private void image1_Initialized(object sender, EventArgs e)
{
Image<Bgr, Byte> image = new Image<Bgr, byte>(400, 100, new Bgr(255, 255, 255));
MCvFont f = new MCvFont(Emgu.CV.CvEnum.FONT.CV_FONT_HERSHEY_PLAIN, 3.0, 3.0);
image.Draw("Hello, world", ref f, new System.Drawing.Point(10, 50), new Bgr(255.0, 0.0, 0.0));
image1.Source = ToBitmapSource(image);
}
private static void DrawSet(Image<Bgr, Byte> table, Dictionary<Card, System.Drawing.Point> cards, Random rnd, List<Card> set)
{
Bgr setcolor = new Bgr(rnd.Next(255), rnd.Next(255), rnd.Next(255));
List<System.Drawing.Point> centers = new List<System.Drawing.Point>();
foreach (Card card in set)
{
System.Drawing.Point p = cards[card];
PointF center = new PointF(p.X, p.Y);
centers.Add(p);
CircleF circle = new CircleF(center, 50);
table.Draw(circle, setcolor, 2);
}
table.DrawPolyline(centers.ToArray(), true, setcolor, 5);
}
// FaceDetection in the normal way
public override void DoNormalDetection(string imagePath)
{
_image = new Image<Bgr, byte>(imagePath); //Read the files as an 8-bit Bgr image
_egray = _image.Convert<Gray, Byte>(); //Convert it to Grayscale
_gray = _egray.Copy(); // Copy image in Grayscale
_egray._EqualizeHist(); // Equalize
Image<Gray, Byte> tempgray = _egray.Copy();
MCvAvgComp[][] facesDetected = _egray.DetectHaarCascade(_faces, 1.1, 1, Emgu.CV.CvEnum.HAAR_DETECTION_TYPE.DO_CANNY_PRUNING, new System.Drawing.Size(20, 20));
foreach (MCvAvgComp f in facesDetected[0])
{
if (f.neighbors > 100)
{
//_image.Draw(f.rect, new Bgr(System.Drawing.Color.Blue), 2); // face
tempgray.ROI = f.rect; //Set the region of interest on the faces
MCvAvgComp[][] eyesDetected = tempgray.DetectHaarCascade(_eyes, 1.1, 1, Emgu.CV.CvEnum.HAAR_DETECTION_TYPE.DO_CANNY_PRUNING, new System.Drawing.Size(20, 20));
if (eyesDetected[0].Length != 0)
{
foreach (MCvAvgComp e in eyesDetected[0])
{
if (e.neighbors > 100)
{
System.Drawing.Rectangle eyeRect = e.rect;
eyeRect.Offset(f.rect.X, f.rect.Y);
_image.Draw(eyeRect, new Bgr(System.Drawing.Color.Red), 2);
}
}
}
}
}
this._processedImages = new IImage[3];
this._processedImages[0] = _gray;
this._processedImages[1] = _egray;
this._processedImages[2] = _image;
}
private void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
//TODO Keep the previous frame image as well,
//Compare both on a background process and save it to the worksheet
//Convert x&y differences to millimeters according to depth data (distance)
//and some trigonometry
BitmapSource depthBmp = null;
blobCount = 0;
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
blobCount = 0;
depthBmp = depthFrame.SliceDepthImage((int)sliderMin.Value, (int)sliderMax.Value);
Image<Bgr, Byte> openCVImg = new Image<Bgr, byte>(depthBmp.ToBitmap());
Image<Gray, byte> gray_image = openCVImg.Convert<Gray, byte>();
if (running)
{
wsheet.Cells[1, frameCount + 1].Value = "Frame " + frameCount;
frameCount++;
using (MemStorage stor = new MemStorage())
{
//Find contours with no holes try CV_RETR_EXTERNAL to find holes
Contour<System.Drawing.Point> contours = gray_image.FindContours(
Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE,
Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_EXTERNAL,
stor);
//Conversion of depthPixels to skeletonPoints which contain all three dimensions in meters.
//The conversion and copying is assumed to be costly but there are no single pixel to single point conversion I could find.
depthFrame.CopyDepthImagePixelDataTo(depthPixels);
//mapper.MapDepthFrameToSkeletonFrame(depthFormat, depthPixels, skeletonPoints);
for (int i = 0; contours != null; contours = contours.HNext)
{
i++;
if ((contours.Area > Math.Pow(sliderMinSize.Value, 2)) && (contours.Area < Math.Pow(sliderMaxSize.Value, 2)))
{
MCvBox2D box = contours.GetMinAreaRect();
//DrQ RED BOX AROUND BLOB
openCVImg.Draw(box, new Bgr(System.Drawing.Color.Red), 2);
blobCount++;
int x = (int) box.center.X;
int y = (int) box.center.Y;
DepthImagePoint p = new DepthImagePoint();
p.X = x;
p.Y = y;
p.Depth = depthPixels[x + 640 * y].Depth;
SkeletonPoint s = mapper.MapDepthPointToSkeletonPoint(depthFormat, p);
//TODO Conversion from absolute coordinates to relative coordinates
addCoordData(3 * blobCount - 1, frameCount, s.X, s.Y, s.Z);
/*if (KinectSensor.IsKnownPoint(s))
{
addCoordData(3 * blobCount - 1, frameCount, s.X, s.Y, s.Z);
}*/
}
}
}
}
this.outImg.Source = ImageHelpers.ToBitmapSource(openCVImg);
txtBlobCount.Text = blobCount.ToString();
getNext().RunWorkerAsync(openCVImg);
}
}
if (colorFrame != null)
{
colorFrame.CopyPixelDataTo(this.colorPixels);
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
}
}
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
private void SensorAllFramesReady(object sender, AllFramesReadyEventArgs e)
{
#region get image and skeleton data from Kinect
// if in the middle of shutting down, so nothing to do
if (null == this.sensor) return;
bool depthReceived = false;
bool colorReceived = false;
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (null != depthFrame)
{
// Copy the pixel data from the image to a temporary array
depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
depthReceived = true;
}
}
int colorFrameNum = -1;
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (null != colorFrame)
{
// Copy the pixel data from the image to a temporary array
colorFrame.CopyPixelDataTo(this.colorPixels);
colorFrameNum = colorFrame.FrameNumber;
colorReceived = true;
}
}
Skeleton[] skeletons = new Skeleton[0];
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
}
}
#endregion
#region convert kinect frame to emgu images
if (colorReceived)
{
// get Emgu colour image
colourImage = new Image<Bgr, byte>(ToBitmap(colorPixels,
sensor.ColorStream.FrameWidth, this.sensor.ColorStream.FrameHeight));
}
if (depthReceived)
{
// create Emgu depth and playerMask images
depthImage = new Image<Gray, float>(sensor.DepthStream.FrameWidth, this.sensor.DepthStream.FrameHeight);
playerMasks = new Image<Gray, Byte>(sensor.DepthStream.FrameWidth, this.sensor.DepthStream.FrameHeight);
int maxdepth = sensor.DepthStream.MaxDepth;
// loop over each row and column of the depth
// this can be slow, but only way to preserve full depth information
int depthW = sensor.DepthStream.FrameWidth;
int depthH = sensor.DepthStream.FrameHeight;
int i;
for (int y = 0; y < depthH; y++)
{
for (int x = 0; x < depthW; x++)
{
// calculate index into depth array
i = x + (y * depthW);
DepthImagePixel depthPixel = this.depthPixels[i];
// save pixel to images
depthImage.Data[y, x, 0] = (depthPixel.Depth < maxdepth) ? depthPixel.Depth : maxdepth;
playerMasks.Data[y, x, 0] = (byte)depthPixel.PlayerIndex;
}
}
// HACK set one pixel to max value to stop flickering when
// converting float image to byte or Bgr
depthImage.Data[0, 0, 0] = sensor.DepthStream.MaxDepth;
// should work, but causes grey values to be pseudo randomly transposed
//playerMasks = new Image<Gray, byte>(ToBitmap(playerPixelData,
// sensor.DepthStream.FrameWidth, this.sensor.DepthStream.FrameHeight,
// System.Drawing.Imaging.PixelFormat.Format8bppIndexed));
}
#endregion
// pick which skeleton to track
int playerId = TrackClosestSkeleton(sensor, skeletons);
Skeleton skeleton = null;
if (playerId > 0) skeleton = skeletons.First(s => s.TrackingId == playerId);
#region use the emgu images to do something interesting
int demo = 2;
// DEMO 0: You
if (demo == 0 && skeleton != null && colourImage != null && depthImage != null)
{
displayImage = colourImage.Copy();
if (ShowDebug)
{
}
}
// DEMO 1: blur and boost
else if (demo == 1 && skeleton != null && colourImage != null
&& depthImage != null)
{
SkeletonPoint sleft = skeleton.Joints[JointType.HandLeft].Position;
SkeletonPoint sright = skeleton.Joints[JointType.HandRight].Position;
double hand_x_dist = Math.Abs(sleft.X - sright.Y);
double hand_y_dist = Math.Abs(sleft.Y - sright.Y);
// scale by 2 to speed up
displayImage = colourImage.Resize(0.5, INTER.CV_INTER_NN);
// displayImage = colourImage.Copy(); // slower
// boost the RGB values based on vertical hand distance
float boost = 3 - (float)(hand_y_dist * 5);
displayImage = colourImage.Convert(delegate(Byte b)
