public void find_circle(Mat img_mat, double threadhold)
{
Cv2.Blur(img_mat, img_mat, new Size(5, 5));
CircleSegment[] circle_seg = new CircleSegment[100];
circle_seg = Cv2.HoughCircles(img_mat, HoughMethods.Gradient, 1, 100, 200, 40, 20);
for (int i = 0; i < circle_seg.Length; i++)
{
bool bfound = false;
foreach (Polygon_T s in polygon_array)
{
if (circle_seg[i].Center.X > 0 && circle_seg[i].Center.Y > 0)
{
double dist = Math.Sqrt((circle_seg[i].Center.X - s.center_pos.X) *
(circle_seg[i].Center.X - s.center_pos.X) +
(circle_seg[i].Center.Y - s.center_pos.Y) *
(circle_seg[i].Center.Y - s.center_pos.Y));
if (dist < threadhold)
{
bfound = true;
}
}
}
if (bfound == false)
{
Polygon_T p = new Polygon_T();
p.center_pos = circle_seg[i].Center;
p.gt = GraphicType.GT_Sphere;
polygon_array.Add(p);
Cv2.Circle(img_mat, circle_seg[i].Center, 5, Scalar.Red, 2);
Cv2.Circle(img_mat, (int)circle_seg[i].Center.X, (int)circle_seg[i].Center.Y, (int)circle_seg[i].Radius, Scalar.Red, 2);
}
}
}
public void find_polygon(int polygon_type, double threadhold, Point[][] contours, Mat result_mat)
{
int idx, i;
Point[] poly = new Point[100];
Point center_pos = new Point();
center_pos.X = 0;
center_pos.Y = 0;
for (idx = 0; idx < contours.Length; idx++)
{
poly = Cv2.ApproxPolyDP(contours[idx], 10, true);
if (polygon_type == 10000)
{
int left = 10000, right = -10000, top = 10000, bottom = -10000;
for (i = 0; i < poly.Length; i++)
{
if (left > poly[i].X)
{
left = poly[i].X;
}
if (right < poly[i].X)
{
right = poly[i].X;
}
if (top > poly[i].Y)
{
top = poly[i].Y;
}
if (bottom < poly[i].Y)
{
bottom = poly[i].Y;
}
center_pos.X += poly[i].X;
center_pos.Y += poly[i].Y;
Cv2.Line(result_mat, poly[i], poly[(i + 1) % poly.Length], Scalar.Blue, 2);
}
if (right - left > 30)
{
center_pos.X = (left + right) / 2;
center_pos.Y = (top + bottom) / 2;
bool bfound = false;
foreach (Polygon_T s in polygon_array)
{
if (center_pos.X > 0 && center_pos.Y > 0)
{
double dist = Math.Sqrt((center_pos.X - s.center_pos.X) *
(center_pos.X - s.center_pos.X) +
(center_pos.Y - s.center_pos.Y) *
(center_pos.Y - s.center_pos.Y));
if (dist < threadhold)
{
bfound = true;
}
}
}
if (bfound == false)
{
Polygon_T p = new Polygon_T();
p.center_pos = center_pos;
p.gt = GraphicType.GT_Polygon;
polygon_array.Add(p);
Cv2.Circle(result_mat, center_pos, 5, Scalar.Red, 2);
}
}
}
else
{
if (poly.Length == polygon_type)
{
int left = 10000, right = -10000, top = 10000, bottom = -10000;
for (i = 0; i < poly.Length; i++)
{
if (left > poly[i].X)
{
left = poly[i].X;
}
if (right < poly[i].X)
{
right = poly[i].X;
}
if (top > poly[i].Y)
{
top = poly[i].Y;
}
if (bottom < poly[i].Y)
{
bottom = poly[i].Y;
}
center_pos.X += poly[i].X;
center_pos.Y += poly[i].Y;
Cv2.Line(result_mat, poly[i], poly[(i + 1) % poly.Length], Scalar.Blue, 2);
}
