private void LatestImageAvailable(object state, Image<Bgr, byte> image)
{
m_PreviousTableUsage = m_TableUsage;
m_DebugImage = image.Clone();
if (m_Previousimage != null)
{
// Use an exponential-moving average concept to smooth data
double tableBusyProb = ImageProcessing.TableBusyProbability(image, m_Previousimage, m_DebugImage);
m_SEMA = (m_SEMA * (1f - RATE)) + (tableBusyProb * RATE);
if (m_SEMA > 0.5) m_TableUsage = TableUsage.Busy;
else m_TableUsage = TableUsage.Free;
}
m_Previousimage = image.Clone();
if (m_TableUsage == TableUsage.Busy && m_PreviousTableUsage != TableUsage.Busy) TableNowBusy(this, null);
if (m_TableUsage == TableUsage.Free && m_PreviousTableUsage != TableUsage.Free) TableNowFree(this, null);
}
internal static Image Transform(Image source, RotationType rotationType, FlippingType flippingType)
{
Image target;
switch (rotationType)
{
case RotationType.None:
{
byte[] targetPixels = source.Pixels;
byte[] sourcePixels = new byte[targetPixels.Length];
Array.Copy(targetPixels, sourcePixels, targetPixels.Length);
target = new Image(source.Width, source.Height, sourcePixels);
}
break;
case RotationType.Rotate90:
{
target = Rotate90(source);
}
break;
case RotationType.Rotate180:
{
target = Rotate180(source);
}
break;
case RotationType.Rotate270:
{
target = Rotate270(source);
}
break;
default:
{
target = source.Clone();
}
break;
}
switch (flippingType)
{
case FlippingType.Vertical:
FlipX(target);
break;
case FlippingType.Horizontal:
FlipY(target);
break;
}
return target;
}
public Image<Bgr, byte> ProcessImage(Image<Bgr, byte> img)
{
_current = img.Clone();
if(_background != null)
{
var grayScale = img.Convert<Bgr, byte>();
var sub = grayScale - _background;
return sub.Convert<Bgr, byte>();
}
else
{
return _current;
}
}
public Image<Gray, byte> Process(Image<Gray, byte> src)
{
var dst = src.Clone();
Connectivity.Connect8 = this.Connect8;
var cl = src.connectLevel(1, 8, 0);
foreach (var dm in cl.Domains) {
if (dm.Area < Threshold) {
foreach (var p in dm.Points) {
dst[p] = new Gray(0);
}
}
}
return dst;
}
/// <summary>
/// Find ball location in frame in defined area
/// </summary>
/// <param name="image">Image to detect ball</param>
/// <param name="timeStamp">Time Stamp of an image</param>
/// <param name="detectionArea">Area to search ball in. If Selected:
/// area will be defined based on last stored location and maximum possible speed.
/// [Default is Full to search in all frame]
/// </param>
/// <returns>[True] if ball location found, [False] otherwise</returns>
public override bool FindBallLocationInFrame(Image<Gray, byte> image, DateTime timeStamp, eDetectionArea detectionArea = eDetectionArea.Full)
{
using (image = image.Clone())
{
int additionalOffsetX = 0;
int additionalOffsetY = 0;
if (detectionArea.Equals(eDetectionArea.Selected))
{
TimeSpan deltaT = timeStamp - ImagingData.LastKnownBallLocation.Timestamp;
double searchRadius = MAX_BALL_SPEED * deltaT.TotalSeconds;
int maxX = (Convert.ToInt32(ImagingData.LastKnownBallLocation.X + searchRadius) > image.Width) ?
image.Width : Convert.ToInt32(ImagingData.LastKnownBallLocation.X + searchRadius);
int maxY = (Convert.ToInt32(ImagingData.LastKnownBallLocation.Y + searchRadius) > image.Height) ?
image.Height : Convert.ToInt32(ImagingData.LastKnownBallLocation.Y + searchRadius);
additionalOffsetX = (Convert.ToInt32(ImagingData.LastKnownBallLocation.X - searchRadius) < 0) ?
0 : Convert.ToInt32(ImagingData.LastKnownBallLocation.X - searchRadius);
additionalOffsetY = (Convert.ToInt32(ImagingData.LastKnownBallLocation.Y - searchRadius) < 0) ?
0 : Convert.ToInt32(ImagingData.LastKnownBallLocation.Y - searchRadius);
List<System.Drawing.PointF> croppingPoints = new List<System.Drawing.PointF>()
{
new System.Drawing.PointF(maxX, maxY),
new System.Drawing.PointF(maxX, additionalOffsetY),
new System.Drawing.PointF(additionalOffsetX, maxY),
new System.Drawing.PointF(additionalOffsetX, additionalOffsetY)
};
image = Crop(image, croppingPoints);
ComputerVisionMonitors[eComputerVisionMonitor.MonitorB].ShowFrame(image);
}
CircleF[] pos = DetectCircles(image, ImagingData.BallRadius, ImagingData.BallRadiusError * 2, ImagingData.BallRadius * 5);
if (pos.Length > 0)
{
double xLocation = pos[0].Center.X + additionalOffsetX;
double yLocation = pos[0].Center.Y + additionalOffsetY;
UpdateCoordinates(xLocation, yLocation, timeStamp, Brushes.Red);
return true;
}
Log.Print(String.Format("Ball not found in {0} area", detectionArea.ToString()), eCategory.Debug, LogTag.IMAGE);
ImagingData.BallCoords = new BallCoordinates(timeStamp);
return false;
}
}
public Image<Gray, byte> Process(Image<Gray, byte> src)
{
if (shouldInvert(src)) return src.Not();
else return src.Clone();
}
