private void ProcessFrame(object sender, EventArgs arg)
{
Mat frame = new Mat();
capture.Retrieve(frame, 0);
//preprocessing
Image <Bgr, byte> finalImg = frame.ToImage <Bgr, byte>().Flip(FlipType.Horizontal);
Image <Gray, byte> processingImg = finalImg.Convert <Gray, byte>();
BiTonalLevel.Dispatcher.BeginInvoke(new Action(() =>
{
if (BiTonalLevel.Value > 0)
{
processingImg = processingImg.ThresholdBinary(new Gray(BiTonalLevel.Value), new Gray(255));
}
}));
BlurLevel.Dispatcher.BeginInvoke(new Action(() =>
{
if (BlurLevel.Value > 1)
{
CvInvoke.Blur(processingImg, processingImg, new System.Drawing.Size((int)BlurLevel.Value, (int)BlurLevel.Value), new System.Drawing.Point(-1, -1));
}
}));
//morphological processing
processingImg.MorphologyEx(firstMorphOp, kernel, new System.Drawing.Point(-1, -1), firstMorphSteps, BorderType.Default, new MCvScalar());
if (doubleMorph)
{
processingImg.MorphologyEx(secondMorphOp, kernel2, new System.Drawing.Point(-1, -1), secondMorphSteps, BorderType.Default, new MCvScalar());
}
ProcessingVideoBox.Dispatcher.BeginInvoke(new Action(() => ProcessingVideoBox.Source = ToBitmapGrey(processingImg)));
//edge detection
Mat edges = new Mat(frame.Size, frame.Depth, 1);
CvInvoke.Canny(processingImg, edges, lowerTresholdLevel, upperTresholdLevel, cannyKernelSize);
//contours finding
VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint();
Mat hierarchy = new Mat();
int largest_contour_index = 0;
double largest_area = 0;
CvInvoke.FindContours(edges, contours, hierarchy, contouringMode, contouringMethod);
for (int i = 0; i < contours.Size; i++)
{
double a = CvInvoke.ContourArea(contours[i], false);
if (a > largest_area)
{
largest_area = a;
largest_contour_index = i;
}
}
CvInvoke.DrawContours(finalImg, contours, largest_contour_index, redColor, 3, LineType.EightConnected, hierarchy);
//defects points finding
VectorOfInt hull = new VectorOfInt();
Mat defects = new Mat();
if (contours.Size > 0)
{
VectorOfPoint largestContour = new VectorOfPoint(contours[largest_contour_index].ToArray());
CvInvoke.ConvexHull(largestContour, hull, false, true);
CvInvoke.ConvexityDefects(largestContour, hull, defects);
if (!defects.IsEmpty)
{
Matrix <int> m = new Matrix <int>(defects.Rows, defects.Cols, defects.NumberOfChannels);
defects.CopyTo(m);
Matrix <int>[] channels = m.Split();
for (int i = 1; i < defects.Rows; ++i)
{
finalImg.Draw(new System.Drawing.Point[] { largestContour[channels[0][i, 0]], largestContour[channels[1][i, 0]] }, new Bgr(100, 255, 100), 2);
CvInvoke.Circle(finalImg, new System.Drawing.Point(largestContour[channels[0][i, 0]].X, largestContour[channels[0][i, 0]].Y), 7, new MCvScalar(255, 0, 0), -1);
}
}
}
MainVideoBox.Dispatcher.BeginInvoke(new Action(() => MainVideoBox.Source = ToBitmapFinal(finalImg)));
}
private void btnCapture_Click(object sender, EventArgs e)
{
if (!(rdbFront.Checked || rdbRight.Checked))
{
MessageBox.Show("先选择使用的图片来源！", "取像提示");
return;
}
else if (rdbRight.Checked)
{
cameraID = 0;//右侧相机
FlashLogger.Info("当前图像时右侧-高位相机");
}
else
{
cameraID = 1;//前方向机
FlashLogger.Info("当前图像时前侧-低位相机");
}
Image <Bgr, byte> myImg = null;
OpenFileDialog openFileDialog = new OpenFileDialog();
if (openFileDialog.ShowDialog() == DialogResult.OK)
{
myImg = new Image <Bgr, byte>(openFileDialog.FileName);
}
if (myImg == null)
{
return;
}
imgInfo = CenterAndSlope.GetProductParamters(myImg.Bitmap, cameraID, 165);
bgrBinaryImg = new Image <Bgr, byte>(CenterAndSlope.BinaryImage.Bitmap);
foreach (var item in imgInfo.ImageCorner)
{
CvInvoke.Circle(myImg, new Point((int)item.X, (int)item.Y), 10, new MCvScalar(0, 255, 33), 10);
}
#region 可视化
//画点
Dictionary <Point, int> upLine = new Dictionary <Point, int>();
Dictionary <Point, int> bottomLine = new Dictionary <Point, int>();
Dictionary <Point, int> rightLine = new Dictionary <Point, int>();
Dictionary <Point, int> leftLine = new Dictionary <Point, int>();
//foreach (var item in CenterAndSlope.segmentLines)
//{
// if (item.Values.Where(a=>a=="Up"))
// {
//upLine = CenterAndSlope.segmentUpLines.Keys.ToArray()[0];
// }
// else if (item.Value == "Bottom")
// {
bottomLine = CenterAndSlope.segmentBottomLines.Keys.ToArray()[0];
foreach (var item in bottomLine)
{
File.AppendAllText("bottomLine.txt", "X = " + item.Key.X.ToString() + "\tY = " + item.Key.Y.ToString() + "\tID = " + item.Value.ToString() + "\r\n");
}
// }
// else if (item.Value == "Right")
// {
//rightLine = CenterAndSlope.segmentRightLines.Keys.ToArray()[0];
// }
// else
// {
//leftLine = CenterAndSlope.segmentLeftLines.Keys.ToArray()[0];
//foreach (var item in leftLine)
//{
// File.AppendAllText("leftLine.txt", "X = " + item.Key.X.ToString() + "Y = " + item.Key.Y.ToString() + "ID = " + item.Value.ToString() + "\r\n");
//}
// }
//}
FlashLogger.Info("Up-Num =>" + upLine.Count.ToString());
FlashLogger.Info("Bottom-Num =>" + bottomLine.Count.ToString());
FlashLogger.Info("Right-Num =>" + rightLine.Count.ToString());
FlashLogger.Info("Left-Num =>" + leftLine.Count.ToString());
CvInvoke.Circle(myImg, new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), 10, new MCvScalar(255, 25, 100), 10);
//=========BOTTOM==================
foreach (var item in bottomLine.Where(a => a.Value == 0))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 0, 255), 3);//Red
CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 0, 255), 3);
CvInvoke.Line(bgrBinaryImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 0, 255), 3);
}
foreach (var item in bottomLine.Where(a => a.Value == 1))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 255, 255), 3);//Yellow
CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 255, 255), 3);
CvInvoke.Line(bgrBinaryImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 255, 255), 3);
}
foreach (var item in bottomLine.Where(a => a.Value == 2))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 255, 5), 3);//Green
CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 255, 5), 3);
CvInvoke.Line(bgrBinaryImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 255, 5), 3);
}
foreach (var item in bottomLine.Where(a => a.Value == 3))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(255, 0, 0), 3);//Blue
CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 0, 0), 3);
CvInvoke.Line(bgrBinaryImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 0, 0), 3);
}
foreach (var item in bottomLine.Where(a => a.Value == 4))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(255, 10, 255), 3);//Blue
CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 10, 255), 3);
CvInvoke.Line(bgrBinaryImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 10, 255), 3);
}
////++++++++++++up++++++++++++++++++++
//foreach (var item in CenterAndSlope.DividedContours.Where(a => a.Value == 0).ToDictionary(a => a.Key, a => a.Value))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 0, 255), 3);//Red
// //CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 0, 255), 3);
//}
//foreach (var item in upLine.Where(a => a.Value == 1))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 255, 255), 3);//Yellow
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 255, 255), 3);
//}
//foreach (var item in upLine.Where(a => a.Value == 2))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 255, 5), 3);//Green
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 255, 5), 3);
//}
//foreach (var item in upLine.Where(a => a.Value == 3))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(255, 0, 0), 3);//Blue
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 0, 0), 3);
//}
//foreach (var item in upLine.Where(a => a.Value == 4))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(255, 120, 255), 3);//Blue
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 120, 255), 3);
//}
////++++++++++++Right++++++++++++++++++++
//foreach (var item in rightLine.Where(a => a.Value == 0))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 0, 255), 3);//Red
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 0, 255), 3);
//}
//foreach (var item in rightLine.Where(a => a.Value == 1))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 255, 255), 3);//Yellow
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 255, 255), 3);
//}
//foreach (var item in rightLine.Where(a => a.Value == 2))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 255, 5), 3);//Green
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 255, 5), 3);
//}
//foreach (var item in rightLine.Where(a => a.Value == 3))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(255, 0, 0), 3);//Blue
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 0, 0), 3);
//}
//foreach (var item in rightLine.Where(a => a.Value == 4))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(255, 120, 255), 3);//Blue
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 120, 255), 3);
//}
//++++++++++++Left++++++++++++++++++++
foreach (var item in leftLine.Where(a => a.Value == 0))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 0, 255), 3);//Red
CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 0, 255), 3);
}
foreach (var item in leftLine.Where(a => a.Value == 1))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 255, 255), 3);//Yellow
}
foreach (var item in leftLine.Where(a => a.Value == 2))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 255, 5), 3);//Green
}
foreach (var item in leftLine.Where(a => a.Value == 3))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(255, 0, 0), 3);//Blue
CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 0, 0), 3);
}
foreach (var item in leftLine.Where(a => a.Value == 4))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(255, 120, 255), 3);//Blue
CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 120, 255), 3);
}
#endregion
for (int i = 0; i < imgInfo.MotorShift.Length; i++)
{
textBox1.Text += "#【" + i + "】" + imgInfo.MotorShift[i].ToString() + "\r\n";
}
//x=0
int y0 = (int)(imgInfo.CenterOfImg.Y - Math.Tan(imgInfo.RotatedAngle / 180f * Math.PI) * imgInfo.CenterOfImg.X);
int y5472 = (int)(imgInfo.CenterOfImg.Y + Math.Tan(imgInfo.RotatedAngle / 180f * Math.PI) * (5472 - imgInfo.CenterOfImg.X));
CvInvoke.Line(myImg, new Point(0, y0), new Point(5472, y5472), new MCvScalar(23, 25, 200), 10);
CvInvoke.Line(bgrBinaryImg, new Point(0, y0), new Point(5472, y5472), new MCvScalar(0, 0, 255), 10);
//y=0
int x0 = (int)(imgInfo.CenterOfImg.X + Math.Tan(imgInfo.RotatedAngle / 180f * Math.PI) * imgInfo.CenterOfImg.Y);
int x3648 = (int)(imgInfo.CenterOfImg.X - Math.Tan(imgInfo.RotatedAngle / 180f * Math.PI) * (3648 - imgInfo.CenterOfImg.Y));
CvInvoke.Line(myImg, new Point(x0, 0), new Point(x3648, 3648), new MCvScalar(0, 0, 255), 10);
CvInvoke.Line(bgrBinaryImg, new Point(x0, 0), new Point(x3648, 3648), new MCvScalar(0, 0, 255), 10);
//x=0
int y0rect = (int)(imgInfo.RectCenterOfImg.Y - Math.Tan(imgInfo.RectRotatedAngle / 180f * Math.PI) * imgInfo.RectCenterOfImg.X);
int y5472rect = (int)(imgInfo.RectCenterOfImg.Y + Math.Tan(imgInfo.RectRotatedAngle / 180f * Math.PI) * (5472 - imgInfo.RectCenterOfImg.X));
CvInvoke.Line(myImg, new Point(0, y0rect), new Point(5472, y5472rect), new MCvScalar(225, 0, 0), 2);
CvInvoke.Line(bgrBinaryImg, new Point(0, y0rect), new Point(5472, y5472rect), new MCvScalar(225, 00), 2);
//y=0
int x0rect = (int)(imgInfo.RectCenterOfImg.X + Math.Tan(imgInfo.RectRotatedAngle / 180f * Math.PI) * imgInfo.RectCenterOfImg.Y);
int x3648rect = (int)(imgInfo.RectCenterOfImg.X - Math.Tan(imgInfo.RectRotatedAngle / 180f * Math.PI) * (3648 - imgInfo.RectCenterOfImg.Y));
CvInvoke.Line(myImg, new Point(x0rect, 0), new Point(x3648rect, 3648), new MCvScalar(255, 0, 0), 10);
CvInvoke.Line(bgrBinaryImg, new Point(x0rect, 0), new Point(x3648rect, 3648), new MCvScalar(255, 0, 0), 10);
FlashLogger.Info("X-Y均值计算质心：" + imgInfo.CenterOfImg.ToString() + "\r\n外接矩形中心：" + imgInfo.RectCenterOfImg.ToString() + "\r\nHu矩计算质心：" + imgInfo.GravityCenterOfImg.ToString() + "\r\n");;
FlashLogger.Info("最小二乘法拟合直线斜率：" + imgInfo.RotatedAngle.ToString() + "\r\n外接矩形斜率：" + imgInfo.RectRotatedAngle.ToString() + "\r\n");
FlashLogger.Info("24电机位移\r\n" + textBox1.Text);
pictureBox1.Image = myImg.ToBitmap();
pictureBox1.Update();
}
/// <summary>
/// Count number of fingers on skinMask and draw debug information
/// </summary>
/// <param name="skinMask">Skin mask to count fingers on</param>
/// <returns>Mat with detection debug information</returns>
public Mat FindFingersCount(Mat skinMask)
{
Mat contoursImage = Mat.Ones(skinMask.Height, skinMask.Width, DepthType.Cv8U, 3);
if (skinMask.IsEmpty || skinMask.NumberOfChannels != 1)
{
return(contoursImage);
}
VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint();
Mat hierarchy = new Mat();
CvInvoke.FindContours(skinMask, contours, hierarchy, RetrType.External, ChainApproxMethod.ChainApproxNone);
if (contours.Size <= 0)
{
return(contoursImage);
}
int biggestContourIndex = -1;
double biggestArea = 0;
for (int i = 0; i < contours.Size; i++)
{
double area = CvInvoke.ContourArea(contours[i], false);
if (area > biggestArea)
{
biggestArea = area;
biggestContourIndex = i;
}
}
if (biggestContourIndex < 0)
{
return(contoursImage);
}
VectorOfPoint hullPoints = new VectorOfPoint();
VectorOfInt hullInts = new VectorOfInt();
CvInvoke.ConvexHull(contours[biggestContourIndex], hullPoints, true);
CvInvoke.ConvexHull(contours[biggestContourIndex], hullInts, false);
Mat defects = new Mat();
if (hullInts.Size > 3)
{
CvInvoke.ConvexityDefects(contours[biggestContourIndex], hullInts, defects);
}
else
{
return(contoursImage);
}
Rectangle boundingRectangle = CvInvoke.BoundingRectangle(hullPoints);
Point centerBoundingRectangle = new Point((boundingRectangle.X + boundingRectangle.Right) / 2, (boundingRectangle.Y + boundingRectangle.Bottom) / 2);
VectorOfPoint startPoints = new VectorOfPoint();
VectorOfPoint farPoints = new VectorOfPoint();
int[,,] defectsData = (int[, , ])defects.GetData();
for (int i = 0; i < defectsData.Length / 4; i++)
{
Point startPoint = contours[biggestContourIndex][defectsData[i, 0, 0]];
if (!startPoints.ToArray().ToList().Any(p => Math.Abs(p.X - startPoint.X) < 30 && Math.Abs(p.Y - startPoint.Y) < 30))
{
VectorOfPoint startPointVector = new VectorOfPoint(new Point[] { startPoint });
startPoints.Push(startPointVector);
}
Point farPoint = contours[biggestContourIndex][defectsData[i, 0, 2]];
if (findPointsDistance(farPoint, centerBoundingRectangle) < boundingRectangle.Height * BOUNDING_RECT_FINGER_SIZE_SCALING)
{
VectorOfPoint farPointVector = new VectorOfPoint(new Point[] { farPoint });
farPoints.Push(farPointVector);
}
}
VectorOfPoint filteredStartPoints = CompactOnNeighborhoodMedian(startPoints, boundingRectangle.Height * BOUNDING_RECT_NEIGHBOR_DISTANCE_SCALING);
VectorOfPoint filteredFarPoints = CompactOnNeighborhoodMedian(farPoints, boundingRectangle.Height * BOUNDING_RECT_NEIGHBOR_DISTANCE_SCALING);
VectorOfPoint filteredFingerPoints = new VectorOfPoint();
if (filteredFarPoints.Size > 1)
{
VectorOfPoint fingerPoints = new VectorOfPoint();
for (int i = 0; i < filteredStartPoints.Size; i++)
{
VectorOfPoint closestPoints = findClosestOnX(filteredFarPoints, filteredStartPoints[i]);
if (isFinger(closestPoints[0], filteredStartPoints[i], closestPoints[1], LIMIT_ANGLE_INF, LIMIT_ANGLE_SUP, centerBoundingRectangle, boundingRectangle.Height * BOUNDING_RECT_FINGER_SIZE_SCALING))
{
fingerPoints.Push(new Point[] { filteredStartPoints[i] });
}
}
if (fingerPoints.Size > 0)
{
while (fingerPoints.Size > 5)
{
//Remove extra fingers
//Convert to list and remove last item
List <Point> points = new List <Point>(fingerPoints.ToArray());
points.Remove(points.Last());
fingerPoints = new VectorOfPoint(points.ToArray());
}
for (int i = 0; i < fingerPoints.Size - 1; i++)
{
}
filteredFingerPoints = fingerPoints;
this.NumberOfFingersRaised = filteredFingerPoints.Size;
}
}
Bgr colorRed = new Bgr(Color.Red);
Bgr colorGreen = new Bgr(Color.Green);
Bgr colorBlue = new Bgr(Color.Blue);
Bgr colorYellow = new Bgr(Color.Yellow);
Bgr colorPurple = new Bgr(Color.Purple);
Bgr colorWhite = new Bgr(Color.White);
//Debug, draw defects
defectsData = (int[, , ])defects.GetData();
for (int i = 0; i < defectsData.Length / 4; i++)
{
Point start = contours[biggestContourIndex][defectsData[i, 0, 0]];
Point far = contours[biggestContourIndex][defectsData[i, 0, 2]];
Point end = contours[biggestContourIndex][defectsData[i, 0, 1]];
CvInvoke.Polylines(contoursImage, new Point[] { start, far, end }, true, colorPurple.MCvScalar, DRAW_THICKNESS / 2);
CvInvoke.Circle(contoursImage, start, 5, colorWhite.MCvScalar);
CvInvoke.Circle(contoursImage, far, 5, colorRed.MCvScalar, 10);
CvInvoke.Circle(contoursImage, end, 5, colorBlue.MCvScalar);
}
//Draw information about what was detected (Contours, key points, fingers / how many fingers)
CvInvoke.DrawContours(contoursImage, contours, 0, colorGreen.MCvScalar, DRAW_THICKNESS, LineType.AntiAlias);
CvInvoke.Polylines(contoursImage, hullPoints, true, colorBlue.MCvScalar, DRAW_THICKNESS);
CvInvoke.Rectangle(contoursImage, boundingRectangle, colorRed.MCvScalar, DRAW_THICKNESS);
CvInvoke.Circle(contoursImage, centerBoundingRectangle, 5, colorYellow.MCvScalar, DRAW_THICKNESS);
drawVectorPoints(contoursImage, filteredStartPoints, colorRed.MCvScalar, true, 3);
drawVectorPoints(contoursImage, filteredFarPoints, colorWhite.MCvScalar, true, 3);
drawVectorPoints(contoursImage, filteredFingerPoints, colorYellow.MCvScalar, false, 3);
CvInvoke.PutText(contoursImage, filteredFingerPoints.Size.ToString(), centerBoundingRectangle, FontFace.HersheyComplex, 2, colorYellow.MCvScalar);
return(contoursImage);
}
private void ProcessFrameMP4(object sender, EventArgs e)
{
px = new Point(px1, px2);
py = new Point(py1, py2);
if (cap != null)
{
cap.Retrieve(frame, 0);
currentframe = frame.ToImage <Bgr, byte>();
Mat mask = new Mat();
sub.Apply(currentframe, mask);
Mat kernelOp = new Mat();
Mat kernelCl = new Mat();
Mat kernelEl = new Mat();
Mat Dilate = new Mat();
kernelOp = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(3, 3), new Point(-1, -1));
kernelCl = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(11, 11), new Point(-1, -1));
var element = CvInvoke.GetStructuringElement(ElementShape.Cross, new Size(3, 3), new Point(-1, -1));
CvInvoke.GaussianBlur(mask, mask, new Size(13, 13), 1.5);
CvInvoke.MorphologyEx(mask, mask, MorphOp.Open, kernelOp, new Point(-1, -1), 1, BorderType.Default, new MCvScalar());
CvInvoke.MorphologyEx(mask, mask, MorphOp.Close, kernelCl, new Point(-1, -1), 1, BorderType.Default, new MCvScalar());
CvInvoke.Dilate(mask, mask, element, new Point(-1, -1), 1, BorderType.Reflect, default(MCvScalar));
CvInvoke.Threshold(mask, mask, 127, 255, ThresholdType.Binary);
detect.Detect(mask.ToImage <Gray, byte>(), blobs);
blobs.FilterByArea(500, 20000);
tracks.Update(blobs, 20.0, 1, 10);
Image <Bgr, byte> result = new Image <Bgr, byte>(currentframe.Size);
using (Image <Gray, Byte> blobMask = detect.DrawBlobsMask(blobs))
{
frame.CopyTo(result, blobMask);
}
CvInvoke.Line(currentframe, px, py, new MCvScalar(0, 0, 255), 2);
foreach (KeyValuePair <uint, CvTrack> pair in tracks)
{
if (pair.Value.Inactive == 0) //only draw the active tracks.
