//輪郭抽出して中心座標取得
Point GetCenterPointofLED(Mat grayImage)
{
OpenCvSharp.CPlusPlus.Point centerPoint = new OpenCvSharp.CPlusPlus.Point();
IplImage grayIpl = grayImage.ToIplImage().Clone();
IplImage calibIpl = new IplImage(grayIpl.Size, BitDepth.U8, 3);
//中心の検出
CvBlobs blobs = new CvBlobs();
blobs.Label(grayIpl);
//blobs.FilterByArea(20, 1500);
CvBlob blob = blobs.LargestBlob();
try
{
if (blob != null)
{
centerPoint = new Point(blob.Centroid.X, blob.Centroid.Y);
blobs.RenderBlobs(grayIpl, calibIpl);
}
}catch {
Console.WriteLine("eroor:counter");
}
this.CalibrationImage = new Mat(calibIpl);
Console.WriteLine(centerPoint);
return(centerPoint);
}
public static void Blob_CvBlobs(int filterArea = 0)
{
Glb.DrawMatAndHist0(Glb.matSrc);
var matThr = Glb.matSrc.CvtColor(ColorConversionCodes.BGR2GRAY).Threshold(128, 255, ThresholdTypes.Otsu);
var blobs = new CvBlobs();
Glb.TimerStart();
int cnt = blobs.Label(matThr);
Console.WriteLine("=> Label Time: {0}ms", Glb.TimerStop());
blobs.FilterByArea(filterArea, int.MaxValue);
var matDsp = new Mat(Glb.matSrc.Rows, Glb.matSrc.Cols, MatType.CV_8UC3);
matDsp.SetTo(Scalar.Black);
Glb.TimerStart();
MyBlobRenderer.RenderBlobs(blobs, matDsp);
Console.WriteLine("=> Render Time: {0}ms", Glb.TimerStop());
Console.WriteLine("=> Blob Count: {0}", blobs.Count);
Glb.DrawMatAndHist1(matThr);
Glb.DrawMatAndHist2(matDsp);
matThr.Dispose();
matDsp.Dispose();
}
public IplImage BlobContourImage(IplImage src)
{
blobcontour = new IplImage(src.Size, BitDepth.U8, 3);
bin = this.Binary(src, 50);
CvBlobs blobs = new CvBlobs();
blobs.Label(bin);
foreach (KeyValuePair <int, CvBlob> item in blobs)
{
CvBlob b = item.Value;
CvContourChainCode cc = b.Contour;
cc.Render(blobcontour);
CvContourPolygon ex_polygon = cc.ConvertToPolygon();
foreach (CvPoint p in ex_polygon)
{
Cv.DrawCircle(blobcontour, p, 1, CvColor.Blue, -1);
}
for (int i = 0; i < b.InternalContours.Count; i++)
{
CvContourPolygon in_polygon = b.InternalContours[i].ConvertToPolygon();
foreach (CvPoint p in in_polygon)
{
Cv.DrawCircle(blobcontour, p, 1, CvColor.Red, -1);
}
}
}
return(blobcontour);
}
/// <summary>
/// Gets the largest blob
/// </summary>
/// <param name="imgSrc"></param>
/// <param name="imgRender"></param>
private void FilterByMaximumBlob(IplImage imgSrc, IplImage imgDst)
{
CvBlobs blobs = new CvBlobs();
imgDst.Zero();
blobs.Label(imgSrc);
CvBlob max = blobs.GreaterBlob();
if (max == null)
{
return;
}
blobs.FilterByArea(max.Area, max.Area);
blobs.FilterLabels(imgDst);
}
private static void FilterByMaximalBlob(IplImage imgSrc, IplImage imgDst)
{
using (CvBlobs blobs = new CvBlobs())
using (IplImage imgLabelData = new IplImage(imgSrc.Size, CvBlobLib.DepthLabel, 1))
{
imgDst.Zero();
blobs.Label(imgSrc, imgLabelData);
CvBlob max = blobs[blobs.GreaterBlob()];
if (max == null)
{
return;
}
blobs.FilterByArea(max.Area, max.Area);
blobs.FilterLabels(imgLabelData, imgDst);
}
}
public Blob()
{
using (var imgSrc = new IplImage(FilePath.Image.Shapes, LoadMode.Color))
using (var imgBinary = new IplImage(imgSrc.Size, BitDepth.U8, 1))
using (var imgRender = new IplImage(imgSrc.Size, BitDepth.U8, 3))
using (var imgContour = new IplImage(imgSrc.Size, BitDepth.U8, 3))
using (var imgPolygon = new IplImage(imgSrc.Size, BitDepth.U8, 3))
{
Cv.CvtColor(imgSrc, imgBinary, ColorConversion.BgrToGray);
Cv.Threshold(imgBinary, imgBinary, 100, 255, ThresholdType.Binary);
CvBlobs blobs = new CvBlobs();
blobs.Label(imgBinary);
foreach (KeyValuePair<int, CvBlob> item in blobs)
{
CvBlob b = item.Value;
Console.WriteLine("{0} | Centroid:{1} Area:{2}", item.Key, b.Centroid, b.Area);
CvContourChainCode cc = b.Contour;
cc.Render(imgContour);
CvContourPolygon polygon = cc.ConvertToPolygon();
foreach (CvPoint p in polygon)
{
imgPolygon.Circle(p, 1, CvColor.Red, -1);
}
/*
CvPoint2D32f circleCenter;
float circleRadius;
GetEnclosingCircle(polygon, out circleCenter, out circleRadius);
imgPolygon.Circle(circleCenter, (int) circleRadius, CvColor.Green, 2);
*/
}
blobs.RenderBlobs(imgSrc, imgRender);
using (new CvWindow("render", imgRender))
using (new CvWindow("contour", imgContour))
