public static CannyTextureAnalysisResult AutoCannyTextureAnalysis(Image <Gray, Byte> argImage, double[] threshold1, double[] threshold2, int factorBetweenMinAndMax = 3)
{
Image <Gray, Byte> cannyImg = new Image <Gray, byte>(argImage.Size);
CannyTextureAnalysisResult bestCannyTextureAnalysisResult = null;
double bestCannyTextureAnalysisResultValue = 0;
foreach (var singleThresholdValue1 in threshold1)
{
foreach (var singleThresholdValue2 in threshold2)
{
cannyImg = argImage.Canny(singleThresholdValue1, singleThresholdValue2);
CannyTextureAnalysisResult tempCannyTextureAnalysisResult = new CannyTextureAnalysisResult(cannyImg, string.Format("Threshold1/2 = {0:D} {1:D}", (int)singleThresholdValue1, (int)singleThresholdValue2));
float sum = 0, min = tempCannyTextureAnalysisResult.Data[0], max = min;
foreach (var i in tempCannyTextureAnalysisResult.Data)
{
sum += i;
if (i > max)
{
max = i;
}
if (i < min)
{
min = i;
}
}
double ave = (double)sum / tempCannyTextureAnalysisResult.Data.Length;
if (max / ave > factorBetweenMinAndMax && factorBetweenMinAndMax != 0)
{
return(tempCannyTextureAnalysisResult);
}
if (max / ave > bestCannyTextureAnalysisResultValue)
{
bestCannyTextureAnalysisResultValue = max / ave;
bestCannyTextureAnalysisResult = tempCannyTextureAnalysisResult;
}
}
}
if (bestCannyTextureAnalysisResult == null)
{
throw new LogicErrorException();
}
return(bestCannyTextureAnalysisResult);
}
public static void Debug1()
{
string debugPath = Environment.CurrentDirectory + Path.DirectorySeparatorChar + "DEBUG" + Path.DirectorySeparatorChar + "DEBUG3.jpg";
//LbpTextureAnalysisResult textureResult = Cv.LbpTextureAnalysis(debugPath);
Image <Rgb, Byte> rawImage = new Image <Rgb, byte>(debugPath);
Image <Rgb, Byte> rawimage = rawImage.Resize(480, 240, Inter.Linear);
double[] threshold1 = new double[]
{
200
};
double[] threshold2 = new double[]
{
200, 300, 400
};
CannyTextureAnalysisResult textureAnalysisResult = Cv.AutoCannyTextureAnalysis(rawimage, threshold1, threshold2, 0);
ZedGraphForm tempZedGraphForm = new ZedGraphForm(textureAnalysisResult.Data);
tempZedGraphForm.Show();
MessageBox.Show(textureAnalysisResult.Info);
//ShowImg(textureAnalysisResult.Img);
}
private void buttonSample_Click(object sender, EventArgs e)
{
/*
* Image tempImage = videoSourcePlayer.GetCurrentVideoFrame();
* string tempPath = _tempFileManager.AddTempFile(tempImage);
* TextureAnalysisResult textureResult = Cv.TextureAnalysis(tempPath);
* FindCuttingPointResult cuttingPointResult = Cv.FindCuttingPoint(textureResult, Cv.FindCuttingPointMode.MaximumMethod);
* Bitmap resultImage = textureResult.img.Resize(pictureBox.Width, pictureBox.Height, Inter.Linear, true).Bitmap;
*
* Bitmap newBitmap = new Bitmap(resultImage.Width, resultImage.Height);
* Graphics g = Graphics.FromImage(newBitmap);
* g.DrawImage(resultImage, 0, 0);
* for (int i = 0; i < cuttingPointResult.Edges.Count; i++)
* {
* float location = (float)cuttingPointResult.Edges[i] / cuttingPointResult.Accuracy * newBitmap.Width;
* g.DrawLine(new Pen(Color.Red, 4), location, 0 * newBitmap.Height, location, 1 * newBitmap.Height);
* }
* g.Dispose();
*
* pictureBox.Image = newBitmap;
*/
string tempPath = VideoSourceDevice.GetCurrentPicturePath();
