/// <summary>
/// Calculates mean color of a blob in an image.
/// </summary>
/// <param name="blob">The blob.</param>
/// <param name="originalImage">The original image</param>
/// <returns>Average color</returns>
public Bgr MeanColor(CvBlob blob, Image <Bgr, Byte> originalImage)
{
Bgr color = new Bgr();
color.MCvScalar = cvbCvBlobMeanColor(blob, _ptr, originalImage);
return(color);
}
/// <summary>
/// Calculates mean color of a blob in an image.
/// </summary>
/// <param name="blob">The blob.</param>
/// <param name="originalImage">The original image</param>
/// <returns>Average color</returns>
public Bgr MeanColor(CvBlob blob, Image<Bgr, Byte> originalImage)
{
Bgr color = new Bgr();
color.MCvScalar = CvInvoke.cvbCvBlobMeanColor(blob, _ptr, originalImage);
return color;
}
/// <summary>
/// 图漾获取产品特征及位置
/// </summary>
/// <param name="myblob"></param>
/// <param name="point_3d"></param>
/// <returns></returns>
public static bool getProduceInfo(Emgu.CV.Cvb.CvBlob myblob, float[] point_3d)
{
//#########################################【1】,获取最小外接矩形中心点下标#################################################
Point[] ctr = myblob.GetContour(); //获取轮廓
RotatedRect rect = CvInvoke.MinAreaRect(new VectorOfPoint(ctr)); //最小矩形
PointF[] pt = CvInvoke.BoxPoints(rect); //最小外接矩形四个角点
PointF po = rect.Center; //最小外接矩形中心
int xc = (int)po.X; //最小外接矩形中心X坐标
int yc = (int)po.Y; //最小外接矩形中心Y坐标
//#########################################【2】,绘制外接最小矩形(紧贴连通域):#################################################
for (int i = 0; i < 4; ++i)
{
Point p1 = new Point((int)pt[i].X, (int)pt[i].Y);
//GLB.obj.jd.Add(p1);//角点存下备画轨迹用
Point p2 = new Point((int)pt[(i + 1) % 4].X, (int)pt[(i + 1) % 4].Y);
CvInvoke.Line(GLB.MyFrame, p1, p2, new MCvScalar(0, 0, 255), 2);
}
//#########################################【3】真实角点):#################################################
List <Point3> pointReal = new List <Point3>();
for (int i = 0; i < 4; ++i)
{
Point3 Ang_temp = new Point3(0, 0, 0);//0.8视场角点坐标
Ang_temp.X = xc + 0.8 * (pt[i].X - xc);
Ang_temp.Y = yc + 0.8 * (pt[i].Y - yc);
if (Ang_temp.Y < 0 || Ang_temp.Y > 960 - 2 || Ang_temp.X < 0 || Ang_temp.X > 1280 - 2)
{
return(false); ///////无效角点
}
Point3 Ang_point = new Point3(0, 0, 0); //0.8角点坐标
Ang_point.X = point_3d[((int)Ang_temp.Y * GLB.BUFW + (int)Ang_temp.X) * 3 + 0];
Ang_point.Y = point_3d[((int)Ang_temp.Y * GLB.BUFW + (int)Ang_temp.X) * 3 + 1];
Ang_point.Z = point_3d[((int)Ang_temp.Y * GLB.BUFW + (int)Ang_temp.X) * 3 + 2];
if (double.IsNaN(Ang_point.Z))
{
return(false); ///////////////////////////////////////////////////////////无效角点
}
pointReal.Add(Ang_point);
RotatedRect myrect = new RotatedRect(new PointF((float)Ang_temp.X, (float)Ang_temp.Y), new Size(8, 8), 0);
CvInvoke.Ellipse(GLB.MyFrame, myrect, new MCvScalar(255, 0, 0), 2);//在角上一个小圆
}
//GLB.obj.Depth = (int)pointReal.Average(o => o.Z);//中心点的深度//Z
//GLB.obj.yCenter = (int)pointReal.Average(o => o.Y);//Y
//GLB.obj.xCenter = (int)pointReal.Average(o => o.X); ;//X
////#########################################队列求均值--获取中心坐标#################################################
GLB.avgCameraPoint3.Enqueue(new Point3(pointReal.Average(o => o.X), pointReal.Average(o => o.Y), (int)pointReal.Average(o => o.Z)));
