private void Read()
{
int count = 0;
Byte[] buffer = new Byte[130];
int numBytes = (isColor) ? 130 : 10;
Byte[,] imageBytes = new Byte[130, numBytes];
int row_id = 0;
FxBlobTracker fxtracker = new FxBlobTracker(imageMask.ToFxMatrixF());
FxMatrixF image = new FxMatrixF(64,64);
while (_continue)
{
try
{
// Read one row
row_id = readRow(buffer, numBytes) - 32;
// save the row
if (row_id >= 0 &&
row_id < 256)
{
for (int i = 0; i < numBytes; i++)
imageBytes[row_id, i] = buffer[i];
}
// Show results
if (isColor)
{
if (row_id == 0)
{
for (int i = 0; i < 64; i++)
{
for (int j = 0; j < 64; j++)
{
byte c = imageBytes[i, j * 2];
byte d = imageBytes[i, j * 2 + 1];
byte r = (byte)(c & 0xF8);
byte g = (byte)(((c & 0x07) << 5) + ((d & 0xE0) >> 3));
byte b = (byte)((d & 0x1F) << 3);
// Select the bit
if (false)
{
// RGB332
image[j, i] = ((r & 0xE0) |
((g >> 3) & 0x1C) |
((b >> 6) & 0x03)
) / 255.0f;
}
else
{
image[j, i] = ((b * 0.3f) + (g * 0.59f) + (r * 0.11f)) / 255.0f;
if (image[j, i] > 1.0f)
image[j, i] = 1.0f;
}
}
}
// Update the show image
imageMaskView.UpdateInternalImage(image, imageMaskColorMap);
/* refresh images */
fpsCount++;
canvas1.ReDraw();
}
}
else
{
if (row_id == 63)
{
//Console.WriteLine("Read Image");
for (int i = 0; i < 64; i++)
{
int bindex = 0;
for (int j = 0; j < 64; j++)
{
byte b = imageBytes[i, bindex];
// Select the bit
imageMask[j, i] = ((b & (1 << 7 - j % 8)) > 0);
// Move to the next byte
if (j % 8 == 7)
bindex++;
}
}
/* process the new matrix */
//fxtracker.Process(imageMask.ToFxMatrixF());
fxtracker.Process(imageMask);
image = imageMask.ToFxMatrixF();
var blobs = new FxContour(fxtracker.G_small);
var result = blobs.ToFxMatrixF(64, 64);
foreach (FxBlob b in fxtracker.ListBlobs)
{
result.DrawCircle(b.Center, b.Radius, 0.5f);
image.DrawCircle(b.Center, b.Radius, 0.5f);
}
// Update the show image
imageMaskView.UpdateInternalImage(image, imageMaskColorMap);
imageView.UpdateInternalImage(result, imageMaskColorMap);
/* refresh images */
fpsCount++;
canvas1.ReDraw();
}
}
}
catch (Exception ex) { Console.WriteLine(ex.Message); }
}
Console.WriteLine(count);
}
private void toolStripButton_ellipse_extract_Click(object sender, EventArgs e)
{
// extract the rectangle that contain
if ((imMat as object != null) &&
(rect != null))
{
int numLabels;
// get the sub matrix
var subMat = imMat.GetSubMatrix(rect.StartPoint, rect.EndPoint) as FxMatrixF;
// make binary the image based on the start and end point of rectangle
float t = subMat[0, 0];
if (t > subMat[subMat.Width - 1, subMat.Height - 1])
t = subMat[subMat.Width - 1, subMat.Height - 1];
var binMat = subMat < t - 0.02f;
// find the labels of the image
var labels = binMat.Labeling(out numLabels);
var imSub = new ImageElement(binMat.ToFxMatrixF(), new ColorMap(ColorMapDefaults.Jet));
imSub._Position.x = ieEllipseImage.Size.x + ieEllipseImage.Position.x;
imSub.lockMoving = true;
canvas_ellipse.AddElement(imSub, false, false);
var imSub2 = new ImageElement(labels, new ColorMap(ColorMapDefaults.Jet));
imSub2._Position.x = ieEllipseImage.Size.x + ieEllipseImage.Position.x;
imSub2._Position.y = imSub.Size.y + imSub.Position.y;
imSub2.lockMoving = true;
canvas_ellipse.AddElement(imSub2, false, false);
WriteLine("Num Labels : " + numLabels.ToString());
var contours = new FxContour(binMat, 10, 300);
