// 描画処理
private void videoRendering(object sender, NewFrameEventArgs eventArgs)
{
Bitmap img = (Bitmap)eventArgs.Frame.Clone();
// Debug.WriteLine(DateTime.Now + ":" + "描画更新");
// Debug.WriteLine(mode);
try
{
//pictureBoxCamera.Image = img;
temp = BitmapConverter.ToMat(img);//比較先画像
//特徴量の検出と特徴量ベクトルの計算
akaze.DetectAndCompute(temp, null, out key_point2, descriptor2);
//画像２の特徴点をoutput2に出力
Cv2.DrawKeypoints(temp, key_point2, output2);
//Cv2.ImShow("output2", output2);
pictureBoxCamera.Image = BitmapConverter.ToBitmap(output2);
matcher = DescriptorMatcher.Create("BruteForce");
matches = matcher.Match(descriptor1, descriptor2);
//閾値以下の要素数のカウント
for (int i = 0; i < key_point1.Length && i < key_point2.Length; ++i)
{
if (matches[i].Distance < threshold)
{
++good_match_length;
}
}
DMatch[] good_matches = new DMatch[good_match_length];//閾値以下の要素数で定義
//good_matchesに格納していく
int j = 0;
for (int i = 0; i < key_point1.Length && i < key_point2.Length; ++i)
{
if (matches[i].Distance < threshold)
{
good_matches[j] = matches[i];
++j;
}
}
//good_matchesの個数デバッグ表示
Debug.WriteLine(j);
Invoke((MethodInvoker) delegate()
{
labelMatch.Text = j.ToString();
});
//類似点の数が多ければチェックボックスの状態に応じて非常停止
if (j >= 16)
{
//非常停止
if (checkBoxStop.Checked == true)
{
//WebRequest request = WebRequest.Create("https://maker.ifttt.com/trigger/raspberry/with/key/gHPH_xDKR664IVIr2YtRRj6BbQoQi-K0mCowIJCGPF3");
//WebResponse response = request.GetResponse();
}
//アラート音
if (checkBoxAlert.Checked == true)
{
// _mediaPlayer.settings.volume = 20;
_mediaPlayer.URL = @"D:\DCIM\app\AkazeAlert\PcCameraApp\Resources\decision1.mp3";
_mediaPlayer.controls.play();
}
}
Cv2.DrawMatches(mat, key_point1, temp, key_point2, good_matches, output3);
//Cv2.ImShow("output3", output3);
pictureBoxResult.Image = BitmapConverter.ToBitmap(output3);
}
catch
{
pictureBoxCamera.Image = img;
}
}
public override void RunTest()
{
using var src = Cv2.ImRead(ImagePath.Shapes);
using var detectedCircles = new Mat();
using var detectedOvals = new Mat();
// Invert the image. Shapes has a black background and SimpleBlobDetector doesn't seem to work well with that.
Cv2.BitwiseNot(src, src);
// Parameters tuned to detect only circles
var circleParams = new SimpleBlobDetector.Params
{
MinThreshold = 10,
MaxThreshold = 230,
// The area is the number of pixels in the blob.
FilterByArea = true,
MinArea = 500,
MaxArea = 50000,
// Circularity is a ratio of the area to the perimeter. Polygons with more sides are more circular.
FilterByCircularity = true,
MinCircularity = 0.9f,
// Convexity is the ratio of the area of the blob to the area of its convex hull.
FilterByConvexity = true,
MinConvexity = 0.95f,
// A circle's inertia ratio is 1. A line's is 0. An oval is between 0 and 1.
FilterByInertia = true,
MinInertiaRatio = 0.95f
};
// Parameters tuned to find the ovals in the Shapes image.
var ovalParams = new SimpleBlobDetector.Params
{
MinThreshold = 10,
MaxThreshold = 230,
FilterByArea = true,
MinArea = 500,
// The ovals are the smallest blobs in Shapes, so we limit the max area to eliminate the larger blobs.
