public IEnumerator <ITask> QueryFrameHandler(webcam.QueryFrame req)
{
yield return(Arbiter.Choice(_scribblerPort.GetImage(req.Body.Format),
delegate(brick.ImageResponse r)
{
try
{
var resp = new webcam.QueryFrameResponse()
{
Format = req.Body.Format,
Size = new System.Drawing.Size(r.Width, r.Height),
TimeStamp = r.Timestamp,
};
if (req.Body.Format.Equals(MyroImageType.Color.Guid))
{
resp.Frame = convertColorToRGB(r.Data, r.Width, r.Height);
}
else if (req.Body.Format.Equals(MyroImageType.Gray.Guid))
{
resp.Frame = r.Data;
}
else if (req.Body.Format.Equals(MyroImageType.JpegColor.Guid) ||
req.Body.Format.Equals(MyroImageType.JpegColorFast.Guid))
{
resp.Frame = r.Data;
}
else if (req.Body.Format.Equals(MyroImageType.JpegGray.Guid) ||
req.Body.Format.Equals(MyroImageType.JpegGrayFast.Guid))
{
resp.Frame = r.Data;
}
else
{
throw new Exception("FlukeCam does not know how to convert this image type");
}
req.ResponsePort.Post(resp);
}
catch (Exception e)
{
req.ResponsePort.Post(RSUtils.FaultOfException(e));
}
},
delegate(Fault f)
{
req.ResponsePort.Post(f);
}));
}
public IEnumerator<ITask> QueryFrameHandler(webcam.QueryFrame req)
{
yield return Arbiter.Choice(_scribblerPort.GetImage(req.Body.Format),
delegate(brick.ImageResponse r)
{
try
{
var resp = new webcam.QueryFrameResponse()
{
Format = req.Body.Format,
Size = new System.Drawing.Size(r.Width, r.Height),
TimeStamp = r.Timestamp,
};
if (req.Body.Format.Equals(MyroImageType.Color.Guid))
resp.Frame = convertColorToRGB(r.Data, r.Width, r.Height);
else if (req.Body.Format.Equals(MyroImageType.Gray.Guid))
resp.Frame = r.Data;
else if (req.Body.Format.Equals(MyroImageType.JpegColor.Guid) ||
req.Body.Format.Equals(MyroImageType.JpegColorFast.Guid))
resp.Frame = r.Data;
else if (req.Body.Format.Equals(MyroImageType.JpegGray.Guid) ||
req.Body.Format.Equals(MyroImageType.JpegGrayFast.Guid))
resp.Frame = r.Data;
else
throw new Exception("FlukeCam does not know how to convert this image type");
req.ResponsePort.Post(resp);
}
catch (Exception e)
{
req.ResponsePort.Post(RSUtils.FaultOfException(e));
}
},
delegate(Fault f)
{
req.ResponsePort.Post(f);
});
}
public void QueryFrameHandler(webcam.QueryFrame queryFrame)
{
if (_state.Frame == null)
{
queryFrame.ResponsePort.Post(new webcam.QueryFrameResponse());
}
else if (queryFrame.Body.Format == Guid.Empty)
{
// raw image requested;
BitmapData raw = null;
try
{
raw = _state.Frame.LockBits(
new Rectangle(Point.Empty,
new Size((int)_state.ImageSize.X, (int)_state.ImageSize.Y)),
ImageLockMode.ReadOnly,
PixelFormat.Format24bppRgb);
int size = raw.Height * raw.Stride;
webcam.QueryFrameResponse response = new webcam.QueryFrameResponse();
response.TimeStamp = _state.LastFrameUpdate;
response.Frame = new byte[size];
response.Size = new Size(raw.Width, raw.Height);
response.Format = Guid.Empty;
System.Runtime.InteropServices.Marshal.Copy(raw.Scan0, response.Frame, 0, size);
queryFrame.ResponsePort.Post(response);
}
finally
{
if (raw != null)
{
_state.Frame.UnlockBits(raw);
}
}
}
else
{
ImageFormat format = new ImageFormat(queryFrame.Body.Format);
using (MemoryStream stream = new MemoryStream())
{
Size size = new Size((int)queryFrame.Body.Size.X, (int)queryFrame.Body.Size.Y);
if (size == _state.Frame.Size ||
size.Width == 0 ||
size.Height == 0 ||
size.Width >= _state.Frame.Width ||
size.Height >= _state.Frame.Height)
{
size = _state.Frame.Size;
_state.Frame.Save(stream, format);
}
else
{
using (Bitmap temp = new Bitmap(_state.Frame, size))
{
temp.Save(stream, format);
}
}
webcam.QueryFrameResponse response = new webcam.QueryFrameResponse();
