public override Image ProcessColorImage(Bitmap frame, ToteDetectionType detectionType, bool detectBins)
{
Image<Bgr, Byte> img = new Image<Bgr, Byte>(frame);
//// Get The Thresh Image With Given Values
//Image<Gray, byte> thresh = (threshData as BgrThreshData).InRange(img);
//// Pixelate Image
//threshData.Blur(ref thresh);
//
//
//Image ret = base.AnalyzeImage(thresh, detectionType, detectBins);
//frame.Dispose();
//thresh.Dispose();
img = img.SmoothMedian(11);
img = img.SmoothGaussian(11);
img = img.Erode(15);
img = img.Dilate(10);
// Try this: img.HoughCircles();
Image<Gray, byte> thresh = img.InRange(new Bgr(110, 130, 100), new Bgr(164, 166, 181));
Contour<Point> countor = thresh.FindContours(Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE, Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_LIST);
List<Contour<Point>> PlayingBalls = new List<Contour<Point>>(); ;
while (countor != null)
{
// filter countors
// convex hull countors
if (countor.Area > 50)
PlayingBalls.Add(countor);
countor = countor.HNext;
}
float resolutionOffset = ((float)thresh.Width * thresh.Height) / (640.0f * 480.0f);
foreach (Contour<Point> ball in PlayingBalls)
{
img.Draw(ball, new Bgr(255, 0, 0), (int)Math.Ceiling(3.0f));
// draw left countors and their min enclosing circle (draw on img)
}
Image ret = img.ToBitmap();
img.Dispose();
return ret;
}
public Image ProcessImage(Bitmap frame, ToteDetectionType detectionType, bool detectBins)
{
Image<Hsv, Byte> img = new Image<Hsv, Byte>(frame);
// Get The Thresh Image With Given Values
Image<Gray, byte> thresh = threshData.InRange(img);
// Pixelate Image
threshData.Blur(ref thresh);
Image ret = AnalyzeImage(img.Convert<Bgr, byte>(), thresh, detectionType, detectBins);
thresh.Dispose();
img.Dispose();
return ret;
}
public override Image ProcessColorImage(Bitmap frame, ToteDetectionType detectionType, bool detectBins)
{
Image<Hsv, Byte> img = new Image<Hsv, Byte>(frame);
// Get The Thresh Image With Given Values
Image<Gray, byte> thresh = (threshData as HsvThreshData).InRange(img);
// Pixelate Image
threshData.Blur(ref thresh);
Image ret = base.AnalyzeImage(thresh, detectionType, detectBins);
thresh.Dispose();
img.Dispose();
return ret;
}
List<L_Shape> FindToteVisionTargets(ToteDetectionType tdt, Image<Gray, byte> thresh, float resolutionOffset, float imageWidth)
{
List<L_Shape> targets = new List<L_Shape>();
Contour<Point> blob = thresh.FindContours();
while (blob != null)
{
bool isL = false;
if (blob.Area > 200 * resolutionOffset)
switch (tdt)
{
case ToteDetectionType.Math:
isL = IsL_ByMath(blob);
break;
case ToteDetectionType.Edges:
isL = IsL_ByEdges(blob);
break;
case ToteDetectionType.None:
isL = true;
break;
}
if (isL)
{
L_Shape s = new L_Shape(blob, IsRightL(blob));
targets.Add(s);
}
blob = blob.HNext;
}
return targets;
}
//Do Vision
protected Image AnalyzeImage(Image<Gray, byte> thresh, ToteDetectionType detectionType, bool detectBins)
{
angleToBin = NotFoundFloat;
// Create A Bgr Image So We Could Draw Stuff On The Threshold Image.
