void controller_HeadMove(object sender, HeadEventArgs e)
{
if (controller == null || controller.Tracker == null)
{
return;
}
if (backproj)
{
try
{
Camshift camshift = controller.Tracker as Camshift;
Bitmap backprojection = camshift.GetBackprojection(
PixelFormat.Format24bppRgb, camshift.TrackingObject.Rectangle);
if (parent.faceForm != null && !parent.faceForm.IsDisposed)
{
MatchingTracker matching = parent.faceForm.faceController.Tracker as MatchingTracker;
marker.Rectangles = new[] { matching.TrackingObject.Rectangle };
marker.ApplyInPlace(backprojection);
}
pictureBox.Image = backprojection;
}
catch
{
pictureBox.Image = null;
}
}
}
private Bitmap FaceFind(Bitmap bmpBitmap)
{
HaarObjectDetector faceDetector = new HaarObjectDetector(new FaceHaarCascade(), minSize: 300, searchMode: ObjectDetectorSearchMode.Single);
RectanglesMarker faceMarker = new RectanglesMarker(Color.Red)
{
Rectangles = faceDetector.ProcessFrame(bmpBitmap)
};
faceMarker.ApplyInPlace(bmpBitmap);
return(bmpBitmap);
}
private Bitmap Detecting(Bitmap _bitmap)
{
UnmanagedImage im = UnmanagedImage.FromManagedImage(_bitmap);
float xscale = im.Width / 160f;
float yscale = im.Height / 120f;
ResizeNearestNeighbor resize = new ResizeNearestNeighbor(160, 120);
UnmanagedImage downsample = resize.Apply(im);
Rectangle[] regions = detector.ProcessFrame(downsample);
if (regions.Length > 0)
{
tracker.Reset();
// Reduce the face size to avoid tracking background
Rectangle window = new Rectangle(
(int)((regions[0].X + regions[0].Width / 2f) * xscale),
(int)((regions[0].Y + regions[0].Height / 2f) * yscale),
1, 1);
window.Inflate(
(int)(0.2f * regions[0].Width * xscale),
(int)(0.4f * regions[0].Height * yscale));
this.FaceTracked = window;
// Initialize tracker
tracker.SearchWindow = window;
tracker.ProcessFrame(im);
marker = new RectanglesMarker(window);
marker.ApplyInPlace(im);
// (Bitmap) Helpers.BitmapHelper.ByteArrayToImage(Helpers.RijndaelHelper.EncryptBytes(Helpers.BitmapHelper.ImageToByte(im.ToManagedImage()), "fzafa", "afzd"))
this.isTracking = true;
return(im.ToManagedImage());
}
else
{
this.isDetecting = false;
return(_bitmap);
}
}
private Bitmap Tracking(Bitmap _bitmap)
{
UnmanagedImage im = UnmanagedImage.FromManagedImage(_bitmap);
// Track the object
tracker.ProcessFrame(im);
// Get the object position
var obj = tracker.TrackingObject;
this.FaceTracked = obj.Rectangle;
marker = new RectanglesMarker(obj.Rectangle);
if (marker != null)
{
marker.ApplyInPlace(im);
}
return(im.ToManagedImage());
}
// New frame received by the player
private void videoSourcePlayer_NewFrame(object sender, ref Bitmap image)
{
if (!detecting && !tracking)
{
return;
}
lock (this)
{
if (detecting)
{
detecting = false;
tracking = false;
UnmanagedImage im = UnmanagedImage.FromManagedImage(image);
float xscale = image.Width / 160f;
float yscale = image.Height / 120f;
ResizeNearestNeighbor resize = new ResizeNearestNeighbor(160, 120);
UnmanagedImage downsample = resize.Apply(im);
Rectangle[] regions = detector.ProcessFrame(downsample);
if (regions.Length > 0)
{
tracker.Reset();
// Will track the first face found
Rectangle face = regions[0];
// Reduce the face size to avoid tracking background
Rectangle window = new Rectangle(
(int)((regions[0].X + regions[0].Width / 2f) * xscale),
(int)((regions[0].Y + regions[0].Height / 2f) * yscale),
1, 1);
window.Inflate(
(int)(0.2f * regions[0].Width * xscale),
(int)(0.4f * regions[0].Height * yscale));
