public System.Drawing.Rectangle DetectObstacle(AForge.Imaging.Filters.HSLFiltering filter, Bitmap image, Vector2 minRect, ref Bitmap colourBitmap)
{
Bitmap filtered = filter.Apply(image);
short[,] structuringElement = new short[,] { { 0, 1, 0 }, { 1, 1, 1 }, { 0, 1, 0 } };
filtered = Threshold(filtered, 1);
AForge.Imaging.Filters.Opening openingFilter = new AForge.Imaging.Filters.Opening(structuringElement);
//filtered = openingFilter.Apply(filtered);
colourBitmap = filtered;
AForge.Imaging.BlobCounter blobs = new AForge.Imaging.BlobCounter(filtered);
System.Drawing.Rectangle[] rectangles = blobs.GetObjectsRectangles();
int size = 0;
int chosen = 0;
int newSize = 0;
for (int i = 0; i < rectangles.Length; i++)
{
newSize = rectangles[i].Height * rectangles[i].Width;
if (size < newSize)
{
chosen = i;
size = newSize;
}
}
if (rectangles.Length != 0)
{
if (rectangles[chosen].Width > minRect.X && rectangles[chosen].Height > minRect.Y)
{
return rectangles[chosen];
}
}
return new System.Drawing.Rectangle(0, 0, 0, 0);
}
/// <summary>
/// Look at the input image and find a suitable blob.
/// </summary>
/// <param name="filter">HSL filter to use for image segmentation.</param>
/// <param name="image">Input image to segment.</param>
/// <param name="minRect">Minimum size of output blob.</param>
/// <param name="colourBitmap">Bitmap to write binary image to.</param>
/// <param name="maxSize">Maximum size of output blob (default value will allow any size).</param>
/// <returns>A rectangle array of all suitable blobs, or an empty array if no suitable blobs are found.</returns>
protected System.Drawing.Rectangle[] DetectObstacle(AForge.Imaging.Filters.HSLFiltering filter, Bitmap image, System.Drawing.Point minRect, out Bitmap colourBitmap, System.Drawing.Point maxSize = default(System.Drawing.Point))
{
Bitmap filtered;
filtered = filter.Apply(image);
//short[,] structuringElement = new short[,] { { 0, 1, 0 }, { 1, 1, 1 }, { 0, 1, 0 } };
filtered = BinaryImage(filtered);
//AForge.Imaging.Filters.Opening openingFilter = new AForge.Imaging.Filters.Opening(structuringElement);
//filtered = openingFilter.Apply(filtered);
colourBitmap = filtered;
AForge.Imaging.BlobCounter blobs = new AForge.Imaging.BlobCounter();
blobs.MinWidth = (int)minRect.X;
blobs.MinHeight = (int)minRect.Y;
if (!maxSize.IsEmpty)
{
blobs.MaxWidth = maxSize.X;
blobs.MaxHeight = maxSize.Y;
}
blobs.FilterBlobs = true;
blobs.ObjectsOrder = AForge.Imaging.ObjectsOrder.Size;
blobs.ProcessImage(filtered);
System.Drawing.Rectangle[] rectangles = blobs.GetObjectsRectangles();
return rectangles;
}