/// <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();
}
/// <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();
}
static void Main(string[] args)
{
var appData = ExecutionEnvironment.GetApplicationMetadata();
Log.Info(appData);
var options = new ConsoleOptions(args);
if (options.ShowHelp)
{
Console.WriteLine("Options:");
options.OptionSet.WriteOptionDescriptions(Console.Out);
return;
}
ICaptureGrab capture = null;
CapturePi.DoMatMagic("CreateCapture");
var noCaptureGrabs = new[] { Mode.simple, Mode.pantiltjoy };
var i2cRequired = new[] { Mode.pantiltface, Mode.pantiltjoy ,Mode.pantiltcolour };
CaptureConfig captureConfig = null;
if (!noCaptureGrabs.Contains(options.Mode))
{
var request = new CaptureRequest { Device = CaptureDevice.Usb };
if (EnvironmentService.IsUnix)
{
request.Device = CaptureDevice.Pi;
}
request.Config = new CaptureConfig { Resolution = new Resolution(160,120), Framerate = 10, Monochrome = false };
capture = CaptureFactory.GetCapture(request);
captureConfig = capture.GetCaptureProperties();
Log.Info(m => m("Capture properties read: {0}", captureConfig));
SafetyCheckRoi(options, captureConfig);
}
IPanTiltMechanism panTiltMech = null;
IScreen screen = null;
if (i2cRequired.Contains(options.Mode))
{
var pwmDeviceFactory = new Pca9685DeviceFactory();
var pwmDevice = pwmDeviceFactory.GetDevice(options.UseFakeDevice);
panTiltMech = new PanTiltMechanism(pwmDevice);
screen = new ConsoleScreen();
screen.Clear();
}
IRunner runner;
Log.Info(options);
switch (options.Mode)
{
case Mode.noop: runner = new NoopRunner(capture);
break;
case Mode.simple:runner = new SimpleCv();
break;
case Mode.colourdetect:
var colorDetector = new ColorDetectRunner(capture);
if (options.HasColourSettings)
{
colorDetector.Settings = options.ColourSettings;
}
runner = colorDetector;
break;
case Mode.haar:
var relativePath = string.Format(@"haarcascades{0}haarcascade_frontalface_default.xml", Path.DirectorySeparatorChar);
var cascadeFilename = Path.Combine(appData.ExeFolder, relativePath);
var cascadeContent = File.ReadAllText(cascadeFilename);
runner = new CascadeRunner(capture, cascadeContent);
break;
case Mode.servosort:
runner = new ServoSorter(capture, options);
break;
case Mode.pantiltjoy:
var joyController = new JoystickPanTiltController(panTiltMech);
runner = new TimerRunner(joyController, screen);
break;
case Mode.pantiltface:
var controllerF = new FaceTrackingPanTiltController(panTiltMech, captureConfig);
runner = new CameraBasedPanTiltRunner(panTiltMech, capture, controllerF, screen);
break;
case Mode.pantiltcolour:
var controllerC = new ColourTrackingPanTiltController(panTiltMech, captureConfig);
if (options.HasColourSettings)
{
controllerC.Settings = options.ColourSettings;
}
else
{
throw KrakenException.Create("Colour settings not found");
}
runner = new CameraBasedPanTiltRunner(panTiltMech, capture, controllerC, screen);
break;
default:
throw KrakenException.Create("Option mode {0} needs wiring up", options.Mode);
}
runner.Run();
}
static void Main(string[] args)
{
var appData = ExecutionEnvironment.GetApplicationMetadata();
Log.Info(appData);
_consoleOptions = new ConsoleOptions(args);
if (_consoleOptions.ShowHelp)
{
Console.WriteLine("Options:");
_consoleOptions.OptionSet.WriteOptionDescriptions(Console.Out);
return;
}
CapturePi.DoMatMagic("CreateCapture");
var noCaptureGrabs = new[] { Mode.simple, Mode.pantiltjoy, Mode.ipReport };
var i2cRequired = new[] { Mode.pantiltface, Mode.pantiltjoy, Mode.pantiltcolour, Mode.pantiltmultimode };
ICaptureGrab capture = null;
if (!noCaptureGrabs.Contains(_consoleOptions.Mode))
{
var config = CaptureConfig.Parse(_consoleOptions.CaptureConfig);
capture = BuildCaptureGrabber(config);
Log.Info($"Requested capture {capture.RequestedConfig}");
}
IPanTiltMechanism panTiltMech = null;
IScreen screen = null;
if (i2cRequired.Contains(_consoleOptions.Mode))
{
var pwmDeviceFactory = new Pca9685DeviceFactory();
var pwmDevice = pwmDeviceFactory.GetDevice(_consoleOptions.UseFakeDevice);
panTiltMech = new PanTiltMechanism(pwmDevice);
screen = new ConsoleScreen();
screen.Clear();
}
else
{
Log.Info("Pan Tilt is not required");
}
IRunner runner;
Log.Info(_consoleOptions);
switch (_consoleOptions.Mode)
{
case Mode.noop:
var noopRunner = new NoopRunner(capture);
