private CvLineSegmentPoint[] detectLinesFromFeatures(CvMat hue, CvMat roi)
{
// IDEA 3 :
// Extract features (actual box corners?!) from ROI with corner detection
CvPoint2D32f[] corners; // extracted features
int cornerCount; // not exactly "count", but rather "maximum number of corners to return"
double qualityLevel = 0.05; // this changes to 0.1 if NOT using ROI as mask!
double minimumDistance = 25; // maybe this has to be a percentage of the input-size, rather than an absolute value?!?!?
bool useHarris = false;
int blockSize = 3;
// NOTE : roi is not as good to check for features as the hue itself!!!
#if false
cornerCount = 100;
Cv.GoodFeaturesToTrack(
roi, MatOps.CopySize(roi, MatrixType.F32C1, Const.ScalarBlack), MatOps.CopySize(roi, MatrixType.F32C1, Const.ScalarBlack),
out corners, ref cornerCount, qualityLevel, minimumDistance, null, blockSize, useHarris);
CvMat roiClone = roi.Clone();
roiClone.SaveImage("roiClone.png");
for (int i = 0; i < cornerCount; ++i)
{
// remove "isolated" features : gave back some good results, but it still wasn't as good as actual HUE feature discovery
CvPoint2D32f feature = corners[i];
if (checkFeatureArea(roiClone, feature))
{
roiClone.Circle(feature, 10, 127);
}
}
MatOps.NewWindowShow(roiClone, "ROI!");
Console.WriteLine("corners=" + cornerCount);
#endif
// TODO : determine if it's a good idea to use ROI as a mask.
// NOTE : Abandoning this idea for now. Good features are truly found, but they give worse lines than [IDEA 4]!
cornerCount = 100;
Cv.GoodFeaturesToTrack(
hue, MatOps.CopySize(roi, MatrixType.F32C1, Const.ScalarBlack), MatOps.CopySize(roi, MatrixType.F32C1, Const.ScalarBlack),
out corners, ref cornerCount, qualityLevel, minimumDistance, roi, blockSize, useHarris);
//CvMat hueClone = hue.Clone();
CvMat hueClone = MatOps.CopySize(hue, MatrixType.U8C1, 0);
for (int i = 0; i < cornerCount; ++i)
{
hueClone.Circle(corners[i], 10, 127, -1);
}
CvLineSegmentPoint[] lines2 = hueClone.HoughLinesProbabilistic(1, 1 * Cv.PI / 180, 75, 1, 10000);
for (int i = 0; i < lines2.Length; ++i)
{
hueClone.Line(lines2[i].P1, lines2[i].P2, Const.ScalarRandom(), 3, LineType.AntiAlias);
}
MatOps.NewWindowShow(hueClone, "Lines from Features");
Console.WriteLine("=======================");
Console.WriteLine("detectLinesFromFeatures");
Console.WriteLine("corners=" + cornerCount);
Console.WriteLine("lines=" + lines2.Length);
Console.WriteLine("=======================");
return(lines2);
}
static void showrite(String s, CvMat image)
{
CvWindow window = new CvWindow(showiteCounter.ToString() + s);
window.ShowImage(image);
image.SaveImage(showiteCounter.ToString() + s + ".png");
showiteCounter++;
}
/// <summary>
/// 各Kinect情報の画像を保存する
/// </summary>
/// <param name="frameNo"></param>
/// <param name="colorPixels"></param>
/// <param name="depthBuffer"></param>
/// <param name="bodyIndexBuffer"></param>
private void SaveImages(int frameNo, ref byte[] colorPixels, ref ushort[] depthBuffer, ref byte[] bodyIndexBuffer)
{
string path = Path.Combine(this.dataDir, frameNo.ToString());
CvMat colorOrigMat = Utility.ColorArrayToCvMat(this.colorWidth, this.colorHeight, ref colorPixels);
CvMat depthMat = Utility.DpethArrayToCvMat(this.depthWidth, this.depthHeight, ref depthBuffer);
CvMat bodyIndexMat = Utility.BodyIndexArrayToCvMat(this.depthWidth, this.depthHeight, ref bodyIndexBuffer);
CvMat colorMat = new CvMat(this.colorHeight / 2, this.colorWidth / 2, MatrixType.U8C4);
Cv.Resize(colorOrigMat, colorMat, Interpolation.NearestNeighbor); // THIS IS A BOTTLENECK!!!
Task.Run(() => colorMat.SaveImage(path + "_color.jpg", new ImageEncodingParam(ImageEncodingID.JpegQuality, 85)));
Task.Run(() => depthMat.SaveImage(path + "_depth.png", new ImageEncodingParam(ImageEncodingID.PngCompression, 5)));
Task.Run(() => bodyIndexMat.SaveImage(path + "_user.png", new ImageEncodingParam(ImageEncodingID.PngCompression, 5)));
}
/// <summary>
/// 各Kinect情報の画像を保存する
/// </summary>
/// <param name="frameNo"></param>
/// <param name="colorPixels"></param>
/// <param name="depthBuffer"></param>
/// <param name="bodyIndexBuffer"></param>
private void SaveImages(int frameNo, ref byte[] colorPixels, ref ushort[] depthBuffer, ref byte[] bodyIndexBuffer)
{
string path = Path.Combine(this.dataDir, frameNo.ToString());
CvMat colorOrigMat = Utility.ColorArrayToCvMat(this.colorWidth, this.colorHeight, ref colorPixels);
CvMat depthMat = Utility.DpethArrayToCvMat(this.depthWidth, this.depthHeight, ref depthBuffer);
CvMat bodyIndexMat = Utility.BodyIndexArrayToCvMat(this.depthWidth, this.depthHeight, ref bodyIndexBuffer);
CvMat colorMat = new CvMat(this.colorHeight / 2, this.colorWidth / 2, MatrixType.U8C4);
Cv.Resize(colorOrigMat, colorMat, Interpolation.NearestNeighbor); // THIS IS A BOTTLENECK!!!
Task.Run(() => colorMat.SaveImage(path + "_color.jpg", new ImageEncodingParam(ImageEncodingID.JpegQuality, 85)));
Task.Run(() => depthMat.SaveImage(path + "_depth.png", new ImageEncodingParam(ImageEncodingID.PngCompression, 5)));
Task.Run(() => bodyIndexMat.SaveImage(path + "_user.png", new ImageEncodingParam(ImageEncodingID.PngCompression, 5)));
}
