void ProcessFrame(object sender, EventArgs e)
{
Mat frame = _cameraCapture.QueryFrame();
Mat smoothedFrame = new Mat();
CvInvoke.GaussianBlur(frame, smoothedFrame, new Size(3, 3), 1); //filter out noises
//frame._SmoothGaussian(3);
#region use the BG/FG detector to find the forground mask
Mat forgroundMask = new Mat();
_fgDetector.Apply(smoothedFrame, forgroundMask);
#endregion
CvBlobs blobs = new CvBlobs();
_blobDetector.Detect(forgroundMask.ToImage <Gray, byte>(), blobs);
blobs.FilterByArea(100, int.MaxValue);
float scale = (frame.Width + frame.Width) / 2.0f;
_tracker.Update(blobs, 0.01 * scale, 5, 5);
foreach (var pair in _tracker)
{
CvTrack b = pair.Value;
CvInvoke.Rectangle(frame, b.BoundingBox, new MCvScalar(255.0, 255.0, 255.0), 2);
CvInvoke.PutText(frame, b.Id.ToString(), new Point((int)Math.Round(b.Centroid.X), (int)Math.Round(b.Centroid.Y)), FontFace.HersheyPlain, 1.0, new MCvScalar(255.0, 255.0, 255.0));
}
imageBox1.Image = frame;
imageBox2.Image = forgroundMask;
}
static Image <Bgr, Byte> _doDetect(string fileName)
{
Debug.WriteLine($"Processing: {fileName}");
var frameOrig = new Image <Bgr, Byte>(fileName);
var frame = frameOrig.Convert <Gray, Byte>();
Mat smoothedFrame = new Mat();
CvInvoke.GaussianBlur(frame, smoothedFrame, new Size(19, 19), 7); //filter out noises
var smoothedImage = smoothedFrame.ToImage <Gray, Byte>();
if (_original == null)
{
_original = smoothedImage;
return(null);
}
var frameDelta = smoothedImage.AbsDiff(_original);
var thresh = frameDelta.ThresholdBinary(new Gray(25), new Gray(255));
thresh = thresh.Dilate(2);
//File.WriteAllBytes(@"C:\Temp\imagery\aathreh.jpg", thresh.ToJpegData(95));
_original = smoothedImage;
//var cnts = new VectorOfVectorOfPoint();
//CvInvoke.FindContours(thresh.Copy(), cnts, null, RetrType.External,
// ChainApproxMethod.ChainApproxSimple);
//var goer = false;
//for (var i = 0; i < cnts.Size; i++)
//{
// var c = cnts[i];
// if (CvInvoke.ContourArea(c) < 500)
// {
// continue;
// }
// goer = true;
// //Debug.WriteLine(CvInvoke.ContourArea(c));
// //var rect = CvInvoke.BoundingRectangle(c);
// //CvInvoke.Rectangle(frame, rect, new MCvScalar(255.0, 255.0, 255.0), 2);
//}
////// File.WriteAllBytes(@"C:\Temp\imagery\aaframes.jpg", frame.ToJpegData(95));
// return goer;
//Mat forgroundMask = new Mat();
//_fgDetector.Apply(smoothedFrame, forgroundMask);
CvBlobs blobs = new CvBlobs();
_blobDetector.Detect(thresh, blobs);
blobs.FilterByArea(1600, int.MaxValue);
float scale = (frame.Width + frame.Width) / 2.0f;
//File.WriteAllBytes(@"C:\Temp\imagery\aaout.jpg", smoothedImage.ToJpegData(95));
_tracker.Update(blobs, scale, 5, 5);
foreach (var pair in _tracker)
{
CvTrack b = pair.Value;
CvInvoke.Rectangle(frameOrig, b.BoundingBox, new MCvScalar(255.0, 255.0, 255.0), 2);
CvInvoke.PutText(frameOrig, b.Id.ToString(), new Point((int)Math.Round(b.Centroid.X), (int)Math.Round(b.Centroid.Y)), FontFace.HersheyPlain, 1.0, new MCvScalar(255.0, 255.0, 255.0));
}
// File.WriteAllBytes(@"C:\Temp\imagery\aaframes.jpg", frame.ToJpegData(95));
// File.WriteAllBytes(@"C:\Temp\imagery\aablur.jpg", smoothedFrame.ToImage<Gray, byte>().ToJpegData(95));
return(_tracker.Count > 0 ? frameOrig : null);
//var cnts = new VectorOfVectorOfPoint();
