/// <summary>
/// Updates list of tracks based on current blobs.
/// </summary>
/// <param name="blobs">List of blobs</param>
/// <param name="thDistance">Distance Max distance to determine when a track and a blob match</param>
/// <param name="thInactive">Inactive Max number of frames a track can be inactive</param>
/// <param name="thActive">Active If a track becomes inactive but it has been active less than thActive frames, the track will be deleted.</param>
public void Update(CvBlobs blobs, double thDistance, uint thInactive, uint thActive)
{
CvInvoke.cvbCvUpdateTracks(blobs, _ptr, thDistance, thInactive, thActive);
}
public static WriteableBitmap DrawBlobBoundingBoxsCV(WriteableBitmap writeableBitmap, WriteableBitmap gradientBitmapRef, WriteableBitmap realBitmapRef)
{
Bitmap normalBitmap = BitmapFromWriteableBitmap(writeableBitmap);
var cvImage = new Image<Gray, byte>(new Bitmap(normalBitmap));
//var classifications = ClassifyBitmap( writeableBitmap, cvImage );
if (cvImage != null)
{
// This takes our nice looking color png and converts it to black and white
Image<Gray, byte> greyImg = cvImage.Convert<Gray, byte>();
// We again threshold it based on brightness...BUT WE INVERT THE PNG. BLOB DETECTOR DETECTS WHITE NOT BLACK
// this will esentially eliminate the color differences
// you could also do cool things like threshold only certain colors here for a color based blob detector
Image<Gray, Byte> greyThreshImg = greyImg.ThresholdBinaryInv(new Gray(150), new Gray(255));
Emgu.CV.Cvb.CvBlobs resultingImgBlobs = new Emgu.CV.Cvb.CvBlobs();
Emgu.CV.Cvb.CvBlobDetector bDetect = new Emgu.CV.Cvb.CvBlobDetector();
uint numWebcamBlobsFound = bDetect.Detect(greyThreshImg, resultingImgBlobs);
// This is a simple way of just drawing all blobs reguardless of their size and not iterating through them
// It draws on top of whatever you input. I am inputting the threshold image. Specifying an alpha to draw with of 0.5 so its half transparent.
//Emgu.CV.Image<Bgr, byte> blobImg = bDetect.DrawBlobs(webcamThreshImg, resultingWebcamBlobs, Emgu.CV.Cvb.CvBlobDetector.BlobRenderType.Default, 0.5);
// Here we can iterate through each blob and use the slider to set a threshold then draw a red box around it
Image<Rgb, byte> blobImg = greyThreshImg.Convert<Rgb, byte>();
Rgb red = new Rgb(255, 0, 0);
int blobNumber = 0;
// Lets try and iterate the blobs?
foreach (Emgu.CV.Cvb.CvBlob targetBlob in resultingImgBlobs.Values)
{
int imageArea = blobImg.Width*blobImg.Height;
int blobArea = targetBlob.Area;
int blobBoundingBoxArea = targetBlob.BoundingBox.Width*targetBlob.BoundingBox.Height;
// Only use blobs with area greater than some threshold
// If the blob bounding rect is basically size of the whole image ignore it for now
if (blobArea > 200.0 && blobBoundingBoxArea < (imageArea*0.99))
{
Rectangle rectangle = targetBlob.BoundingBox;
int CentroidX = (int)targetBlob.Centroid.X;
int CentroidY = (int)targetBlob.Centroid.Y;
int croppedWidth = rectangle.Width + 50;
int croppedHeight = rectangle.Height + 50;
int CroppedX = CentroidX - (int)(croppedWidth / 2.0);
int CroppedY = CentroidY - (int)(croppedHeight / 2.0);
var croppedBlobBitmap = writeableBitmap.Crop(CroppedX, CroppedY, croppedWidth, croppedHeight);
var croppedGradientBlobBitmap = gradientBitmapRef.Crop(CroppedX, CroppedY, croppedWidth, croppedHeight);
var croppedRealBitmapRef = realBitmapRef.Crop(CroppedX, CroppedY, croppedWidth, croppedHeight);
double blobAngle = -RadianToDegree(CalculateBlobAngle(targetBlob));
CroppedX = (int) (croppedWidth/2.0);
