public static Viz3d GetViz3d(Mat left, Mat right)
{
Mat disparityMap = new Mat();
Stopwatch watch = Stopwatch.StartNew();
UMat leftGray = new UMat();
UMat rightGray = new UMat();
CvInvoke.CvtColor(left, leftGray, ColorConversion.Bgr2Gray);
CvInvoke.CvtColor(right, rightGray, ColorConversion.Bgr2Gray);
Mat points = new Mat();
Computer3DPointsFromStereoPair(leftGray, rightGray, disparityMap, points);
watch.Stop();
long disparityComputationTime = watch.ElapsedMilliseconds;
Mat pointsArray = points.Reshape(points.NumberOfChannels, points.Rows * points.Cols);
Mat colorArray = left.Reshape(left.NumberOfChannels, left.Rows * left.Cols);
Mat colorArrayFloat = new Mat();
colorArray.ConvertTo(colorArrayFloat, DepthType.Cv32F);
WCloud cloud = new WCloud(pointsArray, colorArray);
Emgu.CV.Viz3d v = new Emgu.CV.Viz3d("Simple stereo reconstruction");
WText wtext = new WText("3d point cloud", new System.Drawing.Point(20, 20), 20, new MCvScalar(255, 255, 255));
WCoordinateSystem wCoordinate = new WCoordinateSystem(1.0);
v.ShowWidget("text", wtext);
//v.ShowWidget("coordinate", wCoordinate);
v.ShowWidget("cloud", cloud);
return(v);
}
static void Main(string[] args)
{
MCvPoint3D32f[] _points;
Mat _left = CvInvoke.Imread("imL.png", ImreadModes.Color);
Mat _right = CvInvoke.Imread("imR.png", ImreadModes.Color);
Mat disparityMap = new Mat();
Stopwatch watch = Stopwatch.StartNew();
UMat leftGray = new UMat();
UMat rightGray = new UMat();
CvInvoke.CvtColor(_left, leftGray, ColorConversion.Bgr2Gray);
CvInvoke.CvtColor(_right, rightGray, ColorConversion.Bgr2Gray);
Mat points = new Mat();
Computer3DPointsFromStereoPair(leftGray, rightGray, disparityMap, points);
watch.Stop();
long disparityComputationTime = watch.ElapsedMilliseconds;
Mat pointsArray = points.Reshape(points.NumberOfChannels, points.Rows * points.Cols);
Mat colorArray = _left.Reshape(_left.NumberOfChannels, _left.Rows * _left.Cols);
Mat colorArrayFloat = new Mat();
colorArray.ConvertTo(colorArrayFloat, DepthType.Cv32F);
WCloud cloud = new WCloud(pointsArray, colorArray);
Emgu.CV.Viz3d v = new Emgu.CV.Viz3d("Simple stereo reconstruction");
WText wtext = new WText("3d point cloud", new System.Drawing.Point(20, 20), 20, new MCvScalar(255, 255, 255));
WCoordinateSystem wCoordinate = new WCoordinateSystem(1.0);
v.ShowWidget("text", wtext);
//v.ShowWidget("coordinate", wCoordinate);
v.ShowWidget("cloud", cloud);
v.Spin();
}
public Viz3dPage()
{
var button = this.GetButton();
button.Text = "Show 3D Viz";
button.Clicked += (sender, args) =>
{
using (Viz3d viz = new Viz3d("show_simple_widgets"))
{
viz.SetBackgroundMeshLab();
using (WCoordinateSystem coor = new WCoordinateSystem())
{
viz.ShowWidget("coor", coor);
using (WCube cube = new WCube(
new MCvPoint3D64f(-.5, -.5, -.5),
new MCvPoint3D64f(.5, .5, .5),
true,
new MCvScalar(255, 255, 255)))
{
viz.ShowWidget("cube", cube);
using (WCube cube0 = new WCube(
new MCvPoint3D64f(-1, -1, -1),
new MCvPoint3D64f(-.5, -.5, -.5),
false,
new MCvScalar(123, 45, 200)))
{
viz.ShowWidget("cub0", cube0);
viz.Spin();
}
}
}
}
};
}
public static Viz3d GetViz3d(Mat pointMat, Mat colorMat)
{
WCloud cloud = new WCloud(pointMat, colorMat);
Emgu.CV.Viz3d v = new Emgu.CV.Viz3d("Simple stereo reconstruction");
WText wtext = new WText("3d point cloud", new System.Drawing.Point(20, 20), 20,
new MCvScalar(255, 255, 255));
WCoordinateSystem wCoordinate = new WCoordinateSystem(1.0);
v.ShowWidget("text", wtext);
//v.ShowWidget("coordinate", wCoordinate);
v.ShowWidget("cloud", cloud);
return(v);
}
static void Main(string[] args)
