private void timerTick(object sender, EventArgs e)
{
Console.WriteLine("TICK!");
var image = new Bitmap(videoCapture.QueryFrame().Bitmap);
var undistoredImage = UndistorImage(image);
var resultAfterStep1 = (MyImage)undistoredImage;
resultAfterStep1 = GrayScaleFilter.Convert(resultAfterStep1);
var resultAfterStep2 = BinarizationConverter.Convert(resultAfterStep1);
var resultAfterStep3 = SobelFilter.Convert(resultAfterStep2);
var candidateCorners = CornerDetector.FindCorners(resultAfterStep3);
var markerCorners = MarkersRecognizer.SelectMarkers(candidateCorners, undistoredImage);
var miniImage = new Bitmap(undistoredImage, new Size(undistoredImage.Width / sizer, undistoredImage.Height / sizer));
g.DrawImage(miniImage, 0, 0, miniImage.Width, miniImage.Height);
foreach (var corners in markerCorners)
{
g.DrawPolygon(pen, corners.Select(p => new Point(p.X / sizer, p.Y / sizer)).ToArray());
}
}
private void comboBoxCornerDetector_SelectedIndexChanged(object sender, EventArgs e)
{
if (comboBoxCornerDetector.SelectedIndex.Equals(0))
{
selectedCornerDetector = CornerDetector.FAST;
}
else if (comboBoxCornerDetector.SelectedIndex.Equals(1))
{
selectedCornerDetector = CornerDetector.SURF;
}
else if (comboBoxCornerDetector.SelectedIndex.Equals(2))
{
selectedCornerDetector = CornerDetector.HCD;
}
}
public static List <Point[]> SelectMarkers(List <Point[]> candidateCorners, Bitmap undistoredImage)
{
return(candidateCorners.Where(corners =>
{
int minX = int.MaxValue;
int maxX = int.MinValue;
int minY = int.MaxValue;
int maxY = int.MinValue;
double perimeter = 0;
for (int i = 0; i < corners.Length; i++)
{
perimeter += Math.Sqrt(Math.Pow(corners[i].X - corners[(i + 1) % corners.Length].X, 2) +
Math.Pow(corners[i].Y - corners[(i + 1) % corners.Length].Y, 2));
minX = Math.Min(minX, corners[i].X);
maxX = Math.Max(maxX, corners[i].X);
minY = Math.Min(minY, corners[i].Y);
maxY = Math.Max(maxY, corners[i].Y);
}
var side = perimeter / 4;
var total_cnt = 0;
var border_cnt = 0;
double border_sum = 0;
for (int x = minX; x <= maxX; x++)
{
for (int y = minY; y <= maxY; y++)
{
if (CornerDetector.checkPointInPolygon(new Point(x, y), corners.ToList()))
{
total_cnt++;
var dist = Douglas_Peucker.CalcDistFromPointToPolygon(new Point(x, y), corners);
var pixel = undistoredImage.GetPixel(x, y);
var res = 0.21 * pixel.R + 0.72 * pixel.G + 0.07 * pixel.B;
if (dist < side * borderRate)
{
border_cnt++;
border_sum += res;
}
}
}
}
var average = border_sum / border_cnt;
return average <= blackThreshold;
}).ToList());
}