public FitLine()
{
CvSize imageSize = new CvSize(500, 500);
// cvFitLine
CvPoint2D32f[] points = GetRandomPoints(20, imageSize);
CvLine2D line = Cv.FitLine2D(points, DistanceType.L2, 0, 0.01, 0.01);
using (IplImage img = new IplImage(imageSize, BitDepth.U8, 3))
{
img.Zero();
// draw line
{
CvPoint pt1, pt2;
line.FitSize(img.Width, img.Height, out pt1, out pt2);
img.Line(pt1, pt2, CvColor.Green, 1, LineType.Link8);
}
// draw points and distances
using (CvFont font = new CvFont(FontFace.HersheySimplex, 0.33, 0.33))
{
foreach (CvPoint2D32f p in points)
{
double d = line.Distance(p);
img.Circle(p, 2, CvColor.White, -1, LineType.AntiAlias);
img.PutText(string.Format("{0:F1}", d), new CvPoint((int)(p.X + 3), (int)(p.Y + 3)), font, CvColor.Green);
}
}
CvWindow.ShowImages(img);
}
}
public VideoWriter()
{
// (1)カメラに対するキャプチャ構造体を作成する
using (CvCapture capture = CvCapture.FromCamera(0))
{
// (2)キャプチャサイズを取得する(この設定は，利用するカメラに依存する)
int width = capture.FrameWidth;
int height = capture.FrameHeight;
double fps = 15;//capture.Fps;
// (3)ビデオライタ構造体を作成する
using (CvVideoWriter writer = new CvVideoWriter("cap.avi", FourCC.Prompt, fps, new CvSize(width, height)))
using (CvFont font = new CvFont(FontFace.HersheyComplex, 0.7, 0.7))
using (CvWindow window = new CvWindow("Capture", WindowMode.AutoSize))
{
// (4)カメラから画像をキャプチャし，ファイルに書き出す
for (int frames = 0; ; frames++)
{
IplImage frame = capture.QueryFrame();
string str = string.Format("{0}[frame]", frames);
frame.PutText(str, new CvPoint(10, 20), font, new CvColor(0, 255, 100));
writer.WriteFrame(frame);
window.ShowImage(frame);
int key = CvWindow.WaitKey((int)(1000 / fps));
if (key == '\x1b')
{
break;
}
}
}
}
}
/// <summary>
/// Prints tracks information.
/// </summary>
/// <param name="imgSource">Input image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="imgDest">Output image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="mode">Render mode. By default is CV_TRACK_RENDER_ID.</param>
/// <param name="font">OpenCV font for print on the image.</param>
public void Render(IplImage imgSource, IplImage imgDest, RenderTracksMode mode, CvFont font)
{
if (imgSource == null)
{
throw new ArgumentNullException(nameof(imgSource));
}
if (imgDest == null)
{
throw new ArgumentNullException(nameof(imgDest));
}
if (imgDest.Depth != BitDepth.U8)
{
throw new ArgumentException("imgDest.Depth != U8");
}
if (imgDest.NChannels != 3)
{
throw new ArgumentException("imgDest.NChannels != 3");
}
if ((mode & RenderTracksMode.Id) == RenderTracksMode.Id && font == null)
{
font = new CvFont(FontFace.HersheyDuplex, 0.5, 0.5, 0, 1);
}
if (mode != RenderTracksMode.None)
{
foreach (KeyValuePair <int, CvTrack> kv in this)
{
int key = kv.Key;
CvTrack value = kv.Value;
if ((mode & RenderTracksMode.Id) == RenderTracksMode.Id)
{
if (value.Inactive == 0)
{
Cv.PutText(imgDest, key.ToString(), value.Centroid, font, CvColor.Green);
}
}
if ((mode & RenderTracksMode.BoundingBox) == RenderTracksMode.BoundingBox)
{
if (value.Inactive > 0)
{
Cv.Rectangle(
imgDest,
new CvPoint(value.MinX, value.MinY),
new CvPoint(value.MaxX - 1, value.MaxY - 1),
new CvColor(0, 0, 50));
}
else
{
Cv.Rectangle(
imgDest,
new CvPoint(value.MinX, value.MinY),
new CvPoint(value.MaxX - 1, value.MaxY - 1),
new CvColor(0, 0, 255));
