public List <BlockData> DetectBlocks(Bitmap inputImg, int width, int height)
{
Image <Bgra, Byte> img = new Image <Bgra, Byte>(inputImg);
width = img.Width;
height = img.Height;
// Threshold out bakground
Image <Gray, Byte> grayImg = img.Convert <Gray, Byte>();
Image <Gray, Byte> backgroundMask = new Image <Gray, Byte>(width, height);
double threshold_value = CvInvoke.Threshold(grayImg, backgroundMask, 0, 255, ThresholdType.Otsu);
Image <Gray, Byte> filledBackground = this.FillMask(backgroundMask);
VectorOfVectorOfPoint allContours = new VectorOfVectorOfPoint();
CvInvoke.FindContours(backgroundMask, allContours, null, RetrType.External, ChainApproxMethod.ChainApproxSimple);
// Remove all contours except table
int tableContourIdx = this.FindLargestContourIdx(allContours);
Image <Gray, Byte> tableMask = new Image <Gray, Byte>(width, height);
int fillInterior = -1;
CvInvoke.DrawContours(tableMask, allContours, tableContourIdx, new MCvScalar(255), fillInterior);
IInputArray structElem = CvInvoke.GetStructuringElement(ElementShape.Rectangle, STRUCT_ELEM_SIZE, STRUCT_ELEM_ANCHOR);
CvInvoke.Erode(tableMask, tableMask, structElem, new Point(-1, -1), 1, BorderType.Constant, new MCvScalar(255));
// Grab objects on table that are in foreground
Image <Gray, Byte> foregroundMask = new Image <Gray, Byte>(width, height);
CvInvoke.BitwiseNot(backgroundMask, foregroundMask);
Image <Gray, Byte> tableForegroundMask = new Image <Gray, Byte>(width, height);
CvInvoke.BitwiseAnd(foregroundMask, tableMask, tableForegroundMask);
// Save table mask and mask applied to original image for access as shared resource
Image <Bgra, Byte> processedImg = new Image <Bgra, Byte>(width, height);
CvInvoke.BitwiseOr(img, processedImg, processedImg, tableMask);
// Find contours for blocks on table
VectorOfVectorOfPoint possibleBlocks = new VectorOfVectorOfPoint();
CvInvoke.FindContours(tableForegroundMask, possibleBlocks, null, RetrType.External, ChainApproxMethod.ChainApproxSimple);
VectorOfVectorOfPoint filteredBlocks = this.FilterSmallAreaContours(possibleBlocks);
// Find block centers
Point[] blockCenters = this.FindAndMarkContourCenters(filteredBlocks, processedImg);
return(this.FindColorAtCenters(blockCenters, img));
}
public Image <Rgb, byte> GetBodyImage(bool withhandle = false)
{
Image <Rgb, byte> body_img = new Image <Rgb, byte>(width, height);
body_img.SetZero();
foreach (Vector2 p in this.body)
{
body_img[(int)p.y, (int)p.x] = new Rgb(255, 255, 255);
}
MaskParser.FillGap(body_img);
//MaskParser.FillHole(body_img);
if (withhandle)
{
List <Image <Rgb, byte> > handles = this.GetHandleImage();
foreach (Image <Rgb, byte> hi in handles)
{
hi.SetValue(new Rgb(255, 0, 0), hi.Convert <Gray, byte>());
CvInvoke.BitwiseOr(body_img, hi, body_img);
}
MaskParser.FillGap(body_img, 5);
body_img.Save("xxx.png");
}
//if (label == Label.Cylinder)
//{
// body_img = MaskParser.FillBodyWithHandle(body_img, this.GetHandleImage());
//}
return(body_img);
}
public void generateMask()
{
if (findPayload)
{
//Convert BGR to HSV
CvInvoke.CvtColor(_frame, hsv, ColorConversion.Bgr2Hsv);
// Isolate Color range of interest, smooth, and convert to b/w
//Red
CvInvoke.InRange(hsv, new ScalarArray(lowerBoundRed), new ScalarArray(upperBoundRed), maskRed);
CvInvoke.GaussianBlur(maskRed, filteredRed, new Size(25, 25), 0.0);
CvInvoke.Threshold(filteredRed, maskRed, 150.0, 255.0, ThresholdType.Binary);
//Blue
CvInvoke.InRange(hsv, new ScalarArray(lowerBoundBlue), new ScalarArray(upperBoundBlue), maskBlue);
CvInvoke.GaussianBlur(maskBlue, filteredBlue, new Size(25, 25), 0.0);
CvInvoke.Threshold(filteredBlue, maskBlue, 150.0, 255.0, ThresholdType.Binary);
//Yellow
CvInvoke.InRange(hsv, new ScalarArray(lowerBoundYellow), new ScalarArray(upperBoundYellow), maskYellow);
