private static void drawContour(IList<PointF> controlPoints, Bgr<byte>[,] image)
{
const float CONTOUR_TENSION = 0;
/******************** contour and control points *********************/
var pointIndices = CardinalSpline.GetEqualyDistributedPointIndices(controlPoints, CONTOUR_TENSION, 500);
var points = CardinalSpline.InterpolateAt(controlPoints, CONTOUR_TENSION, pointIndices);
var normals = new List<LineSegment2DF>();
var normalIndices = CardinalSpline.GetEqualyDistributedPointIndices(controlPoints, CONTOUR_TENSION, 100);
foreach (var idx in normalIndices)
{
var pt = CardinalSpline.InterpolateAt(controlPoints, CONTOUR_TENSION, idx);
var normalDirection = CardinalSpline.NormalAt(controlPoints, CONTOUR_TENSION, idx);
var orientation = (int)Angle.ToDegrees(System.Math.Atan2(normalDirection.Y, normalDirection.X));
var normal = getLine(orientation, pt, 20);
normals.Add(normal);
}
/******************** contour and control points *********************/
image.Draw(points.Select(x=>x.Round()).ToArray(),
Bgr<byte>.Blue,
3);
image.Draw(controlPoints.Select(x => new Circle(x.Round(), 3)), Bgr<byte>.Red, 3);
//image.Draw(normals, Bgr<byte>.Green, 3, false);
}
private void drawDetections(IEnumerable<Rectangle> detections, Bgr color, int thickness)
{
foreach (var detection in detections)
{
debugImage.Draw(detection, color, thickness);
}
}
private void initTracking(Bgr<byte>[,] frame)
{
initializeKalman(roi.Center());
//get hue channel from search area
var hsvImg = frame.ToHsv();
//user constraints...
Gray<byte>[,] mask = hsvImg.InRange(new Hsv<byte>(0, 0, (byte)minV), new Hsv<byte>(0, 0, (byte)maxV), Byte.MaxValue, 2);
originalObjHist.Calculate(hsvImg.SplitChannels<Hsv<byte>, byte>(roi, 0, 1), false, mask, roi.Location);
originalObjHist.Scale((float)1 / roi.Area());
//originalObjHist.Normalize(Byte.MaxValue);
var backgroundArea = roi.Inflate(1.5, 1.5, frame.Size());
var backgroundMask = mask.Clone(backgroundArea);
backgroundMask.SetValue<Gray<byte>>(0, new Rectangle(roi.X - backgroundArea.X, roi.Y - backgroundArea.Y, roi.Width, roi.Height));
backgroundHist.Calculate(hsvImg.SplitChannels<Hsv<byte>, byte>(backgroundArea, 0, 1), false, mask, backgroundArea.Location);
backgroundHist.Scale((float)1 / (backgroundArea.Area() - roi.Area()));
//backgroundHist.Normalize(Byte.MaxValue);
//how good originalObjHist and objHist match (suppresses possible selected background)
ratioHist = originalObjHist.CreateRatioHistogram(backgroundHist, Byte.MaxValue, 3);
searchArea = roi;
roi = Rectangle.Empty;
}
/// <summary>
/// Rectification filter for projective transformation.
/// <para>Accord.NET internal call. Please see: <see cref="Accord.Imaging.Filters.Rectification"/> for details.</para>
/// </summary>
/// <param name="img">Image.</param>
/// <param name="homography">The homography matrix used to map a image passed to the filter to the overlay image.</param>
/// <param name="fillColor">The filling color used to fill blank spaces.</param>
/// <returns>Rectified image.</returns>
public static Bgr<byte>[,] Rectification(this Bgr<byte>[,] img, double[,] homography, Bgr<byte> fillColor)
{
Rectification r = new Rectification(homography);
r.FillColor = fillColor.ToColor();
return img.ApplyBaseTransformationFilter(r);
}
/// <summary>
/// Creates template from the input image by using provided parameters.
