static public CvPoint[] DistillContours(
CvMat inputMat_grey, int maxContourPoints, CvPoint offset,
ContourRetrieval retr = ContourRetrieval.External, ContourChain chain = ContourChain.ApproxSimple)
{
// maxContourPoints (original name "maxContours"); 5 or 100??!!!
// TODO : The CV docs specifically state that the image should be in binary format. Check if it is.
//std::vector<std::vector<cv::Point>> updateContours;
//std::vector<cv::Vec4i> m_hierarchy; // TODO : Not used currently, but determine if it's gonna be needed for points-tracking
// see usage here: http://stackoverflow.com/questions/35418714/opencvsharps-findcontour-returns-wrong-data
ContourData contoursData = Filters.FindContours(inputMat_grey, retr, chain, offset);
CvPoint[][] contoursFound = contoursData.contours; // original name: "updateContours"
if (contoursFound.Length == 0)
{
return(null); // TODO : cannot process frame, no contours found. Maybe it's time to rethink about that strategy and not simply
}
// return empty handed!!!
double[] contourAreas = contoursData.areas;
Point[] newPtV;
// find index of max-area contour
int index = 0;
double maxArea = 0;
for (int i = contourAreas.Length - 1; i >= 0; --i)
{
double area = contourAreas[i];
if (area > maxArea)
{
index = i;
maxArea = area;
}
}
// approximate contour down to 4 points
// TODO : This idea sounds weird. Why not check all contours and find one that is best approximated by 4 points???
CvPoint[] biggestContour = contoursFound[index];
newPtV = new Point[biggestContour.Length];
PointOps.CopyCvPointsToPoints(biggestContour, newPtV); //PointOps.CopyCvPointsToGenericPointsArray( biggestContour, newPtV );
double epsilon = 1;
while (newPtV.Length > maxContourPoints)
{
newPtV = Cv2.ApproxPolyDP(newPtV, epsilon++, true);
// TODO : Is incrementing epsilon by 1 a bit stupid? Maybe increment exponentially?
}
// finally
CvPoint[] cvPoints = new CvPoint[newPtV.Length];
PointOps.CopyPointsToCvPoints(newPtV, cvPoints);
return(cvPoints);
}
// calculates some threshold, and populates "final4P" List
private void kawane(CvPoint[] newPtV)
{
//****************************//3-uppers//*************************//
// what's that?
int up1 = -1;
int minYy = 100000;
for (int k = 0; k < newPtV.Length; k++)
{
if (newPtV[k].Y < minYy)
{
minYy = newPtV[k].Y;
up1 = k;
}
if (newPtV[k].Y == minYy)
{
if (newPtV[k].X > newPtV[up1].X)
{
minYy = newPtV[k].Y;
up1 = k;
}
}
}
minMaskY = minYy; // this little variable is magically used in "FourPoints" function
int up2 = -1;
minYy = 100000;
for (int k = 0; k < newPtV.Length; k++)
{
if (newPtV[k].Y < minYy && k != up1)
{
minYy = newPtV[k].Y;
up2 = k;
}
if (newPtV[k].Y == minYy && k != up1)
{
if (newPtV[k].X > newPtV[up2].X)
{
minYy = newPtV[k].Y;
up2 = k;
}
}
}
int up3 = -1;
minYy = 100000;
for (int k = 0; k < newPtV.Length; k++)
{
if (newPtV[k].Y < minYy && k != up1 && k != up2)
{
minYy = newPtV[k].Y;
up3 = k;
}
if (newPtV[k].Y == minYy && k != up1 && k != up2)
{
if (newPtV[k].X > newPtV[up3].X)
{
minYy = newPtV[k].Y;
up3 = k;
}
}
}
final4P.Clear(); // NOTE : treat array as empty. Not just make it local, cause it's used in "FourPoints" function.
