private void Run()
{
if (_doorDetector != null && _doorDetector.IsRunning)
{
_doorDetector.CancelAsync();
}
ColorBasedDoorDetector cDetector = _doorDetector as ColorBasedDoorDetector;
if (cDetector != null)
{
_imageStream = VideoStream.Instance;
}
else
{
DepthBasedDoorDetector dDetector = _doorDetector as DepthBasedDoorDetector;
if (dDetector != null)
{
_imageStream = DepthStream.Instance;
}
else
{
InfraredBasedDoorDetector iDetector = _doorDetector as InfraredBasedDoorDetector;
if (iDetector != null)
{
_imageStream = InfraredStream.Instance;
}
}
}
if (_imageStream != null && this.DoorDetector != null)
{
_doorDetector.RunAsync(_imageStream);
}
}
public void TestNegativeImageDoesNotDetectDoor()
{
ColorBasedDoorDetector doorDetector = CreateBasicDoorDetector();
Image <Bgr, Byte> image = new Image <Bgr, byte>(new Size(500, 500));
List <DetectedDoor> doors = doorDetector.GetDoors(image);
List <DetectedDoor> expectedDoors = new List <DetectedDoor>();
Assert.AreEqual <List <DetectedDoor> >(doors, expectedDoors);
}
public void MinAndMaxColorMatchInitialTest()
{
Hsv minColor = new Hsv(0, 150, 255);
Hsv maxColor = new Hsv(33, 66, 99);
ColorBasedDoorDetector doorDetector = new ColorBasedDoorDetector(minColor, maxColor);
Assert.AreEqual <Hsv>(minColor, doorDetector.MinColor);
Assert.AreEqual <Hsv>(maxColor, doorDetector.MaxColor);
}
public void TestSimplifyImageReturnsCorrectImage()
{
ColorBasedDoorDetector detector = CreateBasicDoorDetector();
PrivateObject privateAccessor = new PrivateObject(detector);
Image <Gray, Byte> inputImage = LoadImage <Gray, byte>("door3_filtered.JPG");
Image <Gray, Byte> expectedImage = LoadImage <Gray, byte>("door3_simplified.JPG");
Image <Gray, Byte> filtered = (Image <Gray, Byte>)privateAccessor.Invoke("SimplifyImage", inputImage, 10);
Assert.AreEqual <Image <Gray, Byte> >(expectedImage, filtered);
}
public void TestWellLitPositiveImageDetectsDoor()
{
ColorBasedDoorDetector doorDetector = CreateBasicDoorDetector();
Image <Bgr, Byte> image = LoadImage <Bgr, byte>("door3.JPG");
List <DetectedDoor> doors = doorDetector.GetDoors(image);
List <DetectedDoor> expectedDoors = new List <DetectedDoor>();
expectedDoors.Add(new DetectedDoor(new Rectangle(), DetectedDoor.DetectionConfidence.HIGH, 0.323, 5.433));
Assert.AreEqual <List <DetectedDoor> >(doors, expectedDoors);
}
public void TestExtractDoorsReturnsCorrectDoors()
{
ColorBasedDoorDetector detector = CreateBasicDoorDetector();
PrivateObject privateAccessor = new PrivateObject(detector);
Image <Gray, Byte> inputImage = LoadImage <Gray, Byte>("box.JPG");
List <DetectedDoor> doors = (List <DetectedDoor>)privateAccessor.Invoke("ExtractDoors", inputImage);
List <DetectedDoor> expectedDoors = new List <DetectedDoor>();
expectedDoors.Add(new DetectedDoor(new Rectangle(), DetectedDoor.DetectionConfidence.HIGH, 0, 10));
Assert.AreEqual <List <DetectedDoor> >(doors, expectedDoors);
}
//Render the background
private void UpdateBackground()
{
//const DispatcherPriority priority = DispatcherPriority.Render;
while (true)
{
BaseFrame frame = null;
WriteableBitmap frameBitmap = null;
ColorBasedDoorDetector cDetector = _doorDetector as ColorBasedDoorDetector;
if (cDetector != null)
{
frame = VideoStream.Instance.GetFrame();
if (frame != null)
{
frameBitmap = frame.GetBitmap();
}
}
else
{
DepthBasedDoorDetector dDetector = _doorDetector as DepthBasedDoorDetector;
if (dDetector != null)
{
frame = DepthStream.Instance.GetFrame();
if (frame != null)
{
frameBitmap = frame.GetWriteableBitmapForDoorNavi();
}
}
else
{
InfraredBasedDoorDetector iDetector = _doorDetector as InfraredBasedDoorDetector;
if (iDetector != null)
{
frame = InfraredStream.Instance.GetFrame();
if (frame != null)
{
frameBitmap = frame.GetBitmap();
}
}
}
}
if (frameBitmap != null)
{
RenderImage(frameBitmap, ImageView1);
}
Thread.Sleep(1000 / FRAMERATE);
}
}
public void TestDoorFromContourReturnsCorrectContour()
{
ColorBasedDoorDetector detector = CreateBasicDoorDetector();
PrivateObject privateAccessor = new PrivateObject(detector);
Size imageSize = new Size(100, 100);
Rectangle boundingRect = new Rectangle(10, 10, 80, 80);
Contour <Point> inputContour = new MockContour <Point>(boundingRect);
List <DetectedDoor> doors = (List <DetectedDoor>)privateAccessor.Invoke("DoorFromContour", inputContour);
List <DetectedDoor> expectedDoors = new List <DetectedDoor>();
expectedDoors.Add(new DetectedDoor(new Rectangle(), DetectedDoor.DetectionConfidence.HIGH, 0, 10));
Assert.AreEqual <List <DetectedDoor> >(doors, expectedDoors);
}
private void RadioButton_CheckedChanged(object sender, RoutedEventArgs e)
{
// ... Get RadioButton reference.
var button = sender as RadioButton;
string detectionMethodStr = button.Content.ToString();
if (detectionMethodStr == "ColorBased")
{
DoorDetector = new ColorBasedDoorDetector();
}
else if (detectionMethodStr == "DepthBased")
{
DoorDetector = new DepthBasedDoorDetector();
}
else if (detectionMethodStr == "InfraredBased")
{
DoorDetector = new InfraredBasedDoorDetector();
}
this.Run();
}
public void TestDoorNavigatorNavigatesTowardsDoor()
{
Bitmap image = new Bitmap("ObjectDetection\\Images\\door3.JPG");
MockFrame frame = new MockFrame(image);
MockImageStream stream = new MockImageStream(frame);
ColorBasedDoorDetector doorDetector = new ColorBasedDoorDetector();
DoorOrientationNavigationStrategy navigator = new DoorOrientationNavigationStrategy(doorDetector);
doorDetector.RunAsync(stream);
// Sleep for 1 second to ensure that the door detector has time to recognize the door
Thread.Sleep(1000);
Vector navigatorDirection = navigator.GetDirection();
Vector expectedDirection = new Vector(0.23776, 0.7623);
Assert.AreEqual <Vector>(expectedDirection, navigatorDirection);
doorDetector.CancelAsync();
}