/// </summary>
/// <param name="sourceImage">Input image.</param>
/// <param name="minFeatureStrength">Minimum gradient value for the feature.</param>
/// <param name="maxNumberOfFeatures">Maximum number of features per template. The features will be extracted so that their locations are semi-uniformly spread.</param>
/// <param name="classLabel">Template class label.</param>
public virtual void Initialize(Bgr<byte>[,] sourceImage, int minFeatureStrength, int maxNumberOfFeatures, string classLabel)
{
Gray<int>[,] sqrMagImg;
Gray<int>[,] orientationImg = GradientComputation.Compute(sourceImage, out sqrMagImg, minFeatureStrength);
Func<Feature, int> featureImportanceFunc = (feature) => sqrMagImg[feature.Y, feature.X].Intensity;
Initialize(orientationImg, maxNumberOfFeatures, classLabel, featureImportanceFunc);
}
public static void TestImageToArray()
{
Image<Bgr, byte> img = new Image<Bgr, byte>(640, 480);
img[5, 5] = new Bgr(128, 64, 32);
var arr = img.ToArray();
Console.WriteLine("Color image to array: " + arr[0, 5, 5] + " " + arr[1, 5, 5] + " " + arr[2, 5, 5]);
/*Debug.Assert(arr[5, 5, 0] == 128 &&
arr[5, 5, 1] == 64 &&
arr[5, 5, 2] == 32);*/
}
/// <summary>
/// Draws circles.
/// </summary>
/// <param name="image">Input image.</param>
/// <param name="circles">Circles</param>
/// <param name="color">Circle color.</param>
/// <param name="thickness">Contours thickness.</param>
public unsafe static void Draw(this Bgr <byte>[,] image, IEnumerable <Circle> circles, Bgr <byte> color, int thickness)
{
using (var img = image.Lock())
{
var iplImage = img.AsOpenCvImage();
foreach (var circle in circles)
{
var center = new Point(circle.X, circle.Y);
CvCoreInvoke.cvCircle(&iplImage, center, circle.Radius, color.ToCvScalar(),
thickness, LineTypes.EightConnected, 0);
}
}
}
/// <summary>
/// Draws contour.
/// </summary>
/// <param name="image">Input image.</param>
/// <param name="contour">Contour points.</param>
/// <param name="color">Contour color.</param>
/// <param name="thickness">Contours thickness.</param>
/// <param name="opacity">Sets alpha channel where 0 is transparent and 255 is full opaque.</param>
public unsafe static void Draw(this Bgr <byte>[,] image, Point[] contour, Bgr <byte> color, int thickness, byte opacity = Byte.MaxValue)
{
var contourHandle = GCHandle.Alloc(contour, GCHandleType.Pinned);
using (var img = image.Lock())
{
var iplImage = img.AsOpenCvImage();
//TODO - noncritical: implement with cvContour
CvCoreInvoke.cvPolyLine(&iplImage, new IntPtr[] { contourHandle.AddrOfPinnedObject() }, new int[] { contour.Length }, 1,
true, color.ToCvScalar(), thickness, LineTypes.EightConnected, 0);
}
contourHandle.Free();
}
/// <summary>
/// The blending filter is able to blend two images using a homography matrix.
/// A linear alpha gradient is used to smooth out differences between the two
/// images, effectively blending them in two images. The gradient is computed
/// considering the distance between the centers of the two images.
/// </summary>
/// <param name="im">Image.</param>
/// <param name="overlayIm">The overlay image (also called the anchor).</param>
/// <param name="homography">Homography matrix used to map a image passed to
/// the filter to the overlay image specified at filter creation.</param>
/// <param name="fillColor">The filling color used to fill blank spaces. The filling color will only be visible after the image is converted
/// to 24bpp. The alpha channel will be used internally by the filter.</param>
/// <param name="gradient">A value indicating whether to blend using a linear
/// gradient or just superimpose the two images with equal weights.</param>
/// <param name="alphaOnly">A value indicating whether only the alpha channel
/// should be blended. This can be used together with a transparency
/// mask to selectively blend only portions of the image.</param>
/// <returns>Blended image.</returns>
public static Bgra <byte>[,] Blend(this Bgr <byte>[,] im, Bgr <byte>[,] overlayIm, MatrixH homography, Bgra <byte> fillColor, bool gradient = true, bool alphaOnly = false)
{
Bgra <byte>[,] resultImage = null;
using (var uOverlayIm = overlayIm.Lock())
{
Blend blend = new Blend(homography, uOverlayIm.AsBitmap());
blend.AlphaOnly = alphaOnly;
blend.Gradient = gradient;
blend.FillColor = fillColor.ToColor();
resultImage = im.ApplyBaseTransformationFilter <Bgr <byte>, Bgra <byte> >(blend);
}
return(resultImage);
}
public static void Convert(ref Hsv <byte> hsv, ref Bgr <byte> bgr)
{
if (hsv.S == 0)
{
bgr.R = hsv.V;
bgr.G = hsv.V;
bgr.B = hsv.V;
return;
}
int hue = hsv.H * 2; //move to [0-360 range] (only needed for byte!)
