public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
}
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var frame = new Mat())
{
CameraCapture.Retrieve(frame);
var inputImage = frame.ToImage <Bgr, byte>();
if (radTrackingApi.Checked)
{
inputImage = DoTrackingApi(frame, inputImage);
}
else if (radCamshift.Checked)
{
var output = DoCamShift(frame, inputImage);
imageBoxProcessed.Image = output.BackProjection;
}
if (!_imageBoxSelector.SeedingRectangle.IsEmpty)
{
inputImage.Draw(_imageBoxSelector.SeedingRectangle, new Bgr(Color.Chartreuse));
}
imageBoxTracking.Image = inputImage;
}
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
if (_transmitTask == null || _transmitTask.IsCompleted)
{
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
var bgrImage = matCaptured.ToImage <Bgr, byte>();
WriteText(bgrImage, 30, DateTime.Now.ToString("HH:mm:ss tt"));
imageBoxCaptured.Image = bgrImage;
IImageTransmitter transmitter = null;
if (radBsonImage.Checked)
{
transmitter = _imageTransmitter;
}
if (radBsonJpeg.Checked)
{
transmitter = _jpegTransmitter;
}
if (transmitter != null)
{
_transmitTask = transmitter.Transmit(bgrImage);
}
}
}
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
var frame = new Mat();
CameraCapture.Retrieve(frame);
var grayFrame = new Mat();
CvInvoke.CvtColor(frame, grayFrame, ColorConversion.Bgr2Gray);
var smallGrayFrame = new Mat();
CvInvoke.PyrDown(grayFrame, smallGrayFrame);
var smoothedGrayFrame = new Mat();
CvInvoke.PyrUp(smallGrayFrame, smoothedGrayFrame);
var cannyFrame = new Mat();
CvInvoke.Canny(smoothedGrayFrame, cannyFrame, 100, 60);
imageBoxCaptured.Image = frame;
imageBoxGray.Image = grayFrame;
imageBoxSmoothedGray.Image = smoothedGrayFrame;
imageBoxCanny.Image = cannyFrame;
NotifyStatus(string.Empty);
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var matCaptured = new Mat())
{
var retrieveElapsed = Stopwatch.StartNew();
CameraCapture.Retrieve(matCaptured);
retrieveElapsed.Stop();
if (_readyRectangle.IsEmpty)
{
_detectorInput.ErodeDilateIterations = (int)spinDilateIterations.Value;
_detectorInput.Settings.Roi = GetRegionOfInterestFromControls();
_detectorInput.Captured = matCaptured;
var output = _colorDetector.Process(_detectorInput);
DrawReticle(output.CapturedImage, output.CentralPoint.ToPoint(), Color.Aqua);
if (output.IsDetected)
{
var radius = 50;
var circle = new CircleF(output.CentralPoint, radius);
var color = new Bgr(Color.Yellow);
output.CapturedImage.Draw(circle, color, 3);
var ballTextLocation = output.CentralPoint.ToPoint();
ballTextLocation.X += radius;
// output.CapturedImage.Draw("ball", ballTextLocation, FontFace.HersheyPlain, 3, color);
}
if (checkBoxRoi.Checked)
{
output.CapturedImage.Draw(_detectorInput.Settings.Roi, Color.Green.ToBgr(), 3);
}
if (!_imageBoxSelector.SeedingRectangle.IsEmpty)
{
output.CapturedImage.Draw(_imageBoxSelector.SeedingRectangle, new Bgr(Color.Chartreuse));
}
imageBoxCaptured.Image = output.CapturedImage;
imageBoxFiltered.Image = output.ThresholdImage;
NotifyStatus(
"Retrieved frame in {0}, {1}"
, retrieveElapsed.Elapsed.ToHumanReadable(HumanReadableTimeSpanOptions.Abbreviated)
, output);
}
else
{
DoAutoThresholding(matCaptured);
}
ResizeImageControls();
}
}
private Image <Bgr, byte> PullImage()
{
Image <Bgr, byte> output;
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
output = matCaptured.ToImage <Bgr, byte>();
WriteText(output, 30, DateTime.Now.ToString(TimeFormat));
imageBoxCaptured.Image = output;
}
return(output);
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
var input = new CascadeDetectorInput {
Captured = matCaptured
};
var result = _detector.Process(input);
if (result.IsDetected)
{
Log.Info(m => m("{0}", result));
}
}
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
if (_transmitTask == null || _transmitTask.IsCompleted)
