public frmPruebaMano()
{
InitializeComponent();
detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
imgCaja = new ImageBox();
imgCaja.Height = 306;
imgCaja.Width = 430;
imgCaja.Location = new System.Drawing.Point(12, 42);
imgCaja.SizeMode = PictureBoxSizeMode.StretchImage;
imgCaja2 = new ImageBox();
imgCaja2.Height = 306;
imgCaja2.Width = 430;
imgCaja2.Location = new System.Drawing.Point(478, 42);
imgCaja2.SizeMode = PictureBoxSizeMode.StretchImage;
imgCaja.BorderStyle = BorderStyle.FixedSingle;
imgCaja2.BorderStyle = BorderStyle.FixedSingle;
this.Controls.Add(imgCaja);
this.Controls.Add(imgCaja2);
imgCaja.Show();
}
public Form1()
{
InitializeComponent();
//Y
trackBar4.Maximum = 255;
trackBar4.Minimum = 0;
trackBar1.Maximum = 255;
trackBar1.Minimum = 0;
//Cb
trackBar2.Maximum = 255;
trackBar2.Minimum = 0;
trackBar5.Maximum = 255;
trackBar5.Minimum = 0;
//Cr
trackBar3.Maximum = 255;
trackBar3.Minimum = 0;
trackBar6.Maximum = 255;
trackBar6.Minimum = 0;
//detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE);
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(80, 133, 80);
YCrCb_max = new Ycc(255, 173, 158);
box = new RotatedRect();
DrawBox.MouseClick += new MouseEventHandler(Form1_MouseClick);
}
public HandGeastureWindows()
{
InitializeComponent();
InitializeComponent();
//grabber = new Emgu.CV.Capture(@".\..\..\..\M2U00253.MPG");
grabber = new Emgu.CV.Capture();
grabber.QueryFrame();
frameWidth = grabber.Width;
frameHeight = grabber.Height;
detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE);
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
box = new MCvBox2D();
ellip = new Emgu.CV.Structure.Ellipse();
//Application.Idle += new EventHandler(FrameGrabber);
worker = new BackgroundWorker();
worker.DoWork += FrameGrabber;
worker.RunWorkerAsync();
worker.RunWorkerCompleted += (object sender, RunWorkerCompletedEventArgs e) =>
{
worker.RunWorkerAsync();
};
}
public HandRecognition()
{
InitializeComponent();
// grabber = new Emgu.CV.Capture(@"E:\HandGestureRecognition\M2U00253.mpg");
try
{
grabber = new Emgu.CV.Capture();
}
catch (Exception e)
{
grabber = new Emgu.CV.Capture(@"E:\HandGestureRecognition\M2U00253.mpg");
}
grabber.QuerySmallFrame();
frameWidth = grabber.Width;
frameHeight = grabber.Height;
detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE);
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
box = new MCvBox2D();
ellip = new Ellipse();
Application.Idle += new EventHandler(FrameGrabber);
}
public HandPosture()
{
InitializeComponent();
skinDetector = new YCrCbSkinDetector();
camera = new Capture();//@"D:\Working\XNA\STREAM\00005_hand.MTS");
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
template = new Image <Gray, byte>(@"C:\Users\ahmed nady\Desktop\hand1.jpg");
////_binary_template = skinDetector.DetectSkin(template, YCrCb_min, YCrCb_max);
template1 = new Image <Gray, byte>(@"C:\Users\ahmed nady\Desktop\zoomOut.jpg");
// _binary_template1 = skinDetector.DetectSkin(template1, YCrCb_min, YCrCb_max);
template2 = new Image <Gray, byte>(@"C:\Users\ahmed nady\Desktop\rotateLeft.jpg");
// _binary_template2 = skinDetector.DetectSkin(template2, YCrCb_min, YCrCb_max);
template3 = new Image <Gray, byte>(@"C:\Users\ahmed nady\Desktop\rotateRight.jpg");
// _binary_template3 = skinDetector.DetectSkin(template3, YCrCb_min, YCrCb_max);
testImg = new Image <Bgr, byte>(@"C:\Users\Public\Pictures\Sample Pictures\Tulips.jpg");
combiningGesture = (template.ConcateHorizontal(template1)).ConcateHorizontal(template2.ConcateHorizontal(template3));
}
public ConvexHull()
{
InitializeComponent();
//@"C:\Users\ahmed nady\Videos\Debut\test.avi" 00023.MTS MOV_0016 @"D:\Working\STREAM\ahmednady.asf"
camera = new Capture(/*@"C:\Users\ahmed nady\Videos\Debut\5.avi");*/ @"F:\Working\Final phase\DataSet\sequence.avi");
fingerTipDetection = new FingerTip();
skinDetector = new YCrCbSkinDetector();
candidateTips = new List <Point>();
fingerTracker = new List <Tracks>();
// adjust path to find your XML file
//haar = new HaarCascade("FingerTips.xml");
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
//$N
rec = new GeometricRecognizer();
rec.LoadGesture(@"C:\Users\ahmed nady\Documents\TranslateLeft.xml");
rec.LoadGesture(@"C:\Users\ahmed nady\Documents\TranslateRight.xml");
rec.LoadGesture(@"C:\Users\ahmed nady\Documents\RotateLeft.xml");
rec.LoadGesture(@"C:\Users\ahmed nady\Documents\RotateRight.xml");
rec.LoadGesture(@"C:\Users\ahmed nady\Documents\ZoomIn.xml");
rec.LoadGesture(@"C:\Users\ahmed nady\Documents\ZoomOut.xml");
rec.LoadGesture(@"C:\Users\ahmed nady\Documents\KZoomIn.xml");
rec.LoadGesture(@"C:\Users\ahmed nady\Documents\KZoomOut.xml");
}
public Form1()
{
InitializeComponent();
grabber = new Emgu.CV.Capture("C:/Users/L33549.CITI/Desktop/a.avi");
grabber.QueryFrame();
frameWidth = grabber.Width;
frameHeight = grabber.Height;
//detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE);
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 129, 40);
YCrCb_max = new Ycc(255, 185, 135);
box = new MCvBox2D();
ellip = new Ellipse();
contourStorage = new MemStorage();
approxStorage = new MemStorage();
hullStorage = new MemStorage();
defectsStorage = new MemStorage();
tipPts = new Point[MAX_POINTS]; // coords of the finger tips
foldPts = new Point[MAX_POINTS]; // coords of the skin folds between fingers
depths = new float[MAX_POINTS]; // distances from tips to folds
cogPt = new Point();
fingerTips = new List<Point>();
face = new CascadeClassifier("C:/Users/L33549.CITI/Desktop/AbuseAnalysis/HandGestureRecognition/HandGestureRecognition/HandGestureRecognition/haar/Original/haarcascade_hand.xml");
Application.Idle += new EventHandler(FrameGrabber);
/*foreach (var potentialSensor in KinectSensor.KinectSensors)
{
if (potentialSensor.Status == KinectStatus.Connected)
{
this.sensor = potentialSensor;
break;
}
}
if (null != this.sensor)
{
// Turn on the color stream to receive color frames
this.sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
// Allocate space to put the pixels we'll receive
this.colorPixels = new byte[this.sensor.ColorStream.FramePixelDataLength];
// This is the bitmap we'll display on-screen
this.colorBitmap = new WriteableBitmap(this.sensor.ColorStream.FrameWidth, this.sensor.ColorStream.FrameHeight, 96.0, 96.0, PixelFormats.Bgr32, null);
// Set the image we display to point to the bitmap where we'll put the image data
//this.Image.Source = this.colorBitmap;
// Add an event handler to be called whenever there is new color frame data
this.sensor.ColorFrameReady += this.SensorColorFrameReady;
// Start the sensor!
