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Kq
2026-08-12 20:58:37 +02:00
parent 84c433ad19
commit 2315c31d8c
3 changed files with 306 additions and 0 deletions
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.gitignore
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/qrCamera/bin
/qrCamera/obj
/qrCamera/cache
/qrCameraAI/bin
/qrCameraAI/obj
/qrCameraAI/cache
/createqrcodes/bin
/createqrcodes/obj
/cache
qrCameraAI/CameraPreview.csproj
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<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<OutputType>Exe</OutputType>
<TargetFramework>net10.0</TargetFramework>
<ImplicitUsings>enable</ImplicitUsings>
<Nullable>enable</Nullable>
</PropertyGroup>
<ItemGroup>
<PackageReference Include="Emgu.CV" Version="4.13.0.5924" />
<PackageReference Include="Emgu.CV.Bitmap" Version="4.13.0.5924" />
<PackageReference Include="OpenCvSharp4" Version="4.13.0.20260627" />
<PackageReference Include="OpenCvSharp4.Extensions" Version="4.13.0.20260627" />
<PackageReference Include="OpenCvSharp4.official.runtime.linux-x64" Version="4.13.0.20260627" />
<PackageReference Include="ZXing.Net" Version="0.16.11" />
<PackageReference Include="ZXing.Net.Bindings.Windows.Compatibility" Version="0.16.14" />
</ItemGroup>
</Project>
qrCameraAI/Program.cs
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using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Net.Http;
using System.Runtime.InteropServices;
using System.Threading.Tasks;
using OpenCvSharp;
using ZXing;
using ZXing.Common;
using ZXing.Multi;
using ZXing.QrCode;
namespace BarcodeReaderExample
{
class Program
{
// ---- tunables -------------------------------------------------
const bool EnableOverlay = true; // master draw switch (debug)
const bool TryHarderMultiDecode = true; // more reliable multi-QR detection, costs some speed
const float QuadExpansion = 1.60f; // how much bigger than the QR the overlay is drawn
const int MaxMissedFrames = 8; // keep last known position this many frames if briefly lost
const int TargetFps = 60;
static readonly HttpClient Http = new HttpClient();
static readonly ConcurrentDictionary<string, Mat> ImageCache = new(); // text -> decoded image (null = failed)
static readonly ConcurrentDictionary<string, byte> Pending = new(); // text currently downloading
static readonly QRCodeReader QrReader = new QRCodeReader();
static readonly GenericMultipleBarcodeReader MultiReader = new GenericMultipleBarcodeReader(QrReader);
static readonly Dictionary<DecodeHintType, object> Hints = new()
{
{ DecodeHintType.POSSIBLE_FORMATS, new List<BarcodeFormat> { BarcodeFormat.QR_CODE } },
{ DecodeHintType.TRY_HARDER, TryHarderMultiDecode },
};
static byte[] _grayBuffer;
static readonly Dictionary<string, TrackedQr> Tracked = new();
class TrackedQr
{
public Point2f[] Quad; // TL, TR, BR, BL (frame coordinates)
public int MissedFrames;
}
static void Main(string[] args)
{
using VideoCapture camera = new VideoCapture("/dev/video0", VideoCaptureAPIs.V4L2);
if (!camera.IsOpened())
throw new Exception("Nie można otworzyć kamery /dev/video0");
camera.Set(VideoCaptureProperties.FrameWidth, 1280);
camera.Set(VideoCaptureProperties.FrameHeight, 720);
camera.Set(VideoCaptureProperties.Fps, TargetFps);
Cv2.NamedWindow("Camera preview", WindowFlags.AutoSize);
using var frame = new Mat();
using var gray = new Mat();
var sw = Stopwatch.StartNew();
var frameTimer = Stopwatch.StartNew();
int frameCount = 0;
double fps = 0;
try
{
while (true)
{
frameTimer.Restart();
if (!camera.Read(frame) || frame.Empty())
continue;
try
{
ProcessFrame(frame, gray);
}
catch (Exception ex)
{
// Never let a single bad frame kill the capture loop.
