private void timer1_Tick(object sender, EventArgs e)
{
//image = wc.GetCurrentImage();
//picOriginalImage.Image = image;
//Bitmap analyzingImage = new Bitmap(image);
Bitmap img2 = new Bitmap(picOriginalImage.Image);
if (rdEdgeDetection.Checked)
{
#region Sobel edge detection
//UnsafeBitmap uBitmap = new UnsafeBitmap((Bitmap)wc.GetCurrentImage());
//ConvMatrix cmx = new ConvMatrix();
//ConvMatrix cmy = new ConvMatrix();
//cmx.TopLeft = -1;
//cmx.TopMid = 0;
//cmx.TopRight = 1;
//cmx.MidLeft = -2;
//cmx.Pixel = 0;
//cmx.MidRight = 2;
//cmx.BottomLeft = -1;
//cmx.BottomMid = 0;
//cmx.BottomRight = 1;
//cmy.TopLeft = 1;
//cmy.TopMid = 2;
//cmy.TopRight = 1;
//cmy.MidLeft = 0;
//cmy.Pixel = 0;
//cmy.MidRight = 0;
//cmy.BottomLeft = -1;
//cmy.BottomMid = -2;
//cmy.BottomRight = -1;
//uBitmap.SobelEdgeDetector(cmx, cmy);
//image = uBitmap.Bitmap;
#endregion
#region Canny Edge Detection
//timer1.Stop();
Bitmap temBM = new Bitmap(img2);
UnsafeBitmap uBitmap = new UnsafeBitmap(temBM);
uBitmap.MakeGreyUnsafeFaster();
cannyEdge.ApplyCannyEdgeDetection(uBitmap.Bitmap);
//analyzingImage = cannyEdge.Image;
img2 = cannyEdge.Image;
//timer1.Start();
#endregion
}
else if (rdChangeDetection.Checked)
{
if (previousImage != null)
{
Bitmap temBM = null;
temBM = new Bitmap(img2);
ChangeDetection cd = new ChangeDetection(previousImage, temBM);
previousImage = new Bitmap(temBM);
cd.ApplyChangeDetection();
img2 = cd.resultImage;
}
else
{
Bitmap temBM = null;
temBM = new Bitmap(img2);
previousImage = temBM;
}
}
else
{
// do nothing here
}
picAnalyzedImage.Image = img2; //wc.GetCurrentImage();
}
private void ProcessImage(Bitmap img2)
{
//image = wc.GetCurrentImage();
image = new Bitmap(img2);
//picOriginalImage.Image = image;
//Bitmap analyzingImage = new Bitmap(image);
//Bitmap img2 = new Bitmap(picOriginalImage.Image);
if (rdEdgeDetection.Checked)
{
#region Sobel edge detection
//UnsafeBitmap uBitmap = new UnsafeBitmap((Bitmap)wc.GetCurrentImage());
//ConvMatrix cmx = new ConvMatrix();
//ConvMatrix cmy = new ConvMatrix();
//cmx.TopLeft = -1;
//cmx.TopMid = 0;
//cmx.TopRight = 1;
//cmx.MidLeft = -2;
//cmx.Pixel = 0;
//cmx.MidRight = 2;
//cmx.BottomLeft = -1;
//cmx.BottomMid = 0;
//cmx.BottomRight = 1;
//cmy.TopLeft = 1;
//cmy.TopMid = 2;
//cmy.TopRight = 1;
//cmy.MidLeft = 0;
//cmy.Pixel = 0;
//cmy.MidRight = 0;
//cmy.BottomLeft = -1;
//cmy.BottomMid = -2;
//cmy.BottomRight = -1;
//uBitmap.SobelEdgeDetector(cmx, cmy);
//image = uBitmap.Bitmap;
#endregion
#region Canny Edge Detection
//timer1.Stop();
Bitmap temBM = new Bitmap(image);
UnsafeBitmap uBitmap = new UnsafeBitmap(temBM);
uBitmap.MakeGreyUnsafeFaster();
cannyEdge.ApplyCannyEdgeDetection(uBitmap.Bitmap);
//analyzingImage = cannyEdge.Image;
image = cannyEdge.Image;
//timer1.Start();
#endregion
}
else if (rdChangeDetection.Checked)
{
if (previousImage != null)
{
Bitmap temBM = null;
temBM = new Bitmap(image);
ChangeDetection cd = new ChangeDetection(previousImage, temBM);
previousImage = new Bitmap(temBM);
cd.ApplyChangeDetection();
image = cd.resultImage;
}
else
{
Bitmap temBM = null;
temBM = new Bitmap(img2);
previousImage = temBM;
}
}
else if (rdFollowLaserDot.Checked)
{
UnsafeBitmap _ubit = new UnsafeBitmap(image);
Point laserLocation = _ubit.LaserDotsRecognizer();
Graphics g = Graphics.FromImage(image);
using (Pen pen = new Pen(Color.FromArgb(160, 255, 160), 3))
{
g.DrawLine(pen, new Point(laserLocation.X, 0), new Point(laserLocation.X, 240));
g.DrawLine(pen, new Point(0, laserLocation.Y), new Point(320, laserLocation.Y));
}
g.Dispose();
if (laserLocation.X > 180)
{
_frmPanTilt.IncreaseTrackBarValueBy("tbMotor2", -1);
}
else if (laserLocation.X < 140)
{
_frmPanTilt.IncreaseTrackBarValueBy("tbMotor2", 1);
}
if (laserLocation.Y > 140)
{
_frmPanTilt.IncreaseTrackBarValueBy("tbMotor1", -1);
}
else if (laserLocation.Y < 100)
{
_frmPanTilt.IncreaseTrackBarValueBy("tbMotor1", 1);
}
}
else if (rdLineFollowing.Checked)
{
FollowLine fl = new FollowLine(image);
string direction = fl.ChooseDirection();
// draw 2 lines that cross at line we are following
Graphics g = Graphics.FromImage(image);
using (Pen pen = new Pen(Color.FromArgb(160, 255, 160), 1))
{
g.DrawLine(pen, new Point(fl.CenterX, 0), new Point(fl.CenterX, 240)); // vertical
g.DrawLine(pen, new Point(fl.LeftBorder, 0), new Point(fl.LeftBorder, 240)); // vertical
g.DrawLine(pen, new Point(fl.RightBorder, 0), new Point(fl.RightBorder, 240)); // vertical
//g.DrawLine(pen, new Point(0, laserLocation.Y), new Point(320, laserLocation.Y)); // horizontal
}
g.Dispose();
}
else
{
// do nothing here
}
picAnalyzedImage.Image = image; //wc.GetCurrentImage();
}