private static void GetCenterPointForDatum(clsPoint pt, double[,] model, ARParam arParams, int[] vp, Image <Gray, byte> grayImage, ref Emgu.CV.Util.VectorOfPointF centerPoints) { var cpt = ModelToImageSpace(arParams, model, pt); var halfSquare = GetSquareForDatum(arParams, model, pt); if (halfSquare < 8) { return; } if (cpt.x - halfSquare < 0 || cpt.x + halfSquare > vp[2] || cpt.y - halfSquare <0 || cpt.y + halfSquare> vp[3]) { return; } var rect = new Rectangle((int)cpt.x - halfSquare, (int)cpt.y - halfSquare, 2 * halfSquare, 2 * halfSquare); var region = new Mat(grayImage.Mat, rect); var binaryRegion = region.Clone(); double otsuThreshold = CvInvoke.Threshold(region, binaryRegion, 0.0, 255.0, Emgu.CV.CvEnum.ThresholdType.Otsu); int nonzero = CvInvoke.CountNonZero(binaryRegion); var square = 4 * halfSquare * halfSquare; if (nonzero > square * 0.2f && nonzero < square * 0.8f) { centerPoints.Push(new PointF[] { new PointF((float)cpt.X, (float)cpt.Y) }); } }
public static Emgu.CV.Util.VectorOfPointF DetectEllipses(Image <Gray, byte> grayImage, Mat imageCopy) { var centerPoints = new Emgu.CV.Util.VectorOfPointF(); var contours = new Emgu.CV.Util.VectorOfVectorOfPoint(); Mat heirarchy = null; var grayImageCopy = grayImage.Clone(); var res = CvInvoke.Threshold(grayImage, grayImageCopy, 170, 255, Emgu.CV.CvEnum.ThresholdType.Binary); //CvInvoke.Imwrite(Path.GetDirectoryName(myFile) + "\\" + Path.GetFileNameWithoutExtension(myFile) + "-threshold" + Path.GetExtension(myFile), grayImageCopy, new KeyValuePair<Emgu.CV.CvEnum.ImwriteFlags, int>(Emgu.CV.CvEnum.ImwriteFlags.JpegQuality, 95)); grayImageCopy._Not(); CvInvoke.FindContours(grayImageCopy, contours, heirarchy, Emgu.CV.CvEnum.RetrType.Ccomp, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxSimple); // var circles = CvInvoke.HoughCircles(grayImage, Emgu.CV.CvEnum.HoughType.Gradient, 1, grayImage.Rows / 16); if (contours.Size > 0) { double largestArea = 0; for (int i = 0; i < contours.Size; i++) { var contour = contours[i]; if (contour.Size > 4) { var rect = CvInvoke.FitEllipse(contour); var area = rect.Size.Width * rect.Size.Height; var width = rect.Size.Width > rect.Size.Height ? rect.Size.Width : rect.Size.Height; var height = rect.Size.Width > rect.Size.Height ? rect.Size.Height : rect.Size.Width; if (area > 1000 && width / height < 3) { var averageDist = AverageDistanceToEllipse(contour, rect); var furthestDist = FurthestDistanceToEllipse(contour, rect); if (averageDist < 1.5 && furthestDist < 4) { if (area > largestArea) { largestArea = area; } centerPoints.Push(new PointF[] { rect.Center }); DrawContoursOnImage(imageCopy, contours[i]); // CvInvoke.Ellipse(imageCopy, rect, new Bgr(System.Drawing.Color.Red).MCvScalar); CvInvoke.Line(imageCopy, new Point((int)rect.GetVertices()[0].X, (int)rect.GetVertices()[0].Y), new Point((int)rect.GetVertices()[1].X, (int)rect.GetVertices()[1].Y), new Bgr(System.Drawing.Color.Red).MCvScalar); CvInvoke.Line(imageCopy, new Point((int)rect.GetVertices()[1].X, (int)rect.GetVertices()[1].Y), new Point((int)rect.GetVertices()[2].X, (int)rect.GetVertices()[2].Y), new Bgr(System.Drawing.Color.Red).MCvScalar); CvInvoke.Line(imageCopy, new Point((int)rect.GetVertices()[2].X, (int)rect.GetVertices()[2].Y), new Point((int)rect.GetVertices()[3].X, (int)rect.GetVertices()[3].Y), new Bgr(System.Drawing.Color.Red).MCvScalar); CvInvoke.Line(imageCopy, new Point((int)rect.GetVertices()[3].X, (int)rect.GetVertices()[3].Y), new Point((int)rect.GetVertices()[0].X, (int)rect.GetVertices()[0].Y), new Bgr(System.Drawing.Color.Red).MCvScalar); } } } } } return(centerPoints); }