{ return (byte)((b * boost < 255) ? (b * boost) : 255); });
// blur based on horizontal hand distance
int blur = (int)(hand_x_dist * 20);
if (blur > 0)
displayImage = displayImage.SmoothBlur(blur, blur);
// show debug
if (ShowDebug)
{
debugImg2 = depthImage.Convert<Bgr, Byte>();
DepthImagePoint dp;
dp = sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(sleft,
sensor.DepthStream.Format);
debugImg2.Draw(new CircleF(dp.ToPointF(), 20), new Bgr(Color.Coral), 1);
dp = sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(sright,
sensor.DepthStream.Format);
debugImg2.Draw(new CircleF(dp.ToPointF(), 20), new Bgr(Color.LightGreen), 1);
Utilities.WriteDebugText(debugImg2, 10, 40, "{0:.00}m {1:0.00}m",
hand_x_dist, hand_y_dist);
}
}
// DEMO 2: Painting
else if (demo == 2 && skeleton != null &&
colourImage != null && depthImage != null)
{
// create a player mask for player we want
byte playerIndex = (byte)(Array.IndexOf(skeletons, skeleton) + 1);
//double[] min, max;
//Point[] pmin, pmax;
//playerMasks.MinMax(out min, out max, out pmin, out pmax);
// pick the player mask for the skeleton we're tracking
Image<Gray, Byte> playerMask = playerMasks.Convert(delegate(Byte b)
{ return (Byte)(b == playerIndex ? 255 : 0); });
// register depth to Rgb using Emgu
// compute homography if first frame
if (depthToRGBHomography == null)
depthToRGBHomography = ComputeDepthToRGBHomography(
depthImage.Convert<Gray, byte>(), sensor);
// do the registration warp
Image<Gray, byte> registeredplayerMask = playerMask.WarpPerspective(
depthToRGBHomography, INTER.CV_INTER_CUBIC, WARP.CV_WARP_DEFAULT,
new Gray(0));
// create the display image background
// blended RGB and player mask
displayImage = colourImage.AddWeighted(
registeredplayerMask.Resize(2, INTER.CV_INTER_NN).Convert<Bgr, byte>(),
0.7, 0.3, 0);
// blur it out
displayImage = displayImage.SmoothBlur(5, 5);
// get body depth (in m)
SkeletonPoint sposition = skeleton.Position;
// get the left and right hand positions (m)
SkeletonPoint sleft = skeleton.Joints[JointType.HandLeft].Position;
SkeletonPoint sright = skeleton.Joints[JointType.HandRight].Position;
// head position
SkeletonPoint shead = skeleton.Joints[JointType.Head].Position;
// mask out depth except playermask
Image<Gray, float> playerDepth = depthImage.Copy();
playerDepth.SetValue(new Gray(0), playerMask.Not());
// erase all interaction
// - - - - - - - - - - - - -
// raising both hands over head, when hands are close together, erases
// get the distance between the hands
double hand_distance = Utilities.Distance(sleft, sright);
// if hands closer than 30cm and over head, then erase
if (hand_distance < 0.3 && sleft.Y > shead.Y && sright.Y > shead.Y)
{
paintingImage.SetZero();
}
// paint with hands interaction
// - - - - - - - - - - - - -
// hands become a brush or eraser when more that 250 mm closer to kinect
float brushThresh = (sposition.Z * 1000) - 250;
// the brush is the player depth image, but only body parts below the
// brush threshold
brushMask = playerDepth.Copy();
brushMask = brushMask.ThresholdToZeroInv(new Gray(brushThresh));
// create brush image if first time through
if (brushImage == null) brushImage =
new Image<Bgr, byte>(displayImage.Width, displayImage.Height);
// update the brush image
brushImage.SetZero();
brushImage.SetValue(brushColour,
brushMask.Convert<Gray, byte>().Resize(2, INTER.CV_INTER_NN));
brushImage = brushImage.SmoothBlur(10, 10);
// create the painting image if first time
if (paintingImage == null)
paintingImage =
new Image<Bgr, byte>(displayImage.Width, displayImage.Height);
// layer on a bit of paint each frame
paintingImage = paintingImage.Add(brushImage * 0.05);
// display the painting ontop of the RGB image
displayImage = displayImage.AddWeighted(paintingImage, 0.5, 0.5, 0.0);
// show debug
if (ShowDebug)
{
debugImg2 = depthImage.Convert<Bgr, Byte>();
DepthImagePoint dp;
dp = sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(
sleft, sensor.DepthStream.Format);
debugImg2.Draw(new CircleF(dp.ToPointF(), 20),
new Bgr(Color.Coral), 1);
dp = sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(sright, sensor.DepthStream.Format);
debugImg2.Draw(new CircleF(dp.ToPointF(), 20),
new Bgr(Color.LightGreen), 1);
dp = sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(shead, sensor.DepthStream.Format);
debugImg2.Draw(new CircleF(dp.ToPointF(), 20),
new Bgr(Color.Cyan), 1);
Utilities.WriteDebugText(debugImg2, 10, 40, "Player: {0} {1}",
playerId, playerIndex);
}
// colour picker interaction
// - - - - - - - - - - - - -
// pick colours by creating a "depth hole" by joining index finger and
// thumb of opposite hands
// hands can form a picker hole when more than 150 mm closer to kinect
float pickerThresh = (sposition.Z * 1000) - 150;
// isolate part of depth where picker can appear
Image<Gray, float> pickerImage = playerDepth.ThresholdToZeroInv(
new Gray(pickerThresh));
// clean up small pixels and noise with morpholigical operations
pickerImage = pickerImage.Dilate(2).Erode(2);
if (ShowDebug)
{
debugImg1 = new Image<Bgr, byte>(pickerImage.Width, pickerImage.Height);
debugImg1.SetValue(new Bgr(Color.Yellow),
pickerImage.Convert<Gray, Byte>());
debugImg1.SetValue(new Bgr(Color.OrangeRed),
brushMask.Convert<Gray, Byte>());
}
// use contours to look for hole
Contour<Point> contours = null;
// contours only work on byte image, need to convert
Image<Gray, byte> pickerImageByte = pickerImage.Convert<Gray, byte>();
// the picker point (if we find one)
PointF pickerPoint = PointF.Empty;
// detect two levels of image contours (RETR_TYPE.CV_RETR_CCOMP)
// contours is a list of all contours found at top level
for (contours = pickerImageByte.FindContours(
CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE,
RETR_TYPE.CV_RETR_CCOMP);
contours != null;
contours = contours.HNext)
{
// VNext is 'vertical' traversal down in contour tree
// if there's a hole, VNext won't be null
Contour<Point> hole = contours.VNext;
if (hole != null && hole.Area > 50)
{
if (ShowDebug)
debugImg1.Draw(hole, new Bgr(0, 0, 255), 2);
// get the centre of the hole
MCvMoments moments = hole.GetMoments();
MCvPoint2D64f p = moments.GravityCenter;
// set the point
pickerPoint = new PointF((float)p.x, (float)p.y);
}
}
// if we found a hole, we can get the colour in the RGB image
// at that position
if (pickerPoint != PointF.Empty)
{
// get the RGB pixel at the picker depth point
DepthImagePoint dp = new DepthImagePoint();
dp.X = (int)pickerPoint.X;
dp.Y = (int)pickerPoint.Y;
dp.Depth = (int)depthImage[dp.Y, dp.X].Intensity;
ColorImagePoint cp =
sensor.CoordinateMapper.MapDepthPointToColorPoint(
sensor.DepthStream.Format, dp, sensor.ColorStream.Format);
// if we got a valid RGB point, get the colour
if (cp.X > 0 &&
cp.X < colourImage.Width &&
cp.Y > 0 &&
cp.Y < colourImage.Height)
{
// get the Emgu colour
Bgr c = colourImage[cp.Y, cp.X];
// convert to HSV so we can boost S and V
double hue, sat, val;
Color cc = Color.FromArgb((int)c.Red, (int)c.Green, (int)c.Blue);
Utilities.ColorToHSV(cc, out hue, out sat, out val);
// boost
sat = Math.Min(sat * 2, 1);
val = Math.Min(val * 2, 1);
// convert back to RGB colour
cc = Utilities.HSVToColor(hue, sat, val);
// display some feedback to show that picking is working
CircleF circle = new CircleF(new PointF(cp.X, cp.Y), 10);
displayImage.Draw(circle, new Bgr(cc), -1);
displayImage.Draw(circle, new Bgr(255, 255, 255), 1);
// set the new brush colour
brushColour = new Bgr(cc);
}
}
}
// waiting for skeleton, just show RGB
else if (colourImage != null && depthImage != null)
{
displayImage = colourImage.Copy();
if (ShowDebug)
{
debugImg1 = displayImage.Copy();
debugImg2 = depthImage.Convert<Bgr, Byte>();
Utilities.WriteDebugText(debugImg2, 10, 40, "No Skeleton");
}
}
// something's wrong, we don't have RGB and depth
else
{
displayImage.SetValue(new Bgr(Color.CadetBlue));
}
#endregion
// display image
if (displayImage != null)
{
// convert Rmgu image to WPF image source
// This is handy to incorporate Emgu with standard UI or layer WPF graphics
// on top. In this demo, it lets us make the window resize.
