/*
/// <summary>
/// Create a LevMarqSparse solver
/// </summary>
public LevMarqSparse()
{
_ptr = CvInvoke.CvCreateLevMarqSparse();
}*/
/// <summary>
/// Useful function to do simple bundle adjustment tasks
/// </summary>
/// <param name="points">Positions of points in global coordinate system (input and output), values will be modified by bundle adjustment</param>
/// <param name="imagePoints">Projections of 3d points for every camera</param>
/// <param name="visibility">Visibility of 3d points for every camera</param>
/// <param name="cameraMatrix">Intrinsic matrices of all cameras (input and output), values will be modified by bundle adjustment</param>
/// <param name="R">rotation matrices of all cameras (input and output), values will be modified by bundle adjustment</param>
/// <param name="T">translation vector of all cameras (input and output), values will be modified by bundle adjustment</param>
/// <param name="distCoeffcients">distortion coefficients of all cameras (input and output), values will be modified by bundle adjustment</param>
/// <param name="termCrit">Termination criteria, a reasonable value will be (30, 1.0e-12) </param>
public static void BundleAdjust(
MCvPoint3D64f[] points, MCvPoint2D64f[][] imagePoints, int[][] visibility,
Matrix<double>[] cameraMatrix, Matrix<double>[] R, Matrix<double>[] T, Matrix<double>[] distCoeffcients, MCvTermCriteria termCrit)
{
using (Matrix<double> imagePointsMat = CvToolbox.GetMatrixFromPoints(imagePoints))
using (Matrix<int> visibilityMat = CvToolbox.GetMatrixFromArrays(visibility))
using (VectorOfMat cameraMatVec = new VectorOfMat())
using (VectorOfMat rMatVec = new VectorOfMat())
using (VectorOfMat tMatVec = new VectorOfMat())
using (VectorOfMat distorMatVec = new VectorOfMat())
{
cameraMatVec.Push(cameraMatrix);
rMatVec.Push(R);
tMatVec.Push(T);
distorMatVec.Push(distCoeffcients);
GCHandle handlePoints = GCHandle.Alloc(points, GCHandleType.Pinned);
CvInvoke.CvLevMarqSparseAdjustBundle(
cameraMatrix.Length,
points.Length, handlePoints.AddrOfPinnedObject(),
imagePointsMat, visibilityMat, cameraMatVec, rMatVec, tMatVec, distorMatVec, ref termCrit);
handlePoints.Free();
}
}
// Use this for initialization
void Start()
{
String[] textureNames = new string[] { "stitch1", "stitch2", "stitch3", "stitch4"};
Mat[] imgs = new Mat[textureNames.Length];
Mat tmp = new Mat ();
for (int i = 0; i < textureNames.Length; i++) {
Texture2D tex = Resources.Load<Texture2D>(textureNames[i]);
imgs [i] = new Mat ();
TextureConvert.Texture2dToOutputArray(tex, tmp);
CvInvoke.Flip(tmp, tmp, FlipType.Vertical);
CvInvoke.CvtColor (tmp, imgs [i], ColorConversion.Bgra2Bgr);
if (imgs [i].IsEmpty)
Debug.Log ("Image " + i + " is empty");
else
Debug.Log ("Image " + i + " is " + imgs[i].NumberOfChannels + " channels " + imgs [i].Width + "x" + imgs [i].Height);
}
Emgu.CV.Stitching.Stitcher stitcher = new Emgu.CV.Stitching.Stitcher (false);
Mat result = new Mat ();
using (VectorOfMat vms = new VectorOfMat (imgs))
stitcher.Stitch (vms, result);
//CvInvoke.Flip(result, result, FlipType.Vertical);
Texture2D texture = TextureConvert.InputArrayToTexture2D(result, FlipType.Vertical);
this.GetComponent<GUITexture>().texture = texture;
Size s = result.Size;
this.GetComponent<GUITexture>().pixelInset = new Rect(-s.Width / 2, -s.Height / 2, s.Width, s.Height);
}
/// <summary>
/// Returns a training set of descriptors.
/// </summary>
/// <returns></returns>
public Mat[] GetDescriptors()
{
using (var descriptors = new VectorOfMat())
{
NativeMethods.features2d_BOWTrainer_getDescriptors(ptr, descriptors.CvPtr);
return descriptors.ToArray();
}
}
/// <summary>
/// Loads a multi-page image from a file.
/// </summary>
/// <param name="filename">Name of file to be loaded.</param>
/// <param name="mats">A vector of Mat objects holding each page, if more than one.</param>
/// <param name="flags">Flag that can take values of @ref cv::ImreadModes, default with IMREAD_ANYCOLOR.</param>
/// <returns></returns>
public static bool ImReadMulti(string filename, out Mat[] mats, ImreadModes flags = ImreadModes.AnyColor)
{
if (filename == null)
throw new ArgumentNullException("filename");
using (var matsVec = new VectorOfMat())
{
int ret = NativeMethods.imgcodecs_imreadmulti(filename, matsVec.CvPtr, (int) flags);
mats = matsVec.ToArray();
return ret != 0;
}
}
private void selectImagesButton_Click(object sender, EventArgs e)
{
OpenFileDialog dlg = new OpenFileDialog();
dlg.CheckFileExists = true;
dlg.Multiselect = true;
if (dlg.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
sourceImageDataGridView.Rows.Clear();
Image<Bgr, byte>[] sourceImages = new Image<Bgr, byte>[dlg.FileNames.Length];
for (int i = 0; i < sourceImages.Length; i++)
{
sourceImages[i] = new Image<Bgr, byte>(dlg.FileNames[i]);
using (Image<Bgr, byte> thumbnail = sourceImages[i].Resize(200, 200, Emgu.CV.CvEnum.Inter.Cubic, true))
{
DataGridViewRow row = sourceImageDataGridView.Rows[sourceImageDataGridView.Rows.Add()];
row.Cells["FileNameColumn"].Value = dlg.FileNames[i];
row.Cells["ThumbnailColumn"].Value = thumbnail.ToBitmap();
row.Height = 200;
}
}
try
{
using (Stitcher stitcher = new Stitcher(true))
{
using (VectorOfMat vm = new VectorOfMat())
{
Mat result = new Mat();
vm.Push(sourceImages);
Stitcher.Status stitchStatus = stitcher.Stitch(vm, result);
if (stitchStatus == Stitcher.Status.Ok)
resultImageBox.Image = result;
else
{
MessageBox.Show(this, String.Format("Stiching Error: {0}", stitchStatus));
resultImageBox.Image = null;
}
}
}
}
finally
{
foreach (Image<Bgr, Byte> img in sourceImages)
{
img.Dispose();
}
}
}
}
/// <summary>
///
/// </summary>
public override void AssignResult()
{
if (!IsReady())
throw new NotSupportedException();
// Matで結果取得
using (var vectorOfMat = new VectorOfMat())
{
NativeMethods.core_OutputArray_getVectorOfMat(ptr, vectorOfMat.CvPtr);
list.Clear();
list.AddRange(vectorOfMat.ToArray());
}
}
public async Task<Stream> StitchImages(List<string> imageUrls)
{
if (imageUrls == null || !imageUrls.Any())
{
return null;
}
var httpClient = new HttpClient();
var imageStreams = new List<Stream>();
foreach (var imageUrl in imageUrls)
{
var imageStream = await httpClient.GetStreamAsync(imageUrl);
imageStreams.Add(imageStream);
}
var imageBitmaps = new List<Bitmap>();
foreach (var imageStream in imageStreams)
{
var imageBitmap = new Bitmap(imageStream);
imageBitmaps.Add(imageBitmap);
}
var emguImages = new List<Image<Bgr, byte>>();
foreach (var imageBitmap in imageBitmaps)
{
var image = new Image<Bgr, byte>(imageBitmap);
emguImages.Add(image);
}
var arr = new VectorOfMat();
foreach (var emguImage in emguImages)
{
arr.Push(emguImage.Mat);
}
var stitchedImage = new Mat();
using (var stitcher = new Stitcher(false))
{
stitcher.Stitch(arr, stitchedImage);
}
var resultMemStream = new MemoryStream();
stitchedImage.Bitmap.Save(resultMemStream, ImageFormat.Jpeg);
resultMemStream.Position = 0;
return resultMemStream;
}
private void selectImagesButton_Click(object sender, EventArgs e)
{