CvInvoke.GaussianBlur(maskYellow, filteredYellow, new Size(25, 25), 0.0);
CvInvoke.Threshold(filteredYellow, maskYellow, 150.0, 255.0, ThresholdType.Binary);
CvInvoke.BitwiseOr(maskRed, maskBlue, maskTemp);
CvInvoke.BitwiseOr(maskTemp, maskYellow, maskFinal);
}
else
{
//Convert BGR to HSV
CvInvoke.CvtColor(_frame, hsv, ColorConversion.Bgr2Hsv);
// Isolate Color range of interest, smooth, and convert to b/w
CvInvoke.InRange(hsv, new ScalarArray(lowerBoundRed), new ScalarArray(upperBoundRed), maskRed);
CvInvoke.GaussianBlur(maskRed, filteredRed, new Size(25, 25), 0.0);
CvInvoke.Threshold(filteredRed, maskFinal, 150.0, 255.0, ThresholdType.Binary);
}
}
public static Bitmap Skelatanize(Bitmap image)
{
Image <Gray, byte> imgOld = new Image <Gray, byte>(image);
Image <Gray, byte> img2 = (new Image <Gray, byte>(imgOld.Width, imgOld.Height, new Gray(255))).Sub(imgOld);
Image <Gray, byte> eroded = new Image <Gray, byte>(img2.Size);
Image <Gray, byte> temp = new Image <Gray, byte>(img2.Size);
Image <Gray, byte> skel = new Image <Gray, byte>(img2.Size);
skel.SetValue(0);
CvInvoke.Threshold(img2, img2, 127, 256, 0);
var element = CvInvoke.GetStructuringElement(ElementShape.Cross, new Size(3, 3), new Point(-1, -1));
bool done = false;
while (!done)
{
CvInvoke.Erode(img2, eroded, element, new Point(-1, -1), 1, BorderType.Reflect, default(MCvScalar));
CvInvoke.Dilate(eroded, temp, element, new Point(-1, -1), 1, BorderType.Reflect, default(MCvScalar));
CvInvoke.Subtract(img2, temp, temp);
CvInvoke.BitwiseOr(skel, temp, skel);
eroded.CopyTo(img2);
if (CvInvoke.CountNonZero(img2) == 0)
{
done = true;
}
}
return(skel.Bitmap);
}
public Image <Gray, Byte> FillMask(Image <Gray, Byte> input)
{
// Fill all parts of image that can be reached from edges
Image <Gray, Byte> reachableBackground = input.Clone();
for (int x = 0; x < input.Width; x++)
{
MCvScalar fillValue = new MCvScalar(255);
Rectangle boundingBox = new Rectangle();
MCvScalar minDiff = new MCvScalar(0);
MCvScalar maxDiff = new MCvScalar(255);
// Top pixel
Point startFromTop = new Point(x, 0);
if (reachableBackground.Data[0, x, 0] == 0)
{
CvInvoke.FloodFill(reachableBackground, null, startFromTop, fillValue, out boundingBox, minDiff, maxDiff);
}
// Top pixel
Point startFromBottom = new Point(x, input.Height - 1);
if (reachableBackground.Data[input.Height - 1, x, 0] == 0)
{
CvInvoke.FloodFill(reachableBackground, null, startFromBottom, fillValue, out boundingBox, minDiff, maxDiff);
}
}
for (int y = 0; y < input.Height; y++)
{
MCvScalar fillValue = new MCvScalar(255);
Rectangle boundingBox = new Rectangle();
MCvScalar minDiff = new MCvScalar(0);
MCvScalar maxDiff = new MCvScalar(255);
// Top pixel
Point startFromLeft = new Point(0, y);
if (reachableBackground.Data[y, 0, 0] == 0)
{
CvInvoke.FloodFill(reachableBackground, null, startFromLeft, fillValue, out boundingBox, minDiff, maxDiff);
}
// Top pixel
Point startFromRight = new Point(input.Width - 1, y);
if (reachableBackground.Data[y, input.Width - 1, 0] == 0)
{
CvInvoke.FloodFill(reachableBackground, null, startFromRight, fillValue, out boundingBox, minDiff, maxDiff);
}
}
// Grab unreachable holes in original image
Image <Gray, Byte> holesToFill = reachableBackground.Clone();
CvInvoke.BitwiseNot(reachableBackground, holesToFill);
Image <Gray, Byte> filledImg = input.Clone();
CvInvoke.BitwiseOr(input, holesToFill, filledImg);
return(filledImg);
}
public void ThreadMain()
{
//MessageBox.Show("Hi from the thread!");
VideoWriter writer = new VideoWriter("video.mp4", 60, new Size(1280, 720), true);
int frame = 0;
Capture cap = new Emgu.CV.Capture(@"C:\Users\Peter Husman\Downloads\Wildlife.wmv");
Mat minions = new Capture(@"C:\Users\Peter Husman\Downloads\maxresdefault.jpg").QueryFrame();