Image<Bgr, Byte> threshToDraw = thresh.Convert<Bgr, byte>();
float resolutionOffset = ((float)thresh.Width * thresh.Height) / (640.0f * 480.0f);
List<L_Shape> targets = FindToteVisionTargets(detectionType, thresh, resolutionOffset, thresh.Width);
foreach (L_Shape l in targets)
{
threshToDraw.Draw(l.shape, new Bgr(255, 0, 0), (int)Math.Ceiling(3.0f * Math.Sqrt(resolutionOffset)));
}
if (detectBins)
{
List<Contour<Point>> bins = FindBins(thresh, resolutionOffset, thresh.Width);
double maxArea = 0.0f;
foreach (Contour<Point> bin in bins)
{
// Oz changes start
MCvMoments moment = bin.GetMoments();
PointF centerOfMass = new PointF((float)moment.GravityCenter.x, (float)moment.GravityCenter.y);
CircleF circleOfMass = new CircleF(centerOfMass, 4.590f);
threshToDraw.Draw(circleOfMass, new Bgr(0, 0, 255), (int)Math.Ceiling(3.0f * Math.Sqrt(resolutionOffset)));
// Check if it's the biggest bin yet, if it is - calculate the angle to it
if (maxArea < bin.Area)
{
maxArea = bin.Area;
angleToBin = GetAngleToBin(bin, thresh.Size.Width / 2.0);
}
Seq<Point> convexHull = bin.GetConvexHull(Emgu.CV.CvEnum.ORIENTATION.CV_CLOCKWISE);
threshToDraw.Draw(convexHull, new Bgr(0, 0, 255), (int)Math.Ceiling(3.0f * Math.Sqrt(resolutionOffset)));
// Oz changes end
threshToDraw.Draw(bin.BoundingRectangle, new Bgr(0, 255, 0), (int)Math.Ceiling(3.0f * Math.Sqrt(resolutionOffset)));
PointF center = bin.GetMinAreaRect().center;
if (this.LastDepthMap!=null)
if ((this.LastDepthMap.GetDepth((Int32)center.X, (Int32)center.Y)) != 4080)
((ProgrammersWindow)ProgrammersWindow.ActiveForm).updateBinDepth(this.LastDepthMap.GetDepth((Int32)center.X, (Int32)center.Y));
}
}
L_Shape[] best_pair = FindBestPair(targets);
if (best_pair[0] != null && best_pair[1] != null)
{
threshToDraw.Draw(best_pair[0].shape, new Bgr(0, 0, 255), (int)Math.Ceiling(3.0f * Math.Sqrt(resolutionOffset)));
threshToDraw.Draw(best_pair[1].shape, new Bgr(0, 0, 255), (int)Math.Ceiling(3.0f * Math.Sqrt(resolutionOffset)));
}
// Draw A Red Cross All Over The Threshold Picture So We'D Know It'S Center
threshToDraw.Draw(new Cross2DF(new PointF(thresh.Width / 2, thresh.Height / 2) , thresh.Width, thresh.Height), new Bgr(0, 0, 255), 1);
Image ret = threshToDraw.ToBitmap();
threshToDraw.Dispose();
return ret;
}
//Prepare Image For Vision public abstract Image ProcessColorImage(Bitmap bmp, ToteDetectionType detectionType, bool detectBins);
public VisionImage ProcessImage(Bitmap bmp, ToteDetectionType detectionType, bool detectBins, DepthMap depthMap = null)
{
LastDepthMap = depthMap;
//processing depth image
Bitmap processedBitmap = (Bitmap)ProcessColorImage(bmp, detectionType, detectBins);
return new VisionImage(processedBitmap, depthMap);
}
//Do Vision
protected Image AnalyzeImage(Image<Bgr, byte> original, Image<Gray, byte> thresh, ToteDetectionType detectionType, bool detectBins)
{
angleToBin = NotFoundFloat;
float resolutionOffset = ((float)thresh.Width * thresh.Height) / (640.0f * 480.0f);
//List<L_Shape> targets = FindToteVisionTargets(detectionType, thresh, resolutionOffset, thresh.Width);
//foreach (L_Shape l in targets)
//{
// original.Draw(l.shape, new Bgr(255, 0, 0), (int)Math.Ceiling(3.0f * Math.Sqrt(resolutionOffset)));
//}
//L_Shape[] best_pair = FindBestPair(targets);
//if (best_pair[0] != null && best_pair[1] != null)
//{
// original.Draw(best_pair[0].shape, new Bgr(0, 0, 255), (int)Math.Ceiling(3.0f * Math.Sqrt(resolutionOffset)));
// original.Draw(best_pair[1].shape, new Bgr(0, 0, 255), (int)Math.Ceiling(3.0f * Math.Sqrt(resolutionOffset)));
//}
if (detectBins)
{
List<Contour<Point>> bins = FindBins(thresh, resolutionOffset, thresh.Width);
double maxArea = 0.0f;
foreach (Contour<Point> bin in bins)
{
// Oz changes start
MCvMoments moment = bin.GetMoments();
PointF centerOfMass = new PointF((float)moment.GravityCenter.x, (float)moment.GravityCenter.y);
CircleF circleOfMass = new CircleF(centerOfMass, 4.590f);
original.Draw(circleOfMass, new Bgr(0, 0, 255), (int)Math.Ceiling(3.0f * Math.Sqrt(resolutionOffset)));
// Check if it's the biggest bin yet, if it is - calculate the angle to it
if (maxArea < bin.Area)
{
maxArea = bin.Area;
angleToBin = GetAngleToBin(bin, thresh.Size.Width / 2.0);
}
Seq<Point> convexHull = bin.GetConvexHull(Emgu.CV.CvEnum.ORIENTATION.CV_CLOCKWISE);
original.Draw(convexHull, new Bgr(0, 0, 255), (int)Math.Ceiling(3.0f * Math.Sqrt(resolutionOffset)));
// Oz changes end
original.Draw(bin.BoundingRectangle, new Bgr(0, 255, 0), (int)Math.Ceiling(3.0f * Math.Sqrt(resolutionOffset)));
}
}
// Draw A Red Cross All Over The Threshold Picture So We'D Know It'S Center
original.Draw(new Cross2DF(new PointF(thresh.Width / 2, thresh.Height / 2), thresh.Width, thresh.Height), new Bgr(0, 0, 255), 1);
Image ret = original.ToBitmap();
original.Dispose();
return ret;
}
