public static System.Drawing.Bitmap Process(Bitmap imgRecv, bool showBestOnly, bool showCrosshairs, out bool locked)
{
Image<Bgr, Byte> img = new Image<Bgr, byte>(imgRecv).Resize(352,288,Emgu.CV.CvEnum.INTER.CV_INTER_AREA);
//Convert the image to grayscale and filter out the noise
Image<Gray, Byte> gray = img.Convert<Gray, Byte>().PyrDown().PyrUp();
Gray cannyThreshold = new Gray(250);
Gray cannyThresholdLinking = new Gray(250);
Gray circleAccumulatorThreshold = new Gray(120);
CircleF[] circles = gray.HoughCircles(
cannyThreshold,
circleAccumulatorThreshold,
5.0, //Resolution of the accumulator used to detect centers of the circles
10.0, //min distance
5, //min radius
0 //max radius
)[0]; //Get the circles from the first channel
Image<Gray, Byte> cannyEdges = gray.Canny(100, 80);
LineSegment2D[] lines = cannyEdges.HoughLinesBinary(
1, //Distance resolution in pixel-related units
Math.PI / 45.0, //Angle resolution measured in radians.
20, //threshold
30, //min Line width
10 //gap between lines
)[0]; //Get the lines from the first channel
#region Find triangles and rectangles
List<Triangle2DF> triangleList = new List<Triangle2DF>();
List<MCvBox2D> boxList = new List<MCvBox2D>();
using (MemStorage storage = new MemStorage()) //allocate storage for contour approximation
for (Contour<Point> contours = cannyEdges.FindContours(); contours != null; contours = contours.HNext)
{
Contour<Point> currentContour = contours.ApproxPoly(contours.Perimeter * 0.05, storage);
if (contours.Area > 350) //only consider contours with area greater than 250
{
if (currentContour.Total == 3) //The contour has 3 vertices, it is a triangle
{
Point[] pts = currentContour.ToArray();
triangleList.Add(new Triangle2DF(
pts[0],
pts[1],
pts[2]
));
}
else if (currentContour.Total == 4) //The contour has 4 vertices.
{
#region determine if all the angles in the contour are within the range of [80, 100] degree
bool isRectangle = true;
Point[] pts = currentContour.ToArray();
LineSegment2D[] edges = PointCollection.PolyLine(pts, true);
double rangle = 0;
for (int i = 0; i < edges.Length; i++)
{
rangle += Math.Abs(
edges[(i + 1) % edges.Length].GetExteriorAngleDegree(edges[i]));
}
if (rangle < 300 || rangle > 420)
isRectangle = false;
#endregion
if (isRectangle) boxList.Add(currentContour.GetMinAreaRect());
}
}
}
#endregion
boxList = boxList.OrderByDescending(m=>m.size.Height*m.size.Width).ToList();
if (showBestOnly && boxList.Count>0)
{
//foreach (MCvBox2D box in boxList)
var box = boxList.First();
Cross2DF c = new Cross2DF(box.center, (float)box.size.Height * .2F, (float)box.size.Width * .2F);
img.Draw(box, new Bgr(Color.Blue), 4);
img.Draw(c, new Bgr(Color.Red), 2);
//img.Draw(new MCvBox2D(new PointF((float)img.Width / 2, (float)img.Height / 2), new SizeF((float)img.Width / 4, (float)img.Height / 4), 0F),new Bgr(Color.White),1);
}
else
{
foreach (MCvBox2D box in boxList)
{
Cross2DF c = new Cross2DF(box.center, (float)box.size.Height * .2F, (float)box.size.Width * .2F);
