//object tracking function
private void track(mark themarks, Mat threshold, Mat HsvImage, Image <Bgr, byte> Frame, DepthImagePixel[] depthPixels)
{
CvInvoke.PutText(Frame, "Tracking Started", new System.Drawing.Point(0, 50), FontFace.HersheyComplex, 1, new Bgr(0, 255, 0).MCvScalar, 2);
//create temporary image
Mat temp = new Mat();
threshold.CopyTo(temp);
List <mark> peices = new List <mark>();
bool objectfound = false;
//vectors for Findcontours
VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint();
//find contours of filtered image using openCV findContours function
CvInvoke.FindContours(temp, contours, null, RetrType.List, ChainApproxMethod.ChainApproxSimple);
int count = contours.Size;
for (int i = 0; i < count; i++)
{
//marks
mark peice = new mark();
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) > 400) //only consider contours with area greater than 400
{
if (approxContour.Size == 3) //The contour has 3 vertices, it is a triangle
{
System.Drawing.Point[] pts = approxContour.ToArray();
MCvMoments moments = CvInvoke.Moments(contours[i]);
double area = moments.M00;
//objectFound = true;
peice.setxpos(Convert.ToInt32(moments.M10 / area));
peice.setypos(Convert.ToInt32(moments.M01 / area));
//check to see what position the peice is in
for (int j = 0; j <= 2; j++)
{
for (int k = 0; k <= 2; k++)
{
//if its x position is within a half of square size pixels then boardx and y are
if (Math.Abs(gboard[j, k].getxpos() - peice.getxpos()) <= BOARD_SIZE / 2)
{
if (Math.Abs(gboard[j, k].getypos() - peice.getypos()) <= BOARD_SIZE / 2)
{
peice.setboardx(k);
peice.setboardy(j);
//Console.WriteLine(peice.getboardx());
//Console.WriteLine(peice.getboardx());
}
}
}
}
//set peice type to triangle (1)
peice.settype(1);
peices.Add(peice);
objectfound = true;
}
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;
System.Drawing.Point[] pts = approxContour.ToArray();
LineSegment2D[] edges = Emgu.CV.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)
{
MCvMoments moments = CvInvoke.Moments(contours[i]);
double area = moments.M00;
peice.setxpos(Convert.ToInt32(moments.M10 / area));
peice.setypos(Convert.ToInt32(moments.M01 / area));
//Console.WriteLine(peice.getxpos());
//Console.WriteLine(peice.getxpos());
//Console.WriteLine(peice.getypos());
//set peice board positions
for (int j = 0; j <= 2; j++)
{
for (int k = 0; k <= 2; k++)
{
//if its x position is within a half of square size pixels then boardx and y are
if (Math.Abs(gboard[j, k].getxpos() - peice.getxpos()) <= BOARD_SIZE / 2)
{
if (Math.Abs(gboard[j, k].getypos() - peice.getypos()) <= BOARD_SIZE / 2)
{
peice.setboardx(k);
peice.setboardy(j);
//Console.WriteLine(peice.getboardx());
}
}
}
}
//set peice type to square
peice.settype(2);
peices.Add(peice);
objectfound = true;
armtargetx = peice.getxpos();
armtargety = peice.getypos();
}
}
}
}
}
//Console.WriteLine(peices.ElementAt(1).getboardx());
if (objectfound)
{
//Drawingfunction to show peices
draw(peices, Frame);
//check to see if board state has changed after player locks in move
if (Lockin)
{
boardchange(peices);
}
depthfunction(peices, depthPixels);
}
if (turn)
{
//if its arms turn then figure out where to move
strategy();
}
//find depth values for returned targets
}
//When sensor is ready start stream and proces information
public void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
BitmapSource clrimg = null;
int Timeout = 0;
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
this.depthBitmap.WritePixels(
new Int32Rect(0, 0, this.depthBitmap.PixelWidth, this.depthBitmap.PixelHeight),
this.depthPixels,
this.depthBitmap.PixelWidth * sizeof(int),
