public TrackerMagnitude(WebCamTracks tracks) { //Remove all tracks except the largest, v.simple fitering //Thought about adding an interface for all trackers, but can't be assed if (tracks.TrackedPoints.Count > 0) { int maxCount = 0; int maxIndex = -1; for (int i = 0; i < tracks.TrackedPoints.Count; i++) { if (tracks.TrackedPoints[i].Points.Count > maxCount) { maxCount = tracks.TrackedPoints[i].Points.Count; maxIndex = i; } } WebCamTrack maxCluster = tracks.TrackedPoints[maxIndex]; FilteredTracks.TrackedPoints.Add(maxCluster); } }
public TrackerMagnitude(WebCamTracks tracks) { //Remove all tracks except the largest, v.simple fitering //Thought about adding an interface for all trackers, but can't be assed if (tracks.TrackedPoints.Count > 0) { int maxCount = 0; int maxIndex = -1; for (int i = 0; i < tracks.TrackedPoints.Count; i++) { if (tracks.TrackedPoints[i].Points.Count > maxCount) { maxCount = tracks.TrackedPoints[i].Points.Count; maxIndex = i; } } WebCamTrack maxCluster = tracks.TrackedPoints[maxIndex]; FilteredTracks.TrackedPoints.Add(maxCluster); } }
// capture thread void Capture(object obj) { _threadRunning = true; //Random rng = new Random(); CLEyeCameraStart(_camera); while (_threadRunning) { if (CLEyeCameraGetFrame(_camera, _ptrBmpPixels, 500)) { numFrames++; Bitmap bmpIn = new Bitmap(640, 480, 640, PixelFormat.Format8bppIndexed, _ptrBmpPixels); ColorPalette GrayPalette = bmpIn.Palette; for (int i = 0; i < GrayPalette.Entries.Length; i++) GrayPalette.Entries[i] = Color.FromArgb(i, i, i); bmpIn.Palette = GrayPalette; Bitmap converted = new Bitmap(bmpIn.Width, bmpIn.Height, PixelFormat.Format24bppRgb); using (Graphics g = Graphics.FromImage(converted)) { // Prevent DPI conversion g.PageUnit = GraphicsUnit.Pixel; // Draw the image g.DrawImageUnscaled(bmpIn, 0, 0); } List<int> thresholdxs = new List<int>(); List<int> thresholdys = new List<int>(); BitmapData bmd = ((Bitmap)converted).LockBits(new Rectangle(0, 0, converted.Width, converted.Height), ImageLockMode.ReadWrite, converted.PixelFormat); if (EnableBackGroundSubtract) { //BitmapData bmdClone; if (GrabBackground) { bClone = (Bitmap)converted.Clone(); //bmdClone = ((Bitmap)bClone).LockBits(new Rectangle(0, 0, bClone.Width, bClone.Height), ImageLockMode.ReadWrite, bClone.PixelFormat); GrabBackground = false; } BitmapData bmdClone = ((Bitmap)bClone).LockBits(new Rectangle(0, 0, bClone.Width, bClone.Height), ImageLockMode.ReadWrite, bClone.PixelFormat); unsafe { int PixelSize = 3; for (int y = 0; y < bmd.Height; y++) { byte* row = (byte*)bmd.Scan0 + (y * bmd.Stride); byte* rowClone = (byte*)bmdClone.Scan0 + (y * bmdClone.Stride); //byte* backgroundRow = (byte*)backgroundData.Scan0 + (y * backgroundData.Stride); for (int x = 0; x < bmd.Width; x++) { //If backgroundsubtraction is enabled: if (EnableBackGroundSubtract) { row[x * PixelSize] = (byte)((int)row[x * PixelSize] - (int)rowClone[x * PixelSize]); //row[x * PixelSize] = (byte)((int)rowClone[x * PixelSize] - (int)row[x * PixelSize]); if (row[x * PixelSize] <= 0) { row[x * PixelSize] = 1; } row[(x * PixelSize) + 1] = (byte)((int)row[(x * PixelSize) + 1] - (int)rowClone[(x * PixelSize) + 1]); //row[(x * PixelSize) + 1] = (byte)((int)rowClone[(x * PixelSize) + 1] - (int)row[(x * PixelSize) + 1]); if (row[(x * PixelSize) + 1] <= 0) { row[(x * PixelSize) + 1] = 1; } row[(x * PixelSize) + 2] = (byte)((int)row[(x * PixelSize) + 2] - (int)rowClone[(x * PixelSize) + 2]); //row[(x * PixelSize) + 2] = (byte)((int)rowClone[(x * PixelSize) + 2] - (int)row[(x * PixelSize) + 2]); if (row[(x * PixelSize) + 2] <= 0) { row[(x * PixelSize) + 2] = 1; } } if (thresholdxs.Count < 10000) { if (row[x * PixelSize] > thresMag)// && row[(x * PixelSize) + 1] > thresMag && row[(x * PixelSize) + 2] > thresMag) { //row[x * PixelSize] = 150; //row[(x * PixelSize) + 1] = 0; //row[(x * PixelSize) + 2] = 255; thresholdxs.Add(640 - x); thresholdys.Add(y); } } } } } bClone.UnlockBits(bmdClone); } else { unsafe { int PixelSize = 3; for (int y = 0; y < bmd.Height; y++) { byte* row = (byte*)bmd.Scan0 + (y * bmd.Stride); //byte* backgroundRow = (byte*)backgroundData.Scan0 + (y * backgroundData.Stride); for (int x = 0; x < bmd.Width; x++) { if (thresholdxs.Count < 10000) { if (row[x * PixelSize] > thresMag)// && row[(x * PixelSize) + 1] > thresMag && row[(x * PixelSize) + 2] > thresMag) { //row[x * PixelSize] = 150; //row[(x * PixelSize) + 1] = 0; //row[(x * PixelSize) + 2] = 255; if (IsCalibrateMode) { thresholdxs.Add(x); thresholdys.Add(y); } else { thresholdxs.Add(640 - x); thresholdys.Add(y); } } } } } } } converted.UnlockBits(bmd); if (multiPoint) { WebCamTracks Clusters = new WebCamTracks(); int numClusters = 0; //Remove points which are all alone while (thresholdxs.Count > 0) { WebCamTrack newCluster = new WebCamTrack(); newCluster.Points.Add(new Point2D { X = thresholdxs[0], Y = thresholdys[0], Magnitude = 0 }); int innercount = 1; while (innercount < thresholdxs.Count) { double xdeltasq = Math.Pow(thresholdxs[0] - thresholdxs[innercount], 2); double ydeltasq = Math.Pow(thresholdys[0] - thresholdys[innercount], 2); double distance = Math.Sqrt(xdeltasq + ydeltasq); if (distance < ClusterDistance) { newCluster.Points.Add(new Point2D { X = thresholdxs[innercount], Y = thresholdys[innercount], Magnitude = 0 }); thresholdxs.RemoveAt(innercount); thresholdys.RemoveAt(innercount); } else { innercount++; } } thresholdxs.RemoveAt(0); thresholdys.RemoveAt(0); Clusters.TrackedPoints.Add(newCluster); } Graphics thisGraphics = Graphics.FromImage(converted); Pen thisPen = new Pen(Color.Red); for (int i = 0; i < Clusters.TrackedPoints.Count; i++) { thisGraphics.DrawRectangle(thisPen, ((float)Clusters.TrackedPoints[i].GetCentroid().X - (float)8), (float)(float)Clusters.TrackedPoints[i].GetCentroid().Y - 8, 16, 16); } FilteredTrackedPoints = Clusters; } else { thisGraphics = Graphics.FromImage(converted); float centroidx; float centroidy; if (thresholdxs.Count > 0) { if (ExposureCalibrationComplete) { centroidx = (float)thresholdxs.Average(); centroidy = (float)thresholdys.Average(); WebCamTrack thisTrack = new WebCamTrack(); thisTrack.Points.Add(new Point2D(centroidx, centroidy, 0)); thisTrack.CameraID = CameraID; FilteredTrackedPoints.TrackedPoints.Clear(); FilteredTrackedPoints.TrackedPoints.Add(thisTrack); CumulativeTrackedPoints.Points.Add(new