this.sensor.Start();
}*/
}
public frmPruebaMano()
{
InitializeComponent();
detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
imgCaja = new ImageBox();
imgCaja.Height = 306;
imgCaja.Width = 430;
imgCaja.Location = new System.Drawing.Point(12, 42);
imgCaja.SizeMode = PictureBoxSizeMode.StretchImage;
imgCaja2 = new ImageBox();
imgCaja2.Height = 306;
imgCaja2.Width = 430;
imgCaja2.Location = new System.Drawing.Point(478, 42);
imgCaja2.SizeMode = PictureBoxSizeMode.StretchImage;
imgCaja.BorderStyle = BorderStyle.FixedSingle;
imgCaja2.BorderStyle = BorderStyle.FixedSingle;
this.Controls.Add(imgCaja);
this.Controls.Add(imgCaja2);
imgCaja.Show();
}
public K_Curvature()
{
InitializeComponent();
// x = new List<HandTracking>(2);
handCandiate = new List <Contour <Point> >();
detected_hand = new List <Contour <Point> >();
hand_centers = new Dictionary <int, PointF>(2);
//C:\Users\ahmed nady\Videos\Debut\Untitled 5.avi D:\Working\XNA\rotateRight.avi G:\PRIVATE\AVCHD\BDMV\STREAM\00017.mts
grabber = new Emgu.CV.Capture();//@"D:\Working\STREAM\00003.mts");//@"D:\Working\XNA\rotateRight3.avi");
// template = new Image<Gray, byte>(@"C:\Users\ahmed nady\Desktop\hand1.jpg");
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
//$N
rec = new GeometricRecognizer();
rec.LoadGesture(@"E:\Documents\ScaleUp.xml");
rec.LoadGesture(@"E:\Documents\ZoomIn.xml");
rec.LoadGesture(@"E:\Documents\ZoomOut.xml");
rec.LoadGesture(@"E:\Documents\rotateLeft.xml");
rec.LoadGesture(@"E:\Documents\rotateRight.xml");
fingerTracker = new List <Tracks>();
}
public gesture()
{
InitializeComponent();
fow_prop = new gesture_recog();
fow_prop.Show();
//CvInvoke.UseOpenCL = false;
try
{
grabber = global.capture;
}
catch (NullReferenceException excpt)
{
MessageBox.Show(excpt.Message);
}
grabber.QueryFrame();
frameWidth = grabber.Width;
frameHeight = grabber.Height;
// detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE);
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 254, 254);
// YCrCb_min = new Ycc(0, 131, 80);
//YCrCb_max = new Ycc(255, 185, 135);
YCrCb_min = new Ycc(0, 130, 80);
YCrCb_max = new Ycc(255, 185, 135);
index = 0;
for (int i = 0; i < 10; i++)
{
na[i] = 1;
}
fgDetector = new BackgroundSubtractorMOG2();
blobDetector = new Emgu.CV.Cvb.CvBlobDetector();
Application.Idle += new EventHandler(FrameGrabber);
}
//\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\
//Skin Color filtering/////////////////////////////////////////////////////////////////////
//-----------------------------------------------------------------------------------------
public Image <Gray, byte> DetectSkinYCC(Image <Bgr, byte> Img, Ycc YCC_min, Ycc YCC_max)
{
Image <Ycc, Byte> currentYCrCbFrame = Img.Convert <Ycc, Byte>();
Image <Gray, byte> skin = new Image <Gray, byte>(Img.Width, Img.Height);
skin = currentYCrCbFrame.InRange(YCC_min, YCC_max);
return(skin);
}
public FingerTip()
{
tips = new List <Point>();
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
}
public Form1()
{
InitializeComponent();
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
mv = new MCvMoments();
}
public Form1()
{
InitializeComponent();
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
mv = new MCvMoments();
pt.X = loaded.Width / 2;
pt.Y = loaded.Height / 2;
}
public Form1()
{
InitializeComponent();
detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE);
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
float flot = 15;
bgs = new BackgroundSubtractorMOG2(30, flot, false);
mv = new MCvMoments();
}
// 填充缺陷轮廓
private Image <Bgr, byte> ContourFilling3(Image <Bgr, byte> pic)
{
Image <Bgr, byte> outpic = new Image <Bgr, byte>(pic.Size);
Image <Ycc, byte> ycc = pic.Convert <Ycc, byte>();
for (int i = 0; i < ycc.Height; i++)
{
for (int j = 0; j < ycc.Width; j++)
{
if (ycc[i, j].Cr > 35 && ycc[i, j].Cr < 148 &&
ycc[i, j].Cb > 48 && ycc[i, j].Cb < 141)
{
ycc[i, j] = new Ycc(0, 0, 0);
}
else
{
ycc[i, j] = new Ycc(255, 255, 255);
}
}
}
Image <Gray, byte> gray = ycc.Convert <Gray, byte>();
gray = gray.ThresholdBinary(new Gray(100), new Gray(255));
gray = gray.Canny(100, 60);
Image <Gray, byte> outcon = new Image <Gray, byte>(pic.Size);
VectorOfVectorOfPoint con = new VectorOfVectorOfPoint();
CvInvoke.FindContours(gray, con, outcon, RetrType.External, ChainApproxMethod.ChainApproxNone);
int n = 0;
for (int i = 0; i < con.Size; i++)
{
if (CvInvoke.ContourArea(con[i]) > 0)
{
n++;
}
}
textBox1.Text = "共" + n.ToString() + "个缺陷" + " " + "\n";
n = 0;
for (int i = 0; i < con.Size; i++)
{
if (CvInvoke.ContourArea(con[i]) > 0)
{
CvInvoke.DrawContours(outpic, con, i, new MCvScalar(0, 255, 0), 5);
textBox1.Text = textBox1.Text + "第" + (++n).ToString() + "个缺陷的面积为" + CvInvoke.ContourArea(con[i]) + " \n";
}
}
CvInvoke.AddWeighted(outpic, 0.5, picture, 0.5, 0, outpic);
return(outpic);
}
public void IdentifyContours(Bitmap colorImage, int minPerimeter, int maxPerimeter, out List <RecognitionType> detectedObj)
{
detectedObj = new List <RecognitionType>();
#region Conversion To grayscale
colorImage.RotateFlip(RotateFlipType.RotateNoneFlipX);
Image <Gray, byte> grayImage = new Image <Gray, byte>(colorImage);
Image <Bgr, byte> color = new Image <Bgr, byte>(colorImage);
IColorSkinDetector skinDetection;
Ycc YCrCb_min = new Ycc(0, 131, 80);
Ycc YCrCb_max = new Ycc(255, 185, 135);
#endregion
skinDetection = new YCrCbSkinDetector();
