public Picture Histogram()
{
var chans = 3;
var bins = 256;
var range = new RangeF(0, 255);
var hist = new DenseHistogram(bins, range);
var split = this.bgra.Split();
var colors = new Bgra[]
{
new Bgra(255, 0, 0, 255),
new Bgra(0, 255, 0, 255),
new Bgra(0, 0, 255, 255),
};
var hip = new Picture(bins * chans, bins + 1); // Todo, plus one Jaap, really? Tssssk... wrote Jaap to himself.
hip.Bgra.SetValue(Color.Black.ToBgra());
for (int chan = 0; chan < chans; ++chan)
{
hist.Calculate<byte>(new Image<Gray, byte>[] { split[chan] }, false, null);
// Todo, Jaap, December 2010, hist.Normalize(bins - 1);
float min, max;
int[] minLoc, maxLoc;
hist.MinMax(out min, out max, out minLoc, out maxLoc);
if (max == min)
continue;
var scale = 255.0f / (max - min);
for (int x = 0; x < bins; ++x)
{
var n = hip.Height - (int)(hist[x] * scale);
for (int y = hip.Height - 1; y > n; --y)
hip.Bgra[y, x + chan * bins] = colors[chan];
}
}
foreach (var c in split)
c.Dispose();
return hip;
}
void dataStream(object sender, EventArgs e)
{
{
RangeF[] range = new RangeF[2];
range[0] = new RangeF(0, 180);
range[1] = new RangeF(0, 255);
pollColorImageStream();
pollDepthImageStream();
//Color------------------
Bitmap bitmapColor = new Bitmap(colorImage.Width, colorImage.Height, System.Drawing.Imaging.PixelFormat.Format32bppArgb);
BitmapData bmd = bitmapColor.LockBits(new System.Drawing.Rectangle(0, 0, colorImage.Width, colorImage.Height), ImageLockMode.ReadWrite, bitmapColor.PixelFormat);
Marshal.Copy(colorPixelData, 0, bmd.Scan0, colorPixelData.Length);
bitmapColor.UnlockBits(bmd);
Image<Bgr, Byte> colorTemp = new Image<Bgr, Byte>(bitmapColor);
//Color------------------end
//depth------------------
byte[] byteDepth = new byte[640 * 480];
byte[] remap = new byte[640 * 480];
sensor.MapDepthFrameToColorFrame(DepthImageFormat.Resolution640x480Fps30, depthPixelData, ColorImageFormat.RgbResolution640x480Fps30, colorCoordinate);
for (int y = 0; y < 480; y++)
{
for (int x = 0; x < 640; x++)
{
int position = y * 640 + x;
short tempShort = depthPixelData[position];
//depthImage[y, x] = new Gray(tempShort);
byteDepth[position] = (byte)(tempShort >> 8);
//byteDepth[y, x] = new Gray((byte)(tempShort));
int positionRemap = colorCoordinate[position].Y * 640 + colorCoordinate[position].X;
if (positionRemap > 640 * 480)
continue;
depthRemapData[positionRemap] = depthPixelData[position];
remap[positionRemap] = (byte)(tempShort >> 8);
//byteDepth[y, x] = new Gray((byte)(tempShort));
}
}
Bitmap bitmapDepth = new Bitmap(depthImage.Width, depthImage.Height, System.Drawing.Imaging.PixelFormat.Format8bppIndexed);
BitmapData bmd2 = bitmapDepth.LockBits(new System.Drawing.Rectangle(0, 0, depthImage.Width, depthImage.Height), ImageLockMode.ReadWrite, bitmapDepth.PixelFormat);
Marshal.Copy(byteDepth, 0, bmd2.Scan0, byteDepth.Length);
bitmapDepth.UnlockBits(bmd2);
Image<Gray, Byte> depthTemp = new Image<Gray, Byte>(bitmapDepth);
//depth------------------end
Byte[] backFrame = new Byte[640 * 480];
BitmapImage trackingOut = new BitmapImage();
if (trackingFlag != 0)
{
Image<Hsv, Byte> hsv = new Image<Hsv, Byte>(640, 480);
CvInvoke.cvCvtColor(colorTemp, hsv, COLOR_CONVERSION.CV_BGR2HSV);
Image<Gray, Byte> hue = hsv.Split()[0];
//range of hist is 180 or 256? not quite sure
DenseHistogram hist = new DenseHistogram(180, new RangeF(0.0f, 179.0f));
Image<Gray, Byte> mask = new Image<Gray, Byte>(trackWindow.Width, trackWindow.Height);
for (int y = 0; y < 480; y++)
{
for (int x = 0; x < 640; x++)
{
if (x >= trackWindow.X && x < trackWindow.X + trackWindow.Width && y >= trackWindow.Y && y < trackWindow.Y + trackWindow.Height)
mask[y - trackWindow.Y, x - trackWindow.X] = hue[y, x];
}
}
hist.Calculate(new IImage[] { mask }, false, null);
//maybe need to re-scale the hist to 0~255?