Mat data = new Mat();
Mat chroma = new Mat();
Mat threshold = new Mat();
Mat bNot = new Mat();
Mat minionsMask = new Mat();
Mat vidMask = new Mat();
var filter = new BackgroundSubtractorMOG();
while (true)
{
try
{
cap.Grab();
bool grabbed = cap.Retrieve(data);
CvInvoke.InRange(minions, new ScalarArray(new Emgu.CV.Structure.MCvScalar(0, 206, 0)), new ScalarArray(new Emgu.CV.Structure.MCvScalar(129, 255, 164)), threshold);
threshold.CopyTo(bNot);
CvInvoke.BitwiseNot(bNot, bNot);
Mask(minions, bNot, minionsMask);
Mask(data, threshold, vidMask);
CvInvoke.BitwiseOr(minionsMask, vidMask, chroma);
//CvInvoke.CvtColor(data, hsv, ColorConversion.Bgr2Hsv);
//BackgroundSubtractorMOG
//data.Dispose();
//CvInvoke.InRange
//filter.Apply(data, hsv);
//ChromaKey(data, minions, chroma,min,max);
//CvInvoke.Imwrite($"{fileLocation}{frame.ToString()}.jpg", data);
//writer.Write(chroma);
CvInvoke.Imshow("Window", chroma);
CvInvoke.WaitKey(1);
frame++;
}
catch (Exception ex)
{
}
}
}
private void filter()
{
if (!imageSelected)
{
return;
}
int r1, g1, b1, r2, g2, b2;
getValuesFromControls(out r1, out g1, out b1, out r2, out g2, out b2);
if (grid.RowCount == 0)
{
CvInvoke.InRange(matIn,
new ScalarArray(new MCvScalar(b1, g1, r1)),
new ScalarArray(new MCvScalar(b2, g2, r2)),
matOut);
}
else
{
//prepare the first range
Mat temp = new Mat();
getValuesFromGrid(out r1, out g1, out b1, out r2, out g2, out b2, 0);
CvInvoke.InRange(matIn,
new ScalarArray(new MCvScalar(b1, g1, r1)),
new ScalarArray(new MCvScalar(b2, g2, r2)),
matOut);
//apply other ranges
for (int i = 1; i < grid.RowCount; i++)
{
String type = grid["colType", i].Value.ToString();
getValuesFromGrid(out r1, out g1, out b1, out r2, out g2, out b2, i);
CvInvoke.InRange(matIn,
new ScalarArray(new MCvScalar(b1, g1, r1)),
new ScalarArray(new MCvScalar(b2, g2, r2)),
temp);
//apply operator: Union or Subtract
if (type.Equals("Union"))
{
CvInvoke.BitwiseOr(temp, matOut, matOut);
}
else
{
CvInvoke.BitwiseNot(temp, matOut, matOut);
}
}
}
img2.Image = matOut.ToImage <Bgr, Byte>();
}
public static Bitmap Skelatanize(Bitmap image2)
{
Bitmap image = new Bitmap(image2);
for (int y = 0; (y <= (image.Height - 1)); y++)
{
for (int x = 0; (x <= (image.Width - 1)); x++)
{
Color inv = image.GetPixel(x, y);
inv = Color.FromArgb(255, (255 - inv.R), (255 - inv.G), (255 - inv.B));
image.SetPixel(x, y, inv);
}
}
Image <Gray, byte> imgOld = new Image <Gray, byte>(image);
Image <Gray, byte> img2 = (new Image <Gray, byte>(imgOld.Width, imgOld.Height, new Gray(255))).Sub(imgOld);
Image <Gray, byte> eroded = new Image <Gray, byte>(img2.Size);
Image <Gray, byte> temp = new Image <Gray, byte>(img2.Size);
Image <Gray, byte> skel = new Image <Gray, byte>(img2.Size);
skel.SetValue(0);
CvInvoke.Threshold(img2, img2, 127, 255, 0);
var element = CvInvoke.GetStructuringElement(ElementShape.Cross, new Size(3, 3), new Point(-1, -1));
bool done = false;
while (!done)
{
CvInvoke.Erode(img2, eroded, element, new Point(-1, -1), 1, BorderType.Reflect, default(MCvScalar));
CvInvoke.Dilate(eroded, temp, element, new Point(-1, -1), 1, BorderType.Reflect, default(MCvScalar));
CvInvoke.Subtract(img2, temp, temp);
CvInvoke.BitwiseOr(skel, temp, skel);
eroded.CopyTo(img2);
if (CvInvoke.CountNonZero(img2) == 0)
{
done = true;
}
}
Bitmap image3 = new Bitmap(skel.Bitmap);
for (int y = 0; (y <= (image.Height - 1)); y++)
{
for (int x = 0; (x <= (image.Width - 1)); x++)
{
Color inv = image.GetPixel(x, y);
inv = Color.FromArgb(255, (255 - inv.R), (255 - inv.G), (255 - inv.B));
image.SetPixel(x, y, inv);
}
}
return(image3);
}
public static void ColorFilter(IInputArray hsvFrame, Image <Gray, byte> dstFrame, Mat tmpFrame, ColorProfile colorProfile, double brightness)