private void button1_Click(object sender, EventArgs e) { var myDlg = new FolderBrowserDialog(); myDlg.SelectedPath = "C:\\Customer\\Stannah\\Photogrammetry\\Photos"; var ret = myDlg.ShowDialog(); if (ret != DialogResult.OK) { return; } var myFolder = myDlg.SelectedPath; var myFiles = new List <string>(); int myWidth = 0, myHeight = 0, nImages = 0, nCount = 0; foreach (string myFile in Directory.GetFiles(myFolder)) { if (Path.GetFileNameWithoutExtension(myFile).ToLower().StartsWith("calibration") && myFile.ToLower().EndsWith(".png") && !myFile.ToLower().Contains("-adj.png")) { if (Path.GetFileNameWithoutExtension(myFile).Contains("17")) { continue; } nImages = nImages + 1; myFiles.Add(myFile); if (myWidth == 0) { Image myImage = Image.FromFile(myFile); myWidth = myImage.Width; myHeight = myImage.Height; } } } // ARToolKitFunctions.Instance.arwInitialiseAR(); ARToolKitFunctions.Instance.arwInitChessboardCorners(17, 13, 20, 3264, 2448, nImages); float[] corners = new float[442]; int cornerCount; //string cornerFile = "C:\\Temp\\CornersARToolkit.txt"; //if (File.Exists(cornerFile)) { // try { // File.Delete(cornerFile); // } // catch (Exception ex) { // string s = ex.ToString(); // } //} myFiles.Sort(new AlphaNumericCompare()); //StreamWriter sw = new StreamWriter(cornerFile); foreach (string myFile in myFiles) { var image = new Image <Gray, byte>(myFile); var size = image.Width * image.Height; var cornerPoints = new Emgu.CV.Util.VectorOfPointF(); var mBoardSize = new Size(13, 17); var res = CvInvoke.FindChessboardCorners(image, mBoardSize, cornerPoints); byte[] imageBytes = new Byte[size]; System.Buffer.BlockCopy(image.Data, 0, imageBytes, 0, size); //byte[] imageBytes = ImageToGrayscaleByteArray((Bitmap)Image.FromFile(myFile)); int result = ARToolKitFunctions.Instance.arwFindChessboardCorners(corners, out cornerCount, imageBytes); var imagePoints = new Emgu.CV.Util.VectorOfPointF(); int l = 0; for (int i = 0; i < 17; i++) { for (int j = 0; j < 13; j++) { //sw.WriteLine(corners[l * 2].ToString() + '\t' + corners[l * 2 + 1].ToString()); imagePoints.Push(new PointF[] { new PointF(corners[l * 2], corners[l * 2 + 1]) }); l++; } } if (result == 1) { if (imagePoints.Size > 0) { Mat imageCopy = Emgu.CV.CvInvoke.Imread(myFile, Emgu.CV.CvEnum.ImreadModes.Color); if (imagePoints.Size > 0) { mdlEmguDetection.DrawCornersOnImage(imageCopy, imagePoints, System.Drawing.Color.Green); } CvInvoke.Imwrite(Path.GetDirectoryName(myFile) + "\\Corners-" + Path.GetFileNameWithoutExtension(myFile) + ".png", imageCopy, new KeyValuePair <Emgu.CV.CvEnum.ImwriteFlags, int>(Emgu.CV.CvEnum.ImwriteFlags.PngCompression, 3)); } cornerCount = ARToolKitFunctions.Instance.arwCaptureChessboardCorners(); System.Diagnostics.Debug.Print("Processed image " + cornerCount.ToString()); if (cornerCount == nImages) { nCount = nCount + 1; float[] reprojectionErrors = new float[nImages]; float reprojectionError = ARToolKitFunctions.Instance.arwCalibChessboardCorners(nImages, "C:\\Temp\\Calib.dat", out reprojectionErrors); System.Diagnostics.Debug.Print("Total reprojection error: " + reprojectionError.ToString()); for (int i = 0; i < reprojectionErrors.Length; i++) { System.Diagnostics.Debug.Print("Reprojection error " + (i + 1).ToString() + ": " + reprojectionErrors[i].ToString()); } } } else { System.Diagnostics.Debug.Print("Failed to process image " + myFile); } } //sw.Close(); }