{
Viz3d viz = new Viz3d("show_simple_widgets");
viz.SetBackgroundMeshLab();
WCoordinateSystem coor = new WCoordinateSystem();
viz.ShowWidget("coor", coor);
WCube cube = new WCube(new MCvPoint3D64f(-.5, -.5, -.5), new MCvPoint3D64f(.5, .5, .5), true, new MCvScalar(255, 255, 255));
viz.ShowWidget("cube", cube);
WCube cube0 = new WCube(new MCvPoint3D64f(-1, -1, -1), new MCvPoint3D64f(-.5, -.5, -.5), false, new MCvScalar(123, 45, 200));
viz.ShowWidget("cub0", cube0);
viz.Spin();
String win1 = "Test Window"; //The name of the window
CvInvoke.NamedWindow(win1); //Create the window using the specific name
Mat img = new Mat(200, 400, DepthType.Cv8U, 3); //Create a 3 channel image of 400x200
img.SetTo(new Bgr(255, 0, 0).MCvScalar); // set it to Blue color
//Draw "Hello, world." on the image using the specific font
CvInvoke.PutText(
img,
"Hello, world",
new System.Drawing.Point(10, 80),
FontFace.HersheyComplex,
1.0,
new Bgr(0, 255, 0).MCvScalar);
CvInvoke.Imshow(win1, img); //Show the image
CvInvoke.WaitKey(0); //Wait for the key pressing event
CvInvoke.DestroyWindow(win1); //Destroy the window if key is pressed
}
public App()
{
Button helloWorldButton = new Button();
helloWorldButton.Text = "Hello world";
Button planarSubdivisionButton = new Button();
planarSubdivisionButton.Text = "Planar Subdivision";
Button faceDetectionButton = new Button();
faceDetectionButton.Text = "Face Detection";
Button faceLandmarkDetectionButton = new Button();
faceLandmarkDetectionButton.Text = "Face Landmark Detection";
Button featureDetectionButton = new Button();
featureDetectionButton.Text = "Feature Matching";
Button pedestrianDetectionButton = new Button();
pedestrianDetectionButton.Text = "Pedestrian Detection";
Button ocrButton = new Button();
ocrButton.Text = "OCR";
Button dnnButton = new Button();
dnnButton.Text = "DNN";
List <View> buttonList = new List <View>()
{
helloWorldButton,
planarSubdivisionButton,
faceDetectionButton,
faceLandmarkDetectionButton,
featureDetectionButton,
pedestrianDetectionButton,
ocrButton,
dnnButton
};
if (RuntimeInformation.IsOSPlatform(OSPlatform.Windows) && Emgu.Util.Platform.ClrType != ClrType.NetFxCore)
{
Button viz3dButton = new Button();
viz3dButton.Text = "Viz3D";
buttonList.Add(viz3dButton);
viz3dButton.Clicked += (sender, args) =>
{
using (Viz3d viz = new Viz3d("show_simple_widgets"))
{
viz.SetBackgroundMeshLab();
using (WCoordinateSystem coor = new WCoordinateSystem())
{
viz.ShowWidget("coor", coor);
using (WCube cube = new WCube(
new MCvPoint3D64f(-.5, -.5, -.5),
new MCvPoint3D64f(.5, .5, .5),
true,
new MCvScalar(255, 255, 255)))
{
viz.ShowWidget("cube", cube);
using (WCube cube0 = new WCube(
new MCvPoint3D64f(-1, -1, -1),
new MCvPoint3D64f(-.5, -.5, -.5),
false,
new MCvScalar(123, 45, 200)))
{
viz.ShowWidget("cub0", cube0);
viz.Spin();
}
}
}
}
};
}
StackLayout buttonsLayout = new StackLayout
{
VerticalOptions = LayoutOptions.Start,
};
foreach (View b in buttonList)
{
buttonsLayout.Children.Add(b);
}
// The root page of your application
ContentPage page =
new ContentPage()
{
Content = new ScrollView()
{
Content = buttonsLayout,
}
};
String aboutIcon;
if (Emgu.Util.Platform.ClrType != ClrType.NetFxCore)
{
aboutIcon = "questionmark.png";
}
else
{
aboutIcon = null;
}
MainPage =
new NavigationPage(
page
);
ToolbarItem aboutItem = new ToolbarItem("About", aboutIcon,
() =>
{
MainPage.Navigation.PushAsync(new AboutPage());
//page.DisplayAlert("Emgu CV Examples", "App version: ...", "Ok");
}
);
page.ToolbarItems.Add(aboutItem);
helloWorldButton.Clicked += (sender, args) =>