{
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
var bgrImage = matCaptured.ToImage <Bgr, byte>();
WriteText(bgrImage, 30, DateTime.Now.ToString("HH:mm:ss tt"));
imageBoxCaptured.Image = bgrImage;
_transmitTask = _bsonPoster.Transmit(bgrImage);
}
}
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var frame = new Mat())
{
CameraCapture.Retrieve(frame);
var input = new MotionDetectorInput();
var inputImage = frame.ToImage <Bgr, byte>();
input.Captured = frame;
input.Settings = _currentSettings;
var output = _motionDetector.Process(input);
var bgrRed = new Bgr(Color.Red);
var bgrBlue = new Bgr(Color.Blue);
foreach (var motionRegion in output.MotionSections)
{
var text = string.Format("A={0}, M={1}", motionRegion.Area, motionRegion.PixelsInMotionCount);
inputImage.Draw(motionRegion.Region, bgrRed);
if (chkRectangleStats.Checked)
{
inputImage.Draw(text, motionRegion.Region.Location, Emgu.CV.CvEnum.FontFace.HersheyComplexSmall, .8, bgrRed);
}
DrawMotion(output.MotionImage, motionRegion.Region, motionRegion.Angle, bgrRed);
}
DrawMotion(output.MotionImage, new Rectangle(Point.Empty, output.MotionImage.Size), output.OverallAngle, new Bgr(Color.Green));
if (output.BiggestMotion != null)
{
var motion = output.BiggestMotion;
inputImage.Draw(motion.Region, bgrBlue);
}
imageBoxCaptured.Image = inputImage;
imageBoxMasked.Image = output.ForegroundImage;
imageBoxMotion.Image = output.MotionImage;
NotifyStatus(
"Motion detection took {0}. {1} motions, {2} over all pixel count"
, output.Elapsed.ToHumanReadable()
, output.MotionSections.Count
, output.OverallMotionPixelCount);
}
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
var input = new CascadeDetectorInput {
Captured = matCaptured
};
var result = _detector.Process(input);
var image = matCaptured.ToImage <Bgr, byte>();
foreach (Rectangle item in result.Objects)
{
image.Draw(item, new Bgr(Color.Blue), 2);
}
imageBoxCaptured.Image = image;
}
}
private void InternalImageGrabbedHandler(object sender, EventArgs e)
{
FpsTracker.NotifyImageGrabbed(sender, e);
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
var input = new CameraProcessInput();
input.Captured = matCaptured;
input.SetCapturedImage = false;
var output = _controller.Process(input);
Screen.BeginRepaint();
Screen.WriteLine("Processing time: {0:N0}ms", output.Elapsed.TotalMilliseconds);
Screen.WriteLine("Servo Settle Time: {0:N0}ms (Key 1=up, 2=down)", _controller.ServoSettleTime.TotalMilliseconds);
Screen.WriteLine("Pan Tilt Before: {0}", output.PanTiltPrior);
Screen.WriteLine("Pan Tilt After : {0}", output.PanTiltNow);
Screen.WriteLine("Target: {0}", output.Target);
}
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
var detector = new ColourDetector();
var input = new ColourDetectorInput
{
Captured = matCaptured
, Settings = Settings
, SetCapturedImage = false
};
var result = detector.Process(input);
if (result.IsDetected)
{
Log.Info(result);
}
}
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var frame = new Mat())
{
CameraCapture.Retrieve(frame);
var input = new FaceDetectorInput();
input.Captured = frame;
input.DetectEyes = chkDetectEyes.Checked;
var result = _faceDetector.Process(input);
var imageBgr = result.CapturedImage;
IImage imageOut = imageBgr;
if (chkRectangles.Checked)
{
foreach (var face in result.Faces)
{
imageBgr.Draw(face.Region, new Bgr(Color.Red), 2);
var eyeCount = 0;
foreach (Rectangle eye in face.Eyes)
{
eyeCount++;
imageBgr.Draw(eye, new Bgr(Color.Blue), 2);
imageBgr.Draw(eyeCount.ToString(), eye.Location, FontFace.HersheyComplexSmall, 2, new Bgr(Color.Blue));
}
}
}
if (chkSunnies.Checked && result.Faces.Count > 0)
{
imageOut = WearSunnies(imageBgr, result.Faces[0].Eyes);
}
imageBox.Image = imageOut;
NotifyStatus("Face detection took {0}", result.Elapsed.ToHumanReadable());
}