using (new CvWindow("polygon vertices", imgPolygon))
{
Cv.WaitKey(0);
}
}
}
public static IplImage test(IplImage target)
{
CvBlobs blobs = new CvBlobs();
IplImage lableImg = new IplImage(target.Size, CvBlobLib.DepthLabel, 1);
IplImage retImg = new IplImage(target.Size, BitDepth.U8, 1);
blobs.Label(target);
CvBlob max = blobs.GreaterBlob();
if (max == null)
{
return(target);
}
blobs.FilterByArea(max.Area, max.Area);
blobs.FilterLabels(retImg);
return(retImg);
}
public Blob()
{
using (var imgSrc = new IplImage(FilePath.Image.Shapes, LoadMode.Color))
using (var imgBinary = new IplImage(imgSrc.Size, BitDepth.U8, 1))
using (var imgRender = new IplImage(imgSrc.Size, BitDepth.U8, 3))
using (var imgContour = new IplImage(imgSrc.Size, BitDepth.U8, 3))
using (var imgPolygon = new IplImage(imgSrc.Size, BitDepth.U8, 3))
{
Cv.CvtColor(imgSrc, imgBinary, ColorConversion.BgrToGray);
Cv.Threshold(imgBinary, imgBinary, 100, 255, ThresholdType.Binary);
CvBlobs blobs = new CvBlobs();
blobs.Label(imgBinary);
foreach (KeyValuePair <int, CvBlob> item in blobs)
{
CvBlob b = item.Value;
Console.WriteLine("{0} | Centroid:{1} Area:{2}", item.Key, b.Centroid, b.Area);
CvContourChainCode cc = b.Contour;
cc.Render(imgContour);
CvContourPolygon polygon = cc.ConvertToPolygon();
foreach (CvPoint p in polygon)
{
imgPolygon.Circle(p, 1, CvColor.Red, -1);
}
/*
* CvPoint2D32f circleCenter;
* float circleRadius;
* GetEnclosingCircle(polygon, out circleCenter, out circleRadius);
* imgPolygon.Circle(circleCenter, (int) circleRadius, CvColor.Green, 2);
*/
}
blobs.RenderBlobs(imgSrc, imgRender);
using (new CvWindow("render", imgRender))
using (new CvWindow("contour", imgContour))
using (new CvWindow("polygon vertices", imgPolygon))
{
Cv.WaitKey(0);
}
}
}
// Update is called once per frame
void Update()
{
IplImage frame = Cv.QueryFrame(capture);
imgBinary = new IplImage(frame.Size, BitDepth.U8, 1);
imgLabel = new IplImage(frame.Size, BitDepth.F32, 1);
imgRender = new IplImage(frame.Size, BitDepth.U8, 3);
imgContour = new IplImage(frame.Size, BitDepth.U8, 3);
imgPolygon = new IplImage(frame.Size, BitDepth.U8, 3);
Color[] cols = new Color[texture.width * texture.height];
Cv.CvtColor(frame, imgBinary, ColorConversion.BgrToGray);
Cv.Threshold(imgBinary, imgBinary, 100, 255, ThresholdType.Binary);
CvBlobs blobs = new CvBlobs();
uint result = blobs.Label(imgBinary, imgLabel);
foreach (KeyValuePair <uint, CvBlob> item in blobs)
{
CvBlob b = item.Value;
//Console.WriteLine ("{0} | Centroid:{1} Area:{2}", item.Key, b.Centroid, b.Area);
CvContourChainCode cc = b.Contour;
cc.RenderContourChainCode(imgContour);
CvContourPolygon polygon = cc.ConvertChainCodesToPolygon();
foreach (CvPoint p in polygon)
{
imgPolygon.Circle(p, 1, CvColor.Red, -1);
}
}
blobs.RenderBlobs(imgLabel, frame, imgRender);
for (int y = 0; y < texture.height; y++)
{
for (int x = 0; x < texture.width; x++)
{
CvColor col = imgRender.Get2D(y, x);
cols[y * texture.width + x] = new Color(col.R / 255.0f, col.G / 255.0f, col.B / 255.0f, 1.0f);
}
}
// int t2 = System.Environment.TickCount;
texture.SetPixels(cols);
//int t3 = System.Environment.TickCount;
//Debug.Log("t2-t1=" + (t2 - t1) + " t3-t2=" + (t3 - t2));
texture.Apply();
}
public BlobOld()
{
using (IplImage imgSrc = new IplImage(Const.ImageShapes, LoadMode.Color))
using (IplImage imgBinary = new IplImage(imgSrc.Size, BitDepth.U8, 1))
using (IplImage imgLabel = new IplImage(imgSrc.Size, BitDepth.F32, 1))
using (IplImage imgRender = new IplImage(imgSrc.Size, BitDepth.U8, 3))
using (IplImage imgContour = new IplImage(imgSrc.Size, BitDepth.U8, 3))
using (IplImage imgPolygon = new IplImage(imgSrc.Size, BitDepth.U8, 3))
{
Cv.CvtColor(imgSrc, imgBinary, ColorConversion.BgrToGray);
Cv.Threshold(imgBinary, imgBinary, 100, 255, ThresholdType.Binary);
using (CvBlobs blobs = new CvBlobs())
{
uint result = blobs.Label(imgBinary, imgLabel);
foreach (KeyValuePair<uint, CvBlob> item in blobs)
{
CvBlob b = item.Value;
Console.WriteLine("{0} | Centroid:{1} Area:{2}", item.Key, b.Centroid, b.Area);
CvContourChainCode cc = b.Contour;
