Exemplo n.º 1
0
        private void tmpDrawBoxes(ref IplImage gimg)
        {
            IplImage img8uc3 = new IplImage(gimg.Size, BitDepth.U8, 3);
            Cv.CvtColor(gimg, img8uc3, ColorConversion.GrayToBgr);

            int count = TargetList.Count;

            for (int i = 0; i < count; i++)
            {
                sMarkerInfo s = new sMarkerInfo();
                s = (sMarkerInfo)TargetList[i];

                Cv.DrawLine(img8uc3, new CvPoint((int)s.corner[0].X, (int)s.corner[0].Y), new CvPoint((int)s.corner[1].X, (int)s.corner[1].Y), Cv.RGB(255, 0, 0), 10);
                Cv.DrawLine(img8uc3, new CvPoint((int)s.corner[1].X, (int)s.corner[1].Y), new CvPoint((int)s.corner[2].X, (int)s.corner[2].Y), Cv.RGB(255, 0, 0), 10);
                Cv.DrawLine(img8uc3, new CvPoint((int)s.corner[2].X, (int)s.corner[2].Y), new CvPoint((int)s.corner[3].X, (int)s.corner[3].Y), Cv.RGB(255, 0, 0), 10);
                Cv.DrawLine(img8uc3, new CvPoint((int)s.corner[0].X, (int)s.corner[0].Y), new CvPoint((int)s.corner[3].X, (int)s.corner[3].Y), Cv.RGB(255, 0, 0), 10);

            }

            IplImage timg = new IplImage(new CvSize(800, 600), BitDepth.U8, 3);
            Cv.Resize(img8uc3, timg);
            Cv.ShowImage("contours", timg);
            img8uc3.ReleaseData();
            timg.ReleaseData();

            /*
             if (contours != null)
             {
                 Cv.DrawContours(img8uc3, contours, Cv.RGB(250, 0, 0), Cv.RGB(0, 0, 250), 1, 2, LineType.Link8);
             }
             IplImage timg = new IplImage(new CvSize(800, 600), BitDepth.U8, 3);
             Cv.Resize(img8uc3, timg);
             Cv.ShowImage("contours", timg);
             img8uc3.ReleaseData();
             timg.ReleaseData();
              * */
        }
Exemplo n.º 2
0
        private void FindMarkerInContour(ref CvSeq<CvPoint> contours, ref CvMemStorage storage)
        {
            CvSeq<CvPoint> stpt = contours;

            for (CvSeq<CvPoint> s = contours; s != null;s = s.HNext)
            {

                if (s.Total >= 4)
                {

                    CvRect rect = Cv.BoundingRect(s);
                    double d = Math.Sqrt((double)(rect.Height * rect.Width));
                    double d_th = 12;
                    double approx_param = 0.1;

                    //최대길이가 12픽셀 이하인 것들은 제외
                    if (d <= d_th) continue;

                    CvMemStorage storage3 = new CvMemStorage(0);

                    CvSeq<CvPoint> ss = Cv.ApproxPoly(s, s.HeaderSize, storage3, ApproxPolyMethod.DP, d * approx_param, false);

                    //단순화 결과 4각형인 것들만 통과
                    if (ss.Total == 4)
                    {

                        CvPoint2D32f center = new CvPoint2D32f(0, 0);
                        if (IsMarkerBoundingRect(ref ss, ref center))
                        {
                            sMarkerInfo mi = new sMarkerInfo();
                            mi.width = 0.141f;
                            mi.height = 0.141f;
                            mi.ID = -1;
                            mi.center = center;
                            mi.corner[0] = (CvPoint2D32f)Cv.GetSeqElem<CvPoint>(ss, 0);
                            mi.corner[1] = (CvPoint2D32f)Cv.GetSeqElem<CvPoint>(ss, 1);
                            mi.corner[2] = (CvPoint2D32f)Cv.GetSeqElem<CvPoint>(ss, 2);
                            mi.corner[3] = (CvPoint2D32f)Cv.GetSeqElem<CvPoint>(ss, 3);

                            TargetList.Add(mi);
                        }
                    }

                    ss.ClearSeq();
                    Cv.ReleaseMemStorage(storage3);

                }

                if (s.VNext != null)
                {
                    CvSeq<CvPoint> tt = s.VNext;
                    FindMarkerInContour(ref tt, ref storage);
                }

                s.ClearSeq();
            }
        }
Exemplo n.º 3
0
        bool pointInPolygon(ref sMarkerInfo s1, ref sMarkerInfo s2)
        {
            bool[] b = new bool[4];
            for(int x=0; x< 4; x++)
            {
                b[x] = false;
            }

            for (int x = 0; x < s1.corner.Length; x++)
            {
                Point p = new Point((int)s1.corner[x].X, (int)s1.corner[x].Y);
                Point p1, p2;

                Point[] poly = new Point[4];

                for (int k = 0; k < 4; k++)
                {
                    poly[k] = new Point((int)s2.corner[k].X, (int)s2.corner[k].Y);
                }

                bool inside = false;

                var oldPoint = new Point(
                    poly[poly.Length - 1].X, poly[poly.Length - 1].Y);

                for (int i = 0; i < poly.Length; i++)
                {
                    var newPoint = new Point(poly[i].X, poly[i].Y);

                    if (newPoint.X > oldPoint.X)
                    {
                        p1 = oldPoint;

                        p2 = newPoint;
                    }

                    else
                    {
                        p1 = newPoint;

                        p2 = oldPoint;
                    }

                    if ((newPoint.X < p.X) == (p.X <= oldPoint.X)
                        && (p.Y - (long)p1.Y) * (p2.X - p1.X)
                        < (p2.Y - (long)p1.Y) * (p.X - p1.X))
                    {
                        inside = !inside;
                    }

                    oldPoint = newPoint;
                }

                b[x] = inside;

            }

            int num = 0;

            for (int x = 0; x < 4; x++)
            {
                if (b[x]) num++;
            }

            if (num >= 3)
                return true;
            else
                return false;
        }
Exemplo n.º 4
0
        private void ExtractMakerImage(ref IplImage src, ref IplImage dst, ref sMarkerInfo mi)
        {
            float ignoring_margin = 0.0f;

            CvPoint2D32f[] dest_corner = new CvPoint2D32f[4];
            dest_corner[0] = new CvPoint2D32f(-ignoring_margin, -ignoring_margin);
            dest_corner[1] = new CvPoint2D32f(-ignoring_margin, dst.Height + ignoring_margin);
            dest_corner[2] = new CvPoint2D32f(dst.Width + ignoring_margin, dst.Height + ignoring_margin);
            dest_corner[3] = new CvPoint2D32f(dst.Width + ignoring_margin, -ignoring_margin);

            CvMat transform_matrix = Cv.CreateMat(3, 3, MatrixType.F32C1);
            Cv.GetPerspectiveTransform(mi.corner, dest_corner, out transform_matrix);
            Cv.WarpPerspective(src, dst, transform_matrix);
            Cv.ReleaseMat(transform_matrix);
        }