static void FindLaneInTheVideo(string path)
{
VideoCapture capture = new VideoCapture(path);
Mat workAreaMask = CreateMask();
using (Window win1 = new Window("test1"))
{
Mat image = new Mat();
// We will save previous results here
List <List <Sensor> > oldResultGroups = null;
int[] countTaked = new int[2] {
0, 0
};
while (true)
{
DateTime dt1 = DateTime.Now;
capture.Read(image);
if (image.Empty())
{
break;
}
if (capture.PosFrames % 2 != 0)
{
continue;
}
// Get the work area
Mat image_s = image.SubMat(Camera.vert_frame[0], Camera.vert_frame[1],
Camera.hor_frame[0], Camera.hor_frame[1]);
Mat workArea = new Mat();
image_s.CopyTo(workArea, workAreaMask);
// Get HSV, grat and canny
Mat hsv_image = workArea.CvtColor(ColorConversionCodes.RGB2HSV);
Mat canny1 = hsv_image.Canny(40, 60);
Mat gray = workArea.CvtColor(ColorConversionCodes.BGR2GRAY);
Mat canny2 = gray.Canny(40, 60);
Mat canny = new Mat();
Cv2.BitwiseAnd(canny1, canny2, canny);
// Get, filter and draw contours
Mat hsv_contoures = new Mat();
hsv_image.CopyTo(hsv_contoures);
var contoures = FindContoures(canny);
hsv_contoures.DrawContours(contoures, -1, Scalar.Red);
// Get indexers
MatOfByte3 hsv_cont_ind = new MatOfByte3(hsv_contoures);
MatOfByte3 hsv_ind = new MatOfByte3(hsv_image);
var hsv_cont_indexer = hsv_cont_ind.GetIndexer();
var hsv_indexer = hsv_ind.GetIndexer();
// Make steps of the algorithm
List <Sensor> sensors = GetSensors(hsv_contoures, hsv_cont_indexer);
List <Sensor> filteredByContours = FilterByContours(sensors, hsv_cont_indexer);
List <Sensor> filteredByColors = FilterByColorAndChangeColor(filteredByContours, hsv_indexer);
List <Sensor> filteredByNearSensors = FilterByNearSensors(filteredByColors);
List <List <Sensor> > groupedByAngle = GroupByAngle(filteredByNearSensors).Where(g => g.Count > 2).ToList();
List <List <Sensor> > groupedByDistance = GroupByDistance(groupedByAngle).Where(g => g.Count > 2).ToList();
List <List <Sensor> > groupedWithoudCovering = DeleteCovering(groupedByDistance);
List <List <Sensor> > unionGroups = UnionGroups(groupedWithoudCovering).Where(g => g.Count > 2).ToList();
List <List <Sensor> > resultGroups = SelectGroups(unionGroups, oldResultGroups, ref countTaked);
image.SaveImage("image.png");
// Draw the result
foreach (var group in resultGroups)
{
if (group != null)
{
foreach (var line in GetLinesForGroup(group))
{
image.Line(line.x1 + Camera.hor_frame[0], line.y1 + Camera.vert_frame[0],
line.x2 + Camera.hor_frame[0], line.y2 + Camera.vert_frame[0], Scalar.Blue, 5);
}
}
}
image.SaveImage("res.png");
Mat imageForDisplay = image.Resize(new Size(0, 0), 0.5, 0.5);
win1.ShowImage(imageForDisplay);
oldResultGroups = resultGroups;
DateTime dt2 = DateTime.Now;
Console.WriteLine("{0}\tms", (dt2 - dt1).TotalMilliseconds);
int key = Cv2.WaitKey(0);
if (key == 27)
{
break; //escape
}
// Free resourses
image_s.Release();
workArea.Release();
hsv_ind.Release();
hsv_cont_ind.Release();
gray.Release();
canny1.Release();
canny2.Release();
canny.Release();
hsv_image.Release();
hsv_contoures.Release();
}
}
}
static void FindLaneInTheImage(string path)
{
Mat workAreaMask = CreateMask();
using (Window win1 = new Window("test1"))
{
Mat image = new Mat(path);
// Get the work area
Mat imageS = image.SubMat(Camera.vert_frame[0], Camera.vert_frame[1],
Camera.hor_frame[0], Camera.hor_frame[1]);
Mat workArea = new Mat();
imageS.CopyTo(workArea, workAreaMask);
// Get HSV, gray and canny
Mat hsvImage = workArea.CvtColor(ColorConversionCodes.RGB2HSV);
Mat canny1 = hsvImage.Canny(40, 60);
Mat gray = workArea.CvtColor(ColorConversionCodes.BGR2GRAY);
Mat canny2 = gray.Canny(40, 60);
Mat canny = new Mat();
Cv2.BitwiseAnd(canny1, canny2, canny);
// Get, filter and draw contours
Mat hsvContoures = new Mat();
hsvImage.CopyTo(hsvContoures);
var contoures = FindContoures(canny);
hsvContoures.DrawContours(contoures, -1, Scalar.Red);
// Get indexers
MatOfByte3 hsvContInd = new MatOfByte3(hsvContoures);
MatOfByte3 hsvInd = new MatOfByte3(hsvImage);
var hsvContIndexer = hsvContInd.GetIndexer();
var hsvIndexer = hsvInd.GetIndexer();
// Make steps of the algorithm
List <Sensor> sensors = GetSensors(hsvContoures, hsvContIndexer);
List <Sensor> filteredByContours = FilterByContours(sensors, hsvContIndexer);
List <Sensor> filteredByColors = FilterByColorAndChangeColor(filteredByContours, hsvIndexer);
List <Sensor> filteredByNearSensors = FilterByNearSensors(filteredByColors);
List <List <Sensor> > groupedByAngle = GroupByAngle(filteredByNearSensors).Where(g => g.Count > 2).ToList();
List <List <Sensor> > groupedByDistance = GroupByDistance(groupedByAngle).Where(g => g.Count > 2).ToList();
List <List <Sensor> > groupedWithoudCovering = DeleteCovering(groupedByDistance);
List <List <Sensor> > unionGroups = UnionGroups(groupedWithoudCovering).Where(g => g.Count > 2).ToList();
List <List <Sensor> > resultGroups = SelectGroups(unionGroups);
// Draw the result
foreach (var group in resultGroups)
{
if (group != null)
{
foreach (var line in GetLinesForGroup(group))
{
image.Line(line.x1 + Camera.hor_frame[0], line.y1 + Camera.vert_frame[0],
line.x2 + Camera.hor_frame[0], line.y2 + Camera.vert_frame[0], Scalar.Blue, 5);
}
}
}
Mat imageForDisplay = image.Resize(new Size(0, 0), 0.5, 0.5);
win1.ShowImage(imageForDisplay);
Cv2.WaitKey(0);
// Free resourses
image.Release();
imageS.Release();
workArea.Release();
hsvInd.Release();
hsvContInd.Release();
gray.Release();
canny1.Release();
canny2.Release();
canny.Release();
hsvImage.Release();
hsvContoures.Release();
}
}
