IEnumerator <ITask> DoVisionProcessing(VisionProcessingParameters parameters)
{
try
{
List <ColorSet> colors = parameters.Colors;
Settings settings = parameters.Settings;
int[] colorSetMap = parameters.ColorSetMap;
webcam.QueryFrameResponse response = null;
yield return(Arbiter.Choice(
_webcamPort.QueryFrame(),
delegate(webcam.QueryFrameResponse success)
{
response = success;
},
LogError
));
if (response == null)
{
yield break;
}
double threshold = settings.Threshold;
int height = response.Size.Height;
int width = response.Size.Width;
int offset;
int stride = response.Frame.Length / height;
byte[] bytes = response.Frame;
byte[,] indexed = new byte[width, height];
int segOffset;
int segStride = width;
byte[] segmented = new byte[width * height];
for (int y = 0; y < height; y++)
{
offset = stride * y;
segOffset = segStride * y;
for (int x = 0; x < width; x++)
{
int blu = bytes[offset++];
int grn = bytes[offset++];
int red = bytes[offset++];
int col = (((red + 7) & 0xF0) << 4) |
((grn + 7) & 0xF0) |
(((blu + 7) & 0xF0) >> 4);
int bestIndex = colorSetMap[col];
indexed[x, y] = (byte)bestIndex;
segmented[segOffset++] = (byte)bestIndex;
}
}
if (settings.Despeckle)
{
int[] votes;
byte[,] despeckled = new byte[width, height];
offset = 0;
for (int y = 0; y < height; y++)
{
offset = y * stride;
for (int x = 0; x < width; x++, offset++)
{
votes = new int[colors.Count + 1];
int color;
int leader = 0;
if (x == 0 || y == 0 ||
x == width - 1 || y == height - 1)
{
leader = indexed[x, y];
votes[leader]++;
}
else
{
for (int iy = -1; iy < 2; iy++)
{
for (int ix = -1; ix < 2; ix++)
{
color = indexed[x + ix, y + iy];
votes[color]++;
if (votes[color] > votes[leader])
{
leader = color;
}
}
}
//
// if there is a tie, then use the original color.
//
int bestVote = votes[leader];
for (int i = 0; i < votes.Length; i++)
{
if (i != leader &&
votes[i] == bestVote)
{
leader = indexed[x, y];
break;
}
}
}
despeckled[x, y] = (byte)leader;
}
}
indexed = despeckled;
}
List <ColorArea> areas = new List <ColorArea>();
byte[,] copy = (byte[, ])indexed.Clone();
for (int y = 0; y < height; y++)
{
for (int x = 0; x < width; x++)
{
int curr = copy[x, y];
if (curr != 0)
{
ColorArea area = new ColorArea(colors[curr - 1].Name);
area.Flood(copy, x, y);
areas.Add(area);
}
}
}
areas = areas.FindAll(
delegate(ColorArea test)
{
return(test.Area >= settings.MinBlobSize);
}
);
areas.Sort(
delegate(ColorArea left, ColorArea right)
{
return(-left.Area.CompareTo(right.Area));
}
);
Color[] outputColors = new Color[colors.Count + 1];
for (int i = 0; i < outputColors.Length; i++)
{
if (i == 0)
{
outputColors[i] = Color.Black;
}
else
{
ColorSet set = colors[i - 1];
ColorDefinition def = set.Colors[0];
outputColors[i] = Color.FromArgb(def.R, def.G, def.B);
}
}
for (int y = 0; y < height; y++)
{
offset = y * stride;
segOffset = y * segStride;
for (int x = 0; x < width; x++)
{
int palIndex = segmented[segOffset++];
Color pixel = outputColors[palIndex];
bytes[offset++] = (byte)pixel.B;
bytes[offset++] = (byte)pixel.G;
bytes[offset++] = (byte)pixel.R;
}
}
segmented = bytes;
SegmentedImage image = new SegmentedImage(response.TimeStamp, width, height, segmented, indexed);
_mainPort.Post(new UpdateSegmentedImage(image));
FoundColorAreas foundColors = new FoundColorAreas();
foundColors.TimeStamp = response.TimeStamp;
foreach (ColorArea area in areas)
{
if (area.Area > 0)
{
area.Complete();
foundColors.Areas.Add(area);
}
}
_fwdPort.Post(new UpdateColorAreas(foundColors));
}
finally
{
_fwdPort.Post(new ProcessFrame(false));
}
}
public UpdateColorAreas(FoundColorAreas body)
: base(body)
{
}