OpenFileDialog dlg = new OpenFileDialog();
dlg.CheckFileExists = true;
dlg.Multiselect = true;
if (dlg.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
sourceImageDataGridView.Rows.Clear();
Image<Bgr, Byte>[] sourceImages = new Image<Bgr, byte>[dlg.FileNames.Length];
for (int i = 0; i < sourceImages.Length; i++)
{
sourceImages[i] = new Image<Bgr, byte>(dlg.FileNames[i]);
using (Image<Bgr, byte> thumbnail = sourceImages[i].Resize(200, 200, Emgu.CV.CvEnum.Inter.Cubic, true))
{
DataGridViewRow row = sourceImageDataGridView.Rows[sourceImageDataGridView.Rows.Add()];
row.Cells["FileNameColumn"].Value = dlg.FileNames[i];
row.Cells["ThumbnailColumn"].Value = thumbnail.ToBitmap();
row.Height = 200;
}
}
try
{
//using (Stitcher stitcher = new Stitcher(true))
//CUDA bruteforce matcher seems to cause issue in this release, not using CUDA for matching for this reason
using (Stitcher stitcher = new Stitcher(false))
{
using (VectorOfMat vm = new VectorOfMat())
{
Mat result = new Mat();
vm.Push(sourceImages);
stitcher.Stitch(vm, result);
resultImageBox.Image = result;
}
}
}
finally
{
foreach (Image<Bgr, Byte> img in sourceImages)
{
img.Dispose();
}
}
}
}
/// <summary>
/// Estimates intrinsic camera parameters and extrinsic parameters for each of the views
/// </summary>
/// <param name="objectPoints">The 3D location of the object points. The first index is the index of image, second index is the index of the point</param>
/// <param name="imagePoints">The 2D image location of the points. The first index is the index of the image, second index is the index of the point</param>
/// <param name="imageSize">The size of the image, used only to initialize intrinsic camera matrix</param>
/// <param name="intrinsicParam">The intrisinc parameters, might contains some initial values. The values will be modified by this function.</param>
/// <param name="calibrationType">cCalibration type</param>
/// <param name="termCriteria">The termination criteria</param>
/// <param name="extrinsicParams">The output array of extrinsic parameters.</param>
/// <returns>The final reprojection error</returns>
public static double CalibrateCamera(
MCvPoint3D32f[][] objectPoints,
PointF[][] imagePoints,
Size imageSize,
IntrinsicCameraParameters intrinsicParam,
CvEnum.CalibType calibrationType,
MCvTermCriteria termCriteria,
out ExtrinsicCameraParameters[] extrinsicParams)
{
Debug.Assert(objectPoints.Length == imagePoints.Length, "The number of images for objects points should be equal to the number of images for image points");
int imageCount = objectPoints.Length;
using (VectorOfVectorOfPoint3D32F vvObjPts = new VectorOfVectorOfPoint3D32F(objectPoints))
using (VectorOfVectorOfPointF vvImgPts = new VectorOfVectorOfPointF(imagePoints))
{
double reprojectionError = -1;
using (VectorOfMat rotationVectors = new VectorOfMat())
using (VectorOfMat translationVectors = new VectorOfMat())
{
Mat cameraMat = new Mat();
Mat distorCoeff = new Mat();
reprojectionError = CvInvoke.CalibrateCamera(
vvObjPts,
vvImgPts,
imageSize,
intrinsicParam.IntrinsicMatrix,
intrinsicParam.DistortionCoeffs,
rotationVectors,
translationVectors,
calibrationType,
termCriteria);
extrinsicParams = new ExtrinsicCameraParameters[imageCount];
for (int i = 0; i < imageCount; i++)
{
ExtrinsicCameraParameters p = new ExtrinsicCameraParameters();
using (Mat matR = rotationVectors[i])
matR.CopyTo(p.RotationVector);
using (Mat matT = translationVectors[i])
matT.CopyTo(p.TranslationVector);
extrinsicParams[i] = p;
}
}
return(reprojectionError);
}
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
Image <Hsv, Byte> img = new Image <Hsv, byte>(_bitmap);
VectorOfMat mats = new VectorOfMat();
CvInvoke.Split(img, mats);
//imageH.Image = mats[0];
//imageS.Image = mats[1];
//imageB.Image = mats[2];
UMat uimage1 = new UMat();
UMat pyrDown1 = new UMat();
CvInvoke.PyrDown(mats[0], pyrDown1);
CvInvoke.PyrUp(pyrDown1, uimage1);
UMat cannyEdges1 = new UMat();
CvInvoke.Canny(uimage1, cannyEdges1, 80, 80 * 0.6);
imageHCanny.Image = cannyEdges1;
UMat uimage2 = new UMat();
UMat pyrDown2 = new UMat();
CvInvoke.PyrDown(mats[1], pyrDown2);
CvInvoke.PyrUp(pyrDown2, uimage2);
UMat cannyEdges2 = new UMat();
CvInvoke.Canny(uimage2, cannyEdges2, 80, 80 * 0.6);
imageSCanny.Image = cannyEdges2;
UMat uimage3 = new UMat();
UMat pyrDown3 = new UMat();
CvInvoke.PyrDown(mats[2], pyrDown3);
CvInvoke.PyrUp(pyrDown3, uimage3);
UMat cannyEdges3 = new UMat();
CvInvoke.Canny(uimage3, cannyEdges3, 80, 80 * 0.6);
imageBCanny.Image = cannyEdges3;
imageH.Image = uimage1;
imageS.Image = uimage2;
imageB.Image = uimage3;
}
/// <summary>
/// Creates 4-dimensional blob from series of images. Optionally resizes and crops images from center, subtract mean values, scales values by scalefactor, swap Blue and Red channels.
/// </summary>
/// <param name="images">Input images (all with 1- or 3-channels).</param>
/// <param name="scaleFactor">Multiplier for images values.</param>
/// <param name="size">Spatial size for output image</param>
/// <param name="mean">Scalar with mean values which are subtracted from channels. Values are intended to be in (mean-R, mean-G, mean-B) order if image has BGR ordering and swapRB is true.</param>
/// <param name="swapRB">Flag which indicates that swap first and last channels in 3-channel image is necessary.</param>
/// <param name="crop">Flag which indicates whether image will be cropped after resize or not</param>
/// <param name="ddepth">Depth of output blob. Choose CV_32F or CV_8U.</param>
/// <returns>Input image is resized so one side after resize is equal to corresponding dimension in size and another one is equal or larger. Then, crop from the center is performed.</returns>
public static Mat BlobFromImages(
Mat[] images,
double scaleFactor = 1.0,
Size size = new Size(),
MCvScalar mean = new MCvScalar(),
bool swapRB = false,
bool crop = false,
CvEnum.DepthType ddepth = CvEnum.DepthType.Cv32F)
{
Mat blob = new Mat();
using (VectorOfMat vm = new VectorOfMat(images))
{
BlobFromImages(vm, blob, scaleFactor, size, mean, swapRB, crop, ddepth);
}
return(blob);
}
/// <summary>
/// Backproject the histogram into a matrix
/// </summary>
/// <param name="srcs">Source matrices, all are of the same size and type</param>
/// <returns>Destination back projection matrix of the sametype as the source matrices</returns>
/// <typeparam name="TDepth">The type of depth of the matrix</typeparam>
public Matrix <TDepth> BackProject <TDepth>(Matrix <TDepth>[] srcs) where TDepth : new()
{
Debug.Assert(srcs.Length == _binSizes.Length, "Incompatible Dimension");
using (VectorOfMat vm = new VectorOfMat())
{
vm.Push(srcs);
int[] channels = new int[srcs.Length];
for (int i = 0; i < channels.Length; i++)
{
channels[i] = i;
}
Matrix <TDepth> res = new Matrix <TDepth>(srcs[0].Size);
CvInvoke.CalcBackProject(vm, channels, this, res.Mat, GetRangeAsFloatVec(), 1.0);
return(res);
}
}
/// <summary>
/// The function imreadmulti loads a multi-page image from the specified file into a vector of Mat objects.