{
var range0 = colorProfile.ColorRanges[0];
CvInvoke.InRange(hsvFrame, new ScalarArray(AdaptMinimum(range0.Minimum.ToMCvScalar(), brightness)), new ScalarArray(range0.Maximum.ToMCvScalar()), dstFrame);
for (var i = 1; i < colorProfile.ColorRanges.Length; i++)
{
var range = colorProfile.ColorRanges[i];
CvInvoke.InRange(hsvFrame, new ScalarArray(AdaptMinimum(range.Minimum.ToMCvScalar(), brightness)), new ScalarArray(range.Maximum.ToMCvScalar()), tmpFrame);
CvInvoke.BitwiseOr(tmpFrame, dstFrame, dstFrame);
}
CvInvoke.Threshold(dstFrame, dstFrame, 10, 255, ThresholdType.Binary);
}
public static void ColorFilter(Image <Hsv, byte> srcFrame, Image <Gray, byte> dstFrame, Mat tmpFrame, ColorProfile colorProfile, double baseBrightness)
{
var range0 = colorProfile.Ranges[0];
CvInvoke.InRange(srcFrame, new ScalarArray(AdaptMinimum(range0.Min.CvScalar, baseBrightness)), new ScalarArray(range0.Max.CvScalar), dstFrame);
for (var i = 1; i < colorProfile.Ranges.Length; i++)
{
var range = colorProfile.Ranges[i];
CvInvoke.InRange(srcFrame, new ScalarArray(AdaptMinimum(range.Min.CvScalar, baseBrightness)), new ScalarArray(range.Max.CvScalar), tmpFrame);
CvInvoke.BitwiseOr(tmpFrame, dstFrame, dstFrame);
}
CvInvoke.Threshold(dstFrame, dstFrame, 10, 255, ThresholdType.Binary);
}
public static Mat BuildVoxelLayerImage(Mat curLayer, Mat layerAbove = null, Mat layerBelow = null)
{
/* The goal of the VoxelLayerImage is to reduce as much as possible, the number of pixels we need to do 6 direction neighbor checking on */
/* the outer contours of the current layer should always be checked, they by definition should have an exposed face */
using var contours = curLayer.FindContours(RetrType.Tree);
var onlyContours = curLayer.NewBlank();
CvInvoke.DrawContours(onlyContours, contours, -1, EmguExtensions.WhiteColor, 1);
bool needAboveDispose = layerAbove is null;
bool needBelowDispose = layerBelow is null;
layerAbove ??= curLayer.NewBlank();
layerBelow ??= curLayer.NewBlank();
/* anything that is in the current layer but is not in the layer above, by definition has an exposed face */
Mat upperSubtract = new Mat();
CvInvoke.Subtract(curLayer, layerAbove, upperSubtract);
/* anything that is in the current layer but is not in the layer below, by definition has an exposed face */
Mat lowerSubtract = new Mat();
CvInvoke.Subtract(curLayer, layerBelow, lowerSubtract);
/* Or all of these together to get the list of pixels that have exposed face(s) */
var voxelLayer = curLayer.NewBlank();
CvInvoke.BitwiseOr(onlyContours, voxelLayer, voxelLayer);
CvInvoke.BitwiseOr(upperSubtract, voxelLayer, voxelLayer);
CvInvoke.BitwiseOr(lowerSubtract, voxelLayer, voxelLayer);
/* dispoose of the layerAbove/layerBelow if they were allocated here */
if (needAboveDispose)
{
layerAbove.Dispose();
}
if (needBelowDispose)
{
layerBelow.Dispose();
}
onlyContours.Dispose();
return(voxelLayer);
}
public Image <Rgb, byte> GetBoundaryImage()
{
Image <Rgb, byte> boundimg = this.GetBodyImage();
List <Image <Rgb, byte> > handleimgs = this.GetHandleImage();
foreach (Image <Rgb, byte> x in handleimgs)
{
CvInvoke.BitwiseOr(boundimg, x, boundimg);
}
Image <Gray, Byte> cannyimg = boundimg.Canny(60, 100);
var element = CvInvoke.GetStructuringElement(ElementShape.Cross, new Size(3, 3), new Point(-1, -1));
CvInvoke.Dilate(cannyimg, cannyimg, element, new Point(-1, -1), 1, BorderType.Reflect, default(MCvScalar));
boundimg.SetZero();
boundimg.SetValue(new Rgb(0, 0, 255), cannyimg);
return(boundimg);
}
/// <summary>
/// This function will use thresholds on the Hue value in the Hue-Saturation-Value (HSV) color space to find caucasian skin within an image.
/// It will then return a grayscale image with the hand-containing pixels colored white.
