public override MarkerFrame Process(IplImage input) { var hInput = input.DangerousGetHandle(); var hCamMatrix = cameraMatrix != null?cameraMatrix.DangerousGetHandle() : IntPtr.Zero; var hDistortion = distortion != null?distortion.DangerousGetHandle() : IntPtr.Zero; detector.ThresholdType = ThresholdType; detector.Param1 = Param1; detector.Param2 = Param2; detector.CornerRefinement = CornerRefinement; var detectedMarkers = detector.Detect(hInput, hCamMatrix, hDistortion, MarkerSize); return(new MarkerFrame(parameters, detectedMarkers)); }
private void CameraLoop() { CancellationToken cancellationToken = cancellationTokenSource.Token; var parameters = new CameraParameters(); Size size; var cameraMatrix = new Mat(3, 3, Depth.F32, 1); var distortion = new Mat(1, 4, Depth.F32, 1); parameters.CopyParameters(cameraMatrix, distortion, out size); using (var detector = new MarkerDetector()) { detector.ThresholdMethod = ThresholdMethod.AdaptiveThreshold; detector.Param1 = 7.0; detector.Param2 = 7.0; detector.MinSize = 0.04f; detector.MaxSize = 0.5f; detector.CornerRefinement = CornerRefinementMethod.Lines; var markerSize = 10; using (var capture = Capture.CreateCameraCapture(0)) { while (!cancellationToken.IsCancellationRequested) { IplImage image = capture.QueryFrame(); var detectedMarkers = detector.Detect(image, cameraMatrix, distortion, markerSize); foreach (var marker in detectedMarkers) { if (marker.Id == _MarkerIndex) { double sideOffset = Map(marker.Center.X, 46, 590, -8, 8); double hightOffset = Map(marker.Center.Y, 46, 435, 6, -6); double height = Map(marker.Area, 6280, 10150, 18.5, 14); armDistance += hightOffset > 1.0 ? 0.4 : (hightOffset < -1.0 ? -0.4 : 0); armAngle += sideOffset > 1.0 ? 0.7 : (sideOffset < -1.0 ? -0.7 : 0); //armDistance += hightOffset; _Arm?.MoveToRelativeAsync(armAngle, armDistance, armHeight); marker.Draw(image, Scalar.Rgb(1, 0, 0)); } else { marker.Draw(image, Scalar.Rgb(0, 1, 0)); } } WindwoDisplay(image); } } } }
public override IObservable <MarkerFrame> Process(IObservable <IplImage> source) { return(Observable.Defer(() => { Mat cameraMatrix = null; Mat distortion = null; CameraParameters parameters = null; var detector = new MarkerDetector(); Size size; cameraMatrix = new Mat(3, 3, Depth.F32, 1); distortion = new Mat(1, 4, Depth.F32, 1); var parametersFileName = CameraParameters; if (!string.IsNullOrEmpty(parametersFileName)) { if (!File.Exists(parametersFileName)) { throw new InvalidOperationException("Failed to open the camera parameters at the specified path."); } parameters = new CameraParameters(); parameters.ReadFromXmlFile(parametersFileName); parameters.CopyParameters(cameraMatrix, distortion, out size); } return source.Select(input => { detector.ThresholdMethod = ThresholdMethod; detector.Param1 = Param1; detector.Param2 = Param2; detector.MinSize = MinSize; detector.MaxSize = MaxSize; detector.CornerRefinement = CornerRefinement; var detectedMarkers = detector.Detect(input, cameraMatrix, distortion, MarkerSize); return new MarkerFrame(parameters, detectedMarkers); }); })); }