IEnumerator <ITask> ProcessImage(List <ColorBin> bins)
{
Fault fault = null;
cam.QueryFrameRequest request = new cam.QueryFrameRequest();
request.Format = Guid.Empty;// new Guid("b96b3cae-0728-11d3-9d7b-0000f81ef32e");
byte[] frame = null;
DateTime timestamp = DateTime.MinValue;
int height = 0;
int width = 0;
yield return(Arbiter.Choice(
_camPort.QueryFrame(request),
delegate(cam.QueryFrameResponse response)
{
timestamp = response.TimeStamp;
frame = response.Frame;
width = response.Size.Width;
height = response.Size.Height;
},
delegate(Fault f)
{
fault = f;
}
));
ImageProcessedRequest processed = new ImageProcessedRequest();
if (fault != null)
{
_mainPort.Post(new ImageProcessed(processed));
yield break;
}
int size = width * height * 3;
processed.TimeStamp = timestamp;
List <FoundBlob> results = processed.Results;
foreach (ColorBin bin in bins)
{
FoundBlob blob = new FoundBlob();
blob.Name = bin.Name;
blob.XProjection = new int[width];
blob.YProjection = new int[height];
results.Add(blob);
}
int offset;
for (int y = 0; y < height; y++)
{
offset = y * width * 3;
for (int x = 0; x < width; x++, offset += 3)
{
int r, g, b;
b = frame[offset];
g = frame[offset + 1];
r = frame[offset + 2];
for (int i = 0; i < bins.Count; i++)
{
ColorBin bin = bins[i];
if (bin.Test(r, g, b))
{
results[i].AddPixel(x, y);
}
}
}
}
foreach (FoundBlob blob in results)
{
if (blob.Area > 0)
{
blob.MeanX = blob.MeanX / blob.Area;
blob.MeanY = blob.MeanY / blob.Area;
blob.CalculateMoments();
}
}
_mainPort.Post(new ImageProcessed(processed));
}
/// <summary>
/// Creates a new ImageProcessed message with the specified request body
/// </summary>
/// <param name="body"></param>
public ImageProcessed(ImageProcessedRequest body)
: base(body)
{
}