Sensor Garis Menggunakan Webcam
April 2, 2012 Leave a comment
Berikut project yang akan menggunakan library image processing AForge.NET dengan bahasa pemrograman C# dan menggunakan software Visual C# Express 2010. Berikut tampilan GUI-nya.
Project ini bermaksud sebagai sensor pendeteksi garis pada robot pengikut garis (line follower robot) sebagai pengganti sensor proximity photodioda.
Berikut kodenya.
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using AForge;
using AForge.Controls;
using AForge.Video;
using AForge.Video.DirectShow;
using AForge.Imaging;
using AForge.Imaging.Filters;
namespace line_tracker2
{
public partial class Form1 : Form
{
//reference sudah ditambahkan
private FilterInfoCollection VideoCaptureDevices;//mengumpulkan setiap perangkat video yg terdeteksi
private VideoCaptureDevice FinalVideoSource;//menampung perangkat video yang akan digunakan
public Form1()
{
InitializeComponent();
}
private void Form1_Load(object sender, EventArgs e)
{
//pertama add reference semua Aforge.video.dll dan Aforge.video.directshow.dll
VideoCaptureDevices = new FilterInfoCollection(FilterCategory.VideoInputDevice);
//sekarang perangkat video sudah tersimpan pada array di atas
foreach (FilterInfo VideoCaptureDevice in VideoCaptureDevices)
{
comboBox1.Items.Add(VideoCaptureDevice.Name);
}
}
private void button1_Click(object sender, EventArgs e)
{
//tambahkan kode berikut untuk menentukan perangkat sumber dari video
FinalVideoSource = new VideoCaptureDevice(VideoCaptureDevices[comboBox1.SelectedIndex].MonikerString);
FinalVideoSource.NewFrame += new NewFrameEventHandler(FinalVideoSource_NewFrame);
FinalVideoSource.Start();
}
private Rectangle objectRect;
int x1, y1,x1_bawah, y1_bawah;
void FinalVideoSource_NewFrame(object sender, NewFrameEventArgs eventArgs)
{
//sekarang kita tambahkan kode berikut untuk menampilkan new frame event (frame dari webcam) untuk menampilkan gambar pada picturebox
Bitmap image = (Bitmap)eventArgs.Frame.Clone();//bitmap boxing
Bitmap image_unfilter = (Bitmap)eventArgs.Frame.Clone();
Bitmap image_bawah = (Bitmap)eventArgs.Frame.Clone();//bitmap boxing
Bitmap image_unfilter_bawah = (Bitmap)eventArgs.Frame.Clone();
Crop filter = new Crop(new Rectangle(0, 0, image.Width, (image.Height/8)));
// apply the filter
image = filter.Apply(image);
image_unfilter = filter.Apply(image_unfilter);
Crop filter_bawah = new Crop(new Rectangle(0, 320, image_bawah.Width, (image_bawah.Height / 8)));
// apply the filter
image_bawah = filter_bawah.Apply(image_bawah);
image_unfilter_bawah = filter_bawah.Apply(image_unfilter_bawah);
// create filter
ColorFiltering filtercr = new ColorFiltering();
// set color ranges to keep
filtercr.Red = new IntRange(200, 255);
filtercr.Green = new IntRange(200, 255);
filtercr.Blue = new IntRange(200, 255);
filtercr.FillOutsideRange = true;
// apply the filter
filtercr.ApplyInPlace(image);
filtercr.ApplyInPlace(image_bawah);
// create blob counter and configure it
BlobCounter blobCounter = new BlobCounter();
blobCounter.MinWidth = 20; // set minimum size of
blobCounter.MinHeight = 20; // objects we look for
blobCounter.FilterBlobs = true; // filter blobs by size
blobCounter.ObjectsOrder = ObjectsOrder.Size; // order found object by size
// locate blobs
blobCounter.ProcessImage(image);
Rectangle[] rects = blobCounter.GetObjectsRectangles();
// draw rectangle around the biggest blob
if (rects.Length > 0)
{
objectRect = rects[0];
Graphics g = Graphics.FromImage(image_unfilter);
using (Pen pen = new Pen(Color.YellowGreen, 3))
{
g.DrawRectangle(pen, objectRect);
}
g.Dispose();
// calculate X,Y coordinates of object's center
x1 = (objectRect.Left + objectRect.Right - image.Width) / 2;
y1 = (image.Height - (objectRect.Top + objectRect.Bottom)) / 2;
}
blobCounter.ProcessImage(image_bawah);
Rectangle[] rects_bawah = blobCounter.GetObjectsRectangles();
// draw rectangle around the biggest blob
if (rects_bawah.Length > 0)
{
objectRect = rects_bawah[0];
Graphics g = Graphics.FromImage(image_unfilter_bawah);
using (Pen pen = new Pen(Color.YellowGreen, 3))
{
g.DrawRectangle(pen, objectRect);
}
g.Dispose();
// calculate X,Y coordinates of object's center
x1_bawah = (objectRect.Left + objectRect.Right - image_bawah.Width) / 2;
y1_bawah = (image_bawah.Height - (objectRect.Top + objectRect.Bottom)) / 2;
}
pictureBox1.Image = image_unfilter;
pictureBox2.Image = image_unfilter_bawah;
}
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
//kita tambahkan kode untuk membuat webcam berhenti bekerja
//kapanpun form telah ditutup maka webcam akan berhenti bekerja secara automatis
if (FinalVideoSource.IsRunning)
{
FinalVideoSource.Stop();
}
//selesai
//sekarang kita jalankan
}
private void timer1_Tick(object sender, EventArgs e)
{
label1.Text = String.Format("koordinat_atas: x={0}y={1} koordinat_bawah: x={2}y={3} delta_x = {4}", x1, y1, x1_bawah, y1_bawah,(x1-x1_bawah));
}
}
}
Berikut link file download dari project di atas. file
wangready.wordpress.com 