cc.RenderContourChainCode(imgContour);
CvContourPolygon polygon = cc.ConvertChainCodesToPolygon();
foreach (CvPoint p in polygon)
{
imgPolygon.Circle(p, 1, CvColor.Red, -1);
}
}
blobs.RenderBlobs(imgLabel, imgSrc, imgRender);
using (new CvWindow("render", imgRender))
using (new CvWindow("contour", imgContour))
using (new CvWindow("polygon vertices", imgPolygon))
{
Cv.WaitKey(0);
}
}
}
}
public static void CarbonPaper(int x1 = 100, int y1 = 300, int x2 = 1100, int y2 = 1600, ThresholdTypes thrType = ThresholdTypes.Binary, int thr = 128, int filterArea = 30)
{
// 1. convert to grayscale
var matGray = Glb.matSrc.CvtColor(ColorConversionCodes.BGR2GRAY);
// 2. roi crop
Rect roi = new Rect(x1, y1, x2 - x1 + 1, y2 - y1 + 1);
var matGrayDrawRoi = Glb.matSrc.Clone();
matGrayDrawRoi.Rectangle(roi, Scalar.Yellow);
Glb.DrawMat0(matGrayDrawRoi);
var matRoi = new Mat(matGray, roi);
Glb.DrawHist0(matRoi);
// 3. threshold
var matThr = matRoi.Threshold(thr, 255, thrType);
Glb.DrawMatAndHist1(matThr);
// 4. blob with area filter
CvBlobs blobs = new CvBlobs();
blobs.Label(matThr);
blobs.FilterByArea(filterArea, int.MaxValue);
// 5. display blob
var matDsp = new Mat(matRoi.Rows, matRoi.Cols, MatType.CV_8UC3);
matDsp.SetTo(Scalar.Black);
blobs.RenderBlobs(matDsp, matDsp, RenderBlobsModes.Color);
Glb.DrawMatAndHist2(matDsp);
Console.WriteLine("blobs.cnt = {0}", blobs.Count);
matGray.Dispose();
matGrayDrawRoi.Dispose();
matRoi.Dispose();
matThr.Dispose();
matDsp.Dispose();
}
public IplImage BlobImage(IplImage src)
{
blob = new IplImage(src.Size, BitDepth.U8, 3);
bin = this.Binary(src, 50);
CvBlobs blobs = new CvBlobs();
blobs.Label(bin);
blobs.RenderBlobs(src, blob);
foreach (KeyValuePair <int, CvBlob> item in blobs)
{
CvBlob b = item.Value;
Cv.PutText(blob, Convert.ToString(b.Label), b.Centroid, new CvFont(FontFace.HersheyComplex, 1, 1), CvColor.Red);
}
return(blob);
}
public Blob()
{
using (IplImage imgSrc = new IplImage(Const.ImageShapes, LoadMode.Color))
using (IplImage imgBinary = new IplImage(imgSrc.Size, BitDepth.U8, 1))
using (IplImage imgLabel = new IplImage(imgSrc.Size, BitDepth.F32, 1))
using (IplImage imgRender = new IplImage(imgSrc.Size, BitDepth.U8, 3))
using (IplImage imgContour = new IplImage(imgSrc.Size, BitDepth.U8, 3))
using (IplImage imgPolygon = new IplImage(imgSrc.Size, BitDepth.U8, 3))
{
Cv.CvtColor(imgSrc, imgBinary, ColorConversion.BgrToGray);
Cv.Threshold(imgBinary, imgBinary, 100, 255, ThresholdType.Binary);
CvBlobs blobs = new CvBlobs();
blobs.Label(imgBinary);
foreach (KeyValuePair <int, CvBlob> item in blobs)
{
CvBlob b = item.Value;
Console.WriteLine("{0} | Centroid:{1} Area:{2}", item.Key, b.Centroid, b.Area);
CvContourChainCode cc = b.Contour;
cc.Render(imgContour);
CvContourPolygon polygon = cc.ConvertToPolygon();
foreach (CvPoint p in polygon)
{
imgPolygon.Circle(p, 1, CvColor.Red, -1);
}
}
blobs.RenderBlobs(imgSrc, imgRender);
using (new CvWindow("render", imgRender))
using (new CvWindow("contour", imgContour))
using (new CvWindow("polygon vertices", imgPolygon))
{
Cv.WaitKey(0);
}
}
}
/// <summary>
/// Label the connected parts of a binary image. (cvLabel)
/// </summary>
/// <param name="img">Input binary image (depth=IPL_DEPTH_8U and num. channels=1).</param>
/// <param name="blobs">List of blobs.</param>
/// <returns>Number of pixels that has been labeled.</returns>
public static int Label(Mat img, CvBlobs blobs)
{
if (img == null)
throw new ArgumentNullException(nameof(img));
if (blobs == null)
throw new ArgumentNullException(nameof(blobs));
return blobs.Label(img);
}
//輪郭抽出して中心座標取得
Point GetCenterPointofLED(Mat grayImage)
{
OpenCvSharp.CPlusPlus.Point centerPoint = new OpenCvSharp.CPlusPlus.Point();
IplImage grayIpl = grayImage.ToIplImage().Clone();
IplImage calibIpl = new IplImage(grayIpl.Size, BitDepth.U8, 3);
//中心の検出
CvBlobs blobs = new CvBlobs();
blobs.Label(grayIpl);
//blobs.FilterByArea(20, 1500);
CvBlob blob = blobs.LargestBlob();
try
{
if (blob != null)
{
centerPoint = new Point(blob.Centroid.X, blob.Centroid.Y);
blobs.RenderBlobs(grayIpl, calibIpl);
}
}catch{
