public static Mat AnnotateImage(Mat orgImage, DnnDetectedObject[] detectedObjects)
{
if (detectedObjects == null)
{
throw new ArgumentNullException(nameof(detectedObjects));
}
Mat result = new Mat();
Cv2.CopyTo(orgImage, result);
foreach (var dObj in detectedObjects)
{
var x1 = dObj.BoundingBox.X.CropInRange(0, (double)result.Width);
var y1 = dObj.BoundingBox.Y.CropInRange(0, (double)result.Height);
var w = dObj.BoundingBox.Width.CropInRange(0, (double)result.Width - x1);
var h = dObj.BoundingBox.Height.CropInRange(0, (double)result.Height - y1);
var color = dObj.Color;
var label = $"{dObj.Label} {dObj.Probability * 100:0.00}%";
var textSize = Cv2.GetTextSize(label, HersheyFonts.HersheyTriplex, 0.5, 1, out var baseline);
var yLabelBase = y1.CropInRange(baseline, y1 - baseline);
var yLabelTop = y1.CropInRange(0, y1 - textSize.Height - baseline);
//draw result boundingbox
result.Rectangle(new Point(x1, y1), new Point(x1 + w, y1 + h), color, 2);
//draw result label on top of boundingbox
Cv2.Rectangle(result, new Rect(new Point(x1, yLabelTop),
new Size(textSize.Width, textSize.Height + baseline)), color, Cv2.FILLED);
Cv2.PutText(result, label, new Point(x1, yLabelBase),
HersheyFonts.HersheyTriplex, 0.5, Scalar.Black);
}
return(result);
}
private Mat mergeImageLayer(Mat buttomLayer, Mat upperLayer)
{
Mat result = new Mat(350, 450, MatType.CV_8UC3, Scalar.LightGray);
Cv2.CopyTo(upperLayer, result);
for (int row = 0; row < buttomLayer.Rows; row++)
{
for (int col = 0; col < buttomLayer.Cols; col++)
{
Debug.Log(row + ": " + col);
int blue = buttomLayer.At <Vec3b>(row, col).Item0;
int green = buttomLayer.At <Vec3b>(row, col).Item1;
int red = buttomLayer.At <Vec3b>(row, col).Item2; // RGB value
if (blue == 255 && green == 255 && red == 255) // white
{
int blue2 = upperLayer.At <Vec3b>(row, col).Item0;
int green2 = upperLayer.At <Vec3b>(row, col).Item1;
int red2 = upperLayer.At <Vec3b>(row, col).Item2;
if (blue2 == 211 && green2 == 211 && red2 == 211) // light-grey
{
result.Set <Vec3b>(row, col, new Vec3b(255, 255, 255));
}
}
else if (blue == 144 && green == 238 && red == 144) // light-green
{
result.Set <Vec3b>(row, col, new Vec3b(144, 238, 144));
}
}
}
return(result);
}
private Mat mergeImageLayer(Mat buttomLayer, Mat upperLayer)
{
//Cv2.ImWrite(Application.persistentDataPath + "/buttom.png", buttomLayer);
Cv2.CopyTo(upperLayer, result);
Parallel.For(0, buttomLayer.Rows, row =>
{
for (int col = 0; col < buttomLayer.Cols; col++)
{
int blue = buttomLayer.At <Vec3b>(row, col).Item0;
int green = buttomLayer.At <Vec3b>(row, col).Item1;
int red = buttomLayer.At <Vec3b>(row, col).Item2; // RGB value
if (blue == 255 && green == 255 && red == 255) // white
{
int blue2 = upperLayer.At <Vec3b>(row, col).Item0;
int green2 = upperLayer.At <Vec3b>(row, col).Item1;
int red2 = upperLayer.At <Vec3b>(row, col).Item2;