/// </summary>
/// <param name="inputImage">A standard BGR image.</param>
/// <returns>Grayscale image with white pixels containing white skin.</returns>
private static Image <Gray, byte> HsvSegment(Image <Bgr, byte> inputImage)
{
var hsvImage = inputImage.Copy().Convert <Hsv, byte>();
var outputImage = new Image <Gray, byte>(hsvImage.Size);
var hsvThresholdOne = new Hsv(0, 0, 0);
var hsvThresholdTwo = new Hsv(30, 255, 255);
var hsvThresholdThree = new Hsv(160, 0, 0);
var hsvThresholdFour = new Hsv(180, 255, 255);
Image <Gray, byte> lowerThreshold = hsvImage.InRange(hsvThresholdOne, hsvThresholdTwo);
Image <Gray, byte> upperThreshold = hsvImage.InRange(hsvThresholdThree, hsvThresholdFour);
CvInvoke.BitwiseOr(lowerThreshold, upperThreshold, outputImage);
hsvImage.Dispose();
lowerThreshold.Dispose();
upperThreshold.Dispose();
return(outputImage);
}
private void DisplayDepthHSV(Mat depthMat16U)
{
if (depthMat16U == null)
{
return;
}
using (Mat convertedMat8U = new Mat(depthMat16U.Size, DepthType.Cv8U, 1))
using (Mat colorMat8U3 = new Mat(depthMat16U.Size, DepthType.Cv8U, 3))
using (Mat hsvMat8U3 = new Mat(depthMat16U.Size, DepthType.Cv8U, 3))
using (Mat hsvConstantMat = new Mat(depthMat16U.Size, DepthType.Cv8U, 3))
{
depthMat16U.ConvertTo(convertedMat8U, DepthType.Cv8U, 1 / 256d);
CvInvoke.CvtColor(convertedMat8U, colorMat8U3, ColorConversion.Gray2Bgr);
hsvConstantMat.SetTo(new MCvScalar(0, 255, 255));
CvInvoke.BitwiseOr(colorMat8U3, hsvConstantMat, hsvMat8U3);
CvInvoke.CvtColor(hsvMat8U3, hsvMat8U3, ColorConversion.Hsv2Bgr);
DisplayMatOnBitmap(hsvMat8U3, this.bitmap1);
InspectDepthPixel(depthMat16U);
}
}
public void GrabCut3(Vector2 point, PAINTING_MODE pm)
{
SaveToUndoState();
if (pm == PAINTING_MODE.BRUSH)
{
CvInvoke.Circle(WallMask, point.toPoint(), 30, White, -1);
WallMask.ApplyToTexture2D(OutputMaskTexture);
return;
}
if (pm == PAINTING_MODE.ERASER)
{
CvInvoke.Circle(WallMask, point.toPoint(), 30, Black, -1);
WallMask.ApplyToTexture2D(OutputMaskTexture);
return;
}
Mat img2 = CameraMat24.Clone();
Mat imgTarget = CameraMat24.Clone(); //Color de llenado (Rojo para el primer color, Verde para el segundo color
switch (SelectedColorIndex)
{
case 0: imgTarget.SetTo(Red); break;
case 1: imgTarget.SetTo(Green); break;
case 2: imgTarget.SetTo(Blue); break;
}
Mat imgref = CameraMat24.Clone(); //Color de Referencia (Rosado Perfecto)
imgref.SetTo(Pink);
Mat maskEdges2 = EdgeMap.Clone();
Mat mask1 = new Mat(img2.Rows, img2.Cols, DepthType.Cv8U, 1);
Mat mask3 = new Mat(img2.Rows, img2.Cols, DepthType.Cv8U, 3);
mask3.SetTo(Black);
Point PixelPoint = point.toPoint();
int Offset = (PixelPoint.Y * img2.Width + PixelPoint.X) * 3;
int R = CameraColors24[Offset];
int G = CameraColors24[Offset + 1];
int B = CameraColors24[Offset + 2];
MCvScalar LoDiff = new MCvScalar(Mathf.Min(DeltaColor2, B), Mathf.Min(DeltaColor2, G), Mathf.Min(DeltaColor2, R));
MCvScalar UpDiff = new MCvScalar(Mathf.Min(DeltaColor2, 255 - B), Mathf.Min(DeltaColor2, 255 - G), Mathf.Min(DeltaColor2, 255 - R));
Rectangle rect = new Rectangle();
switch (pm)
{
case PAINTING_MODE.FLOODFILL:
CvInvoke.FloodFill(img2, maskEdges2, PixelPoint, Pink, out rect, LoDiff, UpDiff, Connectivity.FourConnected);
CvInvoke.Compare(img2, imgref, mask3, CmpType.Equal); //Deben ser todos de 3 canales, mask3 contiene la máscara a pintar
CvInvoke.Dilate(mask3, mask3, null, Anchor, 2, BorderType.Default, Black);
CvInvoke.Blur(mask3, mask3, new Size(4, 4), Anchor);
CvInvoke.ExtractChannel(mask3, mask1, 0); //Se extrae un canal para usar como máscara
CvInvoke.BitwiseNot(mask3, mask3); //Negativo de la zona a pintar, para despintar antes de pintar
CvInvoke.BitwiseAnd(WallMask, mask3, WallMask); //Despinta primero
CvInvoke.BitwiseOr(WallMask, imgTarget, WallMask, mask1); //Pinta de rojo, verde o azul la textura objetivo
break;
}
WallMask.ApplyToTexture2D(OutputMaskTexture);
img2.Dispose();
imgref.Dispose();
imgTarget.Dispose();
mask1.Dispose();
mask3.Dispose();
maskEdges2.Dispose();
}
//DetectEdges
public void DetectEdges()
{
CvInvoke.Normalize(CameraMat24, CameraMat24, 1, 254, NormType.MinMax);
Debug.Log("Kauel: DetectEdges()");
PauseCamera();
if (EdgeMap != null)
{
EdgeMap.Dispose();
}
EdgeMap = new Mat(CameraMat24.Rows + 2, CameraMat24.Cols + 2, DepthType.Cv8U, 1);
Rectangle roi = new Rectangle(1, 1, CameraMat24.Width, CameraMat24.Height);
Mat EdgeMapCenter = new Mat(EdgeMap, roi);
Mat img1 = CameraMat24.Clone();
Mat img2 = img1.Clone();
Mat img3 = img1.Clone();
CvInvoke.FastNlMeansDenoising(img1, img1); //Elimina el ruido.
