override public void Process()
{
if (!Enabled)
{
return;
}
FInput.Image.GetImage(TColorFormat.L8, FGrayscale);
Size SizeNow = BoardSize;
PointF[] points = CameraCalibration.FindChessboardCorners(FGrayscale.GetImage() as Image <Gray, byte>, SizeNow, CALIB_CB_TYPE.ADAPTIVE_THRESH);
lock (FFoundPointsLock)
{
if (points == null)
{
FFoundPoints.SliceCount = 0;
}
else
{
FFoundPoints.SliceCount = SizeNow.Width * SizeNow.Height;
for (int i = 0; i < FFoundPoints.SliceCount; i++)
{
FFoundPoints[i] = new Vector2D(points[i].X, points[i].Y);
}
}
}
}
void UpdateImage()
{
if (!FInput.Allocated)
{
return;
}
FInput.GetImage(FImage);
FImageBox.Image = FImage.GetImage();
}
public void GetImage(CVImage target)
{
LockForReading();
try
{
FFrontBuffer.GetImage(target);
}
finally
{
ReleaseForReading();
}
}
public override void Process()
{
CVImage swap = FPrevious;
FPrevious = FCurrent;
FCurrent = swap;
FInput.Image.GetImage(TColorFormat.L8, FCurrent);
Image <Gray, byte> p = FPrevious.GetImage() as Image <Gray, byte>;
Image <Gray, byte> c = FCurrent.GetImage() as Image <Gray, byte>;
Image <Gray, float> vx = FVelocityX.GetImage() as Image <Gray, float>;
Image <Gray, float> vy = FVelocityY.GetImage() as Image <Gray, float>;
OpticalFlow.LK(p, c, FWindowSize, vx, vy);
CopyToRgb();
FOutput.Send();
}
public override void Process()
{
CVImage swap = FPrevious;
FPrevious = FCurrent;
FCurrent = swap;
FInput.Image.GetImage(TColorFormat.L8, FCurrent);
Image <Gray, byte> p = FPrevious.GetImage() as Image <Gray, byte>;
Image <Gray, byte> c = FCurrent.GetImage() as Image <Gray, byte>;
Image <Gray, float> vx = FVelocityX.GetImage() as Image <Gray, float>;
Image <Gray, float> vy = FVelocityY.GetImage() as Image <Gray, float>;
OpticalFlow.HS(p, c, UsePrevious, vx, vy, FLambda, new MCvTermCriteria(FIterations));
CopyToRgb();
FOutput.Send();
}
override public void Process()
{
if (!Enabled)
{
return;
}
FInput.Image.GetImage(TColorFormat.L8, FGrayscale);
Image <Gray, byte> img = FGrayscale.GetImage() as Image <Gray, byte>;
if (img != null)
{
//Seriously EmguCV? what the f**k is up with your syntax?
//both ways of skinning this cat involve f*****g a moose
List <ContourTempData> results = new List <ContourTempData>();
ContourTempData c;
try
{
CHAIN_APPROX_METHOD cam;
switch (Approximation)
{
case ContourApproximation.None:
cam = CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_NONE;
break;
case ContourApproximation.TehChinKCOS:
cam = CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_TC89_KCOS;
break;
case ContourApproximation.TehChinL1:
cam = CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_TC89_L1;
break;
case ContourApproximation.LinkRuns:
cam = CHAIN_APPROX_METHOD.CV_LINK_RUNS;
break;
case ContourApproximation.Simple:
case ContourApproximation.Poly:
default:
cam = CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE;
break;
}
Contour <Point> contour = img.FindContours(cam, RETR_TYPE.CV_RETR_LIST);
for (; contour != null; contour = contour.HNext)
{
c = new ContourTempData();
c.Area = contour.Area;
c.Bounds = contour.BoundingRectangle;
if (Approximation == ContourApproximation.Poly)
{
c.Perimeter = new ContourPerimeter(contour.ApproxPoly(FPolyAccuracy), img.Width, img.Height);
}
else
{
c.Perimeter = new ContourPerimeter(contour, img.Width, img.Height);
}
results.Add(c);
}
lock (FLockResults)
FStatus = "OK";
}
catch (Exception e)
{
lock (FLockResults)
FStatus = e.Message;
}
lock (FLockResults)
{
FBoundingBox.SliceCount = results.Count;
FArea.SliceCount = results.Count;
FPerimeter.SliceCount = results.Count;
for (int i = 0; i < results.Count; i++)
{
c = results[i];
FBoundingBox[i] = new Vector4D(((double)c.Bounds.X / (double)img.Width) * 2.0d - 1.0d,
1.0d - ((double)c.Bounds.Y / (double)img.Height) * 2.0d,
(double)c.Bounds.Width * 2.0d / (double)img.Width,
(double)c.Bounds.Height * 2.0d / (double)img.Height);
FArea[i] = (double)c.Area * (4.0d / (double)(img.Width * img.Height));
FPerimeter[i] = c.Perimeter;
}
}
}
}
void FContext_Update(object sender, EventArgs e)
{
FContext.Update -= OnUpdate;
var colorWidth = FContext.FSensor.ColorStream.FrameWidth;
var colorHeight = FContext.FSensor.ColorStream.FrameHeight;
var depthWidth = FContext.FSensor.DepthStream.FrameWidth;
var depthHeight = FContext.FSensor.DepthStream.FrameHeight;
//find board positions in world coordinates
//get mapped color image
CVImage Image = new CVImage();
//it's mapped so it's in depth coords
Image.Initialise(new System.Drawing.Size(depthWidth, depthHeight), TColorFormat.RGBA8);
lock (FContext.ColorLock)
{
Image.SetPixels(FContext.ColorData);
}
//create grayscale
CVImage Luminance = new CVImage();
Luminance.Initialise(Image.Size, TColorFormat.L8);
Image.GetImage(TColorFormat.L8, Luminance);
//find corners in rgb
var pointsInRGB = CameraCalibration.FindChessboardCorners(Luminance.GetImage() as Image<Gray, byte>, new Size(FInBoardX[0], FInBoardY[0]), CALIB_CB_TYPE.ADAPTIVE_THRESH);
//destroy images
Image.Dispose();
Luminance.Dispose();
//find corners in world
lock (FContext.DepthLock)
{
FContext.FWorldLock.AcquireReaderLock(500);
try
{
var world = FContext.WorldData;
lock (FDepthCorners)
{
FDepthCorners.Clear();
lock (FWorldCorners)
{
FWorldCorners.Clear();
foreach (var rgbCorner in pointsInRGB)
{
int index = (int)rgbCorner.X + (int)rgbCorner.Y * depthWidth;
FDepthCorners.Add(new Vector3D(
rgbCorner.X,
rgbCorner.Y,
(double) FContext.DepthData[index] / 1000.0
));
FWorldCorners.Add(new Vector3D(
world[index * 4],
world[index * 4 + 1],
world[index * 4 + 2]
));
}
}
}
FCornersDirty = true;
}
catch
{
}
finally
{
FContext.FWorldLock.ReleaseReaderLock();
}
}
}