Console.WriteLine("eroor:counter");
}
this.CalibrationImage = new Mat(calibIpl);
Console.WriteLine(centerPoint);
return centerPoint;
}
// 別スレッド処理（キャプチャー）
private void worker_DoWork(object sender, DoWorkEventArgs e)
{
BackgroundWorker bw = (BackgroundWorker)sender;
Stopwatch sw = new Stopwatch();
string str;
id = 0;
//PID送信用UDP
//バインドするローカルポート番号
// FSI_PID_DATA pid_data = new FSI_PID_DATA();
int localPort = mmFsiUdpPortMT3PV;
System.Net.Sockets.UdpClient udpc2 = null;;
/* try
* {
* udpc2 = new System.Net.Sockets.UdpClient(localPort);
*
* }
* catch (Exception ex)
* {
* //匿名デリゲートで表示する
* this.Invoke(new dlgSetString(ShowRText), new object[] { richTextBox1, ex.ToString() });
* }
*/
//videoInputオブジェクト
const int DeviceID = 0; // 0; // 3 (pro), 4(piccolo) 7(DMK)
const int CaptureFps = 30; // 30
int interval = (int)(1000 / CaptureFps / 10);
const int CaptureWidth = 640;
const int CaptureHeight = 480;
// 画像保存枚数
int mmFsiPostRec = 60;
int save_counter = mmFsiPostRec;
using (VideoInput vi = new VideoInput())
{
vi.SetIdealFramerate(DeviceID, CaptureFps);
vi.SetupDevice(DeviceID, CaptureWidth, CaptureHeight);
int width = vi.GetWidth(DeviceID);
int height = vi.GetHeight(DeviceID);
using (IplImage img = new IplImage(width, height, BitDepth.U8, 3))
using (IplImage img_dark8 = Cv.LoadImage(@"C:\piccolo\MT3V_dark.bmp", LoadMode.GrayScale))
//using (IplImage img_dark = new IplImage(width, height, BitDepth.U8, 3))
using (IplImage img_mono = new IplImage(width, height, BitDepth.U8, 1))
using (IplImage img2 = new IplImage(width, height, BitDepth.U8, 1))
// using (Bitmap bitmap = new Bitmap(width, height, PixelFormat.Format24bppRgb))
using (CvFont font = new CvFont(FontFace.HersheyComplex, 0.45, 0.45))
//using (CvWindow window0 = new CvWindow("FIFO0", WindowMode.AutoSize))
{
//this.Size = new Size(width + 12, height + 148);
double min_val, max_val;
CvPoint min_loc, max_loc;
int size = 15;
int size2x = size / 2;
int size2y = size / 2;
int crop = 20;
double sigma = 3;
long elapsed0 = 0, elapsed1 = 0;
double framerate0 = 0, framerate1 = 0;
double alfa_fr = 0.99;
sw.Start();
while (bw.CancellationPending == false)
{
if (vi.IsFrameNew(DeviceID))
{
DateTime dn = DateTime.Now; //取得時刻
vi.GetPixels(DeviceID, img.ImageData, false, true);
// 画面time表示
str = String.Format("Wide ID:{0:D2} ", id) + dn.ToString("yyyyMMdd_HHmmss_fff");// +String.Format(" ({0,000:F2},{1,000:F2}) ({2,000:0},{3,000:0})({4,0:F1})", gx, gy, max_loc.X, max_loc.Y, max_val);
img.PutText(str, new CvPoint(10, 475), font, new CvColor(0, 100, 40));
Cv.CvtColor(img, img_mono, ColorConversion.BgrToGray);
Cv.Sub(img_mono, img_dark8, imgdata.img); // dark減算
imgdata.id = ++id;
imgdata.t = dn;
imgdata.ImgSaveFlag = !(ImgSaveFlag != 0); //int->bool変換
if (fifo.Count == MaxFrame - 1)
{
fifo.EraseLast();
}
fifo.InsertFirst(imgdata);
#region 位置検出1//MinMaxLoc
/*// 位置検出
* Cv.Smooth(imgdata.img, img2, SmoothType.Gaussian, size, 0, sigma, 0);
* CvRect rect;
* if (PvMode == MyDETECT)
* {
* rect = new CvRect( (int)(gx+0.5) - size, (int)(gy+0.5) - size, size*2, size*2);
* Cv.SetImageROI(img2, rect);
* Cv.MinMaxLoc(img2, out min_val, out max_val, out min_loc, out max_loc, null);
* Cv.ResetImageROI(img2);
* max_loc.X += (int)(gx + 0.5) - size; // 基準点が(1,1)のため＋１
* max_loc.Y += (int)(gy + 0.5) - size;
* }
* else
* {
* rect = new CvRect(crop, crop, width - (crop + crop), height - (crop + crop));
* Cv.SetImageROI(img2, rect);
* Cv.MinMaxLoc(img2, out min_val, out max_val, out min_loc, out max_loc, null);
* Cv.ResetImageROI(img2);
* max_loc.X += crop; // 基準点が(1,1)のため＋１
* max_loc.Y += crop;
* }
* window0.ShowImage(img2);
*
* double m00, m10, m01;
* size2x = size2y = size / 2;
* if (max_loc.X - size2x < 0) size2x = max_loc.X;
* if (max_loc.Y - size2y < 0) size2y = max_loc.Y;
* if (max_loc.X + size2x >= width ) size2x = width -max_loc.X -1;
* if (max_loc.Y + size2y >= height) size2y = height -max_loc.Y -1;
* rect = new CvRect(max_loc.X - size2x, max_loc.Y - size2y, size, size);
* CvMoments moments;
* Cv.SetImageROI(img2, rect);
* Cv.Moments(img2, out moments, false);
* Cv.ResetImageROI(img2);