// Initialize tracker
tracker.SearchWindow = window;
tracker.ProcessFrame(im);
marker = new RectanglesMarker(window);
marker.ApplyInPlace(im);
image = im.ToManagedImage();
tracking = true;
//detecting = true;
}
else
{
detecting = true;
}
}
else if (tracking)
{
UnmanagedImage im = UnmanagedImage.FromManagedImage(image);
// Track the object
tracker.ProcessFrame(im);
// Get the object position
var obj = tracker.TrackingObject;
var wnd = tracker.SearchWindow;
if (displayBackprojectionToolStripMenuItem.Checked)
{
var backprojection = tracker.GetBackprojection(PixelFormat.Format24bppRgb);
im = UnmanagedImage.FromManagedImage(backprojection);
}
if (drawObjectAxisToolStripMenuItem.Checked)
{
LineSegment axis = obj.GetAxis();
// Draw X axis
Drawing.Line(im, axis.Start.Round(), axis.End.Round(), Color.Red);
}
if (drawObjectBoxToolStripMenuItem.Checked && drawTrackingWindowToolStripMenuItem.Checked)
{
marker = new RectanglesMarker(new Rectangle[] { wnd, obj.Rectangle });
}
else if (drawObjectBoxToolStripMenuItem.Checked)
{
//InteractionPoints p = new InteractionPoints();
//p.setHead(obj.Rectangle);
marker = new RectanglesMarker(obj.Rectangle);
}
else if (drawTrackingWindowToolStripMenuItem.Checked)
{
marker = new RectanglesMarker(wnd);
}
else
{
marker = null;
}
if (marker != null)
{
marker.ApplyInPlace(im);
}
image = im.ToManagedImage();
}
else
{
if (marker != null)
{
image = marker.Apply(image);
}
}
}
}
// New frame received by the player
private void videoSourcePlayer_NewFrame(object sender, ref Bitmap image)
{
lock (this)
{
if (tracker == null)
{
return;
}
if (form != null && !form.IsDisposed)
{
form.Image = image;
}
BitmapData data = image.LockBits(new Rectangle(0, 0, image.Width, image.Height),
ImageLockMode.ReadWrite, image.PixelFormat);
UnmanagedImage img = new UnmanagedImage(data);
tracker.ComputeOrientation = showAngle;
tracker.ProcessFrame(img);
Rectangle rect = tracker.TrackingObject.Rectangle;
UnmanagedImage hand = tracker.TrackingObject.Image;
if (hand != null && (showContour || showFingertips))
{
UnmanagedImage grayhand = Grayscale.CommonAlgorithms.BT709.Apply(hand);
blur.ApplyInPlace(grayhand);
List <IntPoint> contour = bf.FindContour(grayhand);
for (int i = 0; i < contour.Count; i++)
{
contour[i] += new IntPoint(rect.X, rect.Y);
}
List <IntPoint> peaks = kcurv.FindPeaks(contour);
if (showContour)
{
cmarker.Points = contour;
cmarker.ApplyInPlace(img);
}
if (showFingertips)
{
pmarker.Points = peaks;
pmarker.ApplyInPlace(img);
}
}
if (showRectangle)
{
RectanglesMarker marker = new RectanglesMarker(rect);
marker.ApplyInPlace(img);
}
if (showAngle)
{
LineSegment axis = tracker.TrackingObject.GetAxis(AxisOrientation.Vertical);
if (axis != null)
{
// Draw X axis
Drawing.Line(img, axis.Start.Round(), axis.End.Round(), Color.Red);
}
}
image.UnlockBits(data);
}
}
// New frame received by the player
private void videoSourcePlayer_NewFrame(object sender, NewFrameEventArgs args)
{
var direccion = "Centro";
int direccionServo = 2;
if (!detecting && !tracking)
{
return;
}
lock (this)
{
if (detecting)
{
detecting = false;
tracking = false;
UnmanagedImage im = UnmanagedImage.FromManagedImage(args.Frame);
float xscale = im.Width / 160f;
float yscale = im.Height / 120f;
ResizeNearestNeighbor resize = new ResizeNearestNeighbor(160, 120);
UnmanagedImage downsample = resize.Apply(im);
Rectangle[] regions = detector.ProcessFrame(downsample);
if (regions.Length > 0)
