/// <summary>
/// Called by SearchImage. Merges images together for visual output to form and gathers edge points of rectangles.
/// </summary>
protected void MergeImages()
{
redColourBitmap = ConvertImageFormat(redColourBitmap);
redColourBitmap = ApplyColour(redColourBitmap, outputImage, System.Drawing.Color.Red);
greenColourBitmap = ConvertImageFormat(greenColourBitmap);
greenColourBitmap = ApplyColour(greenColourBitmap, outputImage, System.Drawing.Color.LightGreen);
blueColourBitmap = ConvertImageFormat(blueColourBitmap);
blueColourBitmap = ApplyColour(blueColourBitmap, outputImage, System.Drawing.Color.LightBlue);
whiteColourBitmap = ConvertImageFormat(whiteColourBitmap);
whiteColourBitmap = ApplyColour(whiteColourBitmap, outputImage, System.Drawing.Color.FromArgb(100, System.Drawing.Color.White));
yellowColourBitmap = ConvertImageFormat(yellowColourBitmap);
yellowColourBitmap = ApplyColour(yellowColourBitmap, outputImage, System.Drawing.Color.FromArgb(100, System.Drawing.Color.Yellow));
// Find the Y positions of the left, right, top, and bottom results to give the edges.
yellowTopWallPoints = GetWallPoints(yellowColourBitmap, yellowWallRectangleTop, false);
yellowBottomWallPoints = GetWallPoints(yellowColourBitmap, yellowWallRectangleBottom, false);
whiteTopWallPoints = GetWallPoints(whiteColourBitmap, whiteWallRectangleTop, false);
whiteBottomWallPoints = GetWallPoints(whiteColourBitmap, whiteWallRectangleBottom, false);
blueLinePoints = GetWallPoints(blueColourBitmap, blueLineRectangle, false);
secondBlueLinePoints = GetWallPoints(blueColourBitmap, secondBlueLineRectangle, false);
FindBlueLineThickness();
outputImage = Greyscale(outputImage);
outputImage = ConvertImageFormat(outputImage);
// Merge all images of single colour on black background together.
Bitmap mergedColourImages = new Bitmap(1, 1);
AForge.Imaging.Filters.Merge mFilter;
mFilter = new AForge.Imaging.Filters.Merge(greenColourBitmap);
mergedColourImages = mFilter.Apply(blueColourBitmap);
mFilter = new AForge.Imaging.Filters.Merge(mergedColourImages);
mergedColourImages = mFilter.Apply(redColourBitmap);
mFilter = new AForge.Imaging.Filters.Merge(mergedColourImages);
mergedColourImages = mFilter.Apply(yellowColourBitmap);
mFilter = new AForge.Imaging.Filters.Merge(mergedColourImages);
mergedColourImages = mFilter.Apply(whiteColourBitmap);
// Set the merged colour image on top of greyscale camera image to see what is segmented.
