public override bool TryGetCameraImage(ref CameraImage cameraImage)
{
ARTextureHandles handles = nativeInterface.GetARVideoTextureHandles();
if (handles.textureY == System.IntPtr.Zero || handles.textureCbCr == System.IntPtr.Zero)
{
return(false);
}
if (!m_TexturesInitialized)
{
return(false);
}
m_CurrentFrameIndex = (m_CurrentFrameIndex + 1) % 2;
nativeInterface.SetCapturePixelData(true,
PinByteArray(ref m_PinnedYArray, YByteArrayForFrame(m_CurrentFrameIndex)),
PinByteArray(ref m_PinnedUVArray, UVByteArrayForFrame(m_CurrentFrameIndex)));
cameraImage.y = YByteArrayForFrame(1 - m_CurrentFrameIndex);
cameraImage.uv = UVByteArrayForFrame(1 - m_CurrentFrameIndex);
cameraImage.width = m_CameraWidth;
cameraImage.height = m_CameraHeight;
return(true);
}
private void backgroundWorker_DoWork(object sender, DoWorkEventArgs e)
{
while (!backgroundWorker.CancellationPending)
{
cam.Update();
CameraImage camImg = cam.CalcSelectedChannel();
if (null == camImg)
{
// ignore errors. However, this might be a hint that something is wrong in your application.
continue;
}
Bitmap bmp = camImg.ToBitmap();
if (saveSnapshot)
{
string snapName = "MetriCam 2 Snapshot.png";
string snapFilename = Path.GetTempPath() + snapName;
bmp.Save(snapFilename);
MessageBox.Show(string.Format("Snapshot saved as '{0}'.", snapFilename), "Snapshot saved", MessageBoxButtons.OK, MessageBoxIcon.Asterisk);
saveSnapshot = false;
}
this.BeginInvokeEx(f => pictureBox.Image = bmp);
}
DisconnectCamera();
isBgwFinished.Set();
}
// Update is called once per frame
void Update()
{
if (save)
{
CameraImage cameraImage = new CameraImage();
if (GetCameraImage(ref cameraImage))
{
try
{
Texture2D texUVchannels = new Texture2D(cameraImage.width, cameraImage.height, TextureFormat.RG16, false, false);
texUVchannels.LoadRawTextureData(cameraImage.uv);
texUVchannels.Apply();
var bytes = texUVchannels.EncodeToJPG();
Destroy(texUVchannels);
System.IO.File.WriteAllBytes(filePath + "/image.jpg", bytes);
save = false;
}
catch (SystemException e)
{
StreamWriter s = new StreamWriter(filePath + "/Log.txt", true);
s.Write(e);
s.Close();
}
}
}
}
internal BitmapVideoPlayer(AviTools aviTools, bool useEmbeddedVideo, string bitmapFilesLocation, int playbackBufferSize)
{
this.aviTools = aviTools;
this.cameraImage = new CameraImage();
this.playbackBufferSize = playbackBufferSize;
integration = 1;
if (!imagesBuffered)
{
UIThreadCaller.Invoke((frm, prms) => BufferVideoInternal(frm, prms), useEmbeddedVideo, bitmapFilesLocation);
imagesBuffered = true;
}
if (errorBitmap != null)
{
width = errorBitmap.Width;
height = errorBitmap.Height;
}
else if (allImagesPixels.Count > 0)
{
width = bufferedImageWidth;
height = bufferedImageHeight;
}
else
{
width = 0;
height = 0;
}
}
internal VideoCamera(AviTools aviTools)
{
this.aviTools = aviTools;
cameraImage = new CameraImage();
ReloadSimulatorSettings();
isConnected = false;
}
public void TestCameraImageDefault()
{
var imageInfo = new CameraImage("Camera Name", "http://cameraurl");
var builder = new CameraInfoReplyActivityBuilder(imageInfo, cameraData.Object);
var activity = ActivityTestUtils.CreateActivity();
var userData = new Mock <IUserData>();