Point2D(centroidx, centroidy, 0, DateTime.Now)); if (_form.Visible == true) { thisGraphics.DrawRectangle(thisPen, ((float)(float)centroidx - (float)8), (float)centroidy - 8, 16, 16); } } else { if (!ExposureCalibrationComplete) { if (Exposure - 10 > 0) { Exposure = Exposure - 10; } else { ExposureCalibrationComplete = true; } } } } else { FilteredTrackedPoints.TrackedPoints.Clear(); ExposureCalibrationSuccessFrames++; if (ExposureCalibrationSuccessFrames >= 10) { ExposureCalibrationComplete = true; ExposureCalibrationSuccessFrames = 0; } } } try { _form.pictureBox1.Image = converted; } catch(Exception ex) { } _form.pictureBox1.Invalidate(); } } CLEyeCameraStop(_camera); CLEyeDestroyCamera(_camera); _exitEvent.Set(); }
void Cam_NewFrame(object sender, NewFrameEventArgs eventArgs) { Bitmap img = (Bitmap)eventArgs.Frame.Clone(); //Graphics thisGraphics = Graphics.FromImage(img); //Pen thisPen = new Pen(Color.Red); //Remove first frame from all subsequent ones: //Update the appropriate coordinates/images //Bitmap background = new Bitmap(img.Width, img.Height); //for (int it = 0; it < videoDevices.Count; it++) //{ // var inneri = it; // if (videoDevices[inneri] != null) // { // if (((VideoCaptureDevice)sender).Source.Equals(videoDevices[inneri].MonikerString)) // { // if (firstFrame[inneri]) // { // firstFrame[inneri] = false; // initImages[inneri] = img; // return; // } // background = initImages[inneri]; // } // } //} //BitmapData backgroundData = background.LockBits(new Rectangle(0, 0, background.Width, background.Height), ImageLockMode.ReadWrite, background.PixelFormat); BitmapData bmd = img.LockBits(new Rectangle(0, 0, img.Width, img.Height), ImageLockMode.ReadWrite, img.PixelFormat); List <int> thresholdxs = new List <int>(); List <int> thresholdys = new List <int>(); unsafe { int PixelSize = 3; for (int y = 0; y < bmd.Height; y++) { byte *row = (byte *)bmd.Scan0 + (y * bmd.Stride); //byte* backgroundRow = (byte*)backgroundData.Scan0 + (y * backgroundData.Stride); for (int x = 0; x < bmd.Width; x++) { if (thresholdxs.Count < 10000) { if (row[x * PixelSize] > thresMag && row[(x * PixelSize) + 1] > thresMag && row[(x * PixelSize) + 2] > thresMag) { thresholdxs.Add(x); thresholdys.Add(y); } } } } } img.UnlockBits(bmd); img.Dispose(); //background.UnlockBits(backgroundData); WebCamTracks Clusters = new WebCamTracks(); int numClusters = 0; //Remove points which are all alone while (thresholdxs.Count > 0) { WebCamTrack newCluster = new WebCamTrack(); newCluster.Points.Add(new Point2D { X = thresholdxs[0], Y = thresholdys[0], Magnitude = 0 }); int innercount = 1; while (innercount < thresholdxs.Count) { double xdeltasq = Math.Pow(thresholdxs[0] - thresholdxs[innercount], 2); double ydeltasq = Math.Pow(thresholdys[0] - thresholdys[innercount], 2); double distance = Math.Sqrt(xdeltasq + ydeltasq); if (distance < 25) { newCluster.Points.Add(new Point2D { X = thresholdxs[innercount], Y = thresholdys[innercount], Magnitude = 0 }); thresholdxs.RemoveAt(innercount); thresholdys.RemoveAt(innercount); } else { innercount++; } } thresholdxs.RemoveAt(0); thresholdys.RemoveAt(0); //if(newCluster.points Clusters.TrackedPoints.Add(newCluster); } //for (int i = 0; i < indexesToRemove.Count; i++) //{ // thresholdxs.RemoveAt(indexesToRemove[indexesToRemove.Count - i - 1]); // thresholdys.RemoveAt(indexesToRemove[indexesToRemove.Count - i - 1]); //} ////Remove naughty clusters //List<int> indexsToRemove = new List<int>(); //for (int p = 0; p < clustersToRemove.Count; p++) //{ // for (int q = 0; q < Clusters.Count; q++) // { // float clustcentroidx = (float)Clusters[q].points.Select(x => x.x).Sum() / (float)Clusters[q].points.Count; // float clustcentroidy = (float)Clusters[q].points.Select(x => x.y).Sum() / (float)Clusters[q].points.Count; // double xdeltasq = Math.Pow(clustersToRemove[p].x - clustcentroidx, 2); // double ydeltasq = Math.Pow(clustersToRemove[p].y - clustcentroidy, 2); // double distance = Math.Sqrt(xdeltasq + ydeltasq); // if (distance < 50) // { // indexsToRemove.Add(q); // } // } //} //indexsToRemove = indexsToRemove.GroupBy(x => x).Select(y => y.First()).ToList(); //indexsToRemove.Sort(); //for (int p = 0; p < indexsToRemove.Count; p++) //{ // Clusters.RemoveAt(indexsToRemove[indexsToRemove.Count - p - 1]); //} //find the largest cluster: double lcentroidx = -1; double lcentroidy = -1; //Apply the filter: TrackerMagnitude newTracker = new TrackerMagnitude(Clusters); //if (newTracker.FilteredTracks.TrackedPoints.Count > 0) //{ if (Clusters.TrackedPoints.Count > 0) { int maxCount = 0; int maxIndex = -1; FilteredTrackedPoints = Clusters; //FilteredTrackedPoints = newTracker.FilteredTracks; //for (int i = 0; i < Clusters.TrackedPoints.Count; i++) //{ // if (Clusters.TrackedPoints[i].Points.Count > maxCount) // { // maxCount = Clusters.TrackedPoints[i].Points.Count; // maxIndex = i; // } //} //WebCamTrack maxCluster = Clusters.TrackedPoints[maxIndex]; //if (maxCluster.Points.Count > 1) //{ // lcentroidx = (float)maxCluster.Points.Select(x => x.X).Sum() / (float)maxCluster.Points.Count; // lcentroidy = (float)maxCluster.Points.Select(x => x.Y).Sum() / (float)maxCluster.Points.Count; //} //if (lcentroidx != -1 && lcentroidy != -1) //{ // //float centroidx = (float)lcentroidx; // //float centroidy = (float)lcentroidy; // //for (int i = 0; i < videoDevices.Count; i++) // //{ // // if (videoDevices[i] != null) // // { // // if (((VideoCaptureDevice)sender).Source.Equals(videoDevices[i].MonikerString)) // // { // // spinningTriangleControl.cameraConfig.Cameras[i].TrackedPoints.Clear(); // // spinningTriangleControl.cameraConfig.Cameras[i].TrackedPoints.Add(new TrackedImagePoint(640 - centroidx, centroidy)); // // } // // } // //} //} //else //{ // //for (int i = 0; i < videoDevices.Count; i++) // //{ // // if (videoDevices[i] != null) // // { // // if (((VideoCaptureDevice)sender).Source.Equals(videoDevices[i].MonikerString)) // // { // // spinningTriangleControl.cameraConfig.Cameras[i].TrackedPoints.Clear(); // // //spinningTriangleControl.cameraConfig.Cameras[i].TrackedPoints.Add(new TrackedImagePoint(centroidx, centroidy)); // // } // // } // //} //} } else { FilteredTrackedPoints.TrackedPoints.Clear(); } ////Update the appropriate coordinates/images //for (int it = 0; it < videoDevices.Count; it++) //{ // var inneri = it; // if (videoDevices[inneri] != null) // { // if (((VideoCaptureDevice)sender).Source.Equals(videoDevices[inneri].MonikerString)) // { // counters[inneri]++; // this.BeginInvoke( // (MethodInvoker)delegate() // { // ((TextBox)(this.Controls.Find("txtbox" + inneri, true).First())).Text = lcentroidx.ToString() + ", " + lcentroidy.ToString(); // ((PictureBox)(this.Controls.Find("pictureBox" + inneri, true).First())).Image = img; // //pictureBox1.Image = img; // }); // } // } //} //thisGraphics.Dispose(); //pictureBox1.Image = img; }
void Cam_NewFrame(object sender, NewFrameEventArgs eventArgs) { Bitmap img = (Bitmap)eventArgs.Frame.Clone(); //Graphics thisGraphics = Graphics.FromImage(img); //Pen thisPen = new Pen(Color.Red); //Remove first frame from all subsequent ones: //Update the appropriate coordinates/images //Bitmap background = new Bitmap(img.Width, img.Height); //for (int it = 0; it < videoDevices.Count; it++) //{ // var inneri = it; // if (videoDevices[inneri] != null) // { // if (((VideoCaptureDevice)sender).Source.Equals(videoDevices[inneri].MonikerString)) // { // if (firstFrame[inneri]) // { // firstFrame[inneri] = false; // initImages[inneri] = img; // return; // } // background = initImages[inneri]; // } // } //} //BitmapData backgroundData = background.LockBits(new Rectangle(0, 0, background.Width, background.Height), ImageLockMode.ReadWrite, background.PixelFormat); BitmapData bmd = img.LockBits(new Rectangle(0, 0, img.Width, img.Height), ImageLockMode.ReadWrite, img.PixelFormat); List<int> thresholdxs = new List<int>(); List<int> thresholdys = new List<int>(); unsafe { int PixelSize = 3; for (int y = 0; y < bmd.Height; y++) { byte* row = (byte*)bmd.Scan0 + (y * bmd.Stride); //byte* backgroundRow = (byte*)backgroundData.Scan0 + (y * backgroundData.Stride); for (int x = 0; x < bmd.Width; x++) { if (thresholdxs.Count < 10000) { if (row[x * PixelSize] > thresMag && row[(x * PixelSize) + 1] > thresMag && row[(x * PixelSize) + 2] > thresMag) { thresholdxs.Add(x); thresholdys.Add(y); } } } } } img.UnlockBits(bmd); img.Dispose(); //background.UnlockBits(backgroundData); WebCamTracks Clusters = new WebCamTracks(); int numClusters = 0; //Remove points which are all alone while (thresholdxs.Count > 0) { WebCamTrack newCluster = new WebCamTrack(); newCluster.Points.Add(new Point2D { X = thresholdxs[0], Y = thresholdys[0], Magnitude = 0 }); int innercount = 1; while (innercount < thresholdxs.Count) { double xdeltasq = Math.Pow(thresholdxs[0] - thresholdxs[innercount], 2); double ydeltasq = Math.Pow(thresholdys[0] - thresholdys[innercount], 2); double distance = Math.Sqrt(xdeltasq + ydeltasq); if (distance < 25) { newCluster.Points.Add(new Point2D { X = thresholdxs[innercount], Y = thresholdys[innercount], Magnitude = 0 }); thresholdxs.RemoveAt(innercount); thresholdys.RemoveAt(innercount); } else { innercount++; } } thresholdxs.RemoveAt(0); thresholdys.RemoveAt(0); //if(newCluster.points Clusters.TrackedPoints.Add(newCluster); } //for (int i = 0; i < indexesToRemove.Count; i++) //{ // thresholdxs.RemoveAt(indexesToRemove[indexesToRemove.Count - i - 1]); // thresholdys.RemoveAt(indexesToRemove[indexesToRemove.Count - i - 1]); //} ////Remove naughty clusters //List<int> indexsToRemove = new List<int>(); //for (int p = 0; p < clustersToRemove.Count; p++) //{ // for (int q = 0; q < Clusters.Count; q++) // { // float clustcentroidx = (float)Clusters[q].points.Select(x => x.x).Sum() / (float)Clusters[q].points.Count; // float clustcentroidy = (float)Clusters[q].points.Select(x => x.y).Sum() / (float)Clusters[q].points.Count; // double xdeltasq = Math.Pow(clustersToRemove[p].x - clustcentroidx, 2); // double ydeltasq = Math.Pow(clustersToRemove[p].y - clustcentroidy, 2); // double distance = Math.Sqrt(xdeltasq + ydeltasq); // if (distance < 50) // { // indexsToRemove.Add(q); // } // } //} //indexsToRemove = indexsToRemove.GroupBy(x => x).Select(y => y.First()).ToList(); //indexsToRemove.Sort(); //for (int p = 0; p < indexsToRemove.Count; p++) //{ // Clusters.RemoveAt(indexsToRemove[indexsToRemove.Count - p - 1]); //} //find the largest cluster: double lcentroidx = -1; double lcentroidy = -1; //Apply the filter: TrackerMagnitude newTracker = new TrackerMagnitude(Clusters); //if (newTracker.FilteredTracks.TrackedPoints.Count > 0) //{ if (Clusters.TrackedPoints.Count > 0) { int maxCount = 0; int maxIndex = -1; FilteredTrackedPoints = Clusters; //FilteredTrackedPoints = newTracker.FilteredTracks; //for (int i = 0; i < Clusters.TrackedPoints.Count; i++) //{ // if (Clusters.TrackedPoints[i].Points.Count > maxCount) // { // maxCount = Clusters.TrackedPoints[i].Points.Count; // maxIndex = i; // } //} //WebCamTrack maxCluster = Clusters.TrackedPoints[maxIndex]; //if (maxCluster.Points.Count > 1) //{ // lcentroidx = (float)maxCluster.Points.Select(x => x.X).Sum() / (float)maxCluster.Points.Count; // lcentroidy = (float)maxCluster.Points.Select(x => x.Y).Sum() / (float)maxCluster.Points.Count; //} //if (lcentroidx != -1 && lcentroidy != -1) //{ // //float centroidx = (float)lcentroidx; // //float centroidy = (float)lcentroidy; // //for (int i = 0; i < videoDevices.Count; i++) // //{ // // if (videoDevices[i] != null) // // { // // if (((VideoCaptureDevice)sender).Source.Equals(videoDevices[i].MonikerString)) // // { // // spinningTriangleControl.cameraConfig.Cameras[i].TrackedPoints.Clear(); // // spinningTriangleControl.cameraConfig.Cameras[i].TrackedPoints.Add(new TrackedImagePoint(640 - centroidx, centroidy)); // // } // // } // //} //} //else //{ // //for (int i = 0; i < videoDevices.Count; i++) // //{ // // if (videoDevices[i] != null) // // { // // if (((VideoCaptureDevice)sender).Source.Equals(videoDevices[i].MonikerString)) // // { // // spinningTriangleControl.cameraConfig.Cameras[i].TrackedPoints.Clear(); // // //spinningTriangleControl.cameraConfig.Cameras[i].TrackedPoints.Add(new TrackedImagePoint(centroidx, centroidy)); // // } // // } // //} //} } else { FilteredTrackedPoints.TrackedPoints.Clear(); } ////Update the appropriate coordinates/images //for (int it = 0; it < videoDevices.Count; it++) //{ // var inneri = it; // if (videoDevices[inneri] != null) // { // if (((VideoCaptureDevice)sender).Source.Equals(videoDevices[inneri].MonikerString)) // { // counters[inneri]++; // this.BeginInvoke( // (MethodInvoker)delegate() // { // ((TextBox)(this.Controls.Find("txtbox" + inneri, true).First())).Text = lcentroidx.ToString() + ", " + lcentroidy.ToString(); // ((PictureBox)(this.Controls.Find("pictureBox" + inneri, true).First())).Image = img; // //pictureBox1.Image = img; // }); // } // } //} //thisGraphics.Dispose(); //pictureBox1.Image = img; }
