public void drawOnImg(ref Emgu.CV.Image <Hsv, byte> img)
{
foreach (LineSegment2D segment in lineSegments)
{
img.Draw(segment, new Hsv((int)type, 240, 240), 2);
}
if (previousPosition != null)//klappt nicht hat immer nen wert
{
img.Draw(new LineSegment2D(previousPosition, pos), new Hsv((int)type, 255, 255), 2);
}
}
/// <summary>
/// Process rocks in the image.
/// </summary>
private void ProcessSand()
{
// TODO: Make image be saved in MyDocs/Pictures.
if (this.inputImage == null)
{
return;
}
Thread workerThread = new Thread(() =>
{
/*
* string path = @"C:\Users\POLYGONTeam\Documents\GitHub\Androbot\Androbot\Androbot\bin\Debug\Images\2D_20160728170358.PNG";
*/
//Emgu.CV.Image<Bgr, byte> inpImg = new Emgu.CV.Image<Bgr, byte>(this.inputImage);
Emgu.CV.Image <Bgr, byte> inpImg = new Emgu.CV.Image <Bgr, byte>(inputImage);
Emgu.CV.Image <Gray, byte> water = inpImg.InRange(new Bgr(0, 100, 0), new Bgr(255, 255, 255));
//TODO: To check does we need mask?
//water = water.Add(mask);
//water._Dilate(1);
// Create the blobs.
Emgu.CV.Cvb.CvBlobs blobs = new Emgu.CV.Cvb.CvBlobs();
// Create blob detector.
Emgu.CV.Cvb.CvBlobDetector dtk = new Emgu.CV.Cvb.CvBlobDetector();
// Detect blobs.
uint state = dtk.Detect(water, blobs);
foreach (Emgu.CV.Cvb.CvBlob blob in blobs.Values)
{
//Console.WriteLine("Center: X:{0:F3} Y:{1:F3}", blob.Centroid.X, blob.Centroid.Y);
//Console.WriteLine("{0}", blob.Area);
if (blob.Area >= 4500 && blob.Area < 34465)
{
//Console.WriteLine("{0}", blob.Area);
inpImg.Draw(new CircleF(blob.Centroid, 5), new Bgr(Color.Red), 2);
inpImg.Draw(blob.BoundingBox, new Bgr(Color.Blue), 2);
}
}
if (this.outputImage != null)
{
this.outputImage.Dispose();
}
// Dump the image.
this.outputImage = inpImg.ToBitmap();
// Show the nwe mage.
this.pbMain.Image = this.FitImage(this.outputImage, this.pbMain.Size);
});
workerThread.Start();
}
private void button4_Click(object sender, EventArgs e)
{
Emgu.CV.Image <Hsv, byte> outImg = (Emgu.CV.Image <Hsv, byte>)im2.Image;
foreach (ShapeColorObject shp in trackedshapes)
{
shp.drawOnImg(ref outImg);
}
foreach (ShapeColorObject s in trackedshapes)
{
outImg.Draw(s.getLabel(), ref font, s.pos, new Hsv(0, 255, 255));
outImg.Draw(new Cross2DF(new PointF((float)s.pos.X, (float)s.pos.Y), (float)5.0, (float)5.0), new Hsv(0, 200, 200), 2);
}
im2.Image = outImg;
im2.Update();
}
public Bitmap Findcircles(double cannyThreshold, double circleAccumulatorThreshold)
{
Bitmap bmp;
CircleF[] circles = CvInvoke.HoughCircles(imgEdgesROI, HoughType.Gradient, 1.0, 5, cannyThreshold, circleAccumulatorThreshold);
Emgu.CV.Image <Bgr, byte> imgWithCircles = img.Convert <Bgr, byte>();
foreach (CircleF circle in circles)
{
imgWithCircles.Draw(circle, new Bgr(0, 0, 255), 1, LineType.EightConnected);
}
bmp = imgWithCircles.Bitmap;
return(bmp);
}
public Bitmap SetEdgesCirlceROI(int X, int Y, double radius)
{
Bitmap bmp = new Bitmap(1280, 1024);
Emgu.CV.Image <Gray, byte> imgRoi = new Emgu.CV.Image <Gray, byte>(bmp);
imgRoi.SetZero();
Emgu.CV.Image <Gray, byte> imgCircleFilter = new Emgu.CV.Image <Gray, byte>(1280, 1024);
