private void btnExport_Click(object sender, EventArgs e)
{
if (dlgSave.ShowDialog() == DialogResult.OK)
{
var colors = GetColorList();
var cube = ColorClassification.GetCube(colors);
var sb = new StringBuilder("R;G;B;Name");
for (int i = 0; i < colors.Count; i++)
{
var color = colors[i];
sb.AppendLine();
sb.Append(color.R);
sb.Append(";");
sb.Append(color.G);
sb.Append(";");
sb.Append(color.B);
sb.Append(";");
sb.Append(cube.colors[i].Name);
}
System.IO.File.WriteAllText(dlgSave.FileName, sb.ToString());
}
}
private void btnInit_Click(object sender, EventArgs e)
{
var colors = GetColorList();
using (var state = GlobalState.GetState())
{
state.InitialCube = ColorClassification.GetCube(colors);
}
}
private void Application_Idle(object sender, EventArgs e)
{
Image <Bgr, byte> inImage = null;
lock (_lockVideoAccess)
{
if (_capture == null)
{
return;
}
Pastille[,] pastilleMatrix = null;
double angle = 0;
//run this until application closed (close button click on image viewer)
var frame = _capture.QueryFrame();
if (frame == null)
{
return;
}
inImage = frame.ToImage <Bgr, byte>(); //draw the image obtained from camera
// var contourImage = inImage.Clone();
Mat outImage = new Mat();
CvInvoke.MedianBlur(inImage, outImage, 5);
////var processsImageChannels = new Image<Bgr, byte>(inImage.Size);
////CvInvoke.CvtColor(frame, processsImageChannels, ColorConversion.Rgb2Hsv);
// var processsImage = new Mat();
// CvInvoke.ExtractChannel(inImage, processsImage, 1);
//processViewer.Image = processsImageChannels;
Mat canny = new Mat();
CvInvoke.Canny(outImage, canny, 58, 130, 3, true);
//cannyViewer.Image = canny;
//CvInvoke.DrawContours(outImage, contours,-1, new MCvScalar(0,0,255));
using (VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint())
{
CvInvoke.FindContours(canny, contours, null, RetrType.List, ChainApproxMethod.ChainApproxSimple);
var lstParallelogram = new List <Quadrilateral>();
for (int i = 0; i < contours.Size; i++)
{
using (VectorOfPoint contour = contours[i])
using (VectorOfPoint approxContour = new VectorOfPoint())
{
var arc = CvInvoke.ArcLength(contour, true);
// éliminer les objets les plus petits
if (arc / 4 < inImage.Width / 30)
{
continue;
}
CvInvoke.ApproxPolyDP(contour, approxContour, arc * 0.02, true);
if (approxContour.Size == 4)
{
var pts = approxContour.ToArray();
// contourImage.DrawPolyline(pts, true, new Bgr(Color.Green));
var quadri = new Quadrilateral(pts, 0.1, 0.1);
if (quadri.IsParallelogram)
{
lstParallelogram.Add(quadri);
}
}
}
}
//contourViewer.Image = contourImage;
// suppression des doublons
var comparer = new QuadrilateralCenterComparer(0.3);
lstParallelogram = lstParallelogram.Distinct(comparer).ToList();
var lstSquares = lstParallelogram.Where((x) => x.IsSquare).ToList();
// nombre minimal de cube
if (lstSquares.Count > 5)
{
var minX = lstSquares.Min((x) => x.Center.X);
var maxX = lstSquares.Max((x) => x.Center.X);
var minY = lstSquares.Min((x) => x.Center.Y);
var maxY = lstSquares.Max((x) => x.Center.Y);
lstSquares.Min((x) => x.Center.X);
// largeur moyenne d'une pastille
var averageLength = lstSquares.Average((x) => x.AverageLength);
// distance entre les centres des pastilles. Première approximation
var centerDistance = averageLength * 1.4;
var bottom = new Vector2(lstSquares.Average((x) => x.Bottom.X), lstSquares.Average((x) => x.Bottom.Y));
bottom.Normalize();
var right = new Vector2(bottom.Y, -bottom.X);
var pastilles = new List <Pastille>();
var pastilleOrigine = new Pastille();
pastilleOrigine.m = 0;
pastilleOrigine.n = 0;
pastilleOrigine.Quadrilateral = lstSquares[0];
pastilleOrigine.Center = lstSquares[0].Center;