var reply = builder.BuildReplyActivity(activity, userData.Object);
reply.Text.Should().Contain("![camera](" + "http://cameraurl");
reply.Text.Should().Contain(CameraInfoReplyActivityBuilder.ViewInBrowserPrompt);
reply.Text.Should().Contain("Camera Name");
}
private void ParallelUpdate(int index, CameraImage cameraImage, DataModels.Camera localCamera)
{
if (cameraImage.CameraID != localCamera.ID)
{
return;
}
SKBitmap bitmap = SKBitmap.Decode(cameraImage.ImageData).Resize(new SKImageInfo(
Constants.URHO_TEXTURE_SIZE, Constants.URHO_TEXTURE_SIZE),
SKBitmapResizeMethod.Lanczos3);
if (localCamera.Screen != null)
{
localCamera.Screen.ImageData = bitmap.Bytes;
}
}
public void Detect(CameraImage cameraImage)
{
var partial = cameraConverter.ToImage(cameraImage);
var sourceBitmap = converter.ToBitmap(partial);
var blur = new Blur();
blur.ApplyInPlace(sourceBitmap);
var points = harris.ProcessImage(sourceBitmap);
var featurePoints = points.Select(t => new CornerFeaturePoint(t)).Cast<IFeaturePoint>().ToList();
if (featurePoints.Count > 0 && oldPoints.Count > 0)
{
try
{
var matches = matcher.Match(featurePoints, oldPoints);
using (var g = Graphics.FromImage(sourceBitmap))
{
for (var i = 0; i < matches[0].Length; i++)
{
g.DrawRectangle(Pens.Blue, matches[0][i].X, matches[0][i].Y, 3, 3);
g.DrawRectangle(Pens.Red, matches[1][i].X, matches[1][i].Y, 3, 3);
g.DrawLine(Pens.Red, matches[0][i].X + 1, matches[0][i].Y + 1, matches[1][i].X + 1,
matches[1][i].Y + 1);
}
}
var resultImage = imageFactory.Create(sourceBitmap);
Image = cameraConverter.Convert(resultImage);
oldPoints.Clear();
oldPoints.AddRange(featurePoints.AsReadOnly());
}
catch (Exception)
{
}
finally
{
sourceBitmap.Dispose();
}
}
else
{
oldPoints.Clear();
oldPoints.AddRange(featurePoints.AsReadOnly());
}
}
public override bool TryGetCameraImage(ref CameraImage cameraImage)
{
if (Frame.TrackingState != TrackingState.Tracking)
{
return(false);
}
if (Frame.CameraImage.Texture == null || Frame.CameraImage.Texture.GetNativeTexturePtr() == IntPtr.Zero)
{
return(false);
}
//This is a GL texture ID
int textureId = Frame.CameraImage.Texture.GetNativeTexturePtr().ToInt32();
int bufferSize = 0;
//Ask the native plugin to start reading the image of the current frame,
//and return the image read from the privous frame
IntPtr bufferPtr = TextureReader_submitAndAcquire(textureId, k_ARCoreTextureWidth, k_ARCoreTextureHeight, ref bufferSize);
//I think this is needed because of this bug
//https://github.com/google-ar/arcore-unity-sdk/issues/66
GL.InvalidateState();
if (bufferPtr == IntPtr.Zero || bufferSize == 0)
{
return(false);
}
if (pixelBuffer == null || pixelBuffer.Length != bufferSize)
{
pixelBuffer = new byte[bufferSize];
}
//Copy buffer
Marshal.Copy(bufferPtr, pixelBuffer, 0, bufferSize);
//Convert to YUV data
PixelBuffertoYUV2(pixelBuffer, k_ARCoreTextureWidth, k_ARCoreTextureHeight,
k_ImageFormatType, ref cameraImage.y, ref cameraImage.uv);
cameraImage.width = k_ARCoreTextureWidth;
cameraImage.height = k_ARCoreTextureHeight;
return(true);
}
public override bool TryGetCameraImage(ref CameraImage cameraImage)
{
//If remote device is not sending video, we can assume that the current cached frame is out of date.