noopRunner.ReportFramesPerSecond = true;
runner = noopRunner;
break;
case Mode.simple: runner = new SimpleCv();
break;
case Mode.colourdetect:
var colorDetector = new ColorDetectRunner(capture);
if (_consoleOptions.HasColourSettings)
{
colorDetector.Settings = _consoleOptions.ColourSettings;
}
runner = colorDetector;
break;
case Mode.haar:
var relativePath = $@"haarcascades{Path.DirectorySeparatorChar}haarcascade_frontalface_default.xml";
var cascadeFilename = Path.Combine(appData.ExeFolder, relativePath);
var cascadeContent = File.ReadAllText(cascadeFilename);
runner = new CascadeRunner(capture, cascadeContent);
break;
case Mode.servosort:
runner = new ServoSorter(capture, _consoleOptions);
break;
case Mode.pantiltjoy:
var joyController = new JoystickPanTiltController(panTiltMech);
runner = new TimerRunner(joyController, screen);
break;
case Mode.pantiltface:
var controllerF = new FaceTrackingPanTiltController(panTiltMech, capture.RequestedConfig);
runner = new CameraBasedPanTiltRunner(panTiltMech, capture, controllerF, screen);
break;
case Mode.pantiltmultimode:
var cameraHubProxy = new CameraHubProxy();
cameraHubProxy.Connect();
var remoteScreen = new RemoteConsoleScreen(cameraHubProxy);
var piServerClient = new BsonPostImageTransmitter();
var imageTransmitter = new RemoteImageSender(piServerClient, cameraHubProxy);
cameraHubProxy.SettingsChanged += (sender, s) =>
{
remoteScreen.Enabled = s.EnableConsoleTransmit;
imageTransmitter.Enabled = s.EnableImageTransmit;
};
var controllerMultimode = new MultimodePanTiltController(panTiltMech, capture.RequestedConfig, remoteScreen, cameraHubProxy, imageTransmitter);
var cameraBasedRunner = new CameraBasedPanTiltRunner(panTiltMech, capture, controllerMultimode, screen);
runner = cameraBasedRunner;
cameraHubProxy.UpdateCapture += (s, e) =>
{
remoteScreen.WriteLine($"Changing capture settings to {e}");
var newGrabber = BuildCaptureGrabber(e);
cameraBasedRunner.UpdateCaptureGrabber(newGrabber);
};
break;
case Mode.pantiltcolour:
var controllerC = new ColourTrackingPanTiltController(panTiltMech, capture.RequestedConfig);
if (_consoleOptions.HasColourSettings)
{
controllerC.Settings = _consoleOptions.ColourSettings;
}
else
{
throw KrakenException.Create("Colour settings not found");
}
runner = new CameraBasedPanTiltRunner(panTiltMech, capture, controllerC, screen);
break;
case Mode.ipReport:
var hub = new CameraHubProxy();
runner = new IpReporter(hub);
break;
default:
throw KrakenException.Create("Option mode {0} needs wiring up", _consoleOptions.Mode);
}
runner.Run();
}
static void Main(string[] args)
{
var appData = ExecutionEnvironment.GetApplicationMetadata();
Log.Info(appData);
_consoleOptions = new ConsoleOptions(args);
if (_consoleOptions.ShowHelp)
{
Console.WriteLine("Options:");
_consoleOptions.OptionSet.WriteOptionDescriptions(Console.Out);
return;
}
CapturePi.DoMatMagic("CreateCapture");
var noCaptureGrabs = new[] { Mode.simple, Mode.pantiltjoy, Mode.ipReport };
var i2cRequired = new[] { Mode.pantiltface, Mode.pantiltjoy ,Mode.pantiltcolour, Mode.pantiltmultimode };
ICaptureGrab capture = null;
if (!noCaptureGrabs.Contains(_consoleOptions.Mode))
{
var config = CaptureConfig.Parse(_consoleOptions.CaptureConfig);
capture = BuildCaptureGrabber(config);
Log.Info($"Requested capture {capture.RequestedConfig}");
}
IPanTiltMechanism panTiltMech = null;
IScreen screen = null;
if (i2cRequired.Contains(_consoleOptions.Mode))
{
var pwmDeviceFactory = new Pca9685DeviceFactory();
var pwmDevice = pwmDeviceFactory.GetDevice(_consoleOptions.UseFakeDevice);
panTiltMech = new PanTiltMechanism(pwmDevice);
screen = new ConsoleScreen();
screen.Clear();
}
else
{
Log.Info("Pan Tilt is not required");
}
IRunner runner;
Log.Info(_consoleOptions);
switch (_consoleOptions.Mode)
{
case Mode.noop:
var noopRunner = new NoopRunner(capture);
noopRunner.ReportFramesPerSecond = true;
runner = noopRunner;
break;
case Mode.simple:runner = new SimpleCv();
break;
case Mode.colourdetect:
var colorDetector = new ColorDetectRunner(capture);
if (_consoleOptions.HasColourSettings)
{
colorDetector.Settings = _consoleOptions.ColourSettings;
}
runner = colorDetector;
break;
case Mode.haar:
var relativePath = $@"haarcascades{Path.DirectorySeparatorChar}haarcascade_frontalface_default.xml";