img.Draw(box, new Bgr(Color.Blue), 4);
img.Draw(c, new Bgr(Color.Red), 2);
}
}
#region draw lines
locked = false;
Bitmap im = img.ToBitmap();
if (showCrosshairs)
{
using (Graphics g = Graphics.FromImage(im))
{
g.FillRectangle(new SolidBrush(Color.FromArgb(50, 255, 255, 255)), new Rectangle(new Point(im.Width / 2 - im.Width / 8, im.Height / 2 - im.Height / 8), new Size(img.Width / 4, img.Height / 4)));
g.DrawRectangle(new Pen(new SolidBrush(Color.FromArgb(140, 255, 255, 255)), 2), new Rectangle(new Point(im.Width / 2 - im.Width / 8, im.Height / 2 - im.Height / 8), new Size(img.Width / 4, img.Height / 4)));
g.DrawLine(new Pen(new SolidBrush(Color.FromArgb(140, 255, 255, 255)), 1), new Point(im.Width / 2 - 10, im.Height / 2), new Point(im.Width / 2 + 10, im.Height / 2));
g.DrawLine(new Pen(new SolidBrush(Color.FromArgb(140, 255, 255, 255)), 1), new Point(im.Width / 2, im.Height / 2 - 10), new Point(im.Width / 2, im.Height / 2 + 10));
}
}
foreach (MCvBox2D box in boxList)
{
if (Math.Abs(box.center.X - im.Width / 2) < 20 && Math.Abs(box.center.Y - im.Height / 2) < 20)
{
using (Graphics g = Graphics.FromImage(im))
{
g.FillRectangle(new SolidBrush(Color.FromArgb(100, 255, 0, 0)), new Rectangle(0, 0, im.Width, im.Height));
g.DrawString("Locked on target", new Font(FontFamily.GenericMonospace, 24f, FontStyle.Bold), new SolidBrush(Color.White), new PointF(13F, 5F));
locked = true;
break;
}
}
}
return im;
#endregion
}
static void Main(string[] args)
{
String apiKey = "847e6315f892e21449da5f4077c5104f";
String apiSecret = "BmskojfFyrZVQhkLfNSnRzX-lK8musO6";
FaceService faceService = new FaceService(apiKey, apiSecret);
string filePath = "D:\\Codes\\datasets\\face_morph\\bbt.jpg";
DetectResult detectResult = faceService.Detection_DetectImg(filePath);
Image<Bgr, Byte> srcImg = new Image<Bgr, Byte>(filePath);
for(int cnt=0; cnt < detectResult.face.Count; cnt++)
{
string pointFileName = String.Format("D:\\Codes\\datasets\\face_morph\\result_bbt_face_{0}.txt", cnt);
FileStream fileStream = new FileStream(pointFileName, FileMode.Create);
StreamWriter streamWriter = new StreamWriter(fileStream);
Rectangle faceRect = new Rectangle(
(int)(detectResult.face[cnt].position.center.x * srcImg.Width /100 - detectResult.face[cnt].position.width * srcImg.Width * 0.5 / 100),
(int)(detectResult.face[cnt].position.center.y * srcImg.Height / 100 - detectResult.face[cnt].position.height * srcImg.Height * 0.5 / 100),
(int)detectResult.face[cnt].position.width * srcImg.Width / 100,
(int)detectResult.face[cnt].position.height * srcImg.Height / 100);
Image<Bgr, byte> faceImg = srcImg.GetSubRect(faceRect);
string fileName = String.Format("D:\\Codes\\datasets\\face_morph\\result_bbt_face_{0}.jpg", cnt);
faceImg.Save(fileName);
IList<FaceppSDK.Point> featurePoints = new List<FaceppSDK.Point>();
//featurePoints.Add(detectResult.face[cnt].position.center);
FaceppSDK.Point tempPoint1 = new FaceppSDK.Point();
tempPoint1.x = (detectResult.face[cnt].position.eye_left.x
