public (Mat, OpenCvSharp.Point) ProcessContours(ref Mat imgPreContours, ref Mat imgGrayscale, ref System.Drawing.Point actuatorPositionPixels)
{
// Find all contours from image
allContours = IPCore.FindAllContours(ref imgPreContours);
if (allContours.Count() > 0)
{
// Get the contours that has the largest area
largestContourArea = IPCore.FindLargestContourArea(ref imgGrayscale, ref allContours);
// Get largest contour's area center point imgPreContours
OpenCvSharp.Point contourCenter = IPCore.FindContourCenter(ref imgPreContours, largestContourArea);
// Put center coordinates on image and return it
return(IPCore.ComposeImageDTC(ref imgGrayscale, ref largestContourArea, ref contourCenter, ref actuatorPositionPixels), contourCenter);
}
else
{
// Return the grayscale image if no contours were found
return(imgGrayscale, new OpenCvSharp.Point(int.MinValue, int.MinValue));
}
}
// C# 7 tuple syntax
// See dummy reference for documentation
public (Mat, int) ProcessImage(ref Mat frame)
{
// Crop image to square
croppedImg = IPCore.CropToROI(ref frame);
// Convert image to grayscale
imgGrayscale = IPCore.ConvertToGrayscale(ref croppedImg);
// If checkBoxVideoFeedShowProcessedImage is not checked, return cropped and grayscale image
if (IPCore.VideoFeedSettings.IsProcessedImageFed == false)
{
return(imgGrayscale, 0);
}
// Set image brightness if necessary
if (IPCore.TASettings.Brightness != 0)
{
imgGrayscale = IPCore.SetImageBrightness(ref imgGrayscale);
}
// Blur grayscale image
imgBlurred = IPCore.SimpleImageBlur(ref imgGrayscale);
// Calculate image histogram
histogram = IPCore.CalculateHistogram(imgBlurred);
// Get maximum histogram value
double maxHistValue = IPCore.FindMaxHistogramValue(histogram);
// Get index of maximum value of histogram
int maxHistIndex = IPCore.FindMaxHistogramIndex(histogram, maxHistValue);
// Get value right of histogram, which is smaller or equal that the maximum value divided by a predefined value
int dividedValIndex = IPCore.FindHistogramDividedIndex(histogram, Enums.HistogramCalculation.Reversed, maxHistValue, maxHistIndex);
// Get threshold value & apply right offset if necessary
int thresholdValue = IPCore.GetThresholdValue(dividedValIndex);
// Apply threshold filter
imgThreshold = IPCore.ThresholdFilter(ref imgBlurred, thresholdValue, ThresholdTypes.Binary);
// Invert Image
invertedThreshold = IPCore.InvertImage(ref imgThreshold);
// Apply median filter
imgMedian = IPCore.MedianFilter(ref invertedThreshold);
// Find all contours from image
allContours = IPCore.FindAllContours(ref imgMedian);
// Find largest 2 contors
largestTwoContours = IPCore.FindLargestTwoContours(ref imgMedian, ref allContours);
if (largestTwoContours.Count() == 2)
{
this.pointsList = new List <OpenCvSharp.Point>();
foreach (Mat contour in largestTwoContours)
{
pointsList.Add(IPCore.FindContourCenter(ref imgMedian, contour));
}
double distance = IPCore.CalculateEuclidianDistance(pointsList);
return(IPCore.ComposeImageIDC(imgGrayscale, largestTwoContours, pointsList, (int)distance), (int)distance);
}
else
{
return(imgGrayscale, 0);
}
}