response.TimeStamp = _state.LastFrameUpdate;
response.Frame = new byte[(int)stream.Length];
response.Size = size;
response.Format = format.Guid;
stream.Position = 0;
stream.Read(response.Frame, 0, response.Frame.Length);
queryFrame.ResponsePort.Post(response);
}
}
}
public IEnumerator <ITask> OnHttpPost(HttpPost httpPost)
{
HttpListenerContext context = httpPost.Body.Context;
NameValueCollection parameters = null;
Fault fault = null;
try
{
ReadFormData readForm = new ReadFormData(httpPost);
_utilitiesPort.Post(readForm);
yield return(Arbiter.Choice(
readForm.ResultPort,
delegate(NameValueCollection success)
{
parameters = success;
},
delegate(Exception e)
{
LogError("Error reading form data", e);
fault = Fault.FromException(e);
}
));
if (fault != null)
{
yield break;
}
string name = string.Empty;
string deleteName = null;
string expandName = null;
int left = 0;
int top = 0;
int width = 0;
int height = 0;
int deleteY = 0;
int deleteCb = 0;
int deleteCr = 0;
double threshold = 1.0;
int minBlobSize = 0;
bool showPartial = false;
bool despeckle = false;
bool updateSettings = false;
bool save = false;
foreach (string key in parameters.Keys)
{
if (key.StartsWith("Delete."))
{
string[] segments = key.Split('.');
deleteName = segments[1];
deleteY = int.Parse(segments[2]);
deleteCb = int.Parse(segments[3]);
deleteCr = int.Parse(segments[4]);
}
else if (key.StartsWith("ExpandY."))
{
string[] segments = key.Split('.');
expandName = segments[1];
deleteY = int.Parse(segments[2]);
deleteCb = int.Parse(segments[3]);
deleteCr = int.Parse(segments[4]);
}
else
{
switch (key)
{
case "Save":
save = true;
break;
case "Threshold":
threshold = double.Parse(parameters[key]);
break;
case "ShowPartial":
showPartial = parameters[key] == "on";
break;
case "Despeckle":
despeckle = parameters[key] == "on";
break;
case "UpdateSettings":
updateSettings = true;
break;
case "MinBlobSize":
minBlobSize = int.Parse(parameters[key]);
break;
case "New.Left":
left = int.Parse(parameters[key]);
break;
case "New.Top":
top = int.Parse(parameters[key]);
break;
case "New.Width":
width = int.Parse(parameters[key]);
break;
case "New.Height":
height = int.Parse(parameters[key]);
break;
case "New.Name":
name = parameters[key].Trim();
break;
default:
break;
}
}
}
if (save)
{
yield return(Arbiter.Choice(
SaveState(_state.SmallCopy),
EmptyHandler,
EmptyHandler
));
}
else if (!string.IsNullOrEmpty(deleteName))
{
ColorDefinition definition = new ColorDefinition(deleteName, deleteY, deleteCb, deleteCr);
RemoveColorDefinition remove = new RemoveColorDefinition(definition);
OnRemoveColorDefinition(remove);
}
else if (!string.IsNullOrEmpty(expandName))
{
ColorDefinition definition = new ColorDefinition(expandName, deleteY, deleteCb, deleteCr);
ColorSet set = _state.Colors.Find(definition.Compare);
if (set != null)
{
ColorDefinition existing = set.Colors.Find(definition.CompareColor);
definition.SigmaCb = existing.SigmaCb;
definition.SigmaCr = existing.SigmaCr;
if (existing.SigmaY < 1)
{
definition.SigmaY = 2;
}
else
{
definition.SigmaY = 3 * existing.SigmaY / 2;
}
}
UpdateColorDefinition update = new UpdateColorDefinition(definition);
OnUpdateColorDefinition(update);
}
else if (updateSettings)
{
UpdateSettings update = new UpdateSettings(
new Settings(
threshold,
showPartial,
despeckle,
minBlobSize
)
);
OnUpdateSettings(update);
}
else
{
webcam.QueryFrameResponse response = null;
yield return(Arbiter.Choice(
_webcamPort.QueryFrame(),
delegate(webcam.QueryFrameResponse success)
{
response = success;
},
delegate(Fault failure)
{
LogError("Unable to query frame for update", failure);