/// </summary>
/// <param name="filename">Name of file to be loaded.</param>
/// <param name="flags">Read flags</param>
/// <returns>Null if the reading fails, otherwise, an array of Mat from the file</returns>
public static Mat[] Imreadmulti(String filename, CvEnum.ImreadModes flags = ImreadModes.AnyColor)
{
using (VectorOfMat vm = new VectorOfMat())
using (CvString strFilename = new CvString(filename))
{
if (!cveImreadmulti(strFilename, vm, flags))
return null;
Mat[] result = new Mat[vm.Size];
for (int i = 0; i < result.Length; i++)
{
Mat m = new Mat();
CvInvoke.Swap(m, vm[i]);
result[i] = m;
}
return result;
}
}
private void ConvertBlackToTransparent(Bitmap image)
{
//Mat src = new Mat(new Size(image.Width, image.Height),
// Emgu.CV.CvEnum.DepthType.Cv8U, 4);
var src = new Image <Rgb, byte>(image);
var graySrc = src.Convert <Gray, byte>();
// var alpha = graySrc.ThresholdBinary(new Gray(100), new Gray(255));
var srcMat = src.Mat;
var finalMat = new Mat(image.Height, image.Width, Emgu.CV.CvEnum.DepthType.Cv8U, 4);
var tmp = new Mat(image.Height, image.Width, Emgu.CV.CvEnum.DepthType.Cv8U, 1);
var alpha = new Mat(image.Height, image.Width, Emgu.CV.CvEnum.DepthType.Cv8U, 1);
CvInvoke.CvtColor(srcMat, tmp, Emgu.CV.CvEnum.ColorConversion.Bgr2Gray);
imgBox.Image = tmp.ToImage <Rgba, byte>();
CvInvoke.Threshold(tmp, alpha, 100, 255, Emgu.CV.CvEnum.ThresholdType.Binary);
imgBox.Image = alpha.ToImage <Rgba, byte>();
var rgb = new VectorOfMat(3);
CvInvoke.Split(srcMat, rgb);
Mat[] rgba = { rgb[0], rgb[1], rgb[2], alpha };
VectorOfMat rgbaMat = new VectorOfMat(rgba);
CvInvoke.Merge(rgbaMat, finalMat);
imgBox.Image = finalMat.ToImage <Rgba, byte>();
//Mat m = new Mat(image.Height, image.Width, Emgu.CV.CvEnum.DepthType.Cv8U, 4);
//m.PushBack(src[0].Mat);
//m.PushBack(src[1].Mat);
//m.PushBack(src[2].Mat);
//m.PushBack(alpha.Mat);
//imgBox.Image = m.ToImage<Rgba, byte>();
}
private void button1_Click(object sender, EventArgs e)
{
Image <Hsv, byte> hsvImage = src.Convert <Hsv, byte>();
imageBox1.Image = hsvImage;
VectorOfMat channels = new VectorOfMat(); //创建vectorOfmat类型存储分离后的图像
CvInvoke.Split(hsvImage, channels); //通道分离
InputOutputArray mix_channel = channels.GetInputOutputArray(); //获得数组
Mat H_channel = mix_channel.GetMat(0); //获得第一通道
Mat S_channel = mix_channel.GetMat(1); //获得第二通道
Mat V_channel = mix_channel.GetMat(2); //获得第一通道
imageBox2.Image = H_channel; //显示第一通道
imageBox3.Image = S_channel; //显示第二通道
imageBox4.Image = V_channel; //显示第三通道
}
public static Mat CreateBGRLut(Mat img, CvLUT[] LUTS)
{
Mat dst = new Mat(img.Size, DepthType.Cv8U, img.NumberOfChannels);
VectorOfMat brgChannels = new VectorOfMat();
CvInvoke.Split(img, brgChannels);
Mat[] mats = new Mat[brgChannels.Size];
for (int n = 0; n < brgChannels.Size; n++)
{
mats[n] = LUTS[n].CreateImg(brgChannels[n]);
}
VectorOfMat lutsChannels = new VectorOfMat(mats);
CvInvoke.Merge(lutsChannels, dst);
return(dst);
}
/// <summary>
/// Process the input image and render into the output image
/// </summary>
/// <param name="imageIn">The input image</param>
/// <param name="imageOut">
/// The output image, can be the same as <paramref name="imageIn"/>, in which case we will render directly into the input image.
/// Note that if no bar codes are detected, <paramref name="imageOut"/> will remain unchanged.
/// If bar codes are detected, we will draw the code and (rectangle) regions on top of the existing pixels of <paramref name="imageOut"/>.
/// If the <paramref name="imageOut"/> is not the same object as <paramref name="imageIn"/>, it is a good idea to copy the pixels over from the input image before passing it to this function.
/// </param>
/// <returns>The messages that we want to display.</returns>
public String ProcessAndRender(IInputArray imageIn, IInputOutputArray imageOut)
{
using (VectorOfMat points = new VectorOfMat())
{
Stopwatch watch = Stopwatch.StartNew();
var barcodesFound = _barcodeDetector.DetectAndDecode(imageIn);
watch.Stop();
for (int i = 0; i < barcodesFound.Length; i++)
{
Point[] contour = Array.ConvertAll(barcodesFound[i].Points, Point.Round);
using (VectorOfVectorOfPoint vpp = new VectorOfVectorOfPoint(new Point[][] { contour }))
{
CvInvoke.DrawContours(imageOut, vpp, -1, RenderColor);
}
CvInvoke.PutText(
imageOut,
barcodesFound[i].DecodedInfo,
Point.Round(barcodesFound[i].Points[0]),
FontFace.HersheySimplex,
1.0,
RenderColor
);
}
if (barcodesFound.Length == 0)
{
return(String.Format("No barcodes found (in {0} milliseconds)", watch.ElapsedMilliseconds));
}
String[] barcodesTexts = Array.ConvertAll(barcodesFound,
delegate(BarcodeDetector.Barcode input) { return(input.DecodedInfo); });
String allBarcodeText = String.Join(";", barcodesTexts);
return(String.Format(
"Barcodes found (in {1} milliseconds): {0}",
allBarcodeText,
watch.ElapsedMilliseconds));
}
}
public Mat FingerprintDescriptor(Mat input)
{
var harris_normalised = PrepareImage(input);
float threshold = 125.0f;
List <MKeyPoint> mKeyPoints = new List <MKeyPoint>();
Mat rescaled = new Mat();
VectorOfKeyPoint keypoints = new VectorOfKeyPoint();
double scale = 1.0, shift = 0.0;
CvInvoke.ConvertScaleAbs(harris_normalised, rescaled, scale, shift);
Mat[] mat = new Mat[] { rescaled, rescaled, rescaled };
VectorOfMat vectorOfMat = new VectorOfMat(mat);
int[] from_to = { 0, 0, 1, 1, 2, 2 };
Mat harris_c = new Mat(rescaled.Size, DepthType.Cv8U, 3);
CvInvoke.MixChannels(vectorOfMat, harris_c, from_to);
for (int x = 0; x < harris_c.Width; x++)
{
for (int y = 0; y < harris_c.Height; y++)
{
if (GetFloatValue(harris_c, x, y) > threshold)
{
MKeyPoint m = new MKeyPoint
{
Size = 1,
Point = new PointF(x, y)
};
mKeyPoints.Add(m);
}
}
}
keypoints.Push(mKeyPoints.ToArray());
Mat descriptors = new Mat();
ORBDetector ORBCPU = new ORBDetector();
ORBCPU.Compute(_input_thinned, keypoints, descriptors);
return(descriptors);
}
public void Calibrate(VectorOfVectorOfPointF cornersPoints, Size imageSize, int innerCornersPerChessboardCols,
int innerCornersPerChessboardRows)
{
modelPoints = CreateModelPoints(cornersPoints.Size, innerCornersPerChessboardCols,
innerCornersPerChessboardRows);
var rotationVectors = new VectorOfMat();
var translationVectors = new VectorOfMat();
CvInvoke.CalibrateCamera(modelPoints, cornersPoints, imageSize, cameraMatrix, cameraDistortionCoeffs,
rotationVectors, translationVectors, CalibType.Default, new MCvTermCriteria(10));
translation = new Matrix<double>(translationVectors[0].Rows, translationVectors[0].Cols,
translationVectors[0].DataPointer);
var rotationMatrix = new Matrix<double>(rotationVectors[0].Rows, rotationVectors[0].Cols,
rotationVectors[0].DataPointer);
rotation = new RotationVector3D(new[] {rotationMatrix[0, 0], rotationMatrix[1, 0], rotationMatrix[2, 0]});
}
///<summary>
/// Backproject the histogram into a matrix
///</summary>
///<param name="srcs">Source matrices, all are of the same size and type</param>
///<returns>Destination back projection matrix of the sametype as the source matrices</returns>
///<typeparam name="TDepth">The type of depth of the matrix</typeparam>
public Matrix <TDepth> BackProject <TDepth>(Matrix <TDepth>[] srcs) where TDepth : new()
{
#if !(NETFX_CORE || (UNITY_ANDROID || UNITY_IPHONE || UNITY_STANDALONE || UNITY_METRO))
Debug.Assert(srcs.Length == _binSizes.Length, Properties.StringTable.IncompatibleDimension);
#endif
using (VectorOfMat vm = new VectorOfMat())
{
vm.Push(srcs);
int[] channels = new int[srcs.Length];
for (int i = 0; i < channels.Length; i++)
{
channels[i] = i;
}
Matrix <TDepth> res = new Matrix <TDepth>(srcs[0].Size);
CvInvoke.CalcBackProject(vm, channels, this, res.Mat, GetRangeAsFloatVec(), 1.0);
return(res);
}
}
// Equalization
private void equalization_Click(object sender, EventArgs e)
{
maskDraw.Enabled = true;
Image <Ycc, Byte> temp = new Image <Ycc, Byte>(img.Width, img.Height);
CvInvoke.CvtColor(img, temp, ColorConversion.Rgb2YCrCb);
Image <Gray, Byte>[] channels = temp.Split();
channels[0]._EqualizeHist();
VectorOfMat c = new VectorOfMat();
c.Push(channels[0]);
c.Push(channels[1]);
c.Push(channels[2]);
CvInvoke.Merge(c, temp);
CvInvoke.CvtColor(temp, img, ColorConversion.YCrCb2Rgb);
imgBackUp = img.Clone();
mainImage2.Image = img.ToBitmap();
label1.Text = "Status: Histogram equalization";
}
/// <summary>
/// The function imreadmulti loads a multi-page image from the specified file into a vector of Mat objects.