{
tracker.Reset();
// Will track the first face found
Rectangle face = regions[0];
// Reduce the face size to avoid tracking background
Rectangle window = new Rectangle(
(int)((regions[0].X + regions[0].Width / 2f) * xscale),
(int)((regions[0].Y + regions[0].Height / 2f) * yscale),
1, 1);
Console.Write("x:" + (int)((regions[0].X + regions[0].Width / 2f) * xscale));
Console.Write("y:" + (int)((regions[0].X + regions[0].Height / 2f) * xscale));
window.Inflate(
(int)(0.2f * regions[0].Width * xscale),
(int)(0.4f * regions[0].Height * yscale));
// Initialize tracker
tracker.SearchWindow = window;
tracker.ProcessFrame(im);
marker = new RectanglesMarker(window);
marker.ApplyInPlace(im);
args.Frame = im.ToManagedImage();
tracking = true;
//detecting = true;
}
else
{
detecting = true;
}
}
else if (tracking)
{
UnmanagedImage im = UnmanagedImage.FromManagedImage(args.Frame);
// Track the object
tracker.ProcessFrame(im);
// Get the object position
var obj = tracker.TrackingObject;
var wnd = tracker.SearchWindow;
//if (displayBackprojectionToolStripMenuItem.Checked)
//{
// var backprojection = tracker.GetBackprojection(PixelFormat.Format24bppRgb);
// im = UnmanagedImage.FromManagedImage(backprojection);
//}
//if (drawObjectAxisToolStripMenuItem.Checked)
//{
// LineSegment axis = obj.GetAxis();
// // Draw X axis
// if (axis != null)
// Drawing.Line(im, axis.Start.Round(), axis.End.Round(), Color.Red);
// else detecting = true;
//}
if (obj.Rectangle.Width < (args.Frame.Width / 3) * 2)
{
if (obj.Rectangle.X < args.Frame.Width / 3)
{
direccion = "Izquierda";
direccionServo = 1;
}
else if (obj.Rectangle.X > (args.Frame.Width / 3) * 2)
{
direccion = "Derecha";
direccionServo = 3;
}
}
try
{
this.Invoke((MethodInvoker) delegate
{
if (textBox1 != null)
{
textBox1.Text = obj.Rectangle.X.ToString();
textBox2.Text = obj.Rectangle.Y.ToString();
label1.Text = direccion;
}
});
ComunicacionPuertoSerie.Instance.enviarEvento(direccionServo.ToString());
}
catch (Exception e) { }
if (/*drawObjectBoxToolStripMenuItem.Checked && drawTrackingWindowToolStripMenuItem.Checked*/ false)
{
marker = new RectanglesMarker(new Rectangle[] { wnd, obj.Rectangle });
}
else if (/*drawObjectBoxToolStripMenuItem.Checked*/ true)
{
marker = new RectanglesMarker(obj.Rectangle);
}
else if (/*drawTrackingWindowToolStripMenuItem.Checked*/ true)
{
marker = new RectanglesMarker(wnd);
}
else
{
marker = null;
}
if (marker != null)
{
marker.ApplyInPlace(im);
}
args.Frame = im.ToManagedImage();
}
else
{
if (marker != null)
{
args.Frame = marker.Apply(args.Frame);
}
}
}
}
public void ProcessVideo()
{
string basePath = Path.Combine(NUnit.Framework.TestContext.CurrentContext.TestDirectory, "detector");
#region doc_video
// Let's test the detector using a sample video from
// the collection of test videos in the framework:
TestVideos ds = new TestVideos(basePath);
string fileName = ds["crowd.mp4"];
// In this example, we will be creating a cascade for a Face detector:
var cascade = new Accord.Vision.Detection.Cascades.FaceHaarCascade();
// Now, create a new Haar object detector with the cascade:
var detector = new HaarObjectDetector(cascade, minSize: 25,
searchMode: ObjectDetectorSearchMode.Average,
scalingMode: ObjectDetectorScalingMode.SmallerToGreater,
scaleFactor: 1.1f)
{
Suppression = 5 // This should make sure we only report regions as faces if
// they have been detected at least 5 times within different cascade scales.
