private void compareHistButton_Click(object sender, RoutedEventArgs e)
{
int i = 0;
//值方圖匹配的參數預設
histMatchRate = 1;
matchIndex = -1;
ShowHistViewer(templateHistImgBox, showTemplateHistImg, "樣板影像");
foreach (Contour <System.Drawing.Point> c in topContours)
{
if (i == 3)
{
break;
}
DenseHistogram observedRectHist;
Image <Bgr, byte> observedContourRectImg = DetectObjects.GetBoundingBoxImage(c, loadTestImg);
double compareRate = DetectObjects.CompareHistogram(templateHist, observedContourRectImg, out observedRectHist);
if (compareRate < histMatchRate)
{
histMatchRate = compareRate;
matchIndex = i;
}
showObservedHistImg = SystemToolBox.DrawHsvHistogram(observedRectHist);
ShowHistViewer(new ImageViewer(), showObservedHistImg, "觀察影像" + i);
System.Windows.MessageBox.Show("compareRate is =" + compareRate.ToString());
i++;
}
}
private void matchFeatureButton_Click(object sender, RoutedEventArgs e)
{
if (templateSurfFeature != null)
{
Image <Bgr, byte> observedContourRectImg = DetectObjects.GetBoundingBoxImage(topContours[matchIndex], loadTestImg);
observedContourRectImg.Resize(templateSurfFeature.GetImg().Width, templateSurfFeature.GetImg().Height, INTER.CV_INTER_LINEAR);
MatchRecognition.MatchSURFFeature(templateSurfFeature, observedContourRectImg, true); //先使用原影像
}
}
////////////////////////////////////////////////////////////////////////////
/// <summary>
/// 取出ROI物體圖像
/// </summary>
/// <param name="filteredSkinObserved">過濾膚色的圖像</param>
/// <returns>回傳物體圖像</returns>
private Image <Bgr, Byte> GetObjectBoundingBoxImg(Image <Bgr, Byte> filteredSkinObserved)
{
//get bounding box
Image <Gray, Byte> gray = filteredSkinObserved.Convert <Gray, Byte>();
gray = DetectObjects.DoBinaryThreshold(gray, 0);
gray._Erode(5);
gray._Dilate(5);
new ImageViewer(gray).Show();
Contour <System.Drawing.Point> sceneContours = DetectObjects.DoContours(gray);
Contour <System.Drawing.Point> objectBox = DetectObjects.GetMaxContours(sceneContours);
Image <Bgr, byte> boxImg = DetectObjects.GetBoundingBoxImage(objectBox, filteredSkinObserved);
new ImageViewer(boxImg).Show();
return(boxImg);
}
/// <summary>
/// 膚色過濾
/// </summary>
/// <param name="observed">要對得觀察景象</param>
/// <returns>回傳過濾掉的膚色</returns>
private Image <Bgr, Byte> SkinFilter(Image <Bgr, Byte> observed)
{
Image <Bgr, Byte> dst = observed.Copy();
Image <Hsv, Byte> hsv = observed.Convert <Hsv, Byte>();
//皮膚偵測並填為黑
Image <Gray, Byte> skin = new Image <Gray, byte>(observed.Size);
CvInvoke.cvInRangeS(hsv, new MCvScalar(0, 58, 89), new MCvScalar(25, 173, 229), skin);
skin = FillHoles(skin); skin._Erode(2); skin._Dilate(2);
Contour <System.Drawing.Point> skinContours = DetectObjects.DoContours(skin);
Contour <System.Drawing.Point> max = DetectObjects.GetMaxContours(skinContours);
//new ImageViewer(DetectObjects.DrawMaxContoursOnImg(max, dst)).Show();
dst.Draw(max, new Bgr(0, 0, 0), -1);
//new ImageViewer(dst).Show();
return(dst);
}
// Start is called before the first frame update
void Start()
{
Weapons = new List <GameObject>();
Weapons.Add(PunchPrefab);
collider = GetComponent <Collider>();
rigidbody = GetComponent <Rigidbody>();
audioSource = GetComponent <AudioSource>();
detectObjects = GetComponent <DetectObjects>();
if (animator == null)
{
Debug.LogError("Defina o animator do personagem");
}
CharState = CharacterState.ALIVE;
CharMode = CharacterMode.WALKING_MODE;
_start();
}
// Start is called before the first frame update
void Start()
{
//Subsrcibe to the RGB Image provider.
