private void tmpDrawBoxes(ref IplImage gimg)
{
IplImage img8uc3 = new IplImage(gimg.Size, BitDepth.U8, 3);
Cv.CvtColor(gimg, img8uc3, ColorConversion.GrayToBgr);
int count = TargetList.Count;
for (int i = 0; i < count; i++)
{
sMarkerInfo s = new sMarkerInfo();
s = (sMarkerInfo)TargetList[i];
Cv.DrawLine(img8uc3, new CvPoint((int)s.corner[0].X, (int)s.corner[0].Y), new CvPoint((int)s.corner[1].X, (int)s.corner[1].Y), Cv.RGB(255, 0, 0), 10);
Cv.DrawLine(img8uc3, new CvPoint((int)s.corner[1].X, (int)s.corner[1].Y), new CvPoint((int)s.corner[2].X, (int)s.corner[2].Y), Cv.RGB(255, 0, 0), 10);
Cv.DrawLine(img8uc3, new CvPoint((int)s.corner[2].X, (int)s.corner[2].Y), new CvPoint((int)s.corner[3].X, (int)s.corner[3].Y), Cv.RGB(255, 0, 0), 10);
Cv.DrawLine(img8uc3, new CvPoint((int)s.corner[0].X, (int)s.corner[0].Y), new CvPoint((int)s.corner[3].X, (int)s.corner[3].Y), Cv.RGB(255, 0, 0), 10);
}
IplImage timg = new IplImage(new CvSize(800, 600), BitDepth.U8, 3);
Cv.Resize(img8uc3, timg);
Cv.ShowImage("contours", timg);
img8uc3.ReleaseData();
timg.ReleaseData();
/*
if (contours != null)
{
Cv.DrawContours(img8uc3, contours, Cv.RGB(250, 0, 0), Cv.RGB(0, 0, 250), 1, 2, LineType.Link8);
}
IplImage timg = new IplImage(new CvSize(800, 600), BitDepth.U8, 3);
Cv.Resize(img8uc3, timg);
Cv.ShowImage("contours", timg);
img8uc3.ReleaseData();
timg.ReleaseData();
* */
}
private void FindMarkerInContour(ref CvSeq<CvPoint> contours, ref CvMemStorage storage)
{
CvSeq<CvPoint> stpt = contours;
for (CvSeq<CvPoint> s = contours; s != null; s = s.HNext)
{
if (s.Total >= 4)
{
CvRect rect = Cv.BoundingRect(s);
double d = Math.Sqrt((double)(rect.Height * rect.Width));
double d_th = 12;
double approx_param = 0.1;
//최대길이가 12픽셀 이하인 것들은 제외
if (d <= d_th) continue;
CvMemStorage storage3 = new CvMemStorage(0);
CvSeq<CvPoint> ss = Cv.ApproxPoly(s, s.HeaderSize, storage3, ApproxPolyMethod.DP, d * approx_param, false);
//단순화 결과 4각형인 것들만 통과
if (ss.Total == 4)
{
CvPoint2D32f center = new CvPoint2D32f(0, 0);
if (IsMarkerBoundingRect(ref ss, ref center))
{
sMarkerInfo mi = new sMarkerInfo();
mi.width = 0.141f;
mi.height = 0.141f;
mi.ID = -1;
mi.center = center;
mi.corner[0] = (CvPoint2D32f)Cv.GetSeqElem<CvPoint>(ss, 0);
mi.corner[1] = (CvPoint2D32f)Cv.GetSeqElem<CvPoint>(ss, 1);
mi.corner[2] = (CvPoint2D32f)Cv.GetSeqElem<CvPoint>(ss, 2);
mi.corner[3] = (CvPoint2D32f)Cv.GetSeqElem<CvPoint>(ss, 3);
TargetList.Add(mi);
}
}
ss.ClearSeq();
Cv.ReleaseMemStorage(storage3);
}
if (s.VNext != null)
{
CvSeq<CvPoint> tt = s.VNext;
FindMarkerInContour(ref tt, ref storage);
}
s.ClearSeq();
}
}
bool pointInPolygon(ref sMarkerInfo s1, ref sMarkerInfo s2)
{
bool[] b = new bool[4];
for (int x = 0; x < 4; x++)
{
b[x] = false;
}
for (int x = 0; x < s1.corner.Length; x++)
{
Point p = new Point((int)s1.corner[x].X, (int)s1.corner[x].Y);
Point p1, p2;
Point[] poly = new Point[4];
for (int k = 0; k < 4; k++)
{
poly[k] = new Point((int)s2.corner[k].X, (int)s2.corner[k].Y);
}
bool inside = false;
var oldPoint = new Point(
poly[poly.Length - 1].X, poly[poly.Length - 1].Y);
for (int i = 0; i < poly.Length; i++)
{
var newPoint = new Point(poly[i].X, poly[i].Y);
if (newPoint.X > oldPoint.X)
{
p1 = oldPoint;
p2 = newPoint;
}
else
{
p1 = newPoint;
p2 = oldPoint;
}
if ((newPoint.X < p.X) == (p.X <= oldPoint.X)
&& (p.Y - (long)p1.Y) * (p2.X - p1.X)
< (p2.Y - (long)p1.Y) * (p.X - p1.X))
{
inside = !inside;
}
oldPoint = newPoint;
}
b[x] = inside;
}
int num = 0;
for (int x = 0; x < 4; x++)
{
if (b[x]) num++;
}
if (num >= 3)
return true;
else
return false;
}
private void ExtractMakerImage(ref IplImage src, ref IplImage dst, ref sMarkerInfo mi)
{
float ignoring_margin = 0.0f;
CvPoint2D32f[] dest_corner = new CvPoint2D32f[4];
dest_corner[0] = new CvPoint2D32f(-ignoring_margin, -ignoring_margin);
dest_corner[1] = new CvPoint2D32f(-ignoring_margin, dst.Height + ignoring_margin);
dest_corner[2] = new CvPoint2D32f(dst.Width + ignoring_margin, dst.Height + ignoring_margin);
dest_corner[3] = new CvPoint2D32f(dst.Width + ignoring_margin, -ignoring_margin);
CvMat transform_matrix = Cv.CreateMat(3, 3, MatrixType.F32C1);
Cv.GetPerspectiveTransform(mi.corner, dest_corner, out transform_matrix);
Cv.WarpPerspective(src, dst, transform_matrix);
Cv.ReleaseMat(transform_matrix);
}