public void DisplayWebcam(popup popup)
{
while (true)
{
Mat frame = ReadCamera1();
int largestCircle = 0;
List <Shape> foundShape = new List <Shape>();
List <char> shapeType = new List <char>();
// resize to PictureBox aspect ratio
int newHeight = (frame.Size.Height * pictureBox0.Size.Width) / frame.Size.Width;
Size newSize = new Size(pictureBox0.Size.Width, newHeight);
CvInvoke.Resize(frame, frame, newSize);
Image <Hsv, Byte> img = frame.ToImage <Hsv, Byte>();
Image <Gray, byte> coralNestImg = frame.ToImage <Gray, Byte>();
Image <Gray, byte> coralOutcropImg = frame.ToImage <Gray, Byte>();
Image <Gray, byte> starfishImg = frame.ToImage <Gray, Byte>();
Image <Bgr, byte> drawnImage = frame.ToImage <Bgr, byte>();
Image <Bgr, byte> coralNestDrawn = frame.ToImage <Bgr, byte>();
Image <Bgr, byte> coralOutcropDrawn = frame.ToImage <Bgr, byte>();
Image <Bgr, byte> starfishDrawn = frame.ToImage <Bgr, byte>();
Image <Gray, byte> gridImg = frame.ToImage <Gray, Byte>();
Image <Bgr, byte> gridDrawn = frame.ToImage <Bgr, byte>();
//Line Follow
Hsv T_Lower = new Hsv(colorThresholds[4].h_Lower, colorThresholds[4].s_Lower, colorThresholds[4].v_Lower);
Hsv T_Upper = new Hsv(colorThresholds[4].h_Upper, colorThresholds[4].s_Upper, colorThresholds[4].v_Upper);
Image <Gray, byte> laneImg = frame.ToImage <Gray, Byte>();
laneImg = img.InRange(T_Lower, T_Upper).Erode(2).Dilate(2);
//count for columbs
int leftC = 0;
int centerC = 0;
int rightC = 0;
for (int i = (laneImg.Height / 20) * 15; i < laneImg.Height; i++)
{
for (int j = (laneImg.Width / 20) * 14; j < (laneImg.Width / 20) * 16; j++)
{
//left
if (laneImg.Data[i, j, 0] == 255)
{
leftC++;
}
}
for (int j = (laneImg.Width / 20) * 16; j < (laneImg.Width / 20) * 18; j++)
{
//center
if (laneImg.Data[i, j, 0] == 255)
{
centerC++;
}
}
for (int j = (laneImg.Width / 20) * 18; j < (laneImg.Width / 20) * 20; j++)
{
//right
if (laneImg.Data[i, j, 0] == 255)
{
rightC++;
}
}
}
if (leftC > centerC && leftC > rightC)
{
//twist left
Twist twist = new Twist();
twist.Linear.Z = 1f;
SetInput(twist);
label7.Invoke(new Action(() => {
label7.Text = "left";
}));
}
else
{
if (centerC > rightC && centerC > leftC)
{
// twist center
Twist twist = new Twist();
twist.Linear.X = 1f;
SetInput(twist);
label7.Invoke(new Action(() => {
label7.Text = "center";
}));
}
else
{
//twist right
Twist twist = new Twist();
twist.Linear.Z = -1f;
SetInput(twist);
label7.Invoke(new Action(() => {
label7.Text = "right";
}));
}
}
if (leftC + rightC + centerC <= 100)
{
Twist twist = new Twist();
twist.Linear.X = 0;
SetInput(twist);
//Update keys
popup.UpdateKeys(key);
}
// Find Centers and Draw Bounding Rectangle
for (int i = 0; i < 3; i++)
{
VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint();
List <Shape> shapes = new List <Shape>();
Mat draw = new Mat();
Hsv t_Lower = new Hsv(colorThresholds[i].h_Lower, colorThresholds[i].s_Lower, colorThresholds[i].v_Lower);
Hsv t_Upper = new Hsv(colorThresholds[i].h_Upper, colorThresholds[i].s_Upper, colorThresholds[i].v_Upper);
int shapeIndex = 0;
double largestArea = 0;
switch (i)
{
case 0:
coralNestImg = img.InRange(t_Lower, t_Upper).Erode(2).Dilate(2);