int hQuadrant = hue / 60; // Hue quadrant 0 - 5 (60deg)
int hOffset = hue % 60; // Hue position in quadrant
int vs = hsv.V * hsv.S;
byte p = (byte)(hsv.V - (vs / 255));
byte q = (byte)(hsv.V - (vs / 255 * hOffset) / 60);
byte t = (byte)(hsv.V - (vs / 255 * (60 - hOffset)) / 60);
switch (hQuadrant)
{
case 0:
bgr.R = hsv.V; bgr.G = t; bgr.B = p;
break;
case 1:
bgr.R = q; bgr.G = hsv.V; bgr.B = p;
break;
case 2:
bgr.R = p; bgr.G = hsv.V; bgr.B = t;
break;
case 3:
bgr.R = p; bgr.G = q; bgr.B = hsv.V;
break;
case 4:
bgr.R = t; bgr.G = p; bgr.B = hsv.V;
break;
default:
bgr.R = hsv.V; bgr.G = p; bgr.B = q;
break;
}
}
public static void Convert(ref Bgr <byte> bgr, ref Hsv <byte> hsv)
{
byte rgbMin, rgbMax;
rgbMin = bgr.R < bgr.G ? (bgr.R < bgr.B ? bgr.R : bgr.B) : (bgr.G < bgr.B ? bgr.G : bgr.B);
rgbMax = bgr.R > bgr.G ? (bgr.R > bgr.B ? bgr.R : bgr.B) : (bgr.G > bgr.B ? bgr.G : bgr.B);
hsv.V = rgbMax;
if (hsv.V == 0)
{
hsv.H = 0;
hsv.S = 0;
return;
}
hsv.S = (byte)(255 * (rgbMax - rgbMin) / rgbMax);
if (hsv.S == 0)
{
hsv.H = 0;
return;
}
int hue = 0;
if (rgbMax == bgr.R)
{
hue = 0 + 60 * (bgr.G - bgr.B) / (rgbMax - rgbMin);
if (hue < 0)
{
hue += 360;
}
}
else if (rgbMax == bgr.G)
{
hue = 120 + 60 * (bgr.B - bgr.R) / (rgbMax - rgbMin);
}
else //rgbMax == bgr.B
{
hue = 240 + 60 * (bgr.R - bgr.G) / (rgbMax - rgbMin);
}
hsv.H = (byte)(hue / 2); //scale [0-360] . [0-180] (only needed for byte!)
Debug.Assert(hue >= 0 && hue <= 360);
}
/// <summary>
/// Draws rectangle annotation.
/// </summary>
/// <param name="image">Image.</param>
/// <param name="rect">User specified area to annotate.</param>
/// <param name="text">Label.</param>
/// <param name="annotationWidth">Width of annotation rectangle.</param>
/// <param name="color">Color for rectangle. Label area is filled. Default color is yellow-green.</param>
/// <param name="textColor">Label color. Default color is black.</param>
/// <param name="font">Font to use. Default is "Arial" of size 10, style: Bold.</param>
/// <param name="thickness">Rectangle thickness.</param>
public static void DrawAnnotation(this Image <Bgr, byte> image, Rectangle rect, string text,
int annotationWidth = 100, Bgr color = default(Bgr), Bgr textColor = default(Bgr), Font font = null,
int thickness = 1)
{
color = color.Equals(default(Bgr)) ? Color.YellowGreen.ToBgr() : color;
textColor = textColor.Equals(default(Bgr)) ? Color.Black.ToBgr() : color;
font = font ?? new Font("Arial", 8, System.Drawing.FontStyle.Bold);
var nLines = text.Where(x => x.Equals('\n')).Count() + 1;
var annotationHeight = (int)(3 + (font.SizeInPoints + 3) * nLines + 3);
var xOffset = (annotationWidth - rect.Width) / 2;
var annotationRect = new Rectangle(rect.X - xOffset, rect.Y - annotationHeight, annotationWidth, annotationHeight);
image.Draw(annotationRect, color, thickness);
image.Draw(rect, color, thickness);
image.Draw(annotationRect, color, -1, 80);
image.Draw(text, font, annotationRect, textColor);
}
/// <summary>
/// Computes gradient orientations from the color image. Orientation from the channel which has the maximum gradient magnitude is taken as the orientation for a location.
