// 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;
}
