étude de l’élaboration d’un robot roulage intelligent. Comptage des objets et évaluation du trafic.

5.6 Présentation du simulateur

Aussi simple que cela puisse paraitre, il se présente de la manière suivante :

Figure 14 : Simulateur

Page | 46

Nous nous proposons dans notre expérimentation, faire une étude sur un carrefour dans lequel il sera question de traiter deux images, provenant de deux routes différentes. Les images se présentent comme suit :

Figure 15 : Capture de la circulation Figure 16 : Capture de la circulation

Deux images dont la première (Figure 5.2) représente un voie à trois véhicules au maximum pouvant passer en une fois, la deuxième deux véhicules pouvant passés en une fois, alors il appartient au simulateur de traiter instantanément ces informations.

Ce qui nous emmène à :

Figure 17 : Résultat Simulateur

Page | 47

5.5 Interprétation du résultat

Le formulaire de la figure 5.4 présente de manière agrégée le résultat obtenu après le traitement des informations. Il a fallu de seulement quelque milliseconde au logiciel, pour compter les différents véhicules sur les images, enregistrer les aires dont le programme a besoin de manière à retourner l'image sur laquelle l'affluence de véhicule est considérable. Il apparait après les analyses que, l'image une doit être privilégiée.

5.6 Codes sources

using System;

using System.Collections.Generic;

using System.ComponentModel;

using System.Data;

using System.Drawing;

using System.Text;

using System.Windows.Forms;

using Emgu.CV;

using Emgu.CV.CvEnum;

using Emgu.CV.Structure;

using System.Diagnostics;

using Emgu.CV.Util;

namespace RRI

{

public partial class Form1 : Form {

public Boolean un, deux; public int comptage1, comptage2,objet; public double

optimal1, optimal2;

public double surfaceImage,surfaceObjet1;

public double[] surfaceObjet=new double[100];

public Form1()

{

InitializeComponent(); un = false; deux = false;

comptage1 = comptage2 =objet= 0;

surfaceObjet1 = 0.0;

label17.Text = "";

label18.Text = "";

}

public void PerformShapeDetection()

{

if (FileName1.Text != String.Empty)

{

StringBuilder msgBuilder = new StringBuilder("Performance: ");

//Load the image from file and resize it for display Image<Bgr, Byte> img =

new Image<Bgr, byte>(FileName1.Text)

.Resize(400, 400, Emgu.CV.CvEnum.Inter.Linear, true);

//Convert the image to grayscale and filter out the noise UMat uimage = new UMat();

CvInvoke.CvtColor(img, uimage, ColorConversion.Bgr2Gray);

//use image pyr to remove noise UMat pyrDown = new UMat();

CvInvoke.PyrDown(uimage, pyrDown); CvInvoke.PyrUp(pyrDown, uimage);

Page | 48

//Image<Gray, Byte> gray = img.Convert<Gray, Byte>().PyrDown().PyrUp();

#region circle detection

Stopwatch watch = Stopwatch.StartNew();

double cannyThreshold = 180.0;

double circleAccumulatorThreshold = 120;

CircleF[] circles = CvInvoke.HoughCircles(uimage, HoughType.Gradient,

2.0, 20.0, cannyThreshold, circleAccumulatorThreshold, 5);

watch.Stop();

msgBuilder.Append(String.Format("Hough circles - {0} ms; ", watch.ElapsedMilliseconds));

#endregion

#region Canny and edge detection watch.Reset(); watch.Start();

double cannyThresholdLinking = 120.0;

UMat cannyEdges = new UMat();

CvInvoke.Canny(uimage, cannyEdges, cannyThreshold, cannyThresholdLinking);

LineSegment2D[] lines = CvInvoke.HoughLinesP(

cannyEdges,

1, //Distance resolution in pixel-related units

Math.PI / 45.0, //Angle resolution measured in radians.

