void sensor_DepthFrameReady(AllFramesReadyEventArgs e)
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame == null)
{
return;
}
//turn raw data into an array of distances;
var depthArray = depthFrame.ToDepthArray();
MidPointDistanceViaGetDistanceText.Text = depthFrame.GetDistance(depthFrame.Width / 2, depthFrame.Height / 2).ToString();
//image
DepthImageWithMinDistance.Source = depthArray.ToBitmapSource(depthFrame.Width, depthFrame.Height,
_minDistance, Colors.Red);
//image
DepthImage.Source = depthFrame.ToBitmapSource();
if (_saveDepthFrame)
{
_saveDepthFrame = false;
depthFrame.ToBitmapSource().Save(DateTime.Now.ToString("yyyyMMddHHmmss") + "_depth.jpg", ImageFormat.Jpeg);
}
}
}
void RuntimeDepthFrameReady(AllFramesReadyEventArgs e)
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame == null)
{
return;
}
//turn raw data into array of distances
var depthArray = depthFrame.ToDepthArray();
//get image
DepthImage.Image = depthFrame.ToBitmap();
//get midpoint
MidPointDistanceViaGetDistanceText.Text = depthFrame.GetDistance(depthFrame.Width / 2, depthFrame.Height / 2).ToString();
//image
DepthImageWithMinDistance.Image = depthArray.ToBitmap(depthFrame.Width, depthFrame.Height, _minDistance, Color.FromArgb(255, 255, 0, 0));
if (_saveDepthFrame)
{
_saveDepthFrame = false;
depthFrame.ToBitmap().Save(DateTime.Now.ToString("yyyyMMddHHmmss") + "_depth.jpg", ImageFormat.Jpeg);
}
}
}
public void take1(object sender, EventArgs e)
{
if (running)
{
gray_image = My_Image.Convert <Gray, byte>();
//imageBox1.Image = gray_image;
//label2.Text = gray_image[100, 100].ToString();
//cImage = capture.QueryFrame().Resize(320, 240, Emgu.CV.CvEnum.INTER.CV_INTER_CUBIC);//capture immage
//gray_image1 = cImage.Convert<Gray, byte>();//convert yo gray
HaarCascade HaarCascadeXML = new HaarCascade("haarcascade_frontalface_alt2.xml");
//var faces = HaarCascadeXML.Detect(gray_image1);
MCvAvgComp[][] faces = (gray_image.DetectHaarCascade(
HaarCascadeXML,
1.3,
5,
Emgu.CV.CvEnum.HAAR_DETECTION_TYPE.DO_CANNY_PRUNING,
new Size(20, 20)));
int cnt = 0;
int dist = 0;
int distA = 0;
int dist1 = 0;
int i = 0;
Boolean fc = false;
if (disT)
{
foreach (MCvAvgComp face in faces[0])
{
dist = imageFrame.GetDistance((face.rect.X + (face.rect.Width / 2)) / 2, (face.rect.Y + (face.rect.Height / 2)) / 2);
if (i == 0)
{
dist1 = dist;
cnt = i;
}
else
{
if (dist1 > dist)
{
dist1 = dist;
cnt = i;
}
}
i++;
}
}
i = 0;
foreach (MCvAvgComp face in faces[0])
{
fc = true;
if (disT && cnt == i)
{
PointF center = new PointF((face.rect.X + (face.rect.Width / 2)), face.rect.Y + (face.rect.Height / 2));
posY = (face.rect.Y + (face.rect.Height / 2));
distA = imageFrame.GetDistance((face.rect.X + (face.rect.Width / 2)) / 2, (face.rect.Y + (face.rect.Height / 2)) / 2);
label1.Text = distA.ToString();
CircleF circle = new CircleF(center, 5);
My_Image.Draw(circle, new Bgr(255, double.MaxValue, 0), 1);
My_Image.Draw(face.rect, new Bgr(0, double.MaxValue, 255), 3);
PosX = (face.rect.X + (face.rect.Width / 2));
//label2.Text = PosX.ToString();
}
else
{
My_Image.Draw(face.rect, new Bgr(0, double.MaxValue, 0), 3);
}
i++;
}
if (fc == false)
{
posY = 160;
PosX = 320;
if (connectSp)
{
sp.WriteLine("s");
label2.Text = "s";
}
if (sensor.ElevationAngle != 0)
{
try
{
sensor.ElevationAngle = 0;
}
catch (System.Exception ex)
{
MessageBox.Show("faild to initiate");
}
}
}
else
{
if (sensor.ElevationAngle <= 25 && posY <= 130)
{
try
{
sensor.ElevationAngle += 2;
}
catch (System.Exception ex)
{
MessageBox.Show("faild to UP");
}
}
else if (sensor.ElevationAngle >= (-25) && posY >= 190)
{
try
{
sensor.ElevationAngle -= 2;
}
catch (System.Exception ex)
{
MessageBox.Show("faild to DOWN");
}
}
else
{
if (connectSp && PosX >= 360)
{
sp.WriteLine("l");
label2.Text = "L";
}
else if (connectSp && PosX <= 280)
{
sp.WriteLine("r");
label2.Text = "R";
}
else if (connectSp && PosX < 360 && PosX > 280)
{
if (distA > 0)
{
sp.WriteLine("f");
label2.Text = "F";
}
else
{
sp.WriteLine("s");
label2.Text = "S";
}
}
}
}
i = 0;
// label1.Text = imageFrame.GetDistance(imageFrame.Width / 2, imageFrame.Height / 2).ToString();
imageBox1.Image = My_Image;
// imageBox2.Image = cImage;
}
}
