/// <summary>
/// Nimmt HSV Bild, vergleicht mit eingegebener Farbe und gibt binaeres Graubild zurueck
/// </summary>
/// <param name="inImg">Eingabe HSV-bild</param>
/// <param name="pcolor">Vergleichsfarbe</param>
/// <param name="dHue">Farbtoleranz</param>
/// <param name="dSaturation">Saettigungstoleranz</param>
/// <param name="dValue">Helligeitstoleranz</param>
/// <returns></returns>
private Emgu.CV.Image <Gray, byte> thresholdHSVtoGray(Emgu.CV.Image <Hsv, byte> inImg, Hsv pcolor)
{
double lowH, lowS, lowV, highH, highS, highV;
if (pcolor.Value < 15)
{
lowH = 0; highH = 179;
lowS = 0; highS = 255;
}
else
{
lowH = pcolor.Hue - dHue; //Math.Max(pcolor.Hue - dHue, 0);
lowS = Math.Max(pcolor.Satuation - dSaturation, 0);
highH = pcolor.Hue + dHue; // Math.Min(pcolor.Hue + dHue, 179);
highS = Math.Min(pcolor.Satuation + dSaturation, 255);
}
lowV = Math.Max(pcolor.Value - dValue, 0);
highV = Math.Min(pcolor.Value + dValue, 255);
Image <Gray, byte> gray = new Image <Gray, byte>(inImg.Size);
if (highH >= 180)
{
highH -= 180;
}
if (lowH < 0)
{
lowH += 180;
}
if (highH <= lowH)
{
Image <Gray, byte> gray1 = inImg.InRange(new Hsv(lowH, lowS, lowV), new Hsv(179, highS, highV));
Image <Gray, byte> gray2 = inImg.InRange(new Hsv(0, lowS, lowV), new Hsv(highH, highS, highV));
gray = gray1.Add(gray2);
}
else
{
gray = inImg.InRange(new Hsv(lowH, lowS, lowV), new Hsv(highH, highS, highV));
}
//Bildverbesserung
gray.SmoothMedian(mediansize);
return(gray);
}
/// <summary>
/// Process rocks in the image.
/// </summary>
private void ProcessSand()
{
// TODO: Make image be saved in MyDocs/Pictures.
if (this.inputImage == null)
{
return;
}
Thread workerThread = new Thread(() =>
{
/*
* string path = @"C:\Users\POLYGONTeam\Documents\GitHub\Androbot\Androbot\Androbot\bin\Debug\Images\2D_20160728170358.PNG";
*/
//Emgu.CV.Image<Bgr, byte> inpImg = new Emgu.CV.Image<Bgr, byte>(this.inputImage);
Emgu.CV.Image <Bgr, byte> inpImg = new Emgu.CV.Image <Bgr, byte>(inputImage);
Emgu.CV.Image <Gray, byte> water = inpImg.InRange(new Bgr(0, 100, 0), new Bgr(255, 255, 255));
//TODO: To check does we need mask?
//water = water.Add(mask);
//water._Dilate(1);
// Create the blobs.
Emgu.CV.Cvb.CvBlobs blobs = new Emgu.CV.Cvb.CvBlobs();
// Create blob detector.
Emgu.CV.Cvb.CvBlobDetector dtk = new Emgu.CV.Cvb.CvBlobDetector();
// Detect blobs.
uint state = dtk.Detect(water, blobs);
foreach (Emgu.CV.Cvb.CvBlob blob in blobs.Values)
{
//Console.WriteLine("Center: X:{0:F3} Y:{1:F3}", blob.Centroid.X, blob.Centroid.Y);
//Console.WriteLine("{0}", blob.Area);
if (blob.Area >= 4500 && blob.Area < 34465)
{
//Console.WriteLine("{0}", blob.Area);
inpImg.Draw(new CircleF(blob.Centroid, 5), new Bgr(Color.Red), 2);
inpImg.Draw(blob.BoundingBox, new Bgr(Color.Blue), 2);
}
}
if (this.outputImage != null)
{
this.outputImage.Dispose();
}
// Dump the image.
this.outputImage = inpImg.ToBitmap();
// Show the nwe mage.
this.pbMain.Image = this.FitImage(this.outputImage, this.pbMain.Size);
});
workerThread.Start();
}