//opencv_point -> W_Point로 바꾸기
private W_Point OpenCVPoint2W_Point(OpenCvSharp.Point pt)
{
W_Point result = new W_Point();
result = new W_Point(pt.X, pt.Y);
return(result);
}
public static double distance(OpenCvSharp.Point pt1, OpenCvSharp.Point pt2)
{
double x = Math.Pow(pt2.X - pt1.X, 2);
double y = Math.Pow(pt2.Y - pt1.Y, 2);
double length = Math.Sqrt(x + y);
//Console.WriteLine(length);
return(length);
}
private RelativePoint GetRelativePoint(MouseEventArgs e)
{
var viewPoint = e.GetPosition(frameHolder);
var imagePoint = new OpenCvSharp.Point(
frameHolder.Source.Width * (viewPoint.X / frameHolder.ActualWidth),
frameHolder.Source.Height * (viewPoint.Y / frameHolder.ActualHeight));
return(RelativePoint.FromFrame(imagePoint, frameHolder.Source.Width, frameHolder.Source.Height));
}
internal bool IsHealthPixel(Point p)
{
Color color = IntToColor(au3.PixelGetColor(p.X, p.Y));
if (color.R > 160 && color.G < 80 && color.B < 80)
{
return(true);
}
return(false);
}
internal bool FindPixelColorPos(int v, int x1, int y1, int x2, int y2, out Point p)
{
object search = au3.PixelSearch(window.X + x1, window.Y + y1, window.X + x2, window.Y + y2, v);
if (search.ToString() != "0")
{
object[] pixelCoord = (object[])search;
// au3.MouseMove((int)pixelCoord[0], (int)pixelCoord[1], 500);
p = new Point((int)pixelCoord[0] - window.X, (int)pixelCoord[1] - window.Y);
return(true);
}
p = new Point(0, 0);
return(false);
}
public static bool isInRegion(OpenCvSharp.Point checkPoint, OpenCvSharp.Point regionP1, OpenCvSharp.Point regionP2)
{
int minX = regionP1.X > regionP2.X ? regionP2.X : regionP1.X,
maxX = regionP1.X <regionP2.X?regionP2.X : regionP1.X,
minY = regionP1.Y> regionP2.Y ? regionP2.Y : regionP1.Y,
maxY = regionP1.Y < regionP2.Y ? regionP2.Y : regionP1.Y;
if (minX <= checkPoint.X && checkPoint.X <= maxX && minY <= checkPoint.Y && checkPoint.Y <= maxY)
{
return(true);
}
else
{
return(false);
}
}
public static OpenCvSharp.Point[] getCCWList(OpenCvSharp.Point[] pp)
{
OpenCvSharp.Point[] alignedList = new OpenCvSharp.Point[4];
OpenCvSharp.Point center = new OpenCvSharp.Point();
for (int i = 0; i < pp.Length; i++)
{
center.X += pp[i].X;
center.Y += pp[i].Y;
}
center.X = center.X / pp.Length;
center.Y = center.Y / pp.Length;
for (int i = 0; i < pp.Length; i++)
{
// left top
if (pp[i].X < center.X && pp[i].Y < center.Y)
{
alignedList[0] = pp[i];
}
// right top
if (pp[i].X > center.X && pp[i].Y < center.Y)
{
alignedList[1] = pp[i];
}
// right bottom
if (pp[i].X > center.X && pp[i].Y > center.Y)
{
alignedList[2] = pp[i];
}
// left bottom
if (pp[i].X <center.X && pp[i].Y> center.Y)
{
alignedList[3] = pp[i];
}
}
return(alignedList);
}
public static PythonTuple ToTuple(this OpenCvSharp.Point point)
{
return(new PythonTuple(new[] { point.X, point.Y }));
}
internal int GetPixelColor(Point p)
{
return(au3.PixelGetColor(p.X + window.X, p.Y + window.Y));
}
private void LocalizeVideoButton_Click(object sender, EventArgs e)
{
var widthHeightInputDialog = new VideoLocalizationDialog();
widthHeightInputDialog.ShowDialog();
var mapWidth = widthHeightInputDialog.MapWidth;
var mapHeight = widthHeightInputDialog.MapHeight;
var ofd = new OpenFileDialog();
var result = ofd.ShowDialog();
int pixelsPerGrid = 100;
float[] directionX = { 10, 7.07f, 0, -7.07f, -10, -7.07f, 0, 7.07f };
float[] directionY = { 0, -7.07f, -10, -7.07f, 0, 7.07f, 10, 7.07f };
OpenCvSharp.Mat gridMap = new OpenCvSharp.Mat(mapHeight * pixelsPerGrid, mapWidth * pixelsPerGrid, OpenCvSharp.MatType.CV_8UC3, new OpenCvSharp.Scalar(255, 255, 255));
// Preprocessing
for (int rowIndex = 0; rowIndex < mapHeight; ++rowIndex)
{