CvInvoke.FindContours(coralNestImg, contours, draw, Emgu.CV.CvEnum.RetrType.Ccomp, ChainApproxMethod.ChainApproxSimple);
break;
case 1:
coralOutcropImg = img.InRange(t_Lower, t_Upper).Erode(2).Dilate(2);
CvInvoke.FindContours(coralOutcropImg, contours, draw, Emgu.CV.CvEnum.RetrType.Ccomp, ChainApproxMethod.ChainApproxSimple);
break;
case 2:
starfishImg = img.InRange(t_Lower, t_Upper).Erode(2).Dilate(2);
CvInvoke.FindContours(starfishImg, contours, draw, Emgu.CV.CvEnum.RetrType.Ccomp, ChainApproxMethod.ChainApproxSimple);
break;
default:
break;
}
for (int j = 0; j < contours.Size; j++)
{
double peramiter = CvInvoke.ArcLength(contours[j], true);
VectorOfPoint positions = new VectorOfPoint();
CvInvoke.ApproxPolyDP(contours[j], positions, 0.03 * peramiter, true);
var moments = CvInvoke.Moments((contours[j]));
shapes.Add(new Shape());
//Find Centroid of shape and area and store in shape class
shapes[j].x_Center = (moments.M10 / moments.M00);
shapes[j].y_Center = (moments.M01 / moments.M00);
shapes[j].area = CvInvoke.ContourArea(contours[j]);
}
//Only compute if there are shapes on screen
if (shapes.Count > 0)
{
// find largest shape sstore it
for (int j = 0; j < shapes.Count; j++)
{
if (shapes[j].area > largestArea)
{
largestArea = shapes[j].area;
shapeIndex = j;
}
}
Rectangle boundingRect = new Rectangle((int)(shapes[shapeIndex].x_Center - 50), (int)(shapes[shapeIndex].y_Center - 50), 100, 100);
switch (i)
{
case 0:
coralNestDrawn = coralNestImg.Convert <Bgr, byte>();
coralNestDrawn.Draw(boundingRect, new Bgr(0, 0, 255), 3, LineType.EightConnected, 0);
//Add to list of shapes found
foundShape.Add(shapes[shapeIndex]);
shapeType.Add('n');
break;
case 1:
coralOutcropDrawn = coralOutcropImg.Convert <Bgr, byte>();
coralOutcropDrawn.Draw(boundingRect, new Bgr(0, 0, 255), 3, LineType.EightConnected, 0);
//Add to list of shapes found
foundShape.Add(shapes[shapeIndex]);
shapeType.Add('o');
break;
case 2:
starfishDrawn = starfishImg.Convert <Bgr, byte>();
starfishDrawn.Draw(boundingRect, new Bgr(0, 0, 255), 3, LineType.EightConnected, 0);
//Add to list of shapes found
foundShape.Add(shapes[shapeIndex]);
shapeType.Add('s');
break;
}
}
}
//Circle Detection
/* // var findEdges = img.SmoothGaussian((int)(colorThresholds[3].h_Upper)).Convert<Gray, byte>().ThresholdBinaryInv(new Gray(colorThresholds[3].s_Lower), new Gray(colorThresholds[3].s_Upper)).Erode((int)(colorThresholds[3].h_Lower)).Dilate((int)(colorThresholds[3].h_Lower));
*
* Hsv c_Lower = new Hsv(colorThresholds[3].h_Lower, colorThresholds[3].s_Lower, colorThresholds[3].v_Lower);
* Hsv c_Upper = new Hsv(colorThresholds[3].h_Upper, colorThresholds[3].s_Upper, colorThresholds[3].v_Upper);
* Image<Gray, byte> findEdges = frame.ToImage<Gray, Byte>();
* findEdges = img.InRange(c_Lower, c_Upper).Erode(2);
*
* Gray cannyThreshold = new Gray(180);
* Gray cannyThresholdLinking = new Gray(120);
* Gray circleAccumulatorThreshold = new Gray(60);
*
* CircleF[] foundCircles = findEdges.HoughCircles(
* cannyThreshold,
* circleAccumulatorThreshold,
* 4.0, //Resolution of the accumulator used to detect centers of the circles
* 4.0, //Resolution of the accumulator used to detect centers of the circles