/// </summary>
/// <param name="filename">Name of file to be loaded.</param>
/// <param name="flags">Read flags</param>
/// <returns>Null if the reading fails, otherwise, an array of Mat from the file</returns>
public static Mat[] Imreadmulti(String filename, CvEnum.ImreadModes flags = ImreadModes.AnyColor)
{
using (VectorOfMat vm = new VectorOfMat())
using (CvString strFilename = new CvString(filename))
{
if (!cveImreadmulti(strFilename, vm, flags))
{
return(null);
}
Mat[] result = new Mat[vm.Size];
for (int i = 0; i < result.Length; i++)
{
Mat m = new Mat();
CvInvoke.Swap(m, vm[i]);
result[i] = m;
}
return(result);
}
}
/// <summary>
/// This function compares the separte Blue, Green and Red values of each pixel and, using a clever
/// subtraction, tries to determine if it is skin-colored. The idea is taken from this paper:
/// "In-air gestures around unmodified mobile devices" by Song et al.
/// </summary>
/// <param name="inputImage">Standard BGR image.</param>
/// <returns>Grayscale image with the white pixels containing skin.</returns>
private static Image <Gray, byte> MinimumSegment(Image <Bgr, byte> inputImage)
{
Mat deltaOne = new Mat();
Mat deltaTwo = new Mat();
VectorOfMat bgrChannels = new VectorOfMat(3);
CvInvoke.Split(inputImage, bgrChannels);
CvInvoke.Subtract(bgrChannels[2], bgrChannels[1], deltaOne);
CvInvoke.Subtract(bgrChannels[2], bgrChannels[0], deltaTwo);
Mat mixedMat = new Mat();
CvInvoke.Min(deltaOne, deltaTwo, mixedMat);
Image <Gray, byte> outputImage = mixedMat.ToImage <Gray, byte>().InRange(new Gray(10), new Gray(200));
bgrChannels.Dispose();
mixedMat.Dispose();
return(outputImage);
}
private Mat Magnitude(Mat fftData)
{
Mat Real = new Mat(fftData.Size, DepthType.Cv32F, 1);
Mat Imaginary = new Mat(fftData.Size, DepthType.Cv32F, 1);
VectorOfMat channels = new VectorOfMat();
CvInvoke.Split(fftData, channels); //将多通道mat分离成几个单通道mat
Real = channels.GetOutputArray().GetMat(0);
Imaginary = channels.GetOutputArray().GetMat(1);
CvInvoke.Pow(Real, 2.0, Real);
CvInvoke.Pow(Imaginary, 2.0, Imaginary);
CvInvoke.Add(Real, Imaginary, Real);
CvInvoke.Pow(Real, 0.5, Real);
Mat onesMat = Mat.Ones(Real.Rows, Real.Cols, DepthType.Cv32F, 1);
CvInvoke.Add(Real, onesMat, Real);
CvInvoke.Log(Real, Real); //求自然对数
return(Real);
}
public override void ProcessData(Mat sourceImage, Mat destImage)
{
Size size = sourceImage.Size;
Mat i0 = GetBufferGray(size, 0);
Mat i1 = GetBufferGray(size, 1);
Mat i2 = GetBufferGray(size, 2);
Mat i3 = GetBufferGray(size, 3);
CvInvoke.ExtractChannel(sourceImage, i0, 0);
CvInvoke.Canny(i0, i1, _thresh, _threshLinking, _apertureSize);
CvInvoke.ExtractChannel(sourceImage, i0, 1);
CvInvoke.Canny(i0, i2, _thresh, _threshLinking, _apertureSize);
CvInvoke.ExtractChannel(sourceImage, i0, 2);
CvInvoke.Canny(i0, i3, _thresh, _threshLinking, _apertureSize);
using (VectorOfMat vm = new VectorOfMat(i1, i2, i3))
{
CvInvoke.Merge(vm, destImage);
}
}
private Mat MagnitudeInverse(Mat fftData)
{
Mat Real = new Mat(fftData.Size, DepthType.Cv32F, 1);
Mat Imaginary = new Mat(fftData.Size, DepthType.Cv32F, 1);
VectorOfMat channels = new VectorOfMat();
CvInvoke.Split(fftData, channels);
Real = channels.GetOutputArray().GetMat(0);
Imaginary = channels.GetOutputArray().GetMat(1);
CvInvoke.Pow(Real, 2.0, Real);
CvInvoke.Pow(Imaginary, 2.0, Imaginary);
CvInvoke.Add(Real, Imaginary, Real);
CvInvoke.Pow(Real, 0.5, Real);
Console.WriteLine(Real);
return(Real);
}
public Mat initialtracker(Image <Bgr, Byte> SELECTION, out UMat model, out Mat Model, Mat selection, int value1, int value2, int value3, out Mat Mask)
{
Mat hsv = new Mat();
model = SELECTION.Copy().ToUMat();
Model = selection;
S = SELECTION;
s = selection;
Image <Hsv, Byte> HSV = SELECTION.Convert <Hsv, Byte>();
// CvInvoke.CvtColor(selection, hsv, ColorConversion.Bgr2Hsv);
// CvInvoke.CvtColor(skin_sample, skin_sample, ColorConversion.Bgr2Hsv);
Mat mask = new Mat();
CvInvoke.Threshold(mask, mask, 60, 255, ThresholdType.Binary);
CvInvoke.InRange(HSV, new ScalarArray(new MCvScalar(0, value2 - 30, value3 - 45)), new ScalarArray(new MCvScalar(value1 + 30, value2 + 30, value3 + 30)), mask);
//CvInvoke.InRange(HSV, new ScalarArray(new MCvScalar(0, value1, Math.Min(value2, value3))), new ScalarArray(new MCvScalar(180, 255, Math.Max(value2, value3))), mask);
Mat hue = new Mat();
hue = HSV.Mat.Split()[0];
Mask = mask;
int[] Chn = { 0 };
int[] size = { 24 };
float[] range = { 0, 180 };
var vhue = new VectorOfMat(hue);
Mat element = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(2, 2), new Point(1, 1));// Mat element = getStructuringElement(MORPH_RECT, Size(3, 3));
// CvInvoke.Erode(mask, mask, element, new Point(1, 1), 2, BorderType.Default, new MCvScalar(0, 0, 0));
Mat element2 = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(2, 2), new Point(1, 1));
CvInvoke.Dilate(mask, mask, element, new Point(-1, -1), 2, BorderType.Default, new MCvScalar(0, 0, 0));
Mat hist = new Mat();
//mask = MASK.Mat;
CvInvoke.CalcHist(vhue, Chn, mask, hist, size, range, true);
// CvInvoke.EqualizeHist(hist, hist);
CvInvoke.Normalize(hist, hist, 0, 200, NormType.MinMax);
return(hist);
}
public Image <Bgr, byte> Chanel(int i)
{
var channel = MainImageExp.Split()[i];
Image <Bgr, byte> destImage = MainImageExp.CopyBlank();
VectorOfMat vm = new VectorOfMat();
switch (i)
{
case 0:
vm.Push(channel);
vm.Push(channel.CopyBlank());
vm.Push(channel.CopyBlank());
break;
case 1:
vm.Push(channel.CopyBlank());
vm.Push(channel);
vm.Push(channel.CopyBlank());
break;
case 2:
vm.Push(channel.CopyBlank());
vm.Push(channel.CopyBlank());
vm.Push(channel);
break;
default:
vm.Push(channel.CopyBlank());
vm.Push(channel.CopyBlank());
vm.Push(channel.CopyBlank());
break;
}
CvInvoke.Merge(vm, destImage);
MainImageExp = destImage.Resize(640, 480, Inter.Linear);
return(MainImageExp);
}
/// <summary>
/// Get the preview image
/// </summary>
/// <param name="preview">The preview image</param>
/// <returns>True if successfully retrieve the preview image.</returns>
public bool GetPreviewOut(Mat preview)
{
if (StreamName.Contains("previewout"))
{
int[] dim = Dimension;
if (dim[0] == 3)
{
int step = dim[2] * ElemSize;
using (Mat blue = new Mat(new Size(dim[2], dim[1]), DepthType.Cv8U, 1, Data, step))
using (Mat green = new Mat(new Size(dim[2], dim[1]), DepthType.Cv8U, 1, new IntPtr(Data.ToInt64() + dim[1] * step), step))
using (Mat red = new Mat(new Size(dim[2], dim[1]), DepthType.Cv8U, 1, new IntPtr(Data.ToInt64() + dim[1] * step * 2), step))
using (VectorOfMat vm = new VectorOfMat(blue, green, red))
{
CvInvoke.Merge(vm, preview);
return(true);
}
}
}
return(false);
}
private void MenuSplitChannels_Click(object sender, EventArgs e)
{
if (mCurrentImage.NumberOfChannels == 1)
{
MessageBox.Show("当前主图片为单通道图像，无法继续分离！", "警告");
return;
}
VectorOfMat channels = new VectorOfMat();
CvInvoke.Split(mCurrentImage, channels);
for (int i = 0; i < channels.Size; i++)
{
string filename = string.Format("通道{0}", i);
mCurrentImage = channels[i].Clone();
UpdateCurrentImage(filename);
mFrmMainImage.SetImageSource(mCurrentImage);
ShowAlonePicture(mCurrentImage, string.Format("通道{0}", i));
}
}
public void TrainRecognizer(List<User> users)
{
var imageList = new VectorOfMat();
var indexList = new VectorOfInt();
var userIndex = 0;
foreach (var user in users)
{
foreach (var userImage in user.UserImages.Where(userImage => File.Exists(userImage.ImageFilePath)))
{
imageList.Push(new Image<Gray, byte>(userImage.ImageFilePath));
indexList.Push(new[] { userIndex });
}
userIndex++;
}
Recognizer = new EigenFaceRecognizer(imageList.Size);
Recognizer.Train(imageList, indexList);
}
private void button5_Click(object sender, EventArgs e)
{
Stitcher _sticher = new Stitcher(Stitcher.Mode.Scans); //创建一个 Sticher 类。
Mat result_image = new Mat(); //创建 Mat 存储输出全景图
VectorOfMat sti_image = new VectorOfMat(); //创建 VectorOfMat 类型， 输入图像拼接数组
// 添加图像到 sti_image 中， 不按照循序进行添加， 说明拼接图像与顺序无关*//
sti_image.Push(image1);
sti_image.Push(image2);
sti_image.Push(image3);
sti_image.Push(image4);
Stitcher.Status status = _sticher.Stitch(sti_image, result_image);//进行图像拼接， 返回 bool 类型， 是否拼接成功。
if (status == Stitcher.Status.Ok)
{
imageBox5.Image = result_image;//显示图像。
}
else
{
MessageBox.Show("拼接失败", "提示");
}
}
/// <summary>
/// Detect objects by template matching. Matches globally at the lowest pyramid level, then refines locally stepping up the pyramid.