CvInvoke.GaussianBlur(img1, img2, new Size(9, 9), 9); //Blur
CvInvoke.AddWeighted(img1, 1.5, img2, -0.5, 0, img1, DepthType.Cv8U);
//img1.Save("C:/dnn/Filter.png");
Mat imgCanny = img1.Clone();
CvInvoke.Canny(img1, imgCanny, CannyLow, CannyHigh, CannyAperture);
CvInvoke.CvtColor(img1, img1, ColorConversion.Bgr2Gray); //Bordes en escala de grises.
CvInvoke.Sobel(img1, img2, DepthType.Cv32F, 1, 0, BorderAperture, 1);
CvInvoke.Sobel(img1, img3, DepthType.Cv32F, 0, 1, BorderAperture, 1);
CvInvoke.ConvertScaleAbs(img2, img2, 1, 0);
CvInvoke.ConvertScaleAbs(img3, img3, 1, 0);
CvInvoke.AddWeighted(img2, 1, img3, 1, 0, img3);
img3.ConvertTo(img3, DepthType.Cv8U);
//img3.Save("C:/dnn/SobelEroded.png");
CvInvoke.AdaptiveThreshold(img3, img3, 255, AdaptiveThresholdType.MeanC, ThresholdType.Binary, ContrastAperture, -Contrast);
//img3.Save("C:/dnn/Adaptive.png");
CvInvoke.BitwiseOr(imgCanny, img3, img3);
img3.CopyTo(img2);
LineSegment2D[] lines = CvInvoke.HoughLinesP(img2, HoughLineRho, HoughLineAngle, HoughLineThreshold, HoughLineMinLineLength, HoughLineMaxGap);
//img2.SetTo(Black);
for (int i = 0; i < lines.Length; i++)
{
CvInvoke.Line(img3, lines[i].P1, lines[i].P2, White, 1);
}
lines = null;
img3.CopyTo(EdgeMapCenter);
img1.Dispose();
img2.Dispose();
img3.Dispose();
imgCanny.Dispose();
EdgeMapCenter.Dispose();
}
public static Image <Rgb, byte> FillBodyWithHandle(Image <Rgb, byte> body_img, List <Image <Rgb, byte> > handle_imgs)
{
int padding = (int)NOT_CONNECTED_DIS_THRES;
if (handle_imgs.Count == 0)
{
return(body_img);
}
Image <Rgb, byte> handle_img_merge = body_img.CopyBlank();
handle_img_merge.SetZero();
foreach (Image <Rgb, byte> img in handle_imgs)
{
CvInvoke.BitwiseOr(img, handle_img_merge, handle_img_merge);
}
var element = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(3, 3), new Point(-1, -1));
CvInvoke.Dilate(handle_img_merge, handle_img_merge, element, new Point(-1, -1), padding, BorderType.Reflect, default(MCvScalar));
Image <Rgb, byte> to_fill = body_img.CopyBlank();
CvInvoke.BitwiseAnd(body_img, handle_img_merge, to_fill);
FillGap(to_fill, padding * 3);
CvInvoke.BitwiseOr(body_img, to_fill, body_img);
return(body_img);
#region old solution
//// padding img
//Image<Rgb, byte> larger_img = new Image<Rgb, byte>(body_img.Width + padding * 2, body_img.Height + padding * 2);
//larger_img.SetZero();
//for (int i = padding; i < body_img.Height; i++)
//{
// for (int j = padding; j < body_img.Width; j++)
// {
// larger_img[i, j] = body_img[i - padding, j - padding];
// }
//}
//// dilation
//for (int i = padding; i < body_img.Height; i++)
//{
// for (int j = padding; j < body_img.Width; j++)
// {
// double dis = body_points_dis2handle[i - padding, j - padding];
// if (dis != double.MaxValue)
// {
// for (int k = (int)-dis / 2; k < dis; k++)
// {
// // rectangle
// for (int m = (int)-dis / 2; m < dis; m++)
// {
// larger_img[i + k, j + m] = new Rgb(255, 255, 255);
// }
// //// cross
// //larger_img[i - k, j - k] = new Rgb(255, 255, 255);
// //larger_img[i - k, j + k] = new Rgb(255, 255, 255);
// //larger_img[i + k, j - k] = new Rgb(255, 255, 255);
// //larger_img[i + k, j + k] = new Rgb(255, 255, 255);
// }
// }
// }
//}
//larger_img.Save("fillhole_dilation_larger.png");
//// update distance
//for (int i = padding; i < body_img.Height; i++)
//{
// for (int j = padding; j < body_img.Width; j++)
// {
// Vector2 point_in_ori_img = new Vector2(j - padding, i - padding);
// double dis_after_dilation = Utility.DistancePoint2Set(point_in_ori_img, handle_points);