* 10.0, //min distance
* 10, //min radius
* 30 //max radius
* )[0]; //Get the circles from the first channel
*
* drawnImage = findEdges.Convert<Bgr, Byte>();
*
*
* // Find Largest Circle and Draw it on Frame
* for (int j = 0; j < foundCircles.Length; j++)
* {
* if (j == 0)
* {
* // Skip 0 because its the largest circle at this time
* }
* else
* {
* if (foundCircles[j].Area > foundCircles[largestCircle].Area) // Check to see if this is the Largest Circle
* {
* largestCircle = j;
* }
* }
* }
* if (foundCircles.Length != 0)
* drawnImage.Draw(foundCircles[largestCircle], new Bgr(0, 255, 0), 3, LineType.EightConnected, 0); // Circle Draw
*
*/
// Grid Detection
VectorOfVectorOfPoint Contours = new VectorOfVectorOfPoint();
Mat Draw = new Mat();
Hsv g_Lower = new Hsv(colorThresholds[5].h_Lower, colorThresholds[5].s_Lower, colorThresholds[5].v_Lower);
Hsv g_Upper = new Hsv(colorThresholds[5].h_Upper, colorThresholds[5].s_Upper, colorThresholds[5].v_Upper);
gridImg = img.InRange(g_Lower, g_Upper).Erode(2).Dilate(2);
CvInvoke.FindContours(coralNestImg, Contours, Draw, Emgu.CV.CvEnum.RetrType.Ccomp, ChainApproxMethod.ChainApproxSimple);
List <Shape> gShapes = new List <Shape>();
for (int j = 0; j < Contours.Size; j++)
{
double peramiter = CvInvoke.ArcLength(Contours[j], true);
VectorOfPoint positions = new VectorOfPoint();
CvInvoke.ApproxPolyDP(Contours[j], positions, 0.03 * peramiter, true);
var moments = CvInvoke.Moments((Contours[j]));
gShapes.Add(new Shape());
//Find Centroid of shape and area and store in shape class
gShapes[j].x_Center = (moments.M10 / moments.M00);
gShapes[j].y_Center = (moments.M01 / moments.M00);
gShapes[j].area = CvInvoke.ContourArea(Contours[j]);
}
if (gShapes.Count > 0)
{
for (int i = 0; i < gShapes.Count; i++)
{
if (gShapes[i].area > 400 || gShapes[i].area < 20000)
{
gShapes.RemoveAt(i); // remove unwanted shapes
}
}
/*
* // outline grid squares found
* gridDrawn = gridImg.Convert<Bgr, byte>();
* for(int i =0;i<gShapes.Count; i++)
* {
* Rectangle boundingRect = new Rectangle((int)(gShapes[i].x_Center - 50), (int)(gShapes[i].y_Center - 50), 100, 100);
* gridDrawn.Draw(boundingRect, new Bgr(0, 0, 255), 3, LineType.EightConnected, 0);
* }
*
* for(int i = 0; i < gShapes.Count; i++)
* {
* if (LastPosition.Count == 0)
* {
* LastPosition.Add(gShapes[i]); // store shapes positions for next rotation
* start = 0;
* end = foundShape.Count;
* //check if centroids are close to those of found shapes
* for (int j = 0; j < foundShape.Count; j++)
* {
* // Check centerpoints with tolerance of +- 20
* if(((foundShape[j].x_Center < gShapes[i].x_Center + 20) && (foundShape[j].x_Center > gShapes[i].x_Center - 20)) && ((foundShape[j].y_Center < gShapes[i].y_Center + 20) && (foundShape[j].y_Center > gShapes[i].y_Center - 20)))
* {
* key[i] = shapeType[j];
* }
* }
*
* }
* else
* {
* int tEnd = 0;
* for(int j = 0; j < gShapes.Count; j++)
* {
*
* if (((LastPosition[j].x_Center < gShapes[i].x_Center + 10) && (LastPosition[j].x_Center > gShapes[i].x_Center - 10)) && ((LastPosition[j].y_Center < gShapes[i].y_Center + 10) && (LastPosition[j].y_Center > gShapes[i].y_Center - 10)))
* {
* tEnd = j;
* }
* end = tEnd;
