private List <InputFileModel> GetInputFromStereoCamera(VideoCapture LeftCamera, VideoCapture RightCamera, int countInputFile = 0)
{
LeftCamera.Grab();
RightCamera.Grab();
Mat LeftImage = new Mat();
Mat RightImage = new Mat();
LeftCamera.Retrieve(LeftImage);
RightCamera.Retrieve(RightImage);
LeftImage.Save(Path.Combine($@"{tempLeftStackDirectory}", $"Left_{countInputFile}.JPG"));
RightImage.Save(Path.Combine($@"{tempRightStackDirectory}", $"Right_{countInputFile}.JPG"));
var inputFileLeft = new InputFileModel(Path.Combine($@"{tempLeftStackDirectory}", $"Left_{countInputFile}.JPG"));
var imageList = _winForm.ImageList[(int)EListViewGroup.LeftCameraStack];
var listViewer = _winForm.ListViews[(int)EListViewGroup.LeftCameraStack];
_fileManager.AddInputFileToList(inputFileLeft, _fileManager.listViewerModel.ListOfListInputFolder[(int)EListViewGroup.LeftCameraStack], imageList, listViewer);
var inputFileRight = new InputFileModel(Path.Combine($@"{tempRightStackDirectory}", $"Right_{countInputFile}.JPG"));
imageList = _winForm.ImageList[(int)EListViewGroup.RightCameraStack];
listViewer = _winForm.ListViews[(int)EListViewGroup.RightCameraStack];
_fileManager.AddInputFileToList(inputFileLeft, _fileManager.listViewerModel.ListOfListInputFolder[(int)EListViewGroup.RightCameraStack], imageList, listViewer);
var returnList = new List <InputFileModel>();
returnList.Add(inputFileLeft);
returnList.Add(inputFileRight);
return(returnList);
}
private void FindKeypoint(int ID, InputFileModel inputFile, IFeatureDetector detector, bool AddToList = true)
{
WindowsFormHelper.AddLogToConsole($"Start finding key points for: {inputFile.fileInfo.Name.ToString()}\n");
var detectedKeyPoints = detector.DetectKeyPoints(new Mat(inputFile.fileInfo.FullName));
if (AddToList)
{
DetectedKeyPoints.Add(ID, new KeyPointModel()
{
DetectedKeyPoints = new VectorOfKeyPoint(detectedKeyPoints),
InputFile = inputFile,
ID = ID
}
);
}
WindowsFormHelper.AddLogToConsole($"FINISH finding key points for: {inputFile.fileInfo.Name.ToString()}\n");
// Save drawing image
Mat output = new Mat();
Directory.CreateDirectory($@"{tempDirectory}\DrawKeypoint");
Features2DToolbox.DrawKeypoints(new Mat(inputFile.fileInfo.FullName), new VectorOfKeyPoint(detectedKeyPoints), output, new Bgr(0, 0, 255), KeypointDrawType.DrawRichKeypoints);
output.Save(Path.Combine($@"{tempDirectory}\DrawKeypoint", $"{Path.GetFileNameWithoutExtension(inputFile.fileInfo.Name)}.JPG"));
fileManager.listViewerModel._lastDrawnKeypoint = new Image <Bgr, byte>(output.Bitmap);
var file = new InputFileModel(Path.Combine($@"{tempDirectory}\DrawKeypoint", $"{Path.GetFileNameWithoutExtension(inputFile.fileInfo.Name)}.JPG"));
var imageList = _winForm.ImageList[(int)EListViewGroup.DrawnKeyPoint];
var listViewer = _winForm.ListViews[(int)EListViewGroup.DrawnKeyPoint];
fileManager.AddInputFileToList(file, fileManager.listViewerModel.ListOfListInputFolder[(int)EListViewGroup.DrawnKeyPoint], imageList, listViewer);
}
public InputFileModel GetInputParamsFromCSV()
{