{
int cx = Convert.ToInt32(pair.Value.Centroid.X);
int cy = Convert.ToInt32(pair.Value.Centroid.Y);
CvBlob b = blobs[pair.Value.BlobLabel];
Bgr color = detect.MeanColor(b, frame.ToImage <Bgr, Byte>());
result.Draw(pair.Key.ToString(), pair.Value.BoundingBox.Location, FontFace.HersheySimplex, 0.5, color);
currentframe.Draw(pair.Value.BoundingBox, new Bgr(0, 0, 255), 1);
Point[] contour = b.GetContour();
//result.Draw(contour, new Bgr(0, 0, 255), 1);
Point center = new Point(cx, cy);
CvInvoke.Circle(currentframe, center, 1, new MCvScalar(255, 0, 0), 2);
if (center.Y <= px.Y + 10 && center.Y > py.Y - 10 && center.X <= py.X && center.X > px.X)
{
if (pair.Key.ToString() != "")
{
if (!carid.Contains(pair.Key.ToString()))
{
carid.Add(pair.Key.ToString());
if (carid.Count == 20)
{
carid.Clear();
}
carcount++;
if (carcount != countBrd + 1 && carcount != countBrd + 2 && carcount != countBrd + 3 && carcount != countBrd + 4 && carcount != countBrd + 5)
{
//Json Logger
Logs log = new Logs()
{
Date = DateTime.Now.ToString(),
Id = carcount
};
string strResultJson = JsonConvert.SerializeObject(log);
File.AppendAllText(cfg.LogSavePath + @"\log.json", strResultJson + Environment.NewLine);
}
}
}
CvInvoke.Line(currentframe, px, py, new MCvScalar(0, 255, 0), 2);
}
}
}
CvInvoke.PutText(currentframe, "Count :" + carcount.ToString(), new Point(10, 25), FontFace.HersheySimplex, 1, new MCvScalar(255, 0, 255), 2, LineType.AntiAlias);
//Frame Rate
double framerate = cap.GetCaptureProperty(CapProp.Fps);
Thread.Sleep((int)(1000.0 / framerate));
if (firstCount == false && carcount == countBrd)
{
Image_Name = cfg.PhotoSavePath + @"\" + "Car" + DateTime.Now.ToString("dd-mm-yyyy-hh-mm-ss") + ".jpg";
currentframe.Save(Image_Name);
sendMail = new Thread(SendMail);
sendMail.Start();
firstCount = true;
}
if (isRecording)
{
if (firstFrameTime != null)
{
writer.WriteVideoFrame(currentframe.Bitmap, DateTime.Now - firstFrameTime.Value);
}
else
{
writer.WriteVideoFrame(currentframe.Bitmap);
firstFrameTime = DateTime.Now;
}
}
//pictureBox1.SizeMode = PictureBoxSizeMode.StretchImage;
pictureBox1.Image = currentframe.Bitmap;
}
}
public void StartProcessing(Config cfg)
{
try
{
ClrImg = ClrOriginalImg.Copy();
if (BaseImg == null)
{
return;
}
var img = BaseImg.ThresholdBinary(new Gray(cfg.Threshold), new Gray(255));
//.SmoothMedian( (int)cfg.Resolution * 10 + 1 );
var contours = new VectorOfVectorOfPoint();
CvInvoke.FindContours(img, contours, null, Emgu.CV.CvEnum.RetrType.List, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxNone);
var cntrColorSet = CreateContour_ColorSet(Outercolor, Innercolor, cfg, contours);
List <VectorOfPoint> cntrlist = cntrColorSet.Item1;
List <MCvScalar> colorlist = cntrColorSet.Item2;
var centers = FindCenter(cntrlist);
var centerlist = new List <double[]>();
double textRatio = Math.Pow(Math.E, RatioW);
List <double[]> xys = new List <double[]>();
for (int i = 0; i < centers.Count(); i++)
{
CvInvoke.Circle(ClrImg, centers[i], 5, colorlist[i]);
CvInvoke.Circle(ClrImg, centers[i], (int)(5 * RatioW), colorlist[i], thickness: RatioW > 1 ? (int)RatioW : 1);
var realx = (centers[i].X * cfg.Resolution);
var realy = (centers[i].Y * cfg.Resolution);
centerlist.Add(new double[] { realx, realy });
}
double xerror;
double yerror;
if (cfg.UseLine)
{
var slope1 = (cfg.HY2 - cfg.HY1) / (cfg.HX2 - cfg.HX1);
var bias1 = cfg.HY1 - slope1 * cfg.HX1;
var slope2 = (cfg.WY2 - cfg.WY1) / (cfg.WX2 - cfg.WX1);
var bias2 = cfg.WY1 - slope2 * cfg.WX1;
var crossx = (bias2 - bias1) / (slope1 - slope2);
var crossy = slope1 * ((bias2 - bias1) / (slope1 - slope2)) + bias1;
var posx = (int)(crossx * RatioW);
var posy = (int)(crossy * RatioH);
centers.Add(new System.Drawing.Point(posx, posy));
var crossx_cvs = crossx * RatioW * cfg.Resolution;
var crossy_cvs = crossy * RatioH * cfg.Resolution;
centerlist.Add(new double[] { crossx_cvs, crossy_cvs });
CvInvoke.Circle(ClrImg, centers.Last(), 5, colorlist.Last());
CvInvoke.Circle(ClrImg, centers.Last(), (int)(5 * RatioW), colorlist.Last(), thickness: RatioW > 1 ? (int)RatioW : 1);
}
xerror = Math.Abs(centerlist[0][0] - centerlist[1][0]);
yerror = Math.Abs(centerlist[0][1] - centerlist[1][1]);
string xyerror = string.Format("X Error : {0} , Y Error : {1}", xerror.ToString("F4"), yerror.ToString("F4"));
System.Drawing.Point textposXY = new System.Drawing.Point(centers[0].X - (int)(40 * RatioW), centers[0].Y - (int)(10 * RatioH));
CvInvoke.PutText(ClrImg, xyerror, textposXY, FontFace.HersheySimplex, RatioW / 2.0, new MCvScalar(53, 251, 32), thickness: (int)(2 * RatioW));
double errorDistance = CalcDistance(centerlist);
ClrImg = CenterDiffDraw(centers, ClrImg);
System.Drawing.Point textdifpos = new System.Drawing.Point(centers[0].X + (int)(40 * RatioW), centers[0].Y + (int)(10 * RatioH));
CvInvoke.PutText(ClrImg, "Error : " + errorDistance.ToString("F4") + " (um)", textdifpos, FontFace.HersheySimplex, RatioW / 2.0, new MCvScalar(153, 51, 153), thickness: (int)(2 * RatioW));
var res = ToBitmapSource(ClrImg);
evtProcessedImg(res);
evtDistance(errorDistance);
}
catch (Exception er)
{
er.ToString().Print();
}
}
/// <summary>
/// Draws a simple or filled circle with given center and radius. The circle is clipped by ROI rectangle.
/// </summary>
/// <param name="img">Image where the circle is drawn</param>
/// <param name="center">Center of the circle</param>
/// <param name="radius">Radius of the circle.</param>
/// <param name="color">Color of the circle</param>
/// <param name="thickness">Thickness of the circle outline if positive, otherwise indicates that a filled circle has to be drawn</param>
/// <param name="lineType">Line type</param>
/// <param name="shift">Number of fractional bits in the center coordinates and radius value</param>
/// <remarks>
/// http://docs.opencv.org/2.4/modules/core/doc/drawing_functions.html?highlight=cv2.circle#cv2.circle
/// </remarks>
public static void Circle(IInputOutputArray img, Point center, int radius, Color color, int thickness = 1, Emgu.CV.CvEnum.LineType lineType = Emgu.CV.CvEnum.LineType.EightConnected, int shift = 0)
{
// No change needed, just wrapping to complete the api
CvInvoke.Circle(img, center, radius, color.ToMCvSCalar(), thickness, lineType, shift);
}
// Update is called once per frame
void Update()
{
IsAvailable = _sensor.IsAvailable;
if (depthFrameReader != null)
{
var frame = depthFrameReader.AcquireLatestFrame();
if (frame != null)
{
frame.CopyFrameDataToArray(rawDepthPixels);
//Primero acoto los limites de la mesa
if (!edgesDetected)
{
//Grafico las profundidades para detectar los bordes de la mesa
for (int depth = 0; depth < rawDepthPixels.Length; depth++)
{
depthPixel = rawDepthPixels[depth];
if (depthPixel > MIN_DEPTH && depthPixel < MAX_DEPTH)
{
colorImage[depth * 3] = 255;
colorImage[depth * 3 + 1] = 255;
colorImage[depth * 3 + 2] = 255;
}
else
{
colorImage[depth * 3] = 0;
colorImage[depth * 3 + 1] = 0;
colorImage[depth * 3 + 2] = 0;
}
}
frameOpenCV.SetTo(colorImage);
UMat uimage = new UMat();
CvInvoke.CvtColor(frameOpenCV, uimage, ColorConversion.Bgr2Gray);
//Suavizo los puntos pequeños
Mat erodeElement = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new System.Drawing.Size(3, 3), new System.Drawing.Point(-1, -1));
Mat dilateElement = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new System.Drawing.Size(10, 10), new System.Drawing.Point(-1, -1));
MCvScalar scalarD = new MCvScalar(5, 5);
CvInvoke.Erode(uimage, uimage, erodeElement, new System.Drawing.Point(-1, -1), 4, BorderType.Constant, scalarD);
CvInvoke.Dilate(uimage, uimage, dilateElement, new System.Drawing.Point(-1, -1), 2, BorderType.Constant, scalarD);
//Busco contornos
edgesTable = new Emgu.CV.Util.VectorOfVectorOfPoint();
Mat heir = new Mat();
Image <Rgb, byte> imgout = new Image <Rgb, byte>(frameOpenCV.Width, frameOpenCV.Height, new Rgb(200, 200, 200));
CvInvoke.FindContours(uimage, edgesTable, heir, Emgu.CV.CvEnum.RetrType.Ccomp, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxSimple);
double maxArea = 0;
for (int i = 0; i < edgesTable.Size; i++)
{
var moment = CvInvoke.Moments(edgesTable[i]);
area = moment.M00;
//Me quedo con el area mas grande que es la mesa de ping pong
if (area > maxArea)
{
//PERO tengo que descartar el area que es todo el cuadrado(el frame de la imagen)
if (area < WIDTH * HEIGHT * 0.22 && area > WIDTH * HEIGHT * 0.18)
{
maxArea = area;
indexArea = i;
}
}
}
for (int i = 0; i < edgesTable[indexArea].Size; i++)
{
//Encuentro el X mas bajo y alto, lo mismo para la Y
if (edgesTable[indexArea][i].X > maxX)
{
maxX = edgesTable[indexArea][i].X + desborde;
}
if (edgesTable[indexArea][i].X < minX)
{
minX = edgesTable[indexArea][i].X - desborde;
}
if (edgesTable[indexArea][i].Y > maxY)
{
maxY = edgesTable[indexArea][i].Y + desborde;
}
if (edgesTable[indexArea][i].Y < minY)
{
minY = edgesTable[indexArea][i].Y - desborde;
}
}
CvInvoke.DrawContours(imgout, edgesTable, indexArea, new MCvScalar(255, 0, 0), 1);
CvInvoke.Circle(imgout, new System.Drawing.Point(minX, minY), 2, colorDetected, 2);
CvInvoke.Circle(imgout, new System.Drawing.Point(minX, maxY), 2, colorDetected, 2);
CvInvoke.Circle(imgout, new System.Drawing.Point(maxX, minY), 2, colorDetected, 2);
CvInvoke.Circle(imgout, new System.Drawing.Point(maxX, maxY), 2, colorDetected, 2);
edgesDetected = true;
}
//Despues mapeo la profundidad de la mesa
if (!depthMapped && edgesDetected)
{
//Cargo por unica vez la matriz de configuracion de profundidad
if (listConfig.Count < CONFIG_ITERACIONES)
{
var configDepth = new int[WIDTH * HEIGHT];
for (int row = minY; row < maxY; row++)
{
for (int col = minX; col < maxX; col++)
{
//transformo un fila columna en su equivalente de vector
depthPixel = rawDepthPixels[(row * WIDTH) + (col)];
if (depthPixel > MIN_DEPTH && depthPixel < MAX_DEPTH)
{
configDepth[(row * WIDTH) + (col)] = depthPixel;
}
else
{
//Le pongo 700 para que no se vaya a valor muy bajo con el -1 y no arruine el prom
configDepth[(row * WIDTH) + (col)] = MAX_DEPTH - 200;
}
}
}
listConfig.Add(configDepth);
if (frame != null)
{
frame.Dispose();
frame = null;
}
return;
}
//Una vez que hizo las pasadas de configuracion saco el promedio
if (listConfig.Count == CONFIG_ITERACIONES)
{
//Saco el promedio para cada punto.
foreach (var item in listConfig)
{
for (int depth = 0; depth < averageDepthConfig.Length; depth++)
{
averageDepthConfig[depth] += item[depth];
}
}
for (int depth = 0; depth < averageDepthConfig.Length; depth++)
{
averageDepthConfig[depth] /= CONFIG_ITERACIONES;
}
depthMapped = true;
//Y limpio la matriz para que quede todo en negro.
for (int i = 0; i < colorImage.Length; i += 3)
{
colorImage[i + 0] = 0;
colorImage[i + 1] = 0;
colorImage[i + 2] = 0;
}
}
}
//Recien ahora puedo empezar a detectar profundidades y piques
if (edgesDetected && depthMapped)
{
for (int row = minY; row < maxY; row++)
{
for (int col = minX; col < maxX; col++)
{
//transformo un fila columna en su equivalente de vector
depthPixel = rawDepthPixels[(row * WIDTH) + (col)];
if (depthPixel > MIN_DEPTH && depthPixel < MAX_DEPTH && depthPixel < averageDepthConfig[(row * WIDTH) + (col)] - 5)
{
colorImage[(row * WIDTH * 3) + (col * 3) + 0] = 255;
colorImage[(row * WIDTH * 3) + (col * 3) + 1] = 255;
colorImage[(row * WIDTH * 3) + (col * 3) + 2] = 255;
}
else
{
colorImage[(row * WIDTH * 3) + (col * 3) + 0] = 0;
colorImage[(row * WIDTH * 3) + (col * 3) + 1] = 0;
colorImage[(row * WIDTH * 3) + (col * 3) + 2] = 0;
}
}
}
//Transformo mis pixeles en un formato OPENCV
frameOpenCV.SetTo(colorImage);
UMat uimage = new UMat();
CvInvoke.CvtColor(frameOpenCV, uimage, ColorConversion.Bgr2Gray);
//CvInvoke.Imshow("kinect camera", frameOpenCV);
//Suavizo los puntos pequeños
Mat erodeElement = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new System.Drawing.Size(3, 3), new System.Drawing.Point(-1, -1));
Mat dilateElement = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new System.Drawing.Size(5, 5), new System.Drawing.Point(-1, -1));
MCvScalar scalarD = new MCvScalar(5, 5);
CvInvoke.Erode(uimage, uimage, erodeElement, new System.Drawing.Point(-1, -1), 2, BorderType.Constant, scalarD);
CvInvoke.Dilate(uimage, uimage, dilateElement, new System.Drawing.Point(-1, -1), 4, BorderType.Constant, scalarD);
//CvInvoke.Imshow("Vision OPENCV", uimage);
//Busco contornos
Emgu.CV.Util.VectorOfVectorOfPoint countors = new Emgu.CV.Util.VectorOfVectorOfPoint();
Mat heir = new Mat();
Image <Rgb, byte> imgout = new Image <Rgb, byte>(frameOpenCV.Width, frameOpenCV.Height, new Rgb(200, 200, 200));
CvInvoke.FindContours(uimage, countors, heir, Emgu.CV.CvEnum.RetrType.Ccomp, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxSimple);
for (int i = 0; i < countors.Size; i++)
{
var moment = CvInvoke.Moments(countors[i]);
area = moment.M00;
//PENSAR ALGO MAS SELECTIVO QUE DESCARTE OBJETOS QUE NO SEAN CIRCULOS
if (area > MIN_OBJECT_AREA && area < MAX_OBJECT_AREA)
{
x = (int)(moment.M10 / area);
y = (int)(moment.M01 / area);
CvInvoke.DrawContours(imgout, countors, i, new MCvScalar(255, 0, 0), 1);
break;
}
}
if (x != 0 && y != 0)
{
int centerDepth = rawDepthPixels[y * WIDTH + x];
control.Add(centerDepth - averageDepthConfig[y * WIDTH + x]);
// AddTrajectory(false, new System.Drawing.Point(x, y));
//Es un pique solo si la diferencia entre la mesa y la pelota es minima, la mesa puede estar inclinada
if (centerDepth < averageDepthConfig[y * WIDTH + x] - 5 && centerDepth > averageDepthConfig[y * WIDTH + x] - DEPTH_TOL)
{
//Se detecto un pique
if (centerDepth - beforeCenterDepth >= 0)
{
if (centerDepth - beforeCenterDepth != 0)
{
confirmacion = false;
}
System.Console.WriteLine("NO Pico" + " BF " + beforeCenterDepth + " CD " + centerDepth + " confirmacion: " + confirmacion);
}
else
{
if (!confirmacion)
{
System.Console.WriteLine("Pico" + " BF " + beforeCenterDepth + " CD " + centerDepth + " confirmacion: " + confirmacion);
debugBounces.Add(new System.Drawing.Point(beforeX, beforeY));
confirmacion = true;
}
}
beforeCenterDepth = centerDepth;
beforeX = x;
beforeY = y;
ball.position = new Vector3(beforeX + 25, beforeY + 25, 0);
}
CvInvoke.Circle(imgout, new System.Drawing.Point(x, y), 20, colorDetected, 6);
CvInvoke.PutText(imgout, ((double)centerDepth / 1000).ToString("F") + "m", new System.Drawing.Point(x - 38, y + 50), FontFace.HersheyPlain, 1.3, colorBounce, 2);
x = 0;
y = 0;
}
foreach (var item in debugBounces)
{
CvInvoke.Circle(imgout, new System.Drawing.Point(item.X, item.Y), 10, colorBounce, 2);
}
if (debugBounces.Count > 1)
{
debugBounces.RemoveAt(0);
}
foreach (var item in trajectory)
{
CvInvoke.Circle(imgout, new System.Drawing.Point(item.X, item.Y), 10, colorBounce, 2);
}
CvInvoke.DrawContours(imgout, edgesTable, indexArea, new MCvScalar(255, 0, 0), 1);
CvInvoke.Imshow("Deteccion", imgout);
}
if (frame != null)
{
frame.Dispose();
frame = null;
}
}
if (frame != null)
{
frame.Dispose();
frame = null;
}
}
}
private static Image <Bgr, byte> detectCircle(Image <Bgr, byte> image)
{
HoornTimer timer = HoornTimer.Instance;
StringBuilder msgBuilder = new StringBuilder("Performance: ");
timer.Start();
//Convert the image to grayscale and filter out the noise
UMat uimage = new UMat();
CvInvoke.CvtColor(image, uimage, ColorConversion.Bgr2Gray);
timer.Stop();
timer.calculateDiff("1");
//use image pyr to remove noise
UMat pyrDown = new UMat();
CvInvoke.PyrDown(uimage, pyrDown);
CvInvoke.PyrUp(pyrDown, uimage);
Image <Gray, Byte> gray = image.Convert <Gray, Byte>().PyrDown().PyrUp();
#region circle detection
Stopwatch watch = Stopwatch.StartNew();
double cannyThreshold = 180.0;
double circleAccumulatorThreshold = 120;
CircleF[] circles = CvInvoke.HoughCircles(uimage, HoughType.Gradient, 2.0, 20.0, cannyThreshold, circleAccumulatorThreshold, 5);
watch.Stop();
msgBuilder.Append(String.Format("Hough circles - {0} ms; ", watch.ElapsedMilliseconds));
#endregion
#region Canny and edge detection
watch.Reset(); watch.Start();
double cannyThresholdLinking = 120.0;
UMat cannyEdges = new UMat();
CvInvoke.Canny(uimage, cannyEdges, cannyThreshold, cannyThresholdLinking);
LineSegment2D[] lines = CvInvoke.HoughLinesP(
cannyEdges,
1, //Distance resolution in pixel-related units
Math.PI / 45.0, //Angle resolution measured in radians.