if (DisplayImageHelper == null)
{
// InteropBitmapHelper is a helper class to do the conversion
DisplayImageHelper =
new InteropBitmapHelper(displayImage.Width,
displayImage.Height, displayImage.Bytes, PixelFormats.Bgr24);
DisplayImage.Source = DisplayImageHelper.InteropBitmap;
}
// convert here using the helper object
DisplayImageHelper.UpdateBits(displayImage.Bytes);
}
// display Emgu debug images
if (ShowDebug)
{
CvInvoke.cvShowImage("debugImg1", debugImg1);
CvInvoke.cvShowImage("debugImg2", debugImg2);
}
}
private void DrawFace(Image<Bgr, Byte> image) {
if (null == Sensor.FPoints) { return; }
var pts = Sensor.FPoints;
var color = Sensor.Mood > 0 ? bgR : Sensor.Mood < 0 ? bGr : BGR;
foreach (var pt in pts) {
image.Draw(new CircleF(new PointF(pt.X, pt.Y), 1.0f), color, 2);
}
}
private Image<Bgr, byte> Canny(Image<Bgr, byte> newImg)
{
return newImg;
Image<Ycc, Byte> ycc = newImg.Convert<Ycc, byte>();
var skin = ycc.InRange(new Ycc(0, 131, 80), new Ycc(255, 185, 135));
skin.Erode(2);
skin.Dilate(2);
var contours = skin.FindContours();
if (contours != null)
{
List<Seq<Point>> allContours = new List<Seq<Point>>();
for (Seq<Point> c = contours; c != null; c = c.HNext)
{
allContours.Add(c);
}
allContours.Sort((a, b) => b.Total - a.Total);
var biggest = allContours.Take(2);
foreach (Seq<Point> points in biggest)
{
var hull = points.GetConvexHull(ORIENTATION.CV_CLOCKWISE);
newImg.Draw(hull, new Bgr(Color.Red), 2);
}
}
return newImg;
}
private void DrawFaces(Image<Bgr, Byte> image) {
MCvAvgComp[] Faces = Sensor.FaceManager.Faces;
String[] Names = Sensor.FaceManager.Names;
Image<Gray, byte>[] Thumbs = Sensor.FaceManager.Thumbs;
for (int i = 0; i < Faces.Length; i++) {
// Draw Rect
MCvAvgComp f = Faces[i];
if (f.rect == null) { continue; }
image.Draw(f.rect, border, 2);
// Draw text
var rect = new Rectangle(f.rect.X, f.rect.Y + f.rect.Height + 20, f.rect.Width, f.rect.Height);
DrawText(image, rect, Names[i] != null ? Names[i] : "");
// Draw thumb
if (Thumbs[i] != null) {
this.imageTrainedFace.Source = ToBitmapSource(Thumbs[i]);
}
}
}
private void DrawJoints(Image<Bgr, Byte> image) {
if (!Chx_Skeleton.IsChecked.GetValueOrDefault(true)) { return; }
if (null == Sensor.GestureManager) { return; }
if (null == Sensor.GestureManager.Skeleton) { return; }
Sensor.Copy2DJoints = true;
var pts = Sensor.Joints2D;
try {
image.DrawPolyline(new Point[] { pts[JointType.Head], pts[JointType.ShoulderCenter], pts[JointType.Spine], pts[JointType.HipCenter] }, false, bGr, 2);
image.DrawPolyline(new Point[] { pts[JointType.HipCenter], pts[JointType.HipLeft], pts[JointType.KneeLeft], pts[JointType.AnkleLeft], pts[JointType.FootLeft] }, false, bGr, 2);
image.DrawPolyline(new Point[] { pts[JointType.HipCenter], pts[JointType.HipRight], pts[JointType.KneeRight], pts[JointType.AnkleRight], pts[JointType.FootRight] }, false, bGr, 2);
image.DrawPolyline(new Point[] { pts[JointType.ShoulderCenter], pts[JointType.ShoulderLeft], pts[JointType.ElbowLeft], pts[JointType.WristLeft], pts[JointType.HandLeft] }, false, bGr, 2);
image.DrawPolyline(new Point[] { pts[JointType.ShoulderCenter], pts[JointType.ShoulderRight], pts[JointType.ElbowRight], pts[JointType.WristRight], pts[JointType.HandRight] }, false, bGr, 2);
}
catch (Exception) { /* May have Exception accessing the map */ }
foreach (JointType t in jointInterest) {
image.Draw(new CircleF(new PointF(pts[t].X, pts[t].Y), 1.0f), bgR, 10);
}
}
private void DrawLinesHoriontal(List<System.Drawing.PointF> markersF, Image<Bgr, byte> outImg1, bool captureAngles)
{
for (int i = 0; i < markersF.Count; i++)
{
LineSegment2D line1 = new LineSegment2D(new System.Drawing.Point(0, (int)markersF[i].Y),
new System.Drawing.Point((int)markersF[i].X, (int)markersF[i].Y));
outImg1.Draw(line1, new Bgr(System.Drawing.Color.Red), 1);
}
countFrames++;
}
/// <summary>
/// Used for drawing for hot corner boxes on screen
/// </summary>
/// <param name="img"></param>
/// <returns></returns>
public Image<Bgr, Byte> drawOnscreen(Image<Bgr, Byte> img)
{
//Assuming the image we're using is 640X480
MCvBox2D boxUpR = new MCvBox2D(new PointF(200, 200), boxSize, 0);
img.Draw(boxUpR, new Bgr(System.Drawing.Color.Green), 2);
return img;
}
private void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
BitmapSource depthBmp = null;
blobCount = 0;
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
blobCount = 0;
depthBmp = depthFrame.SliceDepthImage((int)sliderMin.Value, (int)sliderMax.Value);
Image<Bgr, Byte> openCVImg = new Image<Bgr, byte>(depthBmp.ToBitmap());
Image<Gray, byte> gray_image = openCVImg.Convert<Gray, byte>();
//Find contours
using (VectorOfVectorOfPoint contours = new VectorOfVectorOfPoint())
{
CvInvoke.FindContours(gray_image, contours, new Mat(), Emgu.CV.CvEnum.RetrType.List, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxSimple);
for (int i = 0; i < contours.Size; i++)
{
VectorOfPoint contour = contours[i];
double area = CvInvoke.ContourArea(contour, false);
if ((area > Math.Pow(sliderMinSize.Value, 2)) && (area < Math.Pow(sliderMaxSize.Value, 2)))
{
System.Drawing.Rectangle box = CvInvoke.BoundingRectangle(contour);
openCVImg.Draw(box, new Bgr(System.Drawing.Color.Red), 2);
blobCount++;
}
}
}
this.outImg.Source = ImageHelpers.ToBitmapSource(openCVImg);
txtBlobCount.Text = blobCount.ToString();
}
}
if (colorFrame != null)
{
colorFrame.CopyPixelDataTo(this.colorPixels);
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
}
}
}
private void CompositionTarget_Rendering(object sender, EventArgs e)
{
_status.Fill = _rd;
#region Recognition
currentFrame = grabber.QueryFrame().Resize(320, 240, Emgu.CV.CvEnum.INTER.CV_INTER_CUBIC);
gray = currentFrame.Convert<Gray, Byte>();
var size = new System.Drawing.Size(20, 20);
var window = new System.Drawing.Size(grabber.Width, grabber.Height);
_rects = _faceClassifier.DetectMultiScale(gray, 1.2, 10, size, window);
foreach (var f in _rects)
{
result = currentFrame.Copy(f).Convert<Gray, byte>().Resize(100, 100, Emgu.CV.CvEnum.INTER.CV_INTER_CUBIC);
_status.Fill = new SolidColorBrush(Colors.Green);
currentFrame.Draw(f, new Bgr(System.Drawing.Color.Red), 2);
//if we have already trained
if (CommonData.TrainingImages.Count > 0)
{
MCvTermCriteria termCrit = new MCvTermCriteria(ContTrain, 0.001);
