private Bitmap processImage(Bitmap img)
{
//Generate closing structural element
short[,] structEl = new short[13, 13];
for (int i = 0; i < 13; i++)
for (int j = 0; j < 13; j++)
if ((i - 6) * (i - 6) + (j - 6) * (j - 6) < 64)
structEl[i, j] = 1;
else
structEl[i, j] = -1;
//Initialize filters
HSLFiltering borderFind = new HSLFiltering();
Closing borderClose = new Closing(structEl);
Invert invert = new Invert();
Grayscale grayFilter = new Grayscale(0, 0, 1.0);
Threshold bwFilter = new Threshold(1);
PointedColorFloodFill blackout = new PointedColorFloodFill();
blackout.Tolerance = Color.FromArgb(0, 0, 0);
blackout.FillColor = Color.FromArgb(0, 0, 0);
ExtractBiggestBlob getgame = new ExtractBiggestBlob();
getgame.OriginalImage = new Bitmap(img);
GrayscaleToRGB colorFilter = new GrayscaleToRGB();
//Color determined with ColorProbe.
borderFind.Hue = new IntRange(190, 200);
borderFind.Saturation = new Range(0.6f, 0.8f);
borderFind.Luminance = new Range(0.6f, 1.0f);
borderFind.ApplyInPlace(img);
borderClose.ApplyInPlace(img);
img = grayFilter.Apply(img);
bwFilter.ApplyInPlace(img);
invert.ApplyInPlace(img);
img = colorFilter.Apply(img);
blackout.StartingPoint = new AForge.IntPoint(0, 0);
blackout.ApplyInPlace(img);
img = getgame.Apply(img);
int tilesx = img.Width / 56;
int tilesy = img.Height / 56;
int offsetx = 56 * (int)(tilesx - img.Width / 56.0);
int offsety = 56 * (int)(tilesy - img.Height / 56.0);
if ((Math.Abs(offsetx) > 11) || (Math.Abs(offsety) > 11))
throw new GameNotFoundException();
List<IntPoint> corners = new List<IntPoint>();
Dictionary<IntPoint, Bitmap> tiles = new Dictionary<IntPoint, Bitmap>();
SimpleQuadrilateralTransformation tileXtract = new SimpleQuadrilateralTransformation();
for (int j = 0; j < tilesy; j++)
for (int i = 0; i < tilesx; i++)
{
corners.Add(new IntPoint(offsetx + i * 56, offsety + j * 56 ));
corners.Add(new IntPoint(offsetx + i * 56, offsety + (j + 1) * 56 - 1));
corners.Add(new IntPoint(offsetx + (i + 1) * 56 - 1, offsety + (j + 1) * 56 - 1));
corners.Add(new IntPoint(offsetx + (i + 1) * 56 - 1, offsety + j * 56 ));
tileXtract.SourceQuadrilateral = corners;
tiles.Add(new IntPoint(i, j), tileXtract.Apply(img));
corners.Clear();
}
img = (Bitmap)Properties.Resources.ResourceManager.GetObject("cb");
/*Graphics g = Graphics.FromImage(img);
Pen bluePen = new Pen(Color.Blue, 2);
for (int i = 0, n = blobs.Length; i < n; i++)
{
List<IntPoint> edgePoints = blobCounter.GetBlobsEdgePoints(blobs[i]);
if (edgePoints.Count > 1)
{
List<IntPoint> corners = PointsCloud.FindQuadrilateralCorners(edgePoints);
g.DrawPolygon(bluePen, ToPointsArray(corners));
}
}
bluePen.Dispose();
g.Dispose();
*/
return img;
}
/// <summary>
/// Celem metody jest przykadrowanie otrzymanego obrazka, tak aby widok zawierał jedynie kartkę papieru, oraz zwrócenie go do metody UploadFile
/// </summary>
/// <param name="img"></param>
/// <returns></returns>
public System.Drawing.Image CropImage(System.Drawing.Image img)
{
//DocumentSkewChecker skewChecker = new DocumentSkewChecker();
//double angle = skewChecker.GetSkewAngle(image);
//RotateBilinear rotationFilter = new RotateBilinear(-angle);
//rotationFilter.FillColor = Color.White;
//Bitmap rotatedImage = rotationFilter.Apply(image);
Bitmap image = new Bitmap(img);
UnmanagedImage grayImage = null;
if (image.PixelFormat == PixelFormat.Format8bppIndexed)
{
grayImage = UnmanagedImage.FromManagedImage(image);
}
else
{
grayImage = UnmanagedImage.Create(image.Width, image.Height,
PixelFormat.Format8bppIndexed);
Grayscale.CommonAlgorithms.BT709.Apply(UnmanagedImage.FromManagedImage(image), grayImage);
}
CannyEdgeDetector edgeDetector = new CannyEdgeDetector();
UnmanagedImage edgesImage = edgeDetector.Apply(grayImage);
OtsuThreshold thresholdFilter = new OtsuThreshold();
thresholdFilter.ApplyInPlace(edgesImage);