MaxArea = 10000,
FilterByCircularity = true,
MinCircularity = 0.58f,
FilterByConvexity = true,
MinConvexity = 0.96f,
FilterByInertia = true,
MinInertiaRatio = 0.1f
};
using var circleDetector = SimpleBlobDetector.Create(circleParams);
var circleKeyPoints = circleDetector.Detect(src);
Cv2.DrawKeypoints(src, circleKeyPoints, detectedCircles, Scalar.HotPink, DrawMatchesFlags.DrawRichKeypoints);
using var ovalDetector = SimpleBlobDetector.Create(ovalParams);
var ovalKeyPoints = ovalDetector.Detect(src);
Cv2.DrawKeypoints(src, ovalKeyPoints, detectedOvals, Scalar.HotPink, DrawMatchesFlags.DrawRichKeypoints);
using var w1 = new Window("Detected Circles", detectedCircles);
using var w2 = new Window("Detected Ovals", detectedOvals);
Cv2.WaitKey();
}
Vector3 triangulate(int j, HyperMegaStuff.HyperMegaLines drawer = null)
{
Ray[] rays = new Ray[2];
Mat workingImage = new Mat(calibrationDevices[j].webcam.leftImage.Height,
calibrationDevices[j].webcam.leftImage.Width,
calibrationDevices[j].webcam.leftImage.Type(), 0);
for (int i = 0; i < 2; i++)
{
Mat curMat = i == 0 ? calibrationDevices[j].webcam.leftImage :
calibrationDevices[j].webcam.rightImage;
if (calibrationDevices[j].subtractionImage[i] != null)
{
// Subtract the background from the curMat
Cv2.Subtract(curMat, calibrationDevices[j].subtractionImage[i], workingImage);
// Threshold the image to separate black and white
Cv2.Threshold(workingImage, workingImage, blobThreshold, 255, ThresholdTypes.BinaryInv); // TODO MAKE THRESHOLD TUNABLE
// Detect Blobs using the Mask
var settings = new SimpleBlobDetector.Params();
settings.FilterByArea = false;
settings.FilterByColor = false;
settings.FilterByInertia = true;
settings.FilterByConvexity = true;
settings.FilterByCircularity = false;
SimpleBlobDetector detector = SimpleBlobDetector.Create();
KeyPoint[] blobs = detector.Detect(workingImage, calibrationDevices[j].maskImage[i]);
Cv2.DrawKeypoints(workingImage, blobs, workingImage, 255);
int biggest = -1; float size = 0;
for (int k = 0; k < blobs.Length; k++)
{
if (blobs[k].Size > size)
{
biggest = k;
size = blobs[k].Size;
}
}
// If there's only one blob in this image, assume it's the white circle
if (blobs.Length > 0)
{
float[] pointArr = { blobs[biggest].Pt.X, blobs[biggest].Pt.Y };
Mat point = new Mat(1, 1, MatType.CV_32FC2, pointArr);
Mat undistortedPoint = new Mat(1, 1, MatType.CV_32FC2, 0);
Cv2.UndistortPoints(point, undistortedPoint, calibrationDevices[j].calibration.cameras[i].cameraMatrixMat,
calibrationDevices[j].calibration.cameras[i].distCoeffsMat,
calibrationDevices[j].calibration.cameras[i].rectificationMatrixMat);
Point2f[] rectilinear = new Point2f[1];
undistortedPoint.GetArray(0, 0, rectilinear);
Transform camera = i == 0 ? calibrationDevices[j].LeftCamera : calibrationDevices[j].RightCamera;
rays[i] = new Ray(camera.position, camera.TransformDirection(
new Vector3(-rectilinear[0].X, rectilinear[0].Y, 1f)));
if (drawer != null)
{
drawer.color = ((j == 0) != (i == 0)) ? Color.cyan : Color.red;
drawer.DrawRay(rays[i].origin, rays[i].direction);
}
}
}
}
workingImage.Release();
// Only accept the triangulated point if the rays match up closely enough
if (rays[0].origin != Vector3.zero &&
rays[1].origin != Vector3.zero)
{
Vector3 point1 = RayRayIntersection(rays[0], rays[1]);
Vector3 point2 = RayRayIntersection(rays[1], rays[0]);
if (Vector3.Distance(point1, point2) < 0.005f)
{
return((point1 + point2) * 0.5f);
}
else
{
return(Vector3.zero);
}
}
else
{
return(Vector3.zero);
}
}
