protected void CheckCancelAndImageProcess()
{
// 종료 검사
CheckCancel();
// 반드시 새로운 이미지 프로세싱이 필요한 경우
_last = _turretService.ImageProcess(_last);
// 이미지 프로세싱 결과
lock (_turretService.ImageProcessorLock)
{
_result = _turretService.ImageProcessorResult;
}
}
public ImageProcessorResult Process(Bitmap bitmap, bool rgb)
{
var result = new ImageProcessorResult();
_viewConfig = _configService.ViewConfig;
_imageProcessorConfig = _configService.ImageProcessorConfig;
new Blur().ApplyInPlace(bitmap);
Bitmap overlay = bitmap;
if (_viewConfig.BackgroundImage == ViewConfigBackgroundImage.CameraRaw)
{
// 카메라 원본
overlay = bitmap;
}
// 그레이 스케일
var grayscale = Grayscale.CommonAlgorithms.BT709.Apply(bitmap);
// 경계 검출
var edges = new DifferenceEdgeDetector().Apply(grayscale);
if (_viewConfig.BackgroundImage == ViewConfigBackgroundImage.Edge)
{
overlay = new GrayscaleToRGB().Apply(edges);
}
// 이진화
// var threshold = new Threshold(_imageProcessorConfig.Threshold).Apply(edges);
var threshold = new OtsuThreshold().Apply(edges);
if (_viewConfig.BackgroundImage == ViewConfigBackgroundImage.Binary)
{
overlay = new GrayscaleToRGB().Apply(threshold);
}
// 오버레이 복제
overlay = overlay.CloneBitmap();
// 오버레이 데이터
var overlayData = overlay.LockBits(overlay.GetRectangle(), ImageLockMode.ReadWrite, overlay.PixelFormat);
_blobCounter = new BlobCounter();
_blobCounter.MinHeight = _imageProcessorConfig.BlobMinHeight;
_blobCounter.MinHeight = _imageProcessorConfig.BlobMinWidth;
_blobCounter.FilterBlobs = true;
_blobCounter.ObjectsOrder = ObjectsOrder.XY;
_blobCounter.ProcessImage(threshold);
var blobs = _blobCounter.GetObjectsInformation();
var shapeChecker = new SimpleShapeChecker();
// 각 영역에 대해 처리 수행
foreach (var blob in blobs)
{
// 현재 시도하는 마커
Marker marker = new Marker();
var edgePoints = _blobCounter.GetBlobsEdgePoints(blob);
// 사각형 판정
var points = new List <IntPoint>();
if (shapeChecker.IsQuadrilateral(edgePoints, out points))
{
marker.Points = points;
List <IntPoint> leftEdge, rightEdge;
_blobCounter.GetBlobsLeftAndRightEdges(blob, out leftEdge, out rightEdge);
// 각도와 길이 판정
if (MoreQuadTest(blob, marker, leftEdge, rightEdge))
{
// 검은색 테두리 판정
if (BorderTest(blob, marker, grayscale, leftEdge, rightEdge))
{
// 판정 완료
result.Markers.Add(marker);
// 무게 중심 좌표
marker.X = (int)(blob.CenterOfGravity.X - (threshold.Width / 2));
marker.Y = (int)(-(blob.CenterOfGravity.Y - (threshold.Height / 2)));
// 프레임워크에서 계산한 넓이
marker.FrameworkArea = blob.Area;
// 오버레이
ApplyOverlay(overlayData, marker.Points);
}
}
}
}
overlay.UnlockBits(overlayData);
foreach (var marker in result.Markers)
{
var points = marker.Points;
// 방향 보정
var sideLength = points[0].DistanceTo(points[1]);
if (points[2].Y - points[1].Y < sideLength / 1.6)
{
points = new List <IntPoint>(
new IntPoint[] { points[1], points[2], points[3], points[0] });
marker.Points = points;
}
// 변형 복구
var quadrilateralTransformation = new QuadrilateralTransformation(points,
_imageProcessorConfig.QuadrilateralTransformationWidth,
_imageProcessorConfig.QuadrilateralTransformationHeight);
var transformed = quadrilateralTransformation.Apply(bitmap);
// 회전 및 색상 판정 시작
int halfWidth = _imageProcessorConfig.QuadrilateralTransformationWidth / 2,
halfHeight = _imageProcessorConfig.QuadrilateralTransformationHeight / 2;
// x => x + 1 사분면
var crops = new[]
{
new Crop(new Rectangle(halfWidth, 0, halfWidth, halfHeight)),
new Crop(new Rectangle(0, 0, halfWidth, halfHeight)),