if (up1 > -1)
{
final4P.Add(newPtV[up1]);
if (newPtV[up2].Y < height - 10)
{
final4P.Add(newPtV[up2]);
thresholdDist = PointOps.Norm(final4P[0] - final4P[1]);
}
if (newPtV[up3].Y < height - 10)
{
final4P.Add(newPtV[up3]);
thresholdDist += PointOps.Norm(final4P[1] - final4P[2]);
thresholdDist = thresholdDist / 2;
}
}
thresholdDist /= 9; // ...whatever
}
// => inputMat MUST be 24/32 bit
private CvMat processFrame(CvMat inputMat)
{
// return "inputMat" after lots. LOTS. Of processing
width = inputMat.Cols;
height = inputMat.Rows;
// taking out 4% of the input's edges: sounds wrong
#if false
// I have no idea what on earth is the purpose of this:
//CvMat temp2 = inputMat( new CvRect( inputMat.Cols / 25, inputMat.Cols / 25, inputMat.Cols - 2 * (inputMat.Cols / 25), inputMat.Rows - 2 * (inputMat.Rows / 25) ) );
//resize( temp2, temp2, inputMat.size() );
//temp2.copyTo( inputMat );
int borderX = inputMat.Cols / 25; // 4% of original
int borderY = inputMat.Rows / 25;
CvRect roi = new CvRect(borderX, borderY, inputMat.Cols - 2 * borderX, inputMat.Rows - 2 * borderY);
CvMat temp2 = inputMat.GetSubRect(out temp2, roi); // stupid to pass "out temp2"?
inputMat = temp2;
// =TODO : What? temp2.Copy( inputMat );
// is it really required to remove 4% of the input image's edges?
#endif
CvMat inputMat_grey;
{
// TODO : looks like a waste to make two conversions from inputMat to _grey, instead of 1
// since OpenCV doesn't support it, it could be made manually
CvMat inputMat_grey8 = MatOps.ConvertChannels(inputMat);
inputMat_grey = MatOps.ConvertElements(inputMat_grey8, MatrixType.F32C1, 1.0 / 255.0);
}
// NOTE : IBO seems to give good contrast with certain images, but with bbox7, it is just disastrous.
//MatOps.NewWindowShow( inputMat_grey );
//inputMat_grey = Filters.IBO( inputMat_grey ); // inputMat_grey = 32f
//MatOps.NewWindowShow( inputMat_grey );
inputMat_grey = MatOps.ConvertElements(inputMat_grey, MatrixType.U8C1, 255); // inputMat_grey = 8u
// was: SLOW : Filters.ContrastEnhancement( inputMat_grey ); // NOTE : not needed AFTER IBO
// NOTE : Contrast Enhancement2 may NOT be needed AT ALL, at this point at least, ANYWAY!!!
Filters.ContrastEnhancement2(inputMat_grey); // NOTE : certainly NOT needed AFTER IBO
MatOps.NewWindowShow(inputMat_grey);
// mask passed originally in method below was all white, so I optimized it out. Passing the number of pixels was also dumb-o.
double thresh = Filters.NeighborhoodValleyEmphasis(inputMat_grey);
Cv.Threshold(inputMat_grey, inputMat_grey, thresh, 255, ThresholdType.BinaryInv);
IplConvKernel element = new IplConvKernel(3, 3, 1, 1, ElementShape.Cross);
Cv.Erode(inputMat_grey, inputMat_grey, element);
Cv.Dilate(inputMat_grey, inputMat_grey, element);
MatOps.NewWindowShow(inputMat_grey);
// TODO : check if check is required
if (inputMat_grey.ElemType != MatrixType.U8C1)
{
inputMat_grey = MatOps.ConvertElements(inputMat_grey, MatrixType.U8C1, 255.0);
}
// =======
// is this just a test?