//Eigen face recognizer
recognizer = new EigenObjectRecognizer(
CommonData.TrainingImages.ToArray(),
CommonData.Names.ToArray(),
3000,
ref termCrit);
string name = recognizer.Recognize(result);
currentFrame.Draw(name, ref font, new System.Drawing.Point(f.X - 2, f.Y - 2),
new Bgr(System.Drawing.Color.LightGreen));
}
//finally draw the source
_imgCamera.Source = ImageHelper.ToBitmapSource(currentFrame);
}
#endregion
}
public void RepaintColorFrame(Image<Bgra, Byte> buffer, NBody body) {
// Face & Name
var head = body.GetJoint(NJointType.Head).Area;
if (head.Width > 0) {
buffer.Draw(head, brdGreen, 4);
if (body.Name != null) {
var txt = new Rectangle(head.X, head.Y + head.Height + 20, head.Width, head.Height);
DrawText(buffer, txt, body.Name);
}
}
// Hands
var right = body.GetJoint(NJointType.HandRight).Area;
if (right.Width > 0) {
buffer.Draw(right, brdGreen, 4);
}
var left = body.GetJoint(NJointType.HandLeft).Area;
if (left.Width > 0) {
buffer.Draw(left, brdGreen, 4);
}
// Joints
foreach (var joint in body.Joints.Values) {
if (joint == null) { continue; }
if (joint.Tracking == NTrackingState.NotTracked) { continue; }
var color = joint.Tracking == NTrackingState.Inferred ? brdRed : brdGreen;
buffer.Draw(new CircleF(joint.Position2D, 10.0f), color, 10);
}
// Torso
DrawBone(body, NJointType.Head, NJointType.Neck);
DrawBone(body, NJointType.Neck, NJointType.SpineShoulder);
DrawBone(body, NJointType.SpineShoulder, NJointType.SpineMid);
DrawBone(body, NJointType.SpineMid, NJointType.SpineBase);
DrawBone(body, NJointType.SpineShoulder, NJointType.ShoulderRight);
DrawBone(body, NJointType.SpineShoulder, NJointType.ShoulderLeft);
DrawBone(body, NJointType.SpineBase, NJointType.HipRight);
DrawBone(body, NJointType.SpineBase, NJointType.HipLeft);
// Right Arm
DrawBone(body, NJointType.ShoulderRight, NJointType.ElbowRight);
DrawBone(body, NJointType.ElbowRight, NJointType.WristRight);
DrawBone(body, NJointType.WristRight, NJointType.HandRight);
DrawBone(body, NJointType.HandRight, NJointType.HandTipRight);
DrawBone(body, NJointType.WristRight, NJointType.ThumbRight);
// Left Arm
DrawBone(body, NJointType.ShoulderLeft, NJointType.ElbowLeft);
DrawBone(body, NJointType.ElbowLeft, NJointType.WristLeft);
DrawBone(body, NJointType.WristLeft, NJointType.HandLeft);
DrawBone(body, NJointType.HandLeft, NJointType.HandTipLeft);
DrawBone(body, NJointType.WristLeft, NJointType.ThumbLeft);
// Right Leg
DrawBone(body, NJointType.HipRight, NJointType.KneeRight);
DrawBone(body, NJointType.KneeRight, NJointType.AnkleRight);
DrawBone(body, NJointType.AnkleRight, NJointType.FootRight);
// Left Leg
DrawBone(body, NJointType.HipLeft, NJointType.KneeLeft);
DrawBone(body, NJointType.KneeLeft, NJointType.AnkleLeft);
DrawBone(body, NJointType.AnkleLeft, NJointType.FootLeft);
}
private Bitmap faceDetect(Bitmap bitmap)
{
HaarCascade haar = new HaarCascade("haarcascade_frontalface_alt.xml");
Image<Bgr, byte> temp = new Image<Bgr, byte>(bitmap);
Image<Gray, byte> grayframe = temp.Convert<Gray, byte>();
var faces =
grayframe.DetectHaarCascade(
haar, 1.4, 4,
HAAR_DETECTION_TYPE.DO_CANNY_PRUNING,
new System.Drawing.Size(temp.Width / 8, temp.Height / 8)
)[0];
foreach (var face in faces)
{
temp.Draw(face.rect, new Bgr(0, double.MaxValue, 0), 3);
}
return temp.ToBitmap();
}
// FaceDetection in the normal way
public override void DoNormalDetection(string imagePath)
{
_image = new Image<Bgr, byte>(imagePath); //Read the files as an 8-bit Bgr image
_egray = _image.Convert<Gray, Byte>(); //Convert it to Grayscale
_gray = _egray.Copy(); // Copy image in Grayscale
_egray._EqualizeHist(); // Equalize
MCvAvgComp[][] facesDetected = _egray.DetectHaarCascade(_faces, 1.1, 1, Emgu.CV.CvEnum.HAAR_DETECTION_TYPE.DO_CANNY_PRUNING, new System.Drawing.Size(20, 20));
foreach (MCvAvgComp f in facesDetected[0])
{
if (f.neighbors > 100)
{
//_egray.ROI = f.rect; // test
//_gray.ROI = f.rect; // test
_image.Draw(f.rect, new Bgr(System.Drawing.Color.Blue), 2);
}
}
this._processedImages = new IImage[3];
this._processedImages[0] = _gray;
this._processedImages[1] = _egray;
this._processedImages[2] = _image;
}
void FrameGrabber(object sender, EventArgs e)
{
NamePersons.Add("");
currentFrame = grabber.QueryFrame().Resize(320, 240, Emgu.CV.CvEnum.INTER.CV_INTER_CUBIC);
//Convert it to Grayscale
gray = currentFrame.Convert<Gray, Byte>();
//Face Detector
MCvAvgComp[][] facesDetected = gray.DetectHaarCascade(
face,
1.2,
10,
Emgu.CV.CvEnum.HAAR_DETECTION_TYPE.DO_CANNY_PRUNING,
new System.Drawing.Size(20, 20));
Console.WriteLine(facesDetected[0].Length);
//Action for each element detected
foreach (MCvAvgComp f in facesDetected[0])
{
t = t + 1;
result = currentFrame.Copy(f.rect).Convert<Gray, byte>().Resize(100, 100, Emgu.CV.CvEnum.INTER.CV_INTER_CUBIC);
//draw the face detected in the 0th (gray) channel with blue color
currentFrame.Draw(f.rect, new Bgr(System.Drawing.Color.Red), 2);
if (trainingImages.ToArray().Length != 0)
{
//TermCriteria for face recognition with numbers of trained images like maxIteration
MCvTermCriteria termCrit = new MCvTermCriteria(ContTrain, 0.001);
EigenObjectRecognizer recognizer = new EigenObjectRecognizer(
trainingImages.ToArray(),
labels.ToArray(),
3000,
ref termCrit);
name = recognizer.Recognize(result);
//Draw the label for each face detected and recognized
currentFrame.Draw(name, ref font, new System.Drawing.Point(f.rect.X - 2, f.rect.Y - 2), new Bgr(System.Drawing.Color.LightGreen));
}
NamePersons[t - 1] = name;
NamePersons.Add("");
label3.Text = facesDetected[0].Length.ToString();
if (result != null)
{
dispatcherTimer.Stop();
break;
}
}
t = 0;
//Names concatenation of persons recognized
for (int nnn = 0; nnn < facesDetected[0].Length; nnn++)
{
names = names + NamePersons[nnn] + ", ";
}
imageBoxFrameGrabber.Source = ConvertImage(currentFrame.ToBitmap());
label4.Text = names;
names = "";
//Clear the list(vector) of names
NamePersons.Clear();
}
/// <summary>
/// This is the frame event handler this method will run for evey frame captured , meat of app is here.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
BitmapSource depthBmp = null;
blobCount = 0;
int tempP = index % currentPass.Length;
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
blobCount = 0;