var pt1 = new OpenCvSharp.Point(0, rowIndex * pixelsPerGrid);
var pt2 = new OpenCvSharp.Point(pixelsPerGrid * mapWidth, rowIndex * pixelsPerGrid);
gridMap.Line(pt1, pt2, new OpenCvSharp.Scalar(0, 0, 0));
}
for (int colIndex = 0; colIndex < mapWidth; ++colIndex)
{
var pt1 = new OpenCvSharp.Point(colIndex * pixelsPerGrid, 0);
var pt2 = new OpenCvSharp.Point(colIndex * pixelsPerGrid, pixelsPerGrid * mapHeight);
gridMap.Line(pt1, pt2, new OpenCvSharp.Scalar(0, 0, 0));
}
Dictionary <Place, int> placeVote = new Dictionary <Place, int>();
if (result == DialogResult.OK)
{
var videoFileName = ofd.FileNames[0];
if (videoFileName.EndsWith(".mov") || videoFileName.EndsWith("MOV"))
{
var vc = OpenCvSharp.VideoCapture.FromFile(videoFileName);
Dictionary <Tuple <int, int, int>, int> poseRecords = new Dictionary <Tuple <int, int, int>, int>();
Tuple <int, int, int> mostLikelyPose = null;
Place mostLikelyPlace = null;
float mostLikelySimilarity = 0.0f;
int nIterations = 0;
Place localizedPlace = null;
while (vc.IsOpened())
{
OpenCvSharp.Mat frame = new OpenCvSharp.Mat();
vc.Read(frame);
if (frame.Width == 0 || frame.Height == 0)
{
vc.Release();
break;
}
OpenCvSharp.Cv2.CvtColor(frame, frame, OpenCvSharp.ColorConversionCodes.BGR2GRAY);
OpenCvSharp.Cv2.Transpose(frame, frame);
OpenCvSharp.Cv2.Flip(frame, frame, OpenCvSharp.FlipMode.Y);
OpenCvSharp.Cv2.Resize(frame, frame, new OpenCvSharp.Size(frame.Width / 2, frame.Height / 2));
OpenCvSharp.Cv2.ImShow("Videos", frame);
if (nIterations < 15)
{
globalDB.GetNearestPlaceAndPose(frame, out mostLikelyPlace, out mostLikelyPose, out mostLikelySimilarity);
if (!placeVote.ContainsKey(mostLikelyPlace))
{
placeVote.Add(mostLikelyPlace, 0);
}
placeVote[mostLikelyPlace]++;
}
else if (nIterations == 15)
{
int currentMaxVote = 0;
foreach (var eachPlace in placeVote.Keys)
{
if (currentMaxVote <= placeVote[eachPlace])
{
currentMaxVote = placeVote[eachPlace];
localizedPlace = eachPlace;
}
}
}
else
{
globalDB.GetNearestPoseGivenPlaceName(frame, mostLikelyPlace.PlaceName, out mostLikelyPose, out mostLikelySimilarity);
}
if (mostLikelySimilarity < 0.20)
{
Console.WriteLine("Localization failed");
}
else
{
Console.WriteLine("(x, y, theta) = ({0}, {1}, {2}), similarity=> {3}", mostLikelyPose.Item1, mostLikelyPose.Item2, mostLikelyPose.Item3, mostLikelySimilarity);
if (poseRecords.ContainsKey(mostLikelyPose) == false)
{
poseRecords[mostLikelyPose] = 0;
}
poseRecords[mostLikelyPose]++;
if (poseRecords[mostLikelyPose] >= 5)
{
// For visualization code
// => (pixelsPerGrid / 2) + pixelsPerGrid * (mostLikelyPose.Item1)
var arrowStartingPoint = new OpenCvSharp.Point((pixelsPerGrid / 2) + pixelsPerGrid * (mostLikelyPose.Item1), (pixelsPerGrid / 2) + pixelsPerGrid * (mostLikelyPose.Item2));
var arrowEndPoint = new OpenCvSharp.Point(arrowStartingPoint.X + directionX[mostLikelyPose.Item3 - 1] * 2, arrowStartingPoint.Y + directionY[mostLikelyPose.Item3 - 1] * 2);
OpenCvSharp.Cv2.ArrowedLine(gridMap, arrowStartingPoint, arrowEndPoint, new OpenCvSharp.Scalar(0, 0, 255), 2);
OpenCvSharp.Cv2.ImShow("Grid Map", gridMap);
}
nIterations++;
}
var key = OpenCvSharp.Cv2.WaitKey(1);
if ((char)key == 27) // ESC
{
break;
}
}
}
else
{
MessageBox.Show("Your video file format is invalid");
}
}
MessageBox.Show("Video Localization Done");
OpenCvSharp.Cv2.DestroyAllWindows();
}
public Vector2(OpenCvSharp.Point point) : this(point.X, point.Y)
{
}
private void AddCrossHandler()
{
OpenCvSharp.Point center = new OpenCvSharp.Point(1000 * CrossPosX / Cam["X um / px"], 1000 * CrossPosY / Cam["Y um / px"]);
Crosshair.Draw(chessboardImage.ImageMat, center);
ImageData = ImageTypeConverter.Convert(chessboardImage.ImageMat.ToBitmap());
}
