//(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)
//(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)(*)
private void processFrame(object sender, EventArgs e)
{
if (capture == null)//very important to handel excption
{
try
{
capture = new Capture(0); //camera id you use
}
catch (NullReferenceException excpt)
{
MessageBox.Show(excpt.Message);
}
}
IMG = capture.QueryFrame();
IMG_Post = IMG.CopyBlank();
GrayImg = IMG.Convert <Gray, Byte>();
int Xp, Yp, x1, y1, x2, y2;
int Max_Y, Min_Y;
double Xc, Yc, Zc;
int i, j;
//Scanning frames to catch black object which is shown by Computer camera for image processing
//1-Find Xp and Yp
for (i = 0; i < GrayImg.Width; i++)
{
for (j = 0; j < GrayImg.Height; j++)
{
if (GrayImg[j, i].Intensity > 20)
{
IMG_Post[j, i] = new Bgr(0, 0, 0);
}
else
{
IMG_Post[j, i] = new Bgr(255, 255, 255);
}
}
}
IMG_Post_Gray = IMG_Post.Convert <Gray, Byte>();
x1 = -1;
for (i = 10; i < IMG_Post_Gray.Width - 10; i++)
{
for (j = 10; j < IMG_Post_Gray.Height - 10; j++)
{
if (IMG_Post_Gray[j, i].Intensity > 128)
{
x1 = i;
break;
}
}
if (x1 >= 0)
{
break;
}
}
x2 = -1;
for (i = IMG_Post_Gray.Width - 10; i >= 10; i--)
{
for (j = 10; j < IMG_Post_Gray.Height - 10; j++)
{
if (IMG_Post_Gray[j, i].Intensity > 128)
{
x2 = i;
break;
}
}
if (x2 >= 0)
{
break;
}
}
y1 = -1;
for (j = 10; i < IMG_Post_Gray.Height - 10; j++)
{
for (i = 10; i < IMG_Post_Gray.Width - 10; i++)
{
if (IMG_Post_Gray[j, i].Intensity > 128)
{
y1 = j;
break;
}
}
if (y1 >= 0)
{
break;
}
}
y2 = -1;
for (j = IMG_Post_Gray.Height - 10; j >= 10; j--)
{
for (i = 10; i < IMG_Post_Gray.Width - 10; i++)
{
if (IMG_Post_Gray[j, i].Intensity > 128)
{
y2 = j;
break;
}
}
if (y2 >= 0)
{
break;
}
}
Xp = (x1 + x2) / 2;
Yp = (y1 + y2) / 2;
textBox1.Text = Xp.ToString();
textBox2.Text = Yp.ToString();
//2- Find Xc and Yc
Xc = (float)Xp / IMG_Post_Gray.Width * 30; //
Yc = (float)Yp / IMG_Post_Gray.Height * 20; //
Min_Y = 0;
Max_Y = 20; // bunuda sen hesapla
//3- Find Zc
Zc = Yc * (20.0 - 30.0) / (Max_Y - Min_Y) + Min_Y;
//4-Calculate the Inverse
try
{
imageBox1.Image = IMG;
imageBox2.Image = GrayImg;
imageBox3.Image = IMG_Post;
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