depthBmp = depthFrame.SliceDepthImage((int)sliderMin.Value, (int)sliderMax.Value);
Image<Bgr, Byte> openCVImg = new Image<Bgr, byte>(depthBmp.ToBitmap());
Image<Gray, byte> gray_image = openCVImg.Convert<Gray, byte>();
using (MemStorage stor = new MemStorage())
{
//Find contours with no holes try CV_RETR_EXTERNAL to find holes
Contour<System.Drawing.Point> contours = gray_image.FindContours(
Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE,
Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_EXTERNAL,
stor);
for (int i = 0; contours != null; contours = contours.HNext)
{
i++;
//Get window for depth image
if ((contours.Area > Math.Pow(sliderMinSize.Value, 2)) && (contours.Area < Math.Pow(sliderMaxSize.Value, 2)))
{
MCvBox2D box = contours.GetMinAreaRect();
//Get box of countour
System.Drawing.Rectangle roi2 = contours.BoundingRectangle;
openCVImg.Draw(box, new Bgr(System.Drawing.Color.Red), 2);
blobCount++;
if (isTracking)
{
//Need another conversion to gray and bye here from rectangle
result = gray_image.Copy(roi2).Convert<Gray, byte>().Resize(100, 100, Emgu.CV.CvEnum.INTER.CV_INTER_CUBIC);
this.toTrackIMG.Source = ImageHelpers.ToBitmapSource(result);
if (Eigen_Recog.IsTrained)
{
string name = Eigen_Recog.Recognise(result);
//Looks like we found a number add it to the password and make check if its correct
if (!name.Equals("") && !name.Equals(lastChar))
{
currentPass[tempP] = (char)name[0];
index++;
ImageHelpers.saveBitMapToDisk(result.ToBitmap(), Convert.ToInt32(name), "Test", 1);
displayCurrPass();
}
openCVImg.Draw(lastChar, ref font, new System.Drawing.Point((int)box.center.X, (int)box.center.Y), new Bgr(System.Drawing.Color.OrangeRed));
if (!name.Equals(""))
{
//preserver the recognized symbole for future reference
lastChar = name;
}
}
}
// Display bounding box for training sequence easy way to filter out noise
else if (isTraining)
{
result = gray_image.Copy(roi2).Resize(100, 100, Emgu.CV.CvEnum.INTER.CV_INTER_CUBIC);
this.toTrackIMG.Source = ImageHelpers.ToBitmapSource(result);
}
}
}
//Draw bounding box. Do this down here so that it's not mixed up with calculation of countours and eigen vectors
if (isTraining)
{
openCVImg = drawOnscreen(openCVImg);
}
}
//Draw on screen
this.outImg.Source = ImageHelpers.ToBitmapSource(openCVImg);
txtBlobCount.Text = blobCount.ToString();
}
}
//Draw color image
if (colorFrame != null)
{
colorFrame.CopyPixelDataTo(this.colorPixels);
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
}
}
}
private void DrawLines(List<System.Drawing.PointF> markersF, Image<Bgr, byte> outImg1, bool captureAngles)
{
LineSegment2D line1 = new LineSegment2D(new System.Drawing.Point((int)markersF[0].X, (int)markersF[0].Y),
new System.Drawing.Point((int)markersF[1].X, (int)markersF[1].Y));
LineSegment2D line2 = new LineSegment2D(new System.Drawing.Point((int)markersF[1].X, (int)markersF[1].Y),
new System.Drawing.Point((int)markersF[2].X, (int)markersF[2].Y));
outImg1.Draw(line1, new Bgr(System.Drawing.Color.Red), 1);
outImg1.Draw(line2, new Bgr(System.Drawing.Color.Red), 1);
double angleEmgu = line1.GetExteriorAngleDegree(line2);
double angle = findAngle(markersF);
// double angle = angleEmgu;
MCvFont f = new MCvFont(FONT.CV_FONT_HERSHEY_COMPLEX, 1.0, 1.0);
outImg1.Draw(((int)angle).ToString(), ref f, new System.Drawing.Point((int)markersF[1].X, (int)markersF[1].Y), new Bgr(121, 116, 40));
if(captureAngles)
angles.Add(angle);
//========================== activar un BOOL para empezar a capturar lo angulos y desactivarlo al presionarlo nuevamente
//========================== luego guardar la lista de angulos y mostrarlo en la grafica
//tbxResults.AppendText("line.AddPoint(" + (countFrames * 1.0).ToString() + "," + Math.Abs(angle).ToString() + ");");
tbxResults.AppendText(Math.Abs(angle).ToString() + ",");
tbxResults.AppendText(Environment.NewLine);
/*
ListBoxItem item = new ListBoxItem();
item.Content = "AddPoint(" + (countFrames * 1.0).ToString() + "," + angle.ToString() + ");";
listResults.Items.Add(item);
*/
countFrames++;
}
private void helloWorldTestButton_Click(object sender, RoutedEventArgs e)
{
//Create an image of 400x200 of Blue color
using (Image<Bgr, Byte> img = new Image<Bgr, byte>(400, 200, new Bgr(255, 0, 0)))
{
//Create the font
MCvFont f = new MCvFont(FONT.CV_FONT_HERSHEY_COMPLEX, 1.0, 1.0);
//Draw "Hello, world." on the image using the specific font
img.Draw("Hello, world", ref f, new Point(10, 80), new Bgr(0, 255, 0));
//Show the image using ImageViewer from Emgu.CV.UI
CvInvoke.cvShowImage("Hello World Test Window", img.Ptr);
}
// Test crop
using (Image<Gray, Byte> img = new Image<Gray, byte>(400, 200, new Gray(0)))
{
MCvFont f = new MCvFont(FONT.CV_FONT_HERSHEY_COMPLEX, 1.0, 1.0);
img.Draw("Hello, world", ref f, new Point(10, 80), new Gray(255));
using (Image<Gray, Byte> img2 = Utilities.stripBorder(img, new Gray(100)))
CvInvoke.cvShowImage("After crop", img2.Ptr);
}
}
//:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
//:::::::Display the stuff:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
private void CompositionTarget_Rendering(object sender, EventArgs e)
{
//---------------------------------------------------------------
List<Object> returnHandDetectorFrontActual = new List<object>(2);
List<Object> returnHandDetectorSideActual = new List<object>(2);
System.Drawing.Rectangle[] RoiKinectFrontActual;
System.Drawing.Rectangle[] RoiKinectSideActual;
Image<Gray, Byte> imagenKinectGray1;
Image<Gray, Byte> imagenKinectGray2;
Image<Gray, Byte> imageRoi1 = new Image<Gray,Byte>(200, 200);
Image<Gray, Byte> imageRoi2 = new Image<Gray, Byte>(200, 200);
List<Object> returnGettingSegK1 = new List<object>();
List<Object> returnGettingSegK2 = new List<object>();
bool noPositiveFalses;
bool flag_execute = false;
bool FrameHandDetected = false;
bool detectRoiFront = false;
bool detectRoiSide = false;
//to get the position of the hand
PointF centerHandFront = new PointF();
PointF centerHandSide = new PointF();
PointF positionRoi1Front;
PointF positionRoi1Side;
//-------------------------------------------------------------------------------
//-------------------------------------------------------------------------------
//Get actual frame and the next frame. To delate the frames with positive falses.