20, //threshold
30, //min Line width
10); //gap between lines
watch.Stop();
msgBuilder.Append(String.Format("Canny & Hough lines - {0} ms; ", watch.ElapsedMilliseconds));
#endregion
#region draw circles
timer.Start();
Image <Bgr, Byte> circleImage = image;
Image <Bgr, Byte> mask = new Image <Bgr, byte>(image.Width, image.Height);
Image <Bgr, byte> dest = new Image <Bgr, byte>(image.Width, image.Height);
Image <Bgr, Byte> newUimage = cannyEdges.ToImage <Bgr, Byte>();
foreach (CircleF circle in circles)
{
//circleImage.Draw(circle, new Bgr(System.Drawing.Color.Blue), -2);
CvInvoke.Circle(mask, System.Drawing.Point.Round(circle.Center), (int)circle.Radius, new Bgr(System.Drawing.Color.Brown).MCvScalar, -1); // -1 fill ellipse
dest = image.And(image, mask.Convert <Gray, byte>());
}
timer.Stop();
timer.calculateDiff("2");
return(dest);
#endregion
}
public static void batchProcess(string sourceDir, string destinationDir)
{
XLWorkbook workBook;
workBook = File.Exists(destinationDir + "//results.xlsx") ? new XLWorkbook(destinationDir + "//results.xlsx") : new XLWorkbook();
string[] dirs = Directory.GetDirectories(sourceDir);
double totalDirs = dirs.Length;
double currentdir = 0;
Console.WriteLine("Processed 0 %");
foreach (string dir in dirs)
{
currentdir++;
string[] files = Directory.GetFiles(dir);
Console.WriteLine("Processing Directory : " + dir);
string destinationPath = destinationDir + @"\" + dir.Replace(sourceDir + @"\", "");
if (Directory.Exists(destinationPath))
{
continue;
}
var sheetName = Path.GetFileName(dir).Trim();
if (sheetName.Length >= 31)
{
sheetName = sheetName.Substring(0, 9) + " " + sheetName.Substring(sheetName.Length - 10);
}
var workSheet = workBook.Worksheets.Add(sheetName);
workSheet.Cell(1, 1).Value = "File Name";
workSheet.Cell(1, 2).Value = "Circle Status";
workSheet.Cell(1, 3).Value = "Center";
workSheet.Cell(1, 4).Value = "Radius";
workSheet.Cell(1, 5).Value = "FailCount";
workSheet.Cell(1, 6).Value = "Time Elapsed";
workSheet.Cell(1, 7).Value = "Output";
workSheet.Cell(1, 8).Value = "image Density";
workSheet.Cell(1, 9).Value = "Edge Points Count";
Directory.CreateDirectory(destinationPath);
FileStream densityFile1 = File.Create(destinationPath + "/densities.txt");
Directory.CreateDirectory(destinationPath + "/Undetected Circles");
FileStream densityFile2 = File.Create(destinationPath + "/Undetected Circles" + "/densities.txt");
Directory.CreateDirectory(destinationPath + "/ByPassed Images");
var index = 1;
foreach (string file in files)
{
string fileName = Path.GetFileNameWithoutExtension(file);
try
{
Convert.ToInt32(fileName);
index++;
//Console.WriteLine(file);
workSheet.Cell(index, 1).SetValue(fileName).Hyperlink = new XLHyperlink(new Uri(file));
Stopwatch watch = new Stopwatch();
watch.Start();
Edge edgeObject = new Edge(file, true);
RandomizedCircleDetection randCircleDetect = new RandomizedCircleDetection(edgeObject, 30, 2000, 15, 1,
0.01, 0.08, 0.47, EdgeType.CANNY_EDGE, false);
List <int[]> circles = randCircleDetect.DetectCircles();
watch.Stop();
string density;
byte[] bytes;
if (circles.Count != 0)
{
workSheet.Cell(index, 2).SetValue(true);
workSheet.Cell(index, 2).Style.Font.SetFontColor(XLColor.Green);
workSheet.Cell(index, 3).SetValue(new Point(circles[0][0], circles[0][1]));
workSheet.Cell(index, 4).SetValue(circles[0][2]);
Image <Bgr, byte> image = edgeObject.GetOriginalImage();
CvInvoke.Circle(image, new Point(circles[0][0], circles[0][1]), circles[0][2],
new MCvScalar(1, 123, 100), 5);
//File.Copy(file, destinationPath + "/" + fileName + ".png", true);
//CircleDeleter deleter = new CircleDeleter(edgeObject.GetGrayImage(), circles[0][0], circles[0][1], circles[0][2]);
//Image<Gray,byte> textImage = deleter.deleteCircle();
//CvInvoke.MedianBlur(textImage, textImage, 3);
CvInvoke.Imwrite(destinationPath + @"\" + fileName + ".png", image);
// Console.WriteLine(destinationPath + @"\" + fileName + ".png");
var temp = destinationPath + Path.DirectorySeparatorChar + fileName + ".png";
density = ((double)edgeObject.GetEdgePointsCount() / (double)(edgeObject.Rows * edgeObject.Cols)).ToString() + ": " + file;
bytes = Encoding.ASCII.GetBytes(density.ToCharArray());
densityFile1.Write(bytes, 0, bytes.Length);
bytes = Encoding.ASCII.GetBytes(Environment.NewLine);
densityFile1.Write(bytes, 0, bytes.Length);
workSheet.Cell(index, 7).SetValue(fileName).Hyperlink = new XLHyperlink(new Uri(temp));
}
else
{
workSheet.Cell(index, 2).SetValue(false);
workSheet.Cell(index, 2).Style.Font.SetFontColor(XLColor.Red);
File.Copy(file, destinationPath + "/Undetected Circles/" + fileName + ".png", true);
workSheet.Cell(index, 3).SetValue("NIL");
workSheet.Cell(index, 4).SetValue("NIL");
workSheet.Cell(index, 7).SetValue("NIL");
density = ((double)edgeObject.GetEdgePointsCount() / (double)(edgeObject.Rows * edgeObject.Cols)).ToString() + ": " + file;
bytes = Encoding.ASCII.GetBytes(density.ToCharArray());
densityFile2.Write(bytes, 0, bytes.Length);
bytes = Encoding.ASCII.GetBytes(Environment.NewLine);
densityFile2.Write(bytes, 0, bytes.Length);
}
workSheet.Cell(index, 5).SetValue(randCircleDetect.FailCount);
workSheet.Cell(index, 6).SetValue(watch.ElapsedMilliseconds.ToString() + "ms");
workSheet.Cell(index, 8).SetValue(randCircleDetect.ImageDensity);
workSheet.Cell(index, 9).SetValue(edgeObject.GetEdgePointsCount());
}
catch (Exception)
{
File.Copy(file, destinationPath + "/ByPassed Images/" + fileName + ".png", true);
}
}
index += 3;
workSheet.Cell(index, 3).SetValue("Edge Type");
workSheet.Cell(index, 3).Style.Font.SetBold();
workSheet.Cell(index, 4).SetValue("Canny Edge");
workSheet.Cell(index, 4).Style.Font.SetBold();
index++;
workSheet.Cell(index, 3).SetValue("Min Edge Pts in Image Threshold");
workSheet.Cell(index, 3).Style.Font.SetBold();
workSheet.Cell(index, 4).SetValue("30");
workSheet.Cell(index, 4).Style.Font.SetBold();
index++;
workSheet.Cell(index, 3).SetValue("Min Dist Btwn Edge Pts in Image Threshold");
workSheet.Cell(index, 3).Style.Font.SetBold();
workSheet.Cell(index, 4).SetValue("15");
workSheet.Cell(index, 4).Style.Font.SetBold();
index++;
workSheet.Cell(index, 3).SetValue("Allowed Radius Error");
workSheet.Cell(index, 3).Style.Font.SetBold();
workSheet.Cell(index, 4).SetValue("1");
workSheet.Cell(index, 4).Style.Font.SetBold();
index++;
workSheet.Cell(index, 3).SetValue("Circumfrence range");
workSheet.Cell(index, 3).Style.Font.SetBold();
workSheet.Cell(index, 4).SetValue("0.47");
workSheet.Cell(index, 4).Style.Font.SetBold();
index++;
workSheet.Cell(index, 3).SetValue("Max Allowed Fail Count");
workSheet.Cell(index, 3).Style.Font.SetBold();
workSheet.Cell(index, 4).SetValue("2000");
workSheet.Cell(index, 4).Style.Font.SetBold();
index++;
workSheet.Cell(index, 3).SetValue("Min Allowed Image Density");
workSheet.Cell(index, 3).Style.Font.SetBold();
workSheet.Cell(index, 4).SetValue("0.01");
workSheet.Cell(index, 4).Style.Font.SetBold();
index++;
workSheet.Cell(index, 3).SetValue("Max Allowed Image Density");
workSheet.Cell(index, 3).Style.Font.SetBold();
workSheet.Cell(index, 4).SetValue("0.08");
workSheet.Cell(index, 4).Style.Font.SetBold();
densityFile1.Close();
densityFile2.Close();
Console.WriteLine("Processed : " + (currentdir * 100 / totalDirs));
}
if (File.Exists(destinationDir + "//results.xlsx"))
{
workBook.Save();
}
else
{
workBook.SaveAs(destinationDir + Path.DirectorySeparatorChar + "results.xlsx");
}
}
public static string Detect(Image <Bgr, Byte> bgrImg)
{
string result = "Unknown";
Mat hsvImage = new Mat();
//Convert input to hsv image
CvInvoke.CvtColor(bgrImg, hsvImage, ColorConversion.Bgr2Hsv);
//Threshold image, keep only the red pixel
Mat lower_red_hue_range = new Mat();
Mat upper_red_hue_range = new Mat();
CvInvoke.InRange(hsvImage, new ScalarArray(new MCvScalar(0, 100, 100)), new ScalarArray(new MCvScalar(80, 255, 255)), lower_red_hue_range); //80(multi color) -> 10(only red)
CvInvoke.InRange(hsvImage, new ScalarArray(new MCvScalar(160, 100, 100)), new ScalarArray(new MCvScalar(179, 255, 255)), upper_red_hue_range);
//Scale for yellow
//CvInvoke.InRange(hsvImage, new ScalarArray(new MCvScalar(20, 100, 100)), new ScalarArray(new MCvScalar(30, 255, 255)), upper_red_hue_range);
//imgHSV, cvScalar(20, 100, 100), cvScalar(30, 255, 255), imgThreshed)
// Combine the above two images
Mat red_hue_image = new Mat();
CvInvoke.AddWeighted(lower_red_hue_range, 1.0, upper_red_hue_range, 1.0, 0.0, red_hue_image);
CvInvoke.GaussianBlur(red_hue_image, red_hue_image, new Size(9, 9), 2, 2);
//use image pyr to remove noise
UMat pyrDown = new UMat();
CvInvoke.PyrDown(red_hue_image, pyrDown);
CvInvoke.PyrUp(pyrDown, red_hue_image);
//Image<Gray, Byte> gray = img.Convert<Gray, Byte>().PyrDown().PyrUp();
#region circle detection
Stopwatch watch = Stopwatch.StartNew();
double cannyThreshold = 350; //red_hue_image.Rows / 8; //200
double circleAccumulatorThreshold = 80; //100; //100
CircleF[] circles = CvInvoke.HoughCircles(red_hue_image, HoughType.Gradient, 2.0, 20.0, cannyThreshold, circleAccumulatorThreshold, 5);
watch.Stop();
//msgBuilder.Append(String.Format("Hough circles - {0} ms; ", watch.ElapsedMilliseconds));
#endregion
#region draw circles
//Draw new image only circle.