Console.WriteLine("Frame processing error: " + ex.Message);
}
frameCount++;
if (sw.ElapsedMilliseconds >= 500)
{
fps = frameCount / (sw.ElapsedMilliseconds / 1000.0);
frameCount = 0;
sw.Restart();
}
Cv2.PutText(frame, $"{fps:0.0} fps", new Point(10, frame.Height - 15),
HersheyFonts.HersheySimplex, 0.6, Scalar.Lime, 2);
Cv2.ImShow("Camera preview", frame);
// Only sleep for whatever time is left in the frame budget instead of
// always sleeping the full 1000/fps on top of WaitKey (which halved
// the effective frame rate in the original code).
int budgetMs = 1000 / TargetFps;
int elapsedMs = (int)frameTimer.ElapsedMilliseconds;
int waitMs = Math.Max(1, budgetMs - elapsedMs);
int key = Cv2.WaitKey(waitMs);
if (key == 27 || key == 'q')
break;
}
}
finally
{
foreach (var mat in ImageCache.Values)
mat?.Dispose();
Cv2.DestroyAllWindows();
}
}
static void ProcessFrame(Mat frame, Mat gray)
{
Cv2.CvtColor(frame, gray, ColorConversionCodes.BGR2GRAY);
Result[] results = ReadQrCodes(gray);
var seenThisFrame = new HashSet<string>();
foreach (var result in results)
{
if (result?.Text == null) continue;
var points = result.ResultPoints;
if (points == null || points.Length < 3) continue;
// ZXing QR point order: [0]=bottom-left, [1]=top-left, [2]=top-right,
// optional [3]=alignment pattern. We deliberately do NOT use points[3] for the
// bottom-right corner: the alignment pattern sits several modules inset from the
// actual edge of the code, so it's always noticeably closer to the center than the
// true corner is - using it directly shrinks that whole side of the overlay.
// Instead derive the true bottom-right corner from the 3 finder-pattern corners,
// which ZXing locates precisely, assuming the QR is (near) square: BR = TR + BL - TL.
Point2f pBL = new Point2f(points[0].X, points[0].Y);
Point2f pTL = new Point2f(points[1].X, points[1].Y);
Point2f pTR = new Point2f(points[2].X, points[2].Y);
Point2f pBR = new Point2f(pTR.X + pBL.X - pTL.X, pTR.Y + pBL.Y - pTL.Y);
Point2f[] quad = ExpandQuad(pTL, pTR, pBR, pBL, QuadExpansion);
seenThisFrame.Add(result.Text);
if (Tracked.TryGetValue(result.Text, out var t))
{
t.Quad = quad;
t.MissedFrames = 0;
}
else
{
Tracked[result.Text] = new TrackedQr { Quad = quad, MissedFrames = 0 };
}
EnsureImageLoaded(result.Text);
}
// Age out codes that weren't seen this frame; keep them briefly to avoid flicker.
List<string> toRemove = null;
foreach (var kv in Tracked)
{
if (seenThisFrame.Contains(kv.Key)) continue;
kv.Value.MissedFrames++;
if (kv.Value.MissedFrames > MaxMissedFrames)
(toRemove ??= new List<string>()).Add(kv.Key);
}
if (toRemove != null)
foreach (var key in toRemove) Tracked.Remove(key);
if (!EnableOverlay) return;
foreach (var kv in Tracked)
{
if (ImageCache.TryGetValue(kv.Key, out Mat img) && img != null && !img.Empty())
{
OverlayImagePerspective(frame, img, kv.Value.Quad);
}
}
}
/// <summary>Expand a quad (TL,TR,BR,BL) outward from its centroid by a scale factor.</summary>
static Point2f[] ExpandQuad(Point2f tl, Point2f tr, Point2f br, Point2f bl, float scale)
{
float cx = (tl.X + tr.X + br.X + bl.X) / 4f;
float cy = (tl.Y + tr.Y + br.Y + bl.Y) / 4f;
Point2f Expand(Point2f p) => new Point2f(cx + (p.X - cx) * scale, cy + (p.Y - cy) * scale);
return new[] { Expand(tl), Expand(tr), Expand(br), Expand(bl) };
}
/// <summary>
/// Warp `overlayImage` onto the quadrilateral `quad` (TL,TR,BR,BL) in `frame`, so the
/// pasted image follows the QR code's rotation/perspective instead of a plain axis-aligned resize.