if (blue2 == 211 && green2 == 211 && red2 == 211) // light-grey
{
result.Set <Vec3b>(row, col, new Vec3b(255, 255, 255));
}
}
else if (blue == 144 && green == 238 && red == 144) // light-green
{
int blue2 = upperLayer.At <Vec3b>(row, col).Item0;
int green2 = upperLayer.At <Vec3b>(row, col).Item1;
int red2 = upperLayer.At <Vec3b>(row, col).Item2;
result.Set <Vec3b>(row, col, new Vec3b(144, 238, 144));
}
}
});
return(result);
}
public void CopyTo()
{
using var src = Image("lenna.png");
var dst = new Mat();
Cv2.CopyTo(src, dst);
ImageEquals(src, dst);
}
public override void Apply(Mat input)
{
_start = DateTime.Now;
Input = input;
Mat hsv = new Mat();
Mat ycrcb = new Mat();
Mat hsv_mask = new Mat(input.Size(), MatType.CV_8UC1, Scalar.All(0));
Mat ycrcb_mask = new Mat(input.Size(), MatType.CV_8UC1, Scalar.All(0));
Mat global_mask = new Mat(input.Size(), MatType.CV_8UC1, Scalar.All(0));
//Cv2.CvtColor(hsv, hsv, ColorConversionCodes.BGR2HSV);
//Cv2.CvtColor(ycrcb, ycrcb, ColorConversionCodes.BGR2HSV);
if (_config.HSVThresholdConfig.IsActive)
{
Cv2.CopyTo(input, hsv);
HSVFilter hsvFilter = new HSVFilter();
HSVThresoldFilter hsvThreshold = new HSVThresoldFilter(_config.HSVThresholdConfig);
hsvFilter.Apply(hsv);
hsvThreshold.Apply(hsvFilter.Output);
Cv2.CopyTo(hsvThreshold.Output, hsv_mask);
}
else
{
hsv_mask = new Mat(input.Size(), MatType.CV_8UC1, Scalar.All(255));
}
if (_config.YCrCbThresholdConfig.IsActive)
{
Cv2.CopyTo(input, ycrcb);
YCrCbFilter ycrcbFilter = new YCrCbFilter();
YCrCbThreshold ycrcbthreshold = new YCrCbThreshold(_config.YCrCbThresholdConfig);
ycrcbFilter.Apply(ycrcb);
ycrcbthreshold.Apply(ycrcbFilter.Output);
Cv2.CopyTo(ycrcbthreshold.Output, ycrcb_mask);
}
else
{
ycrcb_mask = new Mat(input.Size(), MatType.CV_8UC1, Scalar.All(255));
}
Cv2.BitwiseAnd(hsv_mask, ycrcb_mask, global_mask);
Cv2.CopyTo(global_mask, Output);
//Cv2.CopyTo(input, Output, global_mask);
//if (IsActive)
//{
//OpenCvSharp.Cv2.InRange(input, new OpenCvSharp.Scalar(_config.HSVThresholdConfig.H.Min, _config.HSVThresholdConfig.S.Min, _config.HSVThresholdConfig.V.Min), new OpenCvSharp.Scalar(_config.HSVThresholdConfig.H.Max, _config.HSVThresholdConfig.S.Max, _config.HSVThresholdConfig.V.Max), Output);
//}
//else
//{
// OpenCvSharp.Cv2.CopyTo(input, Output);
//}
base.Apply(input);
}
/// <summary>
/// i 番目の要素を削除。
/// </summary>
/// <param name="i">削除位置</param>
public void Erase(int i)
{
for (int n = i; n < this.Count - 1; ++n)
{
this[n] = this[n + 1];
Cv2.CopyTo(this.img[n + 1], this.img[n]);
}
this.bottom = (this.bottom - 1) & this.mask;
}
/// <summary>
/// 先頭に新しい要素を追加。
/// </summary>
/// <param name="elem">追加する要素</param>
public void InsertFirst(ref ImageData elem)
{
run_ave(elem);
if (this.Count >= this.data.Length - 1)
{
this.Extend();
}
this.top = (this.top - 1) & this.mask;
this.data[this.top] = elem;