imagenKinectGray1 = new Image<Gray, byte>(pathFront + "Front" + "_" + numFrames.ToString() + "_1_1" + ".png"); //Poner el folder
imagenKinectGray2 = new Image<Gray, byte>(pathSide + "Side" + "_" + numFrames.ToString() + "_1_1" + ".png");
returnHandDetectorFrontActual = HandDetection.Detection(imagenKinectGray1, positionCenterHandF);
returnHandDetectorSideActual = HandDetection.Detection(imagenKinectGray2, positionCenterHandS);
//Cast the return of each frame MODIFICAR
RoiKinectFrontActual = (System.Drawing.Rectangle[])returnHandDetectorFrontActual[0]; //Poner todos los rectangulos que regresen
RoiKinectSideActual = (System.Drawing.Rectangle[])returnHandDetectorSideActual[0];
//Set the bool variables,
if (RoiKinectFrontActual.Length != 0)
detectRoiFront = true;
if (RoiKinectSideActual.Length != 0)
detectRoiSide = true;
//To compare two consecitives frames.
if ( (numFrames == 1) || (FrameHandDetected == false) )
{
RectArrayPrev = RoiKinectFrontActual;
}
//Guardar las imagenes para ver cuantas detecta
//{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{
int numHsFront = RoiKinectFrontActual.Length;
int numHsSide = RoiKinectSideActual.Length;
imagenKinectGray1.Save(pathFront + "DFront_" + numFrames.ToString() + ".png");
imagenKinectGray2.Save(pathSide + "DSide_" + numFrames.ToString() + ".png");
switch (numHsFront)
{
case 0:
imagenKinectGray1.Save(pathFront + @"CeroH\" + numFrames.ToString() + "_" + sec.ToString() + "_" + fps.ToString() + ".png");
break;
case 1:
imagenKinectGray1.Save(pathFront + @"OneH\" + numFrames.ToString() + "_" + sec.ToString() + "_" + fps.ToString() + ".png");
break;
default:
imagenKinectGray1.Save(pathFront + @"TwoH\" + numFrames.ToString() + "_" + sec.ToString() + "_" + fps.ToString() + ".png");
break;
}
switch (numHsSide)
{
case 0:
imagenKinectGray2.Save(pathSide + @"CeroH\" + numFrames.ToString() + "_" + sec.ToString() + "_" + fps.ToString() + ".png");
break;
case 1:
imagenKinectGray2.Save(pathSide + @"OneH\" + numFrames.ToString() + "_" + sec.ToString() + "_" + fps.ToString() + ".png");
break;
default:
imagenKinectGray2.Save(pathSide + @"TwoH\" + numFrames.ToString() + "_" + sec.ToString() + "_" + fps.ToString() + ".png");
break;
}
//}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
if ( (detectRoiFront) || (detectRoiSide) )//Esto se realiza si el cuadro del kinect es detectado.
{
if (detectRoiFront)
{
returnGettingSegK1 = GettingSegmentationK1.HandConvexHull(imagenKinectGray1, RoiKinectFrontActual[0]);
if (returnGettingSegK1 != null)
{
centerHandFront = (PointF)returnGettingSegK1[0]; //Meter en una funcion
positionRoi1Front = RoiKinectFrontActual[0].Location;
positionCenterHandF.X = positionRoi1Front.X + centerHandFront.X;
positionCenterHandF.Y = positionRoi1Front.Y + centerHandFront.Y;
CircleF centrillo = new CircleF(positionCenterHandF, 5f);
imagenKinectGray1.Draw(centrillo, new Gray(150), 3);
//SaveFeaturesText.SaveFeaturesTraining("2", returnGettingSegK1, pathFront+"TrainingFront2.txt");
SaveFeaturesText.SaveFeaturesTest(numFrames, returnGettingSegK1, pathFront + "Test1Front.txt");
}
}
if (detectRoiSide)
{
returnGettingSegK2 = GettingSegmentationK2.HandConvexHull(imagenKinectGray2, RoiKinectSideActual[0]);
if (returnGettingSegK2 != null)
{
centerHandSide = (PointF)returnGettingSegK2[0]; //Meter en una funcion
positionRoi1Side = RoiKinectSideActual[0].Location;
positionCenterHandS.X = positionRoi1Side.X + centerHandSide.X;
positionCenterHandS.Y = positionRoi1Side.Y + centerHandSide.Y;
CircleF centrillo = new CircleF(positionCenterHandS, 5f);
imagenKinectGray2.Draw(centrillo, new Gray(150), 3);
//SaveFeaturesText.SaveFeaturesTraining("2", returnGettingSegK1, pathFront+"TrainingFront2.txt");
SaveFeaturesText.SaveFeaturesTest(numFrames, returnGettingSegK2, pathSide + "Test1Side.txt");
}
}
if ((RoiKinectFrontActual.Length == 1) && (RoiKinectSideActual.Length == 1)) //Para saber cuantas detecta al mismo tiempo
{
//SaveFeaturesText.SaveFeaturesTraining("2", returnGettingSegK1, pathFront+"TrainingFront2.txt");
SaveFeaturesText.FeaturesTwoKinectTest(numFrames, returnGettingSegK1, returnGettingSegK2, pathFront + "Test1.txt");
//Save the images
imagenKinectGray1.Save(pathFront + "F_" + numFrames.ToString() + "_"+ ".png");
imagenKinectGray2.Save(pathSide + "S_" + numFrames.ToString() + "_"+ ".png");
}
}
DepthImageK1.Source = imagetoWriteablebitmap(imagenKinectGray1);
DepthImageK2.Source = imagetoWriteablebitmap(imagenKinectGray2);
if (fps == 30)
{
fps = 1;
sec++;
}
fps++;
numFrames++;
} //end CompositionTarget
private void button_Click(object sender, RoutedEventArgs e)
{
OpenFileDialog openFileDialog = new OpenFileDialog();
openFileDialog.ShowDialog();
var filePath = openFileDialog.FileName;
Image<Bgr, Byte> image = new Image<Bgr, byte>(filePath); //Read the files as an 8-bit Bgr image
List<System.Drawing.Rectangle> faces = new List<System.Drawing.Rectangle>();
List<System.Drawing.Rectangle> eyes = new List<System.Drawing.Rectangle>();
Detect(image, "haarcascade_frontalface_default.xml", "haarcascade_eye.xml", faces, eyes);
foreach (System.Drawing.Rectangle face in faces)
image.Draw(face, new Bgr(System.Drawing.Color.Red), 2);
foreach (System.Drawing.Rectangle eye in eyes)
image.Draw(eye, new Bgr(System.Drawing.Color.Blue), 2);
ImageViewer.Show(image);
File.WriteAllBytes("test.jpg", image.ToJpegData());
Image<Gray, Byte> smileImage = new Image<Gray, byte>("happy.jpg"); //Read the files as an 8-bit Bgr image
Image<Gray, Byte> sadImage = new Image<Gray, byte>("sad.jpg"); //Read the files as an 8-bit Bgr image
List<Image<Gray, Byte>> trainingList = new List<Image<Gray, byte>>();
trainingList.Add(smileImage);
trainingList.Add(sadImage);
List<string> labelList = new List<string>();
labelList.Add("happy");
labelList.Add("sad");
// labelList.Add(2);
MCvTermCriteria termCrit = new MCvTermCriteria(10, 0.001);
//Eigen face recognizer
EigenObjectRecognizer recognizer = new EigenObjectRecognizer(
trainingList.ToArray(),
labelList.ToArray(),
5000,
ref termCrit);
Image<Gray, Byte> inputImage = new Image<Gray, byte>(filePath); //Read the files as an 8-bit Bgr image
var resizedImage = inputImage.Resize(smileImage.Width, smileImage.Height, Emgu.CV.CvEnum.INTER.CV_INTER_CUBIC);
var name = recognizer.Recognize(resizedImage).Label;
List<int> temp = new List<int>();
temp.Add(1);
temp.Add(2);
EigenFaceRecognizer recogizer2 = new EigenFaceRecognizer(80, double.PositiveInfinity);
recogizer2.Train(trainingList.ToArray(), temp.ToArray());
var dd = recogizer2.Predict(resizedImage);
ImageViewer.Show(resizedImage);
}
/// <summary>
