/// <summary>
/// Sets the specified image.
/// </summary>
/// <param name="image">Image to display.</param>
public void SetImage(Bgr<byte>[,] image)
{
if (bmp == null || bmp.Width != image.Width() || bmp.Height != image.Height())
{
bmp = new Bitmap(image.Width(), image.Height(), PixelFormat.Format24bppRgb);
}
BitmapData bmpData = bmp.Lock();
if (bmpData.BytesPerPixel != image.ColorInfo().Size)
{
bmpData.Dispose();
bmpData = null;
bmp = new Bitmap(image.Width(), image.Height(), PixelFormat.Format24bppRgb);
}
bmpData = bmpData ?? bmp.Lock();
using (var uIm = image.Lock())
{
Copy.UnsafeCopy2D(uIm.ImageData, bmpData.Data, uIm.Stride, bmpData.ScanWidth, uIm.Height);
}
bmpData.Dispose();
imageView.Image = bmp;
if (ScaleForm)
ClientSize = new Size(image.Width(), image.Height());
}
/// <summary>
/// Draw the framework ( a small red circle, blue square and a big green circle)
/// </summary>
/// <param name="frame">the video frame that about to draw on</param>
/// /// <returns>nothing.</returns>
private static void drawFrameWork(Bgr <byte>[,] frame)
{
int RectWidth, RectHeight;
int SqrSide;
float RectRatio;
int maxside = (int)(Math.Sqrt(frame.Width() * frame.Width() + frame.Height() * frame.Height()));
RectRatio = (float)(frame.Height() > frame.Width() ? frame.Width() : frame.Height()) / maxside;
//Console.WriteLine(frame.Height() + " "+ frame.Width() +" "+maxside + " " + RectRatio);
RectWidth = (int)(frame.Width() * RectRatio);
RectHeight = (int)(frame.Height() * RectRatio);
DotImaging.Primitives2D.Rectangle rec = new DotImaging.Primitives2D.Rectangle((frame.Width() - RectWidth) / 2, (frame.Height() - RectHeight) / 2, (int)(frame.Width() * RectRatio), (int)(frame.Height() * RectRatio));
//frame.Draw(rec, Bgr<byte>.Blue, 2);
rec.Width = rec.Height;
rec.X = (frame.Width() - RectHeight) / 2;
//frame.Draw(rec, Bgr<byte>.Red, 2);
Circle cir = new Circle((frame.Width()) / 2, (frame.Height()) / 2, (int)(frame.Height() * RectRatio) / 2);
//frame.Draw(cir, Bgr<byte>.Green, 2);
cir.Radius = frame.Height() / 2;
frame.Draw(cir, Bgr <byte> .Green, 2);
SqrSide = (int)(frame.Height() / Math.Sqrt(2));
DotImaging.Primitives2D.Rectangle sqr = new DotImaging.Primitives2D.Rectangle((frame.Width() - SqrSide) / 2, (frame.Height() - SqrSide) / 2, SqrSide, SqrSide);
frame.Draw(sqr, Bgr <byte> .Blue, 2);
cir.Radius = SqrSide / 2;
frame.Draw(cir, Bgr <byte> .Red, 2);
}
/// <summary>
/// Sets the specified image.
/// </summary>
/// <param name="image">Image to display.</param>
public void SetImage(Bgr<byte>[,] image)
{
if (bmp == null || bmp.Width != image.Width() || bmp.Height != image.Height())
{
bmp = new Bitmap(image.Width(), image.Height(), PixelFormat.Format24bppRgb);
}
using (BitmapData bmpData = bmp.Lock())
using (var uIm = image.Lock())
{
Copy.UnsafeCopy2D(uIm.ImageData, bmpData.Data, uIm.Stride, bmpData.ScanWidth, uIm.Height);
}
PictureBox.Image = bmp;
if (ScaleForm)
ClientSize = new Size(image.Width(), image.Height());
}
/// <summary>
/// Computes gradient orientations from the color image. Orientation from the channel which has the maximum gradient magnitude is taken as the orientation for a location.