CvPoint[] newPtV = Filters.DistillContours(inputMat_grey, 5, Const.PointZero);
CvMat imageDest;
using (CvMemStorage storage = new CvMemStorage())
{
CvSeq <CvPoint> updateContours = CvSeq <CvPoint> .FromArray(newPtV, SeqType.Contour, storage);
imageDest = new CvMat(inputMat.Rows, inputMat.Cols, MatrixType.U8C1);
Cv.DrawContours(imageDest, updateContours, Const.ScalarWhite, 0, 100, 16);
}
// =======
kawane(newPtV); // updates thresholdDist, minMaskY, final4P
//*******************************************set a greater contour for estimation of the missing points*******************************//
// =======
newPtV = Filters.DistillContours(inputMat_grey, 100, Const.PointZero);
using (CvMemStorage storage = new CvMemStorage())
{
CvSeq <CvPoint> updateContours = CvSeq <CvPoint> .FromArray(newPtV, SeqType.Contour, storage);
imageDest = new CvMat(inputMat.Rows, inputMat.Cols, MatrixType.U8C1);
Cv.DrawContours(imageDest, updateContours, Const.ScalarWhite, 0, 100, 1, LineType.AntiAlias);
}
// =======
CvMat mask1 = new CvMat(inputMat.Rows, inputMat.Cols, MatrixType.U8C1, 0);
Cv.FillConvexPoly(mask1, newPtV, Const.ScalarWhite, 0, 0);
temp = MatOps.ConvertChannels(inputMat);
temp.Copy(imageDest, mask1);
Cv.Canny(imageDest, imageDest, 150, 300, ApertureSize.Size3);
IplConvKernel element2 = new IplConvKernel(3, 3, 1, 1, ElementShape.Rect);
Cv.Dilate(imageDest, imageDest, element2);
Cv.Erode(imageDest, imageDest, element2);
CvLineSegmentPoint[] lines = Cv2.HoughLinesP(new Mat(imageDest), 1, Cv.PI / 180 /*NOTE : 1 degree angle*/, 50, 50, 50); // TODO : those 50s..?
extendLines(lines, 350); // TODO : This idea sounds arbitary? And why 350? At least some percentage?
// draw extended lines
for (int i = 0; i < lines.Length; ++i)
{
CvLineSegmentPoint l = lines[i];
Cv.Line(imageDest, l.P1, l.P2, Const.ScalarWhite, 1, LineType.AntiAlias);
}
Cv.Dilate(imageDest, imageDest, element2); // TODO : FIX : Dilate again?!
// another huge function here...
fourPoints(lines);
////////////
//********************************************************************* replace estimate points with mask corners ********//
if (oldPt.Count != 0)
{
//**
// BEWARE : great use of the English language following right below:
// test for each and every one of the last slice delete each one of all the revisited of the above and estimate for only the best the off topic adapt
//**
List <int> positions = new List <int>(final4P.Count);
for (int i = 0; i < final4P.Count; ++i)
{
positions.Add(-1); // "initialize" positions[i]
double distmin = 10000;
for (int j = 0; j < oldPt.Count; ++j)
{
double distAB = PointOps.Norm(oldPt[j] - final4P[i]);
if (distAB < distmin)
{
distmin = distAB;
positions[i] = j;
}
}
}
int flagFrCounter = 0;
for (int i = 0; i < final4P.Count; ++i)
{
double distA = PointOps.Norm(oldPt[positions[i]] - final4P[i]);
//********************* threshold pou na orizei tin megisti perioxi gia anazitisi,alliws na krataei to proigoumeno simeio*******//
if (distA < thresholdDist) //if(distA<80)
{
oldPt[positions[i]] = final4P[i];
--flagFrCounter;
}
++flagFrCounter;
}
if (reset)
{
numFrames = 0;
oldPt.Clear();
final4P.Clear();
}
}
//pointsb[0]=thresholdDist;
//****************************************************************************//
for (int i = 0; i < oldPt.Count; ++i)
{
Cv.Circle(temp, oldPt[i], 2, Const.ScalarRed, 3);
}
MatOps.Convert8To24(temp).Copy(inputMat);
//MatOps.ConvertChannels( temp, ColorConversion.GrayToBgr ).Copy( inputMat );
//temp.Copy( inputMat );
//******************************************************OVERLAY IMAGE***********************************************//////
if (oldPt.Count == 0)
{
return(inputMat); // end of line
}
CvMat black2;
if (overlay != null)
{
black2 = overlay.Clone(); //=imread("cubes.jpg");
Cv.Resize(black2, inputMat, Interpolation.NearestNeighbor); // TODO : check if interpolation type is appropriate
}
else
{
black2 = new CvMat(inputMat.Rows, inputMat.Cols, MatrixType.U8C3);
}
List <CvPoint> tempPoint = new List <CvPoint>(4);
//vector<Point> tempPoint;
int pp = 0;
// BEWARE : the guy is copy/pasting needlessly?