public static void DetectMarkers(string myFile) { var grayImage = new Image <Gray, byte>(myFile); //CheckConnectedComponents(grayImage.Mat); Mat imageCopy = Emgu.CV.CvInvoke.Imread(myFile, Emgu.CV.CvEnum.ImreadModes.Color); byte[] grayImageBytes = new byte[grayImage.Data.Length]; Buffer.BlockCopy(grayImage.Data, 0, grayImageBytes, 0, grayImage.Data.Length); myVideoWidth = grayImage.Width; myVideoHeight = grayImage.Height; //var thresh = grayImage.Clone(); //double otsuThreshold = CvInvoke.Threshold(grayImage, thresh, 128.0, 255.0, Emgu.CV.CvEnum.ThresholdType.Otsu); //CvInvoke.Imwrite(Path.GetDirectoryName(myFile) + "\\" + Path.GetFileNameWithoutExtension(myFile) + "-threshold" + Path.GetExtension(myFile), thresh, new KeyValuePair<Emgu.CV.CvEnum.ImwriteFlags, int>(Emgu.CV.CvEnum.ImwriteFlags.PngCompression, 3)); //Detect the AR Marker first // Initialise AR string myCameraFile = "data\\calib.dat"; var arParams = LoadCameraFromFile(myCameraFile); // string myVConf = "-module=Image -preset=photo -format=BGRA"; string myVConf = "-module=Image -width=" + myVideoWidth + " -height=" + myVideoHeight + " -format=MONO"; ARToolKitFunctions.Instance.arwInitialiseAR(); ARToolKitFunctions.Instance.arwInitARToolKit(myVConf, myCameraFile); string artkVersion = ARToolKitFunctions.Instance.arwGetARToolKitVersion(); string pixelFormat = string.Empty; ARToolKitFunctions.Instance.arwSetLogLevel(0); myLogger = new Logger(); Mat cameraMatrix = new Mat(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1); int nFactors = 8; Mat distortionCoeffs = new Mat(nFactors, 1, Emgu.CV.CvEnum.DepthType.Cv64F, 1); double[] cameraArray = new double[9]; for (int j = 0; j < 3; j++) { for (int i = 0; i < 3; i++) { cameraArray[j * 3 + i] = arParams.mat[j, i]; } } double[] distCoeffArray = new double[nFactors]; for (int i = 0; i < nFactors; i++) { distCoeffArray[i] = arParams.dist_factor[i]; } Marshal.Copy(cameraArray, 0, cameraMatrix.DataPointer, 9); Marshal.Copy(distCoeffArray, 0, distortionCoeffs.DataPointer, nFactors); mdlRecognise.AddMarkersToARToolKit(); var cornersErr = new Emgu.CV.Util.VectorOfPointF(); var cornersErr2 = new Emgu.CV.Util.VectorOfPointF(); var retB = ARToolKitFunctions.Instance.arwUpdateARToolKit(grayImageBytes, false); for (int markerID = 0; markerID < 102; markerID++) { double[] mv = new double[16] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; double[] corners = new double[32] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; retB = ARToolKitFunctions.Instance.arwQueryMarkerTransformation(markerID, mv, corners, out int numCorners); if (!retB) { continue; } var trans = OpenGL2Trans(mv); var pts2d = new List <clsPoint>(); var cornerPoints = new Emgu.CV.Util.VectorOfPointF(); pts2d.Add(new clsPoint(-40, -40)); pts2d.Add(new clsPoint(40, -40)); pts2d.Add(new clsPoint(40, 40)); pts2d.Add(new clsPoint(-40, 40)); if (markerID == myGFMarkerID) { pts2d.Add(new clsPoint(110 - 40, -40)); pts2d.Add(new clsPoint(110 + 40, -40)); pts2d.Add(new clsPoint(110 + 40, 40)); pts2d.Add(new clsPoint(110 - 40, 40)); pts2d.Add(new clsPoint(110 - 40, -40 - 190)); pts2d.Add(new clsPoint(110 + 40, -40 - 190)); pts2d.Add(new clsPoint(110 + 40, 40 - 190)); pts2d.Add(new clsPoint(110 - 40, 40 - 190)); pts2d.Add(new clsPoint(-40, -40 - 190)); pts2d.Add(new clsPoint(40, -40 - 190)); pts2d.Add(new clsPoint(40, 40 - 190)); pts2d.Add(new clsPoint(-40, 40 - 190)); } else { pts2d.Add(new clsPoint(-40 - 85, -40)); pts2d.Add(new clsPoint(40 - 85, -40)); pts2d.Add(new clsPoint(40 - 85, 40)); pts2d.Add(new clsPoint(-40 - 85, 40)); } //var objectPoints = new Emgu.CV.Util.VectorOfPoint3D32F(pts2d.Select(p => new MCvPoint3D32f((float)p.x, (float)p.y, 0)).ToArray()); //var reprojectPoints = new Emgu.CV.Util.VectorOfPointF(); //Mat