static public CvMat BGRtoHueCV(CvMat input)
{
CvMat hsl = MatOps.ConvertChannels(input, MatrixType.U8C3, ColorConversion.BgrToHsv_Full);
CvMat hue = MatOps.CopySize(input, MatrixType.U8C1);
//CvMat lum = hue.EmptyClone();
//hsl.Split( hue, null, lum, null );
hsl.Split(hue, null, null, null);
return(hue);
}
// => hue and normalize, if null, may be created and assigned
// <= ROI
private CvMat detectROI(CvMat input, ref CvMat hue, ref CvMat normalize)
{
// TODO : Like I said above, if I get the minimum/maximum values, I have an accurate lowerBound/upperBound pair to work with!!!
CvMat roi;
CvScalar lowerBound;
CvScalar upperBound;
// IDEA 3:
// Determine if I should check for "features" in the "thresholded" image, or in a cropped grayscale version of the original one!!
// For now, lets search the thresholded one...
if (boxEstimationType == BoxEstimationType.HUE)
{
roi = MatOps.CopySize(input, MatrixType.U8C1);
lowerBound = boxEstimatedValue - floodHueTolerance / 1; // TODO : this should be +-(MAX VALUE)
upperBound = boxEstimatedValue + floodHueTolerance / 1;
if (hue == null)
{
hue = MatOps.BGRtoHue(input);
}
hue.InRangeS(lowerBound, upperBound, roi);
}
else if (boxEstimationType == BoxEstimationType.NORMALIZE)
{
// TODO : must investigate, range doesn't return anything
roi = MatOps.CopySize(input, MatrixType.U8C1);
lowerBound = boxEstimatedValue - floodNormTolerance;
upperBound = boxEstimatedValue + floodNormTolerance;
if (normalize == null)
{
normalize = MatOps.MyNormalize(input);
}
normalize.InRangeS(lowerBound, upperBound, roi);
}
else
{
// Couldn't estimate either way? We are off to a bad start, but lets try to see if features can be extracted anyway.
roi = MatOps.ConvertChannels(input); // we are already losing valuable info here!!
}
return(roi);
}
// => inputMat MUST be 24/32 bit
private CvMat processFrame(CvMat inputMat)
{
// return "inputMat" after lots. LOTS. Of processing
width = inputMat.Cols;
height = inputMat.Rows;
// taking out 4% of the input's edges: sounds wrong
#if false
// I have no idea what on earth is the purpose of this:
//CvMat temp2 = inputMat( new CvRect( inputMat.Cols / 25, inputMat.Cols / 25, inputMat.Cols - 2 * (inputMat.Cols / 25), inputMat.Rows - 2 * (inputMat.Rows / 25) ) );
//resize( temp2, temp2, inputMat.size() );
//temp2.copyTo( inputMat );
int borderX = inputMat.Cols / 25; // 4% of original
int borderY = inputMat.Rows / 25;
CvRect roi = new CvRect(borderX, borderY, inputMat.Cols - 2 * borderX, inputMat.Rows - 2 * borderY);
CvMat temp2 = inputMat.GetSubRect(out temp2, roi); // stupid to pass "out temp2"?
inputMat = temp2;
// =TODO : What? temp2.Copy( inputMat );
// is it really required to remove 4% of the input image's edges?
#endif
CvMat inputMat_grey;
{
// TODO : looks like a waste to make two conversions from inputMat to _grey, instead of 1
// since OpenCV doesn't support it, it could be made manually
CvMat inputMat_grey8 = MatOps.ConvertChannels(inputMat);
inputMat_grey = MatOps.ConvertElements(inputMat_grey8, MatrixType.F32C1, 1.0 / 255.0);
}
// NOTE : IBO seems to give good contrast with certain images, but with bbox7, it is just disastrous.
//MatOps.NewWindowShow( inputMat_grey );
//inputMat_grey = Filters.IBO( inputMat_grey ); // inputMat_grey = 32f
//MatOps.NewWindowShow( inputMat_grey );
inputMat_grey = MatOps.ConvertElements(inputMat_grey, MatrixType.U8C1, 255); // inputMat_grey = 8u
// was: SLOW : Filters.ContrastEnhancement( inputMat_grey ); // NOTE : not needed AFTER IBO
// NOTE : Contrast Enhancement2 may NOT be needed AT ALL, at this point at least, ANYWAY!!!