WriteLine("Num Contours : " + contours.NumChains);
results = new FxMatrixF(3, contours.NumChains);
int i=0;
foreach (var x in contours.ChainList)
{
float delta = 1;
// draw the rectanges in the sub image
FxVector2f start = x.RectStart + imSub2._Position + new FxVector2f(1, 1);
FxVector2f end = start + x.RectSize;
FxMaths.Geometry.Rectangle r = new FxMaths.Geometry.Rectangle(start, end);
gpeEllipseImage.AddGeometry(r, false);
// draw the rectanges in main image
start = x.RectStart + rect.StartPoint + new FxVector2f(-delta, -delta);
end = start + x.RectSize + new FxVector2f(2 * delta, 2 * delta);
r = new FxMaths.Geometry.Rectangle(start, end);
gpeEllipseImage.AddGeometry(r, false);
// draw the centroids
FxVector2f cen = x.GetCentroid() + rect.StartPoint;
var l = new FxMaths.Geometry.Line(cen - new FxVector2f(0, 2), cen + new FxVector2f(0, 2));
l.LineWidth = 0.5f;
gpeEllipseImage.AddGeometry(l, false);
l = new FxMaths.Geometry.Line(cen - new FxVector2f(2, 0), cen + new FxVector2f(2, 0));
l.LineWidth = 0.5f;
gpeEllipseImage.AddGeometry(l, false);
// calculate the depth
float[] depth = new float[4];
FxVector2f pos = x.RectStart + rect.StartPoint;
depth[0] = imMat[pos.x - delta, pos.y - delta];
depth[1] = imMat[pos.x + x.RectSize.x + delta, pos.y - delta];
depth[2] = imMat[pos.x - delta, pos.y + x.RectSize.y + delta];
depth[3] = imMat[pos.x + x.RectSize.x + delta, pos.y + x.RectSize.y + delta];
results[2, i] = (depth[0] + depth[1] + depth[2] + depth[3]) / 4.0f;
// save centroid
results[0, i] = cen.x;
results[1, i] = cen.y;
// print the centroid
WriteLine("[" + i.ToString() + "] Depth:" + results[2, i].ToString() + " Pixels:" + x.Count + " Centroid: " + cen.ToString());
i++;
// show the vector of one blob
if (i == 1)
{
FxVectorF vec_i = new FxVectorF(x.Count);
FxVectorF vec_r = new FxVectorF(x.Count);
vec_i[0] = x[0].i;
vec_r[0] = x[0].r;
for (int j = 1; i < x.Count; j++)
{
vec_i[j] = vec_i[j - 1] + x[j].i;
vec_r[j] = vec_r[j - 1] + x[j].r;
}
}
}
canvas_ellipse.ReDraw();
results.SaveCsv("ellipseResults.csv");
}
}
private void ellipseDetectionToolStripMenuItem_Click(object sender, EventArgs e)
{
OpenFileDialog ofd = new OpenFileDialog();
if(ofd.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
// load image
imMat = FxMatrixF.Load(ofd.FileName);
ieEllipseImage = new ImageElement(imMat, new ColorMap(ColorMapDefaults.Jet));
ieEllipseImage.lockMoving = true;
canvas_ellipse.AddElement(ieEllipseImage);
// add plot element
gpeEllipseImage = new GeometryPlotElement();
canvas_ellipse.AddElement(gpeEllipseImage);
var contours = new FxContour(imMat<0.2f);
WriteLine("Num Contours : " + contours.NumChains);
int i = 0;
float pe_pos_y = ieEllipseImage._Position.y;
foreach (var cont in contours.ChainList)
{
// draw the rectanges in main image
FxVector2f start = cont.RectStart ;
FxVector2f end = start + cont.RectSize;
FxMaths.Geometry.Rectangle r = new FxMaths.Geometry.Rectangle(start, end);
gpeEllipseImage.AddGeometry(r, false);
// draw the centroids
FxVector2f cen = cont.GetCentroid();
var l = new FxMaths.Geometry.Line(cen - new FxVector2f(0, 2), cen + new FxVector2f(0, 2));
l.LineWidth = 0.5f;
gpeEllipseImage.AddGeometry(l, false);
l = new FxMaths.Geometry.Line(cen - new FxVector2f(2, 0), cen + new FxVector2f(2, 0));
l.LineWidth = 0.5f;
gpeEllipseImage.AddGeometry(l, false);