pastilles.Add(pastilleOrigine);
var origine = lstSquares[0].Center;
for (int i = 1; i < lstSquares.Count; i++)
{
var u = lstSquares[i].Center - origine;
var pastille = new Pastille();
pastille.Quadrilateral = lstSquares[i];
pastille.m = (int)Math.Round(Vector2.Dot(u, bottom) / centerDistance);
pastille.n = (int)Math.Round(Vector2.Dot(u, right) / centerDistance);
pastille.Center = lstSquares[i].Center;
pastilles.Add(pastille);
}
var xMax = pastilles.Max((x) => x.n);
var xMin = pastilles.Min((x) => x.n);
var yMax = pastilles.Max((x) => x.m);
var yMin = pastilles.Min((x) => x.m);
if (xMax - xMin != 3 || yMax - yMin != 3)
{
return; // ce n'est pas un cube 4x4
}
// x et y entre 0 et 3
pastilles.ForEach((x) => { x.m -= yMin; x.n -= xMin; });
// recalcul de centerDistance
centerDistance = 0;
for (int i = 0; i < pastilles.Count - 1; i++)
{
var dm = pastilles[i + 1].m - pastilles[i].m;
var dn = pastilles[i + 1].n - pastilles[i].n;
centerDistance += (pastilles[i].Center - pastilles[i + 1].Center).LengthFast / Math.Sqrt(dm * dm + dn * dn);
}
centerDistance /= pastilles.Count - 1;
pastilleMatrix = new Pastille[4, 4];
for (int m = 0; m < 4; m++)
{
for (int n = 0; n < 4; n++)
{
var pastille = pastilles.FirstOrDefault((x) => x.m == m && x.n == n);
if (pastille == null)
{
pastille = new Pastille();
pastille.m = m;
pastille.n = n;
// calcul de la position des pastilles non détéctées
foreach (var p in pastilles)
{
pastille.Center += p.Center + (float)centerDistance * ((m - p.m) * bottom + (n - p.n) * right);
}
pastille.Center /= pastilles.Count;
}
pastilleMatrix[m, n] = pastille;
var ptRect = pastille.Center - new Vector2(averageLength / 4);
if (ptRect.X < 0)
{
ptRect.X = 0;
}
else if (ptRect.X + averageLength / 2 >= inImage.Width)
{
ptRect.X = inImage.Width - 1 - (int)averageLength / 2;
}
if (ptRect.Y < 0)
{
ptRect.Y = 0;
}
else if (ptRect.Y + averageLength / 2 >= inImage.Height)
{
ptRect.Y = inImage.Height - 1 - (int)averageLength / 2;
}
var rectangle = new Rectangle((int)ptRect.X, (int)ptRect.Y, (int)averageLength / 2, (int)averageLength / 2);
// var rectMat = processsImageChannels.GetSubRect(rectangle);
// var color = CvInvoke.Mean(rectMat);
// pastille.MeanColorHSV.MCvScalar = color;
var rectMat = inImage.GetSubRect(rectangle);
pastille.MeanColorBGR.MCvScalar = CvInvoke.Mean(rectMat);
//var minDist = float.MaxValue;
//foreach (var elt in Colors)
//{
// var dist = (elt.Value - new Vector2((float)color.V0, (float)color.V1)).Length;
// if (dist < minDist)
// {
// minDist = dist;
// pastille.Color = elt.Key;
// }
//}
}
}
foreach (var pastille in pastilleMatrix)
{
if (pastille.Quadrilateral != null)
{
inImage.DrawPolyline(pastille.Quadrilateral.Points, true, new Bgr(Color.Blue), 3);
inImage.Draw(new LineSegment2D(new Point((int)(pastille.Quadrilateral.Center.X), (int)(pastille.Quadrilateral.Center.Y)), new Point((int)(pastille.Quadrilateral.Center.X + right.X * 20), (int)(pastille.Quadrilateral.Center.Y + right.Y * 20))), new Bgr(Color.SeaGreen), 3);
inImage.Draw(new LineSegment2D(new Point((int)(pastille.Quadrilateral.Center.X), (int)(pastille.Quadrilateral.Center.Y)), new Point((int)(pastille.Quadrilateral.Center.X + bottom.X * 20), (int)(pastille.Quadrilateral.Center.Y + bottom.Y * 20))), new Bgr(Color.Red), 3);
inImage.Draw(pastille.m + ";" + pastille.n, new Point((int)pastille.Quadrilateral.Center.X - 10, (int)pastille.Quadrilateral.Center.Y + 10), FontFace.HersheyComplex, 0.5, new Bgr(Color.Aquamarine), 1);
}
else
{
var circle = new CircleF(new PointF(pastille.Center.X, pastille.Center.Y), averageLength / 4);
inImage.Draw(circle, new Bgr(Color.Pink), (int)averageLength / 4);
