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VISION

This document contains the code for a computer vision application written in C# that tracks an object using a webcam. It initializes the webcam, searches for available video devices, and captures frames in a callback function. It then performs image processing on each frame to detect the object's position and color thresholding to create a binary image. Based on the object's coordinates, it determines motor controls for a robotic arm and sends the appropriate signals to move it and center on the object.

Uploaded by

Jorge Enrique Jiménez Manzo
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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43 views

VISION

This document contains the code for a computer vision application written in C# that tracks an object using a webcam. It initializes the webcam, searches for available video devices, and captures frames in a callback function. It then performs image processing on each frame to detect the object's position and color thresholding to create a binary image. Based on the object's coordinates, it determines motor controls for a robotic arm and sends the appropriate signals to move it and center on the object.

Uploaded by

Jorge Enrique Jiménez Manzo
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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///////////////VISION//////////////////

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using AForge.Video;
using AForge.Video.DirectShow;
using System.Drawing.Drawing2D;
using System.Threading;
namespace Vision_Artificial_Grua_Portico
{
public partial class Form1 : Form
{
int cenx=150,ceny=320,cap,val,i;
string[] puertos = new string[20];
private bool ExistenDispositivos = false;
char caracter;
private FilterInfoCollection DispositivosDeVideo;
private VideoCaptureDevice FuenteDeVideo = null;
public Form1()
{
InitializeComponent();
serialPort1.Open();
if (serialPort1.IsOpen)
label5.Text = "PUERTO CONECTADO";
BuscarDispositivos();
IniciarCamara();
}
public void BuscarDispositivos()
{
DispositivosDeVideo = new
FilterInfoCollection(FilterCategory.VideoInputDevice);
if (DispositivosDeVideo.Count == 0)
{
ExistenDispositivos = false;
}
else
{
ExistenDispositivos = true;
CargarDispositivos(DispositivosDeVideo);
}
}

public void IniciarCamara()
{
FuenteDeVideo = new
VideoCaptureDevice(DispositivosDeVideo[0].MonikerString);
FuenteDeVideo.NewFrame += new NewFrameEventHandler(video_nuevoFrame);
FuenteDeVideo.Start();
}

public void CargarDispositivos(FilterInfoCollection Dispositivos)
{
for (int i = 0; i < Dispositivos.Count; i++)
{
comboBox1.Items.Add(Dispositivos[i].Name.ToString());
}
}

private void video_nuevoFrame(object sender, NewFrameEventArgs eventArgs)
{
cap++;
Bitmap Imagen = (Bitmap)eventArgs.Frame.Clone();
Thread.Sleep(20);
pictureBox1.Image = Imagen;
}

private void button2_Click(object sender, EventArgs e)
{
FuenteDeVideo.Stop();
pictureBox1.Image = null;
}

private void Recibir(object sender, EventArgs e)
{
label6.Text = "Dato Recibido = " + caracter.ToString();
if(caracter==Convert.ToChar("e"))
this.Invoke(new EventHandler(procesado));
}

private void procesado(object sender, EventArgs e)
{
pictureBox2.Image = pictureBox1.Image;
int rojo, verde, azul, x, y, xmin = 100000, xmax = 0, ymin = 100000,
ymax = 0, cenxv, cenyv, error = 28;
Bitmap originalBMP = new Bitmap(pictureBox2.Width, pictureBox2.Height);
Bitmap binariaBMP = new Bitmap(pictureBox2.Width, pictureBox2.Height);
originalBMP = (Bitmap)pictureBox2.Image;
binariaBMP = (Bitmap)pictureBox2.Image;
Graphics g;
g = Graphics.FromImage(binariaBMP);
for (x = 0; x < originalBMP.Width; x++)
{
for (y =150; y < originalBMP.Height; y++)
{
rojo = originalBMP.GetPixel(x, y).R;
verde = originalBMP.GetPixel(x, y).G;
azul = originalBMP.GetPixel(x, y).B;
if ((rojo > 245) && (verde > 245) && (azul > 245))
{
if (ymin > y)
ymin = y;
if (ymax < y)
ymax = y;
if (xmin > x)
xmin = x;
if (xmax < x)
xmax = x;
binariaBMP.SetPixel(x, y, Color.White);
}
else
binariaBMP.SetPixel(x, y, Color.Black);
}
}