//back projection
IntPtr backProject = CvInvoke.cvCreateImage(hsv.Size, IPL_DEPTH.IPL_DEPTH_8U, 1);
CvInvoke.cvCalcBackProject(new IntPtr[1] { hue }, backProject, hist);
CvInvoke.cvErode(backProject, backProject, IntPtr.Zero, 3);
//CAMshift
CvInvoke.cvCamShift(backProject, trackWindow, new MCvTermCriteria(50, 0.1), out trackComp, out trackBox);
trackWindow = trackComp.rect;
if (trackWindow.Width < 5 || trackWindow.Height < 5)
{
if (trackWindow.Width < 5)
{
trackWindow.X = trackWindow.X + trackWindow.Width / 2 - 3;
trackWindow.Width = 6;
}
if (trackWindow.Height < 5)
{
trackWindow.Y = trackWindow.Y + trackWindow.Height / 2 - 3;
trackWindow.Height = 6;
}
}
Image<Bgr, Byte> showFrame = colorTemp;
showFrame.Draw(trackWindow, new Bgr(System.Drawing.Color.Blue), 2);
using (var stream = new MemoryStream())
{
showFrame.Bitmap.Save(stream, ImageFormat.Bmp);
trackingOut.BeginInit();
trackingOut.StreamSource = new MemoryStream(stream.ToArray());
trackingOut.EndInit();
}
//calculate the average depth of tracking object
int min = 65528, max = 0, num = 0;
UInt32 sum = 0;
for (int y = 0; y < trackWindow.Height; y++)
{
for (int x = 0; x < trackWindow.Width; x++)
{
int position = (trackWindow.X + x) + (trackWindow.Y + y) * 640;
ushort temp = (ushort)depthRemapData[position];
if (temp != 65528 && temp != 0)//black
{
if (temp < min)
min = temp;
if (temp > max)
max = temp;
sum += temp;
num++;
}
}
}
ushort average = 0;
if (num != 0)
{
average = (ushort)(sum / num);
}
//Int32 depthInches = (Int32)((average >> DepthImageFrame.PlayerIndexBitmaskWidth) * 0.0393700787);
//Int32 depthFt = depthInches / 12;
//depthInches = depthInches % 12;
Int32 depth = average >> DepthImageFrame.PlayerIndexBitmaskWidth;
textBlock1.Text = String.Format("{0}mm", depth);
Double distanceInMeter = (Double)depth / 1000;
Messenger.Default.Send<Double>(distanceInMeter, "Distance");
}
//if (rbtnColorFrame.IsChecked == true)
//{
if (trackingFlag != 0)
image1.Source = trackingOut;
else
image1.Source = BitmapSource.Create(640, 480, 96, 96, PixelFormats.Bgr32, null, colorPixelData, 640 * 4);
// else
// imageOutputBig.Source = BitmapSource.Create(640, 480, 96, 96, PixelFormats.Bgr32, null, colorPixelData, 640 * 4);
// //imageOutputBig.Source = BitmapSource.Create(640, 480, 96, 96, PixelFormats.Gray8, null, backFrame, 640);
// imageOutputSmall.Source = BitmapSource.Create(640, 480, 96, 96, PixelFormats.Gray16, null, depthRemapData, 640 * 2);
//}
//else
//{
// imageOutputSmall.Source = BitmapSource.Create(640, 480, 96, 96, PixelFormats.Bgr32, null, colorPixelData, 640 * 4);
// imageOutputBig.Source = BitmapSource.Create(640, 480, 96, 96, PixelFormats.Gray16, null, depthRemapData, 640 * 2);
//}
//if(CvInvoke.cvWaitKey(0)=='q')
//{
// trackingFlag = 0;
//}
}
}
/// <summary>
/// Add a plot of the 1D histogram. You should call the Refresh() function to update the control after all modification is complete.
/// </summary>
/// <param name="name">The name of the histogram</param>
/// <param name="color">The drawing color</param>
/// <param name="histogram">The 1D histogram to be drawn</param>
/// <param name="binSize">The size of the bin</param>
/// <param name="ranges">The ranges</param>
public void AddHistogram(String name, Color color, Mat histogram, int binSize, float[] ranges)
{
//Debug.Assert(histogram.Dimension == 1, Properties.StringTable.Only1DHistogramSupported);
GraphPane pane = new GraphPane();
// Set the Title
pane.Title.Text = name;
pane.XAxis.Title.Text = Properties.StringTable.Value;
pane.YAxis.Title.Text = Properties.StringTable.Count;
#region draw the histogram
RangeF range = new RangeF(ranges[0], ranges[1]);
float step = (range.Max - range.Min) / binSize;
float start = range.Min;
double[] bin = new double[binSize];
for (int binIndex = 0; binIndex < binSize; binIndex++)
{
bin[binIndex] = start;
start += step;
}
double[] binVal = new double[histogram.Size.Height];
GCHandle handle = GCHandle.Alloc(binVal, GCHandleType.Pinned);
using (Matrix<double> m = new Matrix<double>(binVal.Length, 1, handle.AddrOfPinnedObject(), sizeof(double)))
{
histogram.ConvertTo(m, DepthType.Cv64F);
PointPairList pointList = new PointPairList(
bin,
binVal);
pane.AddCurve(name, pointList, color);
}
handle.Free();
#endregion
zedGraphControl1.MasterPane.Add(pane);
}
private void SetMomentArea(float min, float max)
{
var momentRange = new RangeF();
momentRange.Min = min;
momentRange.Max = max;
_detectorInput.Settings.MomentArea = momentRange;
UpdateMomentSlidersFromSettings();
}