RGB_Image_Provider imageSource = GetComponent <RGB_Image_Provider>();
imageSource.OnImageAvailableCallback += new RGB_Image_Provider.OnImageAvailableCallbackFunc(onImageAvailable);
DetectObjects objectDetector = GetComponent <DetectObjects>();
objectDetector.onDetectionAvailableCallback += new DetectObjects.OnDetectionAvailableCallbackFunc(onDetectionAvailable);
pointIds = new List <int>();
pointList = new List <Point>();
pointCache = new Dictionary <int, Point>();
detectionCache = new Dictionary <int, DetectionPoint>();
channel = new Channel(host + ":" + port, ChannelCredentials.Insecure);
client = new GenesisSimulator.GenesisSimulatorClient(channel);
cam = GetComponent <Camera>();
Screen.sleepTimeout = SleepTimeout.NeverSleep;
}
private void loadHistFileButton_Click(object sender, RoutedEventArgs e)
{
string filename = OpenLearnedHistogramDataFile();
if (filename != null)
{
templateHistFilePathName = filename;
templateHist = DetectObjects.ReadHistogram(templateHistFilePathName, true);
if (templateHist.Dimension < 3)
{
showTemplateHistImg = SystemToolBox.DrawHsvHistogram(templateHist);
ShowHistViewer(templateHistImgBox, showTemplateHistImg, "樣板影像");
}
else
{
System.Windows.MessageBox.Show("Dim = " + templateHist.Dimension.ToString() + ",can;t draw");
}
}
}
public void DetectObjects()
{
if (ProcessImage == null)
return; // Hasn't applied any filters yet
if (OutputImage != null)
{
OutputImage.Dispose(); // Reset output image
OutputImage = new Bitmap(ProcessImage.Size.Width, ProcessImage.Size.Height);
}
else
OutputImage = new Bitmap(ProcessImage.Size.Width, ProcessImage.Size.Height);
IsBusy = true;
System.Drawing.Color[,] OriginalColors = new System.Drawing.Color[ProcessImage.Size.Width, ProcessImage.Size.Height];
System.Drawing.Color[,] InputColors = new System.Drawing.Color[ProcessImage.Size.Width, ProcessImage.Size.Height];
System.Drawing.Color[,] OutputColors = null;
for (int x = 0; x < ProcessImage.Size.Width; x++)
for (int y = 0; y < ProcessImage.Size.Height; y++)
InputColors[x, y] = ProcessImage.GetPixel(x, y);
for (int x = 0; x < InputImage.Size.Width; x++)
for (int y = 0; y < InputImage.Size.Height; y++)
OriginalColors[x, y] = InputImage.GetPixel(x, y);
ThreadPool.QueueUserWorkItem(o =>
{
DetectObjects dobj = new DetectObjects();
dobj.detectObjects(InputColors);
var listIObj = dobj.getDetectedObjects();
foreach (var iObj in listIObj)
InputColors = iObj.FillObject(InputColors);
dobj = new DetectObjects();
dobj.detectRugbyBalls(InputColors);
listIObj = dobj.getDetectedBalls();
OutputColors = dobj.ColorTheBalls(OriginalColors);
string message = String.Format("We detected {0} object{1} which consisted of {2} rugby ball{3}", dobj.getDetectedObjects().Count,
dobj.getDetectedObjects().Count != 1 ? "s" : "",
dobj.getDetectedBalls().Count,
dobj.getDetectedBalls().Count != 1 ? "s" : "");
if (dobj.getDetectedBalls().Count > 0)
message += "\nDetected balls can be seen with a red outline.";
MessageBox.Show(message, "Detect rugby balls", MessageBoxButton.OK);
/*foreach (var iObj in listIObj) // Should be only balls
{
if (OutputColors == null)
OutputColors = iObj.ColorizeVectors(InputColors);
else
OutputColors = iObj.ColorizeVectors(OutputColors);
}*/
Application.Current.Dispatcher.BeginInvoke(new Action(() =>
{
for (int x = 0; x < InputImage.Size.Width; x++)
for (int y = 0; y < InputImage.Size.Height; y++)
OutputImage.SetPixel(x, y, OutputColors[x, y]);
NewImage = System.Windows.Interop.Imaging.CreateBitmapSourceFromHBitmap( // Display output image
OutputImage.GetHbitmap(),
IntPtr.Zero,
System.Windows.Int32Rect.Empty,
BitmapSizeOptions.FromWidthAndHeight(ProcessImage.Size.Width, ProcessImage.Size.Height));
IsBusy = false;
}));
});
}
public void DetectObjects()
{
if (ProcessImage == null)
{
return; // Hasn't applied any filters yet
}
if (OutputImage != null)
{
OutputImage.Dispose(); // Reset output image
OutputImage = new Bitmap(ProcessImage.Size.Width, ProcessImage.Size.Height);
}
else