- detectResult.face[cnt].position.center.x) / detectResult.face[cnt].position.width;
tempPoint1.y = (detectResult.face[cnt].position.eye_left.y
- detectResult.face[cnt].position.center.y) / detectResult.face[cnt].position.height;
featurePoints.Add(tempPoint1);
FaceppSDK.Point tempPoint2 = new FaceppSDK.Point();
tempPoint2.x = (detectResult.face[cnt].position.eye_right.x
- detectResult.face[cnt].position.center.x) / detectResult.face[cnt].position.width;
tempPoint2.y = (detectResult.face[cnt].position.eye_right.y
- detectResult.face[cnt].position.center.y) / detectResult.face[cnt].position.height;
featurePoints.Add(tempPoint2);
FaceppSDK.Point tempPoint3 = new FaceppSDK.Point();
tempPoint3.x = (detectResult.face[cnt].position.mouth_left.x
- detectResult.face[cnt].position.center.x) / detectResult.face[cnt].position.width;
tempPoint3.y = (detectResult.face[cnt].position.mouth_left.y
- detectResult.face[cnt].position.center.y) / detectResult.face[cnt].position.height;
featurePoints.Add(tempPoint3);
FaceppSDK.Point tempPoint4 = new FaceppSDK.Point();
tempPoint4.x = (detectResult.face[cnt].position.mouth_right.x
- detectResult.face[cnt].position.center.x) / detectResult.face[cnt].position.width;
tempPoint4.y = (detectResult.face[cnt].position.mouth_right.y
- detectResult.face[cnt].position.center.y) / detectResult.face[cnt].position.height;
featurePoints.Add(tempPoint4);
FaceppSDK.Point tempPoint5 = new FaceppSDK.Point();
tempPoint5.x = (detectResult.face[cnt].position.nose.x
- detectResult.face[cnt].position.center.x) / detectResult.face[cnt].position.width;
tempPoint5.y = (detectResult.face[cnt].position.nose.y
- detectResult.face[cnt].position.center.y) / detectResult.face[cnt].position.height;
featurePoints.Add(tempPoint5);
foreach (FaceppSDK.Point featurePoint in featurePoints)
{
streamWriter.WriteLine(featurePoint.x.ToString());
streamWriter.WriteLine(featurePoint.y.ToString());
System.Drawing.PointF point = new System.Drawing.PointF((float)featurePoint.x * srcImg.Width / 100,
(float)featurePoint.y * srcImg.Height / 100);
Cross2DF cross = new Cross2DF(point, (float)3.0, (float)3.0);
srcImg.Draw(cross, new Bgr(0, 255, 0), 3);
}
streamWriter.Flush();
streamWriter.Close();
fileStream.Close();
//srcImg.Save("D:\\Codes\\datasets\\face_morph\\result_bbt.jpg");
}
}
void ComputeDenseOpticalFlow()
{
// Compute dense optical flow using Horn and Schunk algo
velx = new Image<Gray, float>(faceGrayImage.Size);
vely = new Image<Gray, float>(faceNextGrayImage.Size);
OpticalFlow.HS(faceGrayImage, faceNextGrayImage, true, velx, vely, 0.1d, new MCvTermCriteria(100));
#region Dense Optical Flow Drawing
Size winSize = new Size(10, 10);
vectorFieldX = (int)Math.Round((double)faceGrayImage.Width / winSize.Width);
vectorFieldY = (int)Math.Round((double)faceGrayImage.Height / winSize.Height);
sumVectorFieldX = 0f;
sumVectorFieldY = 0f;
vectorField = new PointF[vectorFieldX][];
for (int i = 0; i < vectorFieldX; i++)