}
}
}
}
}
public static void addDisplayFPS()
{
font = new CvFont(FontFace.HersheyComplexSmall, 1.0, 1.0);
sw.Reset();
sw.Start();
m_updateDel += displayFPS;
}
public Text()
{
// cvInitFont, cvPutText
// フォントを初期化して，テキストを描画する
List <FontFace> font_face = new List <FontFace>(
(FontFace[])Enum.GetValues(typeof(FontFace))
);
font_face.Remove(FontFace.Italic);
// (1)画像を確保し初期化する
using (IplImage img = Cv.CreateImage(new CvSize(450, 600), BitDepth.U8, 3))
{
Cv.Zero(img);
// (2)フォント構造体を初期化する
CvFont[] font = new CvFont[font_face.Count * 2];
for (int i = 0; i < font.Length; i += 2)
{
font[i] = new CvFont(font_face[i / 2], 1.0, 1.0);
font[i + 1] = new CvFont(font_face[i / 2] | FontFace.Italic, 1.0, 1.0);
}
// (3)フォントを指定して，テキストを描画する
for (int i = 0; i < font.Length; i++)
{
CvColor rcolor = CvColor.Random();
Cv.PutText(img, "OpenCV sample code", new CvPoint(15, (i + 1) * 30), font[i], rcolor);
}
// (4)画像の表示，キーが押されたときに終了
using (CvWindow w = new CvWindow(img))
{
CvWindow.WaitKey(0);
}
}
}
public Contour()
{
// cvContourArea, cvArcLength
// 輪郭によって区切られた領域の面積と，輪郭の長さを求める
const int SIZE = 500;
// (1)画像を確保し初期化する
using (CvMemStorage storage = new CvMemStorage())
using (IplImage img = new IplImage(SIZE, SIZE, BitDepth.U8, 3))
{
img.Zero();
// (2)点列を生成する
CvSeq <CvPoint> points = new CvSeq <CvPoint>(SeqType.PolyLine, storage);
CvRNG rng = new CvRNG((ulong)DateTime.Now.Ticks);
double scale = rng.RandReal() + 0.5;
CvPoint pt0 = new CvPoint
{
X = (int)(Math.Cos(0) * SIZE / 4 * scale + SIZE / 2),
Y = (int)(Math.Sin(0) * SIZE / 4 * scale + SIZE / 2)
};
img.Circle(pt0, 2, CvColor.Green);
points.Push(pt0);
for (int i = 1; i < 20; i++)
{
scale = rng.RandReal() + 0.5;
CvPoint pt1 = new CvPoint
{
X = (int)(Math.Cos(i * 2 * Math.PI / 20) * SIZE / 4 * scale + SIZE / 2),
Y = (int)(Math.Sin(i * 2 * Math.PI / 20) * SIZE / 4 * scale + SIZE / 2)
};
img.Line(pt0, pt1, CvColor.Green, 2);
pt0.X = pt1.X;
pt0.Y = pt1.Y;
img.Circle(pt0, 3, CvColor.Green, Cv.FILLED);
points.Push(pt0);
}
img.Line(pt0, points.GetSeqElem(0).Value, CvColor.Green, 2);
// (3)包含矩形，面積，長さを求める
CvRect rect = points.BoundingRect(false);
double area = points.ContourArea();
double length = points.ArcLength(CvSlice.WholeSeq, 1);
// (4)結果を画像に書き込む
img.Rectangle(new CvPoint(rect.X, rect.Y), new CvPoint(rect.X + rect.Width, rect.Y + rect.Height), CvColor.Red, 2);
string text_area = string.Format("Area: wrect={0}, contour={1}", rect.Width * rect.Height, area);
string text_length = string.Format("Length: rect={0}, contour={1}", 2 * (rect.Width + rect.Height), length);
using (CvFont font = new CvFont(FontFace.HersheySimplex, 0.7, 0.7, 0, 1, LineType.AntiAlias))
{
img.PutText(text_area, new CvPoint(10, img.Height - 30), font, CvColor.White);
img.PutText(text_length, new CvPoint(10, img.Height - 10), font, CvColor.White);
}
// (5)画像を表示，キーが押されたときに終了
using (CvWindow window = new CvWindow("BoundingRect", WindowMode.AutoSize))
{
window.Image = img;
CvWindow.WaitKey(0);
}
}
}
/// <summary>
/// Video writer
/// </summary>
/// <param name="frame"></param>
/// <param name="frames"></param>
public void VideoWriter(IplImage frame, int frames)
{
CvFont font = new CvFont(FontFace.HersheyComplex, 0.5, 0.5);
string str = string.Format("{0}[Frame]", frames);
