public static BitmapSource DetectObject(DepthImageFrame depthFrame, double firstGray, double secGray, double sliderMinSize, double sliderMaxSize)
{
BitmapSource depthBmp = depthFrame.SliceDepthImage(300, 1100);
Image <Bgr, Byte> openCVImg = new Image <Bgr, byte>(depthBmp.ToBitmap());
Image <Gray, byte> gray_image = openCVImg.Convert <Gray, byte>().PyrDown().PyrUp();
Image <Gray, Byte> cannyEdges = gray_image.Canny(firstGray, secGray);
using (MemStorage stor = new MemStorage())
{
//Find contours with no holes try CV_RETR_EXTERNAL to find holes
Contour <System.Drawing.Point> contours = cannyEdges.FindContours(
Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE,
Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_EXTERNAL,
stor);
for (int i = 0; contours != null; contours = contours.HNext)
{
i++;
if (contours.Area > sliderMinSize && contours.Area < sliderMaxSize)
{
MCvBox2D box = contours.GetMinAreaRect();
openCVImg.Draw(box, new Bgr(System.Drawing.Color.Red), 2);
}
}
}
return(ToBitmapSource(openCVImg));
}
private void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
BitmapSource depthBmp = null;
blobCount = 0;
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
blobCount = 0;
depthBmp = depthFrame.SliceDepthImage((int)sliderMin.Value, (int)sliderMax.Value);
Image <Bgr, Byte> openCVImg = new Image <Bgr, byte>(depthBmp.ToBitmap());
Image <Gray, byte> gray_image = openCVImg.Convert <Gray, byte>();
using (MemStorage stor = new MemStorage())
{
//Find contours with no holes try CV_RETR_EXTERNAL to find holes
Contour <System.Drawing.Point> contours = gray_image.FindContours(
Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE,
Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_EXTERNAL,
stor);
for (int i = 0; contours != null; contours = contours.HNext)
{
i++;
if ((contours.Area > Math.Pow(sliderMinSize.Value, 2)) && (contours.Area < Math.Pow(sliderMaxSize.Value, 2)))
{
MCvBox2D box = contours.GetMinAreaRect();
openCVImg.Draw(box, new Bgr(System.Drawing.Color.Red), 2);
blobCount++;
}
}
}
this.outImg.Source = ImageHelpers.ToBitmapSource(openCVImg);
txtBlobCount.Text = blobCount.ToString();
}
}
if (colorFrame != null)
{
colorFrame.CopyPixelDataTo(this.colorPixels);
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
}
}
}
private void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
BitmapSource depthBmp = null;
blobCount = 0;
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
blobCount = 0;
depthBmp = depthFrame.SliceDepthImage((int)sliderMin.Value, (int)sliderMax.Value);
Image <Bgr, Byte> openCVImg = new Image <Bgr, byte>(depthBmp.ToBitmap());
Image <Gray, byte> gray_image = openCVImg.Convert <Gray, byte>();
//Find contours
using (VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint())
{
CvInvoke.FindContours(gray_image, contours, new Mat(), Emgu.CV.CvEnum.RetrType.List, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxSimple);
for (int i = 0; i < contours.Size; i++)
{
VectorOfPoint contour = contours[i];
double area = CvInvoke.ContourArea(contour, false);
if ((area > Math.Pow(sliderMinSize.Value, 2)) && (area < Math.Pow(sliderMaxSize.Value, 2)))
{
System.Drawing.Rectangle box = CvInvoke.BoundingRectangle(contour);
openCVImg.Draw(box, new Bgr(System.Drawing.Color.Red), 2);
blobCount++;
}
}
}
this.outImg.Source = ImageHelpers.ToBitmapSource(openCVImg);
txtBlobCount.Text = blobCount.ToString();
}
}
if (colorFrame != null)
{
colorFrame.CopyPixelDataTo(this.colorPixels);
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
}
}
}
private void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
//TODO Keep the previous frame image as well,
//Compare both on a background process and save it to the worksheet
//Convert x&y differences to millimeters according to depth data (distance)
//and some trigonometry
BitmapSource depthBmp = null;
blobCount = 0;
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
blobCount = 0;
depthBmp = depthFrame.SliceDepthImage((int)sliderMin.Value, (int)sliderMax.Value);
Image <Bgr, Byte> openCVImg = new Image <Bgr, byte>(depthBmp.ToBitmap());
Image <Gray, byte> gray_image = openCVImg.Convert <Gray, byte>();
if (running)
{
wsheet.Cells[1, frameCount + 1].Value = "Frame " + frameCount;
frameCount++;
using (MemStorage stor = new MemStorage())
{
//Find contours with no holes try CV_RETR_EXTERNAL to find holes
Contour <System.Drawing.Point> contours = gray_image.FindContours(
Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE,
Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_EXTERNAL,
stor);
//Conversion of depthPixels to skeletonPoints which contain all three dimensions in meters.
//The conversion and copying is assumed to be costly but there are no single pixel to single point conversion I could find.
depthFrame.CopyDepthImagePixelDataTo(depthPixels);
//mapper.MapDepthFrameToSkeletonFrame(depthFormat, depthPixels, skeletonPoints);
for (int i = 0; contours != null; contours = contours.HNext)
{
i++;
if ((contours.Area > Math.Pow(sliderMinSize.Value, 2)) && (contours.Area < Math.Pow(sliderMaxSize.Value, 2)))
{
MCvBox2D box = contours.GetMinAreaRect();
//DrQ RED BOX AROUND BLOB
openCVImg.Draw(box, new Bgr(System.Drawing.Color.Red), 2);
blobCount++;
int x = (int)box.center.X;
int y = (int)box.center.Y;
DepthImagePoint p = new DepthImagePoint();
p.X = x;
p.Y = y;
p.Depth = depthPixels[x + 640 * y].Depth;
SkeletonPoint s = mapper.MapDepthPointToSkeletonPoint(depthFormat, p);
//TODO Conversion from absolute coordinates to relative coordinates
addCoordData(3 * blobCount - 1, frameCount, s.X, s.Y, s.Z);
/*if (KinectSensor.IsKnownPoint(s))
* {
* addCoordData(3 * blobCount - 1, frameCount, s.X, s.Y, s.Z);
* }*/
}
}
}
}
this.outImg.Source = ImageHelpers.ToBitmapSource(openCVImg);
txtBlobCount.Text = blobCount.ToString();
getNext().RunWorkerAsync(openCVImg);
}
}
if (colorFrame != null)
{
colorFrame.CopyPixelDataTo(this.colorPixels);
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
}
}
}