cenxv = xmin + (xmax - xmin) / 2;
cenyv = ymin + (ymax - ymin) / 2;
label3.Text = "";
label4.Text = "";
val = 0;
if (cenxv > cenx + error)
{
label3.Text = "Motor X Izquierda";
val = 32;
}
if (cenxv < cenx - error)
{
label3.Text = "Motor X Derecha";
val = 31;
}
if (Math.Abs(cenx - cenxv) <= error)
{
label3.Text = "Motor X Apagado";
val = 2;
}
if (cenyv > ceny + error)
{
//val = 21;
label4.Text = "Motor Y Arriba";
}
if (cenyv < ceny - error)
{
//val = 22;
label4.Text = "Motor Y Abajo";
}
if (Math.Abs(ceny - cenyv) <= error)
{
//val = 20;
label4.Text = "Motor Y Apagado";
}
for (i = 0; i <= 100; i++)
{
byte[] BufferEnvio = new byte[0];
BufferEnvio = BitConverter.GetBytes(val);
label4.Text = "Deteccion";
serialPort1.Write(BufferEnvio, 0, BufferEnvio.Length);
}
val = 0;

Pen mypen = new Pen(Brushes.GreenYellow, 7);
g.DrawLine(mypen, xmin - 10, ymax + 10, xmax + 10, ymax + 10);
g.DrawLine(mypen, xmin - 10, ymax + 10, xmin - 10, ymin - 10);
g.DrawLine(mypen, xmin - 10, ymin - 10, xmax + 10, ymin - 10);
g.DrawLine(mypen, xmax + 10, ymin - 10, xmax + 10, ymax + 10);
cenxv = xmin + (xmax - xmin) / 2;
cenyv = ymin + (ymax - ymin) / 2;
g.DrawLine(mypen, cenxv - 1, cenyv - 1, cenxv + 1, cenyv + 1);
label3.Text = "";
label4.Text = "";
if (cenxv > cenx + error)
label3.Text = "Motor X Izquierda";
if (cenxv < cenx - error)
label3.Text = "Motor X Derecha";
if (Math.Abs(cenx - cenxv) <= error)
label3.Text = "Motor X Apagado";

if (cenyv > ceny + error)
label4.Text = "Motor Y Arriba";
if (cenyv < ceny - error)
label4.Text = "Motor Y Abajo";
if (Math.Abs(ceny - cenyv) <= error)
label4.Text = "Motor Y Apagado";
//label1.Text="xmin= "+xmin.ToString()+"xmax= "+xmax.ToString()+"ymin=
"+ymin.ToString()+"ymax= "+ymax.ToString();
label2.Text = "cenx= " + cenxv.ToString() + "\n" + "ceny= " +
cenyv.ToString();
pictureBox2.Image = binariaBMP;


}
private void button3_Click(object sender, EventArgs e)
{
pictureBox2.Image = pictureBox1.Image;
int rojo, verde, azul, x,
y,xmin=100000,xmax=0,ymin=100000,ymax=0,cenxv,cenyv,error=10;
Bitmap originalBMP = new Bitmap(pictureBox2.Width, pictureBox2.Height);
Bitmap binariaBMP = new Bitmap(pictureBox2.Width, pictureBox2.Height);
originalBMP = (Bitmap)pictureBox2.Image;
binariaBMP = (Bitmap)pictureBox2.Image;
Graphics g;
g = Graphics.FromImage(binariaBMP);
for (y = 290; y < originalBMP.Height; y++)
{
for (x = 0; x < originalBMP.Width; x++)
{
rojo = originalBMP.GetPixel(x, y).R;
verde = originalBMP.GetPixel(x, y).G;
azul = originalBMP.GetPixel(x, y).B;
if ((rojo > 245) && (verde > 245) && (azul > 245))
{
if (ymin > y)
ymin = y;
if (ymax < y)
ymax = y;
if (xmin > x)
xmin = x;
if (xmax < x)
xmax = x;
binariaBMP.SetPixel(x, y, Color.White);
}
else
binariaBMP.SetPixel(x, y, Color.Black);
}
}
Pen mypen = new Pen(Brushes.GreenYellow, 7);
g.DrawLine(mypen, xmin - 10, ymax + 10, xmax + 10, ymax + 10);
g.DrawLine(mypen, xmin - 10, ymax + 10, xmin - 10, ymin - 10);
g.DrawLine(mypen, xmin - 10, ymin - 10, xmax + 10, ymin - 10);
g.DrawLine(mypen, xmax + 10, ymin - 10, xmax + 10, ymax + 10);
cenxv = xmin + (xmax - xmin) / 2;
cenyv = ymin + (ymax - ymin) / 2;
g.DrawLine(mypen, cenxv-1, cenyv-1, cenxv+1, cenyv+1);
label3.Text = "";
label4.Text = "";
if (cenxv > cenx + error)
label3.Text = "Motor X Izquierda";
if (cenxv < cenx - error)
label3.Text = "Motor X Derecha";
if (Math.Abs(cenx-cenxv)<error)
label3.Text = "Motor X Apagado";