CroppedY = (int) (croppedHeight/2.0);
var rotatedandCroppedBlobBitmap = RotateWriteableBitmap(croppedBlobBitmap, blobAngle);
var rotatedGradientBlobBitmap = RotateColorWriteableBitmap(croppedGradientBlobBitmap, blobAngle);
var rotatedRealBitmapRef = RotateColorWriteableBitmap(croppedRealBitmapRef, blobAngle);
var refinedBitmap = DrawBlobBoundingBoxsAroundCroppedBitmap(rotatedandCroppedBlobBitmap, rotatedGradientBlobBitmap, rotatedRealBitmapRef, 1);
rotatedGradientBlobBitmap = DrawBlobBoundingBoxsAroundCroppedBitmap(rotatedandCroppedBlobBitmap, rotatedGradientBlobBitmap, rotatedRealBitmapRef, 2);
rotatedRealBitmapRef = DrawBlobBoundingBoxsAroundCroppedBitmap(rotatedandCroppedBlobBitmap, rotatedGradientBlobBitmap, rotatedRealBitmapRef, 3);
var areaCheck = refinedBitmap.PixelHeight*refinedBitmap.PixelWidth;
if (areaCheck >= 200)
{
blobNumber++;
var thresholded = refinedBitmap.Clone();
ThresholdBitmap(thresholded, 10, false);
BitmapColorer.ColorBitmap(thresholded);
System.Windows.Media.Color blobColor = PixelColorOfCentralBlob(thresholded);
BitmapColorer.EraseAllButCertainColorandWhite(thresholded, blobColor);
var shouldFlip = shouldFlipThresholdedBitmap(thresholded, blobColor);
if (shouldFlip)
{
thresholded = thresholded.Rotate(180);
rotatedGradientBlobBitmap = rotatedGradientBlobBitmap.Rotate(180);
rotatedRealBitmapRef = rotatedRealBitmapRef.Rotate(180);
}
var orientedBitmap = NormalizeBitmapSize(thresholded);
var orientedGradientBitmap = NormalizeBitmapSize(rotatedGradientBlobBitmap);
var orientedRealBitmap = NormalizeBitmapSize(rotatedRealBitmapRef);
ApplyBlobMaskToOtherBitmaps(orientedBitmap, orientedGradientBitmap, orientedRealBitmap, blobColor);
string fileName1 = saveDirectory + "\\croppedBlob" + blobNumber + ".png";
ExtensionMethods.Save(orientedRealBitmap, fileName1);
}
}
}
}
return writeableBitmap;
}
/// <summary>
/// 图漾粗略找合适的轮廓
/// </summary>
/// <param name="point_3d">三维点</param>
public static void getContours(float[] point_3d)
{
GLB.TitleStr = "";
int AREA = GLB.BUFW * GLB.BUFH; //总面积
var gray = GLB.MyFrame.Convert <Gray, Byte>(); //灰度化
Emgu.CV.Cvb.CvBlobs myBlobs = new Emgu.CV.Cvb.CvBlobs();
Emgu.CV.Cvb.CvBlobDetector bd = new Emgu.CV.Cvb.CvBlobDetector();
uint n = bd.Detect(gray, myBlobs);//发现区块
////遍历各区块:
for (uint i = 1; i <= myBlobs.Count; i++)
{
int area = myBlobs[i].Area; //获取面积
RotatedRect rect = CvInvoke.MinAreaRect(new VectorOfPoint(myBlobs[i].GetContour())); //最小矩形
float width = rect.Size.Width; //像素宽
float height = rect.Size.Height; //像素长
if (height < width)
{
float temp = height;
height = width;
width = temp;
}
float H2W = height / width;
if (area > 0.02 * AREA && area < 0.75 * AREA && H2W > 1 && H2W < 2)//通过面积 长宽比 初略筛选
{
if (getProduceInfo(myBlobs[i], point_3d) == true)
{
if (ProduceMacth() == true)//匹配成功
{
//////#########################################队列求均值--获取中心坐标#################################################
//GLB.avgCameraPoint3.Enqueue(new Point3(GLB.camera_device_point.X, GLB.camera_device_point.Y, GLB.camera_device_point.Z));
//if (GLB.avgCameraPoint3.Count > 5)
//{
// GLB.avgCameraPoint3.Dequeue();
//}
//else
//{
// return ;
//}
//GLB.camera_device_point.Z = (int)GLB.avgCameraPoint3.Average(o => o.Z);//中心点的深度//Z
//GLB.camera_device_point.Y = (int)GLB.avgCameraPoint3.Average(o => o.Y);//Y
//GLB.camera_device_point.X = (int)GLB.avgCameraPoint3.Average(o => o.X);//X