Cv2.CopyTo(elem.img, this.img[this.top]);
}
/// <summary>
/// 末尾に新しい要素を追加。
/// </summary>
/// <param name="elem">追加する要素</param>
public void InsertLast(ImageData elem)
{
run_ave(elem);
if (this.Count >= this.data.Length - 1)
{
this.Extend();
}
this.data[this.bottom] = elem;
this.bottom = (this.bottom + 1) & this.mask;
Cv2.CopyTo(elem.img, this.img[this.bottom]);
}
public async Task RunAsync(Mat input)
{
//_input = input;
_input = new Mat();
FrameDate = DateTime.Now;
Cv2.CopyTo(input, _input);
OutputMat = new Mat();
//PipelineResult result = new PipelineResult();
try
{
await Task.Factory.StartNew(() =>
{
List <IFilter> transforms = new List <IFilter>();
foreach (var step in Steps)
{
if (transforms.Count == 0)
{
step.Filter.Apply(InputMat);
}
else
{
step.Filter.Apply(transforms.Last().Output);
}
transforms.Add(step.Filter);
}
var resizeFilter = transforms.FirstOrDefault(x => x.FilterName == "resize");
if (resizeFilter != null)
{
Cv2.CopyTo(resizeFilter.Output, InputMat);
}
Cv2.CopyTo(transforms.Last().Output, OutputMat);
//result.ResultSteps.Add(new PipelineResultStep(contourMat));
//result.ResultSteps.AddRange(transforms.Select(f => new PipelineResultStep(f)));
});
}
catch (AggregateException ae)
{
throw ae;
}
catch (Exception e)
{
throw e;
}
//return result;
}
public void DrawTarget(ColorSkinCalibrationConfig config)
{
if (_useHeadDetection)
{
return;
}
if (_initialTarget != null && _initialTarget.Width > 0)
{
Rect handZone = new Rect(_config.ColorSkinCalibrationConfig.TLX, _config.ColorSkinCalibrationConfig.TLY, Math.Min(_config.ColorSkinCalibrationConfig.Width, MaxWidth), Math.Min(_config.ColorSkinCalibrationConfig.Height, MaxHeight));
Cv2.CopyTo(_initialTarget, _target);
Cv2.Rectangle(_target, handZone, new Scalar(0, 255, 0));
RaisePropertyChanged(() => MaxWidth);
RaisePropertyChanged(() => MaxHeight);
W_HANDTARGET = _target.ToBitmap().ToBitmapImage();
}
}
public void ActivateCalibration(Mat currentFrame, ColorSkinCalibrationConfig config = null)
{
_target = new Mat();
_initialTarget = new Mat();
Cv2.CopyTo(currentFrame, _target);
Cv2.CopyTo(currentFrame, _initialTarget);
if (config != null)
{
_config.ColorSkinCalibrationConfig = config;
}
CanStartCalibration = true;
RaisePropertyChanged(() => MaxWidth);
RaisePropertyChanged(() => MaxHeight);
DrawTarget(_config.ColorSkinCalibrationConfig);
}
public override void Apply(Mat input)
{
_start = DateTime.Now;
Input = input;
Cv2.CopyTo(Input, Output);
if (IsActive)
{
Mat greyframe = new Mat();
Cv2.CvtColor(input, greyframe, ColorConversionCodes.BGR2GRAY);
Input = input;
var indexer_frame = Output.GetGenericIndexer <Vec3b>();
var indexer_frame_grey = greyframe.GetGenericIndexer <Vec3b>();
var indexer_bg = _background.GetGenericIndexer <Vec3b>();
for (int i = 0; i < Output.Rows; i++)
{
for (int j = 0; j < Output.Cols; j++)
{
var grey_frame = indexer_frame_grey[i, j];
