/// <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;
_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;
_colourDetectorInput.Settings.MomentArea = new RangeF(50, 10000);
_faceTrackManager = new FaceTrackStateManager(screen);
_colourTrackManager = new ColourTrackStateManager(screen);
_autonomousManager = new AutonomousTrackStateManager(this, screen);
screen.Clear();
SetMode(ProcessingMode.Autonomous);
_autonomousManager.IsFaceFound = i => _faceTrackingController.Process(i).IsDetected;
_autonomousManager.IsColourFullFrame = IsColourFullFrame;
InitController();
}
private ColourDetectorOutput LocateColour()
{
var output = new ColourDetectorOutput();
const int captureBufferBurn = 2; // first image is stale, need to capture the second one
Image <Bgr, byte> capturedImage = null;
for (int i = 0; i < captureBufferBurn; i++)
{
capturedImage = GetCameraCapture();
//DoStep("Captured {0} image", i);
}
using (var capturedMat = capturedImage.Mat)
{
var colourDetectorInput = new ColourDetectorInput();
colourDetectorInput.Captured = capturedMat;
colourDetectorInput.SetCapturedImage = false;
colourDetectorInput.Settings = Settings;
output = _colourDetector.Process(colourDetectorInput);
}
if (ColourCaptured != null)
{
output.CapturedImage = capturedImage;
ColourCaptured(this, output);
}
return(output);
}
/// <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 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);
}
}
}
protected override ColourTrackingPanTiltOutput DoProcess(CameraProcessInput input)
{
var colourDetectorInput = new ColourDetectorInput();
colourDetectorInput.Captured = input.Captured;
colourDetectorInput.SetCapturedImage = input.SetCapturedImage;
colourDetectorInput.Settings = Settings;
var colourDetectorOutput = _colourDetector.Process(colourDetectorInput);
var targetPoint = CentrePoint;
if (colourDetectorOutput.IsDetected)
{
targetPoint = colourDetectorOutput.CentralPoint.ToPoint();
}
var output = ReactToTarget(targetPoint);
output.Absorb(colourDetectorOutput);
return(output);
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
var input = new ColourDetectorInput
{
Captured = matCaptured
, Settings = Settings
, SetCapturedImage = false
};
var result = _detector.Process(input);
if (result.IsDetected)
{
if (!_objectCurrentlyDetected)
{
_debounceWatch.Start();
_objectCurrentlyDetected = true;
}
SweeperToRed();
Log.Info(m => m("Red detected! {0}", result));
}
else
{
var isInDebouncePeriod = _debounceWatch.IsRunning && _debounceWatch.ElapsedMilliseconds < 800;
if (_objectCurrentlyDetected && !isInDebouncePeriod)
{
_debounceWatch.Reset();
Log.Info(m => m("Red gone"));
SweeperToGreen();
_objectCurrentlyDetected = false;
}
}
}
}
public ColourDetectionControl()
{
InitializeComponent();
_colorDetector = new ColourDetector();
_detectorInput = new ColourDetectorInput();
}
