public void ApplyChangeDetection()
{
UnsafeBitmap uBit1 = new UnsafeBitmap(inputImage1);
uBit1.MakeGreyUnsafeFaster();
inputImage1 = new Bitmap(uBit1.Bitmap);
UnsafeBitmap uBit2 = new UnsafeBitmap(inputImage2);
uBit2.MakeGreyUnsafeFaster();
inputImage2 = new Bitmap(uBit2.Bitmap);
picSize = new Point(inputImage1.Width, inputImage1.Height);
resultImage = new Bitmap(inputImage1);
BitmapData resultImageData = resultImage.LockBits(new Rectangle(0, 0, picSize.X, picSize.Y), ImageLockMode.ReadWrite, PixelFormat.Format24bppRgb);
byte* pResultImage = (byte*)resultImageData.Scan0.ToPointer();
bmData1 = inputImage1.LockBits(new Rectangle(0, 0, picSize.X, picSize.Y), ImageLockMode.ReadWrite, PixelFormat.Format24bppRgb);
bmData2 = inputImage2.LockBits(new Rectangle(0, 0, picSize.X, picSize.Y), ImageLockMode.ReadWrite, PixelFormat.Format24bppRgb);
pBase1 = (byte*)bmData1.Scan0.ToPointer();
pBase2 = (byte*)bmData2.Scan0.ToPointer();
nOffset = bmData1.Stride - inputImage1.Width * 3;
for (int y = 0; y < picSize.Y; y++)
{
for (int x = 0; x < picSize.X; x++)
{
// subtracting two pixels at the same position to find the difference between them
int tempInt = Math.Abs(pBase1[0] - pBase2[0]);
// if the difference is bigger than the threshold then mark that pixel
if (tempInt > 50) // set threshold here pls ^^
{
pResultImage[0] = 255;
pResultImage[1] = 255;
pResultImage[2] = 255;
}
else // if the difference smaller than the threshold then treat the current pixel as background
{
pResultImage[0] = 0;
pResultImage[1] = 0;
pResultImage[2] = 0;
}
pBase1 += 3;
pBase2 += 3;
pResultImage += 3;
}
pBase1 += nOffset;
pBase2 += nOffset;
pResultImage += nOffset;
}
inputImage1.UnlockBits(bmData1);
inputImage2.UnlockBits(bmData2);
resultImage.UnlockBits(resultImageData);
}
private void timer1_Tick(object sender, EventArgs e)
{
//image = wc.GetCurrentImage();
//picOriginalImage.Image = image;
//Bitmap analyzingImage = new Bitmap(image);
Bitmap img2 = new Bitmap(picOriginalImage.Image);
if (rdEdgeDetection.Checked)
{
#region Sobel edge detection
//UnsafeBitmap uBitmap = new UnsafeBitmap((Bitmap)wc.GetCurrentImage());
//ConvMatrix cmx = new ConvMatrix();
//ConvMatrix cmy = new ConvMatrix();
//cmx.TopLeft = -1;
//cmx.TopMid = 0;
//cmx.TopRight = 1;
//cmx.MidLeft = -2;
//cmx.Pixel = 0;
//cmx.MidRight = 2;
//cmx.BottomLeft = -1;
//cmx.BottomMid = 0;
//cmx.BottomRight = 1;
//cmy.TopLeft = 1;
//cmy.TopMid = 2;
//cmy.TopRight = 1;
//cmy.MidLeft = 0;
//cmy.Pixel = 0;
//cmy.MidRight = 0;
//cmy.BottomLeft = -1;
//cmy.BottomMid = -2;
//cmy.BottomRight = -1;
//uBitmap.SobelEdgeDetector(cmx, cmy);
//image = uBitmap.Bitmap;
#endregion
#region Canny Edge Detection
//timer1.Stop();
Bitmap temBM = new Bitmap(img2);
UnsafeBitmap uBitmap = new UnsafeBitmap(temBM);
uBitmap.MakeGreyUnsafeFaster();
cannyEdge.ApplyCannyEdgeDetection(uBitmap.Bitmap);
//analyzingImage = cannyEdge.Image;
img2 = cannyEdge.Image;
//timer1.Start();
#endregion
}
else if (rdChangeDetection.Checked)
{
if (previousImage != null)
{
Bitmap temBM = null;
temBM = new Bitmap(img2);
ChangeDetection cd = new ChangeDetection(previousImage, temBM);
previousImage = new Bitmap(temBM);
cd.ApplyChangeDetection();
img2 = cd.resultImage;