{
vectorField[i] = new PointF[vectorFieldY];
for (int j = 0; j < vectorFieldY; j++)
{
Gray velx_gray = velx[j * winSize.Width, i * winSize.Width];
float velx_float = (float)velx_gray.Intensity;
Gray vely_gray = vely[j * winSize.Height, i * winSize.Height];
float vely_float = (float)vely_gray.Intensity;
sumVectorFieldX += velx_float;
sumVectorFieldY += vely_float;
vectorField[i][j] = new PointF(velx_float, vely_float);
Cross2DF cr = new Cross2DF(
new PointF((i*winSize.Width) +trackingArea.X,
(j*winSize.Height)+trackingArea.Y),
1, 1);
opticalFlowFrame.Draw(cr, new Bgr(Color.Red), 1);
LineSegment2D ci = new LineSegment2D(
new Point((i*winSize.Width)+trackingArea.X,
(j * winSize.Height)+trackingArea.Y),
new Point((int)((i * winSize.Width) + trackingArea.X + velx_float),
(int)((j * winSize.Height) + trackingArea.Y + vely_float)));
opticalFlowFrame.Draw(ci, new Bgr(Color.Yellow), 1);
}
}
#endregion
}
// =========================================================
/// <summary>
/// This function will display markings at specified locations on the image offset from the center of the image
/// </summary>
public void DrawMarks(ref Bitmap image, List<PointF> points, Color color, int size)
{
try {
using (Image<Bgr, Byte> img = new Image<Bgr, byte>(image)) {
foreach (var pt in points) {
PointF p = new PointF(pt.X + videoCapture.FrameCenterX, videoCapture.FrameCenterY-pt.Y);
var cross = new Cross2DF(p, size, size);
img.Draw(cross, new Bgr(color), 2);
}
image = img.ToBitmap();
}
} catch {
}
}
void DrawDenseOpticalFlow()
{
int winSizeX = 2;
int winSizeY = 2;
vectorFieldX = (int)Math.Round((double)_currentTrackedGrayImage.Width / winSizeX);
vectorFieldY = (int)Math.Round((double)_currentTrackedGrayImage.Height / winSizeY);
sumVectorFieldX = 0f;
sumVectorFieldY = 0f;
vectorField = new PointF[vectorFieldX][];
for (int i = 0; i < vectorFieldX; i++)
{
vectorField[i] = new PointF[vectorFieldY];
for (int j = 0; j < vectorFieldY; j++)
{
Gray velx_gray = velx[j * winSizeX, i * winSizeX];
float velx_float = (float)velx_gray.Intensity;
Gray vely_gray = vely[j * winSizeY, i * winSizeY];
float vely_float = (float)vely_gray.Intensity;
sumVectorFieldX += velx_float;
sumVectorFieldY += vely_float;
vectorField[i][j] = new PointF(velx_float, vely_float);
Cross2DF cr = new Cross2DF(
new PointF((i * winSizeX) + _trackingArea.X,
(j * winSizeY) + _trackingArea.Y),
1, 1);
_opticalFlowFrame.Draw(cr, new Bgr(Color.Red), 1);
LineSegment2D ci = new LineSegment2D(
new Point((i * winSizeX) + _trackingArea.X,
(j * winSizeY) + _trackingArea.Y),
new Point((int)((i * winSizeX) + _trackingArea.X + velx_float),
(int)((j * winSizeY) + _trackingArea.Y + vely_float)));
_opticalFlowFrame.Draw(ci, new Bgr(Color.Yellow), 1);
}
}
}
private void imgImageBox_MouseClick(object sender, MouseEventArgs e)
{
//Guid currentCoordinates;
if (lblCurrentPoint.Text == "Draw Point")
{
if (ptCounter == 4)
{
imageTransform = imageBackup;
imgImageBox.Image = imageBackup; //ADDED this!!!!!