/// </summary>
/// <param name="sources">Source images, one for each modality.</param>
/// <param name="threshold">Similarity threshold, a percentage between 0 and 100.</param>
/// <param name="matches">Template matches, sorted by similarity score.</param>
/// <param name="classIds">If non-empty, only search for the desired object classes.</param>
/// <param name="quantizedImages">Optionally return vector<Mat> of quantized images.</param>
/// <param name="masks">The masks for consideration during matching. The masks should be CV_8UC1 where 255 represents a valid pixel. If non-empty, the vector must be the same size as sources. Each element must be empty or the same size as its corresponding source.</param>
public void Match(
VectorOfMat sources,
float threshold,
VectorOfLinemodMatch matches,
VectorOfCvString classIds = null,
IOutputArrayOfArrays quantizedImages = null,
VectorOfMat masks = null)
{
using (OutputArray oaQuantizedImages =
quantizedImages == null ? OutputArray.GetEmpty() : quantizedImages.GetOutputArray())
{
LinemodInvoke.cveLinemodDetectorMatch(
_ptr,
sources,
threshold,
matches,
classIds,
oaQuantizedImages,
masks
);
}
}
private void jointBtn_Click(object sender, EventArgs e)
{
MessageBox.Show("此过程可能需要几秒钟的时间，请稍候...");
Image <Bgr, byte>[] sources;
Image img1 = this.pictureBox1.Image;
Bitmap map1 = new Bitmap(img1);
Image img2 = this.pictureBox2.Image;
Bitmap map2 = new Bitmap(img2);
sources = new Image <Bgr, byte> [2]; //图像集初始化，确定了图像集的页数。
sources[0] = new Image <Bgr, byte>(map1); //填入位图数据
sources[1] = new Image <Bgr, byte>(map2);
Stitcher stitcher = new Stitcher(false); //true代表使用GPU，false代表不使用GPU
Mat panoramic_img = new Mat();
bool ok = true; //定义并初始化ok,用来标识是否拼接成功
Mat[] mat = new Mat[] { sources[0].Mat, sources[1].Mat };
VectorOfMat vc = new VectorOfMat(mat);
try
{
ok = stitcher.Stitch(vc, panoramic_img);
} //ok为真，则拼接成功；ok为假，则拼接失败。
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
if (ok)
{
pictureBox3.Image = (Image)panoramic_img.Bitmap;
MessageBox.Show("两张图像合成成功");
}
else
{
MessageBox.Show("合成失败,图像相似区域太少或者无法合成");; //拼接失败
}
}
public PageMetric(Mat image)
{
Mat hsv = new Mat();
CvInvoke.CvtColor(image, hsv, ColorConversion.Rgb2Hsv);
var dim = new int[] { 0 };
var histSize = new int[] { 256 };
var range = new float[] { 0, 255 };
bool accumulate = false;
Mat hist = new Mat();
Mat rgb = new Mat();
using (VectorOfMat array = new VectorOfMat())
{
array.Push(hsv);
CvInvoke.CalcHist(array, dim, new Mat(), hist, histSize, range, accumulate);
}
this.histogram = hist;
}
public Image <Bgr, byte> editColourChanel(Image <Bgr, byte> sourceImage, CheckedListBox checkedListBox)
{
var channel = sourceImage.Split()[checkedListBox.SelectedIndex];
Image <Bgr, byte> destImage = sourceImage.CopyBlank();
VectorOfMat vm = new VectorOfMat();
for (int i = 0; i < 3; i++)
{
if (i == checkedListBox.SelectedIndex)
{
vm.Push(channel);
}
else
{
vm.Push(channel.CopyBlank());
}
}
CvInvoke.Merge(vm, destImage);
return(destImage);
}
internal static double DetermineThreshold(Image <Gray, byte> img)
{
double threshhold = 0;
float smallest = float.MaxValue;
Mat hist = new Mat();
using (VectorOfMat vm = new VectorOfMat())
{
vm.Push(img.Mat);
float[] ranges = new float[] { 0.0f, 256.0f };
CvInvoke.CalcHist(vm, new int[] { 0 }, null, hist, new int[] { 256 }, ranges, false);
}
for (int i = 5; i < 50; ++i)
{
if (hist.GetValue(0, i) < smallest)
{
smallest = hist.GetValue(0, i);
threshhold = i;
}
}
return(threshhold);
}
private void btnGetRedChanel_Click(object sender, EventArgs e)
{
// remove blue and green channels, ie. only red channel is saved
int[] zeroCHs = new int[2] {
0, 1
};
Image <Gray, byte>[] channels;
Mat outMat = new Mat();
channels = img.Split(); // img: original image(color)
for (int i = 0; i < 2; i++)
{
channels[zeroCHs[i]].SetZero();
}
using (VectorOfMat vm = new VectorOfMat(channels[0].Mat, channels[1].Mat, channels[2].Mat))
{
CvInvoke.Merge(vm, outMat);
}
imageBox2.Image = outMat;
}
/// <summary>
/// Process the input image and render into the output image
/// </summary>
/// <param name="imageIn">The input image</param>
/// <param name="imageOut">The output image, can be the same as imageIn, in which case we will render directly into the input image</param>
/// <returns>The messages that we want to display.</returns>
public String ProcessAndRender(IInputArray imageIn, IInputOutputArray imageOut)
{
using (VectorOfMat points = new VectorOfMat())
{
Stopwatch watch = Stopwatch.StartNew();
String[] qrCodesFound = _weChatQRCodeDetectionModel.DetectAndDecode(imageIn, points);
watch.Stop();
for (int i = 0; i < qrCodesFound.Length; i++)
{
using (Mat p = points[i])
{
Point[] contour = MatToPoints(p);
using (VectorOfVectorOfPoint vpp = new VectorOfVectorOfPoint(new Point[][] { contour }))
{
CvInvoke.DrawContours(imageOut, vpp, -1, new MCvScalar(255, 0, 0));
}
}
//CvInvoke.DrawContours(imageOut, points, i, new MCvScalar(255, 0, 0));
//CvInvoke.PutText(imageOut, qrCodesFound[i], );
}
if (imageOut != imageIn)
{
using (InputArray iaImageIn = imageIn.GetInputArray())
{
iaImageIn.CopyTo(imageOut);
}
}
//foreach (var detected in detectedObjects)
// detected.Render(imageOut, new MCvScalar(0, 0, 255));
return(String.Format(
"QR codes found (in {1} milliseconds): {0}",
String.Join(";", String.Format("\"{0}\"", qrCodesFound)),
watch.ElapsedMilliseconds));
}
//var detectedObjects = Detect(imageIn);
}
public Image <Bgr, byte> ReturnColorChannel(Image <Bgr, byte> image, string channelName = "r")
{
int channelIndex;
if (channelName == "r")
{
channelIndex = 2;
}
if (channelName == "g")
{
channelIndex = 1;
}
if (channelName == "b")
{
channelIndex = 0;
}
var channel = sourceImage.Split()[channelIndex];
VectorOfMat vm = new VectorOfMat();
vm.Push(channel[0]); vm.Push(channel[1]); vm.Push(channel[2]);
CvInvoke.Merge(vm, destImage);
}
public async Task<HttpResponseMessage> GetPanoDemo()
{
try
{
var imgUrl1 = @"https://cs.brown.edu/courses/csci1950-g/results/proj6/edwallac/source001_01.jpg";
var imgUrl2 = @"https://cs.brown.edu/courses/csci1950-g/results/proj6/edwallac/source001_02.jpg";
var img1Stream = await(new HttpClient()).GetStreamAsync(imgUrl1);
var img2Stream = await(new HttpClient()).GetStreamAsync(imgUrl2);
var bitmap1 = new Bitmap(img1Stream);
var bitmap2 = new Bitmap(img2Stream);
var img1 = new Image<Bgr, byte>(bitmap1);
var img2 = new Image<Bgr, byte>(bitmap2);
var arr = new VectorOfMat();
arr.Push(new[] { img1, img2 });
var stitchedImage = new Mat();
using (var stitcher = new Stitcher(false))
{
stitcher.Stitch(arr, stitchedImage);
}
var resultMemStream = new MemoryStream();
stitchedImage.Bitmap.Save(resultMemStream, ImageFormat.Jpeg);
resultMemStream.Position = 0;
var responseMessage = new HttpResponseMessage
{
Content = new StreamContent(resultMemStream)
{
Headers =
{
ContentLength = resultMemStream.Length,
ContentType = new MediaTypeHeaderValue("image/jpeg"),
ContentDisposition = new ContentDispositionHeaderValue("attachment")
{
FileName = HttpUtility.UrlDecode("result.jpg"),
Size = resultMemStream.Length
}
}
}
};
return responseMessage;
}
catch (Exception e)
{
return new HttpResponseMessage(HttpStatusCode.InternalServerError)
{
ReasonPhrase = e.Message
};
}
}
/// <summary>
/// finds intrinsic and extrinsic camera parameters from several fews of a known calibration pattern.
