private void ApplyFilter(Bitmap bmp)
{
AForge.Imaging.Filters.ColorFiltering colorFiltering = new AForge.Imaging.Filters.ColorFiltering();
colorFiltering.Red = new IntRange(150, 255);
colorFiltering.Green = new IntRange(0, 70);
colorFiltering.Blue = new IntRange(0, 70);
colorFiltering.ApplyInPlace(bmp);
}
private void AForgeCVInitialization()
{
redSliderMin.Value = MIN_RED_DEFAULT_VALUE;
redSliderMax.Value = MAX_RED_DEFAULT_VALUE;
greenSliderMin.Value = MIN_GREEN_DEFAULT_VALUE;
greenSliderMax.Value = MAX_GREEN_DEFAULT_VALUE;
blueSliderMin.Value = MIN_BLUE_DEFAULT_VALUE;
blueSliderMax.Value = MAX_BLUE_DEFAULT_VALUE;
mRedRange = new IntRange((int)redSliderMin.Value, (int)redSliderMax.Value);
mGreenRange = new IntRange((int)greenSliderMin.Value, (int)greenSliderMax.Value);
mBlueRange = new IntRange((int)blueSliderMin.Value, (int)blueSliderMax.Value);
mRGBFilter = new AForge.Imaging.Filters.ColorFiltering();
mRGBFilter.Red = mRedRange;
mRGBFilter.Green = mGreenRange;
mRGBFilter.Blue = mBlueRange;
blobsFilter = new AForge.Imaging.Filters.BlobsFiltering();
blobsFilter.CoupledSizeFiltering = true;
blobsFilter.MinHeight = 40;
blobsFilter.MinWidth = 40;
bCounter = new BlobCounter();
}
void theCamera_NewFrame(object sender, AForge.Video.NewFrameEventArgs eventArgs)
{
Bitmap theFrame = eventArgs.Frame;
AForge.Imaging.Filters.ColorFiltering colorFilter = new AForge.Imaging.Filters.ColorFiltering(new AForge.IntRange(200, 255),
new AForge.IntRange(200, 255),
new AForge.IntRange(200, 255));
colorFilter.ApplyInPlace(theFrame);
AForge.Imaging.BlobCounter blobCounter = new AForge.Imaging.BlobCounter(theFrame);
var ledLOCs = blobCounter.GetObjectsRectangles();
string ledpos = "not there";
if (ledLOCs.Length > 0)
{
//should probably find out which one is actually the LED... later though.
var pos = getLEDLocCenter(ledLOCs[0]);
var centerPos = new AForge.Math.Vector3(theFrame.Width / 2, theFrame.Height / 2, 0);
var ledVector = pos - centerPos;
ledVector.Normalize();
var ledAngle = Math.Acos(ledVector.X);
if (ledVector.Y < 0)
{
ledAngle = -ledAngle;
}
double deltaLEDAngle = 0;
if (ledAngleInit)
{
deltaLEDAngle = ledAngle - lastLEDAngle;
if (deltaLEDAngle > Math.PI * 2)
{
deltaLEDAngle -= Math.PI * 2;
}
if (deltaLEDAngle < -Math.PI * 2)
{
deltaLEDAngle += Math.PI * 2;
}
lastLEDAngle = ledAngle;
}
else
{
ledAngleInit = true;
lastLEDAngle = ledAngle;
}
deltaLEDAngle = ledAngle * 180 / Math.PI;
bool canTransmit = false;
vrconnectMutex.WaitOne();
if (VRapp != null)
{
canTransmit = true;
}
vrconnectMutex.ReleaseMutex();
if (canTransmit)
{
byte [] deltaAngleBytes = BitConverter.GetBytes(deltaLEDAngle); //note: in degrees per frame
try
{
if (VRapp.Connected)
{
VRapp.GetStream().Write(deltaAngleBytes, 0, deltaAngleBytes.Length);
}
}
catch
{
VRapp = null;
canTransmit = false;
}
}
double displayLEDAngle = deltaLEDAngle;
ledpos = displayLEDAngle.ToString();
var triVec = ledPoints(ledLOCs);
if (triVec != new Vector4(0, 0, 0, 0))
{
ledpos = triVec.ToString();
Graphics g = Graphics.FromImage(theFrame);
g.DrawLine(Pens.Red, triVec.X, triVec.Y, triVec.Z, triVec.W);
g.Flush();
g.Dispose();
}
//if we're connected to the VR app, this is where we send the delta angle.
}
updateTheFrame(theFrame, ledpos);
}