Image <Gray, byte> skin = skinDetection.DetectSkin(color, YCrCb_min, YCrCb_max);
using (MemStorage storage = new MemStorage())
{
for (Contour <Point> contours = skin.FindContours(Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE,
Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_TREE, storage); contours != null; contours = contours.HNext)
{
Contour <Point> currentContour = contours.ApproxPoly(contours.Perimeter * 0.015, storage);
if (currentContour.BoundingRectangle.Width > 20)
{
if (contours.Perimeter > minPerimeter && contours.Perimeter < maxPerimeter)
{
CvInvoke.cvDrawContours(skin, contours, new MCvScalar(255), new MCvScalar(255),
-1, 2, Emgu.CV.CvEnum.LINE_TYPE.EIGHT_CONNECTED, new Point(0, 0));
color.Draw(currentContour.BoundingRectangle, new Bgr(0, 255, 0), 1);
detectedObj.Add(new RecognitionType()
{
GesturePosition = currentContour.BoundingRectangle,
GestureImage = skin.ToBitmap().Clone(currentContour.BoundingRectangle, skin.ToBitmap().PixelFormat)
});
}
}
}
}
}
public GestureRecognitionClass()
{
frameWidth = grabber.Width;
frameHeight = grabber.Height;
detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE);
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
box = new MCvBox2D();
ellipse = new Ellipse();
mainProcess = new Thread(MainProcess);
mainProcess.Start();
}
// constructor khoi tao giá tri
public Form1()
{
InitializeComponent();
Run();
detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE);
// xác định ngưỡng trên và ngưỡng dưới của hsv and YCrCB color space
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
box = new MCvBox2D();
// gắn sự kiện Eventhandler để truy cập vào hsv frame and YCrCB frame
Application.Idle += new EventHandler(FrameGrabber);
}
public Form1()
{
InitializeComponent();
grabber = new Emgu.CV.Capture(0);
grabber.QueryFrame();
frameWidth = grabber.Width;
frameHeight = grabber.Height;
detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE);
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
box = new MCvBox2D();
ellip = new Ellipse();
Application.Idle += new EventHandler(FrameGrabber);
}
public Form1()
{
InitializeComponent();
grabber = new Emgu.CV.Capture(@".\..\..\..\M2U00253.MPG");
grabber.QueryFrame();
frameWidth = grabber.Width;
frameHeight = grabber.Height;
detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE);
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
box = new MCvBox2D();
ellip = new Ellipse();
Application.Idle += new EventHandler(FrameGrabber);
}
public void setColorRange(string color)
{
if (color.Equals("Black"))
{
minRange = new Ycc(0, 96, 96);
maxRange = new Ycc(32, 160, 160);
}
else if (color.Equals("Blue"))
{
minRange = new Ycc(9, 208, 78);
maxRange = new Ycc(73, 272, 142);
}
else if (color.Equals("Green"))
{
minRange = new Ycc(113, 22, 2);
maxRange = new Ycc(177, 86, 66);
}
else if (color.Equals("Grey"))
{
minRange = new Ycc(149, 96, 96);
maxRange = new Ycc(213, 160, 160);
}
else if (color.Equals("Red"))
{
minRange = new Ycc(50, 58, 208);
maxRange = new Ycc(114, 122, 272);
}
else if (color.Equals("Yellow"))
{
minRange = new Ycc(178, 0, 114);
maxRange = new Ycc(242, 48, 178);
}
else if (color.Equals("default"))
{
minRange = new Ycc(0, 131, 80);
maxRange = new Ycc(255, 185, 135);
}
}
//장애물 색상이 맞는지 판별
public int obstacle_YccColorCheck(Image <Bgr, Byte> iamge, int totalPicxel, int pos_x, int pos_y, int img_width, int img_height, int min1, int min2, int min3, int max1, int max2, int max3)
{
int pixCount = 0;
Image <Ycc, Byte> YCrCbFrame = iamge.Convert <Ycc, Byte>(); //YCrCb 변환
Image <Gray, byte> colorSetting = new Image <Gray, byte>(YCrCbFrame.Width, YCrCbFrame.Height); //Ycc범위로 뽑아낸 것을 gray로 바꿔서 수축팽창 하기 위해
Ycc YCrCb_min = new Ycc(min1, min2, min3);
Ycc YCrCb_max = new Ycc(max1, max2, max3); //blue 색 범위
colorSetting = YCrCbFrame.InRange((Ycc)YCrCb_min, (Ycc)YCrCb_max); //색 범위 설정
StructuringElementEx rect_12 = new StructuringElementEx(12, 12, 6, 6, Emgu.CV.CvEnum.CV_ELEMENT_SHAPE.CV_SHAPE_RECT);
CvInvoke.cvErode(colorSetting, colorSetting, rect_12, 1);
StructuringElementEx rect_6 = new StructuringElementEx(6, 6, 3, 3, Emgu.CV.CvEnum.CV_ELEMENT_SHAPE.CV_SHAPE_RECT);
CvInvoke.cvDilate(colorSetting, colorSetting, rect_6, 2); //수축 팽창
Image <Bgr, Byte> colorCount = colorSetting.Convert <Bgr, Byte>(); //픽셀수 세기 위해
for (int x = pos_x; x < pos_x + img_width; x++)
{
for (int y = pos_y; y < pos_y + img_height; y++)
{
if (colorCount[y, x].Equals(new Bgr(255, 255, 255)))
{
pixCount++;
if (totalPicxel / 10 <= pixCount) //일정 픽섹 이상시 색상배열 변경후 종료
{
return(1);
}
if (x > pos_x / 5 + x && y > pos_y / 5 + y) //좌표의 1/5 넘으면 없는걸로
{
return(-1);
}
}
}
}
return(-1);
}
public Form1()
{
InitializeComponent();
grabber = new Emgu.CV.Capture();
grabber.QueryFrame();
frameWidth = grabber.Width;
frameHeight = grabber.Height;
detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE);
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
box = new MCvBox2D();
// ellip = new Ellipse();
_face = new HaarCascade("haarcascade_frontalface_alt_tree.xml");
eyes = new HaarCascade("haarcascade_mcs_eyepair_big.xml");
reye = new HaarCascade("haarcascade_mcs_lefteye.xml");
leye = new HaarCascade("haarcascade_mcs_righteye.xml");
label1.Hide();
}
public Form1()
{
InitializeComponent();
grabber = new Emgu.CV.Capture();
grabber.QueryFrame();
frameWidth = grabber.Width;
frameHeight = grabber.Height;
detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE);
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
box = new MCvBox2D();
// ellip = new Ellipse();
_face = new HaarCascade("haarcascade_frontalface_alt_tree.xml");
eyes = new HaarCascade("haarcascade_mcs_eyepair_big.xml");
reye = new HaarCascade("haarcascade_mcs_lefteye.xml");
leye = new HaarCascade("haarcascade_mcs_righteye.xml");
label1.Hide();
}
MCvBox2D box; // biến khởi tạo 1 khung (hình chữ nhật)
// constructor khởi tạo giá trị
public video()
{
InitializeComponent();
grabber = new Emgu.CV.Capture(@".\..\..\..\hao.mpg"); // có được từ video file nhờ sử dụng biến grabber
grabber.QueryFrame(); // nhận khung hình từ video file
frameWidth = grabber.Width; // thiết lập kích thước khung từ kích thước video file đã có
frameHeight = grabber.Height;
detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE); //class nhận diện da
// xác định ngưỡng trên và ngưỡng dưới của hsv and YCrCB color space
// có thể điều chỉnh để phù hơp với video file
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
box = new MCvBox2D();
// gắn sự kiện Eventhandler để truy cập vào hsv frame and YCrCB frame
Application.Idle += new EventHandler(FrameGrabber);
}
MCvBox2D box; // biến khởi tạo 1 khung (hình chữ nhật)
// constructor khởi tạo giá trị
public Form1()
{
InitializeComponent();
grabber = new Emgu.CV.Capture(@".\..\..\..\hao.mpg"); // có được từ video file nhờ sử dụng biến grabber
grabber.QueryFrame(); // nhận khung hình từ video file
frameWidth = grabber.Width; // thiet lap kich thuoc cua khung lay tu kich thuoc cua video file da co
frameHeight = grabber.Height;
detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE); // nhận diện skin
/* xác định ngưỡng trên và ngưỡng dưới của hsv and YCrCB color space
* có thể điều chỉnh để phù hơp với video file */
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
box = new MCvBox2D();
// gắn thêm FrameGrabber vào Eventhandler để truy cập vào hsv frame and YCrCB frame
Application.Idle += new EventHandler(FrameGrabber);
}
public hand_detection()
{
InitializeComponent();
// x = new List<HandTracking>(2);
handCandiate = new List <Contour <Point> >();
detected_hand = new List <Contour <Point> >();
hand_centers = new Dictionary <int, PointF>(2);
grabber = new Emgu.CV.Capture(@"D:\Working\STREAM\test.avi");
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
fingerTracker = new List <Tracks>();
// y = null;
//height = (int)grabber.GetCaptureProperty(Emgu.CV.CvEnum.CAP_PROP.CV_CAP_PROP_FRAME_HEIGHT);
//width = (int)grabber.GetCaptureProperty(Emgu.CV.CvEnum.CAP_PROP.CV_CAP_PROP_FRAME_WIDTH);
//detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE);
//tempImage = new Image<Gray, Byte>(width, height);
//current_image = new Image<Gray, byte>(width, height);
//newImageG = new Image<Gray, byte>(width, height);
//sw = new System.Diagnostics.Stopwatch();
//Application.Idle += FrameGrabber;
}
Ellipse ellip; // bi?n kh?i t?o 1 ellip
// constructor kh?i t?o giá tr?
public Form1()
{
InitializeComponent();
Run();
//grabber = new Capture();
//grabber.QueryFrame(); // nh?n khung hình t? video file
//frameWidth = grabber.Width; // thiet lap kich thuoc cua khung lay tu kich thuoc cua video file da co
//frameHeight = grabber.Height;
detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE); // nh?n di?n skin
/* xác d?nh ngu?ng trên và ngu?ng du?i c?a hsv and YCrCB color space
* có th? di?u ch?nh d? phù hop v?i video file */
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
box = new MCvBox2D();
ellip = new Ellipse();
// g?n thêm FrameGrabber vào Eventhandler d? truy c?p vào hsv frame and YCrCB frame
Application.Idle += new EventHandler(FrameGrabber);
}
public FingerTipsTracking()
{
InitializeComponent();
//D:\Working\STREAM\00003.MTS
camera = new Capture(@"D:\Working\STREAM\00003.MTS");
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
//$N
rec = new GeometricRecognizer();
rec.LoadGesture(@"E:\Documents\ZoomIn.xml");
rec.LoadGesture(@"E:\Documents\ZoomOut.xml");
fingerTracker = new List <Tracks>();
testImage = new Image <Bgr, byte>(@"C:\Users\Public\Pictures\Sample Pictures\Tulips.jpg");
eImg = new Image <Gray, byte>(@"C:\Users\ahmed nady\Desktop\eImg1.jpg");
}
private void MainWindow_Loaded(object sender, RoutedEventArgs e)
{
heightHand = (int)imageConvexHull.Height;
widhtHand = (int)imageConvexHull.Width;
nui.Initialize(RuntimeOptions.UseColor | RuntimeOptions.UseSkeletalTracking);
nui.VideoFrameReady += Nui_VideoFrameReady;
nui.VideoStream.Open(ImageStreamType.Video, 2, ImageResolution.Resolution1280x1024, ImageType.Color);
#region SmoothTransform
nui.SkeletonEngine.TransformSmooth = true;
var parameters = new TransformSmoothParameters { Smoothing = 0.75f, Correction = 0.0f,
Prediction = 0.0f, JitterRadius = 0.05f, MaxDeviationRadius = 0.04f };
nui.SkeletonEngine.SmoothParameters = parameters;
#endregion
nui.SkeletonFrameReady += Nui_skeleton_SkeletonFrameReady;
#region HandRecognitionInit
detector = new AdaptiveSkinDetector(1, AdaptiveSkinDetector.MorphingMethod.NONE);
hsv_min = new Hsv(10, 45, 50);
hsv_max = new Hsv(20, 255, 255);
YCrCb_min = new Ycc(0, 131, 80);
YCrCb_max = new Ycc(255, 185, 135);
box = new MCvBox2D();
ellip = new Emgu.CV.Structure.Ellipse();
#endregion
haarCascade = new HaarCascade(rootXML+xmlName) ?? null;
if (haarCascade == null)