//Mat circleImage = new Mat(bgrImage.Size, DepthType.Cv8U, 3);
//circleImage.SetTo(new MCvScalar(0));
foreach (CircleF circle in circles)
{
CvInvoke.Circle(bgrImg, Point.Round(circle.Center), (int)circle.Radius, new Bgr(Color.Violet).MCvScalar, 2);
}
#endregion
if (circles.Length > 0)
{
foreach (CircleF circle in circles)
{
Byte redValue = red_hue_image.Bitmap.GetPixel((int)circle.Center.X, (int)circle.Center.Y).R;
if (redValue > 100 && redValue < 200)
{
result = "Green";
}
else if (redValue > 200 && redValue < 250)
{
result = "Yellow";
}
else if (redValue > 250)
{
result = "Red";
}
}
}
return(result);
}
private Mat ProcessFrame(Mat frame)
{
var img = frame.Clone();
CvInvoke.PutText(img, _i.ToString(), new Point(30, 30), FontFace.HersheyPlain, 1, new MCvScalar(255, 0, 0), 2);
_i++;
try
{
Algorithm.Process(img, _newMap, (normal, points, points2D) =>
{
Planes.Add(new PlaneInfo
{
Normal = normal,
Points3D = points
});
var edges = new Mat();
CvInvoke.Canny(img, edges, 0.1, 99);
var contours = new VectorOfVectorOfPoint();
var hierarchy = new Mat();
CvInvoke.FindContours(edges, contours, hierarchy, RetrType.Tree, ChainApproxMethod.ChainApproxSimple);
for (int i = 0; i < contours.Size; i++)
{
var approx = new Mat();
CvInvoke.ApproxPolyDP(contours[i], approx, 9, true);
var approxMat = new Matrix <double>(approx.Rows, approx.Cols, approx.DataPointer);
double a = Math.Abs(CvInvoke.ContourArea(approx));
if (approxMat.Rows == 4 && Math.Abs(CvInvoke.ContourArea(approx)) > 3000 &&
CvInvoke.IsContourConvex(approx))
{
CvInvoke.DrawContours(img, contours, i, new MCvScalar(0, 255, 0), 2);
}
}
CvInvoke.Polylines(img, points2D, true, new MCvScalar(0, 0, 255), 3, LineType.AntiAlias);
Capture = null;
#region Rectangle
//var rect = CvInvoke.BoundingRectangle(Utils.GetPointsVector(Algorithm.TrackedFeatures));
//var rectPoints = new[]
//{
// new PointF(rect.Location.X, rect.Location.Y + rect.Y),
// rect.Location,
// new PointF(rect.Location.X + rect.X, rect.Location.Y),
// new PointF(rect.Location.X + rect.X, rect.Location.Y + rect.Y)
//};
//rectPoints = CvInvoke.PerspectiveTransform(rectPoints, homography);
//var points2D = Array.ConvertAll(rectPoints, Point.Round);
////CvInvoke.CvtColor(img, img, ColorConversion.Bgr2Gray);
//var edges = new Mat();
//CvInvoke.Canny(img, edges, 0.1, 99);
//var contours = new VectorOfVectorOfPoint();
//var hierarchy = new Mat();
//CvInvoke.FindContours(edges, contours, hierarchy, RetrType.Tree, ChainApproxMethod.ChainApproxSimple);
//int largestContourIndex = 0;
//double largestArea = 0;
//VectorOfPoint largestContour;
//for (int i = 0; i < contours.Size; i++)
//{
// var approx = new Mat();
// CvInvoke.ApproxPolyDP(contours[i], approx, 9, true);
// var approxMat = new Matrix<double>(approx.Rows, approx.Cols, approx.DataPointer);
// double a = Math.Abs(CvInvoke.ContourArea(approx));
// if (approxMat.Rows == 4 && Math.Abs(CvInvoke.ContourArea(approx)) > 500 &&
// CvInvoke.IsContourConvex(approx))
// {
// CvInvoke.DrawContours(img, contours, i, new MCvScalar(0, 255, 0), 2);
// }
//}
//while (true)
//{
// rect.Inflate(20, 20);
// if (rect.Size.Width > 200 || rect.Height > 200)
// break;
//}
#endregion
#region Dot product
//var rotationVector32F = new VectorOfFloat();
//var translationVector32F = new VectorOfFloat();
//var rotationVector = new Mat();
//var translationVector = new Mat();
//CvInvoke.SolvePnP(Algorithm.TrackedFeatures3D, Utils.GetPointsVector(Algorithm.TrackedFeatures), _calibration.Intrinsic, _calibration.Distortion, rotationVector, translationVector);
//rotationVector.ConvertTo(rotationVector32F, DepthType.Cv32F);
//translationVector.ConvertTo(translationVector32F, DepthType.Cv32F);
//var rotationMat = new Mat();
//CvInvoke.Rodrigues(rotationVector32F, rotationMat);
//var rotationMatrix = new Matrix<double>(rotationMat.Rows, rotationMat.Cols, rotationMat.DataPointer);
//var tvec = translationVector32F.ToArray().Select(i => (double)i).ToArray();
//var cameraPosition = rotationMatrix.Transpose() * new Matrix<double>(tvec);
//var cameraPositionPoint = new MCvPoint3D32f((float)cameraPosition[0, 0], (float)cameraPosition[1, 0], (float)cameraPosition[2, 0]);
//var cameraVector = Algorithm.TrackedFeatures3D[0] - cameraPositionPoint;
//Func<double, double> radianToDegree = angle => angle * (180.0 / Math.PI);
//double dotProduct = new double[] { cameraVector.X, cameraVector.Y, cameraVector.Z }.Dot(new[] { normal[0, 0], normal[0, 1], normal[0, 2] });
//double acos = Math.Acos(dotProduct);
//double angle5 = radianToDegree(acos);
//double t = dotProduct;
//var projected = CvInvoke.ProjectPoints(Algorithm.TrackedFeatures3D.ToArray(), rotationVector32F, translationVector32F, _calibration.Intrinsic, _calibration.Distortion);
//foreach (var pr in projected)
//{
// CvInvoke.Circle(img, new Point((int)pr.X, (int)pr.Y), 2, new MCvScalar(0, 255, 0), 2, LineType.AntiAlias);
//}
#endregion
//CvInvoke.Rectangle(img, rect, new MCvScalar(0, 0, 255), 3, LineType.AntiAlias);
//CvInvoke.Polylines(img, points2D, true, new MCvScalar(0, 255, 0), 3, LineType.AntiAlias);
//Console.WriteLine($"Normal: [{normal.Data[0, 0]}, {normal.Data[0, 1]}, {normal.Data[0, 2]}]");
//Console.WriteLine($"Angle: {angle5}");
//Console.WriteLine($"Dot product: {dotProduct}");
//Console.WriteLine($"Points: [{string.Join(",", points.ToArray().Select(p => $"[{p.X}, {p.Y}, {p.Z}]").ToArray())}]");
});
}
catch (Exception ex)
{
_newMap = true;
Algorithm.ResetAlgorithm();
}
if (Algorithm.IsBootstrapping)
{
_newMap = false;
return(img);
}
if (Algorithm.IsBootstrapping || !Algorithm.IsTracking)
{
_newMap = true;
return(img);
}
//Thread.Sleep(1000);
#region Draw axis
//var axis = new VectorOfPoint3D32F(new[]
//{
// new MCvPoint3D32f(0.01f, 0, 0),
// new MCvPoint3D32f(0, 0.01f, 0),
// new MCvPoint3D32f(0, 0, 0.01f)
//});
//var imgPoints = new VectorOfPointF();
//CvInvoke.ProjectPoints(axis, Algorithm.Raux, Algorithm.Taux, _calibration.Intrinsic, _calibration.Distortion, imgPoints);
//var centers = new VectorOfPoint3D32F(new[] { new MCvPoint3D32f(0, 0, 0) });
//var centerPoints = new VectorOfPointF();
//CvInvoke.ProjectPoints(centers, Algorithm.Raux, Algorithm.Taux, _calibration.Intrinsic, _calibration.Distortion,
// centerPoints);
//CvInvoke.Line(img, new Point((int)centerPoints[0].X, (int)centerPoints[0].Y), new Point((int)imgPoints[0].X, (int)imgPoints[0].Y), new MCvScalar(255, 0, 0), 5);
//CvInvoke.Line(img, new Point((int)centerPoints[0].X, (int)centerPoints[0].Y), new Point((int)imgPoints[1].X, (int)imgPoints[1].Y), new MCvScalar(0, 255, 0), 5);
//CvInvoke.Line(img, new Point((int)centerPoints[0].X, (int)centerPoints[0].Y), new Point((int)imgPoints[2].X, (int)imgPoints[2].Y), new MCvScalar(0, 0, 255), 5);
#endregion
#region Draw keypoints and projected 3D points
var projected3DfeaturesrPoints = new VectorOfPointF();
CvInvoke.ProjectPoints(Algorithm.TrackedFeatures3D, Algorithm.Raux, Algorithm.Taux, _calibration.Intrinsic,
_calibration.Distortion, projected3DfeaturesrPoints);
for (int i = 0; i < projected3DfeaturesrPoints.Size; i++)
{
var feature = projected3DfeaturesrPoints[i];
CvInvoke.Circle(img, new Point((int)feature.X, (int)feature.Y), 2,
new MCvScalar(0, 255, 0), 2);
}
for (int i = 0; i < Algorithm.TrackedFeatures.Size; i++)
{
var feature = Algorithm.TrackedFeatures[i];
CvInvoke.Circle(img, new Point((int)feature.Point.X, (int)feature.Point.Y), 1,
new MCvScalar(0, 0, 255), 1);
}
#endregion
_newMap = true;
return(img);
}
void processFrameAndUpdateGUI(object sender, EventArgs arg)
{
currentFrame = grabber.QueryFrame();
if (currentFrame == null)
{
MessageBox.Show("unable to read from webcam" + Environment.NewLine + Environment.NewLine +
"exiting program");
Environment.Exit(0);
return;
}
Mat imgHSV = new Mat(currentFrame.Size, DepthType.Cv8U, 3);
Mat imgThreshLow = new Mat(currentFrame.Size, DepthType.Cv8U, 1);
Mat imgThreshHigh = new Mat(currentFrame.Size, DepthType.Cv8U, 1);
Mat imgThresh = new Mat(currentFrame.Size, DepthType.Cv8U, 1);
CvInvoke.CvtColor(currentFrame, imgHSV, ColorConversion.Bgr2Hsv);
//CvInvoke.InRange(imgHSV, new ScalarArray(new MCvScalar(0, 155, 155)), new ScalarArray(new MCvScalar(18, 255, 255)), imgThreshLow);
//CvInvoke.InRange(imgHSV, new ScalarArray(new MCvScalar(165, 155, 155)), new ScalarArray(new MCvScalar(179, 255, 255)), imgThreshHigh);
//CvInvoke.Add(imgThreshLow, imgThreshHigh, imgThresh);
//CvInvoke.InRange(imgHSV, new ScalarArray(new MCvScalar(int.Parse(boxHue.Text) - 10, 100, 100)), new ScalarArray(new MCvScalar(int.Parse(boxHue.Text) + 10, 255, 255)), imgThresh);
CvInvoke.InRange(imgHSV, new ScalarArray(new MCvScalar(getHue() - 10, 130, 130)), new ScalarArray(new MCvScalar(getHue() + 10, 255, 255)), imgThresh);
CvInvoke.GaussianBlur(imgThresh, imgThresh, new Size(3, 3), 0);
Mat structuringElement = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(3, 3), new Point(-1, -1));
CvInvoke.Dilate(imgThresh, imgThresh, structuringElement, new Point(-1, -1), 1, BorderType.Default, new MCvScalar(0, 0, 0));
CvInvoke.Erode(imgThresh, imgThresh, structuringElement, new Point(-1, -1), 1, BorderType.Default, new MCvScalar(0, 0, 0));
// circles way
//CircleF[] circles = CvInvoke.HoughCircles(imgThresh, HoughType.Gradient, 2.0, imgThresh.Rows / 4, 100, 50, 20, 200);
////CvInvoke.FindContours()
//float max = 0;
//CircleF f = new CircleF(new PointF(0,0), -1);
//foreach (CircleF circle in circles)
//{
// if (circle.Radius > max)
// {
// max = circle.Radius;
// f = circle;
// }
//}
////foreach (CircleF circle in circles)
////{
//// if (boxBallPosition.Text != "")
//// { // if we are not on the first line in the text box
//// boxBallPosition.AppendText(Environment.NewLine); // then insert a new line char
//// }
//// boxBallPosition.AppendText("ball position x = " + circle.Center.X.ToString().PadLeft(4) + ", y = " + circle.Center.Y.ToString().PadLeft(4) + ", radius = " + circle.Radius.ToString("###.000").PadLeft(7));
//// boxBallPosition.ScrollToCaret(); // scroll down in text box so most recent line added (at the bottom) will be shown
//// CvInvoke.Circle(currentFrame, new Point((int)circle.Center.X, (int)circle.Center.Y), (int)circle.Radius, new MCvScalar(0, 0, 255), 2);
//// CvInvoke.Circle(currentFrame, new Point((int)circle.Center.X, (int)circle.Center.Y), 3, new MCvScalar(0, 255, 0), -1);
////}
//if (f.Radius > 0)
//{
// if (boxBallPosition.Text != "")
// { // if we are not on the first line in the text box
// boxBallPosition.AppendText(Environment.NewLine); // then insert a new line char
// }
// boxBallPosition.AppendText("ball position x = " + f.Center.X.ToString().PadLeft(4) + ", y = " + f.Center.Y.ToString().PadLeft(4) + ", radius = " + f.Radius.ToString("###.000").PadLeft(7));
// boxBallPosition.ScrollToCaret(); // scroll down in text box so most recent line added (at the bottom) will be shown
// CvInvoke.Circle(currentFrame, new Point((int)f.Center.X, (int)f.Center.Y), (int)f.Radius, new MCvScalar(0, 0, 255), 2);
// CvInvoke.Circle(currentFrame, new Point((int)f.Center.X, (int)f.Center.Y), 3, new MCvScalar(0, 255, 0), -1);
// if (trackBall)
// {
// foundBall = true;
// rotateHand((int)f.Center.X, (int)f.Center.Y);
// }
//}
if (trackBall && !foundBall && !maxedOut[0][0] && !maxedOut[0][1])
{
if (framePause++ == frameLimit)
{
sendCode(MOVE_LEFT, PAUSE, PAUSE, PAUSE);
framePause = 0;
}
}
VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint();
IOutputArray hierarchy = null;
CvInvoke.FindContours(imgThresh, contours, hierarchy, RetrType.External, ChainApproxMethod.ChainApproxSimple);
double largest_area = 30;
int largest_contour_index = 0;
foundBall = false;
int count = contours.Size;
for (int i = 0; i < count; i++)
{
double a = CvInvoke.ContourArea(contours[i], false); // Find the area of contour
if (a > largest_area)
{
largest_area = a;
largest_contour_index = i; //Store the index of largest contour
foundBall = true;
}
}
if (trackBall && foundBall)
{
middleX = 0;
middleY = 0;
maxDist = 0;
double newDist;
int x1, x2, y1, y2;
int size = contours[largest_contour_index].Size;
for (int i = 0; i < size; i++)
{
middleX += contours[largest_contour_index][i].X;
middleY += contours[largest_contour_index][i].Y;
}
for (int i = 0; i < size / 2; i++)
{
x1 = contours[largest_contour_index][i].X;
x2 = contours[largest_contour_index][i + size / 2].X;
y1 = contours[largest_contour_index][i].Y;
y2 = contours[largest_contour_index][i + size / 2].Y;
newDist = Math.Sqrt(Math.Pow((x2 - x1), 2) + Math.Pow((y2 - y1), 2));
if (maxDist < newDist)
{
maxDist = newDist;
}
}
middleX = middleX / contours[largest_contour_index].Size;
middleY = middleY / contours[largest_contour_index].Size;
CvInvoke.Circle(currentFrame, new Point((int)middleX, (int)middleY), 3, new MCvScalar(0, 255, 0), -1);
CvInvoke.Circle(currentFrame, new Point((int)middleX, (int)middleY), (int)maxDist / 2, new MCvScalar(0, 255, 0), 2);
boxBallPosition.AppendText("maxDist = " + maxDist + " largest Area: " + largest_area);
boxBallPosition.ScrollToCaret();
if (framePause++ == frameLimit)
{
rotateHand(middleX, middleY);
framePause = 0;
}
}
CvInvoke.DrawContours(imgThresh, contours, largest_contour_index, new MCvScalar(255, 0, 0));
CvInvoke.DrawContours(currentFrame, contours, largest_contour_index, new MCvScalar(255, 0, 0));
if (boxChangeImg.Checked)
{
imgBoxFace.Image = imgThresh;
}
else
{
imgBoxFace.Image = currentFrame;
}
}
void FrameGrabber_Parrellel(object sender, EventArgs e)
{
//Get the current frame form capture device
currentFrame = grabber.QueryFrame();
grayFrame = new Mat(currentFrame.Size, DepthType.Cv8U, 3);
//Convert it to Grayscale
//Clear_Faces_Found();
if (currentFrame != null)
{
CvInvoke.CvtColor(currentFrame, grayFrame, ColorConversion.Bgr2Gray);
//Face Detector
Rectangle[] facesDetected = faceClassifier.DetectMultiScale(grayFrame, 1.2, 10);
//Rectangle[] facesDetected = Face.DetectMultiScale(gray_frame, 1.2, 10, new Size(50, 50), Size.Empty);
if (trackFace && !foundFace && !maxedOut[0][0] && !maxedOut[0][1])
{
sendCode(MOVE_LEFT, PAUSE, PAUSE, PAUSE);
}
//Action for each element detected
Parallel.For(0, facesDetected.Length, i =>
{
try
{
facesDetected[i].X += (int)(facesDetected[i].Height * 0.15);
facesDetected[i].Y += (int)(facesDetected[i].Width * 0.22);
facesDetected[i].Height -= (int)(facesDetected[i].Height * 0.3);
facesDetected[i].Width -= (int)(facesDetected[i].Width * 0.35);
result = new Mat(currentFrame, facesDetected[i]).ToImage <Gray, byte>();
result._EqualizeHist();
//draw the face detected in the 0th (gray) channel with blue color
CvInvoke.Rectangle(currentFrame, facesDetected[i], new MCvScalar(255, 0, 0), 2);
// reset foundface
//foundFace = false;
if (eigenRecognition.IsTrained)
{
string name = eigenRecognition.Recognise(result);
int match_value = (int)eigenRecognition.Get_Eigen_Distance;
//Draw the label for each face detected and recognized
CvInvoke.PutText(currentFrame, name + " ", new Point(facesDetected[i].X, facesDetected[i].Y), FontFace.HersheyComplex, 1, new MCvScalar(0, 255, 0), 1);
Console.WriteLine(name);
if (trackFace && name.Equals(trackName))
{
foundFace = true;
middleX = facesDetected[i].X + facesDetected[i].Width / 2;
middleY = facesDetected[i].Y + facesDetected[i].Height / 2;
CvInvoke.Circle(currentFrame, new Point((int)middleX, (int)middleY), 3, new MCvScalar(0, 255, 0), -1);
if (framePause++ == frameLimit)
{
rotateHand(middleX, middleY);
framePause = 0;
}
}
else
{
if (framePause++ == frameLimit)
{
sendCode(MOVE_LEFT, PAUSE, PAUSE, PAUSE);
framePause = 0;
}
}
}
}
catch
{
//do nothing as parrellel loop buggy
//No action as the error is useless, it is simply an error in
//no data being there to process and this occurss sporadically
}
});
//Show the faces procesed and recognized
imgBoxFace.Image = currentFrame;
}
}
//Red Segmentation
public static BitmapSource Procred(BitmapSource Image)
{
//Checks to see if there is an image
if (Image != null)
{
//Converts to image<>
MemoryStream Stream = new MemoryStream();
BitmapEncoder encoded = new BmpBitmapEncoder();
encoded.Frames.Add(BitmapFrame.Create(Image));
encoded.Save(Stream);
System.Drawing.Bitmap myBmp = new System.Drawing.Bitmap(Stream); //Casts image to bitmap
Image <Hsv, Byte> processed = new Image <Hsv, Byte>(myBmp); //Casts bitmap to image<Hsv, byte>
//Main processing
CvInvoke.Flip(processed, processed, Emgu.CV.CvEnum.FlipType.Horizontal); //Flips the image in the horizontal
Image <Gray, Byte> Thr1; //Creates two Grayscale images that will be used when segmenting
Thr1 = processed.InRange(new Hsv(170, 120, 70), new Hsv(180, 255, 255)); //Handles second range for RED
//Handles noise and cleans image
Mat kernel = Mat.Ones(3, 3, Emgu.CV.CvEnum.DepthType.Cv32F, 1); //Creates 3x3 kernel for use as kernel
CvInvoke.MorphologyEx(Thr1, Thr1, Emgu.CV.CvEnum.MorphOp.Open, kernel, new System.Drawing.Point(0, 0), 1, Emgu.CV.CvEnum.BorderType.Default, new MCvScalar(1));
CvInvoke.MorphologyEx(Thr1, Thr1, Emgu.CV.CvEnum.MorphOp.Dilate, kernel, new System.Drawing.Point(0, 0), 1, Emgu.CV.CvEnum.BorderType.Default, new MCvScalar(1));
//Extracts only RED parts from orignal image
Mat Mask; //Creates Mat for converting mask to Mat
Mask = Thr1.Mat; //Casts mask to Mat
Image <Hsv, byte> Redisolated = new Image <Hsv, byte>(processed.Width, processed.Height); //Creates Image<Hsv,byte> for final processed image
//CvInvoke.BitwiseAnd(processed, processed, Redisolated, Mask); //ANDS mask with orignal image to retain only portions that are RED
//Extracts biggest blob
//Variables
double Largestarea = 0;
int Largestcontourindex = 0, X, Y;
MCvPoint2D64f Center;
Image <Gray, Byte> Centroid = new Image <Gray, Byte>(processed.Width, processed.Height);
Image <Gray, Byte> Contourdrawn = new Image <Gray, Byte>(processed.Width, processed.Height);
VectorOfVectorOfPoint Contours = new VectorOfVectorOfPoint();
Mat Hierarchy = new Mat();
//Processing
CvInvoke.FindContours(Thr1, Contours, Hierarchy, Emgu.CV.CvEnum.RetrType.Ccomp, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxSimple); //Finds contours in image
//Iterates through each contour
for (int i = 0; i < Contours.Size; i++)
{
double a = CvInvoke.ContourArea(Contours[i], false); // Find the area of contour
if (a > Largestarea)
{
Largestarea = a;
Largestcontourindex = i; //Stores the index of largest contour
//bounding_rect=boundingRect(contours[i]); // Find the bounding rectangle for biggest contour
}
}
CvInvoke.DrawContours(Contourdrawn, Contours, Largestcontourindex, new MCvScalar(255, 255, 255), 10, Emgu.CV.CvEnum.LineType.Filled, Hierarchy, 0); //Draws biggest contour on blank image
Moments moments = CvInvoke.Moments(Contourdrawn, true); //Gets the moments of the dranw contour
Center = moments.GravityCenter; //converts the moment to a center
try
{
X = Convert.ToInt32(Center.X); //Converts to integer
Y = Convert.ToInt32(Center.Y);
Debug.WriteLine("X - {0}, Y - {1}", X, Y); //Prints centre co-ords to console
CvInvoke.Circle(Centroid, new System.Drawing.Point(X, Y), 10, new MCvScalar(255, 255, 255), -1);
}
catch { Debug.WriteLine("No RED in detected"); }
//Cleanup
Mask.Dispose();
Thr1.Dispose();
Stream.Dispose();
myBmp.Dispose();
return(BitmapSourceConvert.ToBitmapSource(Centroid)); //Returns processed image
}
else
{
return(null);
}
}
public static ProcessFrameResult ProcessFromFile(Mat frame, int firstCannyThresh = 100, int secondCannyThresh = 60, int firstCannyThresh1 = 120, int secondCannyThresh1 = 50, TargetDetails useThisTarget = null)
{
ProcessFrameResult result = new ProcessFrameResult();
result.Target = new TargetDetails();
result.Target.BlackCenter = useThisTarget.BlackCenter;
result.Target.BlackR = useThisTarget.BlackR;
var pix = Pix(useThisTarget.BlackR);
int zapasSize = 5; //zapas z jakim ma wykrywać przestrzeline - to wywalić do jakiegoś txtbox czy coś
int czteryIpolmmR_int = Convert.ToInt32(FourNHalfR(pix));
Mat circleImage = frame;
#region hocki klocki przepierdalanie obrazu
var inputImage = frame.ToImage <Bgr, byte>();
// inputImage._EqualizeHist();
inputImage._GammaCorrect(0.4d);
result.GrSmootWarped = inputImage.Mat;
#region blur gray canny samej tarczy
Mat canny_output12 = new Mat();
//As for your answer to number two, blur the image, convert to greyscale, then threshold to eliminate lighting differences is the usual solution
Mat smallGrayFrame12 = new Mat();
Mat smoothedGrayFrame12 = new Mat();
CvInvoke.PyrDown(inputImage.Mat, smallGrayFrame12);
CvInvoke.PyrUp(smallGrayFrame12, smoothedGrayFrame12);
CvInvoke.CvtColor(smoothedGrayFrame12, smoothedGrayFrame12, ColorConversion.Bgr2Gray);
// CvInvoke.GaussianBlur(smoothedGrayFrame12, smoothedGrayFrame12, new Size(9, 9), 1, 1);
result.SmoothedOryginal = smoothedGrayFrame12;
#region test
//#######test
// double otsu_thresh_val12 = CvInvoke.Threshold(smoothedGrayFrame12, fake12, firstCannyThresh, secondCannyThresh, ThresholdType.Binary & ThresholdType.Otsu);
//CvInvoke.AdaptiveThreshold(smoothedGrayFrame12, fake12, 255, AdaptiveThresholdType.GaussianC, ThresholdType.BinaryInv, 3, 2);
//1CvInvoke.GaussianBlur(fake12, fake12, new Size(9, 9), 1, 1);
// CvInvoke.GaussianBlur(fake12, fake12, new Size(9, 9), 1, 1);
// C1111vInvoke.GaussianBlur(fake12, fake12, new Size(9, 9), 1, 1);
// We don't need the _img. We are interested in only the otsu_thresh_val but unfortunately, currently there is no method in OpenCV which allows you to compute only the threshold value.