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
var input = new ColourDetectorInput
{
Captured = matCaptured
, Settings = Settings
, SetCapturedImage = false
};
var result = _detector.Process(input);
if (result.IsDetected)
{
if (!_objectCurrentlyDetected)
{
_debounceWatch.Start();
_objectCurrentlyDetected = true;
}
SweeperToRed();
Log.Info(m => m("Red detected! {0}", result));
}
else
{
var isInDebouncePeriod = _debounceWatch.IsRunning && _debounceWatch.ElapsedMilliseconds < 800;
if (_objectCurrentlyDetected && !isInDebouncePeriod)
{
_debounceWatch.Reset();
Log.Info(m => m("Red gone"));
SweeperToGreen();
_objectCurrentlyDetected = false;
}
}
}
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var inputFrame = new Mat())
{
if (!CameraCapture.Retrieve(inputFrame))
{
return;
}
using (var smoothedGrayFrame = new Mat())
using (var smallGrayFrame = new Mat())
using (var cannyFrame = new Mat())
using (var grayFrame = new Mat())
{
if (inputFrame.NumberOfChannels > 1)
{
CvInvoke.CvtColor(inputFrame, grayFrame, ColorConversion.Bgr2Gray);
imageBoxCaptured.Image = inputFrame.ToImage <Bgra, byte>();
}
else
{
imageBoxCaptured.Image = inputFrame.ToImage <Gray, byte>();
inputFrame.CopyTo(grayFrame);
}
CvInvoke.PyrDown(grayFrame, smallGrayFrame);
CvInvoke.PyrUp(smallGrayFrame, smoothedGrayFrame);
CvInvoke.Canny(smoothedGrayFrame, cannyFrame, 100, 60);
imageBoxGray.Image = grayFrame.ToImage <Gray, byte>();
imageBoxSmoothedGray.Image = smoothedGrayFrame.ToImage <Gray, byte>();
imageBoxCanny.Image = cannyFrame.ToImage <Gray, byte>();
}
}
NotifyStatus(string.Empty);
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
var grayImage = matCaptured.ToImage <Gray, byte>();
#region circle detection
var watch = Stopwatch.StartNew();
double cannyThreshold = 180.0;
double circleAccumulatorThreshold = 120;
CircleF[] circles = CvInvoke.HoughCircles(
grayImage
, HoughType.Gradient
, 2.0
, 40.0
, cannyThreshold
, circleAccumulatorThreshold
, 5);
watch.Stop();
NotifyStatus("{0} Hough circles in {1}; ", circles.Length, watch.Elapsed.ToHumanReadable());
#endregion
#region draw circles
var circleImage = matCaptured.ToImage <Bgr, byte>();
foreach (CircleF circle in circles)
{
circleImage.Draw(circle, new Bgr(Color.Green), 10);
}
#endregion
imageBoxCaptured.Image = circleImage;
}
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var matCaptured = new Mat())
{
var retrieveElapsed = Stopwatch.StartNew();
CameraCapture.Retrieve(matCaptured);
retrieveElapsed.Stop();
ResizeImageControls(matCaptured);
_detectorInput.Settings.Roi = GetRegionOfInterestFromControls();
_detectorInput.Captured = matCaptured;
var output = _colorDetector.Process(_detectorInput);
if (output.IsDetected)
{
var radius = 50;
var circle = new CircleF(output.CentralPoint, radius);
var color = new Bgr(Color.Yellow);
output.CapturedImage.Draw(circle, color, 3);
var ballTextLocation = output.CentralPoint.ToPoint();
ballTextLocation.X += radius;
// output.CapturedImage.Draw("ball", ballTextLocation, FontFace.HersheyPlain, 3, color);
}
if (checkBoxRoi.Checked)
{
output.CapturedImage.Draw(_detectorInput.Settings.Roi, Color.Green.ToBgr());
}
//#region circle detection
//var watch = Stopwatch.StartNew();
//double cannyThreshold = 180.0;
//double circleAccumulatorThreshold = 120;
//CircleF[] circles = CvInvoke.HoughCircles(
// thresholdImage
// , HoughType.Gradient
// , 2.0
// , 20.0
// , cannyThreshold
// , circleAccumulatorThreshold
// , 5);
//watch.Stop();
//NotifyStatus("Hough circles - {0} ms; ", watch.ElapsedMilliseconds);
//#endregion
//#region draw circles
//var circleImage = matCaptured.ToImage<Bgr, byte>();
//foreach (CircleF circle in circles)
//{
// circleImage.Draw(circle, new Bgr(Color.Brown), 2);
//}
//#endregion
imageBoxCaptured.Image = output.CapturedImage;
imageBoxFiltered.Image = output.ThresholdImage;
