//Filter to find red
private Bitmap redF(Bitmap image)
{
//Create Filter and set value ranges
AForge.Imaging.Filters.HSLFiltering filter = new AForge.Imaging.Filters.HSLFiltering();
filter.Hue = new AForge.IntRange(350, 25);
filter.Saturation = new AForge.Range(0.5f, 1);
filter.Luminance = new AForge.Range(0.15f, 1);
filter.ApplyInPlace(image);
//Create a blob counter to search through the image
AForge.Imaging.BlobCounter extractor = new AForge.Imaging.BlobCounter();
extractor.MinHeight = 5;
extractor.MinWidth = 5;
extractor.FilterBlobs = true;
extractor.ProcessImage(image);
//Gets the rectangles so that we can draw around them
Rectangle[] rects = extractor.GetObjectsRectangles();
if (rects.Length > 0)
{
Rectangle objectRect = rects[0];
Graphics g = Graphics.FromImage(image);
using (Pen pen = new Pen(Color.FromArgb(160, 255, 160), 2))
{
g.DrawRectangle(pen, objectRect);
}
g.Dispose();
//Get the direction and change state.
objDirectionRed(objectRect, image.Width);
currentState = RoboState.FOLLOW_RED;
}
return(image);
}
private Bitmap blueF(Bitmap image)
{
//Create Filter and set value ranges
AForge.Imaging.Filters.HSLFiltering filter = new AForge.Imaging.Filters.HSLFiltering();
filter.Hue = new AForge.IntRange(200, 240);
filter.Saturation = new AForge.Range(0.3f, 1);
filter.Luminance = new AForge.Range(0.1f, 1);
filter.ApplyInPlace(image);
AForge.Imaging.BlobCounter extractor = new AForge.Imaging.BlobCounter();
extractor.MinHeight = 5;
extractor.MinWidth = 5;
extractor.FilterBlobs = true;
extractor.ProcessImage(image);
//Create a blob counter to search through the image
Rectangle[] rects = extractor.GetObjectsRectangles();
if (rects.Length > 0)
{
Rectangle objectRect = rects[0];
Graphics g = Graphics.FromImage(image);
using (Pen pen = new Pen(Color.FromArgb(160, 255, 160), 2))
{
g.DrawRectangle(pen, objectRect);
}
g.Dispose();
//Get the direction and change state.
if (currentState != RoboState.FOLLOW_RED && currentState != RoboState.FOLLOW_GREEN)
{
currentState = RoboState.SEARCH;
}
}
return(image);
}
void videoPlayer_NewFrame(object sender, ref System.Drawing.Bitmap image)
{
//do something, we got a new frame from the video source.
lock (this)
{
if (bIsMotionDetectionOn)
{
if (motionDetector != null)
{
float motionLevel = motionDetector.ProcessFrame(image);
}
}
if (bIsColorFilteringOn)
{
//try filtering for a color
AForge.Imaging.Filters.HSLFiltering hslFilter = new AForge.Imaging.Filters.HSLFiltering();
// set color ranges to keep
if (this.userhslFilter != null)
{
//hslFilter = this.userhslFilter;
// apply the filter
//hslFilter.ApplyInPlace(image);
hslFilter.Hue = new IntRange(335, 0);//335,0 = nice saturated red
//hslFilter.Hue = new IntRange(45, 65);//yellow
//hslFilter.Hue = new IntRange(170, 190);//light blue
//hslFilter.Saturation = new DoubleRange(0.5, 1);
hslFilter.Saturation = new DoubleRange(0.5, 1).ToIntRange(false);
//hslFilter.Luminance = new DoubleRange(0.1, 1);
hslFilter.Luminance = new DoubleRange(0.1, 1).ToIntRange(false);
hslFilter.ApplyInPlace(image);
/*
* hslFilter.Hue.Max = Convert.ToInt32(selectedColor.GetHue());
* hslFilter.Hue.Min = Convert.ToInt32(selectedColor.GetHue());
* hslFilter.Luminance.Max = Convert.ToDouble(selectedColor.GetBrightness());
* hslFilter.Luminance.Min = 0.01;
* hslFilter.Saturation.Max = Convert.ToDouble(selectedColor.GetSaturation());
* hslFilter.Saturation.Min = 0.01;
*/
/*
* AForge.Imaging.Filters.ColorFiltering colorFiltering = new AForge.Imaging.Filters.ColorFiltering();
* colorFiltering.Red = new IntRange(150,255);
* colorFiltering.Green = new IntRange(0, 70);
* colorFiltering.Blue = new IntRange(0, 70);
* colorFiltering.ApplyInPlace(image);
*/
/*
* AForge.Imaging.Filters.EuclideanColorFiltering euclidClrFltr = new AForge.Imaging.Filters.EuclideanColorFiltering();
* //euclidClrFltr.CenterColor = Color.FromArgb(200, 0, 0);
* euclidClrFltr.CenterColor = Color.Empty;
* euclidClrFltr.CenterColor = Color.FromName(selectedColor.Name);
* euclidClrFltr.Radius = 100;
* euclidClrFltr.ApplyInPlace(image);
* */
}
}
if (this.bIsBlobCountingOn)
{
//grayscale the filtered image.
AForge.Imaging.Filters.Grayscale grayscaling = new AForge.Imaging.Filters.Grayscale(
0.2125, 0.7154, 0.0721);
image = grayscaling.Apply(image);
//blob detection
ProcessBlobs(image);
}
}
}
Bitmap RemoveGreenBackground(Bitmap image)
{
AForge.Imaging.Filters.HSLFiltering filter = new AForge.Imaging.Filters.HSLFiltering();
if (Hue == 0)
{
filter.UpdateHue = false;
}
else
{
filter.Hue = new AForge.IntRange(Hue, 0);
}
if (Saturation == 0)
{
filter.UpdateSaturation = false;
}
else
{
filter.Saturation = new AForge.Range((float)Saturation, 1);
}
if (Luminance == 0)
{
filter.UpdateLuminance = false;
}
else
{
filter.Luminance = new AForge.Range(Luminance, 1);
}
//image = ResizeBitmap(image, 1620, 1080);
Bitmap bmp = new Bitmap(image);
filter.ApplyInPlace(bmp);
Bitmap output = new Bitmap(bmp.Width, bmp.Height);
// Iterate over all piels from top to bottom...
for (int y = 0; y < output.Height; y++)
{
// ...and from left to right
for (int x = 0; x < output.Width; x++)
{
// Determine the pixel color
Color camColor = bmp.GetPixel(x, y);
// Every component (red, green, and blue) can have a value from 0 to 255, so determine the extremes
byte max = Math.Max(Math.Max(camColor.R, camColor.G), camColor.B);
byte min = Math.Min(Math.Min(camColor.R, camColor.G), camColor.B);
// Should the pixel be masked/replaced?
bool replace =
camColor.G != min && // green is not the smallest value
(camColor.G == max || // green is the biggest value
max - camColor.G < 2) && // or at least almost the biggest value
(max - min) > 40; // minimum difference between smallest/biggest value (avoid grays)
if (replace)
{
camColor = Color.Transparent;
}
// Set the output pixel
output.SetPixel(x, y, camColor);
}
}
output = TrimBitmap(output);
return(output);
}