imgCircleFilter.SetZero();
PointF centerPoint = new PointF((float)X, (float)Y);
SizeF size = new SizeF((float)(radius * 2.0), (float)(radius * 2.0));
Ellipse circle = new Ellipse(centerPoint, size, 0.0f);
imgCircleFilter.Draw(circle, new Gray(255), -1, LineType.EightConnected);
imgEdgesROI = imgEdges.And(imgCircleFilter);
imgRoi = imgEdgesROI;
return(imgRoi.Bitmap);
}
static void Main()
{
// download sample photo
WebClient client = new WebClient();
Bitmap image = null;
using (MemoryStream ms = new MemoryStream(client.DownloadData(SAMPLE_IMAGE)))
image = new Bitmap(Image.FromStream(ms));
// convert to Emgu image, convert to grayscale and increase brightness/contrast
Emgu.CV.Image <Bgr, byte> emguImage = new Emgu.CV.Image <Bgr, byte>(image);
var grayScaleImage = emguImage.Convert <Gray, byte>();
grayScaleImage._EqualizeHist();
// load eye classifier data
string eye_classifier_local_xml = @"c:\temp\haarcascade_eye.xml";
client.DownloadFile(@EYE_DETECTION_XML, eye_classifier_local_xml);
CascadeClassifier eyeClassifier = new CascadeClassifier(eye_classifier_local_xml);
// perform detection which will return rectangles of eye positions
var eyes = eyeClassifier.DetectMultiScale(grayScaleImage, 1.1, 4);
// draw those rectangles on original image
foreach (Rectangle eye in eyes)
{
emguImage.Draw(eye, new Bgr(255, 0, 0), 3);
}
// save image and show it
string output_image_location = @"c:\temp\output.png";
emguImage.ToBitmap().Save(output_image_location, ImageFormat.Png);
Process.Start(output_image_location);
}
public Bitmap FindEllipseArc()
{
Bitmap bmp;
Emgu.CV.Util.VectorOfVectorOfPoint contour = new Emgu.CV.Util.VectorOfVectorOfPoint();
Emgu.CV.Util.VectorOfPoint arcOfEllipse = new Emgu.CV.Util.VectorOfPoint();
List <Point> ptsOfArc = new List <Point>();
//List<Emgu.CV.Util.VectorOfPoint> listOfArcOfEllipse = new List<Emgu.CV.Util.VectorOfPoint>();
// Find of contours of ellipse
CvInvoke.FindContours(imgEdgesROI, contour, null, RetrType.List, ChainApproxMethod.ChainApproxNone);
for (int i = 0; i < contour.Size; i++)
{
if (contour[i].Size > 50)
{
int length;
arcOfEllipse.Push(contour[i]);
//listOfArcOfEllipse.Add(contour[i]);
length = contour[i].Size;
//System.Windows.Forms.MessageBox.Show("Size:" + contour[i].Size.ToString());
/*
* for (int j = 0; j < contour[i].Size; j++)
* {
* Console.WriteLine(contour[i][j].X.ToString() + "\t" + contour[i][j].Y.ToString());
* }
*
* Console.WriteLine("--------------------------------");
*/
}
}
//System.Windows.Forms.MessageBox.Show(endPtsOfArc.Count.ToString());
rRect = CvInvoke.FitEllipse(arcOfEllipse);
// Transfer the point vector(EMGU) to List(System) and get sorted
for (int i = 0; i < arcOfEllipse.Size; i++)
{
ptsOfArc.Add(arcOfEllipse[i]);
}
ptsOfArc.Sort(SortRadianCompare);
/*
* for (int i = 0; i < ptsOfArc.Count; i++)
* {
* Console.WriteLine(ptsOfArc[i].X.ToString() + "\t" + ptsOfArc[i].Y.ToString());
* }
*/
Point beginPoint = new Point();
Point endPoint = new Point();
double maxRadian = 0.0;
// Find the gap