/// </summary>
/// <param name="frame">Image.</param>
/// <param name="magnitudeSqrImage">Squared magnitude image.</param>
/// <param name="minValidMagnitude">Minimal valid magnitude.</param>
/// <returns>Orientation image (angles are in degrees).</returns>
public static unsafe Gray<int>[,] Compute(Bgr<byte>[,] frame, out Gray<int>[,] magnitudeSqrImage, int minValidMagnitude)
{
var minSqrMagnitude = minValidMagnitude * minValidMagnitude;
var orientationImage = new Gray<int>[frame.Height(), frame.Width()];
var _magnitudeSqrImage = orientationImage.CopyBlank();
using (var uFrame = frame.Lock())
{
ParallelLauncher.Launch(thread =>
{
computeColor(thread, (byte*)uFrame.ImageData, uFrame.Stride, orientationImage, _magnitudeSqrImage, minSqrMagnitude);
},
frame.Width() - 2 * kernelRadius, frame.Height() - 2 * kernelRadius);
}
magnitudeSqrImage = _magnitudeSqrImage;
return orientationImage;
}
private void processImage(Bgr<byte>[,] frame, out Gray<byte>[,] probabilityMap, out Rectangle prevSearchArea, out Box2D foundBox)
{
prevSearchArea = searchArea;
//convert to HSV
var hsvImg = frame.ToHsv();
//back-project ratio hist => create probability map
probabilityMap = ratioHist.BackProject(hsvImg.SplitChannels<Hsv<byte>, byte>(0, 1)); //or new Image<Gray<byte>>[]{ hsvImg[0], hsvImg[1]...}
//user constraints...
Gray<byte>[,] mask = hsvImg.InRange(new Hsv<byte>(0, 0, (byte)minV), new Hsv<byte>(0, 0, (byte)maxV), Byte.MaxValue, 2);
probabilityMap.AndByte(mask, inPlace:true);
//run Camshift algorithm to find new object position, size and angle
foundBox = Camshift.Process(probabilityMap, searchArea);
var foundArea = Rectangle.Round(foundBox.GetMinArea());
searchArea = foundArea.Inflate(0.05, 0.05, frame.Size()); //inflate found area for search (X factor)...
if (searchArea.IsEmpty) isROISelected = false; //reset tracking
}
/// <summary>
/// Draws Box2D.
/// </summary>
/// <param name="image">Input image.</param>
/// <param name="box">Box 2D.</param>
/// <param name="color">Object's color.</param>
/// <param name="thickness">Border thickness.</param>
/// <param name="opacity">Sets alpha channel where 0 is transparent and 255 is full opaque.</param>
public unsafe static void Draw(this Bgr <byte>[,] image, Box2D box, Bgr <byte> color, int thickness, byte opacity = Byte.MaxValue)
{
if (thickness < 1)
{
throw new NotSupportedException("Only positive values are valid!");
}
var vertices = box.GetVertices();
using (var img = image.Lock())
{
var iplImage = img.AsOpenCvImage();
for (int i = 0; i < vertices.Length; i++)
{
int idx2 = (i + 1) % vertices.Length;
CvCoreInvoke.cvLine(&iplImage, vertices[i].Round(), vertices[idx2].Round(),
color.ToCvScalar(opacity), thickness,
LineTypes.EightConnected, 0);
}
}
}
private void processImage(Bgr <byte>[,] frame, out Gray <byte>[,] probabilityMap, out Rectangle prevSearchArea, out Box2D foundBox)
{
prevSearchArea = searchArea;
//convert to HSV
var hsvImg = frame.ToHsv();
//back-project ratio hist => create probability map
probabilityMap = ratioHist.BackProject(hsvImg.SplitChannels <Hsv <byte>, byte>(0, 1)); //or new Image<Gray<byte>>[]{ hsvImg[0], hsvImg[1]...}
//user constraints...