NotifyStatus(
"Retrieved frame in {0}, {1}"
, retrieveElapsed.Elapsed.ToHumanReadable(HumanReadableTimeSpanOptions.Abbreviated)
, output);
}
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
if (_calibrationInProgress)
{
return;
}
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
var statusAccumulation = new StringBuilder();
var bgrImage = matCaptured.ToImage <Bgr, byte>();
DrawReticle(bgrImage, _centre, Color.Red);
if (UserReticle != null)
{
DrawReticle(bgrImage, UserReticle.Value, Color.Green);
}
var input = new CameraProcessInput();
input.SetCapturedImage = true;
input.Captured = matCaptured;
CameraPanTiltProcessOutput output = null;
if (chkBoxColourTracking.Checked)
{
var result = _colourTrackingController.Process(input);
output = result;
if (result.IsDetected)
{
DrawReticle(bgrImage, result.Target, Color.Yellow);
}
imageBoxFiltered.Image = result.ThresholdImage;
statusAccumulation.AppendFormat("{0} moment area", result.MomentArea);
// WriteText(bgrImage, _captureConfig.Resolution.Height - 10, "Colour Tracking");
}
if (chkBoxFaceTracker.Checked)
{
// WriteText(bgrImage, _captureConfig.Resolution.Height - 50, "Face Tracking");
var result = _faceTrackingController.Process(input);
output = result;
if (result.IsDetected)
{
foreach (var face in result.Faces)
{
bgrImage.Draw(face.Region, new Bgr(Color.Yellow), 2);
}
DrawReticle(bgrImage, result.Target, Color.Yellow);
}
statusAccumulation.AppendFormat("{0} faces detected", result.Faces.Count);
}
if (chkBoxMotionTracking.Checked)
{
// WriteText(bgrImage, _captureConfig.Resolution.Height - 75, "Motion Tracking");
var result = _motionTrackingController.Process(input);
output = result;
if (result.IsDetected)
{
foreach (var motionSection in result.MotionSections)
{
bgrImage.Draw(motionSection.Region, new Bgr(Color.Green));
}
if (result.TargetedMotion != null)
{
bgrImage.Draw(result.TargetedMotion.Region, new Bgr(Color.Red), 2);
}
}
statusAccumulation.AppendFormat("{0} motions", result.MotionSections.Count);
imageBoxFiltered.Image = result.ForegroundImage;
}
if (chkMultimode.Checked)
{
var multimodeOutput = _multimodePanTiltController.Process(input);
output = multimodeOutput;
if (output.Target != Point.Empty)
{
DrawReticle(bgrImage, output.Target, Color.Yellow);
}
}
if (output != null)
{
if (output.IsServoInMotion)
{
statusAccumulation.AppendFormat(", Waiting for servo");
}
else
{
statusAccumulation.AppendFormat(", tracking took {0}", output.Elapsed.ToHumanReadable());
}
NotifyStatus(statusAccumulation.ToString());
}
imageBoxCaptured.Image = bgrImage;
}
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var frame = new Mat())
{
CameraCapture.Retrieve(frame);
var input = new FaceDetectorInput();
input.Captured = frame;
input.DetectEyes = chkDetectEyes.Checked;
input.ClassifierParams = _classiferParams;
var result = _faceDetector.Process(input);
var imageBgr = result.CapturedImage;
if (chkRectangles.Checked)
{
foreach (var face in result.Faces)
{
var rectangleColor = new Bgr(Color.Red);
imageBgr.Draw(face.Region, rectangleColor, 2);
if (chkShowRectDimensions.Checked)
{
imageBgr.Draw(
string.Format("{0}x{1}", face.Region.Width, face.Region.Height)
, face.Region.Location
, FontFace.HersheyComplexSmall
, 2
, rectangleColor);
}
var eyeCount = 0;
foreach (Rectangle eye in face.Eyes)
{
eyeCount++;
imageBgr.Draw(eye, new Bgr(Color.Blue), 2);
imageBgr.Draw(eyeCount.ToString(), eye.Location, FontFace.HersheyComplexSmall, 2, new Bgr(Color.Blue));
}
}
}
var inputBgra = imageBgr.Mat.ToImage <Bgra, byte>();
Image <Bgra, byte> output = inputBgra;
result.Faces.ForEach(f =>
{
if (chkSunnies.Checked)
{
output = WearSunnies2(output, f);
}
if (chkHat.Checked)
{
output = WearHat(output, f);
}
});
imageBox.Image = output;
NotifyStatus("Face detection took {0}", result.Elapsed.ToHumanReadable());
}
}