if (!m_SendVideo)
{
return(false);
}
//We only return a cached frame if it has all it's components
if (m_CameraImage.height == 0 || m_CameraImage.width == 0 || m_CameraImage.y == null || m_CameraImage.uv == null)
{
return(false);
}
cameraImage.width = m_CameraImage.width;
cameraImage.height = m_CameraImage.height;
cameraImage.y = m_CameraImage.y;
cameraImage.uv = m_CameraImage.uv;
return(true);
}
public void TestCameraImageTeams()
{
var imageInfo = new CameraImage("Camera Name", "http://cameraurl");
var builder = new CameraInfoReplyActivityBuilder(imageInfo, cameraData.Object);
var activity = ActivityTestUtils.CreateActivity();
activity.ChannelId = "teams";
var userData = new Mock <IUserData>();
var reply = builder.BuildReplyActivity(activity, userData.Object);
reply.Type.Should().Be("message");
reply.Attachments.Count.Should().Be(1);
var heroCard = reply.Attachments.First().Content as HeroCard;
heroCard.Buttons.Count.Should().Be(1);
heroCard.Title.Should().Be("Camera Name");
heroCard.Buttons[0].Value.Should().Be("http://cameraurl");
heroCard.Buttons[0].Type.Should().Be("openUrl");
heroCard.Buttons[0].Title.Should().Be(CameraInfoReplyActivityBuilder.CardViewPrompt);
}
public BitmapVideoPlayer(AviTools aviTools, bool useEmbeddedVideo, string bitmapFilesLocation, int playbackBufferSize)
{
this.aviTools = aviTools;
this.cameraImage = new CameraImage();
this.playbackBufferSize = playbackBufferSize;
integration = 1;
if (!imagesBuffered)
{
if (useEmbeddedVideo)
{
BufferEmbeddedOccultationVideo();
}
else
{
BufferVideoFrames(bitmapFilesLocation);
}
imagesBuffered = true;
}
if (errorBitmap != null)
{
width = errorBitmap.Width;
height = errorBitmap.Height;
}
else if (allImagesPixels.Count > 0)
{
width = bufferedImageWidth;
height = bufferedImageHeight;
}
else
{
width = 0;
height = 0;
}
}
private void OnNewDisparityMap(object sender, CameraImage cameraImage)
{
disparityMap.Write(cameraImage);
}
private void OnNewDisparityMap(object sender, CameraImage cameraImage)
{
processing = false;
}
/// <summary>
/// Selects every channel and tries to get an image.
/// </summary>
/// <returns>true on success, else false</returns>
private bool TestCalcChannels()
{
Camera cam = GetNewCamera();
channels = GetChannel(cam);
bool res = false;
if (channels == null || channels.Length == 0)
{
AddError("Camera of type \"" + camType.ToString() + "\" has no channel.");
return(false);
}
try { cam.Connect(); } catch { AddError("Connect failed."); return(false); }
/*
* Disable all active channel first. This is needed, 'cause some cameras
* cannot have some channel enabled at the same time.
* So only one channel will be active at the same time.
*/
foreach (ChannelRegistry.ChannelDescriptor activeChannel in cam.ActiveChannels.ToArray())
{
try
{
cam.DeactivateChannel(activeChannel.Name);
}
catch (Exception ex)
{
AddError("Deactivate channel \"" + activeChannel.Name + "\" failed: " + ex.Message);
goto err;
}
}
// iterate through channels
foreach (string channel in channels)
{
CameraImage img = null;
try
{
if (!cam.IsChannelActive(channel))
{
cam.ActivateChannel(channel);
}
}
catch (Exception ex)
{
AddError("Activate channel \"" + channel + "\" failed: " + ex.Message);
goto err;
}
cam.SelectChannel(channel);
try
{
cam.Update();
}
catch (Exception ex)
{
AddError("Update failed: " + ex.Message);
goto err;
}
try
{
img = cam.CalcSelectedChannel();
}
catch (Exception ex)
{
AddError("CalcChannel failed: " + ex.Message);
goto err;
}
if (img == null)
{
AddError("Resulting image for channel \"" + channel + "\" is NULL.");
goto err;
}
if (img.FrameNumber == -1)
{
AddError("Framenumber was not updated.");
goto err;
}
if (img.TimeStamp == 0)
{
AddError("Timestamp was not updated.");
goto err;
}
try
{
cam.DeactivateChannel(channel);
}
catch (Exception ex)
{
AddError("Deactivate channel \"" + channel + "\" failed: " + ex.Message);
goto err;
}
}
res = true;
err:
try { cam.Disconnect(); } catch { AddError("Disconnect failed."); res = false; }
return(res);
}
public override bool TryGetCameraImage(ref CameraImage cameraImage)
{
return(false);
}
public void SetImage(CameraImage cameraImage)
{
Image = converter.ToImage(cameraImage);
}
//////////////////////////////////////////////////////////////////////////
/// <summary>
/// Generates an unpacked 2-D image from a 1-D image.