Gray <byte>[,] mask = hsvImg.InRange(new Hsv <byte>(0, 0, (byte)minV), new Hsv <byte>(0, 0, (byte)maxV), Byte.MaxValue, 2);
probabilityMap.AndByte(mask, inPlace: true);
//run Camshift algorithm to find new object position, size and angle
foundBox = Camshift.Process(probabilityMap, searchArea);
var foundArea = Rectangle.Round(foundBox.GetMinArea());
searchArea = foundArea.Inflate(0.05, 0.05, frame.Size()); //inflate found area for search (X factor)...
if (searchArea.IsEmpty)
{
isROISelected = false; //reset tracking
}
}
private void initTracking(Bgr <byte>[,] frame)
{
//get hue channel from search area
var hsvImg = frame.ToHsv();
//user constraints...
Gray <byte>[,] mask = hsvImg.InRange(new Hsv <byte>(0, 0, (byte)minV), new Hsv <byte>(0, 0, (byte)maxV), Byte.MaxValue, 2);
originalObjHist.Calculate(hsvImg.SplitChannels <Hsv <byte>, byte>(roi, 0, 1), !false, mask, roi.Location);
originalObjHist.Scale((float)1 / roi.Area());
//originalObjHist.Normalize(Byte.MaxValue);
var backgroundArea = roi.Inflate(1.5, 1.5, frame.Size());
backgroundHist.Calculate(hsvImg.SplitChannels <Hsv <byte>, byte>(backgroundArea, 0, 1), !false, mask, backgroundArea.Location);
backgroundHist.Scale((float)1 / backgroundArea.Area());
//backgroundHist.Normalize(Byte.MaxValue);
//how good originalObjHist and objHist match (suppresses possible selected background)
ratioHist = originalObjHist.CreateRatioHistogram(backgroundHist, Byte.MaxValue, 10);
searchArea = roi;
roi = Rectangle.Empty;
}
/// <summary>
/// This kind of template can not be created from color images. This function will throw an exception <see cref="System.Exception"/>.
/// </summary>
/// <param name="sourceImage">Input image.</param>
/// <param name="minFeatureStrength">Minimum gradient value for the feature.</param>
/// <param name="maxNumberOfFeatures">Maximum number of features per template. The features will be extracted so that their locations are semi-uniformly spread.</param>
/// <param name="classLabel">Template class label.</param>
public override void Initialize(Bgr<byte>[,] sourceImage, int minFeatureStrength, int maxNumberOfFeatures, string classLabel)
{
throw new Exception("Binary mask can not be saved from non black-white image!");
}
private void ContourDemoForm_Shown(object sender, EventArgs e)
{
image = (ResourceImages.bwHand.ToArray() as Gray<byte>[,]).ToBgr();
findPeaksAndValleys();
}
/// <summary>
/// Converts the source color to the destination color.
/// </summary>
/// <param name="image">Source image.</param>
/// <returns>image with converted color.</returns>
public static Hsv <byte>[,] ToHsv(this Bgr <byte>[,] image)
{
return(image.Convert <Bgr <byte>, Hsv <byte> >(Bgr <byte> .Convert));
}
/// <summary>
/// The blending filter is able to blend two images using a homography matrix.
/// A linear alpha gradient is used to smooth out differences between the two
/// images, effectively blending them in two images. The gradient is computed
/// considering the distance between the centers of the two images.