/// </summary>
/// <param name="frame">Image.</param>
/// <param name="magnitudeSqrImage">Squared magnitude image.</param>
/// <param name="minValidMagnitude">Minimal valid magnitude.</param>
/// <returns>Orientation image (angles are in degrees).</returns>
public unsafe static Gray <int>[,] Compute(Bgr <byte>[,] frame, out Gray <int>[,] magnitudeSqrImage, int minValidMagnitude)
{
var minSqrMagnitude = minValidMagnitude * minValidMagnitude;
var orientationImage = new Gray <int> [frame.Height(), frame.Width()];
var _magnitudeSqrImage = orientationImage.CopyBlank();
using (var uFrame = frame.Lock())
{
ParallelLauncher.Launch(thread =>
{
computeColor(thread, (byte *)uFrame.ImageData, uFrame.Stride, orientationImage, _magnitudeSqrImage, minSqrMagnitude);
},
frame.Width() - 2 * kernelRadius, frame.Height() - 2 * kernelRadius);
}
magnitudeSqrImage = _magnitudeSqrImage;
return(orientationImage);
}
/// <summary>
/// Creates and initializes new de-vignetting algorithm.
/// </summary>
/// <param name="image">Original image.</param>
/// <param name="optimizeVignettingCentre">
/// True to optimize spatial vignetting position, false otherwise.
/// <para>If set to false, the algorithm will perform significantly less number of steps.</para>
/// </param>
public Devignetting(Bgr <byte>[,] image, bool optimizeVignettingCentre = true)
{
var initialStep = new float[] { 5, 5, 5, image.Width() / 4, image.Height() / 4 };
var stepReduction = new float[] { 0.5f, 0.5f, 0.5f, 0.5f, 0.5f };
var finalStep = new float[] { 1f / 256, 1f / 256, 1f / 256, 1, 1 };
var endParamIdx = DevignettingFunction.PARAMETER_COUNT - 1;
if (!optimizeVignettingCentre)
{
endParamIdx -= 2; /*dX, dY*/
}
optimizationAlg = new HillClimbingOptimization <DevignettingFunction, Bgr <byte> [, ]>(initialStep, stepReduction, finalStep,
0, endParamIdx);
optimizationAlg.Initialize(DevignettingFunction.Empty, image);
}
/// <summary>
/// Build template with the cemara
///
/// State Machine---->
/// int -> build template -> resize to find the best -> draw the template then comfirm by user ->
/// rotate for angles ->done and return
///
/// make sure the object is in green circle
/// </summary>
/// <param name="name">template name, default to "Template" if the name is null</param>
/// <param name="templPyrs">the template list that to be used</param
/// <param name="videoCapture">the video stream</param>
/// <param name="pictureBox">the picture box of window form</param>
/// <param name="minRatio">The ratio of smallest size to original, default to 0.4</param>
/// /// <returns>nothing.</returns>
public void TemplateCapture(ref List <TemplatePyramid> templPyrs, ImageStreamReader videoCapture, PictureBox pictureBox, string name = null, float minCalibrationRatio = 0.4f)
{
if (name == null)
{
name = "Template";
}
#if runXML
try
{
Console.WriteLine("Reading from existing Template Data");
templPyrs = fromXML(name);
Cap = State.Done;
}
catch (Exception)
{
Console.WriteLine("\nTemplate NOT found! \n initiating camera...");
}
#endif
switch (Cap)
{
case State.Init:
videoCapture.ReadTo(ref frame);
if (frame == null)
{
return;
}
drawFrameWork(frame);
pictureBox.Image = frame.ToBitmap(); //it will be just casted (data is shared) 24bpp color