Console.WriteLine("Haar cascade is null.");
}
protected void Page_Load(object sender, EventArgs e)
{
bool result = Convert.ToBoolean(Session["result"]);
faceHaar = new CascadeClassifier("C:/Emgu/opencv_attic/opencv/data/haarcascades/haarcascade_frontalface_default.xml");
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
//YCrCb_min = new Ycc(0, 131, 80);
YCrCb_min = new Ycc(0, 140, 0);
YCrCb_max = new Ycc(255, 185, 135);
currentFrameList = new List<Image<Bgr, byte>>();
grayFrameList = new List<Image<Gray, byte>>();
handMotionList = new List<Image<Gray, byte>>();
contourStorage = new MemStorage();
box = new MCvBox2D();
fingers = new List<LineSegment2D>();
motionPoints = new List<PointF>();
gestures = new List<string>();
runTimes = new List<long>();
faceEmotions = new List<string>();
}
Image <Bgr, Byte> KuwaharaFilter(Image <Bgr, Byte> imgToFilter, int size)
{
Image <Ycc, Byte> imgYccToFilter = new Image <Ycc, byte>(imgToFilter.Size),
imgYccFiltered = new Image <Ycc, byte>(imgToFilter.Size);
Image <Bgr, Byte> imgFiltered = new Image <Bgr, byte>(imgToFilter.Size);
CvInvoke.CvtColor(imgToFilter, imgYccToFilter, ColorConversion.Bgr2YCrCb);
int[] apetureMinX = { -(size / 2), 0, -(size / 2), 0 },
apetureMaxX = { 0, (size / 2), 0, (size / 2) },
apetureMinY = { -(size / 2), -(size / 2), 0, 0 },
apetureMaxY = { 0, 0, (size / 2), (size / 2) };
for (int x = 0; x < imgYccToFilter.Height; ++x)
{
for (int y = 0; y < imgYccToFilter.Width; ++y)
{
double[] yValues = { 0, 0, 0, 0 };
int[] numPixels = { 0, 0, 0, 0 },
maxYValue = { 0, 0, 0, 0 },
minYValue = { 255, 255, 255, 255 };
for (int i = 0; i < 4; ++i)
{
for (int x2 = apetureMinX[i]; x2 < apetureMaxX[i]; ++x2)
{
int tempX = x + x2;
if (tempX >= 0 && tempX < imgYccToFilter.Height)
{
for (int y2 = apetureMinY[i]; y2 < apetureMaxY[i]; ++y2)
{
int tempY = y + y2;
if (tempY >= 0 && tempY < imgYccToFilter.Width)
{
Ycc tempColor = imgYccToFilter[tempX, tempY];
yValues[i] += tempColor.Y;
if (tempColor.Y > maxYValue[i])
{
maxYValue[i] = (int)tempColor.Y;
}
else if (tempColor.Y < minYValue[i])
{
minYValue[i] = (int)tempColor.Y;
}
++numPixels[i];
}
}
}
}
}
int j = 0;
int minDifference = 10000;
for (int i = 0; i < 4; ++i)
{
int currentDifference = maxYValue[i] - minYValue[i];
if (currentDifference < minDifference && numPixels[i] > 0)
{
j = i;
minDifference = currentDifference;
}
}
Ycc filteredPixel = new Ycc(yValues[j] / numPixels[j], imgYccToFilter[x, y].Cr, imgYccToFilter[x, y].Cb);
imgYccFiltered[x, y] = filteredPixel;
}
}
CvInvoke.CvtColor(imgYccFiltered, imgFiltered, ColorConversion.YCrCb2Bgr);
imageBoxFiltered.Image = imgFiltered;
return(imgFiltered);
}
public Form1()
{
InitializeComponent();
YCrCb_min = new Ycc(0, 139, 0); //139 or 145
YCrCb_max = new Ycc(193, 255, 193);
}
private void RefreshBackground(Image <Bgr, byte> imgCurrentFrame, double refreshHysteresis)
{
Image <Gray, byte> imgGrayCurrent = imgCurrentFrame.Convert <Gray, byte>();
Image <Hsv, byte> imgHsvCurrent = imgCurrentFrame.Convert <Hsv, byte>(); // new HSV image of the current frame to compare with the background
Image <Hsv, byte> imgHsvCurrentBackground = imgback.Convert <Hsv, byte>(); // new HSV image of the current background frame to compare with the current frame
double VvalueCurrent = imgHsvCurrent.GetSum().Value / (imgCurrentFrame.Width * imgCurrentFrame.Height); // get the luminance
double VvalueBackground = imgHsvCurrentBackground.GetSum().Value / (imgHsvCurrentBackground.Width * imgHsvCurrentBackground.Height);
double brightness_imgGrayCurrent = imgGrayCurrent.GetAverage().Intensity;
double LuminanceDiff = Math.Abs(VvalueCurrent - VvalueBackground);
YCrCb_min = new Ycc(0, VvalueBackground * (6.0d / 90.0d) + 122.31, 76);
//__SaftyInterface.InvokeEx(f => f.WriteLogInfo("LuminanceDiff = " + LuminanceDiff));
// __SaftyInterface.InvokeEx(f => f.WriteLogInfo("Luminance = " + VvalueCurrent));
//__SaftyInterface.InvokeEx(f => f.WriteLogInfo("CrMin = " + (VvalueBackground * (6.0d / 90.0d) + 122).ToString()));
if (CurrentState == ProcessState.Safe)
{
if (imgbackbuffer.Count == 0)
{
imgbackbuffer.Add(Convert.ToInt32(VvalueBackground), imgback);
highest = Convert.ToInt32(VvalueBackground);
lowest = Convert.ToInt32(VvalueBackground);
}
if (imgbackbuffer.Count < 200)
{
if (!imgbackbuffer.ContainsKey(Convert.ToInt32(VvalueCurrent)))
{
imgbackbuffer.Add(Convert.ToInt32(VvalueCurrent), imgCurrentFrame);
foreach (KeyValuePair <int, Image <Bgr, byte> > entry in imgbackbuffer)
{
if (highest < entry.Key)
{
highest = entry.Key;
}
if (lowest > entry.Key)
{
lowest = entry.Key;
}
// do something with entry.Value or entry.Key
}
}
else
{
imgbackbuffer[Convert.ToInt32(VvalueCurrent)] = imgCurrentFrame;
}
}
}
else if (CurrentState == ProcessState.Init)
{
/*
* for (int i = 1; i <= 78; i++)
* {
* Image<Bgr, byte> imgInput = new Image<Bgr, byte>(@"C:\DHBW\Studienarbeit\T3200\Software\SA2_SafetyModule\SafetyModule\Resources\back\back" + i + ".png");
*
* imgHsvCurrent = imgInput.Convert<Hsv, byte>();
*
* VvalueCurrent = imgHsvCurrent.GetSum().Value / (imgInput.Width * imgInput.Height);
*
*
*
*
* if (!imgbackbuffer.ContainsKey(Convert.ToInt32(VvalueCurrent)))
* {
* imgbackbuffer.Add(Convert.ToInt32(VvalueCurrent), imgInput);
* }
*
* }
*/
/*
* for (int i = 1; i < 5; i++)
* {
* //continue;
* Image<Gray, Byte>[] channels;
* channels = imgHsvCurrent.Split();