// add the numbering of the contours
var t = new TextElement(i.ToString());
t._Position = cen;
t.FontColor = SharpDX.Color.Green;
t._TextFormat.fontSize = 16.0f;
canvas_ellipse.AddElement(t);
// show the chain vector in plot
{
FxVectorF vec_i = new FxVectorF(cont.Count);
FxVectorF vec_r = new FxVectorF(cont.Count);
vec_i[0] = cont[0].i;
vec_r[0] = cont[0].r;
for (int j = 1; j < cont.Count; j++)
{
vec_i[j] = vec_i[j - 1] + cont[j].i;
vec_r[j] = vec_r[j - 1] + cont[j].r;
}
// show the plot of this vector
var pe = new PloterElement(vec_i, PlotType.Lines, System.Drawing.Color.Blue);
pe._Position.x = ieEllipseImage._Position.x + ieEllipseImage.Size.x;
pe._Position.y = pe_pos_y;
pe.AddPlot(vec_r, PlotType.Lines, System.Drawing.Color.Red);
pe.CenterYOrigin();
pe.FitPlots();
canvas_ellipse.AddElement(pe);
// update the y of pe for the next one
pe_pos_y += pe.Size.y;
// debug the ellipse
for (int j = 0; j < cont.Count; j++)
{
imMat[(int)(vec_r[j] + cont.StartPoint.x), (int)(vec_i[j] + cont.StartPoint.y)] = 0.8f/contours.NumChains + 0.1f;
}
ieEllipseImage.UpdateInternalImage(imMat, new ColorMap(ColorMapDefaults.Jet));
}
i++;
}
canvas_ellipse.ReDraw();
}
}
public void Process(FxMatrixMask mask)
{
// filter out any small points
G_small = mask.MedianFilt(6,6);
// create the contours of the current frame
var contours = new FxContour(G_small);
var listContour = contours.ChainList;
// update the contours
foreach (FxBlob b in ListBlobs)
{
Stack<FxContourChain> chainStack = new Stack<FxContourChain>();
FxVector2f newCenter = b.Center;
float newRadius = 0;
FxContourChain selected = null;
// find all the chains that are common with the old blob
foreach (FxContourChain c in listContour)
{
var c_center = c.GetCentroid();
var c_radius = c.GetMaxDist(c_center);
if (c_center.Distance(ref b.Center) < c_radius + b.Radius)
{
chainStack.Push(c);
newCenter.x = (newCenter.x + c_center.x) / 2.0f;
newCenter.y = (newCenter.y + c_center.y) / 2.0f;
}
}
// find the biger radius
foreach (FxContourChain c in chainStack)
{
var r = c.GetMaxDist(newCenter);
if (newRadius < r)
{
selected = c;
newRadius = r;
}
}
// remove the chains that we have find that can be used
listContour.RemoveAll(c => chainStack.Contains(c));
if (newRadius > 2*smallerRadius)
continue;
// update the blob
if (selected != null)
{
b.LastContour = selected;
b.Center = newCenter;
if (b.Radius < newRadius)
b.Radius = (newRadius > smallerRadius) ? smallerRadius : newRadius;
b.NumOfElements = G_small.NumNZ(selected.RectStart, selected.RectSize);
b.UnSeenCount = 0;
}
chainStack.Clear();
}
// remove old blobs
Stack<FxBlob> oldBlob = new Stack<FxBlob>();
foreach (FxBlob b in ListBlobs)
{
if (G_small.NumNZ(b.Center, b.Radius) == 0)
b.UnSeenCount++;
else
b.UnSeenCount = 0;
if (b.UnSeenCount > 5)
oldBlob.Push(b);
}
ListBlobs.RemoveAll(c => oldBlob.Contains(c));
// add a new blobs
ListBlobs.AddRange(
listContour.Where(x =>
{
var size = x.RectSize.x * x.RectSize.y;
return (size > 40 && size < 200);
})
.Select(x =>
{
var b = new FxBlob();
b.LastContour = x;
b.Center = x.GetCentroid();
b.Radius = x.GetMaxDist(b.Center);
if (b.Radius > smallerRadius)
b.Radius = smallerRadius;
b.NumOfElements = G_small.NumNZ(x.RectStart, x.RectSize);
b.UnSeenCount = 0;
return b;
})
);
// increase the counter
numProcessingFrames++;
}
