/// <summary>
/// Look at the input image and find a suitable blob.
/// </summary>
/// <param name="filter">HSL filter to use for image segmentation.</param>
/// <param name="image">Input image to segment.</param>
/// <param name="minRect">Minimum size of output blob.</param>
/// <param name="colourBitmap">Bitmap to write binary image to.</param>
/// <param name="maxSize">Maximum size of output blob (default value will allow any size).</param>
/// <returns>A rectangle array of all suitable blobs, or an empty array if no suitable blobs are found.</returns>
protected System.Drawing.Rectangle[] DetectObstacle(AForge.Imaging.Filters.HSLFiltering filter, Bitmap image, System.Drawing.Point minRect, out Bitmap colourBitmap, System.Drawing.Point maxSize = default(System.Drawing.Point))
{
Bitmap filtered;
filtered = filter.Apply(image);
//short[,] structuringElement = new short[,] { { 0, 1, 0 }, { 1, 1, 1 }, { 0, 1, 0 } };
filtered = BinaryImage(filtered);
//AForge.Imaging.Filters.Opening openingFilter = new AForge.Imaging.Filters.Opening(structuringElement);
//filtered = openingFilter.Apply(filtered);
colourBitmap = filtered;
AForge.Imaging.BlobCounter blobs = new AForge.Imaging.BlobCounter();
blobs.MinWidth = (int)minRect.X;
blobs.MinHeight = (int)minRect.Y;
if (!maxSize.IsEmpty)
{
blobs.MaxWidth = maxSize.X;
blobs.MaxHeight = maxSize.Y;
}
blobs.FilterBlobs = true;
blobs.ObjectsOrder = AForge.Imaging.ObjectsOrder.Size;
blobs.ProcessImage(filtered);
System.Drawing.Rectangle[] rectangles = blobs.GetObjectsRectangles();
return(rectangles);
}
public static void TestColorFiltering()
{
var bmp = (System.Drawing.Bitmap)System.Drawing.Bitmap.FromFile(colorImgName);
var image = bmp.ToImage <Bgr, byte>();
UnmanagedImage uIm = UnmanagedImage.FromManagedImage(bmp);
measure(() =>
{
var hsvIm = image.Convert <Hsv, byte>();
var mask = hsvIm.InRange(new Hsv(335 / 2, 0, 0), new Hsv(180, 0, 0), 0 /*just first channel*/);
var maskedIm = image.CopyBlank();
image.CopyTo(maskedIm, mask);
},
() =>
{
AForge.Imaging.Filters.HSLFiltering f = new AForge.Imaging.Filters.HSLFiltering();
f.Hue = new AForge.IntRange(335, 0);
f.Apply(uIm);
},
100,
"Image<,> HSV filtering",
"AForge HSL filtering");
}
public static void TestColorFiltering()
{
var bmp = (System.Drawing.Bitmap)System.Drawing.Bitmap.FromFile(colorImgName);
var image = bmp.ToImage<Bgr, byte>();
UnmanagedImage uIm = UnmanagedImage.FromManagedImage(bmp);
measure(() =>
{
var hsvIm = image.Convert<Hsv, byte>();
var mask = hsvIm.InRange(new Hsv(335 / 2, 0, 0), new Hsv(180, 0, 0), 0 /*just first channel*/);
var maskedIm = image.CopyBlank();
image.CopyTo(maskedIm , mask);
},
() =>
{
AForge.Imaging.Filters.HSLFiltering f = new AForge.Imaging.Filters.HSLFiltering();
f.Hue = new AForge.IntRange(335, 0);
f.Apply(uIm);
},
100,
"Image<,> HSV filtering",
"AForge HSL filtering");
}