/// <summary>
/// Takes blobs information based on colors in <see cref="hsv"/> list and then sends the info through UDP.
/// </summary>
/// <param name="sourceImage">Image in Mat format.</param>
/// <returns>Image in Mat format.</returns>
private Mat Renderer(Mat sourceImage)
{
Mat dstNoisy = src;
Mat dstClear = new Mat();
Mat dst = new Mat();
Mat element = Cv2.GetStructuringElement(MorphShapes.Rect, new Size(2 * MorphValue + 1, 2 * MorphValue + 1));
Cv2.Blur(dstNoisy, dstClear, new Size(9, 9));
Cv2.CvtColor(dstClear, dst, ColorConversionCodes.BGR2HSV); // Convert BGR to HSV.
Mat dstThreshed = new Mat();
Mat dstPreview = new Mat();
if (hsv.Count > 0)
{
int blobCount = 1;
bool theFirst = true;
foreach (int[] scal in hsv)
{
if (theFirst)
{
Cv2.InRange(dst, new Scalar(scal[0] - 10, scal[1], scal[3]), new Scalar(scal[0] + 10, scal[2], scal[4]), dstPreview);
theFirst = false;
}
else
{
Mat dstPreview2 = new Mat();
Cv2.InRange(dst, new Scalar(scal[0] - 10, scal[1], scal[3]), new Scalar(scal[0] + 10, scal[2], scal[4]), dstPreview2);
Cv2.AddWeighted(dstThreshed, 1.0, dstPreview2, 1.0, 0.0, dstPreview);
}
Cv2.InRange(dst, new Scalar(scal[0] - 10, scal[1], scal[3]), new Scalar(scal[0] + 10, scal[2], scal[4]), dstThreshed);
// Morphologic transformation to close the gaps inside the blob.
Cv2.MorphologyEx(src: dstThreshed,
dst: dstThreshed,
op: MorphTypes.Close,
element: element
);
blobDetection.Label(dstThreshed);
blobDetection.FilterByArea(MinBlobArea, MaxBlobArea);
blobDetection.RenderBlobs(dstThreshed, src);
CircleSegment[] circles = Cv2.HoughCircles(dstThreshed, HoughMethods.Gradient, 1, dstThreshed.Rows / 8);
// Creates all udp datagrams----------------------------------------------------
if (blobDetection.Count != 0)
{
for (int i = 0; i < blobDetection.Count; i++)
{
int processKey = blobDetection.ElementAt(i).Key;
udpDatagram_1 = "[$]tracking|id=" + data_id + "|label=" + blobCount + "|[$$]" + deviceName + ",[$$$]mesh,sample,";
for (int j = 0; j < blobDetection[processKey].Contour.ConvertToPolygon().Simplify(1).Count; j++)
{
if (orientation)
{
udpDatagram_1 += Math.Round((float)blobDetection[processKey].Contour.ConvertToPolygon().Simplify(1).ElementAt(j).X / dst.Cols, 4).ToString().Replace(',', '.');
udpDatagram_1 += "," + (1 - Math.Round((float)blobDetection[processKey].Contour.ConvertToPolygon().Simplify(1).ElementAt(j).Y / dst.Rows, 4)).ToString().Replace(',', '.');
udpDatagram_1 += ",";
}
else
{
udpDatagram_1 += (1 - Math.Round((float)blobDetection[processKey].Contour.ConvertToPolygon().Simplify(1).ElementAt(j).X / dst.Cols, 4)).ToString().Replace(',', '.');
udpDatagram_1 += "," + Math.Round((float)blobDetection[processKey].Contour.ConvertToPolygon().Simplify(1).ElementAt(j).Y / dst.Rows, 4).ToString().Replace(',', '.');
udpDatagram_1 += ",";
}
}
udpDatagram_1 += ";";
udpDatagram_2 = "[$]tracking|id=" + data_id + "|label=" + blobCount + "|[$$]" + deviceName + ",[$$$]area,";
udpDatagram_2 += "value," + blobDetection[processKey].Contour.ConvertToPolygon().Simplify(1).Area().ToString().Replace(',', '.') + ";";
udpDatagram_3 = "[$]tracking|id=" + data_id + "|label=" + blobCount + "|[$$]" + deviceName + ",[$$$]place,";
if (orientation)
{