};
// Now, let's open the video using FFMPEG:
var video = new VideoFileReader();
video.Open(fileName);
// And then check the contents of one of the frames:
Bitmap frame = video.ReadVideoFrame(frameIndex: 0);
// Creating bitmaps and locking them is an expensive
// operation. Instead, let's allocate once and reuse
BitmapData bitmapData = frame.LockBits(ImageLockMode.ReadWrite);
UnmanagedImage unmanagedImage = new UnmanagedImage(bitmapData);
// We will create a color marker to show the faces
var objectMarker = new RectanglesMarker(Color.Red);
// This example is going to show two different ways to save results to disk. The
// first is to save the results frame-by-frame, saving each individual frame as
// a separate .png file. The second is to save them as a video in .mp4 format.
// To save results as a movie clip in mp4 format, you can use:
VideoFileWriter writer = new VideoFileWriter();
writer.Open(Path.Combine(basePath, "detected_faces.mp4"), frame.Width, frame.Height);
// Now, for each frame of the video
for (int frameIndex = 0; frameIndex < video.FrameCount; frameIndex++)
{
// Read the current frame into the bitmap data
video.ReadVideoFrame(frameIndex, bitmapData);
// Feed the frame to the tracker
Rectangle[] faces = detector.ProcessFrame(unmanagedImage);
// Mark the location of the tracker object in red color
objectMarker.Rectangles = faces;
objectMarker.ApplyInPlace(unmanagedImage); // overwrite the frame
// Save it to disk: first saving each frame separately:
frame.Save(Path.Combine(basePath, "frame_{0}.png".Format(frameIndex)));
// And then, saving as a .mp4 file:
writer.WriteVideoFrame(bitmapData);
}
// The generated video can be seen at https://1drv.ms/v/s!AoiTwBxoR4OAoLJhPozzixD25XcbiQ
video.Close();
writer.Close();
#endregion
}
private void videoSourcePlayer1_NewFrame(object sender, ref Bitmap image)
{
Invert inv = new Invert();
inv.ApplyInPlace(image);
UnmanagedImage ui = UnmanagedImage.FromManagedImage(image);
pictureBox1.Image = image;
if (controller.Tracker.TrackingObject == null)
{
return;
}
if (controller.Tracker.TrackingObject.IsEmpty)
{
return;
}
var rect = controller.Tracker.TrackingObject.Rectangle;
Crop crop = new Crop(rect);
UnmanagedImage head = crop.Apply(ui);
var points = new List <IntPoint>()
{
new IntPoint(head.Width / 2, head.Height / 2)
};
var pps = head.Collect16bppPixelValues(points);
double mean = Accord.Statistics.Tools.Mean(pps);
double cutoff = mean + 15;
Threshold t = new Threshold((int)cutoff);
var mask = t.Apply(ui);
LevelsLinear16bpp levels = new LevelsLinear16bpp();
levels.InGray = new IntRange((int)cutoff, 65535);
levels.OutGray = new IntRange(0, 65535);
levels.ApplyInPlace(ui);
var mask8bit = AForge.Imaging.Image.Convert16bppTo8bpp(mask.ToManagedImage());
BlobCounter bc = new BlobCounter();
bc.ObjectsOrder = ObjectsOrder.Area;
bc.ProcessImage(mask8bit);
var blobs = bc.GetObjectsInformation();
inv.ApplyInPlace(image);
Intersect intersect = new Intersect();
intersect.UnmanagedOverlayImage = mask;
mask = intersect.Apply(ui);
List <Rectangle> rects = new List <Rectangle>();
// Extract the uppermost largest blobs.