* channels[2]._GammaCorrect(1 + (i / 10));
* //channels[2]._GammaCorrect(3);
*
* Image<Hsv, byte> imgEqualizedLuminance = imgHsvCurrent;
*
*
* VectorOfMat arrChannels = new VectorOfMat(channels[0].Mat, channels[1].Mat, channels[2].Mat);
* CvInvoke.Merge(arrChannels, imgEqualizedLuminance);
*
* Image<Bgr, byte> imgEqualized = imgEqualizedLuminance.Convert<Bgr, byte>();
*
*
* imgHsvCurrent = imgEqualized.Convert<Hsv, byte>();
*
* VvalueCurrent = imgHsvCurrent.GetSum().Value / (imgEqualized.Width * imgEqualized.Height);
*
* //VvalueCurrent = channels[2].GetSum().value;
*
* VvalueCurrent = VvalueCurrent - (i * 10);
*
*
* //imgEqualized.Save("C:\\temp\\Bilder" + "\\" + "row_image" + i);
*
*
*
* if (!imgbackbuffer.ContainsKey(Convert.ToInt32(VvalueCurrent)))
* {
* imgbackbuffer.Add(Convert.ToInt32(VvalueCurrent), imgEqualized);
* }
*
* }
*/
}
if (LuminanceDiff > refreshHysteresis)
{
if (CurrentState == ProcessState.Safe)
{
MoveNext(Command.Pause);
}
else if (CurrentState == ProcessState.NotSafe)
{
for (int i = 0; i < 100; i++)
{
if (imgbackbuffer.ContainsKey(Convert.ToInt32(VvalueCurrent) - i))
{
imgback = imgbackbuffer[Convert.ToInt32(VvalueCurrent) - i];
return;
}
if (imgbackbuffer.ContainsKey(Convert.ToInt32(VvalueCurrent) + i))
{
imgback = imgbackbuffer[Convert.ToInt32(VvalueCurrent) + i];
return;
}
}
}
if (CurrentState == ProcessState.Paused)
{
for (int i = 0; i < 100; i++)
{
if (imgbackbuffer.ContainsKey(Convert.ToInt32(VvalueCurrent) - i))
{
imgback = imgbackbuffer[Convert.ToInt32(VvalueCurrent) - i];
return;
}
if (imgbackbuffer.ContainsKey(Convert.ToInt32(VvalueCurrent) + i))
{
imgback = imgbackbuffer[Convert.ToInt32(VvalueCurrent) + i];
return;
}
}
}
}
else if (CurrentState == ProcessState.Paused)
{
MoveNext(Command.Resume);
refreshBackCounter++;
}
return;
if (LuminanceDiff > refreshHysteresis)
{
if (CurrentState == ProcessState.Safe)
{
MoveNext(Command.Pause);
}
if (Math.Abs(prevLuminance - LuminanceDiff) > 1)
{
prevLuminance = LuminanceDiff;
//imgback = imgCurrentFrame;
if (VvalueCurrent > VvalueBackground)
{
// imgback._GammaCorrect(3);
//imgback = imgback.Not();
}
//imgback = imgCurrentFrame;
}
else
{
//imgback = imgCurrentFrame;
if (imgbackbuffer.ContainsKey(Convert.ToInt32(VvalueCurrent)))
{
imgback = imgbackbuffer[Convert.ToInt32(VvalueCurrent)];
}
MoveNext(Command.Resume);
refreshBackCounter++;
prevLuminance = 0;
}
}
else
{
if (CurrentState == ProcessState.Paused)
{
MoveNext(Command.Resume);
}
}
}
private void ClickRisePointButton(object sender, EventArgs e)
{
Image<Ycc,Byte> img = _sourceImage.Clone().Convert<Ycc,Byte>();
int width=img.Width;
int height=img.Height;
for (int i = 0; i < height; i++)
{
for (int j = 0; j < width; j++)
{
//顏色是皮膚色
if (img[i, j].Cr >= 138 && img[i, j].Cr <= 173 && img[i, j].Cb >= 77 && img[i, j].Cb <= 127)
{
img[i, j] = new Ycc(16,128,128);
}
}
}
_outputPictureBox.Image = img.ToBitmap();
}
//Ycc 색상 모델로 색상 정보 추출함
public void YccColorCheck(int index, int min1, int min2, int min3, int max1, int max2, int max3)
{
int pixCount = 0;
Image <Ycc, Byte> YCrCbFrame = colorCheckImage.Convert <Ycc, Byte>(); //YCrCb 변환
Image <Gray, byte> colorSetting = new Image <Gray, byte>(YCrCbFrame.Width, YCrCbFrame.Height); //Ycc범위로 뽑아낸 것을 gray로 바꿔서 수축팽창 하기 위해
Ycc YCrCb_min = new Ycc(min1, min2, min3);
Ycc YCrCb_max = new Ycc(max1, max2, max3); // 색 범위
colorSetting = YCrCbFrame.InRange((Ycc)YCrCb_min, (Ycc)YCrCb_max); //색 범위 설정
StructuringElementEx rect_12 = new StructuringElementEx(6, 6, 3, 3, Emgu.CV.CvEnum.CV_ELEMENT_SHAPE.CV_SHAPE_RECT);
CvInvoke.cvErode(colorSetting, colorSetting, rect_12, 1);
StructuringElementEx rect_6 = new StructuringElementEx(6, 6, 3, 3, Emgu.CV.CvEnum.CV_ELEMENT_SHAPE.CV_SHAPE_RECT);
CvInvoke.cvDilate(colorSetting, colorSetting, rect_6, 2); //수축 팽창
Image <Bgr, Byte> colorCount = colorSetting.Convert <Bgr, Byte>(); //픽셀수 세기 위해
//이미지가 범위를 벗어날경우 처리
if (pos_x < 0)
{
pos_x = 0;
}
if (pos_y < 0)
{
pos_y = 0;
}
if (pos_x + img_width > colorCheckImage.Width)
{
pos_x = colorCheckImage.Width - img_width;
}
if (pos_y + img_height > colorCheckImage.Height)
{
pos_y = colorCheckImage.Height - img_height;
}
for (int x = pos_x; x < pos_x + img_width; x++)
{
for (int y = pos_y; y < pos_y + img_height; y++)
{
if (!colorCount[y, x].Equals(new Bgr(0, 0, 0)))
{
pixCount++;
if (totalPicxel / 3 <= pixCount) //일정 픽섹 이상시 색상배열 변경후 종료
{
color[index] = true;
color_ROI[index].X = x;
color_ROI[index].Y = y;
color_count++;
change_check[index] = false;
int margin = 0;
ugvList.Add(new UGV("A" + index, glo.TemplateWidth - margin, glo.TemplateHeight - margin, x + 30, y + 30, colorStr[index]));
return;
}
}
}
}
}
public Form1()
{
InitializeComponent();
faceHaar = new CascadeClassifier(@"..\..\haar\haarcascade_frontalface.xml");
hsv_min = new Hsv(0, 45, 0);
hsv_max = new Hsv(20, 255, 255);
//YCrCb_min = new Ycc(0, 131, 80);
YCrCb_min = new Ycc(0, 140, 0);
YCrCb_max = new Ycc(255, 185, 135);
currentFrameList = new List<Image<Bgr, byte>>();
grayFrameList = new List<Image<Gray, byte>>();
handMotionList = new List<Image<Gray, byte>>();
contourStorage = new MemStorage();
box = new MCvBox2D();
fingers = new List<LineSegment2D>();
motionPoints = new List<PointF>();
gestures = new List<string>();
runTimes = new List<long>();
faceEmotions = new List<string>();
}
// Detects Skin. Takes an image and returns a binary image with the background removed.