for (int i = 0; i < ptsOfArc.Count - 1; i++)
{
double deltaY1 = (double)(ptsOfArc[i + 1].Y - rRect.Center.Y);
double deltaX1 = (double)(ptsOfArc[i + 1].X - rRect.Center.X);
double deltaY2 = (double)(ptsOfArc[i].Y - rRect.Center.Y);
double deltaX2 = (double)(ptsOfArc[i].X - rRect.Center.X);
if (System.Math.Atan2(deltaY1, deltaX1) - System.Math.Atan2(deltaY2, deltaX2) > maxRadian)
{
maxRadian = System.Math.Atan2(deltaY1, deltaX1) - System.Math.Atan2(deltaY2, deltaX2);
beginPoint = ptsOfArc[i];
endPoint = ptsOfArc[i + 1];
}
}
Emgu.CV.Image <Bgr, byte> imgWithRect = img.Convert <Bgr, byte>();
/*
* List<Point>[] pointslistOfElliSegment = new List<Point>[listOfArcOfEllipse.Count];
*
* // Transfer the point vector(EMGU) to List(System) and get sorted
* for(int i = 0; i < listOfArcOfEllipse.Count; i ++)
* {
* for(int j = 0; j < listOfArcOfEllipse[i].Size; j++)
* {
* pointslistOfElliSegment[i].Add(listOfArcOfEllipse[i][j]);
* }
*
* pointslistOfElliSegment[i].Sort(SortRadianCompare);
* }
*/
Point gapCenter = new Point((beginPoint.X + endPoint.X) / 2, (beginPoint.Y + endPoint.Y) / 2);
Point rectCenter = new Point((int)rRect.Center.X, (int)rRect.Center.Y);
imgWithRect.Draw(new Ellipse(rRect), new Bgr(0, 0, 255), 2, LineType.EightConnected);
imgWithRect.Draw(new LineSegment2D(gapCenter, rectCenter), new Bgr(0, 0, 255), 2, LineType.EightConnected);
bmp = imgWithRect.Bitmap;
return(bmp);
}
private async void button1_Click(object sender, EventArgs e)
{
await Task.Run(() => {
while (true)
{
string imagePath = @"C:\\xampp\\htdocs\\frs2018\\db\\floor\\floor14.jpg";
Image imag = Image.FromFile(imagePath);
System.IO.FileInfo file = new System.IO.FileInfo(imagePath);
Bitmap img = new Bitmap(imagePath);
pictureBox1.Invoke(new Action(() => pictureBox1.Image = img));
pictureBox1.Invoke(new Action(() => pictureBox1.SizeMode = PictureBoxSizeMode.StretchImage));
Image <Bgr, Byte> CapturedImage = new Emgu.CV.Image <Bgr, byte>(imagePath);
Rectangle rec = new Rectangle(15, 650, 10, 10);
CapturedImage.Draw(rec, new Bgr(Color.Red), 2);//accepts byte array
CvInvoke.Resize(CapturedImage, CapturedImage, new Size(pictureBox1.Width, pictureBox1.Height), 0, 0, Emgu.CV.CvEnum.Inter.Linear);
pictureBox1.Invoke(new Action(() => pictureBox1.Image = CapturedImage.Bitmap));
//Rectangle rect=new Rectangle (150,650,6,6);
////Rectangle rect2 = new Rectangle(100, 100, 5, 5);
//using (Graphics gfx = Graphics.FromImage(this.pictureBox1.Image))
//{
// gfx.DrawEllipse(Pens.Blue, rect);
// this.pictureBox1.Refresh();
//}
//SQL Connection
try
{
string connectionString = "datasource=127.0.0.1;port=3306;username=root;password=;database=frs_school;SslMode = none;";
MySqlConnection mcon = new MySqlConnection(connectionString);
mcon.Open();
MySqlDataAdapter MyDA = new MySqlDataAdapter();
string sqlSelectAll = "SELECT bleuid,ble_location from frs_blelocation";
MyDA.SelectCommand = new MySqlCommand(sqlSelectAll, mcon);
DataTable table = new DataTable();
MyDA.Fill(table);
BindingSource bSource = new BindingSource();
bSource.DataSource = table;
for (int i = 0; i < table.Rows.Count; i++)
