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);
}