/// </summary>
/// <param name="im">Image.</param>
/// <param name="overlayIm">The overlay image (also called the anchor).</param>
/// <param name="homography">Homography matrix used to map a image passed to
/// the filter to the overlay image specified at filter creation.</param>
/// <param name="fillColor">The filling color used to fill blank spaces. The filling color will only be visible after the image is converted
/// to 24bpp. The alpha channel will be used internally by the filter.</param>
/// <param name="gradient">A value indicating whether to blend using a linear
/// gradient or just superimpose the two images with equal weights.</param>
/// <param name="alphaOnly">A value indicating whether only the alpha channel
/// should be blended. This can be used together with a transparency
/// mask to selectively blend only portions of the image.</param>
/// <returns>Blended image.</returns>
public static Bgra<byte>[,] Blend(this Bgr<byte>[,] im, Bgr<byte>[,] overlayIm, MatrixH homography, Bgra<byte> fillColor, bool gradient = true, bool alphaOnly = false)
{
Bgra<byte>[,] resultImage = null;
using (var uOverlayIm = overlayIm.Lock())
{
Blend blend = new Blend(homography, uOverlayIm.AsBitmap());
blend.AlphaOnly = alphaOnly;
blend.Gradient = gradient;
blend.FillColor = fillColor.ToColor();
resultImage = im.ApplyBaseTransformationFilter<Bgr<byte>, Bgra<byte>>(blend);
}
return resultImage;
}
private List<Match> findObjects(Bgr<byte>[,] image, out long preprocessTime, out long matchTime)
{
var grayIm = image.ToGray();
var bestRepresentatives = new List<Match>();
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
linPyr = LinearizedMapPyramid.CreatePyramid(grayIm); //prepare linear-pyramid maps
preprocessTime = stopwatch.ElapsedMilliseconds;
stopwatch.Restart();
List<Match> matches = linPyr.MatchTemplates(templPyrs, threshold);
stopwatch.Stop(); matchTime = stopwatch.ElapsedMilliseconds;
var matchGroups = new MatchClustering(minDetectionsPerGroup).Group(matches.ToArray());
foreach (var group in matchGroups)
{
bestRepresentatives.Add(group.Representative);
}
return bestRepresentatives;
}
/// <summary>
/// Converts the source color to the destination color.
/// </summary>
/// <param name="image">Source image.</param>
/// <returns>image with converted color.</returns>
public static Gray <byte>[,] ToGray(this Bgr <byte>[,] image)
{
return(image.Convert <Bgr <byte>, Gray <byte> >(Bgr <byte> .Convert));
}
/// <summary>
/// Draws text on the provided image.
/// </summary>
/// <param name="image">Input image.</param>
/// <param name="text">User text.</param>
/// <param name="font">Font.</param>
/// <param name="botomLeftPoint">Bottom-left point.</param>
/// <param name="color">Text color.</param>
/// <param name="opacity">Sets alpha channel where 0 is transparent and 255 is full opaque.</param>
public unsafe static void Draw(this Bgr <byte>[,] image, string text, Font font, Point botomLeftPoint, Bgr <byte> color, byte opacity = Byte.MaxValue)
{
using (var img = image.Lock())
{
var iplImage = img.AsOpenCvImage();
CvCoreInvoke.cvPutText(&iplImage, text, botomLeftPoint, ref font, color.ToCvScalar());
}
}
/// <summary>
/// Gets System.Drawing.Color from Bgr8 color.
/// </summary>
/// <param name="color">Color.</param>
/// <param name="opacity">Opacity. If color has 4 channels opacity is discarded.</param>
/// <returns>System.Drawing.Color</returns>
public static System.Drawing.Color ToColor(this Bgr <byte> color, byte opacity = Byte.MaxValue)
{
return(Color.FromArgb(opacity, color.R, color.G, color.B));
}
/// <summary>
/// Converts the source color to the destination color.
