public void PerformPredatorActions()
{
cameraImage = Camera.Image;
obstacleRectangle = DetectObstacle(greenFilter, cameraImage, new Vector2(35), ref greenColourBitmap);
preyRectangle = DetectObstacle(redFilter, cameraImage, new Vector2(10), ref redColourBitmap);
wallLineRectangle = DetectObstacle(whiteFilter, cameraImage, new Vector2(100, 0), ref whiteColourBitmap);
redColourBitmap = ConvertImageFormat(redColourBitmap);
redColourBitmap = ApplyColour(redColourBitmap, cameraImage, System.Drawing.Color.Red);
greenColourBitmap = ConvertImageFormat(greenColourBitmap);
greenColourBitmap = ApplyColour(greenColourBitmap, cameraImage, System.Drawing.Color.LightGreen);
whiteColourBitmap = ApplyColour(whiteColourBitmap, cameraImage, System.Drawing.Color.Cyan);
whiteColourBitmap = ConvertImageFormat(whiteColourBitmap);
wallLeftPoint = GetPoint(whiteColourBitmap, wallLineRectangle.X, wallLineRectangle);
wallRightPoint = GetPoint(whiteColourBitmap, wallLineRectangle.X+wallLineRectangle.Width-1, wallLineRectangle);
System.Drawing.Point p = GetPoint(whiteColourBitmap, wallLineRectangle.X + wallLineRectangle.Width - (wallLineRectangle.Width/2), wallLineRectangle);
AForge.Imaging.Filters.HistogramEqualization hFilter = new AForge.Imaging.Filters.HistogramEqualization();
cameraImage = Greyscale(cameraImage);
cameraImage = ConvertImageFormat(cameraImage);
AForge.Imaging.Filters.SimplePosterization jFilter = new AForge.Imaging.Filters.SimplePosterization();
// cameraImage = jFilter.Apply(cameraImage);
AForge.Imaging.Filters.Merge mFilter = new AForge.Imaging.Filters.Merge(greenColourBitmap);
Bitmap mergedColourImages = mFilter.Apply(whiteColourBitmap);
mFilter = new AForge.Imaging.Filters.Merge(mergedColourImages);
mergedColourImages = mFilter.Apply(redColourBitmap);
mFilter = new AForge.Imaging.Filters.Merge(cameraImage);
cameraImage = mFilter.Apply(mergedColourImages);
//cameraImage = whiteColourBitmap;
if (preyRectangle != new System.Drawing.Rectangle(0, 0, 0, 0))
preyScreenPosition = preyRectangle;
if (preyRectangle == new System.Drawing.Rectangle(0, 0, 0, 0) && searchingRotationCount < 8)
trackingState = Tracking.Searching;
else if (searchingRotationCount >= 8 && trackingState != Tracking.OnScreen)
trackingState = Tracking.Roaming;
else
trackingState = Tracking.OnScreen;
RobotCommands();
}
public Bitmap Process(Bitmap image)
{
Bitmap filteredImage = convertFormatTo32(image);
if (filterLevel >= 0)
{
filteredImage = resize(filteredImage, ImageSize.Width, ImageSize.Height);
}
if (filterLevel >= 1)
{
if (ContrastStretch)
{
AForge.Imaging.Filters.ContrastStretch stretcher = new AForge.Imaging.Filters.ContrastStretch();
filteredImage = stretcher.Apply(filteredImage);
}
if (Histogram)
{
AForge.Imaging.Filters.HistogramEqualization histogrammer = new AForge.Imaging.Filters.HistogramEqualization();
filteredImage = histogrammer.Apply(filteredImage);
}
if (Gaussian)
{
AForge.Imaging.Filters.GaussianBlur blurrer = new AForge.Imaging.Filters.GaussianBlur();
blurrer.Size = (int)GaussianStrength;
filteredImage = blurrer.Apply(filteredImage);
}
if (ContrastAdjustment)
{
AForge.Imaging.Filters.ContrastCorrection contraster = new AForge.Imaging.Filters.ContrastCorrection();
contraster.Factor = (float)ContrastStrength;
filteredImage = contraster.Apply(filteredImage);
}
if (Greyscale)
{
filteredImage = AForge.Imaging.Filters.Grayscale.CommonAlgorithms.BT709.Apply(filteredImage);
//Greyscale downgrades format
// filteredImage = convertFormatTo32(filteredImage.InternalBitmap);
}
if (Threshold)
{
//filteredImage.InternalBitmap = convertFormatToGS(filteredImage.InternalBitmap);
AForge.Imaging.Filters.Threshold thresholder = new AForge.Imaging.Filters.Threshold();
thresholder.ThresholdValue = (int)(((double)ThresholdStrength / 10.0) * 255.0);
filteredImage = thresholder.Apply(filteredImage);
}
if (Bradley)
{
AForge.Imaging.Filters.BradleyLocalThresholding bradlifier = new AForge.Imaging.Filters.BradleyLocalThresholding();
filteredImage = bradlifier.Apply(filteredImage);
}
}
return filteredImage;
}