var grey_bg = indexer_bg[i, j];
if (Math.Abs(grey_frame.Item0 - grey_bg.Item0) < _config.BackGroundThreshold)
{
//frame.Item0 = 0;
indexer_frame[i, j] = new Vec3b(0, 0, 0);
}
else
{
//frame.Item0 = 255;
//indexer_frame[i, j] = 255;
}
}
}
}
else
{
OpenCvSharp.Cv2.CopyTo(input, Output);
}
base.Apply(input);
}
private Mat PreprocessImage(Mat imageBuffer)
{
Mat publishedImage;
if (RotateFlags.HasValue)
{
Mat rotImage = new Mat();
Cv2.Rotate(imageBuffer, rotImage, RotateFlags.Value);
publishedImage = rotImage;
}
else
{
Mat cloneImage = new Mat();
Cv2.CopyTo(imageBuffer, cloneImage);
publishedImage = cloneImage;
}
return(publishedImage);
}
public override void Apply(Mat input)
{
_start = DateTime.Now;
Input = input;
Cv2.CopyTo(input, Output);
if (IsActive)
{
Mat gray = new Mat();
Cv2.CvtColor(input, gray, ColorConversionCodes.BGR2GRAY);
Rect[] faces = _haarCascade.DetectMultiScale(gray, _faceConfig.Scale, _faceConfig.MinNeighBours, HaarDetectionType.ScaleImage, new Size(_faceConfig.MinSize, _faceConfig.MinSize));
var mat_currentFrame = new Mat <Vec3b>(Output);
var indexer_currentFrame = mat_currentFrame.GetIndexer();
foreach (var face in faces)
{
Cv2.Rectangle(Output, face, new Scalar(0, 0, 0), -1);
}
}
base.Apply(input);
}
public override void Apply(Mat input)
{
_start = DateTime.Now;
Input = input;
if (IsActive)
{
Mat equ = new Mat();
Cv2.CvtColor(input, equ, ColorConversionCodes.BGR2YCrCb);
Mat[] Channels;
Cv2.Split(equ, out Channels);
Cv2.EqualizeHist(Channels[0], Channels[0]);
Cv2.Merge(Channels, equ);
Cv2.CvtColor(equ, Output, ColorConversionCodes.YCrCb2BGR);
}
else
{
Cv2.CopyTo(Input, Output);
}
base.Apply(input);
}
public async Task AddSample(Mat frame)
{
if (RemainingSeconds > 0)
{
Rect roi = new Rect();
if (frame.Width > 0)
{
_target = new Mat();
Cv2.CopyTo(frame, _target);
if (_useHeadDetection)
{
Mat gray = new Mat();
Cv2.CvtColor(frame, gray, ColorConversionCodes.BGR2GRAY);
Rect[] faces = _haarCascade.DetectMultiScale(gray, _config.FaceConfig.Scale, _config.FaceConfig.MinNeighBours, HaarDetectionType.ScaleImage, new Size(_config.FaceConfig.MinSize, _config.FaceConfig.MinSize));
if (faces.Count() > 0)
{
var maxArea = faces.Max(x => x.Width * x.Height);
roi = faces.FirstOrDefault(x => x.Width * x.Height == maxArea);
}
}
else
{
roi = new Rect(_config.ColorSkinCalibrationConfig.TLX, _config.ColorSkinCalibrationConfig.TLY, Math.Min(_config.ColorSkinCalibrationConfig.Width, MaxWidth), Math.Min(_config.ColorSkinCalibrationConfig.Height, MaxHeight));
}
if (roi != null && roi.Width > 0)
{
_wcropped = new Mat(frame, roi);
var pipeline = new Pipeline()
.Pipe(new BlurFilter(_config.BlurConfig))
.Pipe(new BackgroundRemoveFilter(_wbackground, _config.BackGroundRemoveConfig));
await pipeline.RunAsync(_wcropped);
_wSubstractBackground = pipeline.OutputMat;
HSVFilter hsvFilter = new HSVFilter();