mFilter = new AForge.Imaging.Filters.Merge(mergedColourImages);
outputImage = mFilter.Apply(outputImage);
}
/// <summary>
/// Merge two bitmap
/// </summary>
public Bitmap ApplyMerge(Bitmap currentBitmap, Bitmap mergeBitmap, int x, int y)
{
System.Drawing.Rectangle cloneRect = new System.Drawing.Rectangle(x, y, mergeBitmap.Width, mergeBitmap.Height);
System.Drawing.Imaging.PixelFormat format = mergeBitmap.PixelFormat;
Bitmap cloneBitmap = currentBitmap.Clone(cloneRect, format);
AForge.Imaging.Filters.Merge filter = new AForge.Imaging.Filters.Merge(cloneBitmap);
Bitmap resultImage = filter.Apply(mergeBitmap);
Graphics newImage = Graphics.FromImage(currentBitmap);
newImage.DrawImage(resultImage, x, y, resultImage.Width, resultImage.Height);
return(currentBitmap);
}
unsafe static void Main()
{
Test test = new Test();
test.TestRunningWeightedVariance();
return;
var resourceDir = Path.Combine(Directory.GetParent(Directory.GetCurrentDirectory()).FullName, "Resources");
var imgColor = Bitmap.FromFile(Path.Combine(resourceDir, "testColorBig.jpg")).ToImage <Bgr, byte>();
imgColor = imgColor.CorrectContrast(105);
/*var bmp1 = (System.Drawing.Bitmap)System.Drawing.Bitmap.FromFile("nature-spring.jpg");
* var image1 = bmp1.ToImage<Gray, float>();
*
* var res1 = ResizeNearsetNeighbur.Resize(image1, new Size(640, 480));
* ImageBox.Show("Interpolated image", res1.ToBitmap());
*
* var res = new Image<Bgr, float>(320, 200);
* image1.GetRectSubPix(new PointF(1.9f, 1.9f), res);
* ImageBox.Show("Interpolated image", res.ToBitmap());*/
test.TestLKFlow();
return; //uncomment if you want execute functions below
var bmp = (System.Drawing.Bitmap)System.Drawing.Bitmap.FromFile("nature-spring.jpg");
var image = bmp.ToImage <Bgr, byte>();
UnmanagedImage uIm = UnmanagedImage.FromManagedImage(bmp);
/********************** Bitmap <-> Image<,> *************************/
//from Bitmap...
IImage bmpImg1 = bmp.ToImage(); //generic image (dest format depends on bmp pixel format) (this case: <Color3, byte>)
Image <Bgr, byte> bmpImg2 = bmp.ToImage <Bgr, byte>(); //in this case additional cast is performed (<Color3, byte> => <Bgr, byte>) (no data convert)
//to Bitmap...
Bitmap bmpFromImg = bmpImg2.ToBitmap(copyAlways: false /*do not copy if you do not have to*/); //<Bgr, byte> can be casted to <Color3, byte> therefore data is shared between Bitmap and bmPimg2
/********************** UnmanagedImage <-> Image<,> *************************/
//from UnmanagedImage...
var im1FromUIm = uIm.AsImage(); //generic image (dest format depends on bmp pixel format)
var im2FromUIm = uIm.ToImage <Bgr, byte>(); //in this case additional cast is performed (<Color3, byte> => <Bgr, byte>) (no data convert)
//to UnmanagedImage...
var uIm2 = im1FromUIm.ToAForgeImage(copyAlways: false, failIfCannotCast: false);
/******************* some AForge filter recreation... ***********************/
/********************** Array <-> Image<,> (also eliminates need for Matrix, UnmanagedImage converters) ********************************/
int[,] arr = new int[480, 640];
//from Array...
var image1FromArray = arr.ToImage(); //supported for all 2D/3D arrays
var castedImageFromArray = arr.AsImage(); //supported only on 2D arrays (data is shared)
//to Array ...
var arrFromIm = image1FromArray.ToArray(); //output is 2D or 3D array (see function overloads)
/**************** channel rotate *******************/
//Image<,> => flexible
var channels = image.SplitChannels();
var dest = new Image <Bgr, byte>(new Image <Gray, byte>[] { channels[1], channels[0], channels[2] });
//AForge
AForge.Imaging.Filters.RotateChannels rc = new AForge.Imaging.Filters.RotateChannels();
rc.Apply(uIm);
/**************** channel extract *******************/
//Image<,> => simple
var ch = image[0];
//AForge
AForge.Imaging.Filters.ExtractChannel ec = new AForge.Imaging.Filters.ExtractChannel(0);
ec.Apply(uIm);
/**************** Max (see Min also) *******************/
//Image<,>
image.Max(image, inPlace: true);
//AForge
AForge.Imaging.Filters.Merge m = new AForge.Imaging.Filters.Merge(uIm);
m.Apply(uIm);
/**************** Sobel *******************/
var bmpSquareGray = (System.Drawing.Bitmap)System.Drawing.Bitmap.FromFile("square.bmp");
var grayIm = bmpSquareGray.ToImage <Gray, float>(); //currently there are no overloads for magnitude for <byte>, will be fixed later
//Image<,> => flexible
var sobelX = grayIm.Sobel(1, 0, 3);
var sobelY = grayIm.Sobel(0, 1, 3);
var mag = sobelX.Magnitude(sobelY); //should use Threshold for values > 255 (not implemented yet)
//mag.ToBitmap().Save("bla.bmp"); //img.Save(..) is available for <IColor3, byte> and <Gray, byte> (Bitmap compatible formats) should change ?