/// </summary>
/// <param name="image">Source image.</param>
/// <param name="area">Working area.</param>
/// <returns>image with converted color.</returns>
public static Hsv <byte>[,] ToHsv(this Bgr <byte>[,] image, Rectangle area)
{
return(image.Convert <Bgr <byte>, Hsv <byte> >(Bgr <byte> .Convert, area));
}
private void trackOneStep(Bgr<byte>[,] frame, out Gray<byte>[,] probabilityMap, out Box2D foundBox)
{
const float SEARCH_AREA_INFLATE_FACTOR = 0.05f;
/**************************** KALMAN predict **************************/
kalman.Predict();
searchArea = createRect(kalman.State.Position, searchArea.Size, frame.Size());
/**************************** KALMAN predict **************************/
trackCamshift(frame, searchArea, out probabilityMap, out foundBox);
if (!foundBox.IsEmpty)
{
/**************************** KALMAN correct **************************/
kalman.Correct(new PointF(foundBox.Center.X, foundBox.Center.Y)); //correct predicted state by measurement
/**************************** KALMAN correct **************************/
var foundArea = Rectangle.Round(foundBox.GetMinArea());
searchArea = foundArea.Inflate(SEARCH_AREA_INFLATE_FACTOR, SEARCH_AREA_INFLATE_FACTOR, frame.Size()); //inflate found area for search (X factor)...
nonVisibleCount = 0;
}
else
{
nonVisibleCount++;
if (nonVisibleCount == 1) //for the first time
{
searchArea = searchArea.Inflate(-SEARCH_AREA_INFLATE_FACTOR * 1.5, -SEARCH_AREA_INFLATE_FACTOR * 1.5, frame.Size()); //shrink (hysteresis)
}
searchArea = createRect(kalman.State.Position, searchArea.Size, frame.Size());
}
if (nonVisibleCount > 100) //if not visible for a longer time => reset tracking
{
nonVisibleCount = 0;
isROISelected = false;
}
}
public static CvScalar ToCvScalar(this Bgr <byte> color, byte opacity = Byte.MaxValue)
{
return(new CvScalar {
V0 = color.B, V1 = color.G, V2 = color.R, V3 = opacity
});
}
private void trackCamshift(Bgr<byte>[,] frame, Rectangle searchArea, out Gray<byte>[,] probabilityMap, out Box2D foundBox)
{
const int PROBABILITY_MIN_VAL = (int)(0.3f * Byte.MaxValue);
//convert to HSV
var hsvImg = frame.ToHsv();
//back-project ratio hist => create probability map
probabilityMap = ratioHist.BackProject(hsvImg.SplitChannels<Hsv<byte>, byte>(0, 1)); //or new Image<Gray<byte>>[]{ hsvImg[0], hsvImg[1]...}
//user constraints...
Gray<byte>[,] mask = hsvImg.InRange(new Hsv<byte>(0, 0, (byte)minV), new Hsv<byte>(0, 0, (byte)maxV), Byte.MaxValue, 2);
probabilityMap.AndByte(mask, inPlace: true);
//run Camshift algorithm to find new object position, size and angle
CentralMoments centralMoments;
foundBox = Camshift.Process(probabilityMap, searchArea, Meanshift.DEFAULT_TERM, out centralMoments);
//stopping conditions
float avgIntensity = centralMoments.Mu00 / (foundBox.Size.Area() + Single.Epsilon);
if (avgIntensity < PROBABILITY_MIN_VAL || foundBox.Size.IsEmpty || foundBox.Size.Height < 12)
{
foundBox = Box2D.Empty; //invalid box
}
}
private void drawPoints(Bgr<byte>[,] im, List<PointF> points)
{
foreach (var pt in points)
{
var rect = new RectangleF(pt.X, pt.Y, 1, 1);
rect.Inflate(winSize / 2, winSize / 2);
im.Draw(rect, Bgr<byte>.Red, 2);
}
}
/// <summary>
/// The blending filter is able to blend two images using a homography matrix.
/// A linear alpha gradient is used to smooth out differences between the two
/// images, effectively blending them in two images. The gradient is computed
/// considering the distance between the centers of the two images.
/// <para>Homography matrix is set to identity.</para>
/// <para>Fill color is set to black with alpha set to 0 (all zeros).</para>
/// </summary>
/// <param name="im">Image.</param>
/// <param name="overlayIm">The overlay image (also called the anchor).</param>
/// <param name="gradient">A value indicating whether to blend using a linear
/// gradient or just superimpose the two images with equal weights.</param>
/// <param name="alphaOnly">A value indicating whether only the alpha channel
/// should be blended. This can be used together with a transparency
/// mask to selectively blend only portions of the image.</param>
/// <returns>Blended image.</returns>
public static Bgra <byte>[,] Blend(this Bgr <byte>[,] im, Bgr <byte>[,] overlayIm, bool gradient = true, bool alphaOnly = false)
{
return(Blend(im, overlayIm, new MatrixH(Matrix.Identity(3)), new Bgra <byte>(), gradient, alphaOnly));
}
/// <summary>
/// Saves the specified image.