hsvFilter.Apply(_wSubstractBackground);
_whsv = hsvFilter.Output;
YCrCbFilter ycrcbFilter = new YCrCbFilter();
ycrcbFilter.Apply(_wSubstractBackground);
_wycrcb = ycrcbFilter.Output;
var sample = ColorSkinCalibrationSample.From(_wSubstractBackground, _whsv, _wycrcb);
_samples.Add(sample);
_whisto_h = GetHistogramGraph(sample.HSV.Histogram_H, _wcropped.Width, _wcropped.Height);
_whisto_s = GetHistogramGraph(sample.HSV.Histogram_S, _wcropped.Width, _wcropped.Height);
_whisto_v = GetHistogramGraph(sample.HSV.Histogram_V, _wcropped.Width, _wcropped.Height);
Result = new SkinPresetHSV
{
HSV = new HSV
{
H = (int)_samples.Select(x => (double)x.HSV.MeanH.X).Median(),
S = (int)_samples.Select(x => (double)x.HSV.MeanS.X).Median(),
V = (int)_samples.Select(x => (double)x.HSV.MeanV.X).Median()
},
YCRCB = new YCrCb
{
Y = (int)_samples.Select(x => (double)x.YCRCB.MeanY.X).Median(),
Cr = (int)_samples.Select(x => (double)x.YCRCB.MeanCr.X).Median(),
Cb = (int)_samples.Select(x => (double)x.YCRCB.MeanCb.X).Median()
}
};
RaisePropertyChanged(() => W_CROPPED);
RaisePropertyChanged(() => W_BACKGROUND_SUBSTRACTED);
RaisePropertyChanged(() => W_HSV);
RaisePropertyChanged(() => W_HISTO_H);
RaisePropertyChanged(() => W_HISTO_S);
RaisePropertyChanged(() => W_HISTO_V);
RaisePropertyChanged(() => W_HANDTARGET);
}
RaisePropertyChanged(() => RemainingSeconds);
}
}
else
{
Result = new SkinPresetHSV
{
HSV = new HSV
{
H = (int)_samples.Select(x => (double)x.HSV.MeanH.X).Median(),
S = (int)_samples.Select(x => (double)x.HSV.MeanS.X).Median(),
V = (int)_samples.Select(x => (double)x.HSV.MeanV.X).Median()
},
YCRCB = new YCrCb
{
Y = (int)_samples.Select(x => (double)x.YCRCB.MeanY.X).Median(),
Cr = (int)_samples.Select(x => (double)x.YCRCB.MeanCr.X).Median(),
Cb = (int)_samples.Select(x => (double)x.YCRCB.MeanCb.X).Median()
}
};
CalibrationStarted = false;
CanStartCalibration = false;
W_HANDTARGET = null;
RaisePropertyChanged(() => W_HANDTARGET);
}
}
/// <summary>
/// 画像を保存します。
/// </summary>
/// <remarks>
/// ビデオ書き込み
/// </remarks>
public void VideoWriterFrame()
{
if (vw == null || vw.IsDisposed /* || writer == null */)
{
return;
}
if (save_frame_count++ > save_frame_count_max)
{
save_frame_count = 0;
VideoWriterRelease();
string fn = FileName + "_" + (++avi_id).ToString() + ".avi";
VideoWriterInit(fn);
}
// 画像内にデータ埋め込み
vd.id = (ushort)this.data[this.bottom].id;
vd.gx = this.data[this.bottom].gx;
vd.gy = this.data[this.bottom].gy;
vd.vmax = this.data[this.bottom].vmax;
vd.msec = (ushort)this.data[this.bottom].t.Millisecond;
vd.sec = (ushort)this.data[this.bottom].t.Second;
vd.min = (ushort)this.data[this.bottom].t.Minute;
vd.hour = (ushort)this.data[this.bottom].t.Hour;
vd.day = (ushort)this.data[this.bottom].t.Day;
vd.month = (ushort)this.data[this.bottom].t.Month;
vd.year = (ushort)this.data[this.bottom].t.Year;