udpDatagram_3 += "position," + (Math.Round(blobDetection[processKey].Centroid.X / dst.Cols, 3)).ToString().Replace(',', '.') + "," + (Math.Round(1 - (blobDetection[processKey].Centroid.Y / dst.Rows), 3)).ToString().Replace(',', '.') + ";";
}
else
{
udpDatagram_3 += "position," + (Math.Round(1 - (blobDetection[processKey].Centroid.X / dst.Cols), 3)).ToString().Replace(',', '.') + "," + (Math.Round(blobDetection[processKey].Centroid.Y / dst.Rows, 3)).ToString().Replace(',', '.') + ";";
}
udpDatagram_4 = "[$]tracking|id=" + data_id + "|label=" + blobCount + "|[$$]" + deviceName + ",[$$$]color,";
udpDatagram_4 += "hsv," + scal[0] + "-" + (scal[1] + scal[2]) / 2 + "-" + (scal[3] + scal[4]) / 2 + ";";
//Geometry
udpDatagram_5 = "[$]tracking|id=" + data_id + "|label=" + blobCount + "|[$$]" + deviceName + ",[$$$]form,geometry,";
CvContourPolygon poly = blobDetection[processKey].Contour.ConvertToPolygon();
double epsilon = 0.04 * Cv2.ArcLength(poly, true);
Point[] counterResult = Cv2.ApproxPolyDP(poly, epsilon, closed: true);
int contourSimple_counter = counterResult.Length;
string geometry = "";
switch (contourSimple_counter)
{
case 3:
geometry = "triangle";
break;
case 4:
Rect rect = Cv2.BoundingRect(poly);
float aspectRatio = 0;
if (rect.Y != 0)
{
aspectRatio = rect.X / rect.Y;
}
if (aspectRatio >= 0.95 && aspectRatio <= 1.05)
{
geometry = "square";
}
else
{
geometry = "rectangle";
}
break;
default:
geometry = "unidentified" + contourSimple_counter;
break;
}
udpDatagram_5 += geometry + ";";
if (BlobLabel)
{
Cv2.PutText(src, geometry, blobDetection[processKey].Centroid, HersheyFonts.HersheySimplex, 0.5, new Scalar(0, 255, 0), 2);
Cv2.PutText(src, "[" + scal[0] + ", " + ((scal[1] + scal[2]) / 2) + ", " + ((scal[3] + scal[4]) / 2) + "]", new Point(blobDetection[processKey].Centroid.X, blobDetection[processKey].Centroid.Y + 20), HersheyFonts.HersheySimplex, 0.45, new Scalar(0, 255, 0), 2);
}
udpDatagram_6 = "[$]tracking|id=" + data_id + "|label=" + blobCount + "|[$$]" + deviceName + ",[$$$]perimeter,value,";
udpDatagram_6 += blobDetection[processKey].Contour.Perimeter().ToString().Replace(',', '.') + ";";
// UDP sender---------------------------------------------------------------------
try
{
byte[] sendBytes_1 = Encoding.ASCII.GetBytes(udpDatagram_1);
byte[] sendBytes_2 = Encoding.ASCII.GetBytes(udpDatagram_2);
byte[] sendBytes_3 = Encoding.ASCII.GetBytes(udpDatagram_3);
byte[] sendBytes_4 = Encoding.ASCII.GetBytes(udpDatagram_4);
byte[] sendBytes_5 = Encoding.ASCII.GetBytes(udpDatagram_5);
byte[] sendBytes_6 = Encoding.ASCII.GetBytes(udpDatagram_6);
udpClient.Send(sendBytes_1, sendBytes_1.Length, IP_udp, Port_udp);
udpClient.Send(sendBytes_2, sendBytes_2.Length, IP_udp, Port_udp);
udpClient.Send(sendBytes_3, sendBytes_3.Length, IP_udp, Port_udp);
udpClient.Send(sendBytes_4, sendBytes_4.Length, IP_udp, Port_udp);
udpClient.Send(sendBytes_5, sendBytes_5.Length, IP_udp, Port_udp);
udpClient.Send(sendBytes_6, sendBytes_6.Length, IP_udp, Port_udp);
}
catch (Exception e)
{
Console.WriteLine(e.ToString());
}
udpDatagram_1 = "";
udpDatagram_2 = "";
udpDatagram_3 = "";
udpDatagram_4 = "";
blobCount++;
}
}
}
blobCount = 1;
}
// Same morphologic transformation but this time for the output image.
Cv2.MorphologyEx(src: dstPreview,
dst: dstPreview,
op: MorphTypes.Close,
element: element
);
return(dstPreview);
}
