public virtual void ProcessImage(Emgu.CV.Image<Emgu.CV.Structure.Bgr, byte> image) {
Emgu.CV.Image<Gray, byte> gray = image.Convert<Gray, byte>();
gray._ThresholdBinary(new Gray(_threshold), new Gray(255.0));
gray._Not();
Parsley.Core.EllipseDetector ed = new Parsley.Core.EllipseDetector();
ed.MinimumContourCount = _min_contour_count;
List < Parsley.Core.DetectedEllipse > ellipses =
new List<Parsley.Core.DetectedEllipse>(ed.DetectEllipses(gray));
List < Parsley.Core.DetectedEllipse > finals =
new List<Parsley.Core.DetectedEllipse>(
ellipses.Where(e => { return e.Rating < _distance_threshold; })
);
finals.Sort(
(a, b) => {
double dista = a.Ellipse.MCvBox2D.center.X * a.Ellipse.MCvBox2D.center.X + a.Ellipse.MCvBox2D.center.Y * a.Ellipse.MCvBox2D.center.Y;
double distb = b.Ellipse.MCvBox2D.center.X * b.Ellipse.MCvBox2D.center.X + b.Ellipse.MCvBox2D.center.Y * b.Ellipse.MCvBox2D.center.Y;
return dista.CompareTo(distb);
}
);
Bgr bgr = new Bgr(0, 255, 0);
MCvFont f = new MCvFont(Emgu.CV.CvEnum.FONT.CV_FONT_HERSHEY_PLAIN, 0.8, 0.8);
int count = 1;
foreach (Parsley.Core.DetectedEllipse e in finals) {
image.Draw(e.Ellipse, bgr, 2);
image.Draw(count.ToString(), ref f, new System.Drawing.Point((int)e.Ellipse.MCvBox2D.center.X, (int)e.Ellipse.MCvBox2D.center.Y), bgr);
count++;
}
}
public virtual void ProcessImage(Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> image)
{
Emgu.CV.Image <Gray, byte> gray = image.Convert <Gray, byte>();
gray._ThresholdBinary(new Gray(_threshold), new Gray(255.0));
gray._Not();
Parsley.Core.EllipseDetector ed = new Parsley.Core.EllipseDetector();
ed.MinimumContourCount = _min_contour_count;
List <Parsley.Core.DetectedEllipse> ellipses =
new List <Parsley.Core.DetectedEllipse>(ed.DetectEllipses(gray));
List <Parsley.Core.DetectedEllipse> finals =
new List <Parsley.Core.DetectedEllipse>(
ellipses.Where(e => { return(e.Rating < _distance_threshold); })
);
finals.Sort(
(a, b) => {
double dista = a.Ellipse.MCvBox2D.center.X * a.Ellipse.MCvBox2D.center.X + a.Ellipse.MCvBox2D.center.Y * a.Ellipse.MCvBox2D.center.Y;
double distb = b.Ellipse.MCvBox2D.center.X * b.Ellipse.MCvBox2D.center.X + b.Ellipse.MCvBox2D.center.Y * b.Ellipse.MCvBox2D.center.Y;
return(dista.CompareTo(distb));
}
);
Bgr bgr = new Bgr(0, 255, 0);
MCvFont f = new MCvFont(Emgu.CV.CvEnum.FONT.CV_FONT_HERSHEY_PLAIN, 0.8, 0.8);
int count = 1;
foreach (Parsley.Core.DetectedEllipse e in finals)
{
image.Draw(e.Ellipse, bgr, 2);
image.Draw(count.ToString(), ref f, new System.Drawing.Point((int)e.Ellipse.MCvBox2D.center.X, (int)e.Ellipse.MCvBox2D.center.Y), bgr);
count++;
}
}
/// <summary>
/// Find ellipses in image
/// </summary>
/// <param name="img">Image to search pattern for</param>
/// <param name="image_points">Detected centers</param>
/// <returns>True if pattern was found, false otherwise</returns>
public override bool FindPattern(Emgu.CV.Image<Gray, byte> img, out System.Drawing.PointF[] image_points) {
Emgu.CV.Image<Gray, byte> gray = img.Convert<Gray, byte>();
gray._ThresholdBinary(new Gray(_binary_threshold), new Gray(255.0));
gray._Not(); // Circles are black, black is considered backgroud, therefore flip.
