public List <Vector2> GetCornerPoints()
{
Image <Gray, float> cornerimg = new Image <Gray, float>(this.img.Size);
Image <Gray, Byte> cornerthrimg = new Image <Gray, Byte>(this.img.Size);
Image <Gray, Byte> cannyimg = this.img.Canny(60, 100);
CvInvoke.CornerHarris(cannyimg, cornerimg, 3, 3, 0.04);
//CvInvoke.cvNormalize(cornerimg, cornerimg, 0, 255, Emgu.CV.CvEnum.NORM_TYPE.CV_MINMAX, IntPtr.Zero); //标准化处理
double min = 0, max = 0;
System.Drawing.Point minp = new System.Drawing.Point(0, 0);
System.Drawing.Point maxp = new System.Drawing.Point(0, 0);
CvInvoke.MinMaxLoc(cornerimg, ref min, ref max, ref minp, ref maxp);
double scale = 255 / (max - min);
double shift = min * scale;
CvInvoke.ConvertScaleAbs(cornerimg, cornerthrimg, scale, shift);//进行缩放，转化为byte类型
byte[] data = cornerthrimg.Bytes;
List <Vector2> corners = new List <Vector2>();
List <Vector3> corners_3 = new List <Vector3>();
for (int i = 0; i < cornerimg.Height; i++)
{
for (int j = 0; j < cornerimg.Width; j++)
{
int k = i * cornerthrimg.Width + j;
if (data[k] > 80) //通过阈值判断
{
corners.Add(new Vector2(j, i));
corners_3.Add(m_projector.ImageToWorld(corners.Last()));
}
}
}
m_renderEngine.DrawPoints(corners_3);
return(corners);
}
public void DrawPoint(Vector2 p)
{
Vector3 p2 = m_projector.ImageToWorld(p);
Vertex_Point.Add(p2);
Color_Point.Add(Color_default);
Vertex_Point.Add(p2 + new Vector3(1, 0, 0) * Length_Point2);
Color_Point.Add(Color_default);
}