private void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
colorFrame.CopyPixelDataTo(this.colorPixels);
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
int sx = (int)this.sld_c1_sX.Value;
int sy = (int)this.sld_c1_sY.Value;
int dx = (int)this.sld_c1_dX.Value;
int dy = (int)this.sld_c1_dY.Value;
int w = 0;
int h = 0;
if (dx >= sx)
{
w = (dx - sx);
}
if (dy >= sy)
{
h = (dy - sy);
}
float cx = (float)sx + ((float)w) / 2;
float cy = (float)sy + ((float)h) / 2;
Image <Bgr, Byte> openCVImg = new Image <Bgr, byte>(colorBitmap.ToBitmap());
box = new MCvBox2D(new PointF(cx, cy), new SizeF(new PointF((float)w, (float)h)), 0);
openCVImg.Draw(box, new Bgr(System.Drawing.Color.Green), 4);
this.cimg_cage4.Source = ImageHelpers.ToBitmapSource(openCVImg);
}
}
}
private void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
BitmapSource depthBmp = null;
blobCount = 0;
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
blobCount = 0;
depthBmp = depthFrame.SliceDepthImage((int)sliderMin.Value, (int)sliderMax.Value);
Image <Bgr, Byte> openCVImg = new Image <Bgr, byte>(depthBmp.ToBitmap());
Image <Gray, byte> gray_image = openCVImg.Convert <Gray, byte>();
using (MemStorage stor = new MemStorage())
{
//Find contours with no holes try CV_RETR_EXTERNAL to find holes
Contour <System.Drawing.Point> contours = gray_image.FindContours(
Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE,
Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_EXTERNAL,
stor);
for (int i = 0; contours != null; contours = contours.HNext)
{
i++;
if ((contours.Area > Math.Pow(sliderMinSize.Value, 2)) && (contours.Area < Math.Pow(sliderMaxSize.Value, 2)))
{
MCvBox2D box = contours.GetMinAreaRect();
openCVImg.Draw(box, new Bgr(System.Drawing.Color.Red), 2);
blobCount++;
}
}
}
this.outImg.Source = ImageHelpers.ToBitmapSource(openCVImg);
txtBlobCount.Text = blobCount.ToString();
}
}
if (colorFrame != null)
{
colorFrame.CopyPixelDataTo(this.colorPixels);
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
}
}
}
void DoBlobDetection()
{
blobCount = 0;
convertedImage = new FormatConvertedBitmap();
CreateImageForTracking(irBitmap, irPixels);
TrackBlobs();
//openCVImg.Save("c:\\opencvImage.bmp");
if (switchImg)
{
mainImg.Source = ImageHelpers.ToBitmapSource(thresholdedImage);
secondaryImg.Source = ImageHelpers.ToBitmapSource(openCVImg);
}
else
{
mainImg.Source = ImageHelpers.ToBitmapSource(openCVImg);
secondaryImg.Source = ImageHelpers.ToBitmapSource(thresholdedImage);
}
txtBlobCount.Text = blobCount.ToString();
//this.processingThread = new ProcessingThread(sensor, this.sensor_AllFramesReady);
// We need to shut down the processing thread when this main thread is shut down.
}
private void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
blobCount = 0;
var bCw = new BackgroundWorker();
var colorRange = (int)sliderColorRange.Value;
var sliderMaxValue = (int)sliderMax.Value;
var sliderMinSizeValue = sliderMinSize.Value;
var sliderMaxSizeValue = sliderMaxSize.Value;
bCw.DoWork += (s, a) =>
{
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (colorFrame != null && depthFrame != null)
{
short[] depthPixels;
byte[] colorPixels;
byte[] thesPixels;
colorPixels = new byte[this.sensor.ColorStream.FramePixelDataLength];
thesPixels = new byte[this.sensor.ColorStream.FramePixelDataLength];
depthPixels = new short[this.sensor.DepthStream.FramePixelDataLength];
BitmapSource colorBmp = null;
BitmapSource thesBmp = null;
// BitmapSource depthBmp = null;
depthFrame.CopyPixelDataTo(depthPixels);
//var greyPixels = new byte[depthFrame.Height * depthFrame.Width * 4];
colorFrame.CopyPixelDataTo(colorPixels);
colorFrame.CopyPixelDataTo(thesPixels);
//depthBmp = BitmapSource.Create(depthFrame.Width, depthFrame.Height, 96, 96, PixelFormats.Bgr32, null, greyPixels, depthFrame.Width * 4);
colorBmp = BitmapSource.Create(colorFrame.Width, colorFrame.Height, 96, 96, PixelFormats.Bgr32, null, colorPixels, colorFrame.Width * 4);
Image <Bgr, Byte> returnImage = new Image <Bgr, byte>(colorBmp.ToBitmap());
const int BlueIndex = 0;
const int GreenIndex = 1;
const int RedIndex = 2;
double minDepth = int.MaxValue;
System.Drawing.Point minPoint = new System.Drawing.Point();
for (int depthIndex = 0, colorIndex = 0;
depthIndex < depthPixels.Length && colorIndex < colorPixels.Length;
depthIndex++, colorIndex += 4)
{
// Calculate the distance represented by the two depth bytes
int depth = depthPixels[depthIndex] >> DepthImageFrame.PlayerIndexBitmaskWidth;
int y = colorIndex / (colorFrame.Width * 4);
int x = (colorIndex - (y * colorFrame.Width * 4)) / 4;
if (minDepth > depth && depth > 0)
{
minDepth = depth;
minPoint = new System.Drawing.Point(x, y);
}
// Apply the intensity to the color channels
if (depth > sliderMaxValue)
{
thesPixels[colorIndex + BlueIndex] = 0; //blue