Parsley.Core.EllipseDetector ed = new Parsley.Core.EllipseDetector();
ed.MinimumContourCount = this.MinimumContourCount;
// Detect initial ellipses
List<Parsley.Core.DetectedEllipse> ellipses =
new List<Parsley.Core.DetectedEllipse>(ed.DetectEllipses(gray));
// Filter out all ellipses below rating threshold
List<Parsley.Core.DetectedEllipse> finals =
new List<Parsley.Core.DetectedEllipse>(
ellipses.Where(e => { return e.Rating < this.MeanDistanceThreshold; })
);
// At least the number of required ellipses need to be found
if (finals.Count < _number_circle_centers.Width * _number_circle_centers.Height) {
image_points = new System.Drawing.PointF[0];
return false;
}
int[] marker_ids;
if (!FindMarkerEllipses(gray, finals, out marker_ids)) {
image_points = new System.Drawing.PointF[0];
return false;
}
// Check that all markers are found
if (marker_ids.Length != 4) {
image_points = new System.Drawing.PointF[0];
return false;
}
// Find intrinsic/extrinsic calibration matrices based on known marker correspondences
Emgu.CV.IntrinsicCameraParameters icp;
Emgu.CV.ExtrinsicCameraParameters ecp;
ApproximatePlane(finals, marker_ids, out icp, out ecp, img.Size);
// Project all object points to image points
MCvPoint3D32f[] converted_object_points = Array.ConvertAll(
this.ObjectPoints.ToArray(),
value => { return value.ToEmguF(); });
System.Drawing.PointF[] expected_image_points =
Emgu.CV.CameraCalibration.ProjectPoints(converted_object_points, ecp, icp);
image_points =
expected_image_points.Select(
e => { return NearestEllipseCenter(finals, e); }
).Where(
ne => { return Math.Sqrt(ne.dist2) < _ellipse_distance; }
).Select(
ne => { return ne.center; }
).ToArray();
// currently we need to detect all requested ellipses.
return image_points.Length == _number_circle_centers.Width * _number_circle_centers.Height;
}
/// <summary>
/// Find ellipses in image
/// </summary>
/// <param name="img">Image to search pattern for</param>
/// <param name="image_points">Detected centers</param>
/// <returns>True if pattern was found, false otherwise</returns>
public override bool FindPattern(Emgu.CV.Image <Gray, byte> img, out System.Drawing.PointF[] image_points)
{
Emgu.CV.Image <Gray, byte> gray = img.Convert <Gray, byte>();
gray._ThresholdBinary(new Gray(_binary_threshold), new Gray(255.0));
gray._Not(); // Circles are black, black is considered backgroud, therefore flip.
Parsley.Core.EllipseDetector ed = new Parsley.Core.EllipseDetector();
ed.MinimumContourCount = this.MinimumContourCount;
// Detect initial ellipses
List <Parsley.Core.DetectedEllipse> ellipses =
new List <Parsley.Core.DetectedEllipse>(ed.DetectEllipses(gray));
// Filter out all ellipses below rating threshold
List <Parsley.Core.DetectedEllipse> finals =
new List <Parsley.Core.DetectedEllipse>(
ellipses.Where(e => { return(e.Rating < this.MeanDistanceThreshold); })
);
// At least the number of required ellipses need to be found
if (finals.Count < _number_circle_centers.Width * _number_circle_centers.Height)
{
image_points = new System.Drawing.PointF[0];
return(false);
}
int[] marker_ids;
if (!FindMarkerEllipses(gray, finals, out marker_ids))
{
image_points = new System.Drawing.PointF[0];
return(false);
}
// Check that all markers are found
if (marker_ids.Length != 4)
{
image_points = new System.Drawing.PointF[0];
return(false);
}
// Find intrinsic/extrinsic calibration matrices based on known marker correspondences
Emgu.CV.IntrinsicCameraParameters icp;
Emgu.CV.ExtrinsicCameraParameters ecp;
ApproximatePlane(finals, marker_ids, out icp, out ecp, img.Size);
// Project all object points to image points
MCvPoint3D32f[] converted_object_points = Array.ConvertAll(
this.ObjectPoints.ToArray(),
value => { return(value.ToEmguF()); });
System.Drawing.PointF[] expected_image_points =
Emgu.CV.CameraCalibration.ProjectPoints(converted_object_points, ecp, icp);
image_points =
expected_image_points.Select(
e => { return(NearestEllipseCenter(finals, e)); }
).Where(
ne => { return(Math.Sqrt(ne.dist2) < _ellipse_distance); }
).Select(
ne => { return(ne.center); }
).ToArray();
// currently we need to detect all requested ellipses.
return(image_points.Length == _number_circle_centers.Width * _number_circle_centers.Height);
}
