public static Image <Bgr, byte> DetectCups(Mat input_image)
{
Size size = new Size(700, 700);
Image <Gray, byte> filtered_image = new Image <Gray, byte>(size);
Image <Hsv, byte> preprocessed_image = PreProcessing.Preprocess(input_image, size, ShowHSV);
//denoise, smoothe and threshold
filtered_image = PreProcessing.FilterCups(preprocessed_image, ShowFiltered);
//PreProcessing.FilterGlare( preprocessed_image, ShowFiltered );
Image <Bgr, byte> output_image = new Image <Bgr, byte>(input_image.Size);
output_image = input_image.ToImage <Bgr, byte>();
CvInvoke.Resize(output_image, output_image, size);
PreProcessing.DrawContours(output_image, PreProcessing.GetContours(filtered_image), filtered_image);
return(output_image);
}
public static void InitCupTracking(Mat input_image)
{
if (!TrackCups)
{
Cups = new CV_Cup[3];
for (int i = 0; i < 3; i++)
{
Cups[i] = new CV_Cup();
}
Size size = new Size(700, 700);
//Load image
Image <Gray, byte> filtered_image = new Image <Gray, byte>(size);
//denoise, smoothe and threshold
filtered_image = PreProcessing.FilterCups(PreProcessing.Preprocess(input_image, size, false), false);
VectorOfVectorOfPoint contours = PreProcessing.GetContours(filtered_image);
for (int i = 0; i < contours.Size; i++)
{
if (i < 3)
{
Cups[i].Init(i, CvInvoke.BoundingRectangle(contours[i]));
}
else
{
Console.WriteLine("CV_Program: Too many contours during InitCupTracking()");
}
}
Console.WriteLine("CV_Program: InitCupTracking(): Found These Cups:");
Console.WriteLine("CV_Program: InitCupTracking(): [" + Cups[0].CupID + "] " + Cups[0].BoundingBox);
Console.WriteLine("CV_Program: InitCupTracking(): [" + Cups[1].CupID + "] " + Cups[1].BoundingBox);
Console.WriteLine("CV_Program: InitCupTracking(): [" + Cups[2].CupID + "] " + Cups[2].BoundingBox);
MinY = ((Cups[0].BoundingBox.Location.Y + Cups[1].BoundingBox.Location.Y + Cups[2].BoundingBox.Location.Y) / 3) - 80;
float[] widths = new float[3];
widths[0] = (float)Cups[0].BoundingBox.Width;
widths[1] = (float)Cups[1].BoundingBox.Width;
widths[2] = (float)Cups[2].BoundingBox.Width;
float[] heights = new float[3];
heights[0] = (float)Cups[0].BoundingBox.Height;
heights[1] = (float)Cups[1].BoundingBox.Height;
heights[2] = (float)Cups[2].BoundingBox.Height;
MinWidth = getMaxWidthOrHeight(widths);
MinWidth *= 1.3f;
MinHeight = getMaxWidthOrHeight(heights);
MinHeight *= 1.15f;
AvgHeight = (Cups[0].BoundingBox.Height + Cups[1].BoundingBox.Height + Cups[2].BoundingBox.Height) / 3.0f;
AvgWidth = (Cups[0].BoundingBox.Width + Cups[1].BoundingBox.Width + Cups[2].BoundingBox.Width) / 3.0f;
TrackCups = true;
}
}