thesPixels[colorIndex + GreenIndex] = 0; //green
thesPixels[colorIndex + RedIndex] = 0; //red
}
}
thesBmp = BitmapSource.Create(colorFrame.Width, colorFrame.Height, 96, 96, PixelFormats.Bgr32, null, thesPixels, colorFrame.Width * 4);
Image <Hsv, Byte> openCVImg = new Image <Hsv, byte>(thesBmp.ToBitmap());
var smoothed = openCVImg.SmoothMedian(7);
//Increase saturation
smoothed[1] += 30;
//Get 10x10 pixel color sample from the nearest point
Image <Gray, Byte> averageMask = new Image <Gray, byte>(colorFrame.Width, colorFrame.Height, new Gray(0));
averageMask.Draw(new System.Drawing.Rectangle(minPoint.X - 5, minPoint.Y - 5, 10, 10), new Gray(255), -1);
//Make a HSV theshold mask
Image <Gray, Byte> theshold;
// 2. Obtain the 3 channels (hue, saturation and value) that compose the HSV image
Image <Gray, byte>[] channels = smoothed.Split();
try
{
var avgColor = channels[0].GetAverage(averageMask);
// 3. Remove all pixels from the hue channel that are not in the range [40, 60]
CvInvoke.cvInRangeS(channels[0], new Gray(avgColor.Intensity - colorRange).MCvScalar, new Gray(avgColor.Intensity + colorRange).MCvScalar, channels[0]);
// 4. Display the result
theshold = channels[0];
}
finally
{
channels[1].Dispose();
channels[2].Dispose();
}
////Find blob
//using (MemStorage stor = new MemStorage())
//{
// //Find contours with no holes try CV_RETR_EXTERNAL to find holes
// Contour<System.Drawing.Point> contours = theshold.FindContours(
// Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE,
// Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_EXTERNAL ,
// stor);
// for (int i = 0; contours != null; contours = contours.HNext)
// {
// i++;
// if ((contours.Area > Math.Pow(sliderMinSizeValue, 2)) && (contours.Area < Math.Pow(sliderMaxSizeValue, 2)))
// {
// MCvBox2D box = contours.GetMinAreaRect();
// returnImage.Draw(box, new Bgr(System.Drawing.Color.Red), 2);
// blobCount++;
// }
// }
//}
//get depthpoint data (point cloud)
//work out if cuboid by tracking point clouds
//draw yellow cross on nearest point
returnImage = theshold.Convert <Bgr, byte>();
returnImage.Draw(new Cross2DF(minPoint, 50, 50), new Bgr(System.Drawing.Color.Yellow), 4);
outImg.Dispatcher.BeginInvoke(new Action(() =>
{
this.outImg.Source = ImageHelpers.ToBitmapSource(returnImage);
txtBlobCount.Text = string.Format("x:{0}, y:{1}", minPoint.X, minPoint.Y);
}));
}
}
};
bCw.RunWorkerAsync();
}
private void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
//TODO Keep the previous frame image as well,
//Compare both on a background process and save it to the worksheet
//Convert x&y differences to millimeters according to depth data (distance)
//and some trigonometry
BitmapSource depthBmp = null;
blobCount = 0;
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
blobCount = 0;
depthBmp = depthFrame.SliceDepthImage((int)sliderMin.Value, (int)sliderMax.Value);
Image <Bgr, Byte> openCVImg = new Image <Bgr, byte>(depthBmp.ToBitmap());
Image <Gray, byte> gray_image = openCVImg.Convert <Gray, byte>();
if (running)
{
wsheet.Cells[1, frameCount + 1].Value = "Frame " + frameCount;
frameCount++;
using (MemStorage stor = new MemStorage())
{
//Find contours with no holes try CV_RETR_EXTERNAL to find holes
Contour <System.Drawing.Point> contours = gray_image.FindContours(
Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE,
Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_EXTERNAL,
stor);
//Conversion of depthPixels to skeletonPoints which contain all three dimensions in meters.
//The conversion and copying is assumed to be costly but there are no single pixel to single point conversion I could find.
depthFrame.CopyDepthImagePixelDataTo(depthPixels);
//mapper.MapDepthFrameToSkeletonFrame(depthFormat, depthPixels, skeletonPoints);
for (int i = 0; contours != null; contours = contours.HNext)
{
i++;
if ((contours.Area > Math.Pow(sliderMinSize.Value, 2)) && (contours.Area < Math.Pow(sliderMaxSize.Value, 2)))
{
MCvBox2D box = contours.GetMinAreaRect();
//DrQ RED BOX AROUND BLOB
openCVImg.Draw(box, new Bgr(System.Drawing.Color.Red), 2);
blobCount++;
int x = (int)box.center.X;
int y = (int)box.center.Y;
DepthImagePoint p = new DepthImagePoint();
p.X = x;
p.Y = y;
p.Depth = depthPixels[x + 640 * y].Depth;
SkeletonPoint s = mapper.MapDepthPointToSkeletonPoint(depthFormat, p);
//TODO Conversion from absolute coordinates to relative coordinates
addCoordData(3 * blobCount - 1, frameCount, s.X, s.Y, s.Z);
/*if (KinectSensor.IsKnownPoint(s))
* {
* addCoordData(3 * blobCount - 1, frameCount, s.X, s.Y, s.Z);
* }*/
}
}
}
}
this.outImg.Source = ImageHelpers.ToBitmapSource(openCVImg);
txtBlobCount.Text = blobCount.ToString();
getNext().RunWorkerAsync(openCVImg);
}
}
if (colorFrame != null)
{
colorFrame.CopyPixelDataTo(this.colorPixels);
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
}
}
}