20, //threshold

30, //min Line width

10); //gap between lines

watch.Stop();

msgBuilder.Append(String.Format("Canny & Hough lines - {0} ms; ", watch.ElapsedMilliseconds));

#endregion

#region Find triangles and rectangles

watch.Reset(); watch.Start();

List<Triangle2DF> triangleList = new List<Triangle2DF>(); List<RotatedRect> boxList = new List<RotatedRect>(); //a box is a rotated rectangle

using (VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint())

{

CvInvoke.FindContours(cannyEdges, contours, null, RetrType.List,

ChainApproxMethod.ChainApproxSimple);

int count = contours.Size;

for (int i = 0; i < count; i++)

{

using (VectorOfPoint contour = contours[i])

using (VectorOfPoint approxContour = new VectorOfPoint())

{

CvInvoke.ApproxPolyDP(contour, approxContour,

CvInvoke.ArcLength(contour, true) * 0.05, true);

if (CvInvoke.ContourArea(approxContour, false) > 250)

//only consider contours with area greater than 250

{

if (approxContour.Size == 3) //The contour has 3

vertices, it is a triangle

{

Point[] pts = approxContour.ToArray();

}

Page | 49

triangleList.Add(new Triangle2DF(

pts[0],

pts[1],

pts[2]

));

}

else if (approxContour.Size == 4) //The contour has 4

vertices.

{

#region determine if all the angles in the contour

are within [80, 100] degree

bool isRectangle = true;

Point[] pts = approxContour.ToArray(); LineSegment2D[] edges =

PointCollection.PolyLine(pts, true);

for (int j = 0; j < edges.Length; j++)

{

double angle = Math.Abs(

edges[(j + 1) %

edges.Length].GetExteriorAngleDegree(edges[j]));

if (angle < 80 || angle > 100)

{

isRectangle = false;

break;

}

}

#endregion

if (isRectangle)

boxList.Add(CvInvoke.MinAreaRect(approxContour));

}

}

}

}

}

watch.Stop();

msgBuilder.Append(String.Format("Triangles & Rectangles - {0} ms; ", watch.ElapsedMilliseconds));

#endregion

this.Text = msgBuilder.ToString();

#region draw triangles and rectangles

Mat triangleRectangleImage = new Mat(img.Size, DepthType.Cv8U, 3);

triangleRectangleImage.SetTo(new MCvScalar(0));

foreach (Triangle2DF triangle in triangleList)

{

CvInvoke.Polylines(triangleRectangleImage,

Array.ConvertAll(triangle.GetVertices(), Point.Round), true, new

Bgr(Color.DarkBlue).MCvScalar, 2);

}

int nombre; nombre = 0;

foreach (RotatedRect box in boxList)

{

CvInvoke.Polylines(triangleRectangleImage,

Array.ConvertAll(box.GetVertices(), Point.Round), true, new

Bgr(Color.DarkOrange).MCvScalar, 2);

nombre = nombre + 1;

Page | 50

MessageBox.Show(nombre.ToString());

// DImageBox2.Image = triangleRectangleImage;

#endregion

}

}

private void textBox1_TextChanged_1(object sender, EventArgs e)

{

un = true; objet = 0;

if (FileName1.Text != String.Empty)

{

StringBuilder msgBuilder = new StringBuilder("Performance: ");

//Load the image from file and resize it for display

Image<Bgr, Byte> img =

new Image<Bgr, byte>(FileName1.Text)

.Resize(400, 400, Emgu.CV.CvEnum.Inter.Linear, true);

DImageBox1.Image = img;

DImageBox1.SizeMode = PictureBoxSizeMode.Zoom;

surfaceImage= img.Width * img.Height;

//Convert the image to grayscale and filter out the noise UMat uimage = new UMat();

CvInvoke.CvtColor(img, uimage, ColorConversion.Bgr2Gray);

//use image pyr to remove noise UMat pyrDown = new UMat();

CvInvoke.PyrDown(uimage, pyrDown); CvInvoke.PyrUp(pyrDown, uimage);