/// </summary>
/// <param name="image">The camera image to be unpacked.</param>
/// <returns>A packed 2-D image based on the CameraImage source.</returns>
public static ushort[,] UnpackImage(CameraImage image)
{
return(UnpackImage(image.PackedImage, image.ImageWidth, image.ImageHeight));
}
private void OnWrite(CameraImage image)
{
CameraMovementDetector.ProcessImage(image);
}
public bool GetCameraImage(ref CameraImage cameraImage)
{
//Set LuminanceOnly to true if you need a Y component only (black and and white)
const bool LuminanceOnly = false;
using (var imageBytes = Frame.CameraImage.AcquireCameraImageBytes())
{
if (!imageBytes.IsAvailable)
{
//Y shoud be 1 byte per pixel. Not doing anything otherwise.
return(false);
}
cameraImage.width = imageBytes.Width;
cameraImage.height = imageBytes.Height;
if (imageBytes.YRowStride != imageBytes.Width)
{
//Y shoud be 1 byte per pixel. Not doing anything otherwise.
return(false);
}
//We expect 1 byte per pixel for Y
int bufferSize = imageBytes.Width * imageBytes.Height;
if (cameraImage.y == null || cameraImage.y.Length != bufferSize)
{
cameraImage.y = new byte[bufferSize];
}
//Y plane is copied as is.
Marshal.Copy(imageBytes.Y, cameraImage.y, 0, bufferSize);
if (LuminanceOnly || imageBytes.UVRowStride != imageBytes.Width || imageBytes.UVPixelStride != 2)
{
//Weird values. Y is probably enough.
cameraImage.uv = null;
return(true);
}
//We expect 2 bytes per pixel, interleaved U/V, with 2x2 subsampling
bufferSize = imageBytes.Width * imageBytes.Height / 2;
if (cameraImage.uv == null || cameraImage.uv.Length != bufferSize)
{
cameraImage.uv = new byte[bufferSize];
}
//Because U an V planes are returned separately, while remote expects interleaved U/V
//same as ARKit, we merge the buffers ourselves
unsafe
{
fixed(byte *uvPtr = cameraImage.uv)
{
byte *UV = uvPtr;
byte *U = (byte *)imageBytes.U.ToPointer();
byte *V = (byte *)imageBytes.V.ToPointer();
for (int i = 0; i < bufferSize; i += 2)
{
*UV++ = *U;
*UV++ = *V;
U += imageBytes.UVPixelStride;
V += imageBytes.UVPixelStride;
}
}
}
return(true);
}
}
public void ProcessLeftImage(CameraImage cameraImage)
{
leftCameraImage = cameraImage;
Process();
}
///<exclude/>
public bool Equals(CameraImage other)
{
if (ReferenceEquals(null, other)) return false;
if (ReferenceEquals(this, other)) return true;
return other._Tm.Equals(_Tm) && other._Width.Equals(_Width) && other._Height.Equals(_Height) && other._Bpp.Equals(_Bpp) && other._Format == (_Format) && other._FDiv.Equals(_FDiv) && other._Pixels.SequenceEqual(_Pixels);
}
public override string Solve(string input, bool part2)
{
foreach (var image in GetGroupedLines(input))
{
images.Add(new CameraImage(GetLines(image)));
}
dimension = (int)Math.Floor(Math.Sqrt(images.Count));
Render(false);
Console.WriteLine();
List <(int, int, char)> borders = new List <(int, int, char)>();
foreach (CameraImage image in images)
{
for (int i = 0; i < 2; ++i)
{ //get all borders for every image. since Right and bottom basically read reversed, we don't need to flip and only do a 180.
//since the value for example for a border at the left would be the same for the same border at the top we can skip this rotation step
image.RotateRight();
image.RotateRight();
borders.Add((image.ID, image.TopBorderNr, 'U'));
borders.Add((image.ID, image.BottomBorderNr, 'D'));
borders.Add((image.ID, image.LeftBorderNr, 'L'));
borders.Add((image.ID, image.RightBorderNr, 'R'));
}
}
//Group the images according to how they share a border
Lookup <int, (int, int, char)> tileGroups = (Lookup <int, (int, int, char)>)borders.ToLookup(k => k.Item2, v => v);
//Separate these groups for outer and inner connections
//(outer connection being the image border that connects to no other image and is therefore part of the outer border of the final image)
var borderConnections = tileGroups.Where(x => x.Count() == 1);
var innerConnections = tileGroups.Where(x => x.Count() == 2);
//all borders must be pairs. there can't be a border value, that matches more than 2 images. at least i would panic a bit in that case.