if (GLB.avgCameraPoint3.Count > 5)
{
GLB.avgCameraPoint3.Dequeue();
}
else
{
return(false);
}
GLB.obj.Depth = (int)GLB.avgCameraPoint3.Average(o => o.Z); //中心点的深度//Z
GLB.obj.yCenter = (int)GLB.avgCameraPoint3.Average(o => o.Y); //Y
GLB.obj.xCenter = (int)GLB.avgCameraPoint3.Average(o => o.X); //X
//#########################################获取质心#################################################
//PointF gravity = myblob.Centroid;
//int gravity_x = (int)gravity.X;
//int gravity_y = (int)gravity.Y;
//if (double.IsNaN(point_3d[(gravity_y * GLB.BUFW + gravity_x) * 3 + 2])) return false;/////////////////////空值不执行
//GLB.obj.Depth = (int)point_3d[(gravity_y * GLB.BUFW + gravity_x) * 3 + 2];//Z
//GLB.obj.yCenter = (int)point_3d[(gravity_y * GLB.BUFW + gravity_x) * 3 + 1];//Y
//GLB.obj.xCenter = (int)point_3d[(gravity_y * GLB.BUFW + gravity_x) * 3 + 0];//X
//######################################### 显示本区块中心[画圆]:#################################################
RotatedRect boxCenter = new RotatedRect(new PointF(xc, yc), new Size(8, 8), 0);
CvInvoke.Ellipse(GLB.MyFrame, boxCenter, new MCvScalar(255, 0, 0), 4); //在中心画一个小圆
CvInvoke.PutText(GLB.MyFrame, "x:" + xc + "y:" + yc + "XC=" + GLB.obj.xCenter + "YC=" + GLB.obj.yCenter + "Depth=" + GLB.obj.Depth, new System.Drawing.Point(xc - 176, yc + 25), Emgu.CV.CvEnum.FontFace.HersheyDuplex, .75, new MCvScalar(255, 255, 255), 2); //深度显示
//#########################################【4】真实的长轴,短轴,倾角计算:#################################################
double axisLong = 1.25 * Math.Sqrt(Math.Pow(pointReal[1].X - pointReal[0].X, 2) + Math.Pow(pointReal[1].Y - pointReal[0].Y, 2) + Math.Pow(pointReal[1].Z - pointReal[0].Z, 2));
double axisShort = 1.25 * Math.Sqrt(Math.Pow(pointReal[2].X - pointReal[1].X, 2) + Math.Pow(pointReal[2].Y - pointReal[1].Y, 2) + Math.Pow(pointReal[2].Z - pointReal[1].Z, 2));
if (axisShort > axisLong)
{
double temp = axisLong;
axisLong = axisShort;
axisShort = temp;
}
double Angl = rect.Angle;//矩形框角度
// Angl *= 180d / Math.PI; //换算成角度制
if (Math.Abs(Angl) > 45)
{
Angl = Angl + 90;
}
if (Angl >= 90)//控制旋转范围
{
Angl -= 180;
}
if (Angl <= -90)
{
Angl += 180;
}
//GLB.obj.Angle = Angl;//旋转角
////队列求均值
GLB.avgAngle.Enqueue((float)Angl);
if (GLB.avgAngle.Count > 5)
{
GLB.avgAngle.Dequeue();
}
else
{
return(false);
}
GLB.obj.Angle = GLB.avgAngle.Average();//旋转角
GLB.obj.axisLong = axisLong; //长轴
GLB.obj.axisShort = axisShort; //短轴
GLB.obj.L2S = axisLong / axisShort; //长短轴之比;
GLB.obj.realArea = axisLong * axisShort; //估算的物件尺寸
//像尺寸显示:
CvInvoke.PutText(GLB.MyFrame, "Lr=" + (int)axisLong + ",Sr=" + (int)axisShort, new System.Drawing.Point((int)pt[2].X, (int)pt[2].Y), Emgu.CV.CvEnum.FontFace.HersheyDuplex, .75, new MCvScalar(0, 0, 255), 2);
CvInvoke.PutText(GLB.MyFrame, "Angl=" + Angl, new System.Drawing.Point((int)pt[3].X, (int)pt[3].Y), Emgu.CV.CvEnum.FontFace.HersheyDuplex, .75, new MCvScalar(0, 0, 255), 2);
return(true);
}
public static double CalculateBlobAngle(CvBlob blob)
{
//.5*atan2(2.*blob->u11,(blob->u20-blob->u02));
double dy = 2.0*blob.BlobMoments.U11;
double dx = blob.BlobMoments.U20 - blob.BlobMoments.U02;
double result = 0.5*Math.Atan2(dy, dx);
return result;
}