var cascadeFilename = Path.Combine(appData.ExeFolder, relativePath);
var cascadeContent = File.ReadAllText(cascadeFilename);
runner = new CascadeRunner(capture, cascadeContent);
break;
case Mode.servosort:
runner = new ServoSorter(capture, _consoleOptions);
break;
case Mode.pantiltjoy:
var joyController = new JoystickPanTiltController(panTiltMech);
runner = new TimerRunner(joyController, screen);
break;
case Mode.pantiltface:
var controllerF = new FaceTrackingPanTiltController(panTiltMech, capture.RequestedConfig);
runner = new CameraBasedPanTiltRunner(panTiltMech, capture, controllerF, screen);
break;
case Mode.pantiltmultimode:
var cameraHubProxy = new CameraHubProxy();
if (!_consoleOptions.DisableTransmit)
{
cameraHubProxy.Connect();
}
var remoteScreen = new RemoteConsoleScreen(cameraHubProxy);
//var imageTransmitter = new BsonPostImageTransmitter();
var imageTransmitter = new BsonPostJpegTransmitter();
var periodicImageSender = new RemoteImageSender(imageTransmitter, cameraHubProxy);
remoteScreen.Enabled = !_consoleOptions.DisableTransmit;
periodicImageSender.Enabled = !_consoleOptions.DisableTransmit;
cameraHubProxy.SettingsChanged += (sender, s) =>
{
remoteScreen.Enabled = s.EnableConsoleTransmit;
periodicImageSender.Enabled = s.EnableImageTransmit;
};
var controllerMultimode = new MultimodePanTiltController(
panTiltMech
, capture.RequestedConfig
, remoteScreen
, cameraHubProxy
, periodicImageSender);
var cameraBasedRunner = new CameraBasedPanTiltRunner(panTiltMech, capture, controllerMultimode, screen);
runner = cameraBasedRunner;
cameraHubProxy.UpdateCapture += (s, e) =>
{
remoteScreen.WriteLine($"Changing capture settings to {e}");
var newGrabber = BuildCaptureGrabber(e);
cameraBasedRunner.UpdateCaptureGrabber(newGrabber);
};
break;
case Mode.pantiltcolour:
var controllerC = new ColourTrackingPanTiltController(panTiltMech, capture.RequestedConfig);
if (_consoleOptions.HasColourSettings)
{
controllerC.Settings = _consoleOptions.ColourSettings;
}
else
{
throw KrakenException.Create("Colour settings not found");
}
runner = new CameraBasedPanTiltRunner(panTiltMech, capture, controllerC, screen);
break;
case Mode.ipReport:
var hub = new CameraHubProxy();
runner = new IpReporter(hub);
break;
default:
throw KrakenException.Create("Option mode {0} needs wiring up", _consoleOptions.Mode);
}
runner.Run();
}
protected override void OnSubscribe()
{
base.OnSubscribe();
_captureConfig = CameraCapture.GetCaptureProperties();
_centre = _captureConfig.Resolution.GetCenter();
txtReticleX.Text = _centre.X.ToString();
txtReticleY.Text = _centre.Y.ToString();
var screen = new TextboxScreen(txtScreen);
//var imageTransmitter = new BsonPostImageTransmitter();
var imageTransmitter = new BsonPostJpegTransmitter();
var colorSettings = _colourSettingsRepo.Read();
var motionSettings = _motionSettingsRepo.Read();
// these should be disposed if not null
_faceTrackingController = new FaceTrackingPanTiltController(PanTiltMechanism, _captureConfig);
_colourTrackingController = new ColourTrackingPanTiltController(PanTiltMechanism, _captureConfig);
_motionTrackingController = new MotionTrackingPanTiltController(PanTiltMechanism, _captureConfig, screen);
// if haven't subscribed first time yet
if (_multimodePanTiltController == null)
{
_remoteScreen = new RemoteTextboxScreen(CameraHubProxy, txtScreen);
_remoteImageSender = new RemoteImageSender(imageTransmitter, CameraHubProxy);
CameraHubProxy.SettingsChanged += (o, s) =>
{
_remoteScreen.WriteLine($"Camera received new settings: {s}");
_remoteImageSender.SendEveryPeriod = s.TransmitImagePeriod;
_remoteImageSender.Enabled = s.EnableImageTransmit;
_remoteScreen.Enabled = s.EnableConsoleTransmit;
};
}
else
{
// don't resubscribe and get duplicate events on cameraHubProxy
_multimodePanTiltController.Unsubscribe();
}
_multimodePanTiltController = new MultimodePanTiltController(
PanTiltMechanism
, _captureConfig
, _remoteScreen
, CameraHubProxy
, _remoteImageSender);
_calibratingPanTiltController = new CalibratingPanTiltController(PanTiltMechanism, new CalibrationReadingsRepository(), screen);
_colourTrackingController.Settings = colorSettings;
_calibratingPanTiltController.Settings = colorSettings;
_motionTrackingController.Settings