var undetermined = tileGroups.Where(x => x.Count() > 2);
if (undetermined.Count() > 0)
{
throw new InvalidOperationException("Some borders couldn't be assigned !!");
}
//reorganize the inner connections, so that we don't have duplicates (bidirectional) anymore
List <(int, int, int, string, int, string)> uniqueInnerConnections = new List <(int, int, int, string, int, string)>();
foreach (var connection in innerConnections)
{
(int id1, int border1, char side1) = connection.ElementAt(0);
(int id2, int border2, char side2) = connection.ElementAt(1);
var detected = uniqueInnerConnections.Where(x =>
(id1 == x.Item1 || id1 == x.Item2) &&
(id2 == x.Item1 || id2 == x.Item2)
).ToList();
string sideName = side1.ToString() + side2.ToString();
if (detected.Count() == 0)
{
uniqueInnerConnections.Add((id1, id2, connection.Key, sideName, 0, ""));
}
else
{
(int dId1, int dId2, int dBorder1, string dSide1, int dBorder2, string dSide2) = detected[0];
uniqueInnerConnections[uniqueInnerConnections.IndexOf(detected[0])] =
(dId1, dId2, dBorder1, dSide1, connection.Key, sideName);
}
}
//reorganize the outer borders, so that all possible border values are assigned to th same image
Dictionary <int, List <(int, char)> > uniqueBorderConnections = new Dictionary <int, List <(int, char)> >();
foreach (var connection in borderConnections)
{
(int id1, int border1, char side) = connection.ElementAt(0);
if (!uniqueBorderConnections.ContainsKey(id1))
{
uniqueBorderConnections.Add(id1, new List <(int, char)>()
{
(connection.Key, side)
});
}
else
{
List <(int, char)> dBorders = uniqueBorderConnections[id1];
if (dBorders.Count >= 1 && dBorders.Count <= 4)
{
dBorders.Add((connection.Key, side));
}
}
}
if (part2)
{
ArrangeImage(uniqueBorderConnections, uniqueInnerConnections);
//Create an image from the rendered Map
CameraImage map = new CameraImage(GetLines("Tile 2020:\r\n" + Render(true)));
Console.WriteLine();
//Create an image from the monster string
CameraImage monster = new CameraImage(GetLines("Tile 2020:\r\n..................#.\r\n#....##....##....###\r\n.#..#..#..#..#..#..."));
int monsterWidth = monster.TopBorder.Count;
int monsterHeight = monster.Image.Count;
//Set up trying to find the monsters
int currMonsterCnt = 0;
int rotationCount = 0;
bool flipped = false;
Console.SetCursorPosition(0, 0);
while (currMonsterCnt == 0)
{
currMonsterCnt = 0;
//Going over every line in the map except the last three, because our monster is 3 rows tall
for (int y = 0; y <= map.Image.Count - monsterHeight; ++y)
{ //Moving along this line leaving enough space for the width of our monster.
for (int x = 0; x <= map.Image[0].Count - monsterWidth; ++x)
{
//go over the lines of the monster
bool isMonster = true;
for (int monsterY = 0; monsterY < monsterHeight; ++monsterY)
{
//Get the area of the current line of the map and the monster as number (bitmask)
long mappedValue = Bitwise.GetBitMaskLong(map.Image[y + monsterY].GetRange(x, monsterWidth));
long monsterRow = Bitwise.GetBitMaskLong(monster.Image[monsterY]);
//if the map contains the monster, the and join should output a perfect replica of the monster
if ((mappedValue & monsterRow) != monsterRow)
{//otherwise we don't have a complete monster
isMonster = false;
break;
}
}
if (isMonster)
{ //When we got a full monster increase the counter and censor the area, the monster is located in
//I was to lazy, to work out the pixels, that are part of the monster so we just draw in the area the monster takes up (monsterWidth x monsterHeight)