Dilatation DilatationFilter = new Dilatation();
DilatationFilter.Apply(edgesImage);
Opening OpeningFilter = new Opening();
OpeningFilter.Apply(edgesImage);
BlobCounter blobCounter = new BlobCounter();
blobCounter.MinHeight = 32;
blobCounter.MinWidth = 32;
blobCounter.FilterBlobs = true;
blobCounter.ObjectsOrder = ObjectsOrder.Size;
blobCounter.ProcessImage(edgesImage);
Blob[] blobs = blobCounter.GetObjectsInformation();
ExtractBiggestBlob BiggestBlob = new ExtractBiggestBlob();
Bitmap biggestBlobsImage = BiggestBlob.Apply(edgesImage.ToManagedImage());
AForge.IntPoint BiggestBlogCorners = BiggestBlob.BlobPosition;
Crop cropFilter = new Crop(new Rectangle(BiggestBlogCorners.X, BiggestBlogCorners.Y, biggestBlobsImage.Width, biggestBlobsImage.Height));
Bitmap croppedImage = cropFilter.Apply(image);
return croppedImage;
}
public IEnumerable<Bitmap> Apply(Bitmap bitmap)
{
// assuming scanned background is white we need to invert for the algo to work
var copy = new Invert().Apply(bitmap);
copy = EnsureGrayscale(copy);
new Threshold { ThresholdValue = 25 }.ApplyInPlace(copy);
new FillHoles().ApplyInPlace(copy);
var blobCounter = new BlobCounter
{
// set filtering options
FilterBlobs = true,
MinWidth = 50,
MinHeight = 50,
};
blobCounter.ProcessImage(copy);
var blobs = blobCounter.GetObjectsInformation();
if (blobs.Any())
{
var invertedOriginal = new Invert().Apply(bitmap);
foreach (var blob in blobs)
{
// use inverted source to ensure correct edge colors
blobCounter.ExtractBlobsImage(invertedOriginal, blob, false);
var blobImage = blob.Image.ToManagedImage();
// straighten
var angle = new DocumentSkewChecker().GetSkewAngle(EnsureGrayscale(blobImage));
var rotationFilter = new RotateBilinear(-angle) { FillColor = Color.Black };
blobImage = rotationFilter.Apply(blobImage);
// crop
blobImage = new ExtractBiggestBlob().Apply(blobImage);
new Invert().ApplyInPlace(blobImage);
yield return blobImage;
}
}
else
{
yield return bitmap;
}
}
/// <summary>
/// Determines whether card is a face card(Jack,Queen,King) or not.
/// If card is a face card , then it will have a big blob whose width will be
/// larger than half width of card
/// If card isn't a face card, then width of all blobs will be less than half width of card
/// </summary>
/// <param name="bmp">Card of image to be analyzed</param>
/// <returns>True if its a face card, false if not</returns>
private bool IsFaceCard(Bitmap bmp)
{
Bitmap temp = this.commonSeq.Apply(bmp);
ExtractBiggestBlob extractor = new ExtractBiggestBlob();
temp = extractor.Apply(temp); //Extract biggest blob
if (temp.Height > bmp.Height / 5) //If width is larger than half width of card
return true; //Its a face card
return false; //It is not a face card
}
/// <summary>
/// Scans and returns suit of card. NOTE : Scans suit of cards that are not face cards
/// For recognizing suit, analyzes color and size of suit blob
/// </summary>
/// <param name="suitBmp">Suit image to be scanned</param>
/// <param name="color">Color of card. 'R' means Red, 'B' means black</param>
/// <returns>Scanned Suit</returns>
private Suit ScanSuit(Bitmap suitBmp, char color)
{
Bitmap temp = commonSeq.Apply(suitBmp);
ExtractBiggestBlob extractor = new ExtractBiggestBlob(); //Extract biggest blob on card
temp = extractor.Apply(temp); //Biggest blob is suit blob so extract it
Suit suit = Suit.NOT_RECOGNIZED;
//Determine type of suit according to its color and width
if (color == 'R')
suit = temp.Width >= 55 ? Suit.Diamonds : Suit.Hearts;
if (color == 'B')
suit = temp.Width <= 48 ? Suit.Spades : Suit.Clubs;
return suit;
}
private void InitFilters()
{
L_brownFilter = new ColorFiltering();
D_brownFilter = new ColorFiltering();
L_brownFilter.Red = new IntRange(125, 140);
L_brownFilter.Green = new IntRange(95, 110);