0);
}
}
using (ColorImageFrame imageFrame = e.OpenColorImageFrame())
{
if (imageFrame != null)
{
imageFrame.CopyPixelDataTo(this.colorPixels);
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
clrimg = colorBitmap;
//convert image into something opencv can use
Image <Bgr, byte> Frame = new Image <Bgr, byte>(BitmapFromSource(clrimg));
mark marks = new mark();
//hsv image
Mat HsvImage = new Mat();
//threshold image for marks
Mat threshold = new Mat();
//threshold image for board
Mat threshold2 = new Mat();
//thresh image for peices
Mat threshold3 = new Mat();
//creating HsvImage
CvInvoke.CvtColor(Frame, HsvImage, ColorConversion.Bgr2Hsv);
//if user wants to calibrate mark button is pushed
if (markcalib)
{
CvInvoke.InRange(HsvImage, new ScalarArray(new MCvScalar(Trackbars.minhue, Trackbars.minsat, Trackbars.minval)), new ScalarArray(new MCvScalar(Trackbars.maxhue, Trackbars.maxsat, Trackbars.maxval)), threshold3);
morphOps(threshold3);
CvInvoke.Imshow("thresholdedImage3", threshold3);
mhmin = Trackbars.minhue; msmin = Trackbars.minsat; mvmin = Trackbars.minval;
mhmax = Trackbars.maxhue; msmax = Trackbars.maxsat; mvmax = Trackbars.maxval;
}
//once complete set mark hsv values
if (markcalibed)
{
markcalib = false;
CvInvoke.DestroyWindow("thresholdedImage3");
//Trackbars.Visible = false;
CvInvoke.InRange(HsvImage, new ScalarArray(new MCvScalar(bhmin, bsmin, bvmin)), new ScalarArray(new MCvScalar(bhmax, bsmax, bvmax)), threshold);
morphOps(threshold);
}
//preset markcalibration values
else
{
CvInvoke.InRange(HsvImage, new ScalarArray(new MCvScalar(165, 126, 38)), new ScalarArray(new MCvScalar(225, 223, 110)), threshold);
morphOps(threshold);
}
//if board calibrate button is pushed
if (boardcalib)
{
CvInvoke.InRange(HsvImage, new ScalarArray(new MCvScalar(Trackbars.minhue, Trackbars.minsat, Trackbars.minval)), new ScalarArray(new MCvScalar(Trackbars.maxhue, Trackbars.maxsat, Trackbars.maxval)), threshold2);
morphOps(threshold2);
bhmin = Trackbars.minhue; bsmin = Trackbars.minsat; bvmin = Trackbars.minval;
bhmax = Trackbars.maxhue; bsmax = Trackbars.maxsat; bvmax = Trackbars.maxval;
CvInvoke.Imshow("thresholdedImage2", threshold2);
}
//after calibration use calibrated values
if (boardcalibed)
{
boardcalib = false;
CvInvoke.DestroyWindow("thresholdedImage2");
CvInvoke.InRange(HsvImage, new ScalarArray(new MCvScalar(bhmin, bsmin, bvmin)), new ScalarArray(new MCvScalar(bhmax, bsmax, bvmax)), threshold2);
morphOps(threshold2);
}
//For board calibrate values manually
else
{
CvInvoke.InRange(HsvImage, new ScalarArray(new MCvScalar(94, 57, 66)), new ScalarArray(new MCvScalar(117, 172, 163)), threshold2);
morphOps(threshold2);
}
//find a gameboard
if (boardfind)
{
if (!boardfound)
{
findboard(threshold2, HsvImage, Frame);
}
}
if (tracking)
{
track(marks, threshold, HsvImage, Frame, depthPixels);
}
//Show startup box and do gamestart function
if (start)
{
StartupBox.Visible = true;
StartupBox.TopMost = true;
}
//convert to something we can use
//Image<Bgr, Byte> yeah = Mat.ToImage<Bgr, Byte>();
//Console.WriteLine(gboard[0,0].getxpos());
Image1.Image = Frame;
//show board/ peices when button clicked
if (showboard)
{
CvInvoke.Imshow("BoardThresholdedImage", threshold2);
}
if (showmarks)
{
CvInvoke.Imshow("MarksThresholdedImage", threshold);
}
//CvInvoke.InRange(openCv, new ScalarArray(new MCvScalar(0, 126, 116)), new ScalarArray(new MCvScalar(214, 256, 256)), threshold);
//CvInvoke.cvReleaseMat(ref IntPtr threshold2);
//CvInvoke.WaitKey(100);
}
//Timeout++;
//Destroy memory every x milliseconds
//if (Timeout == 3000)
//{
// CvInvoke.DestroyAllWindows();
// Timeout = 0;
//}
}
}