Filters.ContrastEnhancement2(inputMat_grey); // NOTE : certainly NOT needed AFTER IBO
MatOps.NewWindowShow(inputMat_grey);
// mask passed originally in method below was all white, so I optimized it out. Passing the number of pixels was also dumb-o.
double thresh = Filters.NeighborhoodValleyEmphasis(inputMat_grey);
Cv.Threshold(inputMat_grey, inputMat_grey, thresh, 255, ThresholdType.BinaryInv);
IplConvKernel element = new IplConvKernel(3, 3, 1, 1, ElementShape.Cross);
Cv.Erode(inputMat_grey, inputMat_grey, element);
Cv.Dilate(inputMat_grey, inputMat_grey, element);
MatOps.NewWindowShow(inputMat_grey);
// TODO : check if check is required
if (inputMat_grey.ElemType != MatrixType.U8C1)
{
inputMat_grey = MatOps.ConvertElements(inputMat_grey, MatrixType.U8C1, 255.0);
}
// =======
// is this just a test?
CvPoint[] newPtV = Filters.DistillContours(inputMat_grey, 5, Const.PointZero);
CvMat imageDest;
using (CvMemStorage storage = new CvMemStorage())
{
CvSeq <CvPoint> updateContours = CvSeq <CvPoint> .FromArray(newPtV, SeqType.Contour, storage);
imageDest = new CvMat(inputMat.Rows, inputMat.Cols, MatrixType.U8C1);
Cv.DrawContours(imageDest, updateContours, Const.ScalarWhite, 0, 100, 16);
}
// =======
kawane(newPtV); // updates thresholdDist, minMaskY, final4P
//*******************************************set a greater contour for estimation of the missing points*******************************//
// =======
newPtV = Filters.DistillContours(inputMat_grey, 100, Const.PointZero);
using (CvMemStorage storage = new CvMemStorage())
{
CvSeq <CvPoint> updateContours = CvSeq <CvPoint> .FromArray(newPtV, SeqType.Contour, storage);
imageDest = new CvMat(inputMat.Rows, inputMat.Cols, MatrixType.U8C1);
Cv.DrawContours(imageDest, updateContours, Const.ScalarWhite, 0, 100, 1, LineType.AntiAlias);
}
// =======
CvMat mask1 = new CvMat(inputMat.Rows, inputMat.Cols, MatrixType.U8C1, 0);
Cv.FillConvexPoly(mask1, newPtV, Const.ScalarWhite, 0, 0);
temp = MatOps.ConvertChannels(inputMat);
temp.Copy(imageDest, mask1);
Cv.Canny(imageDest, imageDest, 150, 300, ApertureSize.Size3);
IplConvKernel element2 = new IplConvKernel(3, 3, 1, 1, ElementShape.Rect);
Cv.Dilate(imageDest, imageDest, element2);
Cv.Erode(imageDest, imageDest, element2);
CvLineSegmentPoint[] lines = Cv2.HoughLinesP(new Mat(imageDest), 1, Cv.PI / 180 /*NOTE : 1 degree angle*/, 50, 50, 50); // TODO : those 50s..?
extendLines(lines, 350); // TODO : This idea sounds arbitary? And why 350? At least some percentage?
// draw extended lines
for (int i = 0; i < lines.Length; ++i)
{
CvLineSegmentPoint l = lines[i];
Cv.Line(imageDest, l.P1, l.P2, Const.ScalarWhite, 1, LineType.AntiAlias);
}
Cv.Dilate(imageDest, imageDest, element2); // TODO : FIX : Dilate again?!
// another huge function here...
fourPoints(lines);
////////////
//********************************************************************* replace estimate points with mask corners ********//
if (oldPt.Count != 0)
{
//**
// BEWARE : great use of the English language following right below:
// test for each and every one of the last slice delete each one of all the revisited of the above and estimate for only the best the off topic adapt
//**
List <int> positions = new List <int>(final4P.Count);
for (int i = 0; i < final4P.Count; ++i)
{
positions.Add(-1); // "initialize" positions[i]
double distmin = 10000;
for (int j = 0; j < oldPt.Count; ++j)
{
double distAB = PointOps.Norm(oldPt[j] - final4P[i]);
if (distAB < distmin)
{
distmin = distAB;
positions[i] = j;
}
}
}
int flagFrCounter = 0;
for (int i = 0; i < final4P.Count; ++i)
{
double distA = PointOps.Norm(oldPt[positions[i]] - final4P[i]);
//********************* threshold pou na orizei tin megisti perioxi gia anazitisi,alliws na krataei to proigoumeno simeio*******//
if (distA < thresholdDist) //if(distA<80)
{
oldPt[positions[i]] = final4P[i];
--flagFrCounter;
}
++flagFrCounter;
}
if (reset)
{
numFrames = 0;
oldPt.Clear();
final4P.Clear();
}
}
//pointsb[0]=thresholdDist;
//****************************************************************************//
for (int i = 0; i < oldPt.Count; ++i)
{
Cv.Circle(temp, oldPt[i], 2, Const.ScalarRed, 3);
}
MatOps.Convert8To24(temp).Copy(inputMat);
//MatOps.ConvertChannels( temp, ColorConversion.GrayToBgr ).Copy( inputMat );
//temp.Copy( inputMat );
//******************************************************OVERLAY IMAGE***********************************************//////
if (oldPt.Count == 0)
{
return(inputMat); // end of line
}
CvMat black2;
if (overlay != null)
{
black2 = overlay.Clone(); //=imread("cubes.jpg");
Cv.Resize(black2, inputMat, Interpolation.NearestNeighbor); // TODO : check if interpolation type is appropriate
}
else
{
black2 = new CvMat(inputMat.Rows, inputMat.Cols, MatrixType.U8C3);
}
List <CvPoint> tempPoint = new List <CvPoint>(4);
//vector<Point> tempPoint;
int pp = 0;
// BEWARE : the guy is copy/pasting needlessly?