// if (dis_after_dilation <= padding)
// body_points_dis2handle[i - padding, j - padding] = dis_after_dilation;
// }
//}
//// erosion
//Image<Rgb, byte> erosion_img = new Image<Rgb, byte>(body_img.Width + padding * 2, body_img.Height + padding * 2);
//for (int i = padding; i < body_img.Height; i++)
//{
// for (int j = padding; j < body_img.Width; j++)
// {
// bool save = true;
// double dis = body_points_dis2handle[i - padding, j - padding];
// if (dis != double.MaxValue)
// {
// for (int k = (int)-dis / 2; k < dis; k++)
// {
// // rectangle
// for (int m = (int)-dis / 2; m < dis; m++)
// {
// if (!larger_img[i + k, j + m].Equals(new Rgb(255, 255, 255)))
// {
// save = false;
// }
// }
// }
// }
// if (save)
// erosion_img[i, j] = larger_img[i, j];
// }
//}
//larger_img.Save("fillhole_erosion_larger.png");
//// save back to body_img
//for (int i = padding; i < erosion_img.Height; i++)
//{
// for (int j = padding; j < erosion_img.Width; j++)
// {
// erosion_img[i - padding, j - padding] = larger_img[i, j];
// }
//}
#endregion
}
//##############################################################################################################################################################################################
/// <summary>
/// Extract all pieces from the source image.
/// </summary>
private void extract_pieces()
{
try
{
CurrentSolverState = PuzzleSolverState.INIT_PIECES;
Piece.NextPieceID = 0;
CurrentSolverStepPercentageFinished = 0;
_logHandle.Report(new LogEventInfo("Extracting Pieces"));
NumberPuzzlePieces = 0;
Pieces.Clear();
InputImages.Clear();
List <string> imageExtensions = new List <string>()
{
".jpg", ".png", ".bmp", ".tiff"
};
FileAttributes attr = File.GetAttributes(PuzzlePiecesFolderPath);
List <FileInfo> imageFilesInfo = new List <FileInfo>();
if (attr.HasFlag(FileAttributes.Directory)) //detect whether its a directory or file
{
DirectoryInfo folderInfo = new DirectoryInfo(PuzzlePiecesFolderPath);
imageFilesInfo = folderInfo.GetFiles().ToList();
}
else
{
FileInfo fileInfo = new FileInfo(PuzzlePiecesFolderPath);
imageFilesInfo.Add(fileInfo);
}
imageFilesInfo = imageFilesInfo.Where(f => imageExtensions.Contains(f.Extension)).ToList();
int loopCount = 0;
ParallelOptions parallelOptions = new ParallelOptions
{
CancellationToken = _cancelToken,
MaxDegreeOfParallelism = (PluginFactory.GetGeneralSettingsPlugin().UseParallelLoops ? Environment.ProcessorCount : 1)
};
//For each input image
Parallel.For(0, imageFilesInfo.Count, parallelOptions, (i) =>
{
using (Image <Rgba, byte> sourceImg = new Image <Rgba, byte>(imageFilesInfo[i].FullName)) //.LimitImageSize(1000, 1000))
{
CvInvoke.MedianBlur(sourceImg, sourceImg, 5);
// Get the (first) enabled Plugin for input image mask generation
PluginGroupInputImageMask pluginInputImageMask = PluginFactory.GetEnabledPluginsOfGroupType <PluginGroupInputImageMask>().FirstOrDefault();
using (Image <Gray, byte> mask = pluginInputImageMask.GetMask(sourceImg))
{
_logHandle.Report(new LogEventInfo("Extracting Pieces from source image " + i.ToString()));
if (PluginFactory.GetGeneralSettingsPlugin().SolverShowDebugResults)
{
_logHandle.Report(new LogEventImage("Source image " + i.ToString(), sourceImg.Bitmap));
_logHandle.Report(new LogEventImage("Mask " + i.ToString(), mask.Bitmap));
}
CvBlobDetector blobDetector = new CvBlobDetector(); // Find all blobs in the mask image, extract them and add them to the list of pieces