int mini = 1000000;
for (int i = 0; i < oldPt.Count; ++i)
{
if (oldPt[i].Y < mini)
{
mini = oldPt[i].Y;
pp = i;
}
}
tempPoint.Add(oldPt[pp]);
mini = 1000000;
for (int i = 0; i < oldPt.Count; ++i)
{
if (oldPt[i].Y < mini && oldPt[i] != tempPoint[0])
{
mini = oldPt[i].Y;
pp = i;
}
}
tempPoint.Add(oldPt[pp]);
mini = 1000000;
for (int i = 0; i < oldPt.Count; ++i)
{
int tempmini = Math.Abs(oldPt[i].X - tempPoint[1].X);
if (tempmini < mini && oldPt[i] != tempPoint[0] && oldPt[i] != tempPoint[1])
{
mini = tempmini;
pp = i;
}
}
tempPoint.Add(oldPt[pp]);
for (int i = 0; i < oldPt.Count; ++i)
{
CvPoint pt = oldPt[i];
bool found = false;
for (int j = 0; j < tempPoint.Count; ++j)
{
if (tempPoint[j] == pt)
{
found = true; break;
}
}
if (!found)
{
tempPoint.Add(pt);
}
}
// only keep up to 4 points
List <CvPoint> co_ordinates = new List <CvPoint>(4);
{
int maxIndex = Math.Min(4, tempPoint.Count);
for (int i = 0; i < maxIndex; ++i)
{
co_ordinates.Add(tempPoint[i]);
}
}
// lost me...
if (outputQuad[0] == outputQuad[2])
{
{
int maxIndex = Math.Min(4, tempPoint.Count);
for (int i = 0; i < maxIndex; ++i)
{
outputQuad[i] = tempPoint[i];
}
}
}
else
{
CvPoint2D32f rr;
for (int i = 0; i < 4; ++i)
{
List <double> dist = new List <double>(tempPoint.Count);
for (int j = 0; j < tempPoint.Count; ++j)
{
rr = tempPoint[j];
dist.Add(PointOps.Norm(outputQuad[i] - rr));
}
double minimumDist = dist.Min();
int min_pos = Utils.FindIndex(dist, minimumDist);
if (tempPoint.Count > 0)
{
outputQuad[i] = tempPoint[min_pos];
tempPoint.RemoveAt(min_pos);
}
}
}
// The 4 points where the mapping is to be done , from top-left in clockwise order
inputQuad[0] = new CvPoint2D32f(0, 0);
inputQuad[1] = new CvPoint2D32f(inputMat.Cols - 1, 0);
inputQuad[2] = new CvPoint2D32f(inputMat.Cols - 1, inputMat.Rows - 1);
inputQuad[3] = new CvPoint2D32f(0, inputMat.Rows - 1);
//Input and Output Image;
// Get the Perspective Transform Matrix i.e. lambda (2D warp transform)
// Lambda Matrix
CvMat lambda = Cv.GetPerspectiveTransform(inputQuad, outputQuad);
// Apply this Perspective Transform to the src image
// - get a "top-down" view of the supposedly box-y area
Cv.WarpPerspective(black2, black2, lambda, Interpolation.Cubic, Const.ScalarBlack);
// see nice explanation : http://www.pyimagesearch.com/2014/08/25/4-point-opencv-getperspective-transform-example/
CvMat maskOV = new CvMat(inputMat.Rows, inputMat.Cols, MatrixType.U8C1, Const.ScalarBlack);
using (CvMemStorage storage = new CvMemStorage())
{
CvSeq <CvPoint> updateContours = CvSeq <CvPoint> .FromArray(co_ordinates, SeqType.Contour, storage);
imageDest = new CvMat(inputMat.Rows, inputMat.Cols, MatrixType.U8C1);
Cv.DrawContours(maskOV, updateContours, Const.ScalarWhite, 0, 100, 16);
//drawContours( maskOV, co_ordinates, 0, Scalar( 255 ), CV_FILLED, 8 );
}
double alpha = 0.8;
double beta = (1.0 - alpha);
Cv.AddWeighted(black2, alpha, inputMat, beta, 0.0, black2);
black2.Copy(inputMat, maskOV);
return(inputMat);
}
void fourPoints(CvLineSegmentPoint[] linesArray)
{
List <CvLineSegmentPoint> lines = new List <CvLineSegmentPoint>(linesArray);
int i, j, k;
List <double> angleV = new List <double>(lines.Count);
for (i = lines.Count - 1; i >= 0; --i)
{
CvLineSegmentPoint lineSegm = lines[i];
angleV.Add(Math.Atan2(lineSegm.P1.Y - lineSegm.P2.Y, lineSegm.P1.X - lineSegm.P2.X));
}
CvPoint p1, p2, p0, p0_;
//Discard almost parallel lines and keep the largest
// FIX : everything about this sucks
for (i = 0; i < lines.Count; ++i)
{
CvLineSegmentPoint segi = lines[i];
p0 = segi.P1;
p0_ = segi.P2;
double e2 = p0.DistanceTo(p0_);
for (j = 0; j < lines.Count; ++j)
{
if (i == j) // ugly?