//var mag = sobelX.Abs().Add(sobelY.Abs()).Scale(0, 255).Convert<Gray, byte>(); //should work later (it is not implemented)
//AForge
AForge.Imaging.Filters.SobelEdgeDetector sobel = new AForge.Imaging.Filters.SobelEdgeDetector();
var destSobel = sobel.Apply(grayIm.ToAForgeImage());
//destSobel.ToManagedImage().Save("sobelAForge.bmp");
return;
}
public void PerformPredatorActions()
{
cameraImage = Camera.Image;
obstacleRectangle = DetectObstacle(greenFilter, cameraImage, new Vector2(35), ref greenColourBitmap);
preyRectangle = DetectObstacle(redFilter, cameraImage, new Vector2(10), ref redColourBitmap);
wallLineRectangle = DetectObstacle(whiteFilter, cameraImage, new Vector2(100, 0), ref whiteColourBitmap);
redColourBitmap = ConvertImageFormat(redColourBitmap);
redColourBitmap = ApplyColour(redColourBitmap, cameraImage, System.Drawing.Color.Red);
greenColourBitmap = ConvertImageFormat(greenColourBitmap);
greenColourBitmap = ApplyColour(greenColourBitmap, cameraImage, System.Drawing.Color.LightGreen);
whiteColourBitmap = ApplyColour(whiteColourBitmap, cameraImage, System.Drawing.Color.Cyan);
whiteColourBitmap = ConvertImageFormat(whiteColourBitmap);
wallLeftPoint = GetPoint(whiteColourBitmap, wallLineRectangle.X, wallLineRectangle);
wallRightPoint = GetPoint(whiteColourBitmap, wallLineRectangle.X+wallLineRectangle.Width-1, wallLineRectangle);
System.Drawing.Point p = GetPoint(whiteColourBitmap, wallLineRectangle.X + wallLineRectangle.Width - (wallLineRectangle.Width/2), wallLineRectangle);
AForge.Imaging.Filters.HistogramEqualization hFilter = new AForge.Imaging.Filters.HistogramEqualization();
cameraImage = Greyscale(cameraImage);
cameraImage = ConvertImageFormat(cameraImage);
AForge.Imaging.Filters.SimplePosterization jFilter = new AForge.Imaging.Filters.SimplePosterization();
// cameraImage = jFilter.Apply(cameraImage);
AForge.Imaging.Filters.Merge mFilter = new AForge.Imaging.Filters.Merge(greenColourBitmap);
Bitmap mergedColourImages = mFilter.Apply(whiteColourBitmap);
mFilter = new AForge.Imaging.Filters.Merge(mergedColourImages);
mergedColourImages = mFilter.Apply(redColourBitmap);
mFilter = new AForge.Imaging.Filters.Merge(cameraImage);
cameraImage = mFilter.Apply(mergedColourImages);
//cameraImage = whiteColourBitmap;
if (preyRectangle != new System.Drawing.Rectangle(0, 0, 0, 0))
preyScreenPosition = preyRectangle;
if (preyRectangle == new System.Drawing.Rectangle(0, 0, 0, 0) && searchingRotationCount < 8)
trackingState = Tracking.Searching;
else if (searchingRotationCount >= 8 && trackingState != Tracking.OnScreen)
trackingState = Tracking.Roaming;
else
trackingState = Tracking.OnScreen;
RobotCommands();
}
static unsafe void Main()
{
Test test = new Test();
var resourceDir = Path.Combine(Directory.GetParent(Directory.GetCurrentDirectory()).FullName, "Resources");
var imgColor = Bitmap.FromFile(Path.Combine(resourceDir, "testColorBig.jpg")).ToImage<Bgr, byte>();
imgColor = imgColor.CorrectContrast(105);
/*var bmp1 = (System.Drawing.Bitmap)System.Drawing.Bitmap.FromFile("nature-spring.jpg");
var image1 = bmp1.ToImage<Gray, float>();
var res1 = ResizeNearsetNeighbur.Resize(image1, new Size(640, 480));
ImageBox.Show("Interpolated image", res1.ToBitmap());
var res = new Image<Bgr, float>(320, 200);