/// </summary>
/// <param name="objectPoints">In the new interface it is a vector of vectors of calibration pattern points in the calibration pattern coordinate space.
/// The outer vector contains as many elements as the number of the pattern views. If the same calibration pattern is shown in each view and
/// it is fully visible, all the vectors will be the same. Although, it is possible to use partially occluded patterns, or even different patterns
/// in different views. Then, the vectors will be different. The points are 3D, but since they are in a pattern coordinate system, then,
/// if the rig is planar, it may make sense to put the model to a XY coordinate plane so that Z-coordinate of each input object point is 0.
/// In the old interface all the vectors of object points from different views are concatenated together.</param>
/// <param name="imagePoints">In the new interface it is a vector of vectors of the projections of calibration pattern points.
/// imagePoints.Count() and objectPoints.Count() and imagePoints[i].Count() must be equal to objectPoints[i].Count() for each i.</param>
/// <param name="imageSize">Size of the image used only to initialize the intrinsic camera matrix.</param>
/// <param name="cameraMatrix">Output 3x3 floating-point camera matrix.
/// If CV_CALIB_USE_INTRINSIC_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be
/// initialized before calling the function.</param>
/// <param name="distCoeffs">Output vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]]) of 4, 5, or 8 elements.</param>
/// <param name="rvecs">Output vector of rotation vectors (see Rodrigues() ) estimated for each pattern view. That is, each k-th rotation vector
/// together with the corresponding k-th translation vector (see the next output parameter description) brings the calibration pattern
/// from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the
/// calibration pattern in the k-th pattern view (k=0.. M -1)</param>
/// <param name="tvecs">Output vector of translation vectors estimated for each pattern view.</param>
/// <param name="flags">Different flags that may be zero or a combination of the CalibrationFlag values</param>
/// <param name="criteria">Termination criteria for the iterative optimization algorithm.</param>
/// <returns></returns>
public static double CalibrateCamera(
IEnumerable<IEnumerable<Point3d>> objectPoints,
IEnumerable<IEnumerable<Point2d>> imagePoints,
Size imageSize,
double[,] cameraMatrix,
double[] distCoeffs,
out Vec3d[] rvecs,
out Vec3d[] tvecs,
CalibrationFlag flags = CalibrationFlag.Zero,
TermCriteria? criteria = null)
{
if (objectPoints == null)
throw new ArgumentNullException("objectPoints");
if (objectPoints == null)
throw new ArgumentNullException("objectPoints");
if (cameraMatrix == null)
throw new ArgumentNullException("cameraMatrix");
if (distCoeffs == null)
throw new ArgumentNullException("distCoeffs");
TermCriteria criteria0 = criteria.GetValueOrDefault(
new TermCriteria(CriteriaType.Iteration | CriteriaType.Epsilon, 30, Double.Epsilon));
using (var op = new ArrayAddress2<Point3d>(objectPoints))
using (var ip = new ArrayAddress2<Point2d>(imagePoints))
using (var rvecsVec = new VectorOfMat())
using (var tvecsVec = new VectorOfMat())
{
double ret = NativeMethods.calib3d_calibrateCamera_vector(
op.Pointer, op.Dim1Length, op.Dim2Lengths,
ip.Pointer, ip.Dim1Length, ip.Dim2Lengths,
imageSize, cameraMatrix, distCoeffs, distCoeffs.Length,
rvecsVec.CvPtr, tvecsVec.CvPtr, (int)flags, criteria0);
Mat[] rvecsM = rvecsVec.ToArray();
Mat[] tvecsM = tvecsVec.ToArray();
rvecs = EnumerableEx.SelectToArray(rvecsM, m => m.Get<Vec3d>(0));
tvecs = EnumerableEx.SelectToArray(tvecsM, m => m.Get<Vec3d>(0));
return ret;
}
}
/// <summary>
/// finds intrinsic and extrinsic camera parameters from several fews of a known calibration pattern.
/// </summary>
/// <param name="objectPoints">In the new interface it is a vector of vectors of calibration pattern points in the calibration pattern coordinate space.
/// The outer vector contains as many elements as the number of the pattern views. If the same calibration pattern is shown in each view and
/// it is fully visible, all the vectors will be the same. Although, it is possible to use partially occluded patterns, or even different patterns
/// in different views. Then, the vectors will be different. The points are 3D, but since they are in a pattern coordinate system, then,
/// if the rig is planar, it may make sense to put the model to a XY coordinate plane so that Z-coordinate of each input object point is 0.
/// In the old interface all the vectors of object points from different views are concatenated together.</param>
/// <param name="imagePoints">In the new interface it is a vector of vectors of the projections of calibration pattern points.
/// imagePoints.Count() and objectPoints.Count() and imagePoints[i].Count() must be equal to objectPoints[i].Count() for each i.</param>
/// <param name="imageSize">Size of the image used only to initialize the intrinsic camera matrix.</param>
/// <param name="cameraMatrix">Output 3x3 floating-point camera matrix.
/// If CV_CALIB_USE_INTRINSIC_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be
/// initialized before calling the function.</param>
/// <param name="distCoeffs">Output vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]]) of 4, 5, or 8 elements.</param>
/// <param name="rvecs">Output vector of rotation vectors (see Rodrigues() ) estimated for each pattern view. That is, each k-th rotation vector
/// together with the corresponding k-th translation vector (see the next output parameter description) brings the calibration pattern
/// from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the
/// calibration pattern in the k-th pattern view (k=0.. M -1)</param>
/// <param name="tvecs">Output vector of translation vectors estimated for each pattern view.</param>
/// <param name="flags">Different flags that may be zero or a combination of the CalibrationFlag values</param>
/// <param name="criteria">Termination criteria for the iterative optimization algorithm.</param>
/// <returns></returns>
public static double CalibrateCamera(
IEnumerable<Mat> objectPoints,
IEnumerable<Mat> imagePoints,
Size imageSize,
InputOutputArray cameraMatrix,
InputOutputArray distCoeffs,
out Mat[] rvecs,
out Mat[] tvecs,
CalibrationFlag flags = CalibrationFlag.Zero,
TermCriteria? criteria = null)
{
if (objectPoints == null)
throw new ArgumentNullException("objectPoints");
if (objectPoints == null)
throw new ArgumentNullException("objectPoints");
if (cameraMatrix == null)
throw new ArgumentNullException("cameraMatrix");
if (distCoeffs == null)
throw new ArgumentNullException("distCoeffs");
cameraMatrix.ThrowIfNotReady();
distCoeffs.ThrowIfNotReady();
TermCriteria criteria0 = criteria.GetValueOrDefault(
new TermCriteria(CriteriaType.Iteration | CriteriaType.Epsilon, 30, Double.Epsilon));
IntPtr[] objectPointsPtrs = EnumerableEx.SelectPtrs(objectPoints);
IntPtr[] imagePointsPtrs = EnumerableEx.SelectPtrs(imagePoints);
double ret;
using (var rvecsVec = new VectorOfMat())
using (var tvecsVec = new VectorOfMat())
{
ret = NativeMethods.calib3d_calibrateCamera_InputArray(
objectPointsPtrs, objectPointsPtrs.Length,
imagePointsPtrs, objectPointsPtrs.Length,
imageSize, cameraMatrix.CvPtr, distCoeffs.CvPtr,
rvecsVec.CvPtr, tvecsVec.CvPtr, (int)flags, criteria0);
rvecs = rvecsVec.ToArray();
tvecs = tvecsVec.ToArray();
}
cameraMatrix.Fix();
distCoeffs.Fix();
return ret;
}
public void TestVectorOfMat()
{
Matrix<double> m1 = new Matrix<double>(3, 3);
m1.SetRandNormal(new MCvScalar(0.0), new MCvScalar(1.0));
Matrix<int> m2 = new Matrix<int>(4, 4);
m2.SetRandNormal(new MCvScalar(2), new MCvScalar(2));
VectorOfMat vec = new VectorOfMat(m1.Mat, m2.Mat);
Mat tmp1 = vec[0];
Mat tmp2 = vec[1];
Matrix<double> n1 = new Matrix<double>(tmp1.Size);
Matrix<int> n2 = new Matrix<int>(tmp2.Size);
tmp1.CopyTo(n1, null);
tmp2.CopyTo(n2, null);
EmguAssert.IsTrue(m1.Equals(n1));
EmguAssert.IsTrue(m2.Equals(n2));
}
public void TestStitching2()
{
Image<Bgr, Byte>[] images = new Image<Bgr, byte>[4];
images[0] = EmguAssert.LoadImage<Bgr, Byte>("stitch1.jpg");
images[1] = EmguAssert.LoadImage<Bgr, Byte>("stitch2.jpg");
images[2] = EmguAssert.LoadImage<Bgr, Byte>("stitch3.jpg");
images[3] = EmguAssert.LoadImage<Bgr, Byte>("stitch4.jpg");
using (Stitcher stitcher = new Stitcher(false))
using (OrbFeaturesFinder finder = new OrbFeaturesFinder(new Size(3, 1)))
{
stitcher.SetFeaturesFinder(finder);
Mat result = new Mat();
using (VectorOfMat vm = new VectorOfMat())
{
vm.Push(images);
stitcher.Stitch(vm, result);
}
//Emgu.CV.UI.ImageViewer.Show(result);
}
}
/// <summary>
/// 2値画像中の輪郭を検出します．
/// </summary>
/// <param name="image">入力画像，8ビット，シングルチャンネル．0以外のピクセルは 1として，0のピクセルは0のまま扱われます．
/// また，この関数は，輪郭抽出処理中に入力画像 image の中身を書き換えます．</param>
/// <param name="contours">検出された輪郭．各輪郭は，点のベクトルとして格納されます．</param>
/// <param name="hierarchy">画像のトポロジーに関する情報を含む出力ベクトル．これは，輪郭数と同じ数の要素を持ちます．各輪郭 contours[i] に対して，
/// 要素 hierarchy[i]のメンバにはそれぞれ，同じ階層レベルに存在する前後の輪郭，最初の子輪郭，および親輪郭の
/// contours インデックス（0 基準）がセットされます．また，輪郭 i において，前後，親，子の輪郭が存在しない場合，
/// それに対応する hierarchy[i] の要素は，負の値になります．</param>
/// <param name="mode">輪郭抽出モード</param>
/// <param name="method">輪郭の近似手法</param>
/// <param name="offset">オプションのオフセット．各輪郭点はこの値の分だけシフトします．これは，ROIの中で抽出された輪郭を，画像全体に対して位置づけて解析する場合に役立ちます．</param>
#else
/// <summary>
/// Finds contours in a binary image.