{
string b_location = table.Rows[i]["ble_location"].ToString();
Console.Write(table.Rows[i]["ble_location"]);
string[] splitString = b_location.Split('(', ',', ')'); //separates into 0,1,2
Console.WriteLine("BLE X-Value: " + splitString[1]); //gives the x values
Console.WriteLine("BLE y-Value: " + splitString[2]); //gives the y values
int x = Convert.ToInt32(splitString[1]);
int y = Convert.ToInt32(splitString[2]);
Rectangle newrect = new Rectangle(x, y, 6, 6);
//Rectangle rect2 = new Rectangle(100, 100, 5, 5);
using (Graphics gfx = Graphics.FromImage(pictureBox1.Image))//shows error--> object is used somewhere else
{
gfx.DrawEllipse(Pens.Blue, newrect);
}
}
pictureBox1.Invoke(new Action(() => pictureBox1.Refresh()));
mcon.Close();
}
catch (Exception)
{
//MessageBox.Show(ex.ToString());
}
}
});
}
public void findChips()
{
try
{
//CudaImage<Bgr,Byte> gpuImg = new CudaImage<Bgr,Byte>(sourceImage);
//VectorOfGpuMat outVec = new VectorOfGpuMat();
//CudaGaussianFilter gaussFilter = new CudaGaussianFilter(DepthType.new Size(11,11),0.8,0.8,BorderType.Constant,BorderType.Constant);
//gaussFilter.Apply(gpuImg, gpuImg, null);
diagnosticImage = sourceImage.Clone();
Rectangle[] rects = cc.DetectMultiScale(sourceImage.Convert <Gray, Byte>(), 1.1, 4, new System.Drawing.Size(10, 10));
//cc.ScaleFactor = 1.1;
//cc.MinNeighbors = 4;
//cc.MinObjectSize = new Size(10, 10);
//cc.DetectMultiScale(gpuImg.Convert<Gray, Byte>(), outVec);
//Rectangle[] rects = cc.Convert(outVec);
foreach (Rectangle rect in rects)
{
StackRegistry.stackFound(rect);
}
List <Stack> processedStacks = StackRegistry.processFrame(sourceImage);
if (foundChipColor != null)
{
if (processedStacks.Count == 1)
{
ColorFinder.trainChip(sourceImage, processedStacks[0].samplePoints, (Stack.Color)foundChipColor);
}
}
foreach (Stack stack in processedStacks)
{
Bgr col = new Bgr(Color.Magenta);
switch (stack.color)
{
case Stack.Color.Black:
col = new Bgr(Color.Black);
break;
case Stack.Color.Blue:
col = new Bgr(Color.Blue);
break;
case Stack.Color.Red:
col = new Bgr(Color.Red);
break;
case Stack.Color.Green:
col = new Bgr(Color.Green);
break;
case Stack.Color.White:
col = new Bgr(Color.White);
break;
}
diagnosticImage.Draw(stack.location, col, 2);
foreach (Point sample in stack.samplePoints)
{
diagnosticImage.Draw(new Rectangle(sample, new Size(1, 1)), new Bgr(System.Drawing.Color.Yellow), 2);
}
}
}
catch (Exception ex)
{
MessageBox.Show(ex.StackTrace.ToString());
}
}
/// <summary>
/// Find the chessboard corners
/// </summary>
/// <param name="InputImage">Input image commpping from video camera.</param>
/// <param name="OutputImage">Output image comming from image processor.</param>
public BoardConfiguration FindBoard(Bitmap InputImage, out Bitmap OutputImage)
{
#region Local variables
// Figure Center
Point figureCenter;
// Figure BGR color
Color figureColor;
// Figure index
int figureIndex;
// Vector image of figure
CircleF circleFigure;
// Board configuration
BoardConfiguration currentConfiguration = new BoardConfiguration();
// Image !
