private void DrawGrid(int cols, int rows, Mat drawMat) { for (int i = 1; i < GridSize; i++) { Imgproc.Line(drawMat, new Point(0, i * rows / GridSize), new Point(cols, i * rows / GridSize), new Scalar(0, 255, 0, 255), 3); Imgproc.Line(drawMat, new Point(i * cols / GridSize, 0), new Point(i * cols / GridSize, rows), new Scalar(0, 255, 0, 255), 3); } }
/// <summary> /// Creates the transformation matrix (in both directions) to wrap the zone in front of the car. /// </summary> /// <param name="src"> source image </param> /// <param name="transform"> transformation matrix </param> /// <param name="inv_transform"> inverse transformation matrix </param> /// <param name="warp"> wrapped zone of interest </param> public void GetBirdEye(Mat bin, Mat src, float marginX, float marginY, out Mat transform, out Mat inv_transform, out Mat warp) { // Create perspective in front of the car Core.Point[] sourcePeaks = { new Core.Point(bin.Width() * marginX, bin.Height() * marginY), new Core.Point(bin.Width() * (1 - marginX), bin.Height() * marginY), new Core.Point(bin.Width(), bin.Height()), new Core.Point(0, bin.Height()), new Core.Point(bin.Width() * marginX, bin.Height() * marginY) }; MatOfPoint2f sourceMat = new MatOfPoint2f( sourcePeaks[0], sourcePeaks[1], sourcePeaks[2], sourcePeaks[3] ); Core.Point[] targetPeaks = { new Core.Point(0, 0), new Core.Point(bin.Width(), 0), new Core.Point(bin.Width(), bin.Height()), new Core.Point(0, bin.Height()), new Core.Point(0, 0) }; // Generate transformation matrix in both directions MatOfPoint2f targetMat = new MatOfPoint2f( targetPeaks[0], targetPeaks[1], targetPeaks[2], targetPeaks[3] ); transform = Imgproc.GetPerspectiveTransform(sourceMat, targetMat); inv_transform = Imgproc.GetPerspectiveTransform(targetMat, sourceMat); warp = new Mat(bin.Size(), bin.Type()); Imgproc.WarpPerspective(bin, warp, transform, bin.Size(), Imgproc.InterLinear); // Draw for (int iPeak = 0; iPeak < sourcePeaks.GetLength(0) - 1; iPeak++) { Imgproc.Line(src, sourcePeaks[iPeak], sourcePeaks[iPeak + 1], new Scalar(0, 255, 0), 3); } }
public Mat OnCameraFrame(CameraBridgeViewBase.ICvCameraViewFrame inputFrame) { Mat rgba = inputFrame.Rgba(); Size sizeRgba = rgba.Size(); Mat rgbaInnerWindow; int rows = (int)sizeRgba.Height; int cols = (int)sizeRgba.Width; int left = cols / 8; int top = rows / 8; int width = cols * 3 / 4; int height = rows * 3 / 4; switch (ImageManipulationsActivity.viewMode) { case ImageManipulationsActivity.VIEW_MODE_RGBA: break; case ImageManipulationsActivity.VIEW_MODE_HIST: Mat hist = new Mat(); int thikness = (int)(sizeRgba.Width / (mHistSizeNum + 10) / 5); if (thikness > 5) { thikness = 5; } int offset = (int)((sizeRgba.Width - (5 * mHistSizeNum + 4 * 10) * thikness) / 2); // RGB for (int c = 0; c < 3; c++) { Imgproc.CalcHist(Arrays.AsList(rgba).Cast <Mat>().ToList(), mChannels[c], mMat0, hist, mHistSize, mRanges); Core.Normalize(hist, hist, sizeRgba.Height / 2, 0, Core.NormInf); hist.Get(0, 0, mBuff); for (int h = 0; h < mHistSizeNum; h++) { mP1.X = mP2.X = offset + (c * (mHistSizeNum + 10) + h) * thikness; mP1.Y = sizeRgba.Height - 1; mP2.Y = mP1.Y - 2 - (int)mBuff[h]; Imgproc.Line(rgba, mP1, mP2, mColorsRGB[c], thikness); } } // Value and Hue Imgproc.CvtColor(rgba, mIntermediateMat, Imgproc.ColorRgb2hsvFull); // Value Imgproc.CalcHist(Arrays.AsList(mIntermediateMat).Cast <Mat>().ToList(), mChannels[2], mMat0, hist, mHistSize, mRanges); Core.Normalize(hist, hist, sizeRgba.Height / 2, 0, Core.NormInf); hist.Get(0, 0, mBuff); for (int h = 0; h < mHistSizeNum; h++) { mP1.X = mP2.X = offset + (3 * (mHistSizeNum + 10) + h) * thikness; mP1.Y = sizeRgba.Height - 1; mP2.Y = mP1.Y - 2 - (int)mBuff[h]; Imgproc.Line(rgba, mP1, mP2, mWhilte, thikness); } // Hue Imgproc.CalcHist(Arrays.AsList(mIntermediateMat).Cast <Mat>().ToList(), mChannels[0], mMat0, hist, mHistSize, mRanges); Core.Normalize(hist, hist, sizeRgba.Height / 2, 0, Core.NormInf); hist.Get(0, 0, mBuff); for (int h = 0; h < mHistSizeNum; h++) { mP1.X = mP2.X = offset + (4 * (mHistSizeNum + 10) + h) * thikness; mP1.Y = sizeRgba.Height - 1; mP2.Y = mP1.Y - 2 - (int)mBuff[h]; Imgproc.Line(rgba, mP1, mP2, mColorsHue[h], thikness); } break; case ImageManipulationsActivity.VIEW_MODE_CANNY: rgbaInnerWindow = rgba.Submat(top, top + height, left, left + width); Imgproc.Canny(rgbaInnerWindow, mIntermediateMat, 80, 90); Imgproc.CvtColor(mIntermediateMat, rgbaInnerWindow, Imgproc.ColorGray2bgra, 4); rgbaInnerWindow.Release(); break; case ImageManipulationsActivity.VIEW_MODE_SOBEL: Mat gray = inputFrame.Gray(); Mat grayInnerWindow = gray.Submat(top, top + height, left, left + width); rgbaInnerWindow = rgba.Submat(top, top + height, left, left + width); Imgproc.Sobel(grayInnerWindow, mIntermediateMat, CvType.Cv8u, 1, 1); Core.ConvertScaleAbs(mIntermediateMat, mIntermediateMat, 10, 0); Imgproc.CvtColor(mIntermediateMat, rgbaInnerWindow, Imgproc.ColorGray2bgra, 4); grayInnerWindow.Release(); rgbaInnerWindow.Release(); break; case ImageManipulationsActivity.VIEW_MODE_SEPIA: rgbaInnerWindow = rgba.Submat(top, top + height, left, left + width); Core.Transform(rgbaInnerWindow, rgbaInnerWindow, mSepiaKernel); rgbaInnerWindow.Release(); break; case ImageManipulationsActivity.VIEW_MODE_ZOOM: Mat zoomCorner = rgba.Submat(0, rows / 2 - rows / 10, 0, cols / 2 - cols / 10); Mat mZoomWindow = rgba.Submat(rows / 2 - 9 * rows / 100, rows / 2 + 9 * rows / 100, cols / 2 - 9 * cols / 100, cols / 2 + 9 * cols / 100); Imgproc.Resize(mZoomWindow, zoomCorner, zoomCorner.Size()); Size wsize = mZoomWindow.Size(); Imgproc.Rectangle(mZoomWindow, new Point(1, 1), new Point(wsize.Width - 2, wsize.Height - 2), new Scalar(255, 0, 0, 255), 2); zoomCorner.Release(); mZoomWindow.Release(); break; case ImageManipulationsActivity.VIEW_MODE_PIXELIZE: rgbaInnerWindow = rgba.Submat(top, top + height, left, left + width); Imgproc.Resize(rgbaInnerWindow, mIntermediateMat, mSize0, 0.1, 0.1, Imgproc.InterNearest); Imgproc.Resize(mIntermediateMat, rgbaInnerWindow, rgbaInnerWindow.Size(), 0.0, 0.0, Imgproc.InterNearest); rgbaInnerWindow.Release(); break; case ImageManipulationsActivity.VIEW_MODE_POSTERIZE: /* * Imgproc.cvtColor(rgbaInnerWindow, mIntermediateMat, Imgproc.COLOR_RGBA2RGB); * Imgproc.pyrMeanShiftFiltering(mIntermediateMat, mIntermediateMat, 5, 50); * Imgproc.cvtColor(mIntermediateMat, rgbaInnerWindow, Imgproc.COLOR_RGB2RGBA); */ rgbaInnerWindow = rgba.Submat(top, top + height, left, left + width); Imgproc.Canny(rgbaInnerWindow, mIntermediateMat, 80, 90); rgbaInnerWindow.SetTo(new Scalar(0, 0, 0, 255), mIntermediateMat); Core.ConvertScaleAbs(rgbaInnerWindow, mIntermediateMat, 1.0 / 16, 0); Core.ConvertScaleAbs(mIntermediateMat, rgbaInnerWindow, 16, 0); rgbaInnerWindow.Release(); break; } return(rgba); }