if (cenyv > ceny + error)
label4.Text = "Motor Y Arriba";
if (cenyv < ceny - error)
label4.Text = "Motor Y Abajo";
if (Math.Abs(ceny - cenyv) < error)
label4.Text = "Motor Y Apagado";
//label1.Text="xmin= "+xmin.ToString()+"xmax= "+xmax.ToString()+"ymin=
"+ymin.ToString()+"ymax= "+ymax.ToString();
label2.Text = "cenx= " + cenxv.ToString() + "\n" + "ceny= " +
cenyv.ToString();
pictureBox2.Image = binariaBMP;
}

private void serialPort1_DataReceived(object sender,
System.IO.Ports.SerialDataReceivedEventArgs e)
{
caracter = (char)serialPort1.ReadChar();
this.Invoke(new EventHandler(Recibir));
}

private void button1_Click(object sender, EventArgs e)
{
byte[] BufferEnvio = new byte[0];
BufferEnvio = BitConverter.GetBytes(100);
serialPort1.Write(BufferEnvio, 0, BufferEnvio.Length);
}

private void button4_Click(object sender, EventArgs e)
{
byte[] BufferEnvio = new byte[0];
BufferEnvio = BitConverter.GetBytes(200);
serialPort1.Write(BufferEnvio, 0, BufferEnvio.Length);
}

}
}
////////////////////////////////////////////
//////////////Microcontrolador///////////
#include <18f4550.h>
#fuses HSPLL,PLL5,CPUDIV1,NOWDT
#use delay(clock=48Mhz)
#use rs232(baud=9600, xmit=pin_c6, rcv=pin_c7, bits=8, parity=N)
#define st PIN_D2 //////SENTIDO MOTOR DE RUEDAS
#define st2 PIN_D3 //////SENTIDO 2 MOTOR DE RUEDAS
#define sr PIN_D4 //////SENTIDO MOTOR DE TORNILLO
#define sr2 PIN_D5 //////SENTIDO 2 MOTOR DE TORNILLO
#define sw PIN_B7 //////SENTIDO MOTOR DE WINCH
#define sw2 PIN_B6 //////SENTIDO 2 MOTOR DE WINCH
#define bob PIN_B5 //////SENTIDO 2 MOTOR DE WINCH
int16 i,j;
int d;
char caracter;
int x=0,ct,accion=0;


#INT_EXT1
void sc()
{
accion=2;
}

#INT_EXT
void sm()
{
accion=1;
}

#INT_RDA
void RDA_isr()
{
d=getc();
if(d==200)
{
accion=10;
output_toggle(st2);
output_low(st);
}

if(accion!=1)
{
if(d==1)
{
output_low(st2);
delay_ms(50);
output_high(st);
}
if(d==2)
{
output_low(st);
delay_ms(50);
output_high(st2);
}
if(d==3)
{
output_low(sr2);
delay_ms(100);
output_high(sr);
}
if(d==4)
{
output_low(sr);
delay_ms(100);
output_high(sr2);
}
if(d==5)
{
output_low(sw2);
delay_ms(50);
output_high(sw);
}
if(d==8)
{
output_low(sw);
delay_ms(50);
output_high(sw2);
}
if(d==7)
{
output_toggle(bob);
}
if(d==0)
{
output_low(st);
output_low(st2);
output_low(sr);
output_low(sr2);
output_low(sw);
output_low(sw2);
}
}


output_toggle(PIN_C1);
}

#INT_TIMER0
void timer0 ()
{
ct++;
//output_toggle(PIN_C1);
set_timer0(18661);
}

void main()
{
//port_b_pullups(TRUE);
enable_interrupts(GLOBAL);
ext_int_edge(H_TO_L);
setup_timer_0(RTCC_Internal|RTCC_DIV_16);
enable_interrupts(INT_TIMER0);
enable_interrupts(INT_RDA);
set_timer0(18661);
enable_interrupts(INT_EXT);
enable_interrupts(INT_EXT1);
output_high(bob);
do{accion=0;}while(d!=100);
do{output_low(st2);output_high(st);}while(accion!=1);
output_low(st2);output_low(st);
accion=1;
while(1)
{
if(accion==1)
{
do
{
ct=0;
do{output_high(sr);output_low(sr2);}while(ct==0);
do{output_low(sr);output_low(sr2);}while(ct<=10);
caracter="e";
putc(caracter);
do{output_low(sr);output_low(sr2);if(d==2)break;}while(ct<=100);
}while(d!=2);
accion=3;
}
do{}while(accion!=1);

}
}

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