// capture thread void Capture(object obj) { _threadRunning = true; //Random rng = new Random(); CLEyeCameraStart(_camera); while (_threadRunning) { if (CLEyeCameraGetFrame(_camera, _ptrBmpPixels, 500)) { numFrames++; Bitmap bmpIn = new Bitmap(640, 480, 640, PixelFormat.Format8bppIndexed, _ptrBmpPixels); ColorPalette GrayPalette = bmpIn.Palette; for (int i = 0; i < GrayPalette.Entries.Length; i++) { GrayPalette.Entries[i] = Color.FromArgb(i, i, i); } bmpIn.Palette = GrayPalette; Bitmap converted = new Bitmap(bmpIn.Width, bmpIn.Height, PixelFormat.Format24bppRgb); using (Graphics g = Graphics.FromImage(converted)) { // Prevent DPI conversion g.PageUnit = GraphicsUnit.Pixel; // Draw the image g.DrawImageUnscaled(bmpIn, 0, 0); } List <int> thresholdxs = new List <int>(); List <int> thresholdys = new List <int>(); BitmapData bmd = ((Bitmap)converted).LockBits(new Rectangle(0, 0, converted.Width, converted.Height), ImageLockMode.ReadWrite, converted.PixelFormat); if (EnableBackGroundSubtract) { //BitmapData bmdClone; if (GrabBackground) { bClone = (Bitmap)converted.Clone(); //bmdClone = ((Bitmap)bClone).LockBits(new Rectangle(0, 0, bClone.Width, bClone.Height), ImageLockMode.ReadWrite, bClone.PixelFormat); GrabBackground = false; } BitmapData bmdClone = ((Bitmap)bClone).LockBits(new Rectangle(0, 0, bClone.Width, bClone.Height), ImageLockMode.ReadWrite, bClone.PixelFormat); unsafe { int PixelSize = 3; for (int y = 0; y < bmd.Height; y++) { byte *row = (byte *)bmd.Scan0 + (y * bmd.Stride); byte *rowClone = (byte *)bmdClone.Scan0 + (y * bmdClone.Stride); //byte* backgroundRow = (byte*)backgroundData.Scan0 + (y * backgroundData.Stride); for (int x = 0; x < bmd.Width; x++) { //If backgroundsubtraction is enabled: if (EnableBackGroundSubtract) { row[x * PixelSize] = (byte)((int)row[x * PixelSize] - (int)rowClone[x * PixelSize]); //row[x * PixelSize] = (byte)((int)rowClone[x * PixelSize] - (int)row[x * PixelSize]); if (row[x * PixelSize] <= 0) { row[x * PixelSize] = 1; } row[(x * PixelSize) + 1] = (byte)((int)row[(x * PixelSize) + 1] - (int)rowClone[(x * PixelSize) + 1]); //row[(x * PixelSize) + 1] = (byte)((int)rowClone[(x * PixelSize) + 1] - (int)row[(x * PixelSize) + 1]); if (row[(x * PixelSize) + 1] <= 0) { row[(x * PixelSize) + 1] = 1; } row[(x * PixelSize) + 2] = (byte)((int)row[(x * PixelSize) + 2] - (int)rowClone[(x * PixelSize) + 2]); //row[(x * PixelSize) + 2] = (byte)((int)rowClone[(x * PixelSize) + 2] - (int)row[(x * PixelSize) + 2]); if (row[(x * PixelSize) + 2] <= 0) { row[(x * PixelSize) + 2] = 1; } } if (thresholdxs.Count < 10000) { if (row[x * PixelSize] > thresMag)// && row[(x * PixelSize) + 1] > thresMag && row[(x * PixelSize) + 2] > thresMag) { //row[x * PixelSize] = 150; //row[(x * PixelSize) + 1] = 0; //row[(x * PixelSize) + 2] = 255; thresholdxs.Add(640 - x); thresholdys.Add(y); } } } } } bClone.UnlockBits(bmdClone); } else { unsafe { int PixelSize = 3; for (int y = 0; y < bmd.Height; y++) { byte *row = (byte *)bmd.Scan0 + (y * bmd.Stride); //byte* backgroundRow = (byte*)backgroundData.Scan0 + (y * backgroundData.Stride); for (int x = 0; x < bmd.Width; x++) { if (thresholdxs.Count < 10000) { if (row[x * PixelSize] > thresMag)// && row[(x * PixelSize) + 1] > thresMag && row[(x * PixelSize) + 2] > thresMag) { //row[x * PixelSize] = 150; //row[(x * PixelSize) + 1] = 0; //row[(x * PixelSize) + 2] = 255; if (IsCalibrateMode) { thresholdxs.Add(x); thresholdys.Add(y); } else { thresholdxs.Add(640 - x); thresholdys.Add(y); } } } } } } } converted.UnlockBits(bmd); if (multiPoint) { WebCamTracks Clusters = new WebCamTracks(); int numClusters = 0; //Remove points which are all alone while (thresholdxs.Count > 0) { WebCamTrack newCluster = new WebCamTrack(); newCluster.Points.Add(new Point2D { X = thresholdxs[0], Y = thresholdys[0], Magnitude = 0 }); int innercount = 1; while (innercount < thresholdxs.Count) { double xdeltasq = Math.Pow(thresholdxs[0] - thresholdxs[innercount], 2); double ydeltasq = Math.Pow(thresholdys[0] - thresholdys[innercount], 2); double distance = Math.Sqrt(xdeltasq + ydeltasq); if (distance < ClusterDistance) { newCluster.Points.Add(new Point2D { X = thresholdxs[innercount], Y = thresholdys[innercount], Magnitude = 0 }); thresholdxs.RemoveAt(innercount); thresholdys.RemoveAt(innercount); } else { innercount++; } } thresholdxs.RemoveAt(0); thresholdys.RemoveAt(0); Clusters.TrackedPoints.Add(newCluster); } Graphics thisGraphics = Graphics.FromImage(converted); Pen thisPen = new Pen(Color.Red); for (int i = 0; i < Clusters.TrackedPoints.Count; i++) { thisGraphics.DrawRectangle(thisPen, ((float)Clusters.TrackedPoints[i].GetCentroid().X - (float)8), (float)(float)Clusters.TrackedPoints[i].GetCentroid().Y - 8, 16, 16); } FilteredTrackedPoints = Clusters; } else { thisGraphics = Graphics.FromImage(converted); float centroidx; float centroidy; if (thresholdxs.Count > 0) { if (ExposureCalibrationComplete) { centroidx = (float)thresholdxs.Average(); centroidy = (float)thresholdys.Average(); WebCamTrack thisTrack = new WebCamTrack(); thisTrack.Points.Add(new Point2D(centroidx, centroidy, 0)); thisTrack.CameraID = CameraID; FilteredTrackedPoints.TrackedPoints.Clear(); FilteredTrackedPoints.TrackedPoints.Add(thisTrack); CumulativeTrackedPoints.Points.Add(new Point2D(centroidx, centroidy, 0, DateTime.Now)); if (_form.Visible == true) { thisGraphics.DrawRectangle(thisPen, ((float)(float)centroidx - (float)8), (float)centroidy - 8, 16, 16); } } else { if (!ExposureCalibrationComplete) { if (Exposure - 10 > 0) { Exposure = Exposure - 10; } else { ExposureCalibrationComplete = true; } } } } else { FilteredTrackedPoints.TrackedPoints.Clear(); ExposureCalibrationSuccessFrames++; if (ExposureCalibrationSuccessFrames >= 10) { ExposureCalibrationComplete = true; ExposureCalibrationSuccessFrames = 0; } } } try { _form.pictureBox1.Image = converted; } catch (Exception ex) { } _form.pictureBox1.Invalidate(); } } CLEyeCameraStop(_camera); CLEyeDestroyCamera(_camera); _exitEvent.Set(); }