frame.PutText(str, new CvPoint(10, 20), font, new CvColor(255, 0, 0));
this.writer.WriteFrame(frame);
}
public Moments()
{
// (1)画像を読み込む．3チャンネル画像の場合はCOIがセットされていなければならない
using (IplImage srcImg = new IplImage(Const.ImageLenna, LoadMode.AnyColor | LoadMode.AnyDepth))
{
if (srcImg.NChannels == 3 && srcImg.COI == 0)
{
srcImg.COI = 1;
}
// (2)入力画像の３次までの画像モーメントを計算する
CvMoments moments = new CvMoments(srcImg, false);
srcImg.COI = 0;
// (3)モーメントやHuモーメント不変量を，得られたCvMoments構造体の値を使って計算する．
double spatialMoment = moments.GetSpatialMoment(0, 0);
double centralMoment = moments.GetCentralMoment(0, 0);
double normCMoment = moments.GetNormalizedCentralMoment(0, 0);
CvHuMoments huMoments = new CvHuMoments(moments);
// (4)得られたモーメントやHuモーメント不変量を文字として画像に描画
using (CvFont font = new CvFont(FontFace.HersheySimplex, 1.0, 1.0, 0, 2, LineType.Link8))
{
string[] text = new string[10];
text[0] = string.Format("spatial={0:F3}", spatialMoment);
text[1] = string.Format("central={0:F3}", centralMoment);
text[2] = string.Format("norm={0:F3}", spatialMoment);
text[3] = string.Format("hu1={0:F10}", huMoments.Hu1);
text[4] = string.Format("hu2={0:F10}", huMoments.Hu2);
text[5] = string.Format("hu3={0:F10}", huMoments.Hu3);
text[6] = string.Format("hu4={0:F10}", huMoments.Hu4);
text[7] = string.Format("hu5={0:F10}", huMoments.Hu5);
text[8] = string.Format("hu6={0:F10}", huMoments.Hu6);
text[9] = string.Format("hu7={0:F10}", huMoments.Hu7);
CvSize textSize = font.GetTextSize(text[0]);
for (int i = 0; i < 10; i++)
{
srcImg.PutText(text[i], new CvPoint(10, (textSize.Height + 3) * (i + 1)), font, CvColor.Black);
}
}
// (5)入力画像とモーメント計算結果を表示，キーが押されたときに終了
using (CvWindow window = new CvWindow("Image", WindowMode.AutoSize))
{
window.ShowImage(srcImg);
Cv.WaitKey(0);
}
}
}
public Moments()
{
using (IplImage srcImg = new IplImage(FilePath.Image.Lenna, LoadMode.AnyColor | LoadMode.AnyDepth))
{
if (srcImg.NChannels == 3 && srcImg.COI == 0)
{
srcImg.COI = 1;
}
CvMoments moments = new CvMoments(srcImg, false);
srcImg.COI = 0;
double spatialMoment = moments.GetSpatialMoment(0, 0);
double centralMoment = moments.GetCentralMoment(0, 0);
double normCMoment = moments.GetNormalizedCentralMoment(0, 0);
CvHuMoments huMoments = new CvHuMoments(moments);
// drawing
using (CvFont font = new CvFont(FontFace.HersheySimplex, 1.0, 1.0, 0, 2, LineType.Link8))
{
string[] text = new string[10];
text[0] = string.Format("spatial={0:F3}", spatialMoment);
text[1] = string.Format("central={0:F3}", centralMoment);
text[2] = string.Format("norm={0:F3}", spatialMoment);
text[3] = string.Format("hu1={0:F10}", huMoments.Hu1);
text[4] = string.Format("hu2={0:F10}", huMoments.Hu2);
text[5] = string.Format("hu3={0:F10}", huMoments.Hu3);
text[6] = string.Format("hu4={0:F10}", huMoments.Hu4);
text[7] = string.Format("hu5={0:F10}", huMoments.Hu5);
text[8] = string.Format("hu6={0:F10}", huMoments.Hu6);
text[9] = string.Format("hu7={0:F10}", huMoments.Hu7);
CvSize textSize = font.GetTextSize(text[0]);
for (int i = 0; i < 10; i++)
{
srcImg.PutText(text[i], new CvPoint(10, (textSize.Height + 3) * (i + 1)), font, CvColor.Black);
}
}
using (var window = new CvWindow("Image", WindowMode.AutoSize))
{
window.ShowImage(srcImg);
Cv.WaitKey(0);
}
}
}
/// <summary>
/// Prints tracks information.