* m00 = Cv.GetSpatialMoment(moments, 0, 0);
* m10 = Cv.GetSpatialMoment(moments, 1, 0);
* m01 = Cv.GetSpatialMoment(moments, 0, 1);
* gx = max_loc.X - size2x + m10 / m00;
* gy = max_loc.Y - size2y + m01 / m00;
*/
#endregion
#region 位置検出2 //Blob
Cv.Threshold(imgdata.img, img2, threshold_blob, 255, ThresholdType.Binary); //2ms
blobs.Label(img2, imgLabel); //1.4ms
max_label = blobs.GreaterBlob();
elapsed1 = sw.ElapsedTicks; //1.3ms
if (blobs.Count > 1 && gx >= 0)
{
uint min_area = (uint)(threshold_min_area * blobs[max_label].Area);
blobs.FilterByArea(min_area, uint.MaxValue); //0.001ms
// 最適blobの選定（area大 かつ 前回からの距離小）
double x = blobs[max_label].Centroid.X;
double y = blobs[max_label].Centroid.Y;
uint area = blobs[max_label].Area;
//CvRect rect;
distance_min = ((x - gx) * (x - gx) + (y - gy) * (y - gy)); //Math.Sqrt()
foreach (var item in blobs)
{
//Console.WriteLine("{0} | Centroid:{1} Area:{2}", item.Key, item.Value.Centroid, item.Value.Area);
x = item.Value.Centroid.X;
y = item.Value.Centroid.Y;
//rect = item.Value.Rect;
distance = ((x - gx) * (x - gx) + (y - gy) * (y - gy)); //将来はマハラノビス距離
if (distance < distance_min)
{
d_val = (item.Value.Area) / max_area;
if (distance <= 25) //近距離(5pix)
{
if (d_val >= 0.4) //&& d_val <= 1.2)
{
max_label = item.Key;
distance_min = distance;
}
}
else
{
if (d_val >= 0.8 && d_val <= 1.5)
{
max_label = item.Key;
distance_min = distance;
}
}
}
//w.WriteLine("{0} {1} {2} {3} {4}", dis, dv, i, item.Key, item.Value.Area);
}
//gx = x; gy = y; max_val = area;
}
if (max_label > 0)
{
maxBlob = blobs[max_label];
max_centroid = maxBlob.Centroid;
gx = max_centroid.X;
gy = max_centroid.Y;
max_area = maxBlob.Area;
if (this.States == SAVE)
{
Pid_Data_Send();
timerSavePostTime.Stop();
timerSaveMainTime.Stop();
timerSaveMainTime.Start();
}
}
else
{
gx = gy = 0;
max_area = 0;
}
#endregion
// 画面表示
str = String.Format("ID:{0:D2} ", id) + dn.ToString("yyyyMMdd_HHmmss_fff") + String.Format(" ({0,000:F2},{1,000:F2}) ({2,000:0},{3,000:0})({4,0:F1})", gx, gy, xoa, yoa, max_area);
if (imgdata.ImgSaveFlag)
{
str += " True";
}
img.PutText(str, new CvPoint(10, 20), font, new CvColor(0, 255, 100));
img.Circle(new CvPoint((int)gx, (int)gy), 10, new CvColor(255, 255, 100));
bw.ReportProgress(0, img);
// 処理速度
elapsed0 = sw.ElapsedTicks - elapsed1; // 1frameのticks
elapsed1 = sw.ElapsedTicks;
framerate0 = alfa_fr * framerate1 + (1 - alfa_fr) * (Stopwatch.Frequency / (double)elapsed0);
framerate1 = framerate0;
str = String.Format("fr time = {0}({1}){2:F1}", sw.Elapsed, id, framerate0); //," ", sw.ElapsedMilliseconds);
//匿名デリゲートで現在の時間をラベルに表示する
this.Invoke(new dlgSetString(ShowText), new object[] { textBox1, str });
//img.ToBitmap(bitmap);
//pictureBox1.Refresh();
}
Application.DoEvents();
Thread.Sleep(interval);
}
this.States = STOP;
this.Invoke(new dlgSetColor(SetColor), new object[] { ObsStart, this.States });
this.Invoke(new dlgSetColor(SetColor), new object[] { ObsEndButton, this.States });
vi.StopDevice(DeviceID);
//udpc2.Close();
}
}
}
/// <summary>
/// Label the connected parts of a binary image. (cvLabel)
/// </summary>
/// <param name="img">Input binary image (depth=IPL_DEPTH_8U and num. channels=1).</param>
/// <param name="blobs">List of blobs.</param>
/// <returns>Number of pixels that has been labeled.</returns>
public static int Label(IplImage img, CvBlobs blobs)
{
if (img == null)
throw new ArgumentNullException("img");
if (blobs == null)
throw new ArgumentNullException("blobs");
return blobs.Label(img);
}
/// <summary>
/// Takes blobs information based on colors in <see cref="hsv"/> list and then sends the info through UDP.
/// </summary>
/// <param name="sourceImage">Image in Mat format.</param>
/// <returns>Image in Mat format.</returns>
private Mat Renderer(Mat sourceImage)
{
Mat dstNoisy = src;
Mat dstClear = new Mat();
Mat dst = new Mat();
Mat element = Cv2.GetStructuringElement(MorphShapes.Rect, new Size(2 * MorphValue + 1, 2 * MorphValue + 1));
Cv2.Blur(dstNoisy, dstClear, new Size(9, 9));
Cv2.CvtColor(dstClear, dst, ColorConversionCodes.BGR2HSV); // Convert BGR to HSV.
