private void ProcessFrame(object sender, EventArgs e)
{
if (_capture != null && _capture.Ptr != IntPtr.Zero)
{
_capture.Retrieve(frame, 0);
gpuFrame.Upload(frame);
cudaBgMOG2.Apply(gpuFrame, gpuSub);
CudaInvoke.Threshold(gpuSub, gpuSub, 12, 255, Emgu.CV.CvEnum.ThresholdType.Binary);
gpuSub.Download(outSub);
CvInvoke.FindContours(outSub, contours, hiererachy, Emgu.CV.CvEnum.RetrType.List, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxNone);
for (int i = 0; i < contours.Size; i++)
{
if (CvInvoke.ContourArea(contours[i]) > 50)
{
contoursGood.Push(contours[i]);
}
}
grayImage = new Image <Gray, byte>(frame.Width, frame.Height, new Gray(0));
grayImage.SetZero();
CvInvoke.DrawContours(grayImage, contoursGood, -1, new MCvScalar(255, 255, 255), -1);
CvInvoke.Dilate(grayImage, grayImage, element, new Point(-1, -1), 6, Emgu.CV.CvEnum.BorderType.Constant, new MCvScalar(255, 255, 255));
contoursGood.Clear();
CvInvoke.FindContours(grayImage, contours, hiererachy, Emgu.CV.CvEnum.RetrType.List, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxNone);
List <Point> points = new List <Point>();
for (int i = 0; i < contours.Size; i++)
{
MCvMoments moments = CvInvoke.Moments(contours[i], false);
Point WeightedCentroid = new Point((int)(moments.M10 / moments.M00), (int)(moments.M01 / moments.M00));
points.Add(WeightedCentroid);
}
blobList.AssignToBlobs(points);
blobList.Draw(frame);
blobList.Draw(mask);
blobList.Update();
CvInvoke.DrawContours(frame, contours, -1, new MCvScalar(0, 0, 255));
imageBox1.Image = frame;
imageBox2.Image = mask;
grayImage.Dispose();
indexFrame++;
}
}