマンフィルタを用いて回転する点を追跡する
// A matrix data
float[] A = new float[] { 1, 1, 0, 1 };
using (IplImage img = new IplImage(500, 500, BitDepth.U8, 3))
using (CvKalman kalman = new CvKalman(2, 1, 0))
using (CvWindow window = new CvWindow("Kalman", WindowMode.AutoSize))
{
// state is (phi, delta_phi) - angle and angle increment
CvMat state = new CvMat(2, 1, MatrixType.F32C1);
CvMat process_noise = new CvMat(2, 1, MatrixType.F32C1);
// only phi (angle) is measured
CvMat measurement = new CvMat(1, 1, MatrixType.F32C1);
measurement.SetZero();
CvRandState rng = new CvRandState(0, 1, -1, DistributionType.Uniform);
int code = -1;
for (; ;)
{
Cv.RandSetRange(rng, 0, 0.1, 0);
rng.DistType = DistributionType.Normal;
Marshal.Copy(A, 0, kalman.TransitionMatrix.Data, A.Length);
kalman.MeasurementMatrix.SetIdentity(1);
kalman.ProcessNoiseCov.SetIdentity(1e-5);
kalman.MeasurementNoiseCov.SetIdentity(1e-1);
kalman.ErrorCovPost.SetIdentity(1);
// choose random initial state
Cv.Rand(rng, kalman.StatePost);
rng.DistType = DistributionType.Normal;
for (; ;)
{
float state_angle = state.DataSingle[0];
CvPoint state_pt = CalcPoint(img, state_angle);
// predict point position
CvMat prediction = kalman.Predict(null);
float predict_angle = prediction.DataSingle[0];
CvPoint predict_pt = CalcPoint(img, predict_angle);
Cv.RandSetRange(rng, 0, Math.Sqrt(kalman.MeasurementNoiseCov.DataSingle[0]), 0);
Cv.Rand(rng, measurement);
// generate measurement
Cv.MatMulAdd(kalman.MeasurementMatrix, state, measurement, measurement);
float measurement_angle = measurement.DataArraySingle[0];
CvPoint measurement_pt = CalcPoint(img, measurement_angle);
img.SetZero();
DrawCross(img, state_pt, CvColor.White, 3);
DrawCross(img, measurement_pt, CvColor.Red, 3);
DrawCross(img, predict_pt, CvColor.Green, 3);
img.Line(state_pt, measurement_pt, new CvColor(255, 0, 0), 3, LineType.AntiAlias, 0);
img.Line(state_pt, predict_pt, new CvColor(255, 255, 0), 3, LineType.AntiAlias, 0);
// adjust Kalman filter state
kalman.Correct(measurement);
Cv.RandSetRange(rng, 0, Math.Sqrt(kalman.ProcessNoiseCov.DataSingle[0]), 0);
Cv.Rand(rng, process_noise);
Cv.MatMulAdd(kalman.TransitionMatrix, state, process_noise, state);
window.ShowImage(img);
// break current simulation by pressing a key
code = CvWindow.WaitKey(100);
if (code > 0)
{
break;
}
}
// exit by ESCAPE
if (code == 27)
{
break;
}
}
}
}
public FindContours()
{
// cvFindContoursm cvDrawContours
// 画像中から輪郭を検出し，-1~+1までのレベルにある輪郭を描画する
const int SIZE = 500;
using (IplImage img = new IplImage(SIZE, SIZE, BitDepth.U8, 1))
{
// 画像の初期化
img.Zero();
for (int i = 0; i < 6; i++)
{
int dx = (i % 2) * 250 - 30;
int dy = (i / 2) * 150;
if (i == 0)
{
for (int j = 0; j <= 10; j++)
{
double angle = (j + 5) * Cv.PI / 21;