Mat dstThreshed = new Mat();
Mat dstPreview = new Mat();
if (hsv.Count > 0)
{
int blobCount = 1;
bool theFirst = true;
foreach (int[] scal in hsv)
{
if (theFirst)
{
Cv2.InRange(dst, new Scalar(scal[0] - 10, scal[1], scal[3]), new Scalar(scal[0] + 10, scal[2], scal[4]), dstPreview);
theFirst = false;
}
else
{
Mat dstPreview2 = new Mat();
Cv2.InRange(dst, new Scalar(scal[0] - 10, scal[1], scal[3]), new Scalar(scal[0] + 10, scal[2], scal[4]), dstPreview2);
Cv2.AddWeighted(dstThreshed, 1.0, dstPreview2, 1.0, 0.0, dstPreview);
}
Cv2.InRange(dst, new Scalar(scal[0] - 10, scal[1], scal[3]), new Scalar(scal[0] + 10, scal[2], scal[4]), dstThreshed);
// Morphologic transformation to close the gaps inside the blob.
Cv2.MorphologyEx(src: dstThreshed,
dst: dstThreshed,
op: MorphTypes.Close,
element: element
);
blobDetection.Label(dstThreshed);
blobDetection.FilterByArea(MinBlobArea, MaxBlobArea);
blobDetection.RenderBlobs(dstThreshed, src);
CircleSegment[] circles = Cv2.HoughCircles(dstThreshed, HoughMethods.Gradient, 1, dstThreshed.Rows / 8);
// Creates all udp datagrams----------------------------------------------------
if (blobDetection.Count != 0)
{
for (int i = 0; i < blobDetection.Count; i++)
{
int processKey = blobDetection.ElementAt(i).Key;
udpDatagram_1 = "[$]tracking|id=" + data_id + "|label=" + blobCount + "|[$$]" + deviceName + ",[$$$]mesh,sample,";
for (int j = 0; j < blobDetection[processKey].Contour.ConvertToPolygon().Simplify(1).Count; j++)
{
if (orientation)
{
udpDatagram_1 += Math.Round((float)blobDetection[processKey].Contour.ConvertToPolygon().Simplify(1).ElementAt(j).X / dst.Cols, 4).ToString().Replace(',', '.');
udpDatagram_1 += "," + (1 - Math.Round((float)blobDetection[processKey].Contour.ConvertToPolygon().Simplify(1).ElementAt(j).Y / dst.Rows, 4)).ToString().Replace(',', '.');
udpDatagram_1 += ",";
}
else
{
udpDatagram_1 += (1 - Math.Round((float)blobDetection[processKey].Contour.ConvertToPolygon().Simplify(1).ElementAt(j).X / dst.Cols, 4)).ToString().Replace(',', '.');
udpDatagram_1 += "," + Math.Round((float)blobDetection[processKey].Contour.ConvertToPolygon().Simplify(1).ElementAt(j).Y / dst.Rows, 4).ToString().Replace(',', '.');
udpDatagram_1 += ",";
}
}
udpDatagram_1 += ";";
udpDatagram_2 = "[$]tracking|id=" + data_id + "|label=" + blobCount + "|[$$]" + deviceName + ",[$$$]area,";
udpDatagram_2 += "value," + blobDetection[processKey].Contour.ConvertToPolygon().Simplify(1).Area().ToString().Replace(',', '.') + ";";
udpDatagram_3 = "[$]tracking|id=" + data_id + "|label=" + blobCount + "|[$$]" + deviceName + ",[$$$]place,";
if (orientation)
{
udpDatagram_3 += "position," + (Math.Round(blobDetection[processKey].Centroid.X / dst.Cols, 3)).ToString().Replace(',', '.') + "," + (Math.Round(1 - (blobDetection[processKey].Centroid.Y / dst.Rows), 3)).ToString().Replace(',', '.') + ";";
}
else
{
udpDatagram_3 += "position," + (Math.Round(1 - (blobDetection[processKey].Centroid.X / dst.Cols), 3)).ToString().Replace(',', '.') + "," + (Math.Round(blobDetection[processKey].Centroid.Y / dst.Rows, 3)).ToString().Replace(',', '.') + ";";
}
udpDatagram_4 = "[$]tracking|id=" + data_id + "|label=" + blobCount + "|[$$]" + deviceName + ",[$$$]color,";
udpDatagram_4 += "hsv," + scal[0] + "-" + (scal[1] + scal[2]) / 2 + "-" + (scal[3] + scal[4]) / 2 + ";";
//Geometry
udpDatagram_5 = "[$]tracking|id=" + data_id + "|label=" + blobCount + "|[$$]" + deviceName + ",[$$$]form,geometry,";
CvContourPolygon poly = blobDetection[processKey].Contour.ConvertToPolygon();
double epsilon = 0.04 * Cv2.ArcLength(poly, true);
Point[] counterResult = Cv2.ApproxPolyDP(poly, epsilon, closed: true);
int contourSimple_counter = counterResult.Length;
string geometry = "";
switch (contourSimple_counter)
{
case 3:
geometry = "triangle";
break;
case 4:
Rect rect = Cv2.BoundingRect(poly);
float aspectRatio = 0;
if (rect.Y != 0)
{
aspectRatio = rect.X / rect.Y;
}
if (aspectRatio >= 0.95 && aspectRatio <= 1.05)
{
geometry = "square";
}
else
{
geometry = "rectangle";
}
break;
default:
geometry = "unidentified" + contourSimple_counter;
break;
}