System.Console.WriteLine("Reading input parameters from csv file: Input.csv");
try
{
using (var reader = File.OpenText("Files/Input.csv"))
{
var inputCSV = new CsvReader(reader);
var inputModel = new InputFileModel();
while (inputCSV.Read())
{
inputModel.InitialPosition = inputCSV.GetField <int>(0);
inputModel.InitialVelocity = inputCSV.GetField <int>(1);
}
return(inputModel);
}
}
catch (Exception e)
{
System.Console.WriteLine(e);
var errorModel = new InputFileModel()
{
IsError = true
};
return(errorModel);
}
}
private void ProcessCarFinderInBackground(InputFileModel inputValues)
{
var carModel = new Car(inputValues.InitialPosition, inputValues.InitialVelocity, new CarFinderManager());
carModel.GameEnd += CarModel_GameEnd;
carModel.Play();
}
private void AddDepthMapToListView(Image <Bgr, byte> disparityMap)
{
disparityMap.Save(Path.Combine($@"{tempDepthMapDirectory}", $"DepthMap_{_fileManager.listViewerModel.LeftCameraStack.Count}.JPG"));
var inputFileLeft = new InputFileModel(Path.Combine($@"{tempDepthMapDirectory}", $"DepthMap_{_fileManager.listViewerModel.LeftCameraStack.Count}.JPG"));
var imageList = _winForm.ImageList[(int)EListViewGroup.DepthMap];
var listViewer = _winForm.ListViews[(int)EListViewGroup.DepthMap];
_fileManager.AddInputFileToList(inputFileLeft, _fileManager.listViewerModel.ListOfListInputFolder[(int)EListViewGroup.DepthMap], imageList, listViewer);
}
public void AddInputFileToList(InputFileModel inputFile, List <InputFileModel> listOfInput, ImageList imageList, ListView listView)
{
if (listView.InvokeRequired)
{
listView.Invoke((Action) delegate { AddInputFileToList(inputFile, listOfInput, imageList, listView); });
}
else
{
imageList.Images.Add(inputFile.fileInfo.Name, inputFile.image);
var listItem = new ListViewItem(inputFile.fileInfo.Name, imageList.Images.IndexOfKey(inputFile.fileInfo.Name))
{
ImageKey = inputFile.fileInfo.Name
};
listOfInput.Add(inputFile);
listView.Items.Add(listItem);
}
}
public void AddToListView()
{
using (OpenFileDialog ofd = new OpenFileDialog()
{
Multiselect = true, ValidateNames = true, CheckFileExists = true, CheckPathExists = true, Filter = ""
})
{
DialogHelper.AddFilterToDialog <EImageFormat>(ofd, "All Image Files");
DialogHelper.AddFilterToDialog <EVideoFormat>(ofd, "All Video Files");
if (ofd.ShowDialog() == DialogResult.OK)
{
foreach (var fileName in ofd.FileNames)
{
var inputFile = new InputFileModel(fileName);
var imageList = _winForm.ImageList[(int)ListViewerDisplay];
var listViewer = _winForm.ListViews[(int)ListViewerDisplay];
AddInputFileToList(inputFile, listViewerModel.ListOfListInputFolder[(int)ListViewerDisplay], imageList, listViewer);
}
}
;
}
}
private void FindMatches(IFeatureMatcher matcher, DescriptorModel leftDescriptor, DescriptorModel rightDescriptor, bool AddToList = true, bool FilterMatches = true, bool ComputeHomography = true, bool SaveInMatchNode = true)
{
WindowsFormHelper.AddLogToConsole($"Start computing matches for: \n" +
$"\t{leftDescriptor.KeyPoint.InputFile.fileInfo.Name.ToString()}\n" +
