private void imgToArray()
{
//this takes into consideration the maximum size of the robot canvas
//areas outside the robot canvas gets cropped as they are unreachable
ratioWidthToPx = GetImgWidth / Img.PixelWidth; //calculates the ratio between picture width in mm and number of pixels in width
ratioHeightToPx = GetImgHeight / Img.PixelHeight;
double usableImgWidth = GetImgWidth;
if (usableImgWidth - ImgMoveX > RobotWidth)
{
usableImgWidth = RobotWidth - ImgMoveX;
}
double usableImgHeight = GetImgHeight;
if (usableImgHeight - ImgMoveY > RobotHeight)
{
usableImgHeight = RobotHeight - ImgMoveY;
}
pxArrayWidth = (int)(usableImgWidth / ratioWidthToPx);
pxArrayHeight = (int)(usableImgHeight / ratioHeightToPx);
int blackPixelThreshold = 60;
pixelArray = new bool[pxArrayWidth, pxArrayHeight];
for (int x = 0; x < pxArrayWidth; x++)
{
for (int y = 0; y < pxArrayHeight; y++)
{
Color pixelColor = TempImg.GetPixel(x, y);
//Img.CopyPixels()
//if (pixelColor.R <= blackPixelThreshold && pixelColor.G <= blackPixelThreshold && pixelColor.B <= blackPixelThreshold)
if (pixelColor.R == pixelColor.G && pixelColor.R == pixelColor.B && pixelColor.R <= blackPixelThreshold)
{
pixelArray[x, y] = true; //true = black pixel
}
else
{
pixelArray[x, y] = false; //false = white pixel
}
}
}
}
private void ProcessFrame(object sender, EventArgs arg)
{
Image <Bgr, Byte> frame = capture.QueryFrame().Resize(CamImageBox.Width, CamImageBox.Height, Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR);
// ImageFrame = ImageFrame.ThresholdBinary(new Gray(150), new Gray(255));
// Convert the image to hsv
Image <Hsv, Byte> hsvFrame = frame.Convert <Hsv, Byte>();
Image <Gray, Byte>[] channels = hsvFrame.Split(); // split the hsv into components
Image <Gray, Byte> imgHue = channels[0];
Image <Gray, Byte> imgSat = channels[1];
Image <Gray, Byte> imgVal = channels[2];
// Link to trackbars and filter
Image <Gray, Byte> hueFilter = imgHue.InRange(new Gray(h_min), new Gray(h_max));
Image <Gray, Byte> satFilter = imgSat.InRange(new Gray(s_min), new Gray(s_max));
Image <Gray, Byte> valFilter = imgVal.InRange(new Gray(v_min), new Gray(v_max));
// Sum the images into one image
Image <Gray, Byte> combined = hueFilter.And(satFilter).And(valFilter).SmoothMedian(5);
// Display
CamImageBox.Image = frame;
imageBox3.Image = hueFilter.Resize(imageBox3.Width, imageBox3.Height, Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR);
imageBox4.Image = satFilter.Resize(imageBox4.Width, imageBox4.Height, Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR);
imageBox5.Image = valFilter.Resize(imageBox5.Width, imageBox4.Height, Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR);
imageBox2.Image = combined.Resize(imageBox2.Width, imageBox2.Height, Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR);
// Find the contour with the largest area
double max_area = 0;
Rectangle max_bounding_box = new Rectangle();
for (Contour <Point> contours = combined.FindContours(); contours != null; contours = contours.HNext)
{
if (contours.Area > max_area)
{
max_area = contours.Area;
max_bounding_box = contours.BoundingRectangle;
}
}
// Draw a bounding box on it
frame.Draw(max_bounding_box, new Bgr(Color.Red), 4);
combined.ROI = max_bounding_box;
// Display
imageBox1.Image = combined.Resize(imageBox1.Width, imageBox1.Height, Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR);
//imageBox1.Image = frame.Resize(imageBox1.Width, imageBox1.Height, Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR);
Image <Gray, Byte> TempImg; // temp image to get the black pixels
TempImg = combined; // assign the captured image
TempImg = TempImg.Resize(3, 5, Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR);
// Recognize digit
List <int> MyList;
MyList = new List <int>();
int k = 0;
// Get light pixels
for (int i = 0; i < 5; i++)
{
for (int j = 0; j < 3; j++)
{
if (TempImg.Data[i, j, 0] == 255)
{
MyList.Add(k);
}
k++;
}
}
// Convert to an array of integers
int[] results = MyList.ToArray <int>();
// Display Test
//AllocConsole();
//for (int i = 0; i < results.Length; i++)
// Console.Write(results[i] + " ");
//Console.WriteLine();
// Check match sequence in List and get index if match (index is the digit 0->9)
k = numbers.FindIndex(collection => collection.SequenceEqual(results));
// Display recognized number
this.label1.Text = k.ToString();
}