for (int monsterY = 0; monsterY < monsterHeight; ++monsterY)
{
Console.SetCursorPosition(x, y + monsterY);
//MArk the area with a letter to differentiate monsters. especially those that overlap
Console.WriteLine("".PadLeft(monsterWidth, (char)(0x41 + currMonsterCnt)));
}
++currMonsterCnt;
}
}
}
if (currMonsterCnt == 0)
{//if we didn't find a single monster, rotate the image by 90 degrees
map.RotateRight();
Render(true);
if (++rotationCount >= 4)
{//we did a full 360. Perhaps we need to flip
if (flipped)
{
if (rotationCount >= 5)//we flipped one more time to be sure. this image couldn't be properly aligned. that shouldn't happen :(
{
throw new InvalidOperationException("LÖÖP");
}
else
{
continue;
}
}
map.Flip();
rotationCount = 0;
flipped = true;
}
}
}
Console.CursorTop = map.Image.Count + 1;
int roughness = map.ToString().Where(x => x == '#').Count();
roughness -= monster.ToString().Where(x => x == '#').Count() * currMonsterCnt;
return("Monsters Found: " + currMonsterCnt + "\r\nRoughness: " + roughness);
}
else
{//part 1 only needs the product of the ids of the corner tiles
long product = 1;
foreach (var connection in uniqueBorderConnections.Where(x => x.Value.Count == 4))
{
product *= connection.Key;
}
return("Product of corner tile-IDs: " + product);
}
}
private void ProcessLeftCamera(CameraImage image)
{
leftCameraOut.Write(image);
StereoImaging.ProcessLeftImage(image);
}
private void ProcessRightCamera(CameraImage image)
{
rightCameraOut.Write(image);
StereoImaging.ProcessRightImage(image);
}
private void OnWrite(CameraImage image)
{
Detector.Detect(image);
}
private void FrameReady(object sender, FrameReadyEventArgs e)
{
CameraImage.UpdateImage(e.Image);
}
public override bool TryGetCameraImage(ref CameraImage cameraImage)
{
ARCoreNative.NativeImage nativeImage = new ARCoreNative.NativeImage();
if (ARCoreNative.Device.TryAcquireLatestImageBuffer(ref nativeImage))
{
cameraImage.width = (int)nativeImage.width;
cameraImage.height = (int)nativeImage.height;
var planeInfos = nativeImage.planeInfos;
// The Y plane is always the first one.
var yOffset = planeInfos[0].offset;
var numYBytes = planeInfos[0].size;
IntPtr yPlaneStart = new IntPtr(nativeImage.planeData.ToInt64() + yOffset);
if (cameraImage.y == null || cameraImage.y.Length != numYBytes)
{
cameraImage.y = new byte[numYBytes];
}
Marshal.Copy(yPlaneStart, cameraImage.y, 0, (int)numYBytes);
// UV planes are not deterministic, but we want all the data in one go
// so the offset will be the min of the two planes.
int uvOffset = Mathf.Min(
(int)nativeImage.planeInfos[1].offset,
(int)nativeImage.planeInfos[2].offset);
// Find the end of the uv plane data
int uvDataEnd = 0;
for (int i = 1; i < planeInfos.Count; ++i)
{
uvDataEnd = Mathf.Max(uvDataEnd, (int)planeInfos[i].offset + planeInfos[i].size);
}
// Finally, compute the number of bytes by subtracting the end from the beginning
var numUVBytes = uvDataEnd - uvOffset;
IntPtr uvPlaneStart = new IntPtr(nativeImage.planeData.ToInt64() + uvOffset);
if (cameraImage.uv == null || cameraImage.uv.Length != numUVBytes)
{
cameraImage.uv = new byte[numUVBytes];
}
Marshal.Copy(uvPlaneStart, cameraImage.uv, 0, (int)numUVBytes);
ARCoreNative.Device.ReleaseImageBuffer(nativeImage);
// The data is usually provided as VU rather than UV,
// so we need to swap the bytes.
// There's no way to know this currently, but it's always
// been this way on every device so far.
