private static Image <Hsv, Byte> processedred; //Casts bitmap to image<Hsv, byte>
//Red Segmentation
public static void Proc(BitmapSource Image, Canvas Canvas3, System.Windows.Controls.Image outputimage)
{
if (Image != null)
{
//Red Processing
//Converts to image<>
MemoryStream Streamred = new MemoryStream();
BitmapEncoder encodedred = new BmpBitmapEncoder();
encodedred.Frames.Add(BitmapFrame.Create(Image));
encodedred.Save(Streamred);
System.Drawing.Bitmap myBmpred = new System.Drawing.Bitmap(Streamred); //Casts image to bitmap
processedred = new Image <Hsv, Byte>(myBmpred); //Casts bitmap to image<Hsv, byte>
//Main processing
CvInvoke.Flip(processedred, processedred, Emgu.CV.CvEnum.FlipType.Horizontal); //Flips the image in the horizontal
Image <Gray, Byte> Thrred; //Creates two Grayscale images that will be used when segmenting
Thrred = processedred.InRange(new Hsv(165, 125, 120), new Hsv(180, 255, 255)); //Handles second range for RED
//Handles noise and cleans image
Mat kernel = Mat.Ones(3, 3, Emgu.CV.CvEnum.DepthType.Cv32F, 1); //Creates 3x3 kernelred for use as kernelred
CvInvoke.MorphologyEx(Thrred, Thrred, Emgu.CV.CvEnum.MorphOp.Open, kernel, new System.Drawing.Point(0, 0), 1, Emgu.CV.CvEnum.BorderType.Default, new MCvScalar(1));
CvInvoke.MorphologyEx(Thrred, Thrred, Emgu.CV.CvEnum.MorphOp.Dilate, kernel, new System.Drawing.Point(0, 0), 1, Emgu.CV.CvEnum.BorderType.Default, new MCvScalar(1));
// Used to display red parts of original image
//Extracts only RED parts from orignal image
//Mat Mask; //Creates Mat for converting mask to Mat
//Mask = Thrred.Mat; //Casts mask to Mat
//Image<Hsv, byte> Redisolated = new Image<Hsv, byte>(processedred.Width, processedred.Height); //Creates Image<Hsv,byte> for final processedred image
//CvInvoke.BitwiseAnd(processedred, processedred, Redisolated, Mask); //ANDS mask with orignal image to retain only portions that are RED
//Extracts biggest blob
//Variables
double largestareared = 0;
int largestcontourindexred = 0;
Image <Hsv, Byte> Output = new Image <Hsv, Byte>(processedred.Width, processedred.Height);
Image <Gray, Byte> ContourdrawnRed = new Image <Gray, Byte>(processedred.Width, processedred.Height);
VectorOfVectorOfPoint ContoursRed = new VectorOfVectorOfPoint();
Mat HierarchyRed = new Mat();
//Processing
CvInvoke.FindContours(Thrred, ContoursRed, HierarchyRed, Emgu.CV.CvEnum.RetrType.Ccomp, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxSimple); //Finds contours in image
//Iterates through each contour
for (int i = 0; i < ContoursRed.Size; i++)
{
double a = CvInvoke.ContourArea(ContoursRed[i], false); // Find the area of contour
if (a > largestareared)
{
largestareared = a;
largestcontourindexred = i; //Stores the index of largest contour
boundingrectred = CvInvoke.BoundingRectangle(ContoursRed[i]); // Creates bounding rectangle for biggest contour
}
}
//Compute centre of rectangle
XRed = boundingrectred.X + (boundingrectred.Width / 2);
YRed = boundingrectred.Y + (boundingrectred.Height / 2);
//Old Method used for overlay
//CvInvoke.DrawContours(processedred, ContoursRed, largestcontourindexred, new MCvScalar(255, 255, 255), 10, Emgu.CV.CvEnum.LineType.Filled, HierarchyRed, 0); //Draws biggest contour on blank image
//processedred.Draw(boundingrectred,new Hsv(255,255,255), 3);