// Skin is white and everything else will be black.
public static Image <Bgr, Byte> GetSkin(Image <Bgr, Byte> image)
{
// allocate the result matrix
Image <Bgr, Byte> dst = image.Clone();
Bgr cwhite = new Bgr(255, 255, 255); //Vec3b::all(255);
Bgr cblack = new Bgr(0, 0, 0); //Vec3b::all(0);
Image <Ycc, Byte> src_ycrcb = new Image <Ycc, Byte>(dst.Width, dst.Height); // = new Mat();
Image <Hsv, Single> src_hsv = new Image <Hsv, Single>(dst.Width, dst.Height); // = new Mat();
// OpenCV scales the YCrCb components, so that they
// cover the whole value range of [0,255], so there's
// no need to scale the values:
Emgu.CV.CvInvoke.CvtColor(image, src_ycrcb, Emgu.CV.CvEnum.ColorConversion.Bgr2YCrCb);
// OpenCV scales the Hue Channel to [0,180] for
// 8bit images, so make sure we are operating on
// the full spectrum from [0,360] by using floating
// point precision:
//image.ConvertTo(src_hsv, Emgu.CV.CvEnum.DepthType.Cv32F);
Emgu.CV.CvInvoke.CvtColor(image, src_hsv, Emgu.CV.CvEnum.ColorConversion.Bgr2Hsv); // src_hsv to image
// Now scale the values between [0,255]:
Emgu.CV.CvInvoke.Normalize(src_hsv, src_hsv, 0.0, 255.0, Emgu.CV.CvEnum.NormType.MinMax, Emgu.CV.CvEnum.DepthType.Cv32F);
for (int i = 0; i < image.Rows; i++)
{
for (int j = 0; j < image.Cols; j++)
{
//Vec3b pix_bgr = src.ptr<Vec3b>(i)[j];
Bgr pix_bgr = image[i, j];
int B = (int)pix_bgr.Blue;
int G = (int)pix_bgr.Green;
int R = (int)pix_bgr.Red;
// apply rgb rule
bool a = R1(R, G, B);
//Vec3b pix_ycrcb = src_ycrcb.ptr<Vec3b>(i)[j];
Ycc pix_ycrcb = src_ycrcb[i, j];
float Y = (float)pix_ycrcb.Y;
float Cr = (float)pix_ycrcb.Cr;
float Cb = (float)pix_ycrcb.Cb;
// apply ycrcb rule
bool b = R2(Y, Cr, Cb);
Hsv pix_hsv = src_hsv[i, j];
float H = (float)pix_hsv.Hue;
float S = (float)pix_hsv.Satuation;
float V = (float)pix_hsv.Value;
// apply hsv rule
bool c = R3(H, S, V);
if (!(a && b && c))
{
dst[i, j] = cblack;
}
else
{
dst[i, j] = cwhite; // Make skin white
}
}
}
return(dst);
}
//각각의 색상을 트레킹해서 rect을 만들어줌
public void color_traking(int index, int min1, int min2, int min3, int max1, int max2, int max3, Image <Bgr, Byte> iamge, Rectangle[] rect)
{
int pixCount = 0, small_pixCount = 0;
Image <Ycc, Byte> YCrCbFrame = iamge.Convert <Ycc, Byte>(); //YCrCb 변환
Image <Gray, byte> colorSetting = new Image <Gray, byte>(YCrCbFrame.Width, YCrCbFrame.Height);
Ycc YCrCb_min = new Ycc(min1, min2, min3);
Ycc YCrCb_max = new Ycc(max1, max2, max3); //blue 색 범위
colorSetting = YCrCbFrame.InRange((Ycc)YCrCb_min, (Ycc)YCrCb_max); //색 범위 설정
StructuringElementEx rect_12 = new StructuringElementEx(6, 6, 3, 3, Emgu.CV.CvEnum.CV_ELEMENT_SHAPE.CV_SHAPE_RECT);
CvInvoke.cvErode(colorSetting, colorSetting, rect_12, 1);
StructuringElementEx rect_6 = new StructuringElementEx(6, 6, 3, 3, Emgu.CV.CvEnum.CV_ELEMENT_SHAPE.CV_SHAPE_RECT);
CvInvoke.cvDilate(colorSetting, colorSetting, rect_6, 2); //수축 팽창
Image <Bgr, Byte> colorCount = colorSetting.Convert <Bgr, Byte>(); //픽셀수 세기 위해
//작은 원 찾기
//YCrCb_min = new Ycc(0, 0, 0);
//YCrCb_max = new Ycc(255, 146, 100); //큰원yellow 색 범위
YCrCb_min = new Ycc(0, 0, 0);
//YCrCb_max = new Ycc(255, 150, 114); //작은 원 yellow 색 범위
YCrCb_max = new Ycc(255, 150, 120); //작은 원 yellow 색 범위
colorSetting = YCrCbFrame.InRange((Ycc)YCrCb_min, (Ycc)YCrCb_max); //색 범위 설정
rect_12 = new StructuringElementEx(6, 6, 3, 3, Emgu.CV.CvEnum.CV_ELEMENT_SHAPE.CV_SHAPE_RECT);
CvInvoke.cvErode(colorSetting, colorSetting, rect_12, 1);
rect_6 = new StructuringElementEx(6, 6, 3, 3, Emgu.CV.CvEnum.CV_ELEMENT_SHAPE.CV_SHAPE_RECT);
CvInvoke.cvDilate(colorSetting, colorSetting, rect_6, 2); //수축 팽창
Image <Bgr, Byte> small_colorCount = colorSetting.Convert <Bgr, Byte>(); //픽셀수 세기 위해
int x_p = 0, y_p = 0; // 큰 원 픽셀수 저장
int small_x = 0, small_y = 0; // 작은원 픽셀수 저장
//이미지가 범위를 벗어날경우 처리
if (color_ROI[index].X < 0)
{
color_ROI[index].X = 0;
}
if (color_ROI[index].Y < 0)
{
color_ROI[index].Y = 0;
}
if (color_ROI[index].X + img_width > iamge.Width)
{
color_ROI[index].X = iamge.Width - img_width;
}
if (color_ROI[index].Y + img_height > iamge.Height)
{
color_ROI[index].Y = iamge.Height - img_height;
}
//픽셀수 셈