//Use the Otsu's threshold value as higher threshold and half of the same as the lower threshold for Canny's algorithm.
//double high_thresh_val1 = otsu_thresh_val1,
// lower_thresh_val1 = otsu_thresh_val1 * 0.5;
//CvInvoke.GaussianBlur(warped, fake12, new Size(9, 9), 1, 1);
CvInvoke.Canny(smoothedGrayFrame12, canny_output12, firstCannyThresh, secondCannyThresh);
// CvInvoke.Canny(smoothedGrayFrame12, canny_output12, 120, 50);
// CvInvoke.GaussianBlur(canny_output12, canny_output12, new Size(11, 11), 1, 1);
// CvInvoke.GaussianBlur(canny_output12, canny_output12, new Size(7, 7), 1, 1);
// result.WarpedTargetCanny = canny_output12;//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
//#######test
#endregion test
#endregion blur gray canny samej tarczy
// result.SmOryCanny = smoothedGrayFrame12;
#endregion hocki klocki przepierdalanie obrazu
//odpal manualne pozycjonowanie
ManualShotPositioning msp = new ManualShotPositioning();
msp.SetTargetAndShot(circleImage, czteryIpolmmR_int, useThisTarget);
DialogResult dr = msp.ShowDialog();
CvInvoke.Circle(circleImage, Point.Round(msp.SelectedPoint), czteryIpolmmR_int, new Bgr(Color.DeepPink).MCvScalar, 1, LineType.AntiAlias, 0);
result.Shot = WyliczWartoscPrzestrzeliny(msp.SelectedPoint, useThisTarget);
DrawCircles(circleImage, pix, useThisTarget.BlackCenter);
result.TargetScanWithResult = circleImage;//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
return(result);
}
/// <summary>
/// 图像处理定时器，定时响应函数，完成霍夫变换，矩形三角形检测
/// </summary>
private void ProcessTick(object sender, EventArgs e)
{
Stopwatch watch = new Stopwatch(); //计时运算时间
if (houghCircles_radioButton.Checked)
{
#region circle detection
watch.Start();
//霍夫圆变换的四个参数
double cannyThreshold = (double)param1_UpDown.Value;
double circleAccumulatorThreshold = (double)param2_UpDown.Value;
double dp = (double)dp_UpDown.Value;
double min_dist = (double)minDist_UpDown.Value;
//霍夫圆变换检测圆形
CircleF[] circles = CvInvoke.HoughCircles(_smoothedGrayFrame, HoughType.Gradient,
dp, min_dist, cannyThreshold, circleAccumulatorThreshold, 5);
watch.Stop();
houghTime_lab.Text = String.Format("耗时: {0} ms", watch.ElapsedMilliseconds);
#endregion
#region draw circles
_frame.CopyTo(_circleImage);
foreach (CircleF circle in circles)
{
//构造字符串，包含圆心、半径信息
String centerText = String.Format(" ({0}, {1}, R={2})", circle.Center.X, circle.Center.Y, circle.Radius);
//在图像中绘制检测到的圆心（在圆心处画半径为1的圆）
CvInvoke.Circle(_circleImage, Point.Round(circle.Center), 1, new Bgr(Color.Red).MCvScalar, 2);
//在图像中绘制检测到的圆轮廓
CvInvoke.Circle(_circleImage, Point.Round(circle.Center), (int)circle.Radius, new Bgr(Color.Red).MCvScalar, 2);
//在圆心处显示圆心、半径信息
CvInvoke.PutText(_circleImage, centerText, Point.Round(circle.Center),
FontFace.HersheyPlain, 0.8, new Bgr(Color.DarkOrange).MCvScalar);
}
proImageBox.Image = _circleImage;
#endregion
}
else if (rectDetect_radioButton.Checked)
{
#region Find triangles and rectangles
watch.Reset(); watch.Start();
//新建存储三角形圆形信息的两个List
List <Triangle2DF> triangleList = new List <Triangle2DF>();
List <RotatedRect> boxList = new List <RotatedRect>(); //a box is a rotated rectangle
using (VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint())
{
CvInvoke.FindContours(_cannyFrame, contours, null, RetrType.List, ChainApproxMethod.ChainApproxSimple);
int count = contours.Size;
for (int i = 0; i < count; i++)
{
using (VectorOfPoint contour = contours[i])
using (VectorOfPoint approxContour = new VectorOfPoint())
{
CvInvoke.ApproxPolyDP(contour, approxContour, CvInvoke.ArcLength(contour, true) * 0.05, true);
if (CvInvoke.ContourArea(approxContour, false) > 250) //only consider contours with area greater than 250
{
if (approxContour.Size == 3) //The contour has 3 vertices, it is a triangle
{
Point[] pts = approxContour.ToArray();
triangleList.Add(new Triangle2DF(
pts[0],
pts[1],
pts[2]
));
}
else if (approxContour.Size == 4) //The contour has 4 vertices.
{
#region determine if all the angles in the contour are within [80, 100] degree
bool isRectangle = true;
Point[] pts = approxContour.ToArray();
LineSegment2D[] edges = PointCollection.PolyLine(pts, true);
for (int j = 0; j < edges.Length; j++)
{
double angle = Math.Abs(
edges[(j + 1) % edges.Length].GetExteriorAngleDegree(edges[j]));
if (angle < 80 || angle > 100)
{
isRectangle = false;
break;
}
}
#endregion
if (isRectangle)
{
boxList.Add(CvInvoke.MinAreaRect(approxContour));
}
}
}
}
}
}
watch.Stop();
rectTime_lab.Text = String.Format("耗时： {0} ms", watch.ElapsedMilliseconds);
#endregion
#region draw triangles and rectangles
_frame.CopyTo(_triangleRectangleImage);
foreach (Triangle2DF triangle in triangleList)
{
CvInvoke.Polylines(_triangleRectangleImage, Array.ConvertAll(triangle.GetVertices(), Point.Round), true, new Bgr(Color.Blue).MCvScalar, 2);
}
foreach (RotatedRect box in boxList)
{
CvInvoke.Polylines(_triangleRectangleImage, Array.ConvertAll(box.GetVertices(), Point.Round), true, new Bgr(Color.DarkOrange).MCvScalar, 2);
}
proImageBox.Image = _triangleRectangleImage;
#endregion
}
else if (canny_radioButton.Checked)
{
proImageBox.Image = _cannyFrame;
}
}
public static Image <Bgr, byte> CreateMapandBar(IPSResult src, int divide)
{
int dotSize = 5;
var sizemultiflier = 8;
var imgshiftoffset = 10;
var offset = src.SpotDataList.Select(x => x.PlrPos.Rho / 10.0).Max(); // Padding Size
var thcklist = src.SpotDataList.Select(x => x.Thickness);
// Choose Data Scale
// normalization -> In trust region 95% , fit outlier data to boundary -> rescale from 0 to 255
//var pinnedArr = GCHandle.Alloc( thcklist , GCHandleType.Pinned);
//int size = Marshal.SizeOf(thcklist);
//var pointer = Marshal.AllocHGlobal(size);
//Marshal.StructureToPtr( thcklist , pointer , true );
//var inputarr = new Mat(new int[] { 1, thcklist.Count() } , Emgu.CV.CvEnum.DepthType.Cv64F , pointer );
//CvInvoke.MeanStdDev( inputarr , ref mean , ref std );
//Matrix<double> datas = new Matrix<double>(1, thcklist.Count() , pointer);
//pinnedArr.Free();
//var zscore = thcklist.Select( x => (x - mean.V0)/std.V0 )
// .Select( x => x > 1.96 ? 1.96 :
// x < -1.96 ? -1.96
// : x).ToArray()
// ;
//var n = (double)thcklist.Count();
//var mean = thcklist.Sum()/n;
//var std = Math.Sqrt( thcklist.Select( x => Math.Pow(x - mean,2)).Sum() / n );
var min = thcklist.Min();
var max = thcklist.Max();
var cm = new ColorMap().Inferno_cm;
// Interpolation
var srcdatas = src.Result2TRThArr().Select(x => x).ToList();
/*
#region
* // Extact Color Position
* "".Print();
* "".Print();
* "".Print();
* "STart Point".Print();
* var xyCm2 = srcdatas.ToCartesianReslt()
* .OrderBy( x=> x[0])
* .ThenBy( x => x[1])
* .AsParallel()
* .AsOrdered()
* //.Select( x => new double[] { x[0] , x[1] , ( x[2] - mean ) / std } )
* //.Select( x => new double[] { x[0] , x[1] , x[2] > 1.96 ? 1.96 :
* // x[2] < -1.96 ? -1.96
* // : x[2] } )
* .Select( x => new
* {
* X = offset + x[0] ,
* Y = offset + x[1] ,
* Cm = (min - max) == 0
* ? cm[127] //color double[r,g,b]
* : cm[ (int)(( x[2] -min )/(max - min)*255) ] ,
* Gry = (int)(( x[2] -min )/(max - min)*255 + 1)
* }).ToList();
*
* var circleLst2 = xyCm2.Select((x,i) =>
* new
* {
* pos = new System.Drawing.Point(
* (int)(x.X*sizemultiflier)+imgshiftoffset,
* (int)(x.Y*sizemultiflier)+imgshiftoffset),
*
* color = new MCvScalar(x.Cm[2]*255 , x.Cm[1]*255 , x.Cm[0]*255).Act( test22 )
* }).ToArray();
* "End Point".Print();
* "".Print();
* "".Print();
* "".Print();
#endregion
* var imgsize = Math.Max(
* xyCm2.Select( x => x.X).Max(),
* xyCm2.Select( x => x.Y).Max()
* );
*
* var imgData = new byte[(int)(imgsize*sizemultiflier + imgshiftoffset*2.0) ,(int)(imgsize*sizemultiflier+imgshiftoffset*2.0),3];
* Image<Bgr,byte> img = new Image<Bgr, byte>(imgData);
* circleLst2.ActLoop( x => CvInvoke.Circle( img, x.pos, dotSize, x.color, -1, Emgu.CV.CvEnum.LineType.EightConnected ) );
*/
for (int i = 0; i < divide; i++)
{
srcdatas = srcdatas.Interpol_Theta(1).Select(x => x).ToList()
.Interpol_Rho(1).Select(x => x).ToList();
}
// Extact Color Position
var xyCm = srcdatas.ToCartesianReslt()
.OrderBy(x => x[0])
.ThenBy(x => x[1])
.AsParallel()
.AsOrdered()
//.Select( x => new double[] { x[0] , x[1] , ( x[2] - mean ) / std } )
//.Select( x => new double[] { x[0] , x[1] , x[2] > 1.96 ? 1.96 :
// x[2] < -1.96 ? -1.96
// : x[2] } )
.Select(x => new
{
X = offset + x[0],
Y = offset + x[1],
Cm = (min - max) == 0
? cm[127] //color double[r,g,b]
: cm[(int)((x[2] - min) / (max - min) * 255)],
Gry = (int)((x[2] - min) / (max - min) * 255 + 1)
}).ToList();
var imgsize = Math.Max(
xyCm.Select(x => x.X).Max(),
xyCm.Select(x => x.Y).Max()
);
var imgData = new byte[(int)(imgsize * sizemultiflier + imgshiftoffset * 2.0), (int)(imgsize * sizemultiflier + imgshiftoffset * 2.0), 3];
Image <Bgr, byte> img = new Image <Bgr, byte>(imgData);
var circleLst = xyCm.Select((x, i) =>
new
{
pos = new System.Drawing.Point(
(int)(x.X * sizemultiflier) + imgshiftoffset,
(int)(x.Y * sizemultiflier) + imgshiftoffset),
color = new MCvScalar(x.Cm[2] * 255, x.Cm[1] * 255, x.Cm[0] * 255)
});
circleLst.ActLoop(x => CvInvoke.Circle(img, x.pos, dotSize, x.color, -1, Emgu.CV.CvEnum.LineType.EightConnected));
//circleLst.ActLoop( (x,i) => CvInvoke.Circle( grayimg , x.pos , dotSize , new MCvScalar( xyCm[i].Gry) , -1 , Emgu.CV.CvEnum.LineType.EightConnected ) );
img = img.Median(5);
img = img.SmoothGaussian(3);
return(img);
}
/// <summary>
/// 调用函数计算
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnMethodCal_Click(object sender, EventArgs e)
{
//释放内存
ClearMemory();
pictureBox1.Image = null;
pictureBox2.Image = null;
btnCaptureImg.Enabled = false;
OpenFileDialog openFile = new OpenFileDialog();
if (openFile.ShowDialog() == DialogResult.OK)
{
myImg = new Image <Bgr, Byte>(openFile.FileName);
}
else
{
return;
}
////TODO:处理图像
//cornerPointK = detectCorner.GetCornerAndK(myImg.Bitmap);
////if (cornerPointK.Corner.X==-1||cornerPointK.Corner.Y==-1)
////{
//// MessageBox.Show("未找到角点");
////}
//CvInvoke.Circle(myImg,new Point((int)cornerPointK.Corner.X,(int)cornerPointK.Corner.Y),4,new MCvScalar(0,255,0),3 );
////CvInvoke.Circle(myImg,new Point((int)cornerPointK.Corner.X,(int)cornerPointK.Corner.Y),4,new MCvScalar(0,255,0),3 );
//CvInvoke.PutText(myImg, string.Format("x={0:0.##} y={1:0.##}", cornerPointK.Corner.X, cornerPointK.Corner.Y), new Point((int)cornerPointK.Corner.X - 60, (int)cornerPointK.Corner.Y + 20), Emgu.CV.CvEnum.FontFace.HersheyPlain, 2, new MCvScalar(0, 255, 0), 1);
////CvInvoke.PutText(myImg, string.Format("x={0:0.##} y={1:0.##}", cornerPointK.Corner.X, cornerPointK.Corner.Y), new Point((int)cornerPointK.Corner.X - 60, (int)cornerPointK.Corner.Y + 20), Emgu.CV.CvEnum.FontFace.HersheyPlain, 2, new MCvScalar(0, 255, 0), 1);
//txtK1.Text = "LineK1 = "+cornerPointK.LineK1.ToString()+"====="+"角点X:"+cornerPointK.Corner.X;
//txtK2.Text = "LineK2 = " + cornerPointK.LineK2.ToString() + "=====" + "角点Y:" + cornerPointK.Corner.Y;
//TODO:处理图像
DateTime beforDT = DateTime.Now;//计时开始
//使用DLL
//detectCenterAndSlop.GetCornerAndSlope(myImg.Bitmap,0);
//double robotRotated = detectCenterAndSlop.LineK1 < detectCenterAndSlop.LineK2 ? detectCenterAndSlop.LineK1 : detectCenterAndSlop.LineK2;
//PointF robotCenter = detectCenterAndSlop.Center;
cornerPointK = detectCorner.GetCornerAndK(myImg.Bitmap, 1);
DateTime afterDT = DateTime.Now;
TimeSpan ts = afterDT.Subtract(beforDT);//计时结束
lblSpanTime.Text = "HK算法耗时：" + ts + "S";
LineSegment2D[] lines = detectCorner.GetLinesByHough(myImg.Bitmap, 0);
foreach (LineSegment2D line in lines)
{
myImg.Draw(line, new Bgr(Color.Red), 10);
detectCorner.binaryImg.Draw(line, new Gray(125), 3);
}
Image <Bgr, byte> roiImage = GetROI(myImg, ROI);
for (int c = 0; c < cornerPointK.Corner.Count; c++)
{
//设置伪彩色
CvInvoke.Circle(myImg, new Point((int)cornerPointK.Corner[c].X, (int)cornerPointK.Corner[c].Y), 10, new MCvScalar(0, 0, 255), 10);
CvInvoke.Circle(detectCorner.binaryImg, new Point((int)cornerPointK.Corner[c].X, (int)cornerPointK.Corner[c].Y), 10, new MCvScalar(0, 0, 255), 10);
//CvInvoke.Circle(myImg,new Point((int)cornerPointK.Corner.X,(int)cornerPointK.Corner.Y),4,new MCvScalar(0,255,0),3 );
CvInvoke.PutText(myImg, string.Format("x={0:0.##} y={1:0.##}", cornerPointK.Corner[c].X, cornerPointK.Corner[c].Y),
new Point((int)cornerPointK.Corner[c].X + 30, (int)cornerPointK.Corner[c].Y + 20), FontFace.HersheyPlain, 10, new MCvScalar(0, 25, 255), 10);
txtK2.Text += string.Format("x={0:0.##} y={1:0.##}", cornerPointK.Corner[c].X, cornerPointK.Corner[c].Y) + "\t\t\t";
}
//CvInvoke.Circle(myImg, new Point((int)cornerPointK.Center.X, (int)cornerPointK.Center.Y), 14, new MCvScalar(255, 255, 0), 14);
CvInvoke.PutText(myImg, string.Format("x={0:0.##} y={1:0.##}", cornerPointK.Center.X, cornerPointK.Center.Y),
new Point((int)cornerPointK.Center.X - 60, (int)cornerPointK.Center.Y + 80), FontFace.HersheyPlain, 12, new MCvScalar(255, 255, 0), 11);
//临时用
CvInvoke.PutText(myImg, string.Format("theta1={0:0.##} theta2={1:0.##}", cornerPointK.LineK1 * 180f / Math.PI, cornerPointK.LineK2 * 180f / Math.PI),
new Point((int)cornerPointK.Corner[0].X - 120, (int)cornerPointK.Corner[0].Y - 30), FontFace.HersheyPlain, 2, new MCvScalar(255, 2, 0), 2);
txtK1.Text = string.Format("K1={00:0.####}", cornerPointK.LineK1 * 180f / Math.PI) + "\t\t" + string.Format("K2={00:0.####}", cornerPointK.LineK2 * 180f / Math.PI);
//txtK1.Text += "\r\n"+"机器人法兰中心旋转角度：" +( robotRotated * 180f / Math.PI).ToString();
pictureBox1.Image = myImg.ToBitmap();
pictureBox2.Image = detectCorner.binaryImg.ToBitmap();
//pictureBox2.Image = myImg.ToBitmap();
}
private void FindFaceFeatures()
{
Marshal.Copy(grayFrame.DataPointer, grayBytes, 0, img_size);
FindFaceEyesIrisAsync().ContinueWith((tsk) =>
{
RetrieveResult retrieveResult = tsk.Result;
if (retrieveResult == null)
{
Dispatcher.BeginInvoke((Action)(() =>
{
BitmapSource grayImage = BitmapSource.Create(
img_width, img_height,
96.0, 96.0, PixelFormats.Gray8,
new BitmapPalette(new System.Windows.Media.Color[] { System.Windows.Media.Color.FromRgb(0, 0, 0), System.Windows.Media.Color.FromRgb(255, 255, 255) }),
grayBytes, img_width);
resultWindow.SetResult(grayImage, grayImage);
lock (_locker)
{
isReady = true;
if ((capture.Grab() == false))
{
App.Current.Shutdown();
}
}
}), DispatcherPriority.Render);
return;
}
FaceRetrieveResult faceRetrieveResult = retrieveResult.Face;
EyeRetrieveResult eyeRetrieveResult = retrieveResult.Eye;
PupilRetrieveResult pupilRetrieveResult = retrieveResult.Pupil;
Emgu.CV.Structure.MCvScalar whiteColor = new Emgu.CV.Structure.MCvScalar(100, 255, 255);
Emgu.CV.Structure.MCvScalar redColor = new Emgu.CV.Structure.MCvScalar(100, 255, 100);
if (faceRetrieveResult.HasFace)
{
RECT face = faceRetrieveResult.Face;
CvInvoke.Rectangle(cameraFrame, face, whiteColor, 3);
if (eyeRetrieveResult.HasLeftEye)
{
RECT leftEye = eyeRetrieveResult.LeftEye;
CIRCLE leftPupil = pupilRetrieveResult.LeftPupil;
CvInvoke.Rectangle(cameraFrame, leftEye, whiteColor, 3);
CvInvoke.Circle(cameraFrame, leftPupil.Center, leftPupil.Radius, redColor, 2);
}
if (eyeRetrieveResult.HasRightEye)