{
continue;
}
if (Math.Abs(angleV[i] - angleV[j]) > 0.1 || Math.Abs(angleV[i] - angleV[j]) > Cv.PI / 2.0 - 0.1 && Math.Abs(angleV[i] - angleV[j]) < Cv.PI / 2.0 + 0.1)
{
continue;
}
CvLineSegmentPoint segj = lines[j];
p1 = segj.P1;
p2 = segj.P2;
if (PointOps.LineDistance(p1, p2, p0) < 15 && PointOps.LineDistance(p0, p0_, p1) < 15)
{
if (p1.DistanceTo(p2) > e2)
{
lines.RemoveAt(i);
angleV.RemoveAt(i);
--i;
--j;
break;
}
else
{
lines.RemoveAt(j);
angleV.RemoveAt(j);
--j;
}
}
}
}
// instead of 3 lists, we could have one with custom struct containing all 3 required values
List <CvPoint> allPointsV = new List <CvPoint>();
List <int> fstln = new List <int>();
List <int> secln = new List <int>();
const int bound = 50;
for (i = 0; i < lines.Count; ++i)
{
CvLineSegmentPoint segmI = lines[i];
for (j = 0; j < lines.Count; ++j)
{
if (i == j)
{
continue; // ugly?
}
CvLineSegmentPoint segmJ = lines[j];
if (PointOps.LineIntersection(segmI.P1, segmI.P2, segmJ.P1, segmJ.P2, out p1))
{
if (p1.X > -bound && p1.X < temp.Cols + bound && p1.Y > -bound && p1.Y < temp.Rows + bound)
{
bool foundSamePt = false;
for (k = 0; k < allPointsV.Count; ++k)
{
if (p1 == allPointsV[k])
{
foundSamePt = true;
break;
}
}
if (!foundSamePt)
{
allPointsV.Add(p1);
fstln.Add(i);
secln.Add(j);
}
}
}
}
}
if (allPointsV.Count == 0)
{
reset = true;
return;
}
reset = false;
// time to start doing our drawings
if (imageDest3 == null)
{
imageDest3 = new CvMat(height, width, MatrixType.U8C3);
}
// are we at start or just not found any points yet?
if (oldPt.Count == 0 || numFrames < 20)
{
//************************draw intersections************************//
for (i = 0; i < allPointsV.Count; ++i)
{
CvScalar circleColor;
if (allPointsV[i].Y < height - 10)
{
circleColor = Const.ScalarGreen;
}
else
{
circleColor = Const.ScalarWhite;
}
Cv.Circle(imageDest3, allPointsV[i], 7, circleColor);
}
//mapping the detected corners with lines intersections
List <int> tracker = new List <int>(final4P.Count);
for (j = 0; j < final4P.Count; ++j)
{
double dist = PointOps.Norm(final4P[j] - allPointsV[0]);
tracker.Add(0); // tracker[j] = 0;
for (i = 0; i < allPointsV.Count; ++i)
{
double distA = PointOps.Norm(final4P[j] - allPointsV[i]);
if (distA < dist)
{
dist = distA;
tracker[j] = i;
}
}
}
//******* draw mapped corners *****************//
for (j = 0; j < final4P.Count; ++j)
{
Cv.Circle(imageDest3, allPointsV[tracker[j]], 8, Const.ScalarMagenta);
}
//*******************************************************************************************//
List <int> linesIds = new List <int>(final4P.Count);
for (i = 0; i < final4P.Count; ++i)
{
int counterfstln = 0;
for (j = 0; j < final4P.Count; ++j)
{
if (i == j || fstln[tracker[i]] == fstln[tracker[j]] /*this might be redundant after 1st check*/ || fstln[tracker[i]] == secln[tracker[j]])
{
++counterfstln;
}
}
int countersecln = 0;
for (j = 0; j < final4P.Count; ++j)
{
if (i == j || secln[tracker[i]] == fstln[tracker[j]] || secln[tracker[i]] == secln[tracker[j]])
{
++countersecln;
}
}
if (counterfstln < countersecln)
{
linesIds.Add(fstln[tracker[i]]); // linesIds[i] = fstln[tracker[i]];
}
else
{
linesIds.Add(secln[tracker[i]]); // linesIds[i] = secln[tracker[i]];
}
}
List <int> maxdistpos1 = new List <int>(tracker.Count); // TODO : check if Count is always less than 3-4...