for (int i = 1; i < numUVBytes; i += 2)
{
var b = cameraImage.uv[i - 1];
cameraImage.uv[i - 1] = cameraImage.uv[i];
cameraImage.uv[i] = b;
}
return(true);
}
return(false);
}
public abstract bool TryGetCameraImage(ref CameraImage cameraImage);
public void ProcessImage(CameraImage cameraImage)
{
var bitmap = converter.ToBitmap(cameraImage);
var greyImage = new Image<Gray, byte>(bitmap);
var cornerPoints = cornersDetector.Detect(greyImage, configuration.InnerCornersPerChessboardCols,
configuration.InnerCornersPerChessboardRows);
if (cornerPoints.Size > 1)
{
Vectors = vectorsCalculator.Calculate(cornerPoints, greyImage.Size);
var colorImage = MarkChessboard(bitmap, cornerPoints);
Image = converter.Convert(colorImage.ToBitmap());
}
else
{
Image = converter.Convert(bitmap);
}
}
public ImageSource detectRetroreflectiveBlob(int width, int height, byte[] pixelData)
{
//Create color and depth images to process
Image <Bgr, short> openCvImg = new Image <Bgr, short>(CameraImage.DEPTH_IMAGE_WIDTH, CameraImage.DEPTH_IMAGE_HEIGHT, new Bgr(0, 0, 0));
Image <Bgr, short> openCvDepthImg = new Image <Bgr, short>(CameraImage.DEPTH_IMAGE_WIDTH, CameraImage.DEPTH_IMAGE_HEIGHT, new Bgr(0, 0, 0));
int stride = width * ((PixelFormats.Bgr32.BitsPerPixel) / 8);
//We create an image 96x96
BitmapSource sBitmap = System.Windows.Media.Imaging.BitmapSource.Create(width, height, 96, 96, PixelFormats.Bgr32, null, pixelData, stride);
openCvImg.Bitmap = CameraImage.BmsToBm(sBitmap);
// copy this image as the debug image on which will be drawn
var gray_image = openCvImg.Convert <Gray, byte>();
gray_image._GammaCorrect(0.3);
var greyThreshImg = gray_image.ThresholdBinary(new Gray(220), new Gray(255));
//greyThreshImg = greyThreshImg.Dilate(5);
Emgu.CV.Cvb.CvBlobs resultingImgBlobs = new Emgu.CV.Cvb.CvBlobs();
Emgu.CV.Cvb.CvBlobDetector bDetect = new Emgu.CV.Cvb.CvBlobDetector();
var nBlobs = bDetect.Detect(greyThreshImg, resultingImgBlobs);
int _blobSizeThreshold = 1;
var rgb = new Rgb(255, 0, 0);
var depthFrameReader = _kSensor.DepthFrameSource.OpenReader();
var depthFrame = depthFrameReader.AcquireLatestFrame();
ushort[] depthData = new ushort[width * height];
depthFrame.CopyFrameDataToArray(depthData);
List <KeyValuePair <Emgu.CV.Cvb.CvBlob, CameraSpacePoint> > detectedBlobs = new List <KeyValuePair <Emgu.CV.Cvb.CvBlob, CameraSpacePoint> >();
if (nBlobs > 0)
{
var blobImg = greyThreshImg;
foreach (Emgu.CV.Cvb.CvBlob targetBlob in resultingImgBlobs.Values)
{
if (targetBlob.Area > _blobSizeThreshold)
{
blobImg.Draw(targetBlob.BoundingBox, new Gray(255), 1);
float centroidX = targetBlob.Centroid.X;
float centroidY = targetBlob.Centroid.Y;
DepthSpacePoint dsp = new DepthSpacePoint();
dsp.X = targetBlob.Centroid.X; //targetBlob.BoundingBox.X;
dsp.Y = targetBlob.Centroid.Y; //targetBlob.BoundingBox.Y;
int depth = (int)(width * dsp.Y + dsp.X);
var mappedPoint = _kSensor.CoordinateMapper.MapDepthPointToCameraSpace(dsp, depthData[depth]);
detectedBlobs.Add(new KeyValuePair <Emgu.CV.Cvb.CvBlob, CameraSpacePoint>(targetBlob, mappedPoint));
}
}
}
depthFrame.Dispose();
//return BitmapSource.Create(width, height, 96, 96, PixelFormats.Bgr32, null, pixelData, stride);
//return detectedBlobs;
return(CameraImage.BmToBms(greyThreshImg.Bitmap));
}
private void OnWrite(CameraImage image)
{
ImageProvider.SetImage(image);
}