{
RECT rightEye = eyeRetrieveResult.RightEye;
CIRCLE rightPupil = pupilRetrieveResult.RightPupil;
CvInvoke.Rectangle(cameraFrame, rightEye, whiteColor, 3);
CvInvoke.Circle(cameraFrame, rightPupil.Center, rightPupil.Radius, redColor, 2);
}
}
Dispatcher.BeginInvoke((Action)(() =>
{
OnFeatureRead(eyeRetrieveResult, pupilRetrieveResult);
BitmapSource grayImage = BitmapSource.Create(
img_width, img_height,
96.0, 96.0, PixelFormats.Gray8,
new BitmapPalette(new System.Windows.Media.Color[] { System.Windows.Media.Color.FromRgb(0, 0, 0), System.Windows.Media.Color.FromRgb(255, 255, 255) }),
grayBytes, img_width);
BitmapSource resultImage = Bitmap2BitmapImage(cameraFrame.Bitmap);
resultWindow.SetResult(grayImage, resultImage);
lock (_locker)
{
isReady = true;
if ((capture.Grab() == false))
{
App.Current.Shutdown();
}
}
}), DispatcherPriority.Render);
});
}
// Tìm vị trí và cắt bảng điểm ra
// Đầu vào là ảnh màu học bạ
// Output:
// - Ảnh học bạ detectImg có vị trí của bảng điểm : hình chữ nhật màu đỏ xác định vị trí bảng điểm
// - Ảnh bảng điểm transcriptImage: chỉ có cột các môn và điểm của từng môn
public static void Detect(Mat source, out Image <Bgr, byte> detectImg, out Mat transcriptImage)
{
Mat resizeImage = new Mat();
Mat binaryImage = new Mat();
Mat dilateImage = new Mat();
Mat observedImage;
var element = CvInvoke.GetStructuringElement(ElementShape.Cross, new Size(3, 3), new Point(-1, -1));
// Thay đổi kích thước ảnh ban đầu về ảnh 450x600 pixel
CvInvoke.Resize(source, resizeImage, new Size(450, 650));
// Chuyển sang ảnh Gray
Image <Gray, byte> resAfter = new Image <Gray, byte>(resizeImage.Bitmap);
// Thay đổi mức độ sáng và độ nét của ảnh
resAfter._GammaCorrect(5.0);
observedImage = resAfter.Clone().Mat;
// Đưa về ảnh nhị phân
CvInvoke.Threshold(resAfter, binaryImage, 200, 255, ThresholdType.BinaryInv);
// Dòng này không dùng =))
CvInvoke.Dilate(binaryImage, dilateImage, element, new Point(-1, -1), 1, BorderType.Reflect, default(MCvScalar));
// Dùng thuật toán Hough để tìm các đường thẳng có trong ảnh
LineSegment2D[] lines = CvInvoke.HoughLinesP(binaryImage, 2, Math.PI / 2, 50, 20);
CvInvoke.Imshow("binaryImage asdasdsd", binaryImage);
List <Linear> linears = new List <Linear>();
// Chuyển kết quả của thuật toán Hough (đường thẳng xác định bởi 2 điểm) sang dạng phương trình ax + by + c = 0
var listIline = new List <ILine>();
Mat view = new Mat(resizeImage.Size, DepthType.Cv8U, 3);
view.SetTo(new MCvScalar(0, 0, 0));
for (int i = 0; i < lines.Length; i++)
{
Linear line;
line.a = -(lines[i].P2.Y - lines[i].P1.Y);
line.b = lines[i].P2.X - lines[i].P1.X;
line.M0 = lines[i].P1;
line.c = line.a * (-line.M0.X) + line.b * (-line.M0.Y);
linears.Add(line);
// create linear;
var iline = new ILine(lines[i].P1, lines[i].P2);
listIline.Add(iline);
}
// Phân loại các đường: Nếu khoảng cách giữa 2 đường quá nhỏ thì nhóm chung lại 1 nhóm
var classifyILine = DBSCANofILine(listIline, 8);
//Vẽ các đường lên ảnh
for (var i = 0; i < classifyILine.Count; i++)
{
var A = new Point();
var B = new Point();
if (classifyILine[i][0].tanAlpha == 0)
{
//A = classifyILine[i][0].FindIntersectPoint(new ILine(new Point(0, 0), new Point(0, view.Size.Height)));
//B = classifyILine[i][0].FindIntersectPoint(new ILine(new Point(view.Size.Width, 0), new Point(view.Size.Width, view.Size.Height)));
A.Y = classifyILine[i][0].M.Y;
B.X = view.Size.Width;
B.Y = A.Y;
}
if (classifyILine[i][0].tanAlpha == Double.MaxValue)
{
//A = classifyILine[i][0].FindIntersectPoint(new ILine(new Point(0, 0), new Point(view.Size.Width, 0)));
//B = classifyILine[i][0].FindIntersectPoint(new ILine(new Point(0, view.Size.Height), new Point(view.Size.Width, view.Size.Height)));
A.X = classifyILine[i][0].M.X;
B.X = A.X;
B.Y = view.Size.Height;
}
//if(classifyILine[i][0].tanAlpha < Math.Tan(Math.PI / 6))
CvInvoke.Line(resAfter, A, B, new MCvScalar(0, 0, 0), 1);
}
// Phân loại các đường:
// - list_2[0] : các đường thẳng song song Ox
// - list_2[1] : các đường thẳng song song Oy
var list_2 = ClassifyXY(classifyILine);
// Tìm các đường thẳng song song có khoảng cách gần như không đổi (khoảng cách các đường thẳng phân chia các môn trong bảng điểm)
var startIndex = 0;
var endIndex = 0;
var step = 0.0;
var count = 0;
var currentStartIndex = 0;
var currentEndIndex = 0;
var currentStep = 0.0;
var currentCount = 0;
for (var i = 0; i < list_2[0].Count - 1; i++)
{
if (i == 0 || Math.Abs(currentStep - list_2[0][i].Distance(list_2[0][i + 1].M)) < 5)
{
if (i == 0)
{
currentStep = list_2[0][i].Distance(list_2[0][i + 1].M);
}
currentCount++;
currentEndIndex++;
if (currentCount > count)
{
startIndex = currentStartIndex;
endIndex = currentEndIndex;
count = currentCount;
step = currentStep;
}
}
else
{
currentStartIndex = i;
currentEndIndex = i;
currentCount = 0;
currentStep = list_2[0][i].Distance(list_2[0][i + 1].M);
}
}
//if(startIndex > 1) startIndex -= 2;
endIndex++;
// Đoạn này không dùng : Debug để xem có lấy đúng các đường thẳng của bảng hay không
for (var i = startIndex; i <= endIndex; i++)
{
var A = new Point();
var B = new Point();
if (list_2[0][i].tanAlpha == 0)
{
//A = classifyILine[i][0].FindIntersectPoint(new ILine(new Point(0, 0), new Point(0, view.Size.Height)));
//B = classifyILine[i][0].FindIntersectPoint(new ILine(new Point(view.Size.Width, 0), new Point(view.Size.Width, view.Size.Height)));
A.Y = list_2[0][i].M.Y;
B.X = view.Size.Width;
B.Y = A.Y;
}
if (list_2[0][i].tanAlpha == Double.MaxValue)
{
//A = classifyILine[i][0].FindIntersectPoint(new ILine(new Point(0, 0), new Point(view.Size.Width, 0)));
//B = classifyILine[i][0].FindIntersectPoint(new ILine(new Point(0, view.Size.Height), new Point(view.Size.Width, view.Size.Height)));
A.X = list_2[0][i].M.X;
B.X = A.X;
B.Y = view.Size.Height;
}
if (list_2[0][i].tanAlpha < Math.Tan(Math.PI / 6))
{
CvInvoke.Line(view, A, B, new MCvScalar(255, 255, 255), 1);
}
}
// Cắt toàn bộ bảng điểm: chỉ có giới hạn bên trên và bên dưới - ảnh vẫn chứa phần ghi chú và phần chữ ký giáo viên
var rectTransciptX = new Rectangle(new Point(0, list_2[0][startIndex].M.Y), new Size(resizeImage.Size.Width, list_2[0][endIndex].M.Y - list_2[0][startIndex].M.Y));
var rectTransciptXImg = new Mat(binaryImage, rectTransciptX);
//using (var model = CvInvoke.Imread(System.IO.Directory.GetCurrentDirectory() + "\\model-3.png", ImreadModes.Grayscale))
//{
// //FeatureMatching.Init(model);
// //var transcriptXX = new Mat(observedImage, rectTransciptX);
// //long matchTime;
// //VectorOfPoint pointsMatching = FeatureMatching.Detect(transcriptXX, out matchTime);
// //Mat r = DrawMatches.Draw(model, transcriptXX, out matchTime);
// //CvInvoke.Imshow("imgasd", r);
// //CvInvoke.Polylines(transcriptXX, pointsMatching.ToArray(), true, new MCvScalar(0, 0, 0), 2);
// //Point[] listPoint = pointsMatching.ToArray().OrderBy(x => x.X).ToArray();
// //CvInvoke.Imshow("tran", transcriptXX);
//}
// Cắt phần bảng điểm
// Dùng các đặc trưng của ảnh sẽ phân ra đc các vùng: tách vùng bảng điểm với vùng chữ ký
// Kết hợp với các đường thẳng song song Oy trong list_2[1] để lấy vị trí của bảng điểm
using (var transcriptBefore = new Mat(observedImage, rectTransciptX))
using (var keyPointImage = new Image <Bgr, byte>(transcriptBefore.Size.Width, transcriptBefore.Size.Height))
{
//Tìm đặc trưng của ảnh rồi vẽ lên ảnh nhị phân khác
var keyPoints = FeatureMatching.FindFeature(transcriptBefore);
keyPointImage.SetValue(new MCvScalar(0, 0, 0));
for (var i = 0; i < keyPoints.Size; i++)
{
CvInvoke.Circle(keyPointImage, new Point((int)keyPoints[i].Point.X, (int)keyPoints[i].Point.Y), 2, new MCvScalar(255, 255, 255), 2);
}
var histogramY = new List <int>();
for (var i = 0; i < keyPointImage.Size.Width; i++)
{
histogramY.Add(0);
for (var j = 0; j < keyPointImage.Size.Height; j++)
{
if (keyPointImage.Data[j, i, 0] + keyPointImage.Data[j, i, 1] + keyPointImage.Data[j, i, 2] > 0)
{
histogramY[i]++;
}
}
}
var keyPointBinary = new Mat(keyPointImage.Size, DepthType.Cv8U, 1);
CvInvoke.CvtColor(keyPointImage, keyPointBinary, ColorConversion.Bgr2Gray);
CvInvoke.Threshold(keyPointBinary, keyPointBinary, 100, 255, ThresholdType.Binary);
var avg = 80;
var start_transcript = 0;
for (var i = 0; i < histogramY.Count; i++)
{
if (histogramY[i] > avg)
{
for (var j = 0; j < list_2[1].Count; j++)
{
if (Math.Abs(list_2[1][j].M.X - i) < 20)
{
start_transcript = j;
CvInvoke.Rectangle(keyPointBinary, new Rectangle(new Point(0, 0), new Size(list_2[1][j].M.X, keyPointBinary.Size.Height)), new MCvScalar(0, 0, 0), -1);
CvInvoke.Rectangle(keyPointImage, new Rectangle(new Point(0, 0), new Size(list_2[1][j].M.X, keyPointBinary.Size.Height)), new MCvScalar(0, 0, 0), -1);
CvInvoke.Line(keyPointImage, new Point(list_2[1][j].M.X, 0), new Point(list_2[1][j].M.X, keyPointImage.Size.Height), new MCvScalar(255, 0, 0), 3);
break;
}
}
break;
}
}
var count_area = 0;
for (var i = start_transcript; i < list_2[1].Count - 1; i++)
{
CvInvoke.Circle(keyPointImage, new Point(list_2[1][i].M.X, list_2[0][startIndex + 3].M.Y - rectTransciptX.Y), 3, new MCvScalar(0, 0, 255), 2);
CvInvoke.Circle(keyPointImage, new Point(list_2[1][i].M.X, list_2[0][startIndex + 4].M.Y - rectTransciptX.Y), 3, new MCvScalar(0, 0, 255), 2);
var rect_area = new Rectangle(new Point(list_2[1][i].M.X, list_2[0][startIndex + 3].M.Y - rectTransciptX.Y), new Size(list_2[1][i + 1].M.X - list_2[1][i].M.X, list_2[0][startIndex + 4].M.Y - list_2[0][startIndex + 3].M.Y));
CvInvoke.Rectangle(keyPointImage, rect_area, new MCvScalar(255, 255, 00), 2);
using (var rectImg2 = new Mat(binaryImage, new Rectangle(new Point(list_2[1][i].M.X + 2, list_2[0][startIndex + 3].M.Y + 2), new Size(list_2[1][i + 1].M.X - list_2[1][i].M.X - 4, list_2[0][startIndex + 4].M.Y - list_2[0][startIndex + 3].M.Y - 4))))
{
var nonZR = (double)CvInvoke.CountNonZero(rectImg2) / (rectImg2.Size.Width * rectImg2.Size.Height);
if (nonZR < 0.02)
{
count_area = i;
break;
}
}
}
CvInvoke.Line(keyPointImage, new Point(list_2[1][count_area].M.X, 0), new Point(list_2[1][count_area].M.X, keyPointImage.Size.Height), new MCvScalar(255, 0, 0), 3);
// Cắt lấy ảnh bảng điểm có kích thước ban đầu
var transcriptColor = new Image <Bgr, byte>(resAfter.Bitmap);
CvInvoke.Rectangle(transcriptColor, new Rectangle(new Point(list_2[1][start_transcript].M.X, list_2[0][startIndex - 2].M.Y), new Size(list_2[1][count_area].M.X - list_2[1][start_transcript].M.X, list_2[0][endIndex].M.Y - list_2[0][startIndex - 2].M.Y)), new MCvScalar(0, 0, 255), 2);
CvInvoke.Imshow("Transcript Detected", transcriptColor);
for (var i = 0; i < classifyILine.Count; i++)
{
var A = new Point();
var B = new Point();
CvInvoke.Line(transcriptColor, A, B, new MCvScalar(0, 0, 255), 1);
}
CvInvoke.Imshow("transcriptColor", transcriptColor);
detectImg = transcriptColor.Clone();
double scaleX = source.Size.Width / 450 * 1.2;
double scaleY = source.Size.Height / 650 * 1.2;
var rect_scale = new Rectangle(
new Point((int)(list_2[1][start_transcript].M.X * scaleX), (int)(list_2[0][startIndex - 2].M.Y * scaleY)),
new Size((int)((list_2[1][count_area].M.X - list_2[1][start_transcript].M.X) * scaleX), (int)((list_2[0][endIndex].M.Y - list_2[0][startIndex - 2].M.Y) * scaleY)));
var rect_scale_transcript = new Rectangle(
new Point((int)(list_2[1][start_transcript].M.X * scaleX), (int)(list_2[0][startIndex].M.Y * scaleY)),
new Size((int)((list_2[1][count_area].M.X - list_2[1][start_transcript].M.X) * scaleX), (int)((list_2[0][endIndex].M.Y - list_2[0][startIndex].M.Y) * scaleY)));
var transcrip_scale = new Mat(source, rect_scale);
var transcript_t = new Mat(source, rect_scale_transcript);
var bfff = transcrip_scale.ToImage <Bgr, byte>();
bfff._GammaCorrect(5.0);
var transcipt_origin = transcript_t.ToImage <Bgr, byte>();
transcipt_origin._GammaCorrect(5.0);
var line_on_transcript = FindLine(transcipt_origin.Mat, 100, 50);
var lineX = line_on_transcript[0];
var lineY = line_on_transcript[1];
var random = new Random();
for (var i = 1; i < 10; i++) // toan, ly, hoa, sinh, tin, van, su, dia, TA
{
var p1 = new Point(lineY[lineY.Count - 3].M.X, lineX[i].M.Y);
var p2 = new Point(lineY[lineY.Count - 2].M.X, lineX[i].M.Y);
var p3 = new Point(lineY[lineY.Count - 1].M.X, lineX[i].M.Y);
var p4 = new Point(lineY[lineY.Count - 3].M.X, lineX[i - 1].M.Y);
var p5 = new Point(lineY[lineY.Count - 2].M.X, lineX[i - 1].M.Y);
var p6 = new Point(lineY[lineY.Count - 1].M.X, lineX[i - 1].M.Y);
//hk 1
//CvInvoke.Circle(transcipt_origin, p1, 6, new MCvScalar(255,0,0), 2);
var pic1 = new Mat(transcipt_origin.Mat, new Rectangle(new Point(p4.X + 10, p4.Y + 5), new Size(p2.X - p1.X - 20, p1.Y - p4.Y - 8)));
//CvInvoke.Imshow("mark1 " + i, pic1);
DetectDigit(pic1, "mark1 - " + i + " - " + random.Next());
//hk 2
//CvInvoke.Circle(transcipt_origin, p2, 6, new MCvScalar(255, 0, 0), 2);
var pic2 = new Mat(transcipt_origin.Mat, new Rectangle(new Point(p5.X + 10, p5.Y + 5), new Size(p3.X - p2.X - 20, p2.Y - p5.Y - 8)));
//CvInvoke.Imshow("mark2 " + i, pic2);
DetectDigit(pic2, "mark2 - " + i + " - " + random.Next());
//CN
//CvInvoke.Circle(transcipt_origin, p3, 6, new MCvScalar(255, 0, 0), 2);
var pic3 = new Mat(transcipt_origin.Mat, new Rectangle(new Point(p6.X + 10, p6.Y + 5), new Size(transcipt_origin.Size.Width - p3.X - 20, p3.Y - p6.Y - 8)));
CvInvoke.Imshow("mark3 " + i, pic3);
DetectDigit(pic3, "mark3 - " + i + " - " + random.Next());
}
transcriptImage = transcipt_origin.Mat;
CvInvoke.Imshow("transcipt_origin", transcriptImage);
}
}
private void ProcessFrameRTSP(object sender, EventArgs e)
{
Point px = new Point(px1, px2);
Point py = new Point(py1, py2);
if (cap != null)
{
cap.Retrieve(frame, 0);
currentframe = frame.ToImage <Bgr, byte>();
Mat mask = new Mat();
sub.Apply(currentframe, mask);
Mat kernelOp = new Mat();
Mat kernelCl = new Mat();
Mat kernelEl = new Mat();
Mat Dilate = new Mat();
kernelOp = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(3, 3), new Point(-1, -1));
kernelCl = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(11, 11), new Point(-1, -1));
var element = CvInvoke.GetStructuringElement(ElementShape.Cross, new Size(3, 3), new Point(-1, -1));
CvInvoke.GaussianBlur(mask, mask, new Size(13, 13), 1.5);
CvInvoke.MorphologyEx(mask, mask, MorphOp.Open, kernelOp, new Point(-1, -1), 1, BorderType.Default, new MCvScalar());
CvInvoke.MorphologyEx(mask, mask, MorphOp.Close, kernelCl, new Point(-1, -1), 1, BorderType.Default, new MCvScalar());
CvInvoke.Dilate(mask, mask, element, new Point(-1, -1), 1, BorderType.Reflect, default(MCvScalar));
CvInvoke.Threshold(mask, mask, 127, 255, ThresholdType.Binary);
detect.Detect(mask.ToImage <Gray, byte>(), blobs);
blobs.FilterByArea(100, int.MaxValue);
tracks.Update(blobs, 20.0, 1, 10);
Image <Bgr, byte> result = new Image <Bgr, byte>(currentframe.Size);
using (Image <Gray, Byte> blobMask = detect.DrawBlobsMask(blobs))
{
frame.CopyTo(result, blobMask);
}
CvInvoke.Line(currentframe, px, py, new MCvScalar(0, 0, 255), 1);
foreach (KeyValuePair <uint, CvTrack> pair in tracks)
{
if (pair.Value.Inactive == 0) //only draw the active tracks.