//CvInvoke.Circle(processedred, new System.Drawing.Point(640-XRed, YRed), 4, new MCvScalar(255),2, Emgu.CV.CvEnum.LineType.Filled);
//outputimage.Source = BitmapSourceConvert.ToBitmapSource1(processedred1);
//Cleanup
//Mask.Dispose();
Thrred.Dispose();
Streamred.Dispose();
myBmpred.Dispose();
//Blue
Image <Gray, Byte> ThrBlue; //Creates two Grayscale images that will be used when segmenting
ThrBlue = processedred.InRange(new Hsv(85, 110, 80), new Hsv(135, 230, 220)); //Handles second range for Blue
//Handles noise and cleans image
CvInvoke.MorphologyEx(ThrBlue, ThrBlue, Emgu.CV.CvEnum.MorphOp.Open, kernel, new System.Drawing.Point(0, 0), 1, Emgu.CV.CvEnum.BorderType.Default, new MCvScalar(1));
CvInvoke.MorphologyEx(ThrBlue, ThrBlue, Emgu.CV.CvEnum.MorphOp.Dilate, kernel, new System.Drawing.Point(0, 0), 1, Emgu.CV.CvEnum.BorderType.Default, new MCvScalar(1));
//Used to display blue parts of original image
//Extracts only RED parts from orignal image
//Mat Mask1; //Creates Mat for converting mask to Mat
//Mask1 = ThrBlue.Mat; //Casts mask to Mat
//Image<Hsv, byte> Bluleisolated = new Image<Hsv, byte>(processedred.Width, processedred.Height); //Creates Image<Hsv,byte> for final processedred image
//CvInvoke.BitwiseAnd(processedred, processedred, Redisolated, Mask); //ANDS mask with orignal image to retain only portions that are RED
//Extracts biggest blob
//Variables
double LargestAreaBlue = 0;
int LargestContourIndexBlue = 0;
MCvPoint2D64f CenterBlue = new MCvPoint2D64f(0, 0);
Image <Gray, Byte> ContourDrawnBlue = new Image <Gray, Byte>(processedred.Width, processedred.Height);
VectorOfVectorOfPoint ContoursBlue = new VectorOfVectorOfPoint();
Moments MomentsBlue = new Moments();
Mat HierarchyBlue = new Mat();
//Processing
CvInvoke.FindContours(ThrBlue, ContoursBlue, HierarchyBlue, Emgu.CV.CvEnum.RetrType.Ccomp, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxSimple); //Finds contours in image
//Iterates through each contour
for (int i = 0; i < ContoursBlue.Size; i++)
{
double a = CvInvoke.ContourArea(ContoursBlue[i], false); // Find the area of contour
if (a > LargestAreaBlue)
{
LargestAreaBlue = a;
LargestContourIndexBlue = i; //Stores the index of largest contour
boundingrectBlue = CvInvoke.BoundingRectangle(ContoursBlue[LargestContourIndexBlue]); // Creates bounding rectangle for biggest contour
}
}
//Compute center of rectangle
XBlue = boundingrectBlue.X + boundingrectBlue.Width / 2;
YBlue = boundingrectBlue.Y + boundingrectBlue.Height / 2;
//Cleanup
//Mask1.Dispose();
ThrBlue.Dispose();
//Add point to images
Canvas3.Children.Clear();
System.Windows.Shapes.Ellipse PointRed = CreateEllipse.CircleRed();
System.Windows.Shapes.Ellipse PointBlue = CreateEllipse.CircleBlue();
Canvas3.Children.Add(PointRed);
Canvas3.Children.Add(PointBlue);
PointRed.SetValue(Canvas.LeftProperty, (640 - XRed) * .6); //0.6 used as the stream sizes are 0.6 times the actual resolution
PointRed.SetValue(Canvas.TopProperty, YRed * .6);
PointBlue.SetValue(Canvas.LeftProperty, (640 - XBlue) * .6);
PointBlue.SetValue(Canvas.TopProperty, YBlue * .6);
return;
}
else
{
return;
}
}
//Gets depth info from kinect and casts to a bitmap
private void Ksensor_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