}
else
{
Bitmap temBM = null;
temBM = new Bitmap(img2);
previousImage = temBM;
}
}
else
{
// do nothing here
}
picAnalyzedImage.Image = img2; //wc.GetCurrentImage();
}
private void ProcessImage(Bitmap img2)
{
//image = wc.GetCurrentImage();
image = new Bitmap(img2);
//picOriginalImage.Image = image;
//Bitmap analyzingImage = new Bitmap(image);
//Bitmap img2 = new Bitmap(picOriginalImage.Image);
if (rdEdgeDetection.Checked)
{
#region Sobel edge detection
//UnsafeBitmap uBitmap = new UnsafeBitmap((Bitmap)wc.GetCurrentImage());
//ConvMatrix cmx = new ConvMatrix();
//ConvMatrix cmy = new ConvMatrix();
//cmx.TopLeft = -1;
//cmx.TopMid = 0;
//cmx.TopRight = 1;
//cmx.MidLeft = -2;
//cmx.Pixel = 0;
//cmx.MidRight = 2;
//cmx.BottomLeft = -1;
//cmx.BottomMid = 0;
//cmx.BottomRight = 1;
//cmy.TopLeft = 1;
//cmy.TopMid = 2;
//cmy.TopRight = 1;
//cmy.MidLeft = 0;
//cmy.Pixel = 0;
//cmy.MidRight = 0;
//cmy.BottomLeft = -1;
//cmy.BottomMid = -2;
//cmy.BottomRight = -1;
//uBitmap.SobelEdgeDetector(cmx, cmy);
//image = uBitmap.Bitmap;
#endregion
#region Canny Edge Detection
//timer1.Stop();
Bitmap temBM = new Bitmap(image);
UnsafeBitmap uBitmap = new UnsafeBitmap(temBM);
uBitmap.MakeGreyUnsafeFaster();
cannyEdge.ApplyCannyEdgeDetection(uBitmap.Bitmap);
//analyzingImage = cannyEdge.Image;
image = cannyEdge.Image;
//timer1.Start();
#endregion
}
else if (rdChangeDetection.Checked)
{
if (previousImage != null)
{
Bitmap temBM = null;
temBM = new Bitmap(image);
ChangeDetection cd = new ChangeDetection(previousImage, temBM);
previousImage = new Bitmap(temBM);
cd.ApplyChangeDetection();
image = cd.resultImage;
}
else
{
Bitmap temBM = null;
temBM = new Bitmap(img2);
previousImage = temBM;
}
}
else if (rdFollowLaserDot.Checked)
{
UnsafeBitmap _ubit = new UnsafeBitmap(image);
Point laserLocation = _ubit.LaserDotsRecognizer();
Graphics g = Graphics.FromImage(image);
using (Pen pen = new Pen(Color.FromArgb(160, 255, 160), 3))
{
g.DrawLine(pen, new Point(laserLocation.X, 0), new Point(laserLocation.X, 240));
g.DrawLine(pen, new Point(0, laserLocation.Y), new Point(320, laserLocation.Y));
}
g.Dispose();
if (laserLocation.X > 180)
{
_frmPanTilt.IncreaseTrackBarValueBy("tbMotor2", -1);
}
else if (laserLocation.X < 140)
{
_frmPanTilt.IncreaseTrackBarValueBy("tbMotor2", 1);
}
if (laserLocation.Y > 140)
{
_frmPanTilt.IncreaseTrackBarValueBy("tbMotor1", -1);
}
else if (laserLocation.Y < 100)
{
_frmPanTilt.IncreaseTrackBarValueBy("tbMotor1", 1);
}
}
else if (rdLineFollowing.Checked)
{
FollowLine fl = new FollowLine(image);
string direction = fl.ChooseDirection();
// draw 2 lines that cross at line we are following
Graphics g = Graphics.FromImage(image);
using (Pen pen = new Pen(Color.FromArgb(160, 255, 160), 1))
{
g.DrawLine(pen, new Point(fl.CenterX, 0), new Point(fl.CenterX, 240)); // vertical
g.DrawLine(pen, new Point(fl.LeftBorder, 0), new Point(fl.LeftBorder, 240)); // vertical
g.DrawLine(pen, new Point(fl.RightBorder, 0), new Point(fl.RightBorder, 240)); // vertical
//g.DrawLine(pen, new Point(0, laserLocation.Y), new Point(320, laserLocation.Y)); // horizontal
}
g.Dispose();
}
else
{
// do nothing here
}
picAnalyzedImage.Image = image; //wc.GetCurrentImage();
}