/// </summary>
/// <param name="tracks">List of tracks.</param>
/// <param name="imgSource">Input image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="imgDest">Output image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="mode">Render mode. By default is CV_TRACK_RENDER_ID.</param>
/// <param name="font">OpenCV font for print on the image.</param>
public static void RenderTracks(CvTracks tracks, IplImage imgSource, IplImage imgDest, RenderTracksMode mode, CvFont font)
{
if (tracks == null)
throw new ArgumentNullException("tracks");
if (imgSource == null)
throw new ArgumentNullException("imgSource");
if (imgDest == null)
throw new ArgumentNullException("imgDest");
IntPtr fontPtr = (font == null) ? IntPtr.Zero : font.CvPtr;
CvBlobInvoke.cvb_cvRenderTracks(tracks.CvPtr, imgSource.CvPtr, imgDest.CvPtr, mode, fontPtr);
}
/// <summary>
/// Prints tracks information.
/// </summary>
/// <param name="tracks">List of tracks.</param>
/// <param name="imgSource">Input image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="imgDest">Output image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="mode">Render mode. By default is CV_TRACK_RENDER_ID.</param>
/// <param name="font">OpenCV font for print on the image.</param>
public static void RenderTracks(CvTracks tracks, IplImage imgSource, IplImage imgDest, RenderTracksMode mode, CvFont font)
{
if (tracks == null)
{
throw new ArgumentNullException("tracks");
}
tracks.Render(imgSource, imgDest, mode, font);
}
/// <summary>
/// Prints tracks information.
/// </summary>
/// <param name="tracks">List of tracks.</param>
/// <param name="imgSource">Input image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="imgDest">Output image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="mode">Render mode. By default is CV_TRACK_RENDER_ID.</param>
/// <param name="font">OpenCV font for print on the image.</param>
public static void RenderTracks(CvTracks tracks, IplImage imgSource, IplImage imgDest, RenderTracksMode mode, CvFont font)
{
if (tracks == null)
throw new ArgumentNullException("tracks");
tracks.Render(imgSource, imgDest, mode, font);
}
private void timerGrab_Tick(object sender, EventArgs e)
{
IplImage frame = cvlib.cvQueryFrame( videoCapture);
if (frame.ptr == IntPtr.Zero)
{
timerGrab.Stop();
MessageBox.Show("Invalid Frame");
return;
}
imgMain = cvlib.cvCreateImage(cvlib.cvGetSize( frame), 8, 3);
if (reset)
{
showROI = false;
initialized = false;
resetting();
}
cvlib.cvCopy( frame, imgMain);
cvlib.cvFlip( imgMain);
#region ROI
if (showROI && initialized)
{
cvlib.cvRectangle( imgMain, cvlib.cvPoint(roiX, roiY), cvlib.cvPoint(roiX + roiW, roiY + roiH), cvlib.CV_RGB(255, 0, 125), 1, 8, 0);
imgCrop = cvlib.cvCreateImage(cvlib.cvSize(roiW, roiH), 8, 3);
#region skinHSV/RGB
if (showSkinHSV || showSkinRGB)
{
imgSkin = new IplImage();
imgSkin = cvlib.cvCreateImage(cvlib.cvGetSize( frame), 8, 3);
if (showSkinHSV)
imgSkin = skinDet.skin_hsv(imgMain);
else if (showSkinRGB)
imgSkin = skinDet.skin_rgb(imgMain);
cvlib.cvSetImageROI( imgSkin, cvlib.cvRect(roiX, roiY, roiW, roiH));
cvlib.cvCopy( imgSkin, imgCrop);
cvlib.cvReleaseImage( imgSkin);
//noise removal
cvlib.cvDilate(imgCrop, imgCrop, dlgParam.GetP(0).i);
cvlib.cvErode( imgCrop, imgCrop, dlgParam.GetP(1).i);
for (int i = 0; i < dlgParam.GetP(2).i; i++)
