public ColourDetectionControl()
{
InitializeComponent();
_colorDetector = new ColourDetector();
_detectorInput = new ColourDetectorInput();
_colorSettingsRepo = new ColourSettingsRepository();
}
/// <summary>
/// sudo mono picamcv.con.exe -m=pantiltmultimode
/// </summary>
public MultimodePanTiltController(
IPanTiltMechanism panTiltMech
, CaptureConfig captureConfig
, IScreen screen
, IServerToCameraBus serverToCameraBus
, params IOutputProcessor[] outputPipelines) : base(panTiltMech, captureConfig)
{
_screen = screen;
_serverToCameraBus = serverToCameraBus;
_outputPipelines = outputPipelines;
_colourSettingsRepository = new ColourSettingsRepository();
_faceTrackingController = new FaceTrackingPanTiltController(panTiltMech, captureConfig);
_camshiftTrackingController = new CamshiftPanTiltController(panTiltMech, captureConfig);
_colourTrackingController = new ColourTrackingPanTiltController(panTiltMech, captureConfig);
_thresholdSelector = new ThresholdSelector();
_thresholdSelector.ColourCheckTick += thresholdSelector_ColourCheckTick;
_colourDetectorInput = new ColourDetectorInput();
_colourDetectorInput.SetCapturedImage = true;
var repoSettings = _colourSettingsRepository.Read();
if (repoSettings != null)
{
_colourDetectorInput.Settings = repoSettings;
}
_faceTrackManager = new FaceTrackStateManager(screen);
_colourTrackManager = new ColourTrackStateManager(screen);
_staticManager = new StaticStateManager(screen);
_autonomousManager = new AutonomousTrackStateManager(this, screen);
SoundService = new SoundService();
screen.Clear();
ChangeMode(ProcessingMode.Autonomous);
_autonomousManager.IsFaceFound = i => _faceTrackingController.Process(i).IsDetected;
_autonomousManager.IsColourFullFrame = IsColourFullFrame;
_faceTrackingController.ClassifierParams.MinSize = new Size(20, 20);
_faceTrackingController.ClassifierParams.MaxSize = new Size(50, 50);
screen.WriteLine(_faceTrackingController.ClassifierParams.ToString());
InitController();
ServoSettleTimeChanged += (s, e) =>
{
_faceTrackingController.ServoSettleTime = ServoSettleTime;
_colourTrackingController.ServoSettleTime = ServoSettleTime;
};
_colourDetector = new ColourDetector();
}
public ColourDetectionControl()
{
InitializeComponent();
_colorDetector = new ColourDetector();
_detectorInput = new ColourDetectorInput();
_colorSettingsRepo = new ColourSettingsRepository();
_thresholdSelector = new ThresholdSelector();
_imageBoxSelector = new ImageBoxSelector();
}
public ColourDetectionControl()
{
InitializeComponent();
_colorDetector = new ColourDetector();
_detectorInput = new ColourDetectorInput();
_colorSettingsRepo = new ColourSettingsRepository();
_thresholdSelector = new ThresholdSelector();
_imageBoxSelector = new ImageBoxSelector();
}
public CalibratingPanTiltController(IPanTiltMechanism panTiltMech, CalibrationReadingsRepository readingsRepo, IScreen screen)
: base(panTiltMech)
{
_colourDetector = new ColourDetector();
_readingsRepo = readingsRepo;
_screen = screen;
if (EnvironmentService.IsUnix)
{
_servoSettleTime = TimeSpan.FromMilliseconds(750);
}
else
{
_servoSettleTime = TimeSpan.FromMilliseconds(0);
}
}
public ServoSorter(
ICaptureGrab capture
,ConsoleOptions options) : base(capture)
{
_servoPosition = 70;
Settings = options.ColourSettings;
_debounceWatch = new Stopwatch();
var deviceFactory = new Pca9685DeviceFactory();
var device = deviceFactory.GetDevice(options.UseFakeDevice);
SetLogLevel(device);
_pwmControl = new ServoSortPwmControl(device);
_pwmControl.Init();
_detector = new ColourDetector();
}
public ServoSorter(
ICaptureGrab capture
, ConsoleOptions options) : base(capture)
{
_servoPosition = 70;
Settings = options.ColourSettings;
_debounceWatch = new Stopwatch();
var deviceFactory = new Pca9685DeviceFactory();
var device = deviceFactory.GetDevice(options.UseFakeDevice);
SetLogLevel(device);
_pwmControl = new ServoSortPwmControl(device);
_pwmControl.Init();
_detector = new ColourDetector();
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
var detector = new ColourDetector();
var input = new ColourDetectorInput
{
Captured = matCaptured
, Settings = Settings
, SetCapturedImage = false
};
var result = detector.Process(input);
if (result.IsDetected)
{
Log.Info(result);
}
}
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
var detector = new ColourDetector();
var input = new ColourDetectorInput
{
Captured = matCaptured
,Settings= Settings
,SetCapturedImage = false
};
var result = detector.Process(input);
if (result.IsDetected)
{
Log.Info(result);
}
}
}
public ColourDetectionControl()
{
InitializeComponent();
_colorDetector = new ColourDetector();
_detectorInput = new ColourDetectorInput();
}
public ColourTrackingPanTiltController(IPanTiltMechanism panTiltMech, CaptureConfig captureConfig)
: base(panTiltMech, captureConfig)
{
_colourDetector = new ColourDetector();
}
