private List <DetectedDoor> CollectDoors(List <DetectedDoor> doors)
{
List <DetectedDoor> doorsToRemove = new List <DetectedDoor>();
for (int i = 0; i < doors.Count(); ++i)
{
DetectedDoor door1 = doors[i];
for (int j = i + 1; j < doors.Count(); ++j)
{
DetectedDoor door2 = doors[j];
if (door1.BoundingBox.Contains(door2.BoundingBox))
{
door1.Confidence = DetectedDoor.DetectionConfidence.HIGH;
doorsToRemove.Add(door2);
}
else if (door2.BoundingBox.Contains(door1.BoundingBox))
{
door2.Confidence = DetectedDoor.DetectionConfidence.HIGH;
doorsToRemove.Add(door1);
}
}
}
foreach (DetectedDoor door in doorsToRemove)
{
doors.Remove(door);
}
return(doors);
}
public override bool Equals(object obj)
{
if (!obj.GetType().Equals(this.GetType()))
{
return(false);
}
DetectedDoor other = (DetectedDoor)obj;
return(this.BoundingBox == other.BoundingBox &&
this.Confidence == other.Confidence &&
this.RelativeAngle == other.RelativeAngle &&
this.RelativeDistance == other.RelativeDistance);
}
public List <DetectedDoor> GetDoors(object data)
{
DFrame depthFrame = data as DFrame;
if (depthFrame == null)
{
return(null);
}
List <DetectedDoor> doors = new List <DetectedDoor>();
//Image<Bgr, Byte> smoothed = img.SmoothGaussian(15);
//Image<Gray, Byte> threshold = FilterColor(smoothed);
//threshold = SimplifyImage(threshold, 100);
// new method
//new method end
using (MemStorage stor = new MemStorage())
{
Bitmap bmp = depthFrame.GetDoorNaviBitmap();
//Bitmap bmp2 = bmp.Clone(new Rectangle(0, 0, bmp.Width, bmp.Height), bmp.PixelFormat);
//Image<Bgr, Byte> img = new Image<Bgr, Byte>(bmp2);
Image <Gray, Byte> grey;
try
{
grey = new Image <Gray, Byte>(bmp);
}
catch (Exception)
{
return(null);
}
//CvInvoke.cvInRangeS(img.Ptr, new MCvScalar(0.0, 0.0, 0.0), new MCvScalar(250.0, 250.0, 250.0), grey.Ptr);
//new method
CvInvoke.cvErode(grey.Ptr, grey.Ptr, (IntPtr)null, 1);
CvInvoke.cvDilate(grey.Ptr, grey.Ptr, (IntPtr)null, 2);
Image <Gray, Byte> cannyEdges = grey.Canny(180, 120);
LineSegment2D[] lines = cannyEdges.HoughLinesBinary(
1, //Distance resolution in pixel-related units
Math.PI / 45.0, //Angle resolution measured in radians.
