Exemple #1
0
        public void estimate(EMarker m)
        {
            imagePoints = new AForge.Point[]
            {
                 new AForge.Point( m.getContour()[3].X
                                  , m.getContour()[3].Y ),
                 new AForge.Point( m.getContour()[2].X
                                  , m.getContour()[2].Y ),
                 new AForge.Point( m.getContour()[1].X
                                  ,m.getContour()[1].Y ),
                 new AForge.Point( m.getContour()[0].X
                                 , m.getContour()[0].Y )};
            //change cordinate system
              for (int i = 0; i < 4; i++) {
              if (imagePoints[i].X < imageWidth / 2) imagePoints[i].X = -(imageWidth / 2) + imagePoints[i].X;
              else imagePoints[i].X = imagePoints[i].X - (imageWidth / 2);

              if (imagePoints[i].Y < imageHeight / 2) imagePoints[i].Y = (imageHeight / 2) - imagePoints[i].Y;
              else imagePoints[i].Y = -imagePoints[i].Y + (imageHeight / 2);
              }
              positAlgorithm.EstimatePose(imagePoints,
                         out rotationMatrix,out translationVector);

            rotationMatrix.ExtractYawPitchRoll(out estimatedYaw,
                                  out estimatedPitch,
                                  out estimatedRoll);

              rotationMatrix = Matrix3x3.CreateFromYawPitchRoll(estimatedYaw,
            estimatedPitch, estimatedRoll);
        }
Exemple #2
0
        public void findMarkers(Image<Gray, Byte> imgGray)
        {
            contours.Clear();
            contoursOk.Clear();
            markers.Clear();
            markerExists = false;
            grayImage = imgGray;
            binaryImage = threshold(imgGray, 127, 255);
            findContours(binaryImage.Cols / 5);
            findCandidates();
            findRelationBetweenMarker();
            findInternalFrameAndDetectMarker();

            if (markerExists)
            {
                
            rot4MarkerAndCreateMarkerElem(0);
                oldMarker = markers[0];
                aproxCounter = 0 ;
            }
            else 
            {
                if (aproxCounter < maxAproxCounter) 
                {
                    markers.Add(oldMarker);
                    markerExists = true;
                    aproxCounter++;
                }
            }
        }