//RotatedRect boxCenter = new RotatedRect(new PointF((float )GLB.obj.jd.Average(o => o.X), (float)GLB.obj.jd.Average(o => o.Y)), 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:" + (float)GLB.obj.jd.Average(o => o.X) + "y:" + (float)GLB.obj.jd.Average(o => o.Y) + "XC=" + GLB.obj.xCenter + "YC=" + GLB.obj.yCenter + "Depth=" + GLB.obj.Depth, new System.Drawing.Point((int)GLB.obj.jd.Average(o => o.X) - 176, (int)GLB.obj.jd.Average(o => o.Y) + 25), Emgu.CV.CvEnum.FontFace.HersheyDuplex, .75, new MCvScalar(255, 255, 255), 2);//深度显示
////////队列求均值
//GLB.avgAngle.Enqueue((float)GLB.obj.Angle);
//if (GLB.avgAngle.Count > 5)
//{
// GLB.avgAngle.Dequeue();
//}
//else
//{
// return ;
//}
//GLB.obj.Angle = GLB.avgAngle.Average();//旋转角
//CvInvoke.PutText(GLB.MyFrame, "Angl=" + GLB.obj.Angle, new System.Drawing.Point((int)GLB.obj.jd[3].X, (int)GLB.obj.jd[3].Y), Emgu.CV.CvEnum.FontFace.HersheyDuplex, .75, new MCvScalar(0, 0, 255), 2);
////#########################################坐标换算#################################################
GLB.robot_device_point.X = GLB.MatTuYangCam[0] * GLB.camera_device_point.X + GLB.MatTuYangCam[1] * GLB.camera_device_point.Y + GLB.MatTuYangCam[2];
GLB.robot_device_point.Y = GLB.MatTuYangCam[3] * GLB.camera_device_point.X + GLB.MatTuYangCam[4] * GLB.camera_device_point.Y + GLB.MatTuYangCam[5];
GLB.robot_device_point.Z = 2818 - GLB.camera_device_point.Z;
GLB.device_angl += -2.6f;//相机与机器人夹角2.6度
GLB.device_angl = (float)(GLB.device_angl * Math.PI / 180f);
//限定范围
if (GLB.robot_device_point.X < -600 || GLB.robot_device_point.X > 600 ||
GLB.robot_device_point.Y < -2200 || GLB.robot_device_point.Y > -800 ||
GLB.robot_device_point.Z < 280 || GLB.robot_device_point.Z > 1100)
{
GLB.Match_success = false;
GLB.TitleStr += "，但是超出范围";
}
else
{
GLB.Match_success = true;
}
}
else
{
GLB.Match_success = false;
}
}
}
}
}
public static WriteableBitmap DrawBlobBoundingBoxsAroundCroppedBitmap(WriteableBitmap writeableBitmap,
WriteableBitmap gradientBitmapRef, WriteableBitmap realBitmapRef, int returnBitmapIndex)
{
Bitmap normalBitmap = BitmapFromWriteableBitmap(writeableBitmap);
var cvImage = new Image<Gray, byte>(new Bitmap(normalBitmap));
if (cvImage != null)
{
Image<Gray, byte> greyImg = cvImage.Convert<Gray, byte>();
Image<Gray, Byte> greyThreshImg = greyImg.ThresholdBinaryInv(new Gray(150), new Gray(255));
Emgu.CV.Cvb.CvBlobs resultingImgBlobs = new Emgu.CV.Cvb.CvBlobs();
Emgu.CV.Cvb.CvBlobDetector bDetect = new Emgu.CV.Cvb.CvBlobDetector();
uint numWebcamBlobsFound = bDetect.Detect(greyThreshImg, resultingImgBlobs);
Image<Rgb, byte> blobImg = greyThreshImg.Convert<Rgb, byte>();
Rgb red = new Rgb(255, 0, 0);
int blobNumber = 0;
foreach (Emgu.CV.Cvb.CvBlob targetBlob in resultingImgBlobs.Values)
{
int imageArea = blobImg.Width*blobImg.Height;
int blobArea = targetBlob.Area;
int blobBoundingBoxArea = targetBlob.BoundingBox.Width*targetBlob.BoundingBox.Height;
if (blobArea > 200.0 && blobBoundingBoxArea < (imageArea*0.99))
{
blobNumber++;
Rectangle rectangle = targetBlob.BoundingBox;
Rect convertedRect = new Rect(rectangle.X - 10, rectangle.Y - 10, rectangle.Width + 20,
rectangle.Height + 20);
//BitmapColorer.DrawRectangle(writeableBitmap, convertedRect);
writeableBitmap = writeableBitmap.Crop(rectangle.X - 10, rectangle.Y - 10, rectangle.Width + 20,
rectangle.Height + 20);
gradientBitmapRef = gradientBitmapRef.Crop(rectangle.X - 10, rectangle.Y - 10,
rectangle.Width + 20, rectangle.Height + 20);
realBitmapRef = realBitmapRef.Crop(rectangle.X - 10, rectangle.Y - 10, rectangle.Width + 20,
rectangle.Height + 20);
}
}
}
if (returnBitmapIndex == 1)
{
return writeableBitmap;
}
else if (returnBitmapIndex == 2)
{
return gradientBitmapRef;
}
else
{
return realBitmapRef;
}
}