//inImage.Draw(circle, new Bgr(Color.Pink), 3);
}
//var l = 20;
//var rect = new Rectangle(pastille.m * l + l, pastille.n * l + l, l / 2, l / 2);
//inImage.Draw(rect, new Bgr(pastille.Color), l / 2, LineType.AntiAlias);
}
inImage.Draw(new CircleF(new PointF(origine.X, origine.Y), 5), new Bgr(Color.Purple), 10);
angle = Math.Atan2(bottom.X, bottom.Y);
}
}
var allFacesScanned = false;
// traitement des infos de l'image, mise à jour de l'état
using (var state = GlobalState.GetState())
{
if (state.Scanner.Starting)
{
for (int f = 0; f < 6; f++)
{
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
{
_scannedColors[f, i, j].Clear();
//_scannedCube.colors[f * 16 + i * 4 + j] = Color.Transparent;
}
}
}
}
// si on est en scan mais qu'aucun cube n'est détécté
if (!state.Scanner.WaitingForFace && pastilleMatrix == null)
{
// lancer un timer
if (!_noCubeSW.IsRunning)
{
_noCubeSW.Restart();
}
// si le temps imparti est atteint, passer à la face suivant
else if (_noCubeSW.ElapsedMilliseconds > 1000)
{
_noCubeSW.Stop();
state.Scanner.WaitingForFace = true;
MainForm.Instance.Viewer.SetCameraInclination(0);
switch (state.Scanner.CurrentScannedFace)
{
case Faces.L:
state.Scanner.CurrentScannedFace = Faces.B;
MainForm.Instance.Viewer.RotateCube(Modele.Axe.Z);
break;
case Faces.B:
state.Scanner.CurrentScannedFace = Faces.R;
MainForm.Instance.Viewer.RotateCube(Modele.Axe.Z);
break;
case Faces.R:
state.Scanner.CurrentScannedFace = Faces.F;
MainForm.Instance.Viewer.RotateCube(Modele.Axe.Z);
break;
case Faces.F:
state.Scanner.CurrentScannedFace = Faces.D;
MainForm.Instance.Viewer.RotateCube(Modele.Axe.Y);
break;
case Faces.D:
state.Scanner.CurrentScannedFace = Faces.U;
MainForm.Instance.Viewer.RotateCube(Modele.Axe.Y, -2);
break;
case Faces.U:
allFacesScanned = true;
state.Scanner.CurrentScannedFace = Faces.UNKNOWN;
MainForm.Instance.Viewer.RotateCube(Modele.Axe.Y);
System.Threading.Thread.Sleep(1000);
break;
default:
Logger.Log("Face inconnue lors du scan", TraceEventType.Error);
break;
}
}
}
else if (pastilleMatrix != null)
{
_noCubeSW.Stop();
if (state.Scanner.CurrentScannedFace == Faces.UNKNOWN)
{
state.Scanner.Reset();
}
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
{
_scannedColors[(int)state.Scanner.CurrentScannedFace, i, j].Add(pastilleMatrix[i, j]);
}
}
// raz du cube
if (state.Scanner.Starting)
{
MainForm.Instance.Viewer.RefreshCube(null);
MainForm.Instance.Viewer.RotateCube(Modele.Axe.Z);
}
SumAngle += angle;
nbAngleSamples++;
if (_refreshCubeSW.ElapsedMilliseconds > 300 && nbAngleSamples > 0)
{
MainForm.Instance.Viewer.setColorsAndInclination(_scannedColors.OfType <List <Pastille> >().Select((lst) => lst.Count == 0 ? Color.FromArgb(0x22, 0x22, 0x22) : Color.FromArgb((int)lst.Average((x) => x.MeanColorBGR.Red), (int)lst.Average((x) => x.MeanColorBGR.Green), (int)lst.Average((x) => x.MeanColorBGR.Blue))), SumAngle / nbAngleSamples);
SumAngle = 0;
nbAngleSamples = 0;
_refreshCubeSW.Restart();
}
state.Scanner.WaitingForFace = false;
}
// dessiner un carré autour de l'image si un scan est en cours
if (!state.Scanner.WaitingForFace)
{
inImage.Draw(new Rectangle(0, 0, inImage.Width, inImage.Height), new Bgr(Color.Red), 10);
}
if (allFacesScanned)
{
state.InitialCube = ColorClassification.GetCube(_scannedColors.OfType <List <Pastille> >().Select((lst) => Color.FromArgb((int)lst.Average((x) => x.MeanColorBGR.Red), (int)lst.Average((x) => x.MeanColorBGR.Green), (int)lst.Average((x) => x.MeanColorBGR.Blue))).ToList(), state.ColorsAssociation);
}
}
if (allFacesScanned)
{
FormManager.Navigate <ColorDefinitionControl>();
}
}
_viewer.Image = inImage;
}