{
int cx = Convert.ToInt32(pair.Value.Centroid.X);
int cy = Convert.ToInt32(pair.Value.Centroid.Y);
CvBlob b = blobs[pair.Value.BlobLabel];
Bgr color = detect.MeanColor(b, frame.ToImage <Bgr, Byte>());
currentframe.Draw(pair.Value.BoundingBox, new Bgr(0, 0, 255), 1);
//Point[] contour = b.GetContour();
// result.Draw(contour, new Bgr(0, 0, 255), 1);
Point center = new Point(cx, cy);
CvInvoke.Circle(currentframe, center, 1, new MCvScalar(255, 0, 0), 2);
if (center.Y <= px.Y + 10 && center.Y > py.Y - 10 && center.X <= py.X && center.X > px.X)
{
if (pair.Key.ToString() != "")
{
if (!carid.Contains(pair.Key.ToString()))
{
carid.Add(pair.Key.ToString());
if (carid.Count == 20)
{
carid.Clear();
}
carcount++;
Thread logTh = new Thread(SendMail);
logTh.Start();
}
}
CvInvoke.Line(currentframe, px, py, new MCvScalar(0, 255, 0), 2);
}
}
}
if (isRecording)
{
if (firstFrameTime != null)
{
writer.WriteVideoFrame(currentframe.Bitmap);
}
else
{
writer.WriteVideoFrame(currentframe.Bitmap);
firstFrameTime = DateTime.Now;
}
}
CvInvoke.PutText(currentframe, "Count :" + carcount.ToString(), new Point(10, 25), FontFace.HersheySimplex, 1, new MCvScalar(0, 255, 255), 2, LineType.AntiAlias);
pictureBox1.Image = currentframe.Bitmap;
if (firstCount == false && carcount == 15)
{
Image_Name = cfg.PhotoSavePath + @"\" + "Car" + DateTime.Now.ToString("dd-mm-yyyy-hh-mm-ss") + ".jpg";
currentframe.Save(Image_Name);
firstCount = true;
}
// Thread th = new Thread(currentframepicBoxRtsp);
// th.Start();
}
}
private void Capture_ImageGrabbed1(object sender, EventArgs e)
{
try
{
Mat m = new Mat();
capture.Retrieve(m);
Mat gray = new Mat(m.Size, DepthType.Cv8U, 1);
CvInvoke.CvtColor(m, gray, ColorConversion.Bgr2Gray);
Mat blur = new Mat(gray.Size, DepthType.Cv8U, 1);
CvInvoke.MedianBlur(gray, blur, 11);
pictureBox1.Image = m.ToImage <Bgr, byte>().Bitmap;
CircleF[] circles = CvInvoke.HoughCircles(blur, HoughType.Gradient, 2, gray.Rows / 16, 20, 150, 80, 100);
if (circles.Count() >= 1)
{
Mat copy = m.Clone();
//img is the image you applied Hough to
m.Save("test.png");
for (int i = 0; i < circles.Count(); i++)
{
CvInvoke.Circle(copy, Point.Round(circles[i].Center), (int)circles[i].Radius, new MCvScalar(255, 0, 0), 3, Emgu.CV.CvEnum.LineType.AntiAlias, 0);
pictureBox1.Image = copy.ToImage <Bgr, byte>().Bitmap;
}
for (int i = 0; i < circles.Count(); i++)
{
string num = i.ToString();
string filepath = "test" + num + ".png";
if (File.Exists(filepath))
{
File.Delete(filepath);
}
Image <Gray, byte> mask = new Image <Gray, byte>(m.Width, m.Height);
CvInvoke.Circle(mask, Point.Round(circles[i].Center), (int)circles[i].Radius, new MCvScalar(255, 255, 255), -1, Emgu.CV.CvEnum.LineType.AntiAlias, 0);
Image <Bgr, byte> dest = new Image <Bgr, byte>(m.Width, m.Height);
m.CopyTo(dest, mask);
dest.Save(filepath);
MakePredictionRequest(filepath);
}
//-1 is to fill the area
//detectPlate();
if (capture != null)
{
capture.ImageGrabbed -= Capture_ImageGrabbed1;
capture.Stop();
capture = null;
}
}
if (empty == true)
{
Console.WriteLine("The tray contains an empty plate.");
}
m.Dispose();
}
catch (Exception)
{
}
}
// 각 이미지마다 해상도에 맞춰서 프로세싱 하자.
public async void StartMultiProcessing(List <MultiAnalysisDatacs> srclist, Config cfg)
{
if (cfg == null)
{
System.Windows.MessageBox.Show(" Please Set Config First. ");
}
if (srclist.Count < 1)
{
return;
}
SaveFileDialog sfd = new SaveFileDialog();
sfd.Title = "Choose folder and header name of Result";
if (sfd.ShowDialog() == DialogResult.OK)
{
string basepath = Path.GetDirectoryName(sfd.FileName);
string header = Path.GetFileName(sfd.FileName);
Console.WriteLine(header);
evtMultiStart();
await Task.Run(() => {
for (int k = 0; k < srclist.Count; k++)
{
try
{
var path = srclist[k].fullname;
BaseImg = new Img(path);
RatioW = BaseImg.Width / 800.0;
RatioH = BaseImg.Height / 600.0;
//BaseImg = tempimg.Resize(800, 600, Inter.Area);
ClrOriginalImg = new ColorImg(path);//.Resize(800, 600, Inter.Area);
ClrImg = ClrOriginalImg.Copy();
// Processing
var img = BaseImg.ThresholdBinary(new Gray(cfg.Threshold), new Gray(255))
.SmoothMedian((int)cfg.Resolution * 10 + 1);
var contours = new VectorOfVectorOfPoint();
CvInvoke.FindContours(img, contours, null, Emgu.CV.CvEnum.RetrType.List, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxNone);
var cntrColorSet = CreateContour_ColorSet(Outercolor, Innercolor, cfg, contours);
List <VectorOfPoint> cntrlist = cntrColorSet.Item1;
List <MCvScalar> colorlist = cntrColorSet.Item2;
// Center
var centers = FindCenter(cntrlist);
var centerlist = new List <double[]>();
//Error
for (int i = 0; i < centers.Count(); i++)
{
CvInvoke.Circle(ClrImg, centers[i], 5, colorlist[i]);
var realx = (centers[i].X *RatioW *cfg.Resolution);
var realy = (centers[i].Y *RatioH *cfg.Resolution);
var x = realx.ToString();
var y = realy.ToString();
string xy = x + " , " + y + " (um)";
System.Drawing.Point textpos = new System.Drawing.Point(centers[i].X - 40 - (i * 25), centers[i].Y - 10 - (i * 25));
CvInvoke.PutText(ClrImg, xy, textpos, FontFace.HersheySimplex, 0.4, colorlist[i]);
centerlist.Add(new double[] { realx, realy });
}
double errorDistance = CalcDistance(centerlist);
ClrImg = CenterDiffDraw(centers, ClrImg);
System.Drawing.Point textdifpos = new System.Drawing.Point(centers[0].X + 40, centers[0].Y + 10);
CvInvoke.PutText(ClrImg, "Error : " + errorDistance.ToString("F4") + " (um)", textdifpos, FontFace.HersheySimplex, 0.4, new MCvScalar(153, 51, 153));
var res = ToBitmapSource(ClrImg);
var error = errorDistance.ToString("F4");
evtNumError(k, error);
srclist[k].error = error;
//Save Result
ClrImg.Save(basepath + "\\" + k.ToString() + "_" + header + "_" + srclist[k].name);
}
catch (Exception er)
{
er.ToString().Print();
}
}
try
{
StringBuilder stv = new StringBuilder();
stv.AppendLine("Nnmber,FileName,Error");
foreach (var item in srclist)
{
stv.AppendLine(item.no.ToString() + "," + item.name + "," + item.error);
}
File.WriteAllText(sfd.FileName + "_Result.csv", stv.ToString());
}
catch (Exception)
{
System.Windows.MessageBox.Show("Please check result file path or file is opened or not");
}
});
evtMultiEnd();
}
}
void timer_Tick(object sender, EventArgs e)
{
sw.Start();
currentFrame = capture.QueryFrame().ToImage<Hsv, byte>();
currentFrame = currentFrame.AbsDiff(backgroundFrame);
smoothedFrame = currentFrame.PyrDown().PyrUp();
smoothedFrame._SmoothGaussian(3);
filteredFrame = smoothedFrame.InRange(new Hsv(hueLower, saturationLower, valueLower), new Hsv(hueHigher, saturationHigher, valueHigher));
outFrame = filteredFrame;//.Canny((cannyThresh), (cannyThreshLink));
CvInvoke.FindContours(outFrame, contours, hierarchy, Emgu.CV.CvEnum.RetrType.List, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxSimple);
for (int i = 0; i < contours.Size; i++)
{
double area = CvInvoke.ContourArea(contours[i], false);
if (area > maxArea)
{
maxArea = area;
idx = i;
}
}
image.SetValue(new MCvScalar(180, 0, 255));
CvInvoke.DrawContours(image, contours, idx, new MCvScalar(255, 255, 255), 3);
ContourArea.Text = maxArea.ToString();
if (maxArea != 0)
{
CvInvoke.ConvexHull(contours[idx], cvh, false);
CvInvoke.ConvexityDefects(contours[idx], cvh, cvd);
moments = CvInvoke.Moments(contours[idx], true);
centroid = new System.Drawing.Point((int) moments.GravityCenter.X, (int) moments.GravityCenter.Y);
CvInvoke.Circle(image, centroid, 5, new MCvScalar(100,50,25), 1);
if (contours.Size != 0)
{
polyline = contours[idx].ToArray();
if (!cvd.IsEmpty && contours[idx].Size > 10)
{
Matrix<int> m = new Matrix<int>(cvd.Rows, cvd.Cols,
cvd.NumberOfChannels);
cvd.CopyTo(m);
for (int i = 0; i < m.Rows; i++)
{
int startIdx = m.Data[i, 0];
int endIdx = m.Data[i, 1];
int fpIdx = m.Data[i, 2];
int depth = m.Data[i, 3];
startPoint = polyline[startIdx];
endPoint = polyline[endIdx];
midPoint = new System.Drawing.Point(
(startPoint.X + endPoint.X) / 2, (startPoint.Y + endPoint.Y) / 2);
farthestPoint = polyline[fpIdx];
CvInvoke.Line(image, midPoint, farthestPoint, new MCvScalar(180, 255, 0));
CvInvoke.Line(image, startPoint, endPoint, new MCvScalar(180, 255, 255));
}
}
if(trained.Size!=0)
{
double match=1000000;
int d = 0;
for (int i = 0; i < trained.Size; i++)
{
double curr = CvInvoke.MatchShapes(contours[idx], trained[i], ContoursMatchType.I3);
if(curr < match)
{
d = i;
match = curr;
}
}
if(match<0.25)
{
ContourArea.Text = words[d];
image.Draw(words[d], centroid, FontFace.HersheyTriplex, 1, new Hsv(90,100, 100));
}
}
}
}
if (currentFrame != null)
{
sw.Stop();
imgPros.Source = ToBitmapSource(outFrame);
imgOrig.Source = ToBitmapSource(currentFrame);
imgSmooth.Source = ToBitmapSource(image);
sw.Reset();
}
maxArea = 0;
idx = 0;
}
private void RetrieveFrame(object sender, EventArgs arg)
{
Mat diff = new Mat();
Point center = Point.Empty;
// retrieve image from camera
Mat frame = new Mat();
Camera.Retrieve(frame);
ImageSize = frame.Size;
// generate diff image (before drawing stuff)
if (!ImgRef.IsEmpty && !IsTuning)
{
CvInvoke.AbsDiff(frame, ImgRef, diff);
}
if (!IsTracking)
{
// find marker
Rectangle boundingBox;
if (Roi.IsEmpty)
{
center = FindMarker(frame, out boundingBox);
}
else
{
using (Mat crop = new Mat(frame.Clone(), Roi))
{
center = FindMarker(crop, out boundingBox);
if (!center.IsEmpty)
{
center.X += Roi.X;
center.Y += Roi.Y;
boundingBox.X += Roi.X;
boundingBox.Y += Roi.Y;
}
}
}
// store marker point
if (ScheduleTakeReference && !center.IsEmpty)
{
ImgRef = frame.Clone();
PointRef = center;
MarkerTracker = new TrackerCSRT();
MarkerTracker.Init(ImgRef, boundingBox);
ScheduleTakeReference = false;
Invoke(new Action(() => UpdateInstructionText()));
}
// draw marker
if (!center.IsEmpty)
{
CvInvoke.Circle(frame, center, 4, new MCvScalar(0, 140, 255), -1);
CvInvoke.Rectangle(frame, boundingBox, new MCvScalar(0, 140, 255), 1);
}
// draw ROI
if (!Roi.IsEmpty)
{
using (Mat dark = new Mat(frame.Rows, frame.Cols, frame.Depth, 3))
{
dark.SetTo(new MCvScalar(1, 1, 1));
CvInvoke.Rectangle(dark, Roi, new MCvScalar(2, 2, 2), -1);
CvInvoke.Multiply(frame, dark, frame, 0.5);
}
}
ImgBoxRef.Image = frame;
}
else
{
// tracker
if (MarkerTracker.Update(frame, out Rectangle trackingRect))
{
center = new Point(trackingRect.X + trackingRect.Width / 2, trackingRect.Y + trackingRect.Height / 2);
CvInvoke.Circle(frame, center, 4, new MCvScalar(0, 140, 255), -1);
CvInvoke.Rectangle(frame, trackingRect, new MCvScalar(0, 140, 255), 1);
}
ImgBoxLive.Image = frame;
}
// update diff image box
if (!diff.IsEmpty)
{
MCvScalar color = new MCvScalar(0, 140, 255);
if (!center.IsEmpty)
{
CvInvoke.Circle(diff, center, 4, color, -1);
}
if (!PointRef.IsEmpty)
{
CvInvoke.Circle(diff, PointRef, 4, color, -1);
}
if (!center.IsEmpty && !PointRef.IsEmpty)
{
string dist = CalcDistance(center, PointRef).ToString("0.0");
CvInvoke.ArrowedLine(diff, PointRef, center, color);
CvInvoke.PutText(diff, dist, new Point(5, diff.Height - 5), FontFace.HersheyComplexSmall, 1, color);
}
ImgBoxDiff.Image = diff;
}
// update status text
Invoke(new Action(() => UpdateStatusText(PointRef, center)));
}
void GetCentroid()
{
//On récupère le plus grand contours de chaque couleurs
Moments blueMoment = new Moments();
Moments redMoment = new Moments();
if (biggestContourBlue != null)
{
blueMoment = CvInvoke.Moments(biggestContourBlue);
}
if (biggestContourRed != null)
{
redMoment = CvInvoke.Moments(biggestContourRed);
}
//On calcule le centroid de chacun de nos contours
centroidBlue = new Point((int)(blueMoment.M10 / blueMoment.M00), (int)(blueMoment.M01 / blueMoment.M00));
centroidRed = new Point((int)(redMoment.M10 / redMoment.M00), (int)(redMoment.M01 / redMoment.M00));
//On dessine un cercle sur le centroid (dans l'image)
CvInvoke.Circle(imgWebCam, centroidBlue, 2, new MCvScalar(0, 0, 0));
CvInvoke.Circle(imgWebCam, centroidRed, 2, new MCvScalar(0, 0, 0));
//RED
//On normalise le centroid en [0...1]
float xR = ((float)centroidRed.X / (float)webCam.Width);
float yR = ((float)centroidRed.Y / (float)webCam.Height);
xR = 1f - xR;//Inversion de l'axe X de la caméra
//yR = 1f - yR;
Vector2 centroidR = new Vector2(xR, yR);
//Vérification de la distance des points pour éviter le tremblotement lorsque l on tient un objet
//On joue maintenant sur la table, donc le code est moins utile
if (lastsPointsR.Count > 1)
{
Vector2 lastCentroid = lastsPointsR[lastsPointsR.Count - 1];
float distance = Vector2.Distance(centroidR, lastCentroid);
if (distance > deadZone)
{
lastsPointsR.Add(centroidR);
}
else
{
centroidR = lastCentroid;
}
}
else
{
lastsPointsR.Add(centroidR);
}
if (lastsPointsR.Count > 40)
{
lastsPointsR.RemoveAt(0);
}
//LastPointsR et B contienne les 40 dernieres position de notre centroid (C'était une question que vous avez posé en cours)
//pour du 16/9
//On ramene la position de 0..1 en coordonnés pour le jeux compris entre -10 et 10 en X et -7 et 7 en Y
float posXR = centroidR.x * 20f - 10f;
float posYR = centroidR.y * 14f - 7f;
//on change la position de la sphère en jeu selon la position référence de notre objet sur la caméra
sphereRed.transform.position = new Vector3(posXR, posYR, 10);
//BLUE
//Même chose pour le bleu
float xB = ((float)centroidBlue.X / (float)webCam.Width);
float yB = ((float)centroidBlue.Y / (float)webCam.Height);
xB = 1f - xB;
//yB = 1f - yB;
Vector2 centroidB = new Vector2(xB, yB);
if (lastsPointsB.Count > 1)
{
Vector2 lastCentroid = lastsPointsB[lastsPointsB.Count - 1];
float distance = Vector2.Distance(centroidB, lastCentroid);
if (distance > deadZone)
{
lastsPointsB.Add(centroidB);
}
else
{
centroidB = lastCentroid;
}
}
else
{
lastsPointsB.Add(centroidB);
}
if (lastsPointsB.Count > 40)
{
lastsPointsB.RemoveAt(0);
}
if (centroidB.x > 1000f)
{
centroidB = new Vector2(0.5f, 0.5f);
}
float posXB = centroidB.x * 20f - 10f;
float posYB = centroidB.y * 14f - 7f;
sphereBlue.transform.position = new Vector3(posXB, posYB, 10);
}
public void PerformShapeDetection()
{
if (fileNameTextBox.Text != String.Empty)
{
StringBuilder msgBuilder = new StringBuilder("Performance: ");
//Load the image from file and resize it for display
Image <Bgr, Byte> img =
new Image <Bgr, byte>(fileNameTextBox.Text);
//.Resize(2000, 2000, Emgu.CV.CvEnum.Inter.Linear, true);
labelSize.Text = img.Width.ToString() + " , " + img.Height.ToString();
//转为灰度级图像
UMat uimage = new UMat();
CvInvoke.CvtColor(img, uimage, ColorConversion.Bgr2Gray);
//use image pyr to remove noise 降噪，为了更准确的做边缘检测
UMat pyrDown = new UMat();
CvInvoke.PyrDown(uimage, pyrDown);
CvInvoke.PyrUp(pyrDown, uimage);
#region circle detection
Stopwatch watch = Stopwatch.StartNew();
//// 参数1：灰度级图像
//// 参数2：处理图像用的方法，在这里是固定
//double dp = 1; // 参数3：dp，不懂
//double minDist = 40; // 参数4：两个圆中心的最小距离
//double cannyThreshold = 30; // 参数5：边缘检测阈值
//double circleAccumulatorThreshold = 30; // 参数6：累加器阈值（圆心重合点，越低的时候圆弧就越容易当成圆）
//int minRadius = 20;
//int maxRadius = 60;
CircleF[] circles = CvInvoke.HoughCircles(uimage, HoughType.Gradient, dp, minDist, cannyThreshold, circleAccumulatorThreshold, minRadius, maxRadius);
watch.Stop();
msgBuilder.Append(String.Format("Hough circles - {0} ms; ", watch.ElapsedMilliseconds));
#endregion
#region Canny and edge detection
watch.Reset(); watch.Start();
double cannyThresholdLinking = cannyThreshold;// 30;
UMat cannyEdges = new UMat();
CvInvoke.Canny(uimage, cannyEdges, cannyThreshold, cannyThresholdLinking);
LineSegment2D[] lines = CvInvoke.HoughLinesP(
cannyEdges,
1, //Distance resolution in pixel-related units
Math.PI / 45.0, //Angle resolution measured in radians.