center_pos.X = (left + right) / 2;
center_pos.Y = (top + bottom) / 2;
bool bfound = false;
foreach (Polygon_T s in polygon_array)
{
if (center_pos.X > 0 && center_pos.Y > 0)
{
double dist = Math.Sqrt((center_pos.X - s.center_pos.X) *
(center_pos.X - s.center_pos.X) +
(center_pos.Y - s.center_pos.Y) *
(center_pos.Y - s.center_pos.Y));
if (dist < threadhold)
{
bfound = true;
}
}
}
if (bfound == false)
{
Polygon_T p = new Polygon_T();
p.center_pos = center_pos;
if (polygon_type == 3)
{
p.gt = GraphicType.GT_Triangularity;
}
if (polygon_type == 4)
{
p.gt = GraphicType.GT_Rectangle;
}
polygon_array.Add(p);
Cv2.Circle(result_mat, center_pos, 5, Scalar.Red, 2);
}
}
}
}
}
void DrawGraphic(Polygon_T pointinfo)
{
cube_pos_x = (float)pointinfo.center_pos.X - iWidth / 2;
cube_pos_y = (float)pointinfo.center_pos.Y - iHeight / 2;
cube_pos_x = cube_pos_x / 100.0f;
cube_pos_y = cube_pos_y / 100.0f * (-1.0f);
switch (pointinfo.gt)
{
case GraphicType.GT_Rectangle:
rectangle.transform.localPosition = new Vector3(cube_pos_x, cube_pos_y, rec_z);
GameObject obj_rectangle = Instantiate(rectangle);
obj_rectangle.transform.position = new Vector3(cube_pos_x, cube_pos_y, rec_z);
Graphic_list.Add(obj_rectangle);
break;
case GraphicType.GT_Triangularity:
triangularity.transform.localPosition = new Vector3(cube_pos_x, cube_pos_y, tri_z);
GameObject obj_triangule = Instantiate(triangularity);
obj_triangule.transform.position = new Vector3(cube_pos_x, cube_pos_y, tri_z);
Graphic_list.Add(obj_triangule);
break;
case GraphicType.GT_Sphere:
sphere.transform.localPosition = new Vector3(cube_pos_x, cube_pos_y, sph_z);
GameObject obj_sphere = Instantiate(sphere);
obj_sphere.transform.position = new Vector3(cube_pos_x, cube_pos_y, sph_z);
Graphic_list.Add(obj_sphere);
break;
case GraphicType.GT_Pipe:
pipe.transform.localPosition = new Vector3(cube_pos_x, cube_pos_y, pipe_z);
GameObject obj_pipe = Instantiate(pipe);
obj_pipe.transform.position = new Vector3(cube_pos_x, cube_pos_y, pipe_z);
Graphic_list.Add(obj_pipe);
break;
case GraphicType.GT_Cylinder:
cylinder.transform.localPosition = new Vector3(cube_pos_x, cube_pos_y, cyl_z);
GameObject obj_cylinder = Instantiate(cylinder);
obj_cylinder.transform.position = new Vector3(cube_pos_x, cube_pos_y, cyl_z);
Graphic_list.Add(obj_cylinder);
break;
case GraphicType.GT_TNK:
tank.transform.localPosition = new Vector3(cube_pos_x, cube_pos_y, tnk_z);
GameObject obj_tank = Instantiate(tank);
obj_tank.transform.position = new Vector3(cube_pos_x, cube_pos_y, tnk_z);
Graphic_list.Add(obj_tank);
break;
case GraphicType.GT_Polygon:
polygon.transform.localPosition = new Vector3(cube_pos_x, cube_pos_y, pol_z);
GameObject obj_polygon = Instantiate(polygon);
obj_polygon.transform.position = new Vector3(cube_pos_x, cube_pos_y, pol_z);
Graphic_list.Add(obj_polygon);
break;
}
}