cvlib.cvSmooth( imgCrop, imgCrop);
}
#endregion
#region show threshold
if (showThres || showEdge)
{
imgGray = cvlib.cvCreateImage(cvlib.cvGetSize( imgCrop), 8, 1);
imgBin = cvlib.cvCreateImage(cvlib.cvGetSize( imgCrop), 8, 1);
imgMot = cvlib.cvCreateImage(cvlib.cvGetSize( imgCrop), 8, 1);
cvlib.cvCvtColor( imgCrop, imgGray, cvlib.CV_BGR2GRAY);
cvlib.cvThreshold( imgGray, imgMot, 0, 255, cvlib.CV_THRESH_BINARY_INV);
abs.Absolute(imgMot);
if (showThres)
cvlib.cvThreshold( imgGray, imgBin, 0, 255, cvlib.CV_THRESH_BINARY_INV);
else if (showEdge)
{
edge_dlg();
cvlib.cvCanny( imgGray, imgBin, dlgCanny.GetP(0).i, dlgCanny.GetP(1).i);
}
cvlib.cvShowImage("Crop", imgBin);
#region matching
if (match)
{
if (adaBlackPix(imgBin))
hasil = (int)KNN.classify(ref imgBin, false);
else
hasil = 19;
WriteLine(Signs[hasil], false, false);
match = false;
show_letter = true;
}
#endregion
cvlib.cvReleaseImage( imgGray);
cvlib.cvReleaseImage( imgCrop);
cvlib.cvReleaseImage( imgBin);
cvlib.cvReleaseImage( imgMot);
}
else
{
cvlib.cvShowImage("Crop", imgCrop);
cvlib.cvReleaseImage( imgCrop);
}
#endregion
}
else if (!initialized && !showROI)
imgMain = hc.cariHaar(imgMain);
else if (!initialized) //initialize windows
initialize();
#endregion
if (show_letter)
{
CvFont font = new CvFont();
cvlib.cvInitFont( font, cvlib.CV_FONT_HERSHEY_SIMPLEX, 5, 5, 0, 10, cvlib.CV_AA);
cvlib.cvPutText( imgMain, Signs[hasil], cvlib.cvPoint(50, 200), font, cvlib.cvScalar(0, 255, 0));
}
picBoxMain.Image = cvlib.ToBitmap(imgMain, false);
cvlib.cvReleaseImage( imgMain);
fps++;
if ((openx != 0 && openy != 0 && closex != 0 && closey != 0) && !showROI)
euclidean();
}
private void timerGrab_Tick(object sender, EventArgs e)
{
frame = highgui.CvQueryFrame(ref videoCapture);
if (frame.ptr == IntPtr.Zero)
{
timerGrab.Stop();
MessageBox.Show("Invalid Frame");
return;
}
imgMain = cxcore.CvCreateImage(cxcore.CvGetSize(ref frame), 8, 3);
if (reset)
{
showROI = false;
initialized = false;
resetting();
}
cxcore.CvCopy(ref frame, ref imgMain);
cxcore.CvFlip(ref imgMain, 0);
#region ROI
if (showROI && initialized)
{
cxcore.CvRectangle(ref imgMain, new CvPoint(roiX, roiY), new CvPoint(roiX + roiW, roiY + roiH), cxcore.CV_RGB(255, 0, 125), 1, 8, 0);
imgCrop = cxcore.CvCreateImage(new CvSize(roiW, roiH), 8, 3);
#region skinHSV/RGB
if (showSkinHSV || showSkinRGB)
{
imgSkin = new IplImage();
imgSkin = cxcore.CvCreateImage(cxcore.CvGetSize(ref frame), 8, 3);
if (showSkinHSV)
{
imgSkin = skinDet.skin_hsv(imgMain);
}
else if (showSkinRGB)
{
imgSkin = skinDet.skin_rgb(imgMain);
}
cxcore.CvSetImageROI(ref imgSkin, new CvRect(roiX, roiY, roiW, roiH));
cxcore.CvCopy(ref imgSkin, ref imgCrop);
cxcore.CvReleaseImage(ref imgSkin);
//noise removal
cv.CvDilate(ref imgCrop, ref imgCrop, dlgParam.GetP(0).i);
cv.CvErode(ref imgCrop, ref imgCrop, dlgParam.GetP(1).i);
for (int i = 0; i < dlgParam.GetP(2).i; i++)
{
cv.CvSmooth(ref imgCrop, ref imgCrop);
}
}
#endregion
#region show threshold
if (showThres || showEdge)
{
imgGray = cxcore.CvCreateImage(cxcore.CvGetSize(ref imgCrop), 8, 1);
imgBin = cxcore.CvCreateImage(cxcore.CvGetSize(ref imgCrop), 8, 1);
imgMot = cxcore.CvCreateImage(cxcore.CvGetSize(ref imgCrop), 8, 1);
cv.CvCvtColor(ref imgCrop, ref imgGray, cvtypes.CV_BGR2GRAY);
