private bool RecDetection(Image <Gray, Byte> img, Image <Bgr, Byte> showRecOnImg, int areaV, int camID)
{
bool checkdetection = false;
Image <Gray, Byte> imgForContour = new Image <Gray, byte>(img.Width, img.Height);
CvInvoke.cvCopy(img, imgForContour, System.IntPtr.Zero);
IntPtr contour = new IntPtr();
CvInvoke.cvFindContours(
imgForContour,
storage,
ref contour,
System.Runtime.InteropServices.Marshal.SizeOf(typeof(MCvContour)),
Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_EXTERNAL,
Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_NONE,
new Point(0, 0));
Seq <Point> seq = new Seq <Point>(contour, null);
if (seq.Ptr.ToInt64() == 0 && camID == 1)
{
//KalmanFilter(camID);
ResetBot();
}
for (; seq != null && seq.Ptr.ToInt64() != 0; seq = seq.HNext)
{
Rectangle bndRec = CvInvoke.cvBoundingRect(seq, 2);
double areaC = CvInvoke.cvContourArea(seq, MCvSlice.WholeSeq, 1) * -1;
if (areaC > areaV)
{
if (camID == 0)
{
centroid0 = new Point(bndRec.X + bndRec.Width / 2, bndRec.Y + bndRec.Height / 2);
Camera0XPosBox.Text = centroid0.ToString();
//DesiredY.Text = (((240-centroid0.Y)-120+28)*82/240).ToString();
}
else if (camID == 1)
{
centroid1 = new Point(bndRec.X + bndRec.Width / 2, bndRec.Y + bndRec.Height / 2);
//try
//{
// List<float> estimatedvelocities = UpdateKalmanFilter((float)((double)sw.ElapsedMilliseconds / 1000.0), (float)centroid1.Y, 0);
// centroid1 = new Point((int)estimatedvelocities[0], (int)estimatedvelocities[1]);
//}
//catch { }
Camera1XPosBox.Text = centroid1.ToString();
//DesiredX.Text = (((240-centroid1.Y)-130) * 83 / 240 *35 / 45).ToString();
}
checkdetection = true;
CvInvoke.cvCircle(showRecOnImg, new Point(bndRec.X + bndRec.Width / 2, bndRec.Y + bndRec.Height / 2), (int)((bndRec.Width / 2 + bndRec.Height / 2) / 2), new MCvScalar(0, 255, 0), 4, LINE_TYPE.CV_AA, 0);
if (startlog == true)
{
if (camID == 0)
{
Cam0TextBox.AppendText(Math.Round((double)sw.ElapsedMilliseconds / 1000.0, 2) + "\t" + (bndRec.X + bndRec.Width / 2) + "\t" + (bndRec.Y + bndRec.Height / 2) + "\n");
}
else if (camID == 1)
{
Cam1TextBox.AppendText(Math.Round((double)sw.ElapsedMilliseconds / 1000.0, 2) + "\t" + (bndRec.X + bndRec.Width / 2) + "\t" + (bndRec.Y + bndRec.Height / 2) + "\n");
}
}
}
}
return(checkdetection);
}
private void ClearLogButton_Click(object sender, EventArgs e)
{
Cam1TextBox.Clear();
Cam0TextBox.Clear();
}