$"\t{rightDescriptor.KeyPoint.InputFile.fileInfo.Name.ToString()}\n");
var foundedMatch = new DescriptorsMatchModel()
{
FilteredMatch = FilterMatches,
LeftDescriptor = leftDescriptor,
RightDescriptor = rightDescriptor
};
var matches = new VectorOfVectorOfDMatch();
matcher.Match(leftDescriptor.Descriptors, rightDescriptor.Descriptors, matches);
WindowsFormHelper.AddLogToConsole(
$"FINISH computing matches for: \n" +
$"\t{leftDescriptor.KeyPoint.InputFile.fileInfo.Name.ToString()}\n" +
$"\t{rightDescriptor.KeyPoint.InputFile.fileInfo.Name.ToString()}\n"
);
MDMatch[][] matchesArray = matches.ToArrayOfArray();
foundedMatch.MatchesList = matchesArray.ToList();
if (FilterMatches)
{
FindMinMaxDistInMatches(matchesArray, ref ms_MAX_DIST, ref ms_MIN_DIST);
List <MDMatch[]> filteredMatchesList = FilterMatchesByMaxDist(matchesArray);
foundedMatch.FilteredMatchesList = filteredMatchesList;
}
if (ComputeHomography)
{
var PerspectiveMatrix = new Mat();
Mat Mask = new Mat();
lock (locker)
{
var matchesForHomography = FilterMatches ? foundedMatch.FilteredMatchesList : foundedMatch.MatchesList;
if (matchesForHomography.Count > 0)
{
PerspectiveMatrix = FindHomography(leftDescriptor.KeyPoint.DetectedKeyPoints, rightDescriptor.KeyPoint.DetectedKeyPoints, FilterMatches ? foundedMatch.FilteredMatchesList : foundedMatch.MatchesList, Mask);
foundedMatch.Mask = Mask;
foundedMatch.PerspectiveMatrix = PerspectiveMatrix;
}
}
}
// Save drawing image
Mat output = new Mat();
Directory.CreateDirectory($@"{tempDirectory}\DrawMatches");
Features2DToolbox.DrawMatches(new Mat(foundedMatch.LeftDescriptor.KeyPoint.InputFile.fileInfo.FullName), foundedMatch.LeftDescriptor.KeyPoint.DetectedKeyPoints, new Mat(foundedMatch.RightDescriptor.KeyPoint.InputFile.fileInfo.FullName), foundedMatch.RightDescriptor.KeyPoint.DetectedKeyPoints, new VectorOfVectorOfDMatch(foundedMatch.FilteredMatchesList.ToArray()), output, new MCvScalar(0, 0, 255), new MCvScalar(0, 255, 0), foundedMatch.Mask);
output.Save(Path.Combine($@"{tempDirectory}\DrawMatches", $"{Path.GetFileNameWithoutExtension(foundedMatch.RightDescriptor.KeyPoint.InputFile.fileInfo.Name)}-{Path.GetFileNameWithoutExtension(foundedMatch.LeftDescriptor.KeyPoint.InputFile.fileInfo.Name)}.JPG"));
fileManager.listViewerModel._lastDrawnMatches = new Image <Bgr, byte>(output.Bitmap);
var inputFile = new InputFileModel(Path.Combine($@"{tempDirectory}\DrawMatches", $"{Path.GetFileNameWithoutExtension(foundedMatch.RightDescriptor.KeyPoint.InputFile.fileInfo.Name)}-{Path.GetFileNameWithoutExtension(foundedMatch.LeftDescriptor.KeyPoint.InputFile.fileInfo.Name)}.JPG"));
var imageList = _winForm.ImageList[(int)EListViewGroup.DrawnMatches];
var listViewer = _winForm.ListViews[(int)EListViewGroup.DrawnMatches];
fileManager.AddInputFileToList(inputFile, fileManager.listViewerModel.ListOfListInputFolder[(int)EListViewGroup.DrawnMatches], imageList, listViewer);
if (SaveInMatchNode)
{
SaveMatchString(foundedMatch, true);
}
if (AddToList)
{
FoundedMatches.Add(foundedMatch);
}
}