cv.CvThreshold(ref imgGray, ref imgMot, 0, 255, cv.CV_THRESH_BINARY_INV);
abs.Absolute(imgMot);
if (showThres)
{
cv.CvThreshold(ref imgGray, ref imgBin, 0, 255, cv.CV_THRESH_BINARY_INV);
}
else if (showEdge)
{
edge_dlg();
cv.CvCanny(ref imgGray, ref imgBin, dlgCanny.GetP(0).i, dlgCanny.GetP(1).i);
}
highgui.CvShowImage("Crop", ref imgBin);
#region matching
if (match)
{
if (adaBlackPix(imgBin))
{
hasil = (int)KNN.classify(ref imgBin, false);
}
else
{
hasil = 19;
}
WriteLine(Signs[hasil], false, false);
match = false;
show_letter = true;
}
#endregion
cxcore.CvReleaseImage(ref imgGray);
cxcore.CvReleaseImage(ref imgCrop);
cxcore.CvReleaseImage(ref imgBin);
cxcore.CvReleaseImage(ref imgMot);
}
else
{
highgui.CvShowImage("Crop", ref imgCrop);
cxcore.CvReleaseImage(ref imgCrop);
}
#endregion
}
else if (!initialized && !showROI)
{
imgMain = hc.cariHaar(imgMain);
}
else if (!initialized) //initialize windows
{
initialize();
}
#endregion
if (show_letter)
{
CvFont font = new CvFont();
cxcore.CvInitFont(ref font, cxcore.CV_FONT_HERSHEY_SIMPLEX, 5, 5, 0, 10, cxcore.CV_AA);
cxcore.CvPutText(ref imgMain, Signs[hasil], new CvPoint(50, 200), ref font, new CvScalar(0, 255, 0));
}
picBoxMain.Image = highgui.ToBitmap(imgMain, false);
cxcore.CvReleaseImage(ref imgMain);
fps++;
if ((openx != 0 && openy != 0 && closex != 0 && closey != 0) && !showROI)
{
euclidean();
}
}
// 別スレッド処理（キャプチャー）
private void worker_DoWork(object sender, DoWorkEventArgs e)
{
BackgroundWorker bw = (BackgroundWorker)sender;
Stopwatch sw = new Stopwatch();
string str;
id = 0;
//PID送信用UDP
//バインドするローカルポート番号
// FSI_PID_DATA pid_data = new FSI_PID_DATA();
int localPort = mmFsiUdpPortMT3PV;
System.Net.Sockets.UdpClient udpc2 = null;;
/* try
* {
* udpc2 = new System.Net.Sockets.UdpClient(localPort);
*
* }
* catch (Exception ex)
* {
* //匿名デリゲートで表示する
* this.Invoke(new dlgSetString(ShowRText), new object[] { richTextBox1, ex.ToString() });
* }
*/
//videoInputオブジェクト
const int DeviceID = 0; // 0; // 3 (pro), 4(piccolo) 7(DMK)
const int CaptureFps = 30; // 30
int interval = (int)(1000 / CaptureFps / 10);
const int CaptureWidth = 640;
const int CaptureHeight = 480;
// 画像保存枚数
int mmFsiPostRec = 60;
int save_counter = mmFsiPostRec;
using (VideoInput vi = new VideoInput())
{
vi.SetIdealFramerate(DeviceID, CaptureFps);
vi.SetupDevice(DeviceID, CaptureWidth, CaptureHeight);
int width = vi.GetWidth(DeviceID);
int height = vi.GetHeight(DeviceID);
using (IplImage img = new IplImage(width, height, BitDepth.U8, 3))
using (IplImage img_dark8 = Cv.LoadImage(@"C:\piccolo\MT3V_dark.bmp", LoadMode.GrayScale))
//using (IplImage img_dark = new IplImage(width, height, BitDepth.U8, 3))
using (IplImage img_mono = new IplImage(width, height, BitDepth.U8, 1))
using (IplImage img2 = new IplImage(width, height, BitDepth.U8, 1))
// using (Bitmap bitmap = new Bitmap(width, height, PixelFormat.Format24bppRgb))
using (CvFont font = new CvFont(FontFace.HersheyComplex, 0.45, 0.45))
//using (CvWindow window0 = new CvWindow("FIFO0", WindowMode.AutoSize))
{
//this.Size = new Size(width + 12, height + 148);
double min_val, max_val;
CvPoint min_loc, max_loc;
int size = 15;
int size2x = size / 2;
int size2y = size / 2;
int crop = 20;
double sigma = 3;
long elapsed0 = 0, elapsed1 = 0;
double framerate0 = 0, framerate1 = 0;
double alfa_fr = 0.99;
sw.Start();