rvec = new Mat(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1); //double[] matrixArray = new double[9]; //for (int j = 0; j < 3; j++) { // for (int k = 0; k < 3; k++) { // matrixArray[j * 3 + k] = trans[j, k]; // } //} //Marshal.Copy(matrixArray, 0, rvec.DataPointer, 9); //Mat tvec = new Mat(3, 1, Emgu.CV.CvEnum.DepthType.Cv64F, 1); //double[] vectorArray = new double[3]; //for (int j = 0; j < 3; j++) { // vectorArray[j] = trans[j, 3]; //} //Marshal.Copy(vectorArray, 0, tvec.DataPointer, 3); //CvInvoke.ProjectPoints(objectPoints, rvec, tvec, cameraMatrix, distortionCoeffs, reprojectPoints); //cornerPoints.Push(reprojectPoints.ToArray()); //cornersErr.Push(reprojectPoints.ToArray()); for (int i = 0; i < pts2d.Count; i++) { var pt = ModelToImageSpace(arParams, trans, pts2d[i]); cornerPoints.Push(new PointF[] { new PointF((float)pt.X, (float)pt.Y) }); } cornersErr.Push(cornerPoints.ToArray()); //for (int i = 0; i < numCorners; i++) { // //pts2d.Add(new clsPoint(0, 0)); // cornerPoints.Push(new PointF[] { new PointF((float)corners[i * 2], (float)corners[i * 2 + 1]) }); // //arParamIdeal2Observ(arParams.dist_factor, corners[i * 2], corners[i * 2 + 1], out double ox, out double oy, arParams.dist_function_version); // //cornerPoints.Push(new PointF[] { new PointF((float)ox, (float)oy) }); //} if (cornerPoints.Size == pts2d.Count) { //cornersErr.Push(cornerPoints.ToArray()); //var cornersCopy = new List<clsPoint>(); //var cornersCopy2 = new List<clsPoint>(); //foreach (var p in cornerPoints.ToArray()) cornersCopy.Add(new clsPoint(p.X, p.Y)); //CvInvoke.CornerSubPix(grayImage, cornerPoints, new Size(5, 5), new Size(-1, -1), new Emgu.CV.Structure.MCvTermCriteria(100)); //foreach (var p in cornerPoints.ToArray()) cornersCopy2.Add(new clsPoint(p.X, p.Y)); //for (int i = 0; i < cornersCopy.Count; i++) { // cornersErr.Push(new PointF[] { new PointF((float)cornersCopy[i].x, (float)cornersCopy[i].y) }); // if (cornersCopy[i].Dist(cornersCopy2[i]) > 4.0) { // cornersErr2.Push(new PointF[] { new PointF((float)cornersCopy2[i].x, (float)cornersCopy2[i].y) }); // } //} //Emgu.CV.Util.VectorOfPointF imagePoints = new Emgu.CV.Util.VectorOfPointF(); //for (int i = 0; i < centerPoints.Size; i++) { // arParamObserv2Ideal(arParams.dist_factor, centerPoints[i].X, centerPoints[i].Y, out double ox, out double oy, arParams.dist_function_version); // imagePoints.Push(new PointF[] { new PointF((float)ox, (float)oy) }); //} //Mat rvec = new Mat(); //Mat tvec = new Mat(); //CvInvoke.SolvePnP(objectPoints, imagePoints, cameraMatrix, distortionCoeffs, rvec, tvec, false, Emgu.CV.CvEnum.SolvePnpMethod.IPPE); //Mat rotationMatrix = new Mat(); //CvInvoke.Rodrigues(rvec, rotationMatrix); //trans = new double[3, 4]; //double[] rotationMatrixArray = new double[12]; //Marshal.Copy(rotationMatrix.DataPointer, rotationMatrixArray, 0, 12); //double[] translationMatrixArray = new double[3]; //Marshal.Copy(tvec.DataPointer, translationMatrixArray, 0, 3); //for (int j = 0; j < 3; j++) { // for (int i = 0; i < 3; i++) { // trans[j, i] = rotationMatrixArray[3 * j + i]; // } // trans[j, 3] = translationMatrixArray[j]; //} //mv = Trans2OpenGL(trans); } } DrawCornersOnImage(imageCopy, cornersErr, System.Drawing.Color.Green); //if (cornersErr2.Size > 0) DrawCornersOnImage(imageCopy, cornersErr2, System.Drawing.Color.Red); CvInvoke.Imwrite(Path.GetDirectoryName(myFile) + "\\Corners-" + Path.GetFileNameWithoutExtension(myFile) + ".png", imageCopy, new KeyValuePair <Emgu.CV.CvEnum.ImwriteFlags, int>(Emgu.CV.CvEnum.ImwriteFlags.PngCompression, 3)); }