protected PointF GetPositionFromBinary(Emgu.CV.Image <Emgu.CV.Structure.Gray, Byte> binaryImage, bool drawPositionInfo)
{
int maxNumberOfObects = 50;
int minObjectArea = 30 * 30;
int maxObjectArea = (int)(binaryImage.Size.Width * binaryImage.Size.Height / 1.05);
ratPosition = new IncorrectPosition();
//Point positionNotFound = new Point(50000, 50000);
//var positionNotFound = new PointF(float.NaN, float.NaN);
Emgu.CV.Image <Emgu.CV.Structure.Gray, Byte> temporaryBinaryImage = binaryImage.Clone();
Emgu.CV.Util.VectorOfVectorOfPoint contours = new Emgu.CV.Util.VectorOfVectorOfPoint();
Emgu.CV.Mat hierarchy = new Mat();
CvInvoke.FindContours(temporaryBinaryImage, contours, hierarchy, RetrType.Ccomp, ChainApproxMethod.ChainApproxSimple);
if (contours.Size > 0)
{
int numberOfObjects = contours.Size;
//var h = hierarchy.GetInputOutputArray();
if (numberOfObjects < maxNumberOfObects)
{
float referenceArea = 0;
//index = hierarchy.GetData(new int[] { index, 0 })[0]
for (int index = 0; index < numberOfObjects; index++)
{
IInputArray contour = contours.GetInputArray().GetMat(index);
MCvMoments moment = CvInvoke.Moments(contour);
float area = (float)moment.M00;
if (area > minObjectArea && area < maxObjectArea && area > referenceArea)
{
ratPosition = new CorrectPosition(
x: (float)moment.M10 / area,
y: (float)moment.M01 / area);
referenceArea = area;
}
}
}
}
if (drawPositionInfo)
{
DrawPositionInfo();
}
var positionToSend = new PointF
(
x: -2 * (ratPosition.Value.X - binaryImage.Size.Width / 2) / binaryImage.Size.Width,
y: -2 * (ratPosition.Value.Y - binaryImage.Size.Height / 2) / binaryImage.Size.Height
);
return(positionToSend);
}
public static Emgu.CV.Image <TColor, TDepth> DrawBoxOutline <TColor, TDepth>(this Emgu.CV.Image <TColor, TDepth> image,
System.Drawing.Rectangle boundingBox,
TColor?outlineColor = null)
where TColor : struct, Emgu.CV.IColor
where TDepth : new()
{
if (image is null)
{
throw new System.ArgumentNullException(nameof(image));
}
var outputImage = image.Clone();
outputImage.Draw(rect: boundingBox,
color: outlineColor ?? (TColor)Settings.OutlineColor,
thickness: Settings.OutlineThickness);
return(outputImage);
}