new Crop(new Rectangle(0, halfHeight, halfWidth, halfHeight)),
new Crop(new Rectangle(halfWidth, halfHeight, halfWidth, halfHeight))
};
var quadImage = new[]
{
crops[0].Apply(transformed),
crops[1].Apply(transformed),
crops[2].Apply(transformed),
crops[3].Apply(transformed)
};
var filteredResult = new[] {
new {
Img = quadImage[0],
Red = Filter(quadImage[0], MarkerColor.Red).Luminance(),
Green = Filter(quadImage[0], MarkerColor.Green).Luminance(),
Blue = Filter(quadImage[0], MarkerColor.Blue).Luminance(),
White = Filter(quadImage[0], MarkerColor.White).Luminance()
},
new {
Img = quadImage[1],
Red = Filter(quadImage[1], MarkerColor.Red).Luminance(),
Green = Filter(quadImage[1], MarkerColor.Green).Luminance(),
Blue = Filter(quadImage[1], MarkerColor.Blue).Luminance(),
White = Filter(quadImage[1], MarkerColor.White).Luminance()
},
new {
Img = quadImage[2],
Red = Filter(quadImage[2], MarkerColor.Red).Luminance(),
Green = Filter(quadImage[2], MarkerColor.Green).Luminance(),
Blue = Filter(quadImage[2], MarkerColor.Blue).Luminance(),
White = Filter(quadImage[2], MarkerColor.White).Luminance()
},
new {
Img = quadImage[3],
Red = Filter(quadImage[3], MarkerColor.Red).Luminance(),
Green = Filter(quadImage[3], MarkerColor.Green).Luminance(),
Blue = Filter(quadImage[3], MarkerColor.Blue).Luminance(),
White = Filter(quadImage[3], MarkerColor.White).Luminance()
}
};
var whiteDesc = filteredResult.OrderByDescending(a => a.White).ToArray();
if (rgb)
{
// RGB 색상 판별
var colorQuad = whiteDesc.Skip(1);
var red = colorQuad.Sum(a => a.Red);
var green = colorQuad.Sum(a => a.Green);
var blue = colorQuad.Sum(a => a.Blue);
Console.WriteLine("{0}: {1} {2} {3}", colorQuad.Count(), red, green, blue);
var max = Math.Max(red, Math.Max(green, blue));
if (red == max)
{
marker.Color = MarkerColor.Red;
}
else if (green == max)
{
marker.Color = MarkerColor.Green;
}
else if (blue == max)
{
marker.Color = MarkerColor.Blue;
}
}
else
{
// 흑백 색상 판별
var whiteMax = whiteDesc[0].White;
var whiteRest = (whiteDesc[1].White + whiteDesc[2].White + whiteDesc[3].White) / 3;
if (whiteMax - whiteRest < _imageProcessorConfig.ColorTestWhite)
{
// White
marker.Color = MarkerColor.White;
}
else
{
// Black
marker.Color = MarkerColor.Black;
}
}
// 회전 판별
for (int i = 0; i < 4; i++)
{
if (filteredResult[i].White == whiteDesc.First().White)
{
marker.Rotate = (MarkerRotate)(i + 1);
break;
}
}
// 백색 마커에는 회전 방향이 없습니다.
if (marker.Color == MarkerColor.White)
{
// 지정되지 않습니다.
marker.Rotate = MarkerRotate.None;
}
// 화상 중심으로 좌표 변환
for (int i = 0; i < marker.Points.Count; i++)
{
marker.Points[i] = new IntPoint
{
X = marker.Points[i].X - _configService.DeviceConfig.PixelWidth / 2,
Y = marker.Points[i].Y - _configService.DeviceConfig.PixelHeight / 2
};
}
// 코어 서비스에서 기하학적 방법으로 거리 계산
var coreResult = _coreService.Query(marker.Points, _imageProcessorConfig.MarkerSize);
marker.EuclideanDistance = coreResult.Distance;
marker.TiltAngle = Math.Asin(coreResult.TranslationVector[1] / marker.EuclideanDistance);
marker.PanAngle = Math.Asin(coreResult.TranslationVector[0] / marker.EuclideanDistance);
if (marker.PanAngle > Math.PI)
{
// 음수
marker.PanAngle = 2 * Math.PI - marker.PanAngle;
}
marker.TransX = coreResult.TranslationVector[0];
marker.TransY = coreResult.TranslationVector[1];
marker.TransZ = coreResult.TranslationVector[2];
}
BackgroundBitmap = overlay;
Console.WriteLine();
foreach (var marker in result.Markers)
{
Console.WriteLine(marker.Color);
}
return(result);
}