//CvInvoke.FindContours(thresh.Copy(), cnts, null, RetrType.External,
// ChainApproxMethod.ChainApproxSimple);
//for (var i = 0; i < cnts.Size; i++)
//{
// var c = cnts[i];
// Debug.WriteLine(CvInvoke.ContourArea(c));
// var rect = CvInvoke.BoundingRectangle(c);
// CvInvoke.Rectangle(frame, b.BoundingBox, new MCvScalar(255.0, 255.0, 255.0), 2);
//}
//Mat smoothedFrame = new Mat();
//CvInvoke.GaussianBlur(frame, smoothedFrame, new Size(23, 23), 5); //filter out noises
////frame._SmoothGaussian(3);
//Mat forgroundMask = new Mat();
//_fgDetector.Apply(smoothedFrame, forgroundMask);
//CvBlobs blobs = new CvBlobs();
//_blobDetector.Detect(forgroundMask.ToImage<Gray, byte>(), blobs);
//blobs.FilterByArea(100, int.MaxValue);
//float scale = (frame.Width + frame.Width) / 2.0f;
//File.WriteAllBytes(@"C:\Temp\imagery\aaout.jpg", forgroundMask.ToImage<Gray, byte>().ToJpegData(95));
//_tracker.Update(blobs, scale, 5, 5);
//foreach (var pair in _tracker)
//{
// CvTrack b = pair.Value;
// CvInvoke.Rectangle(frame, b.BoundingBox, new MCvScalar(255.0, 255.0, 255.0), 2);
// CvInvoke.PutText(frame, b.Id.ToString(), new Point((int)Math.Round(b.Centroid.X), (int)Math.Round(b.Centroid.Y)), FontFace.HersheyPlain, 1.0, new MCvScalar(255.0, 255.0, 255.0));
//}
//File.WriteAllBytes(@"C:\Temp\imagery\aaframes.jpg", frame.ToJpegData(95));
//File.WriteAllBytes(@"C:\Temp\imagery\aablur.jpg", smoothedFrame.ToImage<Gray, byte>().ToJpegData(95));
//Console.WriteLine($" >>>> Tracker: {_tracker.Count}, Blobs: {blobs.Count}");
//foreach (var pair in _tracker)
//{
// CvTrack b = pair.Value;
// CvInvoke.Rectangle(frame, b.BoundingBox, new MCvScalar(255.0, 255.0, 255.0), 2);
// CvInvoke.PutText(frame, b.Id.ToString(), new Point((int)Math.Round(b.Centroid.X), (int)Math.Round(b.Centroid.Y)), FontFace.HersheyPlain, 1.0, new MCvScalar(255.0, 255.0, 255.0));
//}
//imageBox1.Image = frame;
//imageBox2.Image = forgroundMask;
}
private void SetTrackedImage(CvTrack track, Image<Bgr, byte> image, TrackedObject myTrack)
{
var windowSize = _settings.SubImageMultiplier.Value > 1
? _settings.SubImageMultiplier.Value * (1 + (myTrack.MaxSize / _settings.SubImageMultiplier.Value))
: myTrack.MaxSize;
var x = Math.Max(0, Convert.ToInt32(track.Centroid.x) - windowSize / 2);
x = Math.Min(_imageWidth - windowSize, x);
var y = Math.Max(0, Convert.ToInt32(track.Centroid.y) - windowSize / 2);
y = Math.Min(_imageHeight - windowSize, y);
var sourceRect = new Rectangle(x, y, windowSize, windowSize);
var subImage = image.Copy(sourceRect);
myTrack.ProcessTrackerResult(sourceRect, subImage);
}
public CameraTrackingFindSubjectsReturnModel FindSubjects()
{
double largestW = 0;
double largestH = 0;
double centerX = 0;
double centerY = 0;
bool foundSubject = false;
Rectangle subject = new Rectangle();
// get detection 'blobs' or regions
CvBlobs blobs = new CvBlobs();
_blobDetector.Detect(this.lastMask.ToImage <Gray, byte>(), blobs);
blobs.FilterByArea(100, int.MaxValue);
float scale = (this.lastFrame.Width + this.lastFrame.Width) / 2.0f;
_tracker.Update(blobs, 0.01 * scale, 5, 5);
FrameWidth = this.lastFrame.Width;
FrameHeight = this.lastFrame.Height;
foreach (var pair in _tracker)
{
CvTrack b = pair.Value;
// limit the largest and smallest size boxes we care about.