udpDatagram_5 += geometry + ";";
if (BlobLabel)
{
Cv2.PutText(src, geometry, blobDetection[processKey].Centroid, HersheyFonts.HersheySimplex, 0.5, new Scalar(0, 255, 0), 2);
Cv2.PutText(src, "[" + scal[0] + ", " + ((scal[1] + scal[2]) / 2) + ", " + ((scal[3] + scal[4]) / 2) + "]", new Point(blobDetection[processKey].Centroid.X, blobDetection[processKey].Centroid.Y + 20), HersheyFonts.HersheySimplex, 0.45, new Scalar(0, 255, 0), 2);
}
udpDatagram_6 = "[$]tracking|id=" + data_id + "|label=" + blobCount + "|[$$]" + deviceName + ",[$$$]perimeter,value,";
udpDatagram_6 += blobDetection[processKey].Contour.Perimeter().ToString().Replace(',', '.') + ";";
// UDP sender---------------------------------------------------------------------
try
{
byte[] sendBytes_1 = Encoding.ASCII.GetBytes(udpDatagram_1);
byte[] sendBytes_2 = Encoding.ASCII.GetBytes(udpDatagram_2);
byte[] sendBytes_3 = Encoding.ASCII.GetBytes(udpDatagram_3);
byte[] sendBytes_4 = Encoding.ASCII.GetBytes(udpDatagram_4);
byte[] sendBytes_5 = Encoding.ASCII.GetBytes(udpDatagram_5);
byte[] sendBytes_6 = Encoding.ASCII.GetBytes(udpDatagram_6);
udpClient.Send(sendBytes_1, sendBytes_1.Length, IP_udp, Port_udp);
udpClient.Send(sendBytes_2, sendBytes_2.Length, IP_udp, Port_udp);
udpClient.Send(sendBytes_3, sendBytes_3.Length, IP_udp, Port_udp);
udpClient.Send(sendBytes_4, sendBytes_4.Length, IP_udp, Port_udp);
udpClient.Send(sendBytes_5, sendBytes_5.Length, IP_udp, Port_udp);
udpClient.Send(sendBytes_6, sendBytes_6.Length, IP_udp, Port_udp);
}
catch (Exception e)
{
Console.WriteLine(e.ToString());
}
udpDatagram_1 = "";
udpDatagram_2 = "";
udpDatagram_3 = "";
udpDatagram_4 = "";
blobCount++;
}
}
}
blobCount = 1;
}
// Same morphologic transformation but this time for the output image.
Cv2.MorphologyEx(src: dstPreview,
dst: dstPreview,
op: MorphTypes.Close,
element: element
);
return(dstPreview);
}
/// <summary>
/// ラベリングにより最大の面積の領域を残す
/// </summary>
/// <param name="imgSrc"></param>
/// <param name="imgRender"></param>
private void FilterByMaximalBlob(IplImage imgSrc, IplImage imgDst)
{
CvBlobs blobs = new CvBlobs();
imgDst.Zero();
blobs.Label(imgSrc);
CvBlob max = blobs.GreaterBlob();
if (max == null)
return;
blobs.FilterByArea(max.Area, max.Area);
blobs.FilterLabels(imgDst);
}
private void OnFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
double utcTime = (DateTime.UtcNow - new DateTime(1970, 1, 1)).TotalSeconds;
MultiSourceFrame multiSourceFrame = e.FrameReference.AcquireFrame();
using (ColorFrame colorFrame = multiSourceFrame.ColorFrameReference.AcquireFrame())
{
using (DepthFrame depthFrame = multiSourceFrame.DepthFrameReference.AcquireFrame())
{
if (colorFrame != null)
{
colorFrame.CopyConvertedFrameDataToArray(this.colorArray, ColorImageFormat.Bgra);
// System.Buffer.BlockCopy(this.colorArray, 0, this.byteColorArray,0,(this.kinect.ColorFrameSource.FrameDescription.Height * this.kinect.ColorFrameSource.FrameDescription.Width * BYTES_PER_COLOR_PIXEL));
// System.Buffer.BlockCopy(BitConverter.GetBytes(utcTime), 0, this.byteColorArray, (this.kinect.ColorFrameSource.FrameDescription.Height * this.kinect.ColorFrameSource.FrameDescription.Width * BYTES_PER_COLOR_PIXEL), sizeof(double));
// this.colorConnector.Broadcast(this.byteColorArray);
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
this.colorBitmap.Lock();
// verify data and write the new color frame data to the display bitmap
if ((colorFrameDescription.Width == this.colorBitmap.PixelWidth) && (colorFrameDescription.Height == this.colorBitmap.PixelHeight))
{
colorFrame.CopyConvertedFrameDataToIntPtr(
this.colorBitmap.BackBuffer,
(uint)(colorFrameDescription.Width * colorFrameDescription.Height * 4),
ColorImageFormat.Bgra);
this.colorBitmap.AddDirtyRect(new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight));
}
this.colorBitmap.Unlock();
}
IplImage imgSrc = this.colorBitmap.ToIplImage(); // Source, BGR image.
IplImage imgGray = new IplImage(imgSrc.Size, BitDepth.U8, 1); // Binary image that has the blobs.
IplImage imghsv = new IplImage(imgSrc.Size, BitDepth.U8, 3); // HSV image for thresholding.