ptCounter = 0;
}
else if (ptCounter < 4)
{
srcpt[ptCounter].X = e.X; //* _orgFrameWidth/_frameWidth;
srcpt[ptCounter].Y = e.Y; //* _orgFrameHeight/_frameHeight;
//sd["/coordinates/pts"] = new SharedDictionary.Vector();
//sd["/coordinates/pts#0"] = new Point(e.X, e.Y);
////this.sd["/coordinate/pts"] = new SharedDictionary.Vector();
////this.sd["/coordinate/pts#0"] = e.X.ToString();
//this.sd["/value"] = 5;
Cross2DF scrCrossTest = new Cross2DF(srcpt[ptCounter], 5, 5);
imageTransform.Draw(scrCrossTest, new Bgr(Color.Red), 2);
imgImageBox.Image = imageTransform;//.Resize(_frameWidth, _frameHeight);
ptCounter += 1;
}
}
else if (lblCurrentPoint.Text == "Coordinate Transform -->")
{
//lblCurrentPoint.Text = "Draw Point";
//lblCurrentPoint.Text = "Click on left side";
//currentCoordinates = Guid.NewGuid();
////sd["/coordinates/pts"] = new SharedDictionary.Vector();
////sd["/coordinates/pts#0"] = new Point ( e.X, e.Y );
//sd["/coordinates#-0"] = currentCoordinates;
leftSide[0].X = e.X; //* _orgFrameWidth/_frameWidth;
leftSide[0].Y = e.Y; //* _orgFrameHeight/_frameHeight;
CvArray<Byte> arr;
Matrix<double> m = new Matrix<double>(1, 1, 2);
Matrix<double> n = new Matrix<double>(1, 1, 2);
double[] data = { leftSide[0].X, leftSide[0].Y};
m.Data[0, 0] = e.X;
m.Data[0, 1] = e.Y;
//Matrix<double> leftSidePtr = new Matrix<double>(data).Transpose();
//Matrix<double> leftSideTransformed = new Matrix<double>(1, 3);
//Matrix<double> leftSidePtrT = new Matrix<double>();
//Matrix<double> wMat = new Matrix<double>(warpMat);
//CvInvoke.cvTranspose(leftSidePtr, leftSidePtrT);
//CvInvoke.cvTranspose(leftSideTransformed, leftSideTransformed);
CvInvoke.cvPerspectiveTransform(m, n, warpMat.Ptr);
leftSideT[0].X = (float)n.Data[0,0];
leftSideT[0].Y = (float)n.Data[0, 1];
Cross2DF scrCrossTest2 = new Cross2DF(leftSideT[0], 5, 5);
imagePerspective.Draw(scrCrossTest2, new Bgr(Color.Green), 2);
imageBoxPers.Image = imagePerspective;//.Resize(_frameWidth, _frameHeight);
Cross2DF scrCrossTest1 = new Cross2DF(leftSide[0], 5, 5);
imageTransform.Draw(scrCrossTest1, new Bgr(Color.Green), 2);
imgImageBox.Image = imageTransform;//.Resize(_frameWidth, _frameHeight);
lblTouchPt.Text = "[" + leftSideT[0].X + " , " + leftSideT[0].Y + "]";
}
}
private void imageBoxPers_MouseClick(object sender, MouseEventArgs e)
{
if (lblCurrentPoint.Text == "Coordinate Transform <--")
{
//lblCurrentPoint.Text = "Draw Point";
//lblCurrentPoint.Text = "Click on left side";
rightSide[0].X = e.X; //* _orgFrameWidth/_frameWidth;
rightSide[0].Y = e.Y; //* _orgFrameHeight/_frameHeight;
//CvInvoke.cvSetData(leftSide, e.X e.Y 1, //leftSide = [e.X, e.Y, 1];
CvArray<Byte> arr;
Matrix<double> m = new Matrix<double>(1, 1, 2);
Matrix<double> n = new Matrix<double>(1, 1, 2);