GC.Collect();
break;
case State.BuildingTemplate:
Console.WriteLine("building template");
videoCapture.ReadTo(ref frame);
if (frame == null)
{
return;
}
templatePic = frame.ToGray();
//var list = new List<TemplatePyramid>();
try
{
if (templPyrs == null)
{
templPyrs = new List <TemplatePyramid>();
}
rotateLoad(templPyrs, templatePic, 1, frame.Width(), frame.Height(), userFunc: validateFeatures);
}
catch (Exception)
{
Console.WriteLine("ERROR IN CREATING TEMPLATE!");
return;
}
Cap = State.Calibrate;
break;
case State.Calibrate:
Console.WriteLine("calibrating template " + CabRatio + " " + templatePic.Width() * CabRatio);
var bestRepresentatives = findObjects(frame, templPyrs);
if (bestRepresentatives.Count == 0)
{
if (templPyrs.Count != 0)
{
templPyrs.RemoveAt(templPyrs.Count - 1);
}
CabRatio -= (float)0.01;
int width = (int)(templatePic.Width() * CabRatio);
int height = (int)(templatePic.Height() * CabRatio);
if (CabRatio < minCalibrationRatio)
{
Console.WriteLine("Calibration failed");
CabRatio = 1;
Cap = State.Init;
}
DotImaging.Primitives2D.Size Nsize = new DotImaging.Primitives2D.Size(width, height);
ResiizedtemplatePic = ResizeExtensions_Gray.Resize(templatePic, Nsize, Accord.Extensions.Imaging.InterpolationMode.NearestNeighbor);
try
{
templPyrs.Add(TemplatePyramid.CreatePyramidFromPreparedBWImage(
ResiizedtemplatePic, new FileInfo(name + " #" + TPindex++).Name, 0));
}
catch (Exception)
{
Console.WriteLine("ERROR IN CALIBRATING TEMPLATE!");
}
}
else
{
ResiizedtemplatePic = (ResiizedtemplatePic == null ? templatePic : ResiizedtemplatePic);
CaptureFrame(templPyrs, videoCapture, pictureBox);
drawFrameWork(frame);
pictureBox.Image = frame.ToBitmap(); //it will be just casted (data is shared) 24bpp color
Cap = State.Confirm;
}
break;
case State.Confirm:
Console.WriteLine("comfirm Template, press Y to continue, press R to retry, and other keys to abort");
string a = Console.ReadLine();
switch (a)
{
case "y":
Cap = State.Rotate;
break;
case "r":
templPyrs.RemoveAt(templPyrs.Count - 1);
Cap = State.Init;
break;
default:
Cap = State.Done;
break;
}
//if (a == "y") Cap = State.Rotate;
//else
//{
// Cap = State.Init;
//}
break;
case State.Rotate:
int SqrSide = (int)(frame.Height() / Math.Sqrt(2));
templPyrs.AddRange(buildTemplate(ResiizedtemplatePic, SqrSide, SqrSide, false, totalAngles, totalSizes, 0.5f, null, validateFeatures));
//ResiizedtemplatePic, totalAngles, SqrSide, SqrSide, true, userFunc: validateFeatures));
Cap = State.ConfirmDone;
break;
case State.ConfirmDone:
Console.WriteLine("Do you want to build a new template? press y to build another template, other keys to abort");
string OtherTemplate = Console.ReadLine();
if (OtherTemplate == "y" || OtherTemplate == "Y")
{
Cap = State.Init;
}
else
{
string resourceDir = Path.Combine(Directory.GetParent(Directory.GetCurrentDirectory()).FullName, "Resources");
XMLTemplateSerializer <ImageTemplatePyramid <ImageTemplate>, ImageTemplate> .ToFile(templPyrs, Path.Combine(resourceDir, name + ".xml"));
Cap = State.Done;
}
break;
//break;
case State.Done:
CaptureFrame(templPyrs, videoCapture, pictureBox);
GC.Collect();
break;
//break;
}
pictureBox.Image = frame.ToBitmap(); //it will be just casted (data is shared) 24bpp color
}