20, //threshold
5, //min Line width
10 //gap between lines
)[0]; //Get the lines from the first channel
LineSegment2D[] container = null;
container = FilterAndMergeVerticalLines(lines, 1);
container = FilterShortLines(container, 100);
container = FindVerticalDoorFrameLines(container, 500, grey);
if (container != null)
{
int boxX = container[0].P1.X;
int boxY = container[0].P1.Y;
int boxWidth = container[1].P1.X - boxX;
int boxHeight = container[1].P2.Y - boxY;
Rectangle newBox = new Rectangle(boxX, boxY, boxWidth, boxHeight);
int centerX = (newBox.Left + newBox.Right) / 2;
int centerY = (newBox.Bottom + newBox.Top) / 2;
DetectedDoor.DetectionConfidence confidence = GetConfidence(newBox, grey.Size);
int centerXOffset = centerX - (grey.Size.Width / 2);
double angle = -Math.Atan2(-centerY, centerXOffset) - Math.PI / 2;
double distance = GetEstimatedDistance(newBox, grey.Size);
DetectedDoor newDoor = new DetectedDoor(newBox, grey.Size, confidence, angle, distance, DetectedDoor.DetectMethod.DEPTH);
doors.Add(newDoor);
}
//new method end
/** old method
*
* //CvInvoke.cvErode(grey.Ptr, grey.Ptr, (IntPtr)null, 4);
* //CvInvoke.cvDilate(grey.Ptr, grey.Ptr, (IntPtr)null, 2);
*
* //Contour<System.Drawing.Point> contours = grey.FindContours(
* // Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_TC89_L1,
* // Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_EXTERNAL);
*
* ////grey = new Image<Gray, byte>(grey.Width, grey.Height, new Gray(0));
* //for (; contours != null; contours = contours.HNext)
* //{
* // Contour<System.Drawing.Point> contour = contours.ApproxPoly(contours.Perimeter * 0.08, stor);
* // if (contour.Area < 80000 && contour.Area > 3000 && contour.Total == 4) //hard code for now, will update later
* // {
* // DetectedDoor newDoor = DoorFromContour(contour, depthFrame.get_DepthData(), grey.Size);
* // if(newDoor != null)
* // doors.Add(newDoor);
* // }
* //}
*
**/
}
return(doors);
}
public List <DetectedDoor> GetDoors(object data)
{
IFrame infraredFrame = data as IFrame;
if (infraredFrame == null)
{
return(null);
}
List <DetectedDoor> doors = new List <DetectedDoor>();
//Image<Bgr, Byte> smoothed = img.SmoothGaussian(15);
//Image<Gray, Byte> threshold = FilterColor(smoothed);
//threshold = SimplifyImage(threshold, 100);
// new method
//new method end
using (MemStorage stor = new MemStorage())
{
Bitmap bmp = infraredFrame.GetBMP();
//Bitmap bmp2 = bmp.Clone(new Rectangle(0, 0, bmp.Width, bmp.Height), bmp.PixelFormat);
//Image<Bgr, Byte> img = new Image<Bgr, Byte>(bmp2);
Image <Gray, Byte> grey;
try
{
grey = new Image <Gray, Byte>(bmp);
}
catch (Exception)
{
return(null);
}
//CvInvoke.cvInRangeS(img.Ptr, new MCvScalar(0.0, 0.0, 0.0), new MCvScalar(250.0, 250.0, 250.0), grey.Ptr);
//new method
CvInvoke.cvErode(grey.Ptr, grey.Ptr, (IntPtr)null, 1);
CvInvoke.cvDilate(grey.Ptr, grey.Ptr, (IntPtr)null, 2);
Image <Gray, Byte> cannyEdges = grey.Canny(180, 120);
LineSegment2D[] lines = cannyEdges.HoughLinesBinary(
1, //Distance resolution in pixel-related units
Math.PI / 45.0, //Angle resolution measured in radians.
20, //threshold
5, //min Line width
10 //gap between lines
)[0]; //Get the lines from the first channel
LineSegment2D[] container = null;
container = FilterAndMergeVerticalLines(lines, 1);
container = FilterShortLines(container, 100);
container = FindVerticalDoorFrameLines(container, 500, grey);
if (container != null)
{
int boxX = container[0].P1.X;
int boxY = container[0].P1.Y;
int boxWidth = container[1].P1.X - boxX;
int boxHeight = container[1].P2.Y - boxY;
Rectangle newBox = new Rectangle(boxX, boxY, boxWidth, boxHeight);
int centerX = (newBox.Left + newBox.Right) / 2;
int centerY = (newBox.Bottom + newBox.Top) / 2;
DetectedDoor.DetectionConfidence confidence = GetConfidence(newBox, grey.Size);
int centerXOffset = centerX - (grey.Size.Width / 2);
double angle = -Math.Atan2(-centerY, centerXOffset) - Math.PI / 2;
DetectedDoor newDoor = new DetectedDoor(newBox, grey.Size, confidence, angle, 0, DetectedDoor.DetectMethod.INFRARED);
doors.Add(newDoor);
}
}
return(doors);
}