* start = (end - foundShape.Count);
*
* }
*
* for (int j = 0; j < gShapes.Count; j++)
* {
*
* if (((foundShape[j].x_Center < gShapes[i].x_Center + 20) && (foundShape[j].x_Center > gShapes[i].x_Center - 20)) && ((foundShape[j].y_Center < gShapes[i].y_Center + 20) && (foundShape[j].y_Center > gShapes[i].y_Center - 20)))
* {
* key[i + start] = shapeType[j];
* }
*
* }
* }
* }
*/
} // Grid analysis
// Display Images
pictureBox0.Image = frame.Bitmap;
pictureBox1.Image = coralNestDrawn.Bitmap;
pictureBox2.Image = coralOutcropDrawn.Bitmap;
pictureBox3.Image = starfishDrawn.Bitmap;
pictureBox4.Image = drawnImage.Bitmap;
pictureBox5.Image = laneImg.Bitmap;
GridBox.Image = gridDrawn.Bitmap;
if (!Sleep(20))
{
this.Invoke(new Action(() => { Close(); }));
break;
}
}
}
private void Form1_Load(object sender, EventArgs e)
{
popup Popup = new popup(this);
Popup.Show();
//Define Preset Values Here
for (int i = 0; i < 6; i++)
{
colorThresholds.Add(new Thresholds());
}
// Coral - Pink
colorThresholds[0].h_Upper = 180;
colorThresholds[0].h_Lower = 0;
colorThresholds[0].s_Upper = 255;
colorThresholds[0].s_Lower = 0;
colorThresholds[0].v_Upper = 255;
colorThresholds[0].v_Lower = 0;
// Coral - Outcrop - Yellow
colorThresholds[1].h_Upper = 180;
colorThresholds[1].h_Lower = 0;
colorThresholds[1].s_Upper = 255;
colorThresholds[1].s_Lower = 0;
colorThresholds[1].v_Upper = 255;
colorThresholds[1].v_Lower = 0;
// Starfish - Red
colorThresholds[2].h_Upper = 180;
colorThresholds[2].h_Lower = 0;
colorThresholds[2].s_Upper = 255;
colorThresholds[2].s_Lower = 0;
colorThresholds[2].v_Upper = 255;
colorThresholds[2].v_Lower = 0;
// Spong - Circle
colorThresholds[4].h_Upper = 180;
colorThresholds[4].h_Lower = 0;
colorThresholds[4].s_Upper = 255;
colorThresholds[4].s_Lower = 0;
colorThresholds[4].v_Upper = 255;
colorThresholds[4].v_Lower = 0;
// Lane - Blue
colorThresholds[4].h_Upper = 180;
colorThresholds[4].h_Lower = 0;
colorThresholds[4].s_Upper = 255;
colorThresholds[4].s_Lower = 0;
colorThresholds[4].v_Upper = 255;
colorThresholds[4].v_Lower = 0;
// Grid
colorThresholds[5].h_Upper = 180;
colorThresholds[5].h_Lower = 0;
colorThresholds[5].s_Upper = 255;
colorThresholds[5].s_Lower = 0;
colorThresholds[5].v_Upper = 255;
colorThresholds[5].v_Lower = 0;
//---------Initialize Trackbars
//TB 1 == H Upper Threshold
trackBar1.Maximum = 180;
trackBar1.TickFrequency = 5;
trackBar1.LargeChange = 3;
trackBar1.SmallChange = 1;
//TB 2 == H Lower Threshold
trackBar2.Maximum = 180;
trackBar2.TickFrequency = 5;
trackBar2.LargeChange = 3;
trackBar2.SmallChange = 1;
//TB 3 == S Upper Threshold
trackBar3.Maximum = 255;
trackBar3.TickFrequency = 5;
trackBar3.LargeChange = 3;
trackBar3.SmallChange = 1;
//TB 4 == S Lower Threshold
trackBar4.Maximum = 255;
trackBar4.TickFrequency = 5;
trackBar4.LargeChange = 3;
trackBar4.SmallChange = 1;
//TB 5 == V Upper Threshold
trackBar5.Maximum = 255;
trackBar5.TickFrequency = 5;
trackBar5.LargeChange = 3;
trackBar5.SmallChange = 1;
//TB 6 == V Lower Threshold
trackBar6.Maximum = 255;
trackBar6.TickFrequency = 5;
trackBar6.LargeChange = 3;
trackBar6.SmallChange = 1;
seteTrackbars(count);
label1.BackColor = Color.Red;
}