/// main function processing of the image data
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void _Capture_ImageGrabbed(object sender, EventArgs e)
{
//lets get a frame from our capture device
img = _Capture.RetrieveBgrFrame();
Gray_Frame = img.Convert<Gray, Byte>();
//apply chess board detection
if (currentMode == Mode.SavingFrames)
{
corners = CameraCalibration.FindChessboardCorners(Gray_Frame, patternSize, Emgu.CV.CvEnum.CALIB_CB_TYPE.ADAPTIVE_THRESH);
//we use this loop so we can show a colour image rather than a gray: //CameraCalibration.DrawChessboardCorners(Gray_Frame, patternSize, corners);
if (corners != null) //chess board found
{
//make mesurments more accurate by using FindCornerSubPixel
Gray_Frame.FindCornerSubPix(new PointF[1][] { corners }, new System.Drawing.Size(11, 11), new System.Drawing.Size(-1, -1), new MCvTermCriteria(30, 0.1));
//if go button has been pressed start aquiring frames else we will just display the points
if (start_Flag)
{
Frame_array_buffer[frame_buffer_savepoint] = Gray_Frame.Copy(); //store the image
frame_buffer_savepoint++;//increase buffer positon
//check the state of buffer
if (frame_buffer_savepoint == Frame_array_buffer.Length) currentMode = Mode.Caluculating_Intrinsics; //buffer full
}
//dram the results
img.Draw(new CircleF(corners[0], 3), new Bgr(System.Drawing.Color.Yellow), 1);
for (int i = 1; i < corners.Length; i++)
{
img.Draw(new LineSegment2DF(corners[i - 1], corners[i]), line_colour_array[i], 2);
img.Draw(new CircleF(corners[i], 3), new Bgr(System.Drawing.Color.Yellow), 1);
}
//calibrate the delay bassed on size of buffer
//if buffer small you want a big delay if big small delay
Thread.Sleep(100);//allow the user to move the board to a different position
}
corners = null;
}
if (currentMode == Mode.Caluculating_Intrinsics)
{
//we can do this in the loop above to increase speed
for (int k = 0; k < Frame_array_buffer.Length; k++)
{
corners_points_list[k] = CameraCalibration.FindChessboardCorners(Frame_array_buffer[k], patternSize, Emgu.CV.CvEnum.CALIB_CB_TYPE.ADAPTIVE_THRESH);
//for accuracy
Gray_Frame.FindCornerSubPix(corners_points_list, new System.Drawing.Size(11, 11), new System.Drawing.Size(-1, -1), new MCvTermCriteria(30, 0.1));
//Fill our objects list with the real world mesurments for the intrinsic calculations
List<MCvPoint3D32f> object_list = new List<MCvPoint3D32f>();
for (int i = 0; i < height; i++)
{
for (int j = 0; j < width; j++)
{
object_list.Add(new MCvPoint3D32f(j * 20.0F, i * 20.0F, 0.0F));
}
}
corners_object_list[k] = object_list.ToArray();
}
//our error should be as close to 0 as possible
double error = CameraCalibration.CalibrateCamera(corners_object_list, corners_points_list, Gray_Frame.Size, IC, Emgu.CV.CvEnum.CALIB_TYPE.CV_CALIB_RATIONAL_MODEL, new MCvTermCriteria(30, 0.1), out EX_Param);
//If Emgu.CV.CvEnum.CALIB_TYPE == CV_CALIB_USE_INTRINSIC_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be initialized before calling the function
//if you use FIX_ASPECT_RATIO and FIX_FOCAL_LEGNTH options, these values needs to be set in the intrinsic parameters before the CalibrateCamera function is called. Otherwise 0 values are used as default.
System.Windows.Forms.MessageBox.Show("Intrinsic Calculation Error: " + error.ToString(), "Results", MessageBoxButtons.OK, MessageBoxIcon.Information); //display the results to the user
currentMode = Mode.Calibrated;
this.Dispatcher.Invoke((Action)(() =>
{
Write_BTN.IsEnabled = true;
}));
}
if (currentMode == Mode.Calibrated)
{
//calculate the camera intrinsics
Matrix<float> Map1, Map2;
IC.InitUndistortMap(img.Width, img.Height, out Map1, out Map2);
//remap the image to the particular intrinsics
//In the current version of EMGU any pixel that is not corrected is set to transparent allowing the original image to be displayed if the same
//image is mapped backed, in the future this should be controllable through the flag '0'
Image<Bgr, Byte> temp = img.CopyBlank();
CvInvoke.cvRemap(img, temp, Map1, Map2, 0, new MCvScalar(0));
img = temp.Copy();
//set up to allow another calculation
SetButtonState(true);
start_Flag = false;
}
Image<Bgr, byte> mainImage = img.Resize(((double)Main_Picturebox.Width / (double)img.Width), Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR);
Main_Picturebox.Image = mainImage;
}
private void detectFaces(Image<Bgr,Byte> image, int mode)
{
/* Check to see that there was a frame collected */
if (image != null)
{
if (mode == CAMERA)
mode_name.Content = "Camera";
else
mode_name.Content = "Image";
/* convert the frame from the camera to a transformed Image that improves facial detection */
Image<Gray, Byte> grayFrame = image.Convert<Gray, Byte>();
/* Detect how many faces are there on the image */
var detectedFaces = grayFrame.DetectHaarCascade(haarCascade)[0];
/* update the faces count */
faces_count.Content = detectedFaces.Length;
/* loop through all faces that were detected and draw a rectangle */
foreach (var face in detectedFaces)
{
image.Draw(face.rect, new Bgr(0, double.MaxValue, 0), 3);
}
image_to_filter = image;
filtered_image = image;
modified_image = ToBitmapSource(image);
/* set the transformed image to the image1 object */
image1.Source = modified_image;
}
}
//:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
//:::::::Display the stuff:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
private void CompositionTarget_Rendering(object sender, EventArgs e)
{
//---------------------------------------------------------------
List<Object> returnHandDetectorFrontActual = new List<object>(2);
List<Object> returnHandDetectorSideActual = new List<object>(2);
System.Drawing.Rectangle[] RoiKinectFrontActual;
System.Drawing.Rectangle[] RoiKinectSideActual;
Image<Gray, Byte> imagenKinectGray1;
Image<Gray, Byte> imagenKinectGray2;
Image<Gray, Byte> imageRoi1 = new Image<Gray,Byte>(200, 200);
Image<Gray, Byte> imageRoi2 = new Image<Gray, Byte>(200, 200);
List<Object> returnGettingSegK1 = new List<object>();
List<Object> returnGettingSegK2 = new List<object>();
bool noPositiveFalses;
bool flag_execute = false;
bool FrameHandDetected = false;
bool detectRoiFront = false;
bool detectRoiSide = false;
//to get the position of the hand
PointF centerHandFront = new PointF();
PointF centerHandSide = new PointF();
PointF positionRoi1Front;
PointF positionRoi1Side;
//-------------------------------------------------------------------------------
//-------------------------------------------------------------------------------
//Get actual frame and the next frame. To delate the frames with positive falses.