for (int i = 0; i < blobs.Length; i++)
{
double dx = (blobs[i].Rectangle.Top - controller.Tracker.TrackingObject.Center.Y);
double d = (dx * dx) / controller.Tracker.TrackingObject.Area;
if (d < 2 && blobs[i].Area > 1000)
{
rects.Add(blobs[i].Rectangle);
}
}
rects.Sort(compare);
if (rects.Count > 0)
{
captureHand(mask, rects[0], pbLeftArm, pbLeftHand);
}
if (rects.Count > 1)
{
captureHand(mask, rects[1], pbRightArm, pbRightHand);
}
RectanglesMarker marker = new RectanglesMarker(rects);
marker.MarkerColor = Color.White;
marker.ApplyInPlace(mask8bit);
image = mask.ToManagedImage();
}
public void ProcessFrame()
{
string basePath = Path.Combine(NUnit.Framework.TestContext.CurrentContext.TestDirectory, "matching-tracker");
#region doc_track
// Let's test the tracker using a sample video from
// the collection of test videos in the framework:
TestVideos ds = new TestVideos(basePath);
string fileName = ds["walking.mp4"];
// Now, let's open the video using FFMPEG:
var video = new VideoFileReader();
video.Open(fileName);
// And then check the contents of one of the frames:
Bitmap frame = video.ReadVideoFrame(frameIndex: 150);
frame.Save(Path.Combine(basePath, "walking_frame.png"));
// Let's register a template for the bike rider in gray shirt
Rectangle roi = new Rectangle(x: 70, y: 105, width: 28, height: 54);
// initialization
var tracker = new MatchingTracker()
{
SearchWindow = roi,
Threshold = 0.0, // never reset the tracker in case it gets lost
RegistrationThreshold = 0.95 // re-register the template if we are 95%
// confident that the tracked object is indeed the object we want to follow
};
// Creating bitmaps and locking them is an expensive
// operation. Instead, let's allocate once and reuse
BitmapData bitmapData = frame.LockBits(ImageLockMode.ReadWrite);
UnmanagedImage unmanagedImage = new UnmanagedImage(bitmapData);
// We will create two color markers: one to show the location of the
// tracked object (red) and another one to show the regions of the image
// that the tracker is looking at (white).
RectanglesMarker objectMarker = new RectanglesMarker(Color.Red);
RectanglesMarker windowMarker = new RectanglesMarker(Color.White);
// Now, for each frame of the video
for (int frameIndex = 0; frameIndex < video.FrameCount; frameIndex++)
{
// Read the current frame into the bitmap data
video.ReadVideoFrame(frameIndex, bitmapData);
if (frameIndex > 150) // wait until the bike rider enters the scene
{
// Feed the frame to the tracker
tracker.ProcessFrame(unmanagedImage);
// Mark the location of the tracker object in red color
objectMarker.SingleRectangle = tracker.TrackingObject.Rectangle;
objectMarker.ApplyInPlace(unmanagedImage); // overwrite the frame
windowMarker.SingleRectangle = tracker.SearchWindow;
windowMarker.ApplyInPlace(unmanagedImage); // overwrite the frame
}
// Save it to disk
frame.Save(Path.Combine(basePath, "frame_{0}.png".Format(frameIndex)));
}
frame.UnlockBits(bitmapData);
#endregion
}