}
));
if (response == null)
{
yield break;
}
int right = left + width;
int bottom = top + height;
byte[] data = response.Frame;
int stride = data.Length / response.Size.Height;
int rowOffset = left * 3;
int offset;
int r, g, b;
int[] yProjection = new int[256];
int[] cbProjection = new int[256];
int[] crProjection = new int[256];
int count = 0;
double yMean = 0;
double cbMean = 0;
double crMean = 0;
for (int y = top; y < bottom; y++)
{
offset = rowOffset + y * stride;
for (int x = left; x < right; x++)
{
b = data[offset++];
g = data[offset++];
r = data[offset++];
ColorDefinition pixel = new ColorDefinition(r, g, b, "pixel");
yProjection[pixel.Y]++;
cbProjection[pixel.Cb]++;
crProjection[pixel.Cr]++;
count++;
yMean += pixel.Y;
cbMean += pixel.Cb;
crMean += pixel.Cr;
}
}
if (count <= 16)
{
LogError("The area was too small to generalize a color");
yield break;
}
yMean /= count;
cbMean /= count;
crMean /= count;
double ySigma = CalculateStdDev(yMean, yProjection, count);
double cbSigma = CalculateStdDev(cbMean, cbProjection, count);
double crSigma = CalculateStdDev(crMean, crProjection, count);
ColorDefinition definition = new ColorDefinition(
name,
(int)Math.Round(yMean),
(int)Math.Round(cbMean),
(int)Math.Round(crMean)
);
definition.SigmaY = (int)Math.Max(1, Math.Round(2 * ySigma));
definition.SigmaCb = (int)Math.Max(1, Math.Round(2 * cbSigma));
definition.SigmaCr = (int)Math.Max(1, Math.Round(2 * crSigma));
if (!string.IsNullOrEmpty(expandName))
{
definition.Name = expandName;
UpdateColorDefinition update = new UpdateColorDefinition(definition);
OnUpdateColorDefinition(update);
}
else
{
AddColorDefinition add = new AddColorDefinition(definition);
OnAddColorDefinition(add);
}
}
}
finally
{
httpPost.ResponsePort.Post(new HttpResponseType(HttpStatusCode.OK, _state.SmallCopy, _transform));
}
}
IEnumerator <ITask> DoVisionProcessing(VisionProcessingParameters parameters)
{
try
{
List <ColorSet> colors = parameters.Colors;
Settings settings = parameters.Settings;
int[] colorSetMap = parameters.ColorSetMap;
webcam.QueryFrameResponse response = null;
yield return(Arbiter.Choice(
_webcamPort.QueryFrame(),
delegate(webcam.QueryFrameResponse success)
{
response = success;
},
LogError
));
if (response == null)
{
yield break;
}
double threshold = settings.Threshold;
int height = response.Size.Height;
int width = response.Size.Width;
int offset;
int stride = response.Frame.Length / height;
byte[] bytes = response.Frame;
byte[,] indexed = new byte[width, height];
int segOffset;
int segStride = width;
byte[] segmented = new byte[width * height];
for (int y = 0; y < height; y++)
{
offset = stride * y;
segOffset = segStride * y;
for (int x = 0; x < width; x++)
{
int blu = bytes[offset++];
int grn = bytes[offset++];
int red = bytes[offset++];
int col = (((red + 7) & 0xF0) << 4) |
((grn + 7) & 0xF0) |
(((blu + 7) & 0xF0) >> 4);
int bestIndex = colorSetMap[col];
indexed[x, y] = (byte)bestIndex;
segmented[segOffset++] = (byte)bestIndex;
}
}
if (settings.Despeckle)
{
int[] votes;
byte[,] despeckled = new byte[width, height];
offset = 0;
for (int y = 0; y < height; y++)
{
offset = y * stride;
for (int x = 0; x < width; x++, offset++)
{
votes = new int[colors.Count + 1];
int color;
int leader = 0;
if (x == 0 || y == 0 ||
x == width - 1 || y == height - 1)
{
leader = indexed[x, y];
votes[leader]++;
}
else
{
for (int iy = -1; iy < 2; iy++)
{
for (int ix = -1; ix < 2; ix++)
{
color = indexed[x + ix, y + iy];
votes[color]++;
if (votes[color] > votes[leader])
{
leader = color;
}
}
}
//
// if there is a tie, then use the original color.