imagenKinectGray1 = new Image<Gray, byte>(pathFront + "Front" + "_" + numFrames.ToString() + "_1_1" + ".png"); //Poner el folder
imagenKinectGray2 = new Image<Gray, byte>(pathSide + "Side" + "_" + numFrames.ToString() + "_1_1" + ".png");
returnHandDetectorFrontActual = HandDetection.Detection(imagenKinectGray1, positionCenterHandF);
returnHandDetectorSideActual = HandDetection.Detection(imagenKinectGray2, positionCenterHandS);
//Cast the return of each frame MODIFICAR
RoiKinectFrontActual = (System.Drawing.Rectangle[])returnHandDetectorFrontActual[0]; //Poner todos los rectangulos que regresen
RoiKinectSideActual = (System.Drawing.Rectangle[])returnHandDetectorSideActual[0];
//Set the bool variables,
if (RoiKinectFrontActual.Length != 0)
detectRoiFront = true;
if (RoiKinectSideActual.Length != 0)
detectRoiSide = true;
//Guardar las imagenes
//{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{{
int numHsFront = RoiKinectFrontActual.Length;
int numHsSide = RoiKinectSideActual.Length;
imagenKinectGray1.Save(pathFront + "DF_" + numFrames.ToString() + ".png");
imagenKinectGray2.Save(pathSide + "DS_" + numFrames.ToString() + ".png");
//}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}
if (detectRoiFront)
{
returnGettingSegK1 = GettingSegmentationK1.HandConvexHull(imagenKinectGray1, RoiKinectFrontActual[0]);
if (returnGettingSegK1 != null)
{
try
{
centerHandFront = (PointF)returnGettingSegK1[0]; //Meter en una funcion
positionRoi1Front = RoiKinectFrontActual[0].Location;
positionCenterHandF.X = positionRoi1Front.X + centerHandFront.X;
positionCenterHandF.Y = positionRoi1Front.Y + centerHandFront.Y;
CircleF centrillo = new CircleF(positionCenterHandF, 5f);
imagenKinectGray1.Draw(centrillo, new Gray(150), 3);
}
catch (Exception)
{
}
}
}
if (detectRoiSide)
{
returnGettingSegK2 = GettingSegmentationK2.HandConvexHull(imagenKinectGray2, RoiKinectSideActual[0]);
if (returnGettingSegK2 != null )
{
try
{
centerHandSide = (PointF)returnGettingSegK2[0]; //Meter en una funcion
positionRoi1Side = RoiKinectSideActual[0].Location;
positionCenterHandS.X = positionRoi1Side.X + centerHandSide.X;
positionCenterHandS.Y = positionRoi1Side.Y + centerHandSide.Y;
CircleF centrillo = new CircleF(positionCenterHandS, 5f);
imagenKinectGray2.Draw(centrillo, new Gray(150), 3);
}
catch (Exception)
{
}
}
}
SaveFeaturesText.FeaturesTwoKTest(numFrames, returnGettingSegK1, returnGettingSegK2, pathFront + "Clasificar2Features.txt");
SaveFeaturesText.FeaturesOneTest(numFrames, returnGettingSegK1, pathFront + "Clasificar1feature.txt");
DepthImageK1.Source = imagetoWriteablebitmap(imagenKinectGray1);
DepthImageK2.Source = imagetoWriteablebitmap(imagenKinectGray2);
if (fps == 30)
{
fps = 1;
sec++;
}
fps++;
numFrames++;
} //end CompositionTarget
private void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
colorFrame.CopyPixelDataTo(this.colorPixels);
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
int sx = (int)this.sld_c1_sX.Value;
int sy = (int)this.sld_c1_sY.Value;
int dx = (int)this.sld_c1_dX.Value;
int dy = (int)this.sld_c1_dY.Value;
int w = 0;
int h = 0;
if (dx >= sx)
w = (dx - sx);
if (dy >= sy)
h = (dy - sy);
float cx = (float)sx + ((float)w) / 2;
float cy = (float)sy + ((float)h) / 2;
Image<Bgr, Byte> openCVImg = new Image<Bgr, byte>(colorBitmap.ToBitmap());
box = new MCvBox2D(new PointF(cx, cy), new SizeF(new PointF((float)w, (float)h)), 0);
openCVImg.Draw(box, new Bgr(System.Drawing.Color.Green), 4);
this.cimg_cage4.Source = ImageHelpers.ToBitmapSource(openCVImg);
}
}
}
private void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
BitmapSource depthBmp = null;
blobCount = 0;
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
blobCount = 0;
depthBmp = depthFrame.SliceDepthImage((int)sliderMin.Value, (int)sliderMax.Value);
Image<Bgr, Byte> openCVImg = new Image<Bgr, byte>(depthBmp.ToBitmap());
Image<Gray, byte> gray_image = openCVImg.Convert<Gray, byte>();
using (MemStorage stor = new MemStorage())
{
//Find contours with no holes try CV_RETR_EXTERNAL to find holes
Contour<System.Drawing.Point> contours = gray_image.FindContours(
Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE,
Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_EXTERNAL,
stor);
for (int i = 0; contours != null; contours = contours.HNext)
{
i++;
if ((contours.Area > Math.Pow(sliderMinSize.Value, 2)) && (contours.Area < Math.Pow(sliderMaxSize.Value, 2)))
{
MCvBox2D box = contours.GetMinAreaRect();
openCVImg.Draw(box, new Bgr(System.Drawing.Color.Red), 2);
blobCount++;
}
}
}
this.outImg.Source = ImageHelpers.ToBitmapSource(openCVImg);
txtBlobCount.Text = blobCount.ToString();
}
}
if (colorFrame != null)
{
colorFrame.CopyPixelDataTo(this.colorPixels);
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
}
}
}
private Image<Hls, Byte> piecesCheck2(Image<Bgr, Byte> img)
{
Image<Hls, Byte> result = new Image<Hls, byte>(img.Bitmap).PyrDown().PyrUp();
Game a = new Game(leftRadio.IsChecked.Value);
if (gaussian == true)
result = result.SmoothGaussian(gaussianValue);
if (contrast == true)
result._EqualizeHist();
//result[2] += saturation;
int countBlack;
int countWhite;
List<int> gameState = new List<int>();
for (int i = 0; i < 32; i++)
{
gameState.Add(2);
}
for (int i = 0; i < 32; i++)
{
int x = (int)boxList[i].center.X;
int y = (int)boxList[i].center.Y;
countWhite = 0;
countBlack = 0;
byte asd = result.Data[y, x, 1];
if (asd > whiteLightness)
{
countWhite++;
gameState[i] = 0;
result.Draw(new CircleF(boxList[i].center, 3), new Hls(120, 50, 100), 3);
}
if (asd < blackLightness)
{
countBlack++;
gameState[i] = 1;
result.Draw(new CircleF(boxList[i].center, 3), new Hls(220, 60, 100), 3);
}
}
previousGame = a;
a.updateStatus(gameState);
currentGame = a;
return result;
}
private Image<Hls, Byte> piecesCheck(Image<Bgr, Byte> img)
{
Image<Hls, Byte> result = new Image<Hls, byte>(img.Bitmap).PyrDown().PyrUp();
if (gaussian == true)
result = result.SmoothGaussian(gaussianValue);
if (contrast == true)
result._EqualizeHist();
//result[2] += saturation;
int countBlack;
int countWhite;
for (int i = 0; i < 32; i++)
{
int x = (int)boxList[i].center.X;
int y = (int)boxList[i].center.Y;
countWhite = 0;
countBlack = 0;
byte asd = result.Data[y, x, 1];
if (asd > whiteLightness)
{
//countWhite++;
result.Draw(new CircleF(boxList[i].center, 3), new Hls(120, 50, 100), 3);
}
if (asd < blackLightness)
{
//countBlack++;
result.Draw(new CircleF(boxList[i].center, 3), new Hls(220, 60, 100), 3);
}
}
return result;
}
void myKinect_ColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)
{
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame == null) return;
bmap = OpenCV2WPFConverter.ColorImageFrameToBitmap(colorFrame);
imgBgr = new Image<Bgr, Byte>(bmap);
imgHsv = new Image<Hsv, Byte>(bmap);
if (imgBgr == null || imgHsv == null) return;
processedBgr = imgBgr.InRange(new Bgr(B_min, G_min, R_min), new Bgr(B_max, G_max, R_max));
processedHsv = imgHsv.InRange(new Hsv(H_min, S_min, V_min), new Hsv(H_max, S_max, V_max));
//0,130,0 ~ 120, 256, 120 for green color.
processedBgr = processedBgr.SmoothGaussian(7);
processedHsv = processedHsv.SmoothGaussian(7);
CircleF[] circlesBgr = processedBgr.HoughCircles(cannyThreshold, circleAccumulatorThreshold
, 2, processedBgr.Height / 8 , 8, 40)[0];
CircleF[] circlesHsv = processedBgr.HoughCircles(cannyThreshold, circleAccumulatorThreshold
, 2, processedHsv.Height / 8, 8, 40)[0];
HsvCircleCount = 0;
RgbCircleCount = 0;
// Draw Circles for RBG video stream
foreach (CircleF circle in circlesBgr)
{
RgbCircleCount += 1;
imgBgr.Draw(circle, new Bgr(System.Drawing.Color.Bisque), 3);
}
// Draw Circles for HSV video stream
foreach (CircleF circle in circlesHsv)
{
HsvCircleCount += 1;
imgBgr.Draw(circle, new Bgr(System.Drawing.Color.Bisque), 3);
}
kinectVideo.Source = OpenCV2WPFConverter.ToBitmapSource(imgBgr);
HsvVideo.Source = OpenCV2WPFConverter.ToBitmapSource(processedHsv);
RgbVideo.Source = OpenCV2WPFConverter.ToBitmapSource(processedBgr);
//control the distance of different circles!
this.HsvCircleUI.Content = HsvCircleCount.ToString();
this.RgbCircleUI.Content = RgbCircleCount.ToString();
}
}