image1.GetRectSubPix(new PointF(1.9f, 1.9f), res);
ImageBox.Show("Interpolated image", res.ToBitmap());*/
test.TestLKFlow();
return; //uncomment if you want execute functions below
var bmp = (System.Drawing.Bitmap)System.Drawing.Bitmap.FromFile("nature-spring.jpg");
var image = bmp.ToImage<Bgr, byte>();
UnmanagedImage uIm = UnmanagedImage.FromManagedImage(bmp);
/********************** Bitmap <-> Image<,> *************************/
//from Bitmap...
IImage bmpImg1 = bmp.ToImage(); //generic image (dest format depends on bmp pixel format) (this case: <Color3, byte>)
Image<Bgr, byte> bmpImg2 = bmp.ToImage<Bgr, byte>(); //in this case additional cast is performed (<Color3, byte> => <Bgr, byte>) (no data convert)
//to Bitmap...
Bitmap bmpFromImg = bmpImg2.ToBitmap(copyAlways: false /*do not copy if you do not have to*/); //<Bgr, byte> can be casted to <Color3, byte> therefore data is shared between Bitmap and bmPimg2
/********************** UnmanagedImage <-> Image<,> *************************/
//from UnmanagedImage...
var im1FromUIm = uIm.AsImage(); //generic image (dest format depends on bmp pixel format)
var im2FromUIm = uIm.ToImage<Bgr, byte>(); //in this case additional cast is performed (<Color3, byte> => <Bgr, byte>) (no data convert)
//to UnmanagedImage...
var uIm2 = im1FromUIm.ToAForgeImage(copyAlways: false, failIfCannotCast: false);
/******************* some AForge filter recreation... ***********************/
/********************** Array <-> Image<,> (also eliminates need for Matrix, UnmanagedImage converters) ********************************/
int[,] arr = new int[480,640];
//from Array...
var image1FromArray = arr.ToImage(); //supported for all 2D/3D arrays
var castedImageFromArray = arr.AsImage(); //supported only on 2D arrays (data is shared)
//to Array ...
var arrFromIm = image1FromArray.ToArray(); //output is 2D or 3D array (see function overloads)
/**************** channel rotate *******************/
//Image<,> => flexible
var channels = image.SplitChannels();
var dest = new Image<Bgr, byte>(new Image<Gray, byte>[] { channels[1], channels[0], channels[2] });
//AForge
AForge.Imaging.Filters.RotateChannels rc = new AForge.Imaging.Filters.RotateChannels();
rc.Apply(uIm);
/**************** channel extract *******************/
//Image<,> => simple
var ch = image[0];
//AForge
AForge.Imaging.Filters.ExtractChannel ec = new AForge.Imaging.Filters.ExtractChannel(0);
ec.Apply(uIm);
/**************** Max (see Min also) *******************/
//Image<,>
image.Max(image, inPlace:true);
//AForge
AForge.Imaging.Filters.Merge m = new AForge.Imaging.Filters.Merge(uIm);
m.Apply(uIm);
/**************** Sobel *******************/
var bmpSquareGray = (System.Drawing.Bitmap)System.Drawing.Bitmap.FromFile("square.bmp");
var grayIm = bmpSquareGray.ToImage<Gray, float>(); //currently there are no overloads for magnitude for <byte>, will be fixed later
//Image<,> => flexible
var sobelX = grayIm.Sobel(1, 0, 3);
var sobelY = grayIm.Sobel(0, 1, 3);
var mag = sobelX.Magnitude(sobelY); //should use Threshold for values > 255 (not implemented yet)
//mag.ToBitmap().Save("bla.bmp"); //img.Save(..) is available for <IColor3, byte> and <Gray, byte> (Bitmap compatible formats) should change ?
