/// <summary>
/// Create AssemblyZone based on differences to previously saved DepthSnapshot
/// </summary>
/// <param name="m_DepthCroppedSnapshot"></param>
/// <param name="pDetectRemoval"></param>
/// <returns></returns>
private AssemblyZone createAssemblyZoneFromChanges(Image <Gray, Int32> currentDepthImageCropped, bool pDetectRemoval)
{
if (m_DepthCroppedSnapshot == null)
{
return(null);
}
Image <Gray, Byte> imageDeltaMaskByte;
if (pDetectRemoval)
{
imageDeltaMaskByte = m_DepthCroppedSnapshot.Cmp(currentDepthImageCropped, Emgu.CV.CvEnum.CMP_TYPE.CV_CMP_LT);
}
else
{
imageDeltaMaskByte = m_DepthCroppedSnapshot.Cmp(currentDepthImageCropped, Emgu.CV.CvEnum.CMP_TYPE.CV_CMP_GT);
}
CvInvoke.cvShowImage(pDetectRemoval.ToString() + "Snapshot", imageDeltaMaskByte.Ptr);
Image <Gray, Int32> imageDeltaMaskInt = imageDeltaMaskByte.Convert <Int32>(delegate(Byte b)
{
if (b == 0)
{
return(0);
}
else
{
return(Int32.MaxValue);
}
});
Image <Gray, Int32> imageDelta = m_DepthCroppedSnapshot.AbsDiff(currentDepthImageCropped).And(imageDeltaMaskInt);
double valueThreshold;
int areaThreshold;
if (pDetectRemoval)
{
valueThreshold = SettingsManager.Instance.Settings.AssemblyZonesInputMinValueChangeRemoval;
areaThreshold = SettingsManager.Instance.Settings.AssemblyZonesInputMinAreaRemoval;
}
else
{
valueThreshold = SettingsManager.Instance.Settings.AssemblyZonesInputMinValueChangeAdding;
areaThreshold = SettingsManager.Instance.Settings.AssemblyZonesInputMinAreaAdding;
}
Image <Gray, Int16> thImage = imageDelta.Convert <Gray, Int16>();
thImage = thImage.ThresholdToZero(new Gray(valueThreshold * 20));
imageDelta = thImage.Convert <Gray, Int32>();
#region Draw bounderis around detected areas
List <BlobBound> listBlobBounds = BlobManager.FindAllBlob(imageDelta, pDetectRemoval, areaThreshold, valueThreshold);
if (listBlobBounds.Count > 0)
{
BlobBound e = listBlobBounds.First();
Rectangle bounds = e.Rect;
Polygon contourInGlobalImage = new Polygon();
foreach (Vector2 v in e.Contour.Points)
{
if (AdminView.Instance.IsKinectActive)
{
contourInGlobalImage.Points.Add(new Vector2(v.X + SettingsManager.Instance.Settings.SettingsTable.KinectDrawing_AssemblyArea.X, v.Y + SettingsManager.Instance.Settings.SettingsTable.KinectDrawing_AssemblyArea.Y));
}
else
{
contourInGlobalImage.Points.Add(new Vector2(v.X + SettingsManager.Instance.Settings.SettingsTable.EnsensoDrawing_AssemblyArea.X, v.Y + SettingsManager.Instance.Settings.SettingsTable.EnsensoDrawing_AssemblyArea.Y));
}
}
if (AdminView.Instance.IsKinectActive)
{
return(AssemblyZoneManager.Instance.createAssemblyZoneFromFactory(bounds.X + SettingsManager.Instance.Settings.SettingsTable.KinectDrawing_AssemblyArea.X,
bounds.Y + SettingsManager.Instance.Settings.SettingsTable.KinectDrawing_AssemblyArea.Y,
bounds.Width,
bounds.Height,
e.BlobMask,
true,
pDetectRemoval,
e.Area,
contourInGlobalImage));
}
else
{
return(AssemblyZoneManager.Instance.createAssemblyZoneFromFactory(bounds.X + SettingsManager.Instance.Settings.SettingsTable.EnsensoDrawing_AssemblyArea.X,
bounds.Y + SettingsManager.Instance.Settings.SettingsTable.EnsensoDrawing_AssemblyArea.Y,
bounds.Width,
bounds.Height,
e.BlobMask,
true,
pDetectRemoval,
e.Area,
contourInGlobalImage));
}
}
#endregion
return(null);
}
/// <summary>
///
/// </summary>
/// <param name="pImage"></param>
/// <param name="pDetectRemoval"></param>
/// <param name="pMinArea"></param>
/// <param name="pValueThreshold"></param>
/// <returns></returns>
public static List <BlobBound> FindAllBlob(Image <Gray, Int32> pImage, bool pDetectRemoval, double pMinArea = 0.0, double pValueThreshold = 0.0)
{
List <BlobBound> retList = new List <BlobBound>();
//Arbitray factor to compensate biger value bandwith of new Image formate
Image <Bgra, Byte> outputImage = pImage.Convert <Bgra, Byte>();
outputImage._GammaCorrect(0.5);
#region using contour
//only RETR_TYPE.CV_RETR_CCOMP dose work with Int32
for (Contour <System.Drawing.Point> contours = pImage.FindContours(Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE, Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_CCOMP); contours != null; contours = contours.HNext)
{
Seq <System.Drawing.Point> convexHull = contours.GetConvexHull(ORIENTATION.CV_CLOCKWISE);
if (contours.BoundingRectangle.Width > 0 && contours.BoundingRectangle.Height > 0 && convexHull.Area > pMinArea)
{
//Approximiere Kontur durch ein Polygon
//using (MemStorage storage = new MemStorage()) //allocate storage for contour approximation
//Contour<Point> currentContour = contours.ApproxPoly(contours.Perimeter * 0.05, storage);
Polygon poly = new Polygon();
foreach (Point p in convexHull)
{
poly.Points.Add(new Vector2(p.X, p.Y));
}
Rectangle bounds = contours.BoundingRectangle;
double summedValues = 0;
int area = 0;
bool[,] mask = new bool[bounds.Width, bounds.Height];
Array.Clear(mask, 0, mask.Length);
for (int y = bounds.Y; y < bounds.Height + bounds.Y; y++)
{
for (int x = bounds.X; x < bounds.Width + bounds.X; x++)
{
if (pImage.Data[y, x, 0] > 0 && convexHull.InContour(new PointF(x, y)) > 0)
{
summedValues += pImage.Data[y, x, 0];
area++;
mask[x - bounds.X, y - bounds.Y] = true;
}
}
}
if (area > 0 && summedValues / area > pValueThreshold)
{
BlobBound bbound = new BlobBound(bounds, area, (int)summedValues, mask, poly);
retList.Add(bbound);
//outputImage.Draw(bbound.Points, GREEN, 1);
outputImage.Draw(bounds, BLUE, 1);
outputImage.Draw(convexHull, RED, 1);
}
}
}
#endregion
CvInvoke.cvShowImage(pDetectRemoval.ToString() + "-DepthChanges", outputImage.Ptr);
retList.Sort((a, b) => a.Area.CompareTo(b.Area));
retList.Reverse();
return(retList);
}