/// </summary>
/// <param name="image">Image to save.</param>
/// <param name="fileName">Image filename.</param>
public static void Save(this Bgr <ushort>[,] image, string fileName)
{
image.Save <Bgr <ushort> >(fileName);
}
/// <summary>
/// Converts 8-bit gray intensity to the 8-bit Bgr color.
/// </summary>
/// <param name="gray">Source color.</param>
/// <param name="bgr">Destination color.</param>
public static void Convert(ref Gray <T> gray, ref Bgr <T> bgr)
{
bgr.B = gray.Intensity;
bgr.G = gray.Intensity;
bgr.R = gray.Intensity;
}
/// <summary>
/// Saves the specified image.
/// </summary>
/// <param name="image">Image to save.</param>
/// <param name="fileName">Image filename.</param>
public static void Save(this Bgr <double>[,] image, string fileName)
{
image.Save <Bgr <double> >(fileName);
}
/// <summary>
/// The blending filter is able to blend two images using a homography matrix.
/// A linear alpha gradient is used to smooth out differences between the two
/// images, effectively blending them in two images. The gradient is computed
/// considering the distance between the centers of the two images.
/// <para>Homography matrix is set to identity.</para>
/// <para>Fill color is set to black with alpha set to 0 (all zeros).</para>
/// </summary>
/// <param name="im">Image.</param>
/// <param name="overlayIm">The overlay image (also called the anchor).</param>
/// <param name="gradient">A value indicating whether to blend using a linear
/// gradient or just superimpose the two images with equal weights.</param>
/// <param name="alphaOnly">A value indicating whether only the alpha channel
/// should be blended. This can be used together with a transparency
/// mask to selectively blend only portions of the image.</param>
/// <returns>Blended image.</returns>
public static Bgra<byte>[,] Blend(this Bgr<byte>[,] im, Bgr<byte>[,] overlayIm, bool gradient = true, bool alphaOnly = false)
{
return Blend(im, overlayIm, new MatrixH(Matrix.Identity(3)), new Bgra<byte>(), gradient, alphaOnly);
}
/// <summary>
/// Converts the source channel depth to the destination channel depth.
/// </summary>
/// <typeparam name="TDepth">Destination channel depth.</typeparam>
/// <param name="image">Image.</param>
/// <returns>Image with converted element depth.</returns>
public static Bgr <TDepth>[,] Cast <TDepth>(this Bgr <double>[,] image)
where TDepth : struct
{
return(image.ConvertChannelDepth <Bgr <double>, Bgr <TDepth> >());
}
private void timer_Tick(object sender, EventArgs e)
{
const int BORDER_OFFSET = 20;
scale += 10 * dScale; if (scale > 300) dScale = -1; if (scale < 100) dScale = 1;
angle += 5 * dAngle; if (angle > 360) dAngle = -1; if (dAngle < 0) dAngle = 1;
var transformation = Transforms2D.Combine
(
Transforms2D.Rotation((float)Angle.ToRadians(angle)),
Transforms2D.Scale(scale, scale)
);
IEnumerable<PointF> pts = modelPts.Transform(transformation);
var box = pts.BoundingRect(); //maybe apply it to bounding box instead of points (expensive)
pts = pts.Transform(Transforms2D.Translation(-box.X + BORDER_OFFSET, -box.Y + BORDER_OFFSET));
var image = new Bgr<byte>[scale + BORDER_OFFSET * 2, scale + BORDER_OFFSET * 2];
drawContour(pts.ToList(), image);
pictureBox.Image = image.ToBitmap();
}
/// <summary>
/// Converts the source color to the destination color.
/// </summary>
/// <param name="image">Source image.</param>
/// <param name="area">Working area.</param>
/// <returns>image with converted color.</returns>
public static Gray <byte>[,] ToGray(this Bgr <byte>[,] image, Rectangle area)
{
return(image.Convert <Bgr <byte>, Gray <byte> >(Bgr <byte> .Convert, area));
}