//var mag = sobelX.Abs().Add(sobelY.Abs()).Scale(0, 255).Convert<Gray, byte>(); //should work later (it is not implemented)
//AForge
AForge.Imaging.Filters.SobelEdgeDetector sobel = new AForge.Imaging.Filters.SobelEdgeDetector();
var destSobel = sobel.Apply(grayIm.ToAForgeImage());
//destSobel.ToManagedImage().Save("sobelAForge.bmp");
return;
}
/// <summary>
/// Called by SearchImage. Merges images together for visual output to form and gathers edge points of rectangles.
/// </summary>
protected void MergeImages()
{
redColourBitmap = ConvertImageFormat(redColourBitmap);
redColourBitmap = ApplyColour(redColourBitmap, outputImage, System.Drawing.Color.Red);
greenColourBitmap = ConvertImageFormat(greenColourBitmap);
greenColourBitmap = ApplyColour(greenColourBitmap, outputImage, System.Drawing.Color.LightGreen);
blueColourBitmap = ConvertImageFormat(blueColourBitmap);
blueColourBitmap = ApplyColour(blueColourBitmap, outputImage, System.Drawing.Color.LightBlue);
whiteColourBitmap = ConvertImageFormat(whiteColourBitmap);
whiteColourBitmap = ApplyColour(whiteColourBitmap, outputImage, System.Drawing.Color.FromArgb(100, System.Drawing.Color.White));
yellowColourBitmap = ConvertImageFormat(yellowColourBitmap);
yellowColourBitmap = ApplyColour(yellowColourBitmap, outputImage, System.Drawing.Color.FromArgb(100, System.Drawing.Color.Yellow));
// Find the Y positions of the left, right, top, and bottom results to give the edges.
yellowTopWallPoints = GetWallPoints(yellowColourBitmap, yellowWallRectangleTop, false);
yellowBottomWallPoints = GetWallPoints(yellowColourBitmap, yellowWallRectangleBottom, false);
whiteTopWallPoints = GetWallPoints(whiteColourBitmap, whiteWallRectangleTop, false);
whiteBottomWallPoints = GetWallPoints(whiteColourBitmap, whiteWallRectangleBottom, false);
blueLinePoints = GetWallPoints(blueColourBitmap, blueLineRectangle, false);
secondBlueLinePoints = GetWallPoints(blueColourBitmap, secondBlueLineRectangle, false);
FindBlueLineThickness();
outputImage = Greyscale(outputImage);
outputImage = ConvertImageFormat(outputImage);
// Merge all images of single colour on black background together.
Bitmap mergedColourImages = new Bitmap(1, 1);
AForge.Imaging.Filters.Merge mFilter;
mFilter = new AForge.Imaging.Filters.Merge(greenColourBitmap);
mergedColourImages = mFilter.Apply(blueColourBitmap);
mFilter = new AForge.Imaging.Filters.Merge(mergedColourImages);
mergedColourImages = mFilter.Apply(redColourBitmap);
mFilter = new AForge.Imaging.Filters.Merge(mergedColourImages);
mergedColourImages = mFilter.Apply(yellowColourBitmap);
mFilter = new AForge.Imaging.Filters.Merge(mergedColourImages);
mergedColourImages = mFilter.Apply(whiteColourBitmap);
// Set the merged colour image on top of greyscale camera image to see what is segmented.
mFilter = new AForge.Imaging.Filters.Merge(mergedColourImages);
outputImage = mFilter.Apply(outputImage);
}