/// </summary>
/// <param name="image">Source, an 8-bit single-channel image. Non-zero pixels are treated as 1’s.
/// Zero pixels remain 0’s, so the image is treated as binary.
/// The function modifies the image while extracting the contours.</param>
/// <param name="contours">Detected contours. Each contour is stored as a vector of points.</param>
/// <param name="hierarchy">Optional output vector, containing information about the image topology.
/// It has as many elements as the number of contours. For each i-th contour contours[i],
/// the members of the elements hierarchy[i] are set to 0-based indices in contours of the next
/// and previous contours at the same hierarchical level, the first child contour and the parent contour, respectively.
/// If for the contour i there are no next, previous, parent, or nested contours, the corresponding elements of hierarchy[i] will be negative.</param>
/// <param name="mode">Contour retrieval mode</param>
/// <param name="method">Contour approximation method</param>
/// <param name="offset"> Optional offset by which every contour point is shifted.
/// This is useful if the contours are extracted from the image ROI and then they should be analyzed in the whole image context.</param>
#endif
public static void FindContours(InputOutputArray image, out Mat[] contours,
OutputArray hierarchy, ContourRetrieval mode, ContourChain method, Point? offset = null)
{
if (image == null)
throw new ArgumentNullException("image");
if (hierarchy == null)
throw new ArgumentNullException("hierarchy");
image.ThrowIfNotReady();
hierarchy.ThrowIfNotReady();
CvPoint offset0 = offset.GetValueOrDefault(new Point());
IntPtr contoursPtr;
NativeMethods.imgproc_findContours1_OutputArray(image.CvPtr, out contoursPtr, hierarchy.CvPtr, (int)mode, (int)method, offset0);
using (var contoursVec = new VectorOfMat(contoursPtr))
{
contours = contoursVec.ToArray();
}
image.Fix();
hierarchy.Fix();
}
/// <summary>
/// Returns covariation matrices.
/// Returns vector of covariation matrices. Number of matrices is the number of
/// gaussian mixtures, each matrix is a square floating-point matrix NxN, where N is the space dimensionality.
/// </summary>
public Mat[] GetCovs()
{
if (disposed)
throw new ObjectDisposedException(GetType().Name);
using (var vec = new VectorOfMat())
{
NativeMethods.ml_EM_getCovs(ptr, vec.CvPtr);
return vec.ToArray();
}
}
public void TestStitching4()
{
Mat[] images = new Mat[1];
images[0] = EmguAssert.LoadMat("stitch1.jpg");
using (Stitcher stitcher = new Stitcher(false))
//using (OrbFeaturesFinder finder = new OrbFeaturesFinder(new Size(3, 1)))
{
//stitcher.SetFeaturesFinder(finder);
Mat result = new Mat();
using (VectorOfMat vm = new VectorOfMat())
{
vm.Push(images);
stitcher.Stitch(vm, result);
}
//Emgu.CV.UI.ImageViewer.Show(result);
}
}
/// <summary>
/// Get train descriptors collection.
/// </summary>
/// <returns></returns>
public Mat[] GetTrainDescriptors()
{
ThrowIfDisposed();
using (var matVec = new VectorOfMat())
{
NativeMethods.features2d_DescriptorMatcher_getTrainDescriptors(ptr, matVec.CvPtr);
return matVec.ToArray();
}
}
/// <summary>
///
/// </summary>
/// <param name="pyr"></param>
/// <returns></returns>
public Mat[] BuildDoGPyramid(IEnumerable<Mat> pyr)
{
ThrowIfDisposed();
if (pyr == null)
throw new ArgumentNullException("pyr");
IntPtr[] pyrPtrs = EnumerableEx.SelectPtrs(pyr);
using (VectorOfMat dogPyrVec = new VectorOfMat())
{
NativeMethods.nonfree_SIFT_buildDoGPyramid(ptr, pyrPtrs, pyrPtrs.Length, dogPyrVec.CvPtr);
return dogPyrVec.ToArray();
}
}
/// <summary>
///
/// </summary>
/// <param name="baseMat"></param>
/// <param name="nOctaves"></param>
/// <returns></returns>
public Mat[] BuildGaussianPyramid(Mat baseMat, int nOctaves)
{
ThrowIfDisposed();
if (baseMat == null)
throw new ArgumentNullException("baseMat");
baseMat.ThrowIfDisposed();
using (VectorOfMat pyrVec = new VectorOfMat())
{
NativeMethods.nonfree_SIFT_buildGaussianPyramid(ptr, baseMat.CvPtr, pyrVec.CvPtr, nOctaves);
return pyrVec.ToArray();
}
}
/// <summary>
/// Estimates intrinsic camera parameters and extrinsic parameters for each of the views
/// </summary>
/// <param name="objectPoints">The 3D location of the object points. The first index is the index of image, second index is the index of the point</param>
/// <param name="imagePoints">The 2D image location of the points. The first index is the index of the image, second index is the index of the point</param>
/// <param name="imageSize">The size of the image, used only to initialize intrinsic camera matrix</param>
/// <param name="rotationVectors">The output 3xM or Mx3 array of rotation vectors (compact representation of rotation matrices, see cvRodrigues2). </param>
/// <param name="translationVectors">The output 3xM or Mx3 array of translation vectors</param>/// <param name="calibrationType">cCalibration type</param>
/// <param name="termCriteria">The termination criteria</param>
/// <param name="cameraMatrix">The output camera matrix (A) [fx 0 cx; 0 fy cy; 0 0 1]. If CV_CALIB_USE_INTRINSIC_GUESS and/or CV_CALIB_FIX_ASPECT_RATION are specified, some or all of fx, fy, cx, cy must be initialized</param>
/// <param name="distortionCoeffs">The output 4x1 or 1x4 vector of distortion coefficients [k1, k2, p1, p2]</param>
/// <returns>The final reprojection error</returns>
public static double CalibrateCamera(
MCvPoint3D32f[][] objectPoints,
PointF[][] imagePoints,
Size imageSize,
IInputOutputArray cameraMatrix,
IInputOutputArray distortionCoeffs,
CvEnum.CalibType calibrationType,
MCvTermCriteria termCriteria,
out Mat[] rotationVectors,
out Mat[] translationVectors)
{
System.Diagnostics.Debug.Assert(objectPoints.Length == imagePoints.Length,
"The number of images for objects points should be equal to the number of images for image points");
int imageCount = objectPoints.Length;
using (VectorOfVectorOfPoint3D32F vvObjPts = new VectorOfVectorOfPoint3D32F(objectPoints))
using (VectorOfVectorOfPointF vvImgPts = new VectorOfVectorOfPointF(imagePoints))
{
double reprojectionError;
using (VectorOfMat rVecs = new VectorOfMat())
using (VectorOfMat tVecs = new VectorOfMat())
{
reprojectionError = CvInvoke.CalibrateCamera(
vvObjPts,
vvImgPts,
imageSize,
cameraMatrix,
distortionCoeffs,
rVecs,
tVecs,
calibrationType,
termCriteria);
rotationVectors = new Mat[imageCount];
translationVectors = new Mat[imageCount];
for (int i = 0; i < imageCount; i++)
{
rotationVectors[i] = new Mat();
using (Mat matR = rotationVectors[i])
matR.CopyTo(rotationVectors[i]);
translationVectors[i] = new Mat();
using (Mat matT = translationVectors[i])
matT.CopyTo(translationVectors[i]);
}
}
return reprojectionError;
}
}
public void TestDenseHistogram4()
{
Mat img = new Mat(400, 400, DepthType.Cv8U, 3);
CvInvoke.Randu(img, new MCvScalar(), new MCvScalar(255, 255, 255));
Mat hist = new Mat();
using (VectorOfMat vms = new VectorOfMat(img))
{
CvInvoke.CalcHist(vms, new int[] { 0, 1, 2 }, null, hist, new int[] { 20, 20, 20 },
new float[] { 0, 255, 0, 255, 0, 255 }, true);
byte[] bytes = hist.GetData();
}
}
/// <summary>
/// 2値画像中の輪郭を検出します．
/// </summary>
/// <param name="image">入力画像，8ビット，シングルチャンネル．0以外のピクセルは 1として，0のピクセルは0のまま扱われます．
/// また，この関数は，輪郭抽出処理中に入力画像 image の中身を書き換えます．</param>
/// <param name="mode">輪郭抽出モード</param>
/// <param name="method">輪郭の近似手法</param>
/// <param name="offset">オプションのオフセット．各輪郭点はこの値の分だけシフトします．これは，ROIの中で抽出された輪郭を，画像全体に対して位置づけて解析する場合に役立ちます．</param>
/// <return>検出された輪郭．各輪郭は，点のベクトルとして格納されます．</return>
#else
/// <summary>
/// Finds contours in a binary image.