vd.kgx = this.data[this.bottom].kgx;
vd.kgy = this.data[this.bottom].kgy;
vd.kvx = this.data[this.bottom].kvx;
vd.kvy = this.data[this.bottom].kvy;
vd.x2pos = this.data[this.bottom].udpkv1.x2pos;
vd.y2pos = this.data[this.bottom].udpkv1.y2pos;
vd.x2v = this.data[this.bottom].udpkv1.x2v;
vd.y2v = this.data[this.bottom].udpkv1.y2v;
vd.az2_c = this.data[this.bottom].udpkv1.az2_c;
vd.alt2_c = this.data[this.bottom].udpkv1.alt2_c;
vd.vaz2_kv = this.data[this.bottom].udpkv1.vaz2_kv;
vd.valt2_kv = this.data[this.bottom].udpkv1.valt2_kv;
if (MtMode == 2)
{
vd.x2pos = this.data[this.bottom].udpkv1.xpos;
vd.y2pos = this.data[this.bottom].udpkv1.ypos;
vd.x2v = this.data[this.bottom].udpkv1.x1v;
vd.y2v = this.data[this.bottom].udpkv1.y1v;
vd.az2_c = this.data[this.bottom].udpkv1.az1_c;
vd.alt2_c = this.data[this.bottom].udpkv1.alt1_c;
vd.vaz2_kv = this.data[this.bottom].udpkv1.vaz1_kv;
vd.valt2_kv = this.data[this.bottom].udpkv1.valt1_kv;
}
vd.kvaz = this.data[this.bottom].udpkv1.kvaz;
vd.kvalt = this.data[this.bottom].udpkv1.kvalt;
vd.kv_status = this.data[this.bottom].udpkv1.kv_status;
vd.data_request = this.data[this.bottom].udpkv1.data_request;
vd.mt3mode = this.data[this.bottom].udpkv1.mt3mode;
vd.az = this.data[this.bottom].az;
vd.alt = this.data[this.bottom].alt;
vd.vaz = this.data[this.bottom].vaz;
vd.valt = this.data[this.bottom].valt;
Cv2.CopyTo(this.img[this.bottom], imgR);
//String filename = "FifoImg-" + vd.id + ".jpg";
//imgR.SaveImage(filename);
//String str = String.Format("ID:{0,6:D1} ", this.data[this.bottom].id) + this.data[this.bottom].t.ToString("yyyyMMdd_HHmmss_fff") ;
//imgR.PutText(str, new CvPoint(6, 14), font, new Scalar(0, 100, 120));
//Cv2.PutText(img, "English!!", new OpenCvSharp.Point(10, 180), HersheyFonts.HersheyComplexSmall, 1, new Scalar(255, 0, 255), 1, LineTypes.AntiAlias);
Marshal.StructureToPtr(vd, imgR.Data, false);
//filename = "FifoImg-" + vd.id + "vd.jpg";
//imgR.SaveImage(filename);
//String str = String.Format("ID:{0,10:D1} ", this.data[this.bottom].id) + this.data[this.bottom].t.ToString("yyyyMMdd_HHmmss_fff") + String.Format(" ({0,6:F1},{1,6:F1})({2,6:F1})", gx, gy, vmax);
//if (this.data[this.bottom].ImgSaveFlag) str += " True";
//Cv.CvtColor(this.img[this.bottom], imgGBR, ColorConversion.GrayToBgr);
//3 Cv.Copy(this.img[this.bottom], imgGBR); //3
//imgGBR.PutText(str, new CvPoint(6, 14) , font, new Scalar(0, 100, 100));
//imgGBR.Circle(new CvPoint((int)(gx+0.5),(int)(gy+0.5)), 15, new Scalar(0, 100, 255));
vw.Write(imgR);
//writer.WriteLine("{0} {1} {2} ", vd.id, vd.kgx, vd.kgy);
int id = System.Threading.Thread.CurrentThread.ManagedThreadId; Console.WriteLine("RingBuf ThreadID : " + id);
appendText += DateTime.Now.ToString("yyyy/MM/dd HH:mm:ss ID:") + vd.id.ToString() + " " + this.data[this.bottom].timestamp.ToString() + Environment.NewLine;
}