double[] data = { rightSide[0].X, rightSide[0].Y };
m.Data[0, 0] = e.X;
m.Data[0, 1] = e.Y;
CvInvoke.cvPerspectiveTransform(m, n, invWarpMat.Ptr);
rightSideT[0].X = (float)n.Data[0, 0];
rightSideT[0].Y = (float)n.Data[0, 1];
Cross2DF scrCrossTest2 = new Cross2DF(rightSideT[0], 5, 5);
imageTransform.Draw(scrCrossTest2, new Bgr(Color.Green), 2);
imgImageBox.Image = imageTransform;//.Resize(_frameWidth, _frameHeight);
Cross2DF scrCrossTest1 = new Cross2DF(rightSide[0], 5, 5);
imagePerspective.Draw(scrCrossTest1, new Bgr(Color.Green), 2);
imageBoxPers.Image = imagePerspective;//.Resize(_frameWidth, _frameHeight);
}
}
private void btnTransform_Click(object sender, EventArgs e)
{
PointF[] srcTri = new PointF[] { srcpt[0], srcpt[1], srcpt[2], srcpt[3] };
dstpt[(int)Position.BL].X = srcpt[0].X;
dstpt[(int)Position.BL].Y = srcpt[0].Y;
dstpt[(int)Position.TL].X = srcpt[0].X;
dstpt[(int)Position.TL].Y = srcpt[1].Y;
dstpt[(int)Position.TR].X = srcpt[2].X;
dstpt[(int)Position.TR].Y = srcpt[1].Y;
dstpt[(int)Position.BR].X = srcpt[2].X;
dstpt[(int)Position.BR].Y = srcpt[0].Y;
lblBL.Text = "[" + (int)dstpt[(int)Position.BL].X + " , " + (int)dstpt[(int)Position.BL].Y + "]";
lblTL.Text = "[" + (int)dstpt[(int)Position.TL].X + " , " + (int)dstpt[(int)Position.TL].Y + "]";
lblTR.Text = "[" + (int)dstpt[(int)Position.TR].X + " , " + (int)dstpt[(int)Position.TR].Y + "]";
lblBR.Text = "[" + (int)dstpt[(int)Position.BR].X + " , " + (int)dstpt[(int)Position.BR].Y + "]";
Cross2DF dstCross1 = new Cross2DF(dstpt[(int)Position.BL], 5, 5);
Cross2DF dstCross2 = new Cross2DF(dstpt[(int)Position.TL], 5, 5);
Cross2DF dstCross3 = new Cross2DF(dstpt[(int)Position.TR], 5, 5);
Cross2DF dstCross4 = new Cross2DF(dstpt[(int)Position.BR], 5, 5);
imageTransform.Draw(dstCross1, new Bgr(Color.Orange), 2);
imageTransform.Draw(dstCross2, new Bgr(Color.Orange), 2);
imageTransform.Draw(dstCross3, new Bgr(Color.Orange), 2);
imageTransform.Draw(dstCross4, new Bgr(Color.Orange), 2);
imgImageBox.Image = imageTransform;//.Resize(_frameWidth, _frameHeight);
PointF[] dstTri = dstpt;//new PointF[] { dstpt[Position.BL], dstpt[Position.TL], dstpt[Position.TR], dstpt[Position.BL] };
//CvInvoke.cvGetAffineTransform(srcTri, dstTri, warpMat);
CvInvoke.cvGetPerspectiveTransform(srcTri, dstTri, warpMat);
//INVERT_METHOD method = new INVERT_METHOD cv;
CvInvoke.cvInvert(warpMat, invWarpMat, Emgu.CV.CvEnum.INVERT_METHOD.CV_LU);
MCvScalar fillvar = new MCvScalar(0);
imageBoxPers.Image = new Image<Bgr, byte>(_frameWidth, _frameHeight, new Bgr(0, 0, 0));
//CvInvoke.cvWarpAffine(imgImageBox.Image.Ptr, imageBoxPers.Image.Ptr, warpMat, 0, fillvar);
CvInvoke.cvWarpPerspective(imgImageBox.Image.Ptr, imageBoxPers.Image.Ptr, warpMat, 0, fillvar);
