/// <summary>
/// Захватывает кадр с камеры, если она активна, и обрабатывает его.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Camera_ImageGrab(object sender, EventArgs e)
{
if ((Camera != null) && Camera.Grab() && Camera.Retrieve(Frame.Mat))
{
FrameResult fr = Proc.ProcessFrame(Frame.Clone()); //обрабатываем кадр
if (fr.QRLocation != null)
{
lb_qr.Visible = true;
countQR += 1;
lb_qr.Text = ("QR found: " + countQR + "times");
}
if (fr.ArucoLocation != null)
{
lb_aruco.Visible = true;
countAruco += 1;
lb_aruco.Text = ("Aruco found: " + countAruco + "times");
}
// и просто показываем результат
ViewBox.Image = fr.Visual;
this.Text = "Data: " + fr.Commentary;
TiltAngleLbl.Text = double.IsNaN(fr.TiltAngle)
? "------"
: string.Format("Наклон {0:f2} гр", fr.TiltAngle * 180.0 / Math.PI);
}
}
public void Visualize(FrameResult fr)
{
if (fr.QRLocation != null)
{
fr.Visual.DrawPolyline(fr.QRLocation, true, new Bgr(0, 0, 255), 2);
fr.Visual.Draw(new CircleF(fr.QRCenter, 6), new Bgr(0, 255, 0), 2);
fr.Visual.Draw(new CircleF(fr.QRLocation[0], 6), new Bgr(255, 255, 255), 2);
fr.Visual.Draw(new CircleF(fr.QRLocation[2], 6), new Bgr(255, 0, 0), 2);
Point TopMiddle = PointOperations.Middle(fr.QRLocation[0], fr.QRLocation[3]);
fr.Visual.Draw(new LineSegment2D(fr.QRCenter, TopMiddle), new Bgr(0, 255, 0), 2);
}
if (fr.ArucoLocation != null)
{
ArucoInvoke.DrawDetectedMarkers(fr.Visual, corners, ids, new MCvScalar(0, 255, 0));
}
}
/// <summary>
/// Обрабатывает один поступивший кадр.
/// </summary>
/// <param name="frame">Кадр для анализа.</param>
/// <returns>Сведения об объектах в кадре.</returns>
public FrameResult ProcessFrame(Image <Bgr, byte> frame)
{
if (bwframe == null)
{
bwframe = new Image <Gray, byte>(frame.Size);
}
if (grayframe == null)
{
grayframe = new Image <Gray, byte>(frame.Size);
}
//if (vid == null) vid = new VideoWriter("video.avi", 24, frame.Size, true);
vid?.Write(frame.Mat);
grayframe.ConvertFrom(frame);
int blocksize = 51;
CvInvoke.AdaptiveThreshold(grayframe, bwframe, 255, Emgu.CV.CvEnum.AdaptiveThresholdType.MeanC, Emgu.CV.CvEnum.ThresholdType.Binary, blocksize, 5);
FrameResult fr = new FrameResult(frame);
ArucoInvoke.DetectMarkers(bwframe, ArucoDictionary, corners, ids, _detectorParameters, rejected);
if (ids.Size > 0)
{
fr.ArucoLocation = corners[0].ToArray();
}
// Ищем коды на изображении
List <ZBar.Symbol> symbols = Scanner.Scan(bwframe.ToBitmap());
if (symbols.Count == 0)
{
return(fr);
}
ZBar.Symbol s = symbols[0];
fr.QRLocation = s.Location.ToArray();
fr.QRCenter = PointOperations.Middle(fr.QRLocation);
Point RightMiddle = PointOperations.Middle(fr.QRLocation[3], fr.QRLocation[2]);
fr.TiltAngle = Math.Atan2(RightMiddle.Y - fr.QRCenter.Y, RightMiddle.X - fr.QRCenter.X);
fr.Commentary = s.Data;
Visualize(fr);
return(fr);
}