//Esta função detecta a linhas a preto
//guarda o centroide da linha com área maior
//desenha o centroide e o contorno da linha seleccionada
//img - imagem a cores BGR
public Image <Gray, Byte> Deteccao_Linha(Image <Bgr, Byte> img)
{
double areaC = 0;
double area_max = 0;
IntPtr seq_max = CvInvoke.cvCreateMemStorage(0);
IntPtr storage = CvInvoke.cvCreateMemStorage(0);
IntPtr contornos = new IntPtr();
MCvMoments moments = new MCvMoments();
Image <Gray, Byte> img_Contornos = new Image <Gray, Byte>(img.Width, img.Height);
Emgu.CV.Image <Gray, Byte> img_Gray = img.Convert <Gray, Byte>();
//Pré-processamento
img_Gray.SmoothMedian(5);
img_Gray._EqualizeHist();
//Detecção da linha
Emgu.CV.Image <Gray, Byte> img_aux = img_Gray.Canny(1, 1, 5);
img_Gray = img_aux.Not();
img_aux = img_Gray.Erode(10);
img_Gray = img_aux.Dilate(10);
//detecta contornos
CvInvoke.cvCopy(img_Gray, img_Contornos, System.IntPtr.Zero);
CvInvoke.cvFindContours(img_Contornos, storage, ref contornos, System.Runtime.InteropServices.Marshal.SizeOf(typeof(MCvContour)),
Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_EXTERNAL, Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_NONE, new Point(0, 0));
//percorre os contornos e detecta o que tem a maior área
Seq <Point> seq = new Seq <Point>(contornos, null);
for (; seq != null && seq.Ptr.ToInt64() != 0; seq = seq.HNext)
{
areaC = CvInvoke.cvContourArea(seq, MCvSlice.WholeSeq, 1) * -1;
if (areaC > area_max)
{
area_max = areaC;
seq_max = seq.Ptr;
}
}
//calcula o centroide do contorno com maior área
if (areaC > 0)
{
CvInvoke.cvMoments(seq_max, ref moments, 0);
Obj_centroid.X = (int)(moments.m10 / moments.m00);
Obj_centroid.Y = (int)(moments.m01 / moments.m00);
//desenha contorno com maior área
CvInvoke.cvDrawContours(img, seq_max, new MCvScalar(0, 0, 255), new MCvScalar(255, 0, 0), 0, 2, LINE_TYPE.CV_AA, new Point(0, 0));
CvInvoke.cvCircle(img, new Point(Obj_centroid.X, Obj_centroid.Y), 10, new MCvScalar(0, 255, 0), 3, LINE_TYPE.CV_AA, 0);
}
else
{
Obj_centroid.X = -1;
Obj_centroid.Y = -1;
}
return(img_Gray);
}
private void button1_Click(object sender, EventArgs e)
{
Dictionary <string, Image <Bgr, byte> > bgrImages = new Dictionary <string, Image <Bgr, byte> >();
//--Initialize openFiledialogue---
OpenFileDialog openFileDialog1 = new OpenFileDialog();
openFileDialog1.Filter = "Images (*.BMP;*.JPG;*.GIF;*.PNG)|*.BMP;*.JPG;*.GIF;*.PNG";
openFileDialog1.FilterIndex = 1;
openFileDialog1.RestoreDirectory = true;
openFileDialog1.Title = "Image Selection";
openFileDialog1.Multiselect = true;
//--------------------------------
DialogResult dialogresult = openFileDialog1.ShowDialog();
//---Save Images in Dictionary and display in ListBox----
if (dialogresult == System.Windows.Forms.DialogResult.OK)
{
if (imagesloaded)
{
//reset and clear everything if images were loaded before
reset();
cleanLoadedImages.Clear();
LoadedImages.Clear();
workImages.Clear();
listBox1.Items.Clear();
//listBox1.Update();
}
int currentImage = 0;
// Read the files
listBox1.BeginUpdate();
foreach (String file in openFileDialog1.FileNames)
{
// Create a PictureBox.
try
{
//Convert Images to Emgu Format
Image tempImage = Image.FromFile(file);
Bitmap tempBitmap = new Bitmap(tempImage);
Emgu.CV.Image <Bgr, byte> cleanImage = new Emgu.CV.Image <Bgr, byte>(tempBitmap);
Emgu.CV.Image <Hsv, Byte> loadedImage = new Emgu.CV.Image <Hsv, byte>(tempBitmap);
string loadedImageName = "Image:" + currentImage;
//Save Images
listBox1.Items.Add(loadedImageName);
cleanLoadedImages.Add(loadedImageName, cleanImage);
LoadedImages.Add(loadedImageName, loadedImage.SmoothMedian(mediansize));
if (checkBox1.Checked)
{
bgrImages.Add(loadedImageName, cleanImage.SmoothGaussian(gaussiansize));
}
}
catch (Exception ex)
{
// Could not load the image - probably related to Windows file system permissions.
MessageBox.Show("Cannot load the image: " + file.Substring(file.LastIndexOf('\\'))
+ ".\n\n" + ex.Message);
}
currentImage++;
}
listBox1.EndUpdate();
imagesloaded = true;
if (checkBox1.Checked)
{
LoadedImages = BackgroundSubtractor.getWithoutBackground(bgrImages);
}
listBox1.SelectedIndex = 0;
}
//----------------------------------------
}