#region circle detection

Stopwatch watch = Stopwatch.StartNew();

double cannyThreshold = 180.0;

double circleAccumulatorThreshold = 120;

CircleF[] circles = CvInvoke.HoughCircles(uimage, HoughType.Gradient,

2.0, 20.0, cannyThreshold, circleAccumulatorThreshold, 5);

watch.Stop();

msgBuilder.Append(String.Format("Hough circles - {0} ms; ", watch.ElapsedMilliseconds));

#endregion

#region Canny and edge detection watch.Reset(); watch.Start();

double cannyThresholdLinking = 120.0;

UMat cannyEdges = new UMat();

CvInvoke.Canny(uimage, cannyEdges, cannyThreshold, cannyThresholdLinking);

LineSegment2D[] lines = CvInvoke.HoughLinesP(

cannyEdges,

1, //Distance resolution in pixel-related units

Math.PI / 45.0, //Angle resolution measured in radians.

20, //threshold

30, //min Line width

10); //gap between lines

watch.Stop();

{

Page | 51

msgBuilder.Append(String.Format("Canny & Hough lines - {0} ms; ", watch.ElapsedMilliseconds));

#endregion

#region Find triangles and rectangles

watch.Reset(); watch.Start();

List<Triangle2DF> triangleList = new List<Triangle2DF>(); List<RotatedRect> boxList = new List<RotatedRect>(); //a box is a rotated rectangle

using (VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint())

{

CvInvoke.FindContours(cannyEdges, contours, null, RetrType.List,

ChainApproxMethod.ChainApproxSimple);

int count = contours.Size;

for (int i = 0; i < count; i++)

{

using (VectorOfPoint contour = contours[i])

using (VectorOfPoint approxContour = new VectorOfPoint())

{

CvInvoke.ApproxPolyDP(contour, approxContour,

CvInvoke.ArcLength(contour, true) * 0.05, true);

if (CvInvoke.ContourArea(approxContour, false) > 250)

//only consider contours with area greater than 250

{

if (approxContour.Size == 3) //The contour has 3

vertices, it is a triangle

{

Point[] pts = approxContour.ToArray();

triangleList.Add(new Triangle2DF(

pts[0],

pts[1],

pts[2]

));

}

else if (approxContour.Size == 4) //The contour has 4

vertices.

{

#region determine if all the angles in the contour

are within [80, 100] degree

bool isRectangle = true;

Point[] pts = approxContour.ToArray(); LineSegment2D[] edges =

PointCollection.PolyLine(pts, true);

for (int j = 0; j < edges.Length; j++)

{

double angle = Math.Abs(

edges[(j + 1) %

edges.Length].GetExteriorAngleDegree(edges[j]));

if (angle < 80 || angle > 100)

{

isRectangle = false;

break;

}

}

#endregion

if (CvInvoke.MinAreaRect(approxContour).Size.Width

> 50)

Page | 52

if (isRectangle)

boxList.Add(CvInvoke.MinAreaRect(approxContour));

}}

}}

}}

watch.Stop();

msgBuilder.Append(String.Format("Triangles & Rectangles - {0} ms; ", watch.ElapsedMilliseconds));

#endregion

this.Text = msgBuilder.ToString();

#region draw triangles and rectangles

Mat triangleRectangleImage = new Mat(img.Size, DepthType.Cv8U, 3);

triangleRectangleImage.SetTo(new MCvScalar(0));

foreach (Triangle2DF triangle in triangleList)

{

CvInvoke.Polylines(triangleRectangleImage,

Array.ConvertAll(triangle.GetVertices(), Point.Round), true, new

Bgr(Color.DarkBlue).MCvScalar, 2);

}

foreach (RotatedRect box in boxList)

{

CvInvoke.Polylines(triangleRectangleImage,

Array.ConvertAll(box.GetVertices(), Point.Round), true, new

Bgr(Color.DarkOrange).MCvScalar, 2);

comptage1 = comptage1 + 1;

surfaceObjet[objet]= box.Size.Width * box.Size.Height;

objet++;