20, //threshold
30, //min Line width
10); //gap between lines
watch.Stop();
msgBuilder.Append(String.Format("Canny & Hough lines - {0} ms; ", watch.ElapsedMilliseconds));
#endregion
#region Find triangles and rectangles
watch.Reset(); watch.Start();
List <Triangle2DF> triangleList = new List <Triangle2DF>();
List <RotatedRect> boxList = new List <RotatedRect>(); //a box is a rotated rectangle
using (VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint())
{
CvInvoke.FindContours(cannyEdges, contours, null, RetrType.List, ChainApproxMethod.ChainApproxSimple);
int count = contours.Size;
for (int i = 0; i < count; i++)
{
using (VectorOfPoint contour = contours[i])
using (VectorOfPoint approxContour = new VectorOfPoint())
{
CvInvoke.ApproxPolyDP(contour, approxContour, CvInvoke.ArcLength(contour, true) * 0.05, true);
if (CvInvoke.ContourArea(approxContour, false) > 250) //only consider contours with area greater than 250
{
if (approxContour.Size == 3) //The contour has 3 vertices, it is a triangle
{
Point[] pts = approxContour.ToArray();
triangleList.Add(new Triangle2DF(
pts[0],
pts[1],
pts[2]
));
}
else if (approxContour.Size == 4) //The contour has 4 vertices.
{
#region determine if all the angles in the contour are within [80, 100] degree
bool isRectangle = true;
Point[] pts = approxContour.ToArray();
LineSegment2D[] edges = PointCollection.PolyLine(pts, true);
for (int j = 0; j < edges.Length; j++)
{
double angle = Math.Abs(
edges[(j + 1) % edges.Length].GetExteriorAngleDegree(edges[j]));
if (angle < 80 || angle > 100)
{
isRectangle = false;
break;
}
}
#endregion
if (isRectangle)
{
boxList.Add(CvInvoke.MinAreaRect(approxContour));
}
}
}
}
}
}
watch.Stop();
msgBuilder.Append(String.Format("Triangles & Rectangles - {0} ms; ", watch.ElapsedMilliseconds));
#endregion
originalImageBox.Image = img;
this.Text = msgBuilder.ToString();
#region draw triangles and rectangles
Mat triangleRectangleImage = new Mat(img.Size, DepthType.Cv8U, 3);
triangleRectangleImage.SetTo(new MCvScalar(0));
foreach (Triangle2DF triangle in triangleList)
{
CvInvoke.Polylines(triangleRectangleImage, Array.ConvertAll(triangle.GetVertices(), Point.Round), true, new Bgr(Color.DarkBlue).MCvScalar, 2);
}
foreach (RotatedRect box in boxList)
{
CvInvoke.Polylines(triangleRectangleImage, Array.ConvertAll(box.GetVertices(), Point.Round), true, new Bgr(Color.DarkOrange).MCvScalar, 2);
}
triangleRectangleImageBox.Image = cannyEdges;
#endregion
#region draw circles
Mat circleImage = new Mat(img.Size, DepthType.Cv8U, 3);
circleImage.SetTo(new MCvScalar(0));
foreach (CircleF circle in circles)
{
CvInvoke.Circle(circleImage, Point.Round(circle.Center), (int)circle.Radius, new Bgr(Color.Brown).MCvScalar, 2);
}
circleImageBox.Image = circleImage;
#endregion
#region draw lines
Mat lineImage = new Mat(img.Size, DepthType.Cv8U, 3);
lineImage.SetTo(new MCvScalar(0));
foreach (LineSegment2D line in lines)
{
CvInvoke.Line(lineImage, line.P1, line.P2, new Bgr(Color.Green).MCvScalar, 2);
}
lineImageBox.Image = uimage;
#endregion
}
}
private static void FuseThisTarget(PointF[] src_vertices, int kwadratWidth, ProcessFrameResult result,
AditionaCapturelData acd)
{
result.Target.BlackCenter = acd.MainTargetDetails.BlackCenter;
result.Target.BlackR = acd.MainTargetDetails.BlackR;
#region wyznaczenie prostokatow i kwadratow do transformacji perspektywy
PointF[] dstVertices = new PointF[]
{
new PointF(0, 0), //tl topleft
new PointF(kwadratWidth, 0), //tr
new PointF(kwadratWidth, kwadratWidth), //br
new PointF(0, kwadratWidth)
}; //bl
//kwadrat z lewym dolnym rogiem w tym samym miejscu co znaleziony - tylko po to żeby zobrazować
//PointF[] dst_vertices_kwadrat_lewydol = new PointF[] {
// new PointF(bo_ord[3].X , bo_ord[3].Y - kwadratWidth),
// new PointF(bo_ord[3].X + kwadratWidth, bo_ord[3].Y - kwadratWidth),
// new PointF(bo_ord[3].X + kwadratWidth, bo_ord[3].Y),
// bo_ord[3]};
#endregion wyznaczenie prostokatow i kwadratow do transformacji perspektywy
using (Mat warped = new Mat())
{
#region tranformacja perspektywy
Mat warpMatrix = CvInvoke.GetPerspectiveTransform(src_vertices, dstVertices);
Size size = new Size(kwadratWidth, kwadratWidth);
CvInvoke.WarpPerspective(acd.Frame, warped, warpMatrix, size, Inter.Linear, Warp.Default);
#endregion tranformacja perspektywy
#region rysowanie pierscieni
//Mat circleImage = warped.Clone();
var pix = Pix(acd.MainTargetDetails.BlackR);
//DrawCircles(circleImage, pix, useThisTarget.BlackCenter);
#endregion rysowanie pierscieni
#region blur gray canny samej tarczy
Mat canny_output12 = new Mat();
Mat smallGrayFrame12 = new Mat();
Mat smoothedGrayFrame12 = new Mat();
CvInvoke.PyrDown(warped, smallGrayFrame12);
CvInvoke.PyrUp(smallGrayFrame12, smoothedGrayFrame12);
CvInvoke.CvtColor(smoothedGrayFrame12, smoothedGrayFrame12, ColorConversion.Bgr2Gray);
// CvInvoke.GaussianBlur(smoothedGrayFrame12, smoothedGrayFrame12, new Size(9, 9), 1, 1);
result.SmoothedOryginal = smoothedGrayFrame12;//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
#region test
CvInvoke.Canny(smoothedGrayFrame12, canny_output12, acd.FirstCannyThresh, acd.secondCannyThresh);
#endregion test
#endregion blur gray canny samej tarczy
#region rozpoznawanie strzału
int czteryIpolmmRInt = Convert.ToInt32(FourNHalfR(pix));
int zapasSizeMax = 5;
int zapasSizeMin = 1;
CircleF[] przestrzeliny = CvInvoke.HoughCircles(smoothedGrayFrame12,
HoughType.Gradient,
1,
400,
acd.firstCannyThresh1,
acd.secondCannyThresh1,
czteryIpolmmRInt - zapasSizeMin,
czteryIpolmmRInt + zapasSizeMax);
result.Warped = warped.Clone();//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
foreach (CircleF shot in przestrzeliny)
{
CvInvoke.Circle(warped, Point.Round(shot.Center), czteryIpolmmRInt, new Bgr(Color.Blue).MCvScalar, 1,
LineType.AntiAlias, 0);
CvInvoke.Circle(warped, Point.Round(shot.Center), czteryIpolmmRInt - zapasSizeMin,
new Bgr(Color.BlueViolet).MCvScalar, 1, LineType.AntiAlias, 0);
CvInvoke.Circle(warped, Point.Round(shot.Center), czteryIpolmmRInt + zapasSizeMax,
new Bgr(Color.Chartreuse).MCvScalar, 1, LineType.AntiAlias, 0);
result.Shot = WyliczWartoscPrzestrzeliny(shot.Center, acd.MainTargetDetails);
if (acd.MainTargetDetails.CameraFlipped)
{
result.TargetScanWithResult = Rotate180(warped.Clone());//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
}
else
{
result.TargetScanWithResult = warped.Clone();//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
}
break;
}
#endregion
}
}
private void button1_Click(object sender, EventArgs e)
{
var image = new Image <Bgr, byte>(@"E:\测试图片\2018-09-05_133455.png");
this.pictureBox1.Image = image.ToBitmap();
var grayimage = image.Convert <Gray, byte>();
this.pictureBox2.Image = grayimage.ToBitmap();
//var threshImage = grayimage.ThresholdAdaptive(new Gray(255), AdaptiveThresholdType.MeanC, ThresholdType.Binary, 9, new Gray(5));
//CvInvoke.NamedWindow("ThresholdAdaptive");
//CvInvoke.Imshow("ThresholdAdaptive", threshImage);
//CvInvoke.Threshold(grayimage, threshimg, 0, 255, ThresholdType.Otsu);
//CvInvoke.NamedWindow("Otsu");
//CvInvoke.Imshow("Otsu", threshImage);
//CvInvoke.Line(image, new Point(10, 10), new Point(150, 150), new MCvScalar(211,203,0));
//CvInvoke.NamedWindow("line");
//CvInvoke.Imshow("line", image);
//均衡化
Image <Gray, Byte> histimg = new Image <Gray, Byte>(grayimage.Width, grayimage.Height, new Gray(0.1));
CvInvoke.EqualizeHist(grayimage, histimg);
MIplImage histmi = (MIplImage)Marshal.PtrToStructure(histimg, typeof(MIplImage));
Image <Gray, Byte> histimage = new Image <Gray, Byte>(histimg.Width, histimg.Height, histmi.WidthStep, histmi.ImageData);
this.pictureBox5.Image = histimage.ToBitmap();
//二值化
Image <Gray, Byte> threshimg = new Image <Gray, Byte>(grayimage.Width, grayimage.Height);
CvInvoke.Threshold(histimg, threshimg, 120, 255, ThresholdType.Binary);
this.pictureBox3.Image = threshimg.ToBitmap();
//BarcodeReader reader = new BarcodeReader();
//reader.Options.CharacterSet = "utf-8";
//var result = reader.Decode(threshimg.ToBitmap());
//if (result != null)
//{
// this.textBox1.Text = result.Text;
//}
//canny算子边缘检测
Image <Gray, Byte> cannyimg = new Image <Gray, Byte>(grayimage.Width, grayimage.Height, new Gray(0.1));
CvInvoke.Canny(threshimg, cannyimg, 10, 30);
MIplImage cannymi = (MIplImage)Marshal.PtrToStructure(cannyimg, typeof(MIplImage));
Image <Gray, Byte> cannyimage = new Image <Gray, Byte>(cannymi.Width, cannymi.Height, cannymi.WidthStep, cannymi.ImageData);
this.pictureBox4.Image = cannyimage.ToBitmap();
//circle画圈
Image <Gray, Byte> circleimg = new Image <Gray, Byte>(grayimage.Width, grayimage.Height, new Gray(255));
CvInvoke.Circle(circleimg, new Point(150, 150), 50, new MCvScalar(100, 100, 255));
this.pictureBox6.Image = circleimg.ToBitmap();
////mix
//Image<Gray, Byte> miximg = new Image<Gray, Byte>(grayimage.Width, grayimage.Height, new Gray(255));
//Image<Gray, Byte> miximg1 = new Image<Gray, Byte>(grayimage.Width, grayimage.Height, new Gray(0.1));
//Image<Gray, Byte> miximg2 = new Image<Gray, Byte>(grayimage.Width, grayimage.Height, new Gray(255));
//CvInvoke.ColorChange(miximg1, miximg2, miximg);
//this.pictureBox6.Image = img_gray(miximg.Bitmap);
}
private void btnCapture_Click(object sender, EventArgs e)
{
if (!(rdbFront.Checked || rdbRight.Checked))
{
MessageBox.Show("先选择使用的图片来源！", "取像提示");
return;
}
else if (rdbRight.Checked)
{
cameraID = 0;
}
else
{
cameraID = 1;
}
OpenFileDialog openFileDialog = new OpenFileDialog();
if (openFileDialog.ShowDialog() == DialogResult.OK)
{
myImg = new Image <Bgr, byte>(openFileDialog.FileName);
//myImgCopy = myImg.Copy();
}
if (myImg == null)
{
return;
}
DateTime beforDT = DateTime.Now;//计时开始
//DetectCenterAndSlop detectCenterAndSlop = new DetectCenterAndSlop();
imageInfo = findCenterAndSlope.GetProductParamters(myImg.Bitmap, cameraID, 50);//0右侧，1前方
//detectCenterAndSlop.GetCornerAndSlope(myImg.Bitmap, 1);
DateTime afterDT = DateTime.Now;
TimeSpan ts = afterDT.Subtract(beforDT);//计时结束
label2.Text = "Span Time:\t" + ts + "S";
binaryImg = findCenterAndSlope.BinaryImage;
if (cameraID == 0)
{
txtParamters.Text += "处理Upper图像，产品高度：" + string.Format("{{{0}}}", 50) + "\r\n";
}
else
{
txtParamters.Text += "处理Lower图像，产品高度：" + string.Format("{{{0}}}", 50) + "\r\n";
}
//模拟点击比较纠偏按钮
//btnCalibrationImgClick(new Bitmap[] { myImg.Bitmap, findCenterAndSlope.BinaryImage.Bitmap });
foreach (PointF item in imageInfo.ImageCorner)
{
CvInvoke.Circle(myImg, new Point((int)item.X, (int)item.Y), 8, new MCvScalar(0, 2, 255), 8);
CvInvoke.PutText(myImg, item.ToString(), new Point((int)item.X, (int)item.Y), FontFace.HersheySimplex, 4, new MCvScalar(0, 255, 88), 3);
txtParamters.Text += "图像角点坐标" + string.Format("{{{0},{1}}}", item.X, item.Y) + "\r\n";
}
CvInvoke.Line(myImg, new Point((int)imageInfo.ImageCorner[0].X, (int)imageInfo.ImageCorner[0].Y),
new Point((int)imageInfo.ImageCorner[imageInfo.ImageCorner.Length - 2].X,
(int)imageInfo.ImageCorner[imageInfo.ImageCorner.Length - 2].Y),
new MCvScalar(0, 255, 0), 10);
CvInvoke.Line(myImg, new Point((int)imageInfo.ImageCorner[1].X, (int)imageInfo.ImageCorner[1].Y),
new Point((int)imageInfo.ImageCorner[imageInfo.ImageCorner.Length - 1].X,
(int)imageInfo.ImageCorner[imageInfo.ImageCorner.Length - 1].Y),
new MCvScalar(0, 255, 0), 10);
for (int i = 1; i < imageInfo.ImageCorner.Length + 1; i++)
{
CvInvoke.Line(myImg, new Point((int)imageInfo.ImageCorner[i - 1].X, (int)imageInfo.ImageCorner[i - 1].Y),
new Point((int)imageInfo.ImageCorner[i % imageInfo.ImageCorner.Length].X,
(int)imageInfo.ImageCorner[i % imageInfo.ImageCorner.Length].Y),
new MCvScalar(0, 255, 0), 10);
}
float pr = (float)imageInfo.AxisLong / (float)imageInfo.AxisShort;
txtParamters.Text += "\r\n长短轴比：" + pr.ToString() + "\r\n";
double x1 = Math.Sqrt(Math.Pow((imageInfo.ImageCorner[0].X - imageInfo.ImageCorner[2].X), 2) + Math.Pow((imageInfo.ImageCorner[0].Y - imageInfo.ImageCorner[2].Y), 2));
double x2 = Math.Sqrt(Math.Pow((imageInfo.ImageCorner[1].X - imageInfo.ImageCorner[3].X), 2) + Math.Pow((imageInfo.ImageCorner[1].Y - imageInfo.ImageCorner[3].Y), 2));
txtParamters.Text += "\r\n对角线1：" + x1.ToString() + "\r\n";
txtParamters.Text += "\r\n对角线2：" + x2.ToString() + "\r\n";
#region 使用DLL
//double robotRotated = detectCenterAndSlop.LineK1 < detectCenterAndSlop.LineK2 ? detectCenterAndSlop.LineK1 : detectCenterAndSlop.LineK2;
//if (robotRotated * 180f / Math.PI < 45)
//{
// txtParamters.Text += "机器人顺时针旋转角度：\t\t" + robotRotated.ToString() + "\r\n";
//}
//else
//{
// txtParamters.Text += "机器人逆时针旋转角度：\t\t" + (90 - robotRotated).ToString() + "\r\n";
//}
#endregion
double robotRotated = Math.Abs(imageInfo.RotatedAngle) > 45 ? imageInfo.RotatedAngle + 90 : imageInfo.RotatedAngle;
if (robotRotated >= 0)
{
txtParamters.Text += "机器人顺时针旋转角度：\r\n\t\t" + robotRotated.ToString() + "\r\n";
}
else
{
txtParamters.Text += "机器人逆时针旋转角度：\r\n\t\t" + robotRotated.ToString() + "\r\n";
}
// txtParamters.Text += "机器人法兰中心点X：\t\t" + imageInfo.CenterOfRobot.X.ToString() + "\r\n";
// txtParamters.Text += "机器人法兰中心点Y：\t\t" + imageInfo.CenterOfRobot.Y.ToString() + "\r\n";
CvInvoke.Circle(myImg, new Point((int)imageInfo.CenterOfImg.X, (int)imageInfo.CenterOfImg.Y), 15, new MCvScalar(255, 2, 5), 13);
txtParamters.Text += "图像中心点Y：\t\t" + imageInfo.CenterOfImg.X.ToString() + "\r\n";
txtParamters.Text += "图像中心点Y：\t\t" + imageInfo.CenterOfImg.Y.ToString() + "\r\n";
txtParamters.Text += "长轴：\t\t" + imageInfo.AxisLong.ToString() + "\r\n";
txtParamters.Text += "短轴：\t\t" + imageInfo.AxisShort.ToString() + "\r\n";
txtParamters.Text += "长轴像素比：\t" + (imageInfo.AxisLong / 2000f).ToString() + "\r\n";
txtParamters.Text += "短轴像素比：\t" + (imageInfo.AxisShort / 1200f).ToString() + "\r\n";
double[] Q = EA2Q((-robotRotated / 180 * Math.PI), 0, 0);
//txtParamters.Text += "\r\n\r\n" +"四元数：\t\r\n"+ Q[0] + "\t\r\n" + Q[1] + "\t\r\n" + Q[2] + "\t\r\n" + Q[3];
pictureBox1.Image = myImg.ToBitmap();
// File.AppendAllText("Record.txt", "长轴：\t\t" + imageInfo.AxisLong.ToString() + "\r\n"+ "短轴：\t\t" + imageInfo.AxisShort.ToString() + "\r\n"+ DateTime.Now.ToString() + "\r\n\r\n");
}