L_brownFilter.Blue = new IntRange(110, 130);
D_brownFilter.Red = new IntRange(55, 85);
D_brownFilter.Green = new IntRange(45, 75);
D_brownFilter.Blue = new IntRange(45, 75);
blobFilter = new BlobsFiltering();
blobFilter.CoupledSizeFiltering = true;
blobFilter.MinWidth = 70;
blobFilter.MinHeight = 70;
diffFilter = new Difference();
diffFilter.OverlayImage = back;
thresholdFilter = new Threshold(40);
erosionFilter = new Erosion();
edgeFilter = new Edges();
openFilter = new Opening();
pixelFilter = new Pixellate();
morphFilter = new Morph();
morphFilter.SourcePercent = 0.9;
towardsFilter = new MoveTowards();
towardsFilter.StepSize = 10;
blobCounter = new BlobCounter();
blobGrabber = new ExtractBiggestBlob();
}
void sensor_AllFramesReady(object sender, Microsoft.Kinect.AllFramesReadyEventArgs e)
{
if(this.command == "Stop")
{
Bot.stop();
}
if(this.command == "Forward")
{
Bot.traverse();
}
if (this.command == "Right")
{
Bot.turnRight();
}
if (this.command == "Left")
{
Bot.turnRight();
}
xf++;
if (xf % 5 == 0)
{
xf = 0;
if (this.command != null)
{
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
humanPosition = frameToHuman(skeletonFrame);
if (colorFrame != null)
{
// Copy the pixel data from the image to a temporary array
colorFrame.CopyPixelDataTo(this.colorPixels);
// Write the pixel data into our bitmap
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
// Error here due to OpenCV_core290.dll
//int[] objPos = new int[2];
//objPos = tmp.matchColor(ImageProc.colorFrameToImage(colorFrame));
//if (objPos != null)
//{
// short blobDepth = getDepthAtPoint(objPos, depthFrame);
// this.lblObject.Content = objPos[0] + ", " + objPos[1] + ", " + blobDepth;
//}
//else
//{
// this.lblObject.Content = "Null";
//}
System.Drawing.Bitmap bmp = ImageProc.colorFrameToAforge(colorFrame);
HSLFiltering filter = new HSLFiltering();
// set color ranges to keep
if (objec[0] == -1)
{
if (command == "Fetching Bottle")
{
filter.Hue = bottleH;
filter.Saturation = bottleS;
filter.Luminance = bottleL;
}
else if (command == "Fetching Box")
{
filter.Hue = boxH;
filter.Saturation = boxS;
filter.Luminance = boxL;
}
//// apply the filter
filter.ApplyInPlace(bmp);
BlobCounter blobCounter = new BlobCounter(bmp);
int i = blobCounter.ObjectsCount;
ExtractBiggestBlob fil = new ExtractBiggestBlob();
int[] pp = new int[2];
pp[0] = 0;
pp[1] = 0;
int h = 0;
if (i > 0)
{
fil.Apply(bmp);
pp[0] = fil.BlobPosition.X;
pp[1] = fil.BlobPosition.Y;
h = fil.Apply(bmp).Height;
}
short blobDepth = getDepthAtPoint(pp, depthFrame);
this.lblObject.Content = pp[0] + ", " + pp[1] + ", " + blobDepth;
this.objec[0] = pp[0];
this.objec[1] = pp[1];
this.objec[2] = blobDepth;
}
else
{
filter.Hue = botH;
filter.Saturation = botS;
filter.Luminance = botL;
filter.ApplyInPlace(bmp);
BlobCounter blobCounter = new BlobCounter(bmp);
int i = blobCounter.ObjectsCount;
ExtractBiggestBlob fil = new ExtractBiggestBlob();
int[] pp = new int[2];
pp[0] = 0;
pp[1] = 0;
int h = 0;
if (i > 0)
{
fil.Apply(bmp);
pp[0] = fil.BlobPosition.X;
pp[1] = fil.BlobPosition.Y;
h = fil.Apply(bmp).Height;
}
short blobDepth = getDepthAtPoint(pp, depthFrame);
this.lblBot.Content = pp[0] + ", " + pp[1] + ", " + blobDepth;
this.bot[0] = pp[0];
this.bot[1] = pp[1];
this.bot[2] = blobDepth;
}
//Assign Manual Position to bot and object
}
if (humanPosition != null)
{
this.lblHuman.Content = humanPosition[0] + ", " + humanPosition[1] + ", " + humanPosition[2];
}
else
{
this.lblHuman.Content = "No Human detected";
}
if (this.path == 0)
{
if (humanPosition != null)
{
if (Bot.moveDoraemon(this.bot[0], this.humanPosition[0], this.bot[2], this.humanPosition[2]) == 0)
{
this.path = 1;
}
}
}
else
{
if (Bot.moveDoraemon(this.bot[0], this.objec[0], this.bot[2], this.objec[2]) == 0)
{
Bot.stop();
}
}
}
}
}
this.lbl.Content = command;
}
}
}