/// Only the quad's bounding box is warped, not the whole frame, to keep this fast with
/// several codes on screen at once.
/// </summary>
static void OverlayImagePerspective(Mat frame, Mat overlayImage, Point2f[] quad)
{
var intPoints = quad.Select(p => new Point((int)p.X, (int)p.Y)).ToArray();
Rect rect = Cv2.BoundingRect(intPoints);
rect = rect.Intersect(new Rect(0, 0, frame.Width, frame.Height));
if (rect.Width <= 1 || rect.Height <= 1) return;
int w = overlayImage.Width, h = overlayImage.Height;
Point2f[] src = { new(0, 0), new(w, 0), new(w, h), new(0, h) };
Point2f[] dstLocal = quad.Select(p => new Point2f(p.X - rect.X, p.Y - rect.Y)).ToArray();
using Mat homography = Cv2.GetPerspectiveTransform(src, dstLocal);
using var warped = new Mat();
Cv2.WarpPerspective(overlayImage, warped, homography, rect.Size);
using var mask = new Mat(rect.Size, MatType.CV_8UC1, Scalar.Black);
var localPoly = dstLocal.Select(p => new Point((int)p.X, (int)p.Y)).ToArray();
Cv2.FillPoly(mask, new[] { localPoly }, Scalar.White);
using var roi = new Mat(frame, rect);
warped.CopyTo(roi, mask);
}
// ---- decoding ---------------------------------------------------
static Result[] ReadQrCodes(Mat gray)
{
if (!gray.IsContinuous())
gray = gray.Clone();
int size = (int)(gray.Total() * gray.ElemSize());
if (_grayBuffer == null || _grayBuffer.Length != size)
_grayBuffer = new byte[size];
Marshal.Copy(gray.Data, _grayBuffer, 0, size);
// Gray8 skips ZXing's internal RGB->luminance conversion entirely - the fastest
// format to hand it, and matches what BGR2GRAY already computed for us in OpenCV.
var luminanceSource = new RGBLuminanceSource(_grayBuffer, gray.Width, gray.Height, RGBLuminanceSource.BitmapFormat.Gray8);
var bitmap = new BinaryBitmap(new HybridBinarizer(luminanceSource));
try
{
return MultiReader.decodeMultiple(bitmap, Hints) ?? Array.Empty<Result>();
}
catch
{
return Array.Empty<Result>();
}
}
// ---- async image download/caching --------------------------------
static void EnsureImageLoaded(string url)
{
if (ImageCache.ContainsKey(url) || Pending.ContainsKey(url)) return;
if (!Uri.TryCreate(url, UriKind.Absolute, out var uri) ||
(uri.Scheme != Uri.UriSchemeHttp && uri.Scheme != Uri.UriSchemeHttps))
{
// Not a downloadable URL - remember that so we don't keep retrying every frame.
ImageCache[url] = null;
return;
}
Pending[url] = 0;
_ = Task.Run(async () =>
{
try
{
byte[] bytes = await Http.GetByteArrayAsync(uri);
Mat decoded = Mat.FromImageData(bytes, ImreadModes.Color);
ImageCache[url] = decoded.Empty() ? null : decoded;
}
catch (Exception ex)
{
Console.WriteLine($"Failed to download {url}: {ex.Message}");
ImageCache[url] = null; // negative-cache so we stop retrying a bad URL
}
finally
{
Pending.TryRemove(url, out _);
}
});
}
}
}