while (bw.CancellationPending == false)
{
if (vi.IsFrameNew(DeviceID))
{
DateTime dn = DateTime.Now; //取得時刻
vi.GetPixels(DeviceID, img.ImageData, false, true);
// 画面time表示
str = String.Format("Wide ID:{0:D2} ", id) + dn.ToString("yyyyMMdd_HHmmss_fff");// +String.Format(" ({0,000:F2},{1,000:F2}) ({2,000:0},{3,000:0})({4,0:F1})", gx, gy, max_loc.X, max_loc.Y, max_val);
img.PutText(str, new CvPoint(10, 475), font, new CvColor(0, 100, 40));
Cv.CvtColor(img, img_mono, ColorConversion.BgrToGray);
Cv.Sub(img_mono, img_dark8, imgdata.img); // dark減算
imgdata.id = ++id;
imgdata.t = dn;
imgdata.ImgSaveFlag = !(ImgSaveFlag != 0); //int->bool変換
if (fifo.Count == MaxFrame - 1)
{
fifo.EraseLast();
}
fifo.InsertFirst(imgdata);
#region 位置検出1//MinMaxLoc
/*// 位置検出
* Cv.Smooth(imgdata.img, img2, SmoothType.Gaussian, size, 0, sigma, 0);
* CvRect rect;
* if (PvMode == MyDETECT)
* {
* rect = new CvRect( (int)(gx+0.5) - size, (int)(gy+0.5) - size, size*2, size*2);
* Cv.SetImageROI(img2, rect);
* Cv.MinMaxLoc(img2, out min_val, out max_val, out min_loc, out max_loc, null);
* Cv.ResetImageROI(img2);
* max_loc.X += (int)(gx + 0.5) - size; // 基準点が(1,1)のため＋１
* max_loc.Y += (int)(gy + 0.5) - size;
* }
* else
* {
* rect = new CvRect(crop, crop, width - (crop + crop), height - (crop + crop));
* Cv.SetImageROI(img2, rect);
* Cv.MinMaxLoc(img2, out min_val, out max_val, out min_loc, out max_loc, null);
* Cv.ResetImageROI(img2);
* max_loc.X += crop; // 基準点が(1,1)のため＋１
* max_loc.Y += crop;
* }
* window0.ShowImage(img2);
*
* double m00, m10, m01;
* size2x = size2y = size / 2;
* if (max_loc.X - size2x < 0) size2x = max_loc.X;
* if (max_loc.Y - size2y < 0) size2y = max_loc.Y;
* if (max_loc.X + size2x >= width ) size2x = width -max_loc.X -1;
* if (max_loc.Y + size2y >= height) size2y = height -max_loc.Y -1;
* rect = new CvRect(max_loc.X - size2x, max_loc.Y - size2y, size, size);
* CvMoments moments;
* Cv.SetImageROI(img2, rect);
* Cv.Moments(img2, out moments, false);
* Cv.ResetImageROI(img2);
* m00 = Cv.GetSpatialMoment(moments, 0, 0);
* m10 = Cv.GetSpatialMoment(moments, 1, 0);
* m01 = Cv.GetSpatialMoment(moments, 0, 1);
* gx = max_loc.X - size2x + m10 / m00;
* gy = max_loc.Y - size2y + m01 / m00;
*/
#endregion
#region 位置検出2 //Blob
Cv.Threshold(imgdata.img, img2, threshold_blob, 255, ThresholdType.Binary); //2ms
blobs.Label(img2, imgLabel); //1.4ms
max_label = blobs.GreaterBlob();
elapsed1 = sw.ElapsedTicks; //1.3ms
if (blobs.Count > 1 && gx >= 0)
{
uint min_area = (uint)(threshold_min_area * blobs[max_label].Area);
blobs.FilterByArea(min_area, uint.MaxValue); //0.001ms
// 最適blobの選定（area大 かつ 前回からの距離小）
double x = blobs[max_label].Centroid.X;
double y = blobs[max_label].Centroid.Y;
uint area = blobs[max_label].Area;
//CvRect rect;
distance_min = ((x - gx) * (x - gx) + (y - gy) * (y - gy)); //Math.Sqrt()
foreach (var item in blobs)
{
//Console.WriteLine("{0} | Centroid:{1} Area:{2}", item.Key, item.Value.Centroid, item.Value.Area);
x = item.Value.Centroid.X;
y = item.Value.Centroid.Y;
//rect = item.Value.Rect;
distance = ((x - gx) * (x - gx) + (y - gy) * (y - gy)); //将来はマハラノビス距離
if (distance < distance_min)
{
d_val = (item.Value.Area) / max_area;
if (distance <= 25) //近距離(5pix)
{
if (d_val >= 0.4) //&& d_val <= 1.2)
{
max_label = item.Key;
distance_min = distance;
}
}
else
{