//CvInvoke.cvWarpPerspective(imgImageBox.Image.Ptr, imagePerspective.Ptr, warpMat, 0, fillvar);
imagePerspective = new Image<Bgr,byte>(imageBoxPers.Image.Bitmap);
//imageBoxPers.Image = imagePerspective;
}
private void btnDrawPt_Click(object sender, EventArgs e)
{
int PtX;
int PtY;
Int32.TryParse(txtPtX.Text, out PtX);
Int32.TryParse(txtPtY.Text, out PtY);
//lblTouchPt.Text = (PtY / tableTopHeight) * ((int)dstpt[(int)Position.BL].Y - (int)dstpt[(int)Position.TL].Y) + (int)dstpt[(int)Position.BL].Y;
//lblTouchPt.Text = (PtX / tableTopHeight) * ((int)dstpt[(int)Position.BL].X - (int)dstpt[(int)Position.TL].X) + (int)dstpt[(int)Position.BL].X;
float percentFromLeft = (float) PtX / tableTopWidth;
float percentFromBottom = (float) PtY / tableTopHeight;
PointF pointToDraw = new PointF();
pointToDraw.X = (dstpt[(int)Position.BR].X - dstpt[(int)Position.BL].X) * percentFromLeft + dstpt[(int)Position.BL].X;
pointToDraw.Y = (dstpt[(int)Position.TL].Y - dstpt[(int)Position.BL].Y) * percentFromBottom + dstpt[(int)Position.BL].Y;
Cross2DF crossToDraw = new Cross2DF(pointToDraw, 5, 5);
Image<Bgr, Byte> img = new Image<Bgr, byte>(imageBoxPers.Image.Bitmap);
img.Draw(crossToDraw, new Bgr(Color.Purple), 3);
imageBoxPers.Image = img;
Matrix<double> m = new Matrix<double>(1, 1, 2);
Matrix<double> n = new Matrix<double>(1, 1, 2);
//double[] data = { pointToDraw.X, pointToDraw.Y };
m.Data[0, 0] = pointToDraw.X;
m.Data[0, 1] = pointToDraw.Y;
CvInvoke.cvPerspectiveTransform(m, n, invWarpMat.Ptr);
PointF pointToDrawT = new PointF();
pointToDrawT.X = (float)n.Data[0, 0];
pointToDrawT.Y = (float)n.Data[0, 1];
Cross2DF scrCrossTest2 = new Cross2DF(pointToDrawT, 5, 5);
imageTransform.Draw(scrCrossTest2, new Bgr(Color.Purple), 2);
imgImageBox.Image = imageTransform;//.Resize(_frameWidth, _frameHeight);
}
private void processImageFrisbee(object sender, EventArgs arg)
{
int FrisbeeLeft_X = 0;
int FrisbeeLeft_Y = 0;
int FrisbeeRight_X = 0;
int FrisbeeRight_Y = 0;
int hMin = H_MIN;
int hMax = H_MAX;
int sMin = S_MIN;
int sMax = S_MAX;
int vMin = V_MIN;
int vMax = V_MAX;
Image<Bgr, Byte> image = capture.QueryFrame();
Image<Hsv, byte> hsvImage;
Image<Gray, byte> mask;
Image<Gray, byte> leftFrisbee;
Image<Gray, byte> rightFrisbee;
try
{
// Convert the image to hsv
hsvImage = image.Convert<Hsv, byte>();
#if USE_SLIDERS
// Threshold the HSV Image for targets
readTrackBarDelegate readBar = new readTrackBarDelegate(readTrackBar);
// read the track bar positions
hMin = (int) this.Invoke(readBar, bar_hMin);
hMax = (int) this.Invoke(readBar, bar_hMax);
sMin = (int) this.Invoke(readBar, bar_sMin);
sMax = (int) this.Invoke(readBar, bar_sMax);
vMin = (int) this.Invoke(readBar, bar_vMin);
vMax = (int) this.Invoke(readBar, bar_vMax);
#endif
// mask the image for the Frisbees