}

for (int i=0;i< objet;i++)

{

surfaceObjet1 = surfaceObjet1 + surfaceObjet[i];

}

Resultat(surfaceObjet1, surfaceImage, 1); for (int i = 0; i < objet; i++)

{

surfaceObjet[i] = 0;

}

// ,comptage1,

label6.Text = (comptage1 / 2).ToString(); label20.Text =

surfaceObjet1.ToString();

label22.Text = surfaceImage.ToString();

// optimal1 = Resultat1(int.Parse(Nbre1.Text), comptage1 / 2);

surfaceObjet1 = 0;

#endregion

}

}

private void textBox2_TextChanged(object sender, EventArgs e)

{

deux = true; objet = 0;

if (FileName2.Text != String.Empty)

{

StringBuilder msgBuilder = new StringBuilder("Performance: ");

//Load the image from file and resize it for display

Image<Bgr, Byte> img =

Page | 53

new Image<Bgr, byte>(FileName2.Text)

.Resize(400, 400, Emgu.CV.CvEnum.Inter.Linear, true); DImageBox2.Image = img;

DImageBox2.SizeMode = PictureBoxSizeMode.Zoom;

surfaceImage = img.Width * img.Height;

//Convert the image to grayscale and filter out the noise UMat uimage = new UMat();

CvInvoke.CvtColor(img, uimage, ColorConversion.Bgr2Gray);

//use image pyr to remove noise UMat pyrDown = new UMat();

CvInvoke.PyrDown(uimage, pyrDown); CvInvoke.PyrUp(pyrDown, uimage);

#region circle detection

Stopwatch watch = Stopwatch.StartNew();

double cannyThreshold = 180.0;

double circleAccumulatorThreshold = 120;

CircleF[] circles = CvInvoke.HoughCircles(uimage, HoughType.Gradient,

2.0, 20.0, cannyThreshold, circleAccumulatorThreshold, 5);

watch.Stop();

msgBuilder.Append(String.Format("Hough circles - {0} ms; ", watch.ElapsedMilliseconds));

#endregion

#region Canny and edge detection watch.Reset(); watch.Start();

double cannyThresholdLinking = 120.0;

UMat cannyEdges = new UMat();

CvInvoke.Canny(uimage, cannyEdges, cannyThreshold, cannyThresholdLinking);

LineSegment2D[] lines = CvInvoke.HoughLinesP(

cannyEdges,

1, //Distance resolution in pixel-related units

Math.PI / 45.0, //Angle resolution measured in radians.

20, //threshold

30, //min Line width

10); //gap between lines

watch.Stop();

msgBuilder.Append(String.Format("Canny & Hough lines - {0} ms; ", watch.ElapsedMilliseconds));

#endregion

#region Find triangles and rectangles

watch.Reset(); watch.Start();

List<Triangle2DF> triangleList = new List<Triangle2DF>(); List<RotatedRect> boxList = new List<RotatedRect>(); //a box is a rotated rectangle

using (VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint())

{

CvInvoke.FindContours(cannyEdges, contours, null, RetrType.List,

ChainApproxMethod.ChainApproxSimple);

int count = contours.Size;

for (int i = 0; i < count; i++)

{

using (VectorOfPoint contour = contours[i])

Page | 54

using (VectorOfPoint approxContour = new VectorOfPoint()) {

CvInvoke.ApproxPolyDP(contour, approxContour, CvInvoke.ArcLength(contour, true) * 0.05, true);

if (CvInvoke.ContourArea(approxContour, false) > 250) //only consider contours with area greater than 250

{

if (approxContour.Size == 3) //The contour has 3

vertices, it is a triangle

{

Point[] pts = approxContour.ToArray();

triangleList.Add(new Triangle2DF(

pts[0],

pts[1],

pts[2]

));

}

else if (approxContour.Size == 4) //The contour has 4

vertices.