if (b.BoundingBox.Width < (this.lastFrame.Width / this.smallestDetectionWidthSizeDivisor) ||
b.BoundingBox.Height < (this.lastFrame.Height / this.smallestDetectionHeightSizeDivisor) ||
(b.BoundingBox.Width > (this.lastFrame.Width / this.largestDetectionWidthSizeDivisor) &&
b.BoundingBox.Height > (this.lastFrame.Height / this.largestDetectionHeightSizeDivisor)))
{
continue;
}
// keep track of the largest regions as we only care to track the largest
if (b.BoundingBox.Width > largestW)
{
subject = b.BoundingBox;
largestW = b.BoundingBox.Width;
largestH = b.BoundingBox.Height;
centerX = b.Centroid.X;
centerY = b.Centroid.Y;
CvInvoke.Rectangle(
this.lastFrame,
b.BoundingBox,
new MCvScalar(
255.0,
255.0,
255.0),
20);
CvInvoke.PutText(
this.lastFrame,
b.Id.ToString(),
new Point(
(int)Math.Round(b.Centroid.X),
(int)Math.Round(b.Centroid.Y)),
FontFace.HersheyPlain,
1.0,
new MCvScalar(255.0, 255.0, 255.0));
foundSubject = true;
}
else
{
CvInvoke.Rectangle(
this.lastFrame,
b.BoundingBox,
new MCvScalar(
255.0,
255.0,
255.0),
1);
CvInvoke.PutText(
this.lastFrame,
b.Id.ToString(),
new Point(
(int)Math.Round(b.Centroid.X),
(int)Math.Round(b.Centroid.Y)),
FontFace.HersheyPlain,
1.0,
new MCvScalar(
255.0,
255.0,
255.0));
}
}
return(new CameraTrackingFindSubjectsReturnModel()
{
CenterX = centerX,
CenterY = centerY,
BoundingBox = subject,
FoundSubject = foundSubject
});
}
/// <summary>
/// Here: mark active as active, set crop, public enumerable
/// UI thread: iterate observable - throw out any not active, mark all active inactive, add any new, send new images for id, create imagesource
/// </summary>
/// <param name="track"></param>
/// <param name="image"></param>
private void ProcessTrack(CvTrack track, Image<Bgr, Byte> image)
{
// can this happen for tracks that later resume?
if (track.Active <= 0) return;
// get the tracked object currently using this id, if any
TrackedObject myTrack;
_trackedObjectIdentities.TryGetValue(track.Id, out myTrack);
if (track.Lifetime <= 1 && myTrack != null && myTrack.TrackingState == TrackingState.Dead)
{
_trackedObjectIdentities.Remove(track.Id);
myTrack = null;
}
if (track.Lifetime < _settings.MinFramesToStartIdentifying.Value)
{
return;
}
if (myTrack == null)
{
myTrack = new TrackedObject{Id = _nextTrackId++, TrackingState = TrackingState.New};
}
else
{
myTrack.TrackingState = TrackingState.Current;
}
try
{
myTrack.MaxSize = Math.Max(myTrack.MaxSize,
Math.Max(track.BoundingBox.Height, track.BoundingBox.Width));
if (myTrack.MaxSize < _settings.MinSizeToIdentify.Value) return;
if (myTrack.TrackingState == TrackingState.New)
_trackedObjectIdentities[track.Id] = myTrack;
SetTrackedImage(track, image, myTrack);
}
catch (Exception ex)
{
Log.Error("Exception processing track", ex);
}
}