Cv.CvtColor(imgSrc, imghsv, ColorConversion.BgrToHsv);
Cv.InRange(imghsv, lower, upper, imgGray);
CvBlobs blobs = new CvBlobs();
blobs.Label(imgGray);
int min_area = 1500;
foreach (KeyValuePair <int, CvBlob> item in blobs)
{
int label = item.Key;
CvBlob blob = item.Value;
blob.CalcCentroid();
int val = blob.Area;
if (val > min_area)
{
min_area = val;
float x = (float)blob.Centroid.X;
float y = (float)blob.Centroid.Y;
target_x = (int)x;
target_y = (int)y;
}
// Debug.Print( "Coordinates" + (blob.Centroid.ToString()) +"Area" + val.ToString());
}
/*
* IplImage render = new IplImage(imgSrc.Size, BitDepth.U8, 3);
* blobs.RenderBlobs(imgSrc, render);
*
* using (new CvWindow("Orange Blob Detection", WindowMode.AutoSize, render))
* {
* CvWindow.WaitKey(0);
* }
*/
}
if (depthFrame != null)
{
// Debug.Print("HELLO");
depthFrame.CopyFrameDataToArray(this.depthArray);
System.Buffer.BlockCopy(this.depthArray, 0, this.byteDepthArray, 0, this.kinect.DepthFrameSource.FrameDescription.Height * this.kinect.DepthFrameSource.FrameDescription.Width * BYTES_PER_DEPTH_PIXEL);
System.Buffer.BlockCopy(BitConverter.GetBytes(utcTime), 0, this.byteDepthArray, this.kinect.DepthFrameSource.FrameDescription.Height * this.kinect.DepthFrameSource.FrameDescription.Width * BYTES_PER_DEPTH_PIXEL, sizeof(double));
// Console.WriteLine("depth "+ this.byteDepthArray.Length);
calculateScanFromDepth(this.depthArray);
System.Buffer.BlockCopy(this.scan2DArray, 0, this.byteScan2DArray, 0, 6 * this.kinect.DepthFrameSource.FrameDescription.Width * 4 + 12);
// System.Buffer.BlockCopy(BitConverter.GetBytes(utcTime), 0, this.byteScan2DArray, this.kinect.DepthFrameSource.FrameDescription.Height * this.kinect.DepthFrameSource.FrameDescription.Width * 4, sizeof(double));
this.scan2DConnector.Broadcast(this.byteScan2DArray);
this.depthConnector.Broadcast(this.byteDepthArray);
}
}
}
/*using (InfraredFrame irFrame = multiSourceFrame.InfraredFrameReference.AcquireFrame())
* {
* if (irFrame != null)
* {
* irFrame.CopyFrameDataToArray(this.irArray);
* System.Buffer.BlockCopy(this.irArray, 0, this.byteIRArray, 0, this.kinect.InfraredFrameSource.FrameDescription.Height * this.kinect.InfraredFrameSource.FrameDescription.Width * BYTES_PER_IR_PIXEL);
* System.Buffer.BlockCopy(BitConverter.GetBytes(utcTime), 0, this.byteIRArray, this.kinect.InfraredFrameSource.FrameDescription.Height * this.kinect.InfraredFrameSource.FrameDescription.Width * BYTES_PER_IR_PIXEL, sizeof(double));
* this.irConnector.Broadcast(this.byteIRArray);
* }
* }
*
* using (BodyFrame bodyFrame = multiSourceFrame.BodyFrameReference.AcquireFrame())
* {
* if (bodyFrame != null)
* {
* bodyFrame.GetAndRefreshBodyData(this.bodyArray);
* string jsonString = JsonConvert.SerializeObject(this.bodyArray);
* int diff = 28000 - jsonString.Length;
* for (int i = 0; i < diff;i++ )
* {
* jsonString += " ";
* }
* byte[] bodyByteArray = new byte[jsonString.Length*sizeof(char) + sizeof(double)];
* System.Buffer.BlockCopy(jsonString.ToCharArray(), 0, bodyByteArray, 0, jsonString.Length * sizeof(char));
* System.Buffer.BlockCopy(BitConverter.GetBytes(utcTime), 0, bodyByteArray, jsonString.Length * sizeof(char),sizeof(double));
* this.bodyConnector.Broadcast(bodyByteArray);
* }
* }*/
}
private static void Main(string[] args)
{
//new ConvexityDefect();
using (IplImage imgSrc = new IplImage(@"img\shapes.png", LoadMode.Color))
using (IplImage imgBinary = new IplImage(imgSrc.Size, BitDepth.U8, 1))
using (IplImage imgRender = new IplImage(imgSrc.Size, BitDepth.U8, 3))
using (IplImage imgContour = new IplImage(imgSrc.Size, BitDepth.U8, 3))
using (IplImage imgPolygon = new IplImage(imgSrc.Size, BitDepth.U8, 3))
{
Cv.CvtColor(imgSrc, imgBinary, ColorConversion.BgrToGray);
Cv.Threshold(imgBinary, imgBinary, 100, 255, ThresholdType.Binary);
CvBlobs blobs = new CvBlobs();
blobs.Label(imgBinary);
foreach (KeyValuePair<int, CvBlob> item in blobs)
{
CvBlob b = item.Value;
Console.WriteLine("{0} | Centroid:{1} Area:{2}", item.Key, b.Centroid, b.Area);
CvContourChainCode cc = b.Contour;
cc.Render(imgContour);
double perimeter = cc.Perimeter();
CvContourPolygon polygon = cc.ConvertToPolygon();
foreach (CvPoint p in polygon)
{
//imgPolygon.Rectangle(p.X, p.Y, p.X + 1, p.Y + 1, CvColor.Red);
}
CvContourPolygon convexHull = polygon.ContourConvexHull();
//imgPolygon.Zero();
convexHull.Render(imgPolygon);
}
blobs.RenderBlobs(imgSrc, imgRender);
using (new CvWindow("src", imgSrc))
using (new CvWindow("binary", imgBinary))
using (new CvWindow("render", imgRender))
using (new CvWindow("contour", imgContour))
using (new CvWindow("polygon vertices", imgPolygon))
{
Cv.WaitKey(0);
}
}
}