DepthImageFrame depthFrame = e.OpenDepthImageFrame(); //Puts Depthframe into Depthframe
//Checks if there is a depthFrame
if (depthFrame != null)
{
// Copy the pixel data from the image to a temporary array
depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
// Get the min and max reliable depth for the current frame
int minDepth = depthFrame.MinDepth;
int maxDepth = depthFrame.MaxDepth;
//Convert depth data to bitmapsource
short[] pixelData = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo(pixelData);
BitmapSource bmap = BitmapSource.Create(
depthFrame.Width,
depthFrame.Height,
2, 2,
PixelFormats.Gray16, null,
pixelData,
depthFrame.Width * depthFrame.BytesPerPixel);
double vertF = 571.401, horzF = 557.274; //Focal lengths
ColorImagePoint[] color = new ColorImagePoint[depthFrame.PixelDataLength];
ksensor.CoordinateMapper.MapDepthFrameToColorFrame(DepthImageFormat.Resolution640x480Fps30, this.depthPixels, ColorImageFormat.RgbResolution640x480Fps30, color);
//Seraches mapped RED coordinates
for (k = 0; k < 640; ++k)
{
if (color[k].X == XR)
{
break;
}
}
for (int h = k; h < depthFrame.PixelDataLength; h += 640)
{
if (color[h].Y == YR)
{
if (h % 640 != 0)
{
XRMapped = h % 640;
}
YRMapped = (h - XR) / 640;
//Red coordinates
ZR = this.depthPixels[(640 - XRMapped) + (YRMapped * 640)].Depth;
Rxcoord = (ZR * (320 - XRMapped)) / horzF;
Rycoord = (ZR * (240 - YRMapped)) / vertF;
RCoordX.Content = Math.Round(Rxcoord);
RCoordY.Content = Math.Round(Rycoord);
RCoordZ.Content = ZR;
break;
}
}
//Searches mapped Blue coordinates
for (j = 0; j < 640; ++j)
{
if (color[j].X == XB)
{
break;
}
}
for (int h = j; h < depthFrame.PixelDataLength; h += 640)
{
if (color[h].Y == YB)
{
if (h % 640 != 0)
{
XBMapped = h % 640;
}
YBMapped = (h - XB) / 640;
//Red coordinates
ZB = this.depthPixels[(640 - XBMapped) + (YBMapped * 640)].Depth;
Bxcoord = (ZB * (320 - XBMapped)) / horzF;
Bycoord = (ZB * (240 - YBMapped)) / vertF;
BCoordX.Content = Math.Round(Bxcoord);
BCoordY.Content = Math.Round(Bycoord);
BCoordZ.Content = ZB;
break;
}
}
//Set stream to image
Depthstream.Source = bmap;
//Add points to imageviews for debugging
Canvas1.Children.Clear();
Canvas2.Children.Clear();
System.Windows.Shapes.Ellipse DepthPointRed = CreateEllipse.CircleRed();
System.Windows.Shapes.Ellipse DepthPointBlue = CreateEllipse.CircleBlue();
System.Windows.Shapes.Ellipse ColorPointRed = CreateEllipse.CircleRed();
System.Windows.Shapes.Ellipse ColorPointBlue = CreateEllipse.CircleBlue();
Canvas2.Children.Add(ColorPointRed);
Canvas2.Children.Add(ColorPointBlue);
Canvas1.Children.Add(DepthPointRed);
Canvas1.Children.Add(DepthPointBlue);
DepthPointRed.SetValue(Canvas.LeftProperty, (depthFrame.Width - XRMapped - 3) * .6);
DepthPointRed.SetValue(Canvas.TopProperty, (YRMapped - 3) * .6);
DepthPointBlue.SetValue(Canvas.LeftProperty, (depthFrame.Width - XBMapped - 3) * .6);
DepthPointBlue.SetValue(Canvas.TopProperty, (YBMapped - 3) * .6);
ColorPointRed.SetValue(Canvas.LeftProperty, (depthFrame.Width - XR - 3) * .6);
ColorPointRed.SetValue(Canvas.TopProperty, (YR - 3) * .6);
ColorPointBlue.SetValue(Canvas.LeftProperty, (depthFrame.Width - XB - 3) * .6);
ColorPointBlue.SetValue(Canvas.TopProperty, (YB - 3) * .6);
//Cleanup
depthFrame.Dispose();
CoordinateFrameCalc();
}
}