if (d_val >= 0.8 && d_val <= 1.5)
{
max_label = item.Key;
distance_min = distance;
}
}
}
//w.WriteLine("{0} {1} {2} {3} {4}", dis, dv, i, item.Key, item.Value.Area);
}
//gx = x; gy = y; max_val = area;
}
if (max_label > 0)
{
maxBlob = blobs[max_label];
max_centroid = maxBlob.Centroid;
gx = max_centroid.X;
gy = max_centroid.Y;
max_area = maxBlob.Area;
if (this.States == SAVE)
{
Pid_Data_Send();
timerSavePostTime.Stop();
timerSaveMainTime.Stop();
timerSaveMainTime.Start();
}
}
else
{
gx = gy = 0;
max_area = 0;
}
#endregion
// 画面表示
str = String.Format("ID:{0:D2} ", id) + dn.ToString("yyyyMMdd_HHmmss_fff") + String.Format(" ({0,000:F2},{1,000:F2}) ({2,000:0},{3,000:0})({4,0:F1})", gx, gy, xoa, yoa, max_area);
if (imgdata.ImgSaveFlag)
{
str += " True";
}
img.PutText(str, new CvPoint(10, 20), font, new CvColor(0, 255, 100));
img.Circle(new CvPoint((int)gx, (int)gy), 10, new CvColor(255, 255, 100));
bw.ReportProgress(0, img);
// 処理速度
elapsed0 = sw.ElapsedTicks - elapsed1; // 1frameのticks
elapsed1 = sw.ElapsedTicks;
framerate0 = alfa_fr * framerate1 + (1 - alfa_fr) * (Stopwatch.Frequency / (double)elapsed0);
framerate1 = framerate0;
str = String.Format("fr time = {0}({1}){2:F1}", sw.Elapsed, id, framerate0); //," ", sw.ElapsedMilliseconds);
//匿名デリゲートで現在の時間をラベルに表示する
this.Invoke(new dlgSetString(ShowText), new object[] { textBox1, str });
//img.ToBitmap(bitmap);
//pictureBox1.Refresh();
}
Application.DoEvents();
Thread.Sleep(interval);
}
this.States = STOP;
this.Invoke(new dlgSetColor(SetColor), new object[] { ObsStart, this.States });
this.Invoke(new dlgSetColor(SetColor), new object[] { ObsEndButton, this.States });
vi.StopDevice(DeviceID);
//udpc2.Close();
}
}
}
/// <summary>
/// Classical Multidimensional Scaling
/// </summary>
public MDS()
{
// creates distance matrix
int size = CityDistance.GetLength(0);
CvMat t = new CvMat(size, size, MatrixType.F64C1, CityDistance);
// adds Torgerson's additive constant to t
t += Torgerson(t);
// squares all elements of t
t.Mul(t, t);
// centering matrix G
CvMat g = CenteringMatrix(size);
// calculates inner product matrix B
CvMat b = g * t * g.T() * -0.5;
// calculates eigenvalues and eigenvectors of B
CvMat vectors = new CvMat(size, size, MatrixType.F64C1);
CvMat values = new CvMat(size, 1, MatrixType.F64C1);
Cv.EigenVV(b, vectors, values);
for (int r = 0; r < values.Rows; r++)
{
if (values[r] < 0)
{
values[r] = 0;
}
}
// multiplies sqrt(eigenvalue) by eigenvector
CvMat result = vectors.GetRows(0, 2);
for (int r = 0; r < result.Rows; r++)
{
for (int c = 0; c < result.Cols; c++)
{
result[r, c] *= Math.Sqrt(values[r]);
}
}
// scaling
Cv.Normalize(result, result, 0, 800, NormType.MinMax);
//Console.WriteLine(vectors);
//Console.WriteLine(values);
//Console.WriteLine(result);
// opens a window
using (IplImage img = new IplImage(800, 600, BitDepth.U8, 3))
using (CvFont font = new CvFont(FontFace.HersheySimplex, 0.5f, 0.5f))
using (CvWindow window = new CvWindow("City Location Estimation"))
{
img.Zero();
for (int c = 0; c < size; c++)
{
double x = result[0, c];
double y = result[1, c];
x = x * 0.7 + img.Width * 0.1;
y = y * 0.7 + img.Height * 0.1;
img.Circle((int)x, (int)y, 5, CvColor.Red, -1);
img.PutText(CityNames[c], new CvPoint((int)x + 5, (int)y + 10), font, CvColor.White);
}
window.Image = img;
Cv.WaitKey();
}
}