{
OutputImage = new Bitmap(ProcessImage.Size.Width, ProcessImage.Size.Height);
}
IsBusy = true;
System.Drawing.Color[,] OriginalColors = new System.Drawing.Color[ProcessImage.Size.Width, ProcessImage.Size.Height];
System.Drawing.Color[,] InputColors = new System.Drawing.Color[ProcessImage.Size.Width, ProcessImage.Size.Height];
System.Drawing.Color[,] OutputColors = null;
for (int x = 0; x < ProcessImage.Size.Width; x++)
{
for (int y = 0; y < ProcessImage.Size.Height; y++)
{
InputColors[x, y] = ProcessImage.GetPixel(x, y);
}
}
for (int x = 0; x < InputImage.Size.Width; x++)
{
for (int y = 0; y < InputImage.Size.Height; y++)
{
OriginalColors[x, y] = InputImage.GetPixel(x, y);
}
}
ThreadPool.QueueUserWorkItem(o =>
{
DetectObjects dobj = new DetectObjects();
dobj.detectObjects(InputColors);
var listIObj = dobj.getDetectedObjects();
foreach (var iObj in listIObj)
{
InputColors = iObj.FillObject(InputColors);
}
dobj = new DetectObjects();
dobj.detectRugbyBalls(InputColors);
listIObj = dobj.getDetectedBalls();
OutputColors = dobj.ColorTheBalls(OriginalColors);
string message = String.Format("We detected {0} object{1} which consisted of {2} rugby ball{3}", dobj.getDetectedObjects().Count,
dobj.getDetectedObjects().Count != 1 ? "s" : "",
dobj.getDetectedBalls().Count,
dobj.getDetectedBalls().Count != 1 ? "s" : "");
if (dobj.getDetectedBalls().Count > 0)
{
message += "\nDetected balls can be seen with a red outline.";
}
MessageBox.Show(message, "Detect rugby balls", MessageBoxButton.OK);
/*foreach (var iObj in listIObj) // Should be only balls
* {
* if (OutputColors == null)
* OutputColors = iObj.ColorizeVectors(InputColors);
* else
* OutputColors = iObj.ColorizeVectors(OutputColors);
* }*/
Application.Current.Dispatcher.BeginInvoke(new Action(() =>
{
for (int x = 0; x < InputImage.Size.Width; x++)
{
for (int y = 0; y < InputImage.Size.Height; y++)
{
OutputImage.SetPixel(x, y, OutputColors[x, y]);
}
}
NewImage = System.Windows.Interop.Imaging.CreateBitmapSourceFromHBitmap( // Display output image
OutputImage.GetHbitmap(),
IntPtr.Zero,
System.Windows.Int32Rect.Empty,
BitmapSizeOptions.FromWidthAndHeight(ProcessImage.Size.Width, ProcessImage.Size.Height));
IsBusy = false;
}));
});
}
private void findTopThreeContourButton_Click(object sender, RoutedEventArgs e)
{
contoursImg = morphologyImg.Convert <Bgr, byte>();
topContours = DetectObjects.GetOrderMaxContours(morphologyImg);
contoursImgBox.Image = DetectObjects.DrawContoursTopThreeBoundingBoxOnImg(topContours, contoursImg).Resize(320, 240, Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR);
}
private void drawContoursButton_Click(object sender, RoutedEventArgs e)
{
contoursImg = morphologyImg.Convert <Bgr, byte>();
contoursImgBox.Image = DetectObjects.DrawAllContoursOnImg(DetectObjects.DoContours(morphologyImg), contoursImg).Resize(320, 240, Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR);
}
private void dialteButton_Click(object sender, RoutedEventArgs e)
{
morphologyImg = DetectObjects.DoDilate(morphologyImg, Convert.ToInt32(dialteTextBox.Text));
morphologyImgBox.Image = morphologyImg.Resize(320, 240, Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR);
}
private void binaryThresButton_Click(object sender, RoutedEventArgs e)
{
binaryImg = DetectObjects.DoBinaryThreshold(backProjectImg, 200);
morphologyImgBox.Image = binaryImg.Resize(320, 240, Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR);
}
private void backProjectButton_Click(object sender, RoutedEventArgs e)
{
backProjectImg = DetectObjects.DoBackProject(templateHist, loadTestImg);
backProjectImgBox.Image = backProjectImg.Resize(320, 240, Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR);
}
////////////////////////////////////////////////////////////////////////////
#endregion
/// <summary>
/// 執行辨識
/// </summary>
/// <param name="isDrawResultToShowOnDialog">是否要顯示出辨識的結果</param>
/// <returns>回傳看板資訊, 格式=>"看板名稱" ;請記得做字串切割,若無比對到或有任何問題則會回傳null</returns>