//
int bestVote = votes[leader];
for (int i = 0; i < votes.Length; i++)
{
if (i != leader &&
votes[i] == bestVote)
{
leader = indexed[x, y];
break;
}
}
}
despeckled[x, y] = (byte)leader;
}
}
indexed = despeckled;
}
List <ColorArea> areas = new List <ColorArea>();
byte[,] copy = (byte[, ])indexed.Clone();
for (int y = 0; y < height; y++)
{
for (int x = 0; x < width; x++)
{
int curr = copy[x, y];
if (curr != 0)
{
ColorArea area = new ColorArea(colors[curr - 1].Name);
area.Flood(copy, x, y);
areas.Add(area);
}
}
}
areas = areas.FindAll(
delegate(ColorArea test)
{
return(test.Area >= settings.MinBlobSize);
}
);
areas.Sort(
delegate(ColorArea left, ColorArea right)
{
return(-left.Area.CompareTo(right.Area));
}
);
Color[] outputColors = new Color[colors.Count + 1];
for (int i = 0; i < outputColors.Length; i++)
{
if (i == 0)
{
outputColors[i] = Color.Black;
}
else
{
ColorSet set = colors[i - 1];
ColorDefinition def = set.Colors[0];
outputColors[i] = Color.FromArgb(def.R, def.G, def.B);
}
}
for (int y = 0; y < height; y++)
{
offset = y * stride;
segOffset = y * segStride;
for (int x = 0; x < width; x++)
{
int palIndex = segmented[segOffset++];
Color pixel = outputColors[palIndex];
bytes[offset++] = (byte)pixel.B;
bytes[offset++] = (byte)pixel.G;
bytes[offset++] = (byte)pixel.R;
}
}
segmented = bytes;
SegmentedImage image = new SegmentedImage(response.TimeStamp, width, height, segmented, indexed);
_mainPort.Post(new UpdateSegmentedImage(image));
FoundColorAreas foundColors = new FoundColorAreas();
foundColors.TimeStamp = response.TimeStamp;
foreach (ColorArea area in areas)
{
if (area.Area > 0)
{
area.Complete();
foundColors.Areas.Add(area);
}
}
_fwdPort.Post(new UpdateColorAreas(foundColors));
}
finally
{
_fwdPort.Post(new ProcessFrame(false));
}
}
IEnumerator <ITask> DoCameraUpdateFrameHandler(cam.UpdateFrame update)
{
try
{
cam.QueryFrameResponse frame = null;
Fault fault = null;
yield return(Arbiter.Choice(
_webCamPort.QueryFrame(new cam.QueryFrameRequest()),
delegate(cam.QueryFrameResponse success)
{
frame = success;
},
delegate(Fault f)
{
fault = f;
}
));
if (fault != null)
{
LogError(null, "Failed to get frame from camera", fault);
yield break;
}
Bitmap bmp = new Bitmap(
frame.Size.Width,
frame.Size.Height,
PixelFormat.Format24bppRgb
);
BitmapData data = bmp.LockBits(
new Rectangle(0, 0, bmp.Width, bmp.Height),
ImageLockMode.WriteOnly,
PixelFormat.Format24bppRgb
);
Marshal.Copy(frame.Frame, 0, data.Scan0, frame.Frame.Length);
bmp.UnlockBits(data);
FormInvoke setImage = new FormInvoke(
delegate()
{
if (!_form.IsDisposed)
{
_form.CameraImage = bmp;
}
}
);
WinFormsServicePort.Post(setImage);
Arbiter.Choice(
setImage.ResultPort,
delegate(EmptyValue success) { },
delegate(Exception e)
{
fault = Fault.FromException(e);
}
);
if (fault != null)
{
LogError(null, "Unable to set camera image on form", fault);
yield break;
}
}
finally
{
_mainPort.Post(new UpdateProcessing(false));
}
}