mask = hsvImage.InRange(new Hsv(hMin, sMin, vMin), new Hsv(hMax, sMax, vMax));
// Filter image
mask._Dilate(4);
mask._Erode(4);
Matrix<float> imgMatHorizontal = new Matrix<float>(HEIGHT, 1, 1);
int FrisbeeMidPoint = findMidPointBetweenFrisbees(mask);
// find the left Frisbee X position
FrisbeeLeft_X = findMeanIndex(0, FrisbeeMidPoint, m_sum_col);
// find the left Frisbee X position
FrisbeeRight_X = findMeanIndex(FrisbeeMidPoint, WIDTH, m_sum_col);
// get an image of the left Frisbee
Rectangle leftfrisbeeRect = new Rectangle(0, 0, FrisbeeMidPoint, HEIGHT);
leftFrisbee = mask.Copy(leftfrisbeeRect);
// sum in the horizontal direction for Y postion
leftFrisbee.Reduce<float>(imgMatHorizontal, Emgu.CV.CvEnum.REDUCE_DIMENSION.SINGLE_COL, Emgu.CV.CvEnum.REDUCE_TYPE.CV_REDUCE_SUM);
// read the horizontal sum
for (int horIndex = 0; horIndex < HEIGHT; horIndex++)
m_sum_row[horIndex] = (long) imgMatHorizontal[horIndex, 0];
// find the Y position
FrisbeeLeft_Y = findMeanIndex(0, HEIGHT, m_sum_row);
// get an image of the right Frisbee
Rectangle rightfrisbeeRect = new Rectangle(FrisbeeMidPoint, 0, WIDTH - FrisbeeMidPoint, HEIGHT);
rightFrisbee = mask.Copy(rightfrisbeeRect);
// sum in the horizontal direction for Y postion
rightFrisbee.Reduce<float>(imgMatHorizontal, Emgu.CV.CvEnum.REDUCE_DIMENSION.SINGLE_COL, Emgu.CV.CvEnum.REDUCE_TYPE.CV_REDUCE_SUM);
// read the horizontal sum
for (int horIndex = 0; horIndex < HEIGHT; horIndex++)
m_sum_row[horIndex] = (long) imgMatHorizontal[horIndex, 0];
// find the Y position
FrisbeeRight_Y = findMeanIndex(0, HEIGHT, m_sum_row);
graphFloatArray(zgc_col, "Sum Row", m_sum_row, m_sum_row.Length, true);
graphFloatArray(zgc_row, "Sum Column", m_sum_col, m_sum_col.Length, true);
// show the Frisbee in the image (X, Y)
Bgr bgr = new Bgr(Color.Red);
PointF pointA = new PointF(FrisbeeLeft_X, FrisbeeLeft_Y);
Cross2DF cross2DFA = new Cross2DF(pointA, 10, 10);
image.Draw(cross2DFA, bgr, 2);
PointF pointB = new PointF(FrisbeeRight_X, FrisbeeRight_Y);
Cross2DF cross2DFB = new Cross2DF(pointB, 10, 10);
image.Draw(cross2DFB, bgr, 2);
// Print out the information about the first rect
//if (boxList.Count != 0)
//{
// double offset = (boxList[centerRectNum].X + boxList[centerRectNum].Width / 2.0 - imageWidth / 2);
// NetworkTable.getTable("SmartDashboard").putNumber("Frisbee Offset", offset);
// NetworkTable.getTable("SmartDashboard").putNumber("Frisbee Size", boxList[centerRectNum].Width);
//}
//else
//{
// NetworkTable.getTable("SmartDashboard").putNumber("Frisbee Offset", 0);
// NetworkTable.getTable("SmartDashboard").putNumber("Frisbee Size", 320); //assume it is too big to see
//}
im_mask.Image = mask.ToBitmap();
im_image.Image = image.ToBitmap();
//Thread.Sleep(500);
}
catch
{
}
}