public KeyValuePair <BitmapSource, List <KeyValuePair <Emgu.CV.Cvb.CvBlob, CameraSpacePoint> > > processBlobs(DepthFrameReader depthFrameReader, InfraredFrame frame, double blobSizeThreshold)
{
int width = frame.FrameDescription.Width;
int height = frame.FrameDescription.Height;
ushort[] imageDataArray = new ushort[width * height];
frame.CopyFrameDataToArray(imageDataArray);
byte[] pixelData = new byte[width * height * (PixelFormats.Bgr32.BitsPerPixel + 7) / 8];
int colorIndex = 0;
for (int i = 0; i < imageDataArray.Length; i++)
{
ushort d = (ushort)(imageDataArray[i] >> 8);
byte b = (byte)d;
int x = colorIndex;
pixelData[colorIndex++] = b;
pixelData[colorIndex++] = b;
pixelData[colorIndex++] = b;
pixelData[colorIndex++] = 255;
}
Image <Bgr, short> openCvImg = new Image <Bgr, short>(CameraImage.DEPTH_IMAGE_WIDTH, CameraImage.DEPTH_IMAGE_HEIGHT, new Bgr(0, 0, 0));
Image <Bgr, short> openCvDepthImg = new Image <Bgr, short>(CameraImage.DEPTH_IMAGE_WIDTH, CameraImage.DEPTH_IMAGE_HEIGHT, new Bgr(0, 0, 0));
int stride = width * ((PixelFormats.Bgr32.BitsPerPixel) / 8);
//We create an image 96x96
BitmapSource sBitmap = System.Windows.Media.Imaging.BitmapSource.Create(width, height, 96, 96, PixelFormats.Bgr32, null, pixelData, stride);
openCvImg.Bitmap = CameraImage.BmsToBm(sBitmap);
// copy this image as the debug image on which will be drawn
var gray_image = openCvImg.Convert <Gray, byte>();
gray_image._GammaCorrect(0.3);
var greyThreshImg = gray_image.ThresholdBinary(new Gray(220), new Gray(255));
greyThreshImg = greyThreshImg.Dilate(5);
var rgb = new Rgb(255, 0, 0);
//var depthFrameReader = _kSensor.DepthFrameSource.OpenReader();
var depthFrame = depthFrameReader.AcquireLatestFrame();
if (depthFrame == null)
{
return(new KeyValuePair <BitmapSource, List <KeyValuePair <Emgu.CV.Cvb.CvBlob, CameraSpacePoint> > >(null, null));
}
ushort[] depthData = new ushort[width * height];
depthFrame.CopyFrameDataToArray(depthData);
depthFrame.Dispose();
Emgu.CV.Cvb.CvBlobs resultingImgBlobs = new Emgu.CV.Cvb.CvBlobs();
Emgu.CV.Cvb.CvBlobDetector bDetect = new Emgu.CV.Cvb.CvBlobDetector();
var nBlobs = bDetect.Detect(greyThreshImg, resultingImgBlobs);
List <KeyValuePair <Emgu.CV.Cvb.CvBlob, CameraSpacePoint> > mappedPoints = new List <KeyValuePair <Emgu.CV.Cvb.CvBlob, CameraSpacePoint> >();
if (nBlobs > 0)
{
var blobImg = greyThreshImg;
DepthSpacePoint dsp = new DepthSpacePoint();
foreach (Emgu.CV.Cvb.CvBlob targetBlob in resultingImgBlobs.Values)
{
if (targetBlob.Area > blobSizeThreshold)
{
blobImg.Draw(targetBlob.BoundingBox, new Gray(255), 1);
dsp.X = targetBlob.Centroid.X;
dsp.Y = targetBlob.Centroid.Y;
int depth = (int)this.blobDetector.getDepth((int)dsp.X, (int)dsp.Y, width, depthData);//(Math.Floor(width * dsp.Y + dsp.X));
var mappedPoint = _kSensor.CoordinateMapper.MapDepthPointToCameraSpace(dsp, depthData[depth]);
if (!float.IsInfinity(mappedPoint.X) && !float.IsInfinity(mappedPoint.Y) && !float.IsInfinity(mappedPoint.Z))
{
mappedPoints.Add(new KeyValuePair <Emgu.CV.Cvb.CvBlob, CameraSpacePoint>(targetBlob, mappedPoint));
}
}
}
}
//return BitmapSource.Create(width, height, 96, 96, PixelFormats.Bgr32, null, pixelData, stride);
var bitmap = BitmapSource.Create(width, height, 96, 96, PixelFormats.Bgr32, null, pixelData, stride);
return(new KeyValuePair <BitmapSource, List <KeyValuePair <Emgu.CV.Cvb.CvBlob, CameraSpacePoint> > >(bitmap, mappedPoints));
}
public void ProcessRightImage(CameraImage cameraImage)
{
rightCameraImage = cameraImage;
Process();
}