Image <Rgb, Byte> rawImage = new Image <Rgb, byte>(tempPath);
double[] threshold1 = new double[]
{
200
};
double[] threshold2 = new double[]
{
200, 300, 400
};
CannyTextureAnalysisResult textureAnalysisResult = Cv.AutoCannyTextureAnalysis(rawImage, threshold1, threshold2, 0);
ZedGraphForm tempZedGraphForm = new ZedGraphForm(textureAnalysisResult.Data);
tempZedGraphForm.Show();
MessageBox.Show(textureAnalysisResult.Info);
}
private void buttonSample_Click(object sender, EventArgs e)
{
Image <Rgb, Byte> rawImage;
string tempPath = VideoSourceDevice.GetCurrentPicturePath();
try
{
rawImage = new Image <Rgb, byte>(tempPath);
}
catch (Exception exception)
{
Console.WriteLine(exception);
return;
}
double[] threshold1 = new double[]
{
200
};
double[] threshold2 = new double[]
{
200, 300, 400
};
CannyTextureAnalysisResult textureAnalysisResult = Cv.AutoCannyTextureAnalysis(rawImage, threshold1, threshold2, 0);
float diff = textureAnalysisResult.Diff;
/*
* ZedGraphForm tempGraphForm = new ZedGraphForm(textureAnalysisResult.Data);
* tempGraphForm.Show();
*/
Debug.ShowImg(textureAnalysisResult.Img);
textBoxConsole.AppendText("Center: " + textureAnalysisResult.Center + Environment.NewLine);
// if center is close to 0.5, it means the car direction is nearly towards the path.
float threadhold = 0.05f;
if (Math.Abs(diff) > threadhold)
{
if (diff > threadhold)
{
if (_previousDiff < -threadhold)
{
Arduino.GetInstance().Send(MotorDirection.Forward, 35, MotorDirection.Backward, 35, 200);
}
else
{
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Backward, 75, 200);
}
}
else if (diff < -threadhold)
{
if (_previousDiff > threadhold)
{
Arduino.GetInstance().Send(MotorDirection.Backward, 35, MotorDirection.Forward, 35, 200);
}
else
{
Arduino.GetInstance().Send(MotorDirection.Backward, 75, MotorDirection.Forward, 75, 200);
}
}
}
else
{
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Forward, 75, 200);
}
_previousDiff = diff;
}
private static void G1T1Loop()
{
Image <Rgb, Byte> rawImage;
string tempPath = VideoSourceDevice.GetCurrentPicturePath();
try
{
rawImage = new Image <Rgb, byte>(tempPath);
}
catch (Exception exception)
{
Console.WriteLine(exception);
return;
}
double[] threshold1 = new double[]
{
200
};
double[] threshold2 = new double[]
{
200, 300, 400
};
CannyTextureAnalysisResult textureAnalysisResult = Cv.AutoCannyTextureAnalysis(rawImage, threshold1, threshold2, 0);
float center = textureAnalysisResult.Center;
float diff = textureAnalysisResult.Diff;
// if center is close to 0.5, it means the car direction is nearly towards the path.
float threadhold = 0.02f;
if (Math.Abs(diff) > threadhold)
{
if (diff > threadhold)
{
if (_previousDiff < -threadhold)
{
Arduino.GetInstance().Send(MotorDirection.Forward, 35, MotorDirection.Backward, 35, 200);
}
else
{
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Backward, 75, 200);
}
}
else if (diff < -threadhold)
{
if (_previousDiff > threadhold)
{
Arduino.GetInstance().Send(MotorDirection.Backward, 35, MotorDirection.Forward, 35, 200);
}
else
{
Arduino.GetInstance().Send(MotorDirection.Backward, 75, MotorDirection.Forward, 75, 200);
}
}
}
else
{
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Forward, 75, 200);
}
_previousDiff = diff;
}