{
MainPage.Navigation.PushAsync(new HelloWorldPage());
};
planarSubdivisionButton.Clicked += (sender, args) =>
{
MainPage.Navigation.PushAsync(new PlanarSubdivisionPage());
};
faceDetectionButton.Clicked += (sender, args) =>
{
MainPage.Navigation.PushAsync(new FaceDetectionPage());
};
pedestrianDetectionButton.Clicked += (sender, args) =>
{
MainPage.Navigation.PushAsync(new PedestrianDetectionPage());
};
featureDetectionButton.Clicked += (sender, args) =>
{
MainPage.Navigation.PushAsync(new FeatureMatchingPage());
};
if (Emgu.Util.Platform.ClrType == ClrType.NetFxCore)
{
//No DNN module for UWP apps
dnnButton.IsVisible = false;
faceLandmarkDetectionButton.IsVisible = false;
}
else
{
dnnButton.Clicked += (sender, args) => { MainPage.Navigation.PushAsync(new DnnPage()); };
faceLandmarkDetectionButton.Clicked += (sender, args) => { MainPage.Navigation.PushAsync(new FaceLandmarkDetectionPage()); };
}
ocrButton.Clicked += (sender, args) =>
{
MainPage.Navigation.PushAsync(new OcrPage());
};
}
static void Main(string[] args)
{
MCvPoint3D32f[] _points;
Mat _left = CvInvoke.Imread("imL.png", ImreadModes.Color);
Mat _right = CvInvoke.Imread("imR.png", ImreadModes.Color);
Mat disparityMap = new Mat();
Stopwatch watch = Stopwatch.StartNew();
UMat leftGray = new UMat();
UMat rightGray = new UMat();
CvInvoke.CvtColor(_left, leftGray, ColorConversion.Bgr2Gray);
CvInvoke.CvtColor(_right, rightGray, ColorConversion.Bgr2Gray);
Mat points = new Mat();
Computer3DPointsFromStereoPair(leftGray, rightGray, disparityMap, points);
watch.Stop();
long disparityComputationTime = watch.ElapsedMilliseconds;
Mat pointsArray = points.Reshape(points.NumberOfChannels, points.Rows * points.Cols);
Mat colorArray = _left.Reshape(_left.NumberOfChannels, _left.Rows * _left.Cols);
Mat colorArrayFloat = new Mat();
colorArray.ConvertTo(colorArrayFloat, DepthType.Cv32F);
WCloud cloud = new WCloud(pointsArray, colorArray);
// My attempt to grab a pixel.
Image <Bgr, Byte> image = disparityMap.ToImage <Bgr, Byte>();
int threshhold = 190;
bool objectFound = false;
for (int i = 0; i < image.Rows; i++)
{
for (int j = 0; j < disparityMap.Cols; j++)
{
// If it's below the threshhold black it out.
if (image.Data[i, j, 0] < threshhold)
{
image.Data[i, j, 2] = 0;
image.Data[i, j, 1] = 0;
image.Data[i, j, 0] = 0;
}
else
{
objectFound = true;
Console.Write("(" + image.Data[i, j, 0].ToString().PadLeft(3, '0') + ","); // Blue;
Console.Write(image.Data[i, j, 1].ToString().PadLeft(3, '0') + ","); // Green;
Console.Write(image.Data[i, j, 2].ToString().PadLeft(3, '0') + ")"); // Red;
}
}
Console.WriteLine(); // new row end line;
}
// 2D Disparity Display
Mat show = new Mat();
disparityMap.ConvertTo(show, DepthType.Cv8U);
CvInvoke.Imshow("Disparity", show);
disparityMap.ConvertTo(show, DepthType.Cv8U);
CvInvoke.Imshow("Disparity Restricted", image);
//try
//{
// if (objectFound)
// {
// SerialPort serialPort1 = new SerialPort("COM6", 9600);
// serialPort1.Open();
// serialPort1.WriteLine("");
// System.Threading.Thread.Sleep(1000);
// serialPort1.WriteLine("");
// serialPort1.Close();
// }
//}
//catch (Exception ex)
//{
//}
// 3D IMAGE DISPLAY
Emgu.CV.Viz3d v = new Emgu.CV.Viz3d("Simple stereo reconstruction");
WText wtext = new WText("3d point cloud", new System.Drawing.Point(20, 20), 20, new MCvScalar(255, 255, 255));
WCoordinateSystem wCoordinate = new WCoordinateSystem(1.0);
v.ShowWidget("text", wtext);
//v.ShowWidget("coordinate", wCoordinate);
v.ShowWidget("cloud", cloud);
v.Spin();
CvInvoke.WaitKey(0);
}