int mini = 1000000;
for (int i = 0; i < oldPt.Count; ++i)
{
if (oldPt[i].Y < mini)
{
mini = oldPt[i].Y;
pp = i;
}
}
tempPoint.Add(oldPt[pp]);
mini = 1000000;
for (int i = 0; i < oldPt.Count; ++i)
{
if (oldPt[i].Y < mini && oldPt[i] != tempPoint[0])
{
mini = oldPt[i].Y;
pp = i;
}
}
tempPoint.Add(oldPt[pp]);
mini = 1000000;
for (int i = 0; i < oldPt.Count; ++i)
{
int tempmini = Math.Abs(oldPt[i].X - tempPoint[1].X);
if (tempmini < mini && oldPt[i] != tempPoint[0] && oldPt[i] != tempPoint[1])
{
mini = tempmini;
pp = i;
}
}
tempPoint.Add(oldPt[pp]);
for (int i = 0; i < oldPt.Count; ++i)
{
CvPoint pt = oldPt[i];
bool found = false;
for (int j = 0; j < tempPoint.Count; ++j)
{
if (tempPoint[j] == pt)
{
found = true; break;
}
}
if (!found)
{
tempPoint.Add(pt);
}
}
// only keep up to 4 points
List <CvPoint> co_ordinates = new List <CvPoint>(4);
{
int maxIndex = Math.Min(4, tempPoint.Count);
for (int i = 0; i < maxIndex; ++i)
{
co_ordinates.Add(tempPoint[i]);
}
}
// lost me...
if (outputQuad[0] == outputQuad[2])
{
{
int maxIndex = Math.Min(4, tempPoint.Count);
for (int i = 0; i < maxIndex; ++i)
{
outputQuad[i] = tempPoint[i];
}
}
}
else
{
CvPoint2D32f rr;
for (int i = 0; i < 4; ++i)
{
List <double> dist = new List <double>(tempPoint.Count);
for (int j = 0; j < tempPoint.Count; ++j)
{
rr = tempPoint[j];
dist.Add(PointOps.Norm(outputQuad[i] - rr));
}
double minimumDist = dist.Min();
int min_pos = Utils.FindIndex(dist, minimumDist);
if (tempPoint.Count > 0)
{
outputQuad[i] = tempPoint[min_pos];
tempPoint.RemoveAt(min_pos);
}
}
}
// The 4 points where the mapping is to be done , from top-left in clockwise order
inputQuad[0] = new CvPoint2D32f(0, 0);
inputQuad[1] = new CvPoint2D32f(inputMat.Cols - 1, 0);
inputQuad[2] = new CvPoint2D32f(inputMat.Cols - 1, inputMat.Rows - 1);
inputQuad[3] = new CvPoint2D32f(0, inputMat.Rows - 1);
//Input and Output Image;
// Get the Perspective Transform Matrix i.e. lambda (2D warp transform)
// Lambda Matrix
CvMat lambda = Cv.GetPerspectiveTransform(inputQuad, outputQuad);
// Apply this Perspective Transform to the src image
// - get a "top-down" view of the supposedly box-y area
Cv.WarpPerspective(black2, black2, lambda, Interpolation.Cubic, Const.ScalarBlack);
// see nice explanation : http://www.pyimagesearch.com/2014/08/25/4-point-opencv-getperspective-transform-example/
CvMat maskOV = new CvMat(inputMat.Rows, inputMat.Cols, MatrixType.U8C1, Const.ScalarBlack);
using (CvMemStorage storage = new CvMemStorage())
{
CvSeq <CvPoint> updateContours = CvSeq <CvPoint> .FromArray(co_ordinates, SeqType.Contour, storage);
imageDest = new CvMat(inputMat.Rows, inputMat.Cols, MatrixType.U8C1);
Cv.DrawContours(maskOV, updateContours, Const.ScalarWhite, 0, 100, 16);
//drawContours( maskOV, co_ordinates, 0, Scalar( 255 ), CV_FILLED, 8 );
}
double alpha = 0.8;
double beta = (1.0 - alpha);
Cv.AddWeighted(black2, alpha, inputMat, beta, 0.0, black2);
black2.Copy(inputMat, maskOV);
return(inputMat);
}