for (int x = color_ROI[index].X; x < color_ROI[index].X + img_width; x++)
{
for (int y = color_ROI[index].Y; y < color_ROI[index].Y + img_height; y++)
{
if (!colorCount[y, x].Equals(new Bgr(0, 0, 0)))
{
pixCount++;
x_p += x;
y_p += y;
}
}
}
//픽셀 개수에 따라
if (pixCount >= 10) //개수가 0이 아닐때 ROI 변경해줌
{
int big_center_x = x_p / pixCount;
int big_center_y = y_p / pixCount; //큰 원 중심좌표
//사라진것을 판별하기 위해.. 원랜 마이너스값으로 좌표가 계산되어 일부러 음수좌표는 0으로 만들고 사라졌을때 좌표를 -1로 만듬
int tmp_x = big_center_x - glo.TemplateWidth / 2;
int tmp_y = big_center_y - glo.TemplateHeight / 2;
int tmp_width = glo.TemplateWidth;
int tmp_height = glo.TemplateHeight;
if (tmp_x < 0)
{
tmp_width += tmp_x;
tmp_x = 0;
}
if (tmp_y < 0)
{
tmp_height += tmp_y;
tmp_y = 0;
}
if (tmp_x + img_width > glo.rect_width)
{
tmp_width = img_width - (tmp_x + img_width - glo.rect_width);
}
if (tmp_y + img_height > glo.rect_height)
{
tmp_height = img_height - (tmp_y + img_height - glo.rect_height);
}
int x_end = tmp_x + img_width;
int y_end = tmp_y + img_height;
if (x_end > glo.rect_width)
{
x_end = glo.rect_width;
}
if (y_end > glo.rect_height)
{
y_end = glo.rect_height;
}
for (int x = tmp_x; x < x_end; x++)
{
for (int y = tmp_y; y < y_end; y++)
{
if (!small_colorCount[y, x].Equals(new Bgr(0, 0, 0)))
{
small_pixCount++;
small_x += x;
small_y += y;
}
}
}
rect[index] = new Rectangle(tmp_x, tmp_y, tmp_width, tmp_height); //사각형의 왼쪽 위의 좌표
color_ROI[index].X = big_center_x - glo.TemplateWidth / 2;
color_ROI[index].Y = big_center_y - glo.TemplateHeight / 2;
if (small_pixCount != 0)
{
int small_center_x = small_x / small_pixCount;
int small_center_y = small_y / small_pixCount;
int C = big_center_x - small_center_x;
int D = big_center_y - small_center_y;
double E = Math.Atan2(D, C);
double result = E * (180 / 3.14192);
if (result < 0)
{
result = 360 + result;
}
// glo.mapObstacleLock.EnterWriteLock(); //critical section start
double ref_angle = 45;
double margin = 13;
if (ref_angle * 2 - margin <= result && result <= ref_angle * 2 + margin)
{
glo.direction[index] = 0;
}
else if (ref_angle * 3 - margin <= result && result <= ref_angle * 3 + margin)
{
glo.direction[index] = 1;
}
else if (ref_angle * 4 - margin <= result && result <= ref_angle * 4 + margin)
{
glo.direction[index] = 2;
}
else if (ref_angle * 5 - margin <= result && result <= ref_angle * 5 + margin)
{
glo.direction[index] = 3;
}
else if (ref_angle * 6 - margin <= result && result <= ref_angle * 6 + margin)
{
glo.direction[index] = 4;
}
else if (ref_angle * 7 - margin <= result && result <= ref_angle * 7 + margin)
{
glo.direction[index] = 5;
}
else if (ref_angle * 0 <= result && result <= ref_angle * 0 + margin || ref_angle * 8 - margin <= result && result <= ref_angle * 8)
{
glo.direction[index] = 6;
}
else if (ref_angle * 1 - margin <= result && result <= ref_angle * 1 + margin)
{
glo.direction[index] = 7;
}
else
{
glo.direction[index] = -1;
}
/*
* if (index == 0)
* {
* if (glo.direction[index] != -1)
* {
* Console.WriteLine("result = " + result);
* Console.WriteLine("globals.direction[i] = " + glo.direction[index]);
* }
*
* }
*/
//glo.mapObstacleLock.ExitWriteLock(); //critical section end
/*
* if (index == 0)
* {
* if (glo.direction[index] == -1)
* Console.WriteLine("i = " + index + " direction[index] = " + glo.direction[index] + "알수 없는 각도" + " result = " + result);
* else
* Console.WriteLine("i = " + index + " direction[index] = " + glo.direction[index] + " result = " + result);
* }
*/
// if (index == 3)
// Console.WriteLine("");
/*
* if (glo.direction[index] == -1)
* Console.WriteLine("i = " + index + " direction[index] = " + glo.direction[index] + " result = " + result);
*/
}
else
{
rect[index] = new Rectangle(0, 0, 0, 0); //사라졌을때 좌표를 0,0 길이 0, 0로 만듬
color[index] = false;
change_check[index] = true;
color_count--;
color_ROI[index].X = 0;
color_ROI[index].Y = 0;
Console.WriteLine("노랑 사라짐");
}
}
else
{
rect[index] = new Rectangle(0, 0, 0, 0); //사라졌을때 좌표를 0,0 길이 0, 0로 만듬
color[index] = false;
change_check[index] = true;
color_count--;
color_ROI[index].X = 0;
color_ROI[index].Y = 0;
Console.WriteLine("차량 사라짐");
}
}