public void RunRecognition(bool isDrawResultToShowOnDialog)
{
SURFMatchedData mathedObjectsData = null;
string matchedFileName = null;
Image <Bgr, byte> observedContourRectImg = null;
if (surfFiles.Count != 0 && histFiles.Count != 0)
{
Stopwatch watch = Stopwatch.StartNew();
////偵測物體
foreach (string histFilePath in histFiles)
{
//1.取出直方圖資料
DenseHistogram hist;
string histFilename = System.IO.Path.GetFileName(histFilePath);
if (!histDatas.ContainsKey(histFilename))
{
hist = DetectObjects.ReadHistogram(histFilePath, false);
histDatas.Add(histFilename, hist);
}
else
{
hist = histDatas[histFilename];
}
//2.取出SURF資料
string templateHistFileName = System.IO.Path.GetFileName(histFilePath); //取得路徑的檔案名稱
string templateSURFPathFileName = SystemToolBox.GetMappingDescriptorDataFile(templateHistFileName, dir);
SURFFeatureData templateSurf;
string surfFilename = System.IO.Path.GetFileName(templateSURFPathFileName);
if (!surfDatas.ContainsKey(surfFilename))
{
templateSurf = MatchRecognition.ReadSURFFeature(templateSURFPathFileName);
surfDatas.Add(surfFilename, templateSurf);
}
else
{
templateSurf = surfDatas[surfFilename];
}
//3.做偵測
using (Image <Gray, byte> backProjectImg = DetectObjects.DoBackProject(hist, observedImg))
using (Image <Gray, byte> binaryImg = DetectObjects.DoBinaryThreshold(backProjectImg, 200)) {
Image <Gray, byte> morphologyImg = DetectObjects.DoErode(binaryImg, 2);
morphologyImg = DetectObjects.DoDilate(morphologyImg, 1);
List <Contour <System.Drawing.Point> > topContours = DetectObjects.GetOrderMaxContours(morphologyImg);
//new ImageViewer(DetectObjects.DrawContoursTopThreeBoundingBoxOnImg(topContours, observedImg.Copy())).Show();
int i = 0;
double histMatchRate = 1;
int matchIndex = -1;
foreach (Contour <System.Drawing.Point> c in topContours)
{
if (i == 3)
{
break;
}
//判斷待偵測的輪廓面積是否過小，如果太小就省略
if (c.Area >= (templateSurf.GetImg().Width *templateSurf.GetImg().Height) * 0.4)
{
DenseHistogram observedRectHist;
observedContourRectImg = DetectObjects.GetBoundingBoxImage(c, observedImg.Copy());
double compareRate = DetectObjects.CompareHistogram(hist, observedContourRectImg, out observedRectHist);
if (compareRate < histMatchRate)
{
histMatchRate = compareRate;
matchIndex = i;
}
observedRectHist.Dispose();
}
i++;
}
if (histMatchRate < 0.5)
{
//影像正規化(如果觀察影像過大的話)
// if (observedContourRectImg != null && observedContourRectImg.Height * observedContourRectImg.Width > templateSurf.GetImg().Width * templateSurf.GetImg().Height)
//observedContourRectImg = observedContourRectImg.Resize(templateSurf.GetImg().Width, templateSurf.GetImg().Height, INTER.CV_INTER_LINEAR);
//取出特徵
if (obervedSurfData == null && observedContourRectImg != null)
{
obervedSurfData = SURFMatch.CalSURFFeature(observedContourRectImg);
observedContourRectImg.Dispose();
}
//匹配特徵並取回匹配到的特徵
SURFMatchedData mathedCandidateData = MatchRecognition.MatchSURFFeatureForVideoObjs(templateSurf, obervedSurfData, null);
//招出最好的特徵
if (mathedCandidateData != null && mathedCandidateData.GetHomography() != null)
{
if (mathedObjectsData == null)
{
mathedObjectsData = mathedCandidateData;
matchedFileName = templateSURFPathFileName;
}
else if (mathedCandidateData.GetMatchedCount() > mathedObjectsData.GetMatchedCount() && mathedCandidateData.GetHomography() != null)
{
mathedObjectsData = mathedCandidateData;
matchedFileName = templateSURFPathFileName;
}
}
}
morphologyImg.Dispose();
topContours.Clear();
if (mathedObjectsData != null && obervedSurfData != null)
{
SURFMatch.ShowSURFMatchForm(mathedObjectsData, obervedSurfData, viewer);
}
}
}
watch.Stop();
Console.WriteLine("File = " + System.IO.Path.GetFileName(matchedFileName) + " Video Analytics time = " + watch.ElapsedMilliseconds);
//if (matchedFileName != null)
//{
// string[] split = System.IO.Path.GetFileName(matchedFileName).Split('b');
// //voice.Speak("前方有" + split[0], SpeechVoiceSpeakFlags.SVSFlagsAsync);
//}
}
}
private void Start()
{
_detectObjects = FindObjectOfType <DetectObjects>();
}