Image <Bgr, Byte> WorkingImage;
#endregion
// Create working image.
WorkingImage = new Image <Bgr, Byte>(InputImage);
// Equlize the image.
WorkingImage = this.Equalize(WorkingImage, this.SC.ImageLightnes);
// Convert the image back to BGR range
Emgu.CV.Image <Bgr, Byte> DrawingImage = WorkingImage;
// Create the font.
MCvFont TextFont = new MCvFont(Emgu.CV.CvEnum.FONT.CV_FONT_HERSHEY_COMPLEX, 1.0, 1.0);
try
{
// Get bord marker points,
MarkersList = this.GetBoardMarkers(new Image <Hls, Byte>(InputImage)[1].Convert <Gray, Byte>().ToBitmap(), this.SC);
// If repers are 4 the proseed to describe the board.
if (MarkersList.Length == MARKERS_COUNT)
{
// Draw the points
foreach (PointF markerPoint in MarkersList)
{
// Create figure to draw.
circleFigure = new CircleF(markerPoint, 5.0f);
// Draw circle
DrawingImage.Draw(circleFigure, new Bgr(Color.Orange), 10);
}
// Show the image
//CvInvoke.cvShowImage("Test", DrawingImage);
#region Get perspective flat image.
// Get perspective flat image.
Image <Bgr, Byte> flatImage = this.GetPerspectiveFlatImage(WorkingImage, BoardSize, MarkersList);
#endregion
for (int indexFigure = 0; indexFigure < 24; indexFigure++)
{
// Set the figure center
figureCenter = this.FigurePosition(indexFigure);
//
figureColor = this.GetFigureColor(flatImage, this.GetBoundingBox(figureCenter));
// Tell that there is no figure
figureIndex = 0;
// If the luminosity is greater then 0.5.
if (figureColor.GetSaturation() > this.SaturationTreshFigureLevel)
{
// Find the playr
figureIndex = FigureColorDefinitions.WhoIsThePlayer(figureColor);
}
// Fill the board configuration
currentConfiguration.Figure[indexFigure] = figureIndex;
#region Draw
if (figureIndex != 0)
{
// Create figure to draw.
//circleFigure = new CircleF(figureCenter, 10.0f);
// Draw circle
//newImage.Draw(circleFigure, bgrInFigureColor, 5);
// Write text
//
#region Draw label to the processed image.
flatImage.Draw(String.Format("{0}", FigureColorDefinitions.WhoIsThePlayer(figureColor)), ref TextFont, figureCenter, new Bgr(Color.DarkOrange));
//drawingImage.Draw(vectorWithSmallestY, RedColor, 2);
#endregion
}
#endregion
}
// Show unperspective image
//CvInvoke.cvShowImage("Perspective", flatImage);
DrawingImage = flatImage;
}
}
catch (Exception exception)
{
Console.WriteLine("Exception: {0}", exception.Message);
Loging.Log.CreateRecord("VisionSystm.Board.FindBoard", String.Format("Exception: {0}", exception.Message), Loging.LogMessageTypes.Error);
}
// Apply the output image.
DrawingImage.ROI = new Rectangle(new Point(0, 0), new Size(400, 400));
OutputImage = DrawingImage.ToBitmap();
return(currentConfiguration);
}