{

#region determine if all the angles in the contour

are within [80, 100] degree

bool isRectangle = true;

Point[] pts = approxContour.ToArray(); LineSegment2D[] edges =

PointCollection.PolyLine(pts, true);

for (int j = 0; j < edges.Length; j++)

{

double angle = Math.Abs(

edges[(j + 1) %

edges.Length].GetExteriorAngleDegree(edges[j]));

if (angle < 80 || angle > 100)

{

isRectangle = false;

break;

}

}

#endregion

if (CvInvoke.MinAreaRect(approxContour).Size.Width

> 50)

{

if (isRectangle)

boxList.Add(CvInvoke.MinAreaRect(approxContour));

}}

}}

}}

watch.Stop();

msgBuilder.Append(String.Format("Triangles & Rectangles - {0} ms; ", watch.ElapsedMilliseconds));

#endregion

this.Text = msgBuilder.ToString();

#region draw triangles and rectangles

Mat triangleRectangleImage = new Mat(img.Size, DepthType.Cv8U, 3);

triangleRectangleImage.SetTo(new MCvScalar(0));

foreach (Triangle2DF triangle in triangleList)

{

}

Page | 55

CvInvoke.Polylines(triangleRectangleImage, Array.ConvertAll(triangle.GetVertices(), Point.Round), true, new Bgr(Color.DarkBlue).MCvScalar, 2);

}

foreach (RotatedRect box in boxList)

{

CvInvoke.Polylines(triangleRectangleImage, Array.ConvertAll(box.GetVertices(), Point.Round), true, new Bgr(Color.DarkOrange).MCvScalar, 2);

comptage2 = comptage2 + 1;

surfaceObjet[objet] = box.Size.Width * box.Size.Height; objet++;

}

for (int i = 0; i < objet; i++)

{

surfaceObjet1 = surfaceObjet1 + surfaceObjet[i];

}

Resultat(surfaceObjet1, surfaceImage, 2); for (int i = 0; i < objet; i++)

{

surfaceObjet[i] = 0;

}

label10.Text = (comptage2 / 2).ToString();

label24.Text = surfaceObjet1.ToString();

label26.Text = surfaceImage.ToString();

// optimal2 = Resultat1(int.Parse(Nbre2.Text), comptage2 / 2);

surfaceObjet1 = 0;

#endregion

}

}

private void SearchFile2_Click_1(object sender, EventArgs e) {

DialogResult result = openFileDialog1.ShowDialog();

if (result == DialogResult.OK || result == DialogResult.Yes) {

FileName2.Text = openFileDialog1.FileName;

}

}

public void Resultat(double AireOccupe,double AireVoie,int numeroImage)

{

double x, y;

if (numeroImage == 1)

{

x = (AireVoie - AireOccupe) / AireOccupe;

y = AireOccupe * x / AireVoie; optimal1 = x + y;

}

else {

x = (AireVoie - AireOccupe) / AireOccupe;

y = AireOccupe * x / AireVoie; optimal2 = x + y;

Page | 56

AfficherResultat();

}

public void AfficherResultat()

{

if (un == true && deux == true )

{

if ((optimal1 <= optimal2))

{

Image<Bgr, Byte> img =

new Image<Bgr, byte>(FileName1.Text)

.Resize(400, 400, Emgu.CV.CvEnum.Inter.Linear, true);

PimageBox.Image = img;

}

else {

}

}

label17.Text = "Image 1";

Image<Bgr, Byte> img =

new Image<Bgr, byte>(FileName2.Text)

.Resize(400, 400, Emgu.CV.CvEnum.Inter.Linear, true); PimageBox.Image = img; label17.Text = "Image 2";

PimageBox.SizeMode = PictureBoxSizeMode.Zoom;

}

private void SearchFile1_Click(object sender, EventArgs e)

{

DialogResult result = openFileDialog1.ShowDialog();

if (result == DialogResult.OK || result == DialogResult.Yes)

{

}

}}}

FileName1.Text = openFileDialog1.FileName;

Page | 57