CvPoint p1 = new CvPoint(Cv.Round(dx + 100 + j * 10 - 80 * Math.Cos(angle)), Cv.Round(dy + 100 - 90 * Math.Sin(angle)));
CvPoint p2 = new CvPoint(Cv.Round(dx + 100 + j * 10 - 30 * Math.Cos(angle)), Cv.Round(dy + 100 - 30 * Math.Sin(angle)));
Cv.Line(img, p1, p2, CvColor.White, 1, LineType.AntiAlias, 0);
}
}
Cv.Ellipse(img, new CvPoint(dx + 150, dy + 100), new CvSize(100, 70), 0, 0, 360, CvColor.White, -1, LineType.AntiAlias, 0);
Cv.Ellipse(img, new CvPoint(dx + 115, dy + 70), new CvSize(30, 20), 0, 0, 360, CvColor.Black, -1, LineType.AntiAlias, 0);
Cv.Ellipse(img, new CvPoint(dx + 185, dy + 70), new CvSize(30, 20), 0, 0, 360, CvColor.Black, -1, LineType.AntiAlias, 0);
Cv.Ellipse(img, new CvPoint(dx + 115, dy + 70), new CvSize(15, 15), 0, 0, 360, CvColor.White, -1, LineType.AntiAlias, 0);
Cv.Ellipse(img, new CvPoint(dx + 185, dy + 70), new CvSize(15, 15), 0, 0, 360, CvColor.White, -1, LineType.AntiAlias, 0);
Cv.Ellipse(img, new CvPoint(dx + 115, dy + 70), new CvSize(5, 5), 0, 0, 360, CvColor.Black, -1, LineType.AntiAlias, 0);
Cv.Ellipse(img, new CvPoint(dx + 185, dy + 70), new CvSize(5, 5), 0, 0, 360, CvColor.Black, -1, LineType.AntiAlias, 0);
Cv.Ellipse(img, new CvPoint(dx + 150, dy + 100), new CvSize(10, 5), 0, 0, 360, CvColor.Black, -1, LineType.AntiAlias, 0);
Cv.Ellipse(img, new CvPoint(dx + 150, dy + 150), new CvSize(40, 10), 0, 0, 360, CvColor.Black, -1, LineType.AntiAlias, 0);
Cv.Ellipse(img, new CvPoint(dx + 27, dy + 100), new CvSize(20, 35), 0, 0, 360, CvColor.White, -1, LineType.AntiAlias, 0);
Cv.Ellipse(img, new CvPoint(dx + 273, dy + 100), new CvSize(20, 35), 0, 0, 360, CvColor.White, -1, LineType.AntiAlias, 0);
}
// 輪郭の検出
CvSeq <CvPoint> contours;
CvMemStorage storage = new CvMemStorage();
// native style
Cv.FindContours(img, storage, out contours, CvContour.SizeOf, ContourRetrieval.Tree, ContourChain.ApproxSimple);
contours = Cv.ApproxPoly(contours, CvContour.SizeOf, storage, ApproxPolyMethod.DP, 3, true);
// wrapper style
//img.FindContours(storage, out contours, ContourRetrieval.Tree, ContourChain.ApproxSimple);
//contours = contours.ApproxPoly(storage, ApproxPolyMethod.DP, 3, true);
// ウィンドウに表示
using (CvWindow window_image = new CvWindow("image", img))
using (CvWindow window_contours = new CvWindow("contours"))
{
CvTrackbarCallback onTrackbar = delegate(int pos)
{
IplImage cnt_img = new IplImage(SIZE, SIZE, BitDepth.U8, 3);
CvSeq <CvPoint> _contours = contours;
int levels = pos - 3;
if (levels <= 0) // get to the nearest face to make it look more funny
{
//_contours = _contours.HNext.HNext.HNext;
}
cnt_img.Zero();
Cv.DrawContours(cnt_img, _contours, CvColor.Red, CvColor.Green, levels, 3, LineType.AntiAlias);
window_contours.ShowImage(cnt_img);
cnt_img.Dispose();
};
window_contours.CreateTrackbar("levels+3", 3, 7, onTrackbar);
onTrackbar(3);
Cv.WaitKey();
}
}
}