for (j = 0; j < tracker.Count; j++)
{
maxdistpos1.Add(0); // maxdistpos1.Add( -1 ); // "initialize" maxdistpos1[j], so that it can be re-assigned below
// TODO : logic is wrong!!!! Not all [j]s are assigned. Proof : if "initialized" with "-1", it just crashes later!
double dist = 0;
for (i = 0; i < fstln.Count; i++)
{
if (linesIds[j] == fstln[i] || linesIds[j] == secln[i] && allPointsV[i].Y < height - 15)
{
double distA = PointOps.Norm(allPointsV[tracker[j]] - allPointsV[i]);
if (distA > dist)
{
dist = distA;
maxdistpos1[j] = i;
}
}
}
}
oldPt.Clear();
for (i = 0; i < final4P.Count; i++)
{
oldPt.Add(final4P[i]);
}
List <CvPoint> candidatePts = new List <CvPoint>();
List <double> candist = new List <double>();
for (i = 0; i < maxdistpos1.Count; i++)
{
Cv.Circle(imageDest3, allPointsV[maxdistpos1[i]], 7, Const.ScalarBlue);
if (allPointsV[maxdistpos1[i]].Y > minMaskY && allPointsV[maxdistpos1[i]].Y < height - 10)
{
candidatePts.Add(allPointsV[maxdistpos1[i]]);
}
}
for (i = 0; i < candidatePts.Count; i++)
{
double dist = 0;
for (j = 0; j < oldPt.Count; j++)
{
dist += PointOps.Norm(candidatePts[i] - oldPt[j]);
}
candist.Add(dist);
}
while (oldPt.Count < 4)
{
if (candidatePts.Count != 0)
{
int p = candist.FindMaxIndex(); // Utils.FindMaxIndex( candist ); // p = max_element(candist.begin(),candist.end()) - candist.begin();
oldPt.Add(candidatePts[p]);
candist.RemoveAt(p);
candidatePts.RemoveAt(p);
}
else
{
break;
}
}
for (j = 0; j < oldPt.Count; j++)
{
Cv.Circle(imageDest3, oldPt[j], 7, Const.ScalarBlue);
}
//***************************************************** end of estimation **************************************************************//
}
else
{
for (i = 0; i < allPointsV.Count; ++i)
{
if (allPointsV[i].Y < height - 10)
{
Cv.Circle(imageDest3, allPointsV[i], 7, Const.ScalarGreen);
}
else
{
Cv.Circle(imageDest3, allPointsV[i], 7, Const.ScalarWhite);
}
}
//mapping the detected corners with lines intersections //
List <int> tracker = new List <int>(oldPt.Count);
for (j = 0; j < oldPt.Count; ++j)
{
tracker.Add(-1);
double dist = 1000000;
for (i = 0; i < allPointsV.Count; ++i)
{
double distA = PointOps.Norm(oldPt[j] - allPointsV[i]);
if (distA < dist && allPointsV[i].Y < height - 10)
{
dist = distA;
tracker[j] = i;
}
}
}
for (j = 0; j < oldPt.Count; ++j)
{
double distA = PointOps.Norm(oldPt[j] - allPointsV[tracker[j]]);
//********************* threshold pou na orizei tin megisti perioxi gia anazitisi,alliws na krataei to proigoumeno simeio*******//
if (distA < thresholdDist)
{
oldPt[j] = allPointsV[tracker[j]];
}
}
}
}