/// </summary>
/// <param name="image">Source, an 8-bit single-channel image. Non-zero pixels are treated as 1’s.
/// Zero pixels remain 0’s, so the image is treated as binary.
/// The function modifies the image while extracting the contours.</param>
/// <param name="mode">Contour retrieval mode</param>
/// <param name="method">Contour approximation method</param>
/// <param name="offset"> Optional offset by which every contour point is shifted.
/// This is useful if the contours are extracted from the image ROI and then they should be analyzed in the whole image context.</param>
/// <returns>Detected contours. Each contour is stored as a vector of points.</returns>
#endif
public static MatOfPoint[] FindContoursAsMat(InputOutputArray image,
ContourRetrieval mode, ContourChain method, Point? offset = null)
{
if (image == null)
throw new ArgumentNullException("image");
image.ThrowIfNotReady();
CvPoint offset0 = offset.GetValueOrDefault(new Point());
IntPtr contoursPtr;
NativeMethods.imgproc_findContours2_OutputArray(image.CvPtr, out contoursPtr, (int)mode, (int)method, offset0);
image.Fix();
using (var contoursVec = new VectorOfMat(contoursPtr))
{
return contoursVec.ToArray<MatOfPoint>();
}
}
public void TestHistogram()
{
using (Image<Bgr, Byte> img = EmguAssert.LoadImage<Bgr, Byte>("stuff.jpg"))
using (Image<Hsv, Byte> img2 = img.Convert<Hsv, Byte>())
{
Image<Gray, Byte>[] HSVs = img2.Split();
using (Mat h = new Mat())
using (Mat bpj = new Mat())
using (VectorOfMat vm = new VectorOfMat())
{
vm.Push(HSVs[0]);
CvInvoke.CalcHist(vm, new int[] { 0 }, null, h, new int[] { 20 }, new float[] { 0, 180 }, false);
CvInvoke.CalcBackProject(vm, new int[] { 0 }, h, bpj, new float[] { 0, 180 }, 0.1);
//Emgu.CV.UI.HistogramViewer.Show(bpj);
//Emgu.CV.UI.ImageViewer.Show(bpj);
//h.Calculate(new Image<Gray, Byte>[1] { HSVs[0] }, true, null);
//using (Image<Gray, Byte> bpj = h.BackProject(new Image<Gray, Byte>[1] { HSVs[0] }))
//{
// Size sz = bpj.Size;
//}
//using (Image<Gray, Single> patchBpj = h.BackProjectPatch(
// new Image<Gray, Byte>[1] { HSVs[0] },
// new Size(5, 5),
// Emgu.CV.CvEnum.HISTOGRAM_COMP_METHOD.CV_COMP_CHISQR,
// 1.0))
//{
// Size sz = patchBpj.Size;
//}
}
foreach (Image<Gray, Byte> i in HSVs)
i.Dispose();
}
}
/// <summary>
/// Constructs a pyramid which can be used as input for calcOpticalFlowPyrLK
/// </summary>
/// <param name="img">8-bit input image.</param>
/// <param name="pyramid">output pyramid.</param>
/// <param name="winSize">window size of optical flow algorithm.
/// Must be not less than winSize argument of calcOpticalFlowPyrLK().
/// It is needed to calculate required padding for pyramid levels.</param>
/// <param name="maxLevel">0-based maximal pyramid level number.</param>
/// <param name="withDerivatives">set to precompute gradients for the every pyramid level.
/// If pyramid is constructed without the gradients then calcOpticalFlowPyrLK() will
/// calculate them internally.</param>
/// <param name="pyrBorder">the border mode for pyramid layers.</param>
/// <param name="derivBorder">the border mode for gradients.</param>
/// <param name="tryReuseInputImage">put ROI of input image into the pyramid if possible.
/// You can pass false to force data copying.</param>
/// <returns>number of levels in constructed pyramid. Can be less than maxLevel.</returns>
public static int BuildOpticalFlowPyramid(
InputArray img, out Mat[] pyramid,
Size winSize, int maxLevel,
bool withDerivatives = true,
BorderTypes pyrBorder = BorderTypes.Reflect101,
BorderTypes derivBorder = BorderTypes.Constant,
bool tryReuseInputImage = true)
{
if (img == null)
throw new ArgumentNullException("img");
img.ThrowIfDisposed();
using (var pyramidVec = new VectorOfMat())
{
int result = NativeMethods.video_buildOpticalFlowPyramid2(
img.CvPtr, pyramidVec.CvPtr, winSize, maxLevel, withDerivatives ? 1 : 0,
(int) pyrBorder, (int) derivBorder, tryReuseInputImage ? 1 : 0);
pyramid = pyramidVec.ToArray();
return result;
}
}
/// <summary>
/// Copies each plane of a multi-channel array to a dedicated array
/// </summary>
/// <param name="src">The source multi-channel array</param>
/// <param name="mv">The destination array or vector of arrays;
/// The number of arrays must match mtx.channels() .
/// The arrays themselves will be reallocated if needed</param>
public static void Split(Mat src, out Mat[] mv)
{
if (src == null)
throw new ArgumentNullException("src");
src.ThrowIfDisposed();
IntPtr mvPtr;
NativeMethods.core_split(src.CvPtr, out mvPtr);
using (var vec = new VectorOfMat(mvPtr))
{
mv = vec.ToArray();
}
GC.KeepAlive(src);
}
public override void ProcessData(Mat sourceImage, Mat destImage)
{
Size size = sourceImage.Size;
Mat i0 = GetBufferGray(size, 0);
Mat i1 = GetBufferGray(size, 1);
Mat i2 = GetBufferGray(size, 2);
Mat i3 = GetBufferGray(size, 3);
CvInvoke.ExtractChannel(sourceImage, i0, 0);
CvInvoke.Canny(i0, i1, _thresh, _threshLinking, _apertureSize );
CvInvoke.ExtractChannel(sourceImage, i0, 1);
CvInvoke.Canny(i0, i2, _thresh, _threshLinking, _apertureSize);
CvInvoke.ExtractChannel(sourceImage, i0, 2);
CvInvoke.Canny(i0, i3, _thresh, _threshLinking, _apertureSize);
using (VectorOfMat vm = new VectorOfMat(i1, i2, i3))
{
CvInvoke.Merge(vm, destImage );
}
}
public static bool Sticher(IEnumerable<string> fileList, string saveFileLocation)
{
var imageArray = from fileName in fileList
select new Image<Bgr, byte>(fileName);
try
{
using (var stitcher = new Stitcher(false))
{
using (var vm = new VectorOfMat())
{
var result = new Mat();
vm.Push(imageArray.ToArray());
stitcher.Stitch(vm, result);
result.Save(saveFileLocation);
}
}
return true;
}
catch (Exception ex)
{
Logger.Error("Failed to stich !!", ex);
return false;
}
finally
{
foreach (Image<Bgr, Byte> img in imageArray)
{
img.Dispose();
}
}
}