private void HoughProcess(Mat src, Mat dest, RoundBlock roundblock)
{
Mat srcCopy = new Mat();
CvInvoke.CvtColor(src, srcCopy, ColorConversion.Bgr2Gray);
double cannyThreshold = 180.0;
double circleAccumulatorThreshold = 120;
CircleF[] circle = CvInvoke.HoughCircles(srcCopy, HoughType.Gradient,
2.0, 20.0, cannyThreshold, circleAccumulatorThreshold, 5);
//Mat circleImage = new Mat(dest.Size, DepthType.Cv8U, 3);
//circleImage.SetTo(new MCvScalar(0));
// Mat circleimage = new Mat();
if (circle.Length > 0)
{
CvInvoke.Circle(dest, Point.Round(circle[0].Center),
(int)circle[0].Radius, new Bgr(Color.White).MCvScalar, 2);
roundblock.ROI = new Rectangle((int)(circle[0].Center.X - circle[0].Radius),
(int)(circle[0].Center.Y - circle[0].Radius),
2 * (int)(circle[0].Radius),
2 * (int)(circle[0].Radius));
roundblock.image = new Mat(srcCopy, roundblock.ROI);
roundblock.BlockCenterInImage = Point.Round(circle[0].Center);
roundblock.BlockCenter = environment.axis_Dobot2User(roundblock.BlockCenterInImage);
HoughGotFlag = true;
}
}
public Controler(RoundBlock CtrledPlant, Environment environment, frmDobot tranceiver)
{
this.CtrledPlant = CtrledPlant;
this.environment = environment;
this.tranceiver = tranceiver;
}