CvBlobs blobs = new CvBlobs();
blobDetector.Detect(mask, blobs);
foreach (CvBlob blob in blobs.Values.Where(b => b.BoundingBox.Width >= PluginFactory.GetGeneralSettingsPlugin().PuzzleMinPieceSize&& b.BoundingBox.Height >= PluginFactory.GetGeneralSettingsPlugin().PuzzleMinPieceSize))
{
if (_cancelToken.IsCancellationRequested)
{
_cancelToken.ThrowIfCancellationRequested();
}
Rectangle roi = blob.BoundingBox;
Image <Rgba, byte> pieceSourceImg;
Image <Gray, byte> pieceMask;
try
{
if (sourceImg.Height > roi.Height + 4 && sourceImg.Width > roi.Width + 4)
{
roi.Inflate(2, 2);
}
pieceSourceImg = sourceImg.Copy(roi);
pieceMask = mask.Copy(roi);
}
catch (Exception)
{
roi = blob.BoundingBox;
pieceSourceImg = sourceImg.Copy(roi);
pieceMask = mask.Copy(roi);
}
// Mask out background of piece
Image <Rgba, byte> pieceSourceImageForeground = new Image <Rgba, byte>(pieceSourceImg.Size);
CvInvoke.BitwiseOr(pieceSourceImg, pieceSourceImg, pieceSourceImageForeground, pieceMask);
Image <Gray, byte> pieceMaskInverted = pieceMask.Copy(pieceMask);
pieceMaskInverted._Not();
Image <Rgba, byte> background = new Image <Rgba, byte>(pieceSourceImg.Size);
background.SetValue(new Rgba(255, 255, 255, 0));
Image <Rgba, byte> pieceSourceImageBackground = new Image <Rgba, byte>(pieceSourceImg.Size);
CvInvoke.BitwiseOr(background, background, pieceSourceImageBackground, pieceMaskInverted);
Image <Rgba, byte> pieceSourceImgMasked = new Image <Rgba, byte>(pieceSourceImg.Size);
CvInvoke.BitwiseOr(pieceSourceImageForeground, pieceSourceImageBackground, pieceSourceImgMasked);
Piece p = new Piece(pieceSourceImgMasked, pieceMask, imageFilesInfo[i].FullName, roi.Location, _logHandle, _cancelToken);
lock (_piecesLock) { Pieces.Add(p); }
sourceImg.Draw(roi, new Rgba(255, 0, 0, 1), 2);
int baseLine = 0;
Size textSize = CvInvoke.GetTextSize(p.PieceID.Replace("Piece", ""), FontFace.HersheyDuplex, 3, 2, ref baseLine);
CvInvoke.PutText(sourceImg, p.PieceID.Replace("Piece", ""), Point.Add(roi.Location, new Size(0, textSize.Height + 10)), FontFace.HersheyDuplex, 3, new MCvScalar(255, 0, 0), 2);
NumberPuzzlePieces++;
pieceSourceImg.Dispose();
pieceMask.Dispose();
pieceSourceImageForeground.Dispose();
pieceMaskInverted.Dispose();
background.Dispose();
pieceSourceImageBackground.Dispose();
pieceSourceImgMasked.Dispose();
GC.Collect();
}
Interlocked.Add(ref loopCount, 1);
CurrentSolverStepPercentageFinished = (loopCount / (double)imageFilesInfo.Count) * 100;
if (PluginFactory.GetGeneralSettingsPlugin().SolverShowDebugResults)
{
_logHandle.Report(new LogEventImage("Source Img " + i.ToString() + " Pieces", sourceImg.Bitmap));
}
InputImages.Add(new ImageDescribedLight(Path.GetFileName(imageFilesInfo[i].FullName), PuzzlePiecesFolderPath + @"\Results\InputImagesMarked\" + Path.GetFileName(imageFilesInfo[i].FullName), sourceImg.Bitmap)); //sourceImg.LimitImageSize(1000, 1000).Bitmap));
blobs.Dispose();
blobDetector.Dispose();
GC.Collect();
}
}
GC.Collect();
GC.WaitForPendingFinalizers();
GC.Collect();
});
Pieces.Sort(p => ((Piece)p).PieceIndex, null);
}
catch (OperationCanceledException)
{
_logHandle.Report(new LogEventWarning("The operation was canceled. Step: " + CurrentSolverState.ToString()));
CurrentSolverState = PuzzleSolverState.UNSOLVED;
}
catch (Exception ex)
{
_logHandle.Report(new LogEventError("The following error occured in step " + CurrentSolverState.ToString() + ":\n" + ex.Message));
CurrentSolverState = PuzzleSolverState.ERROR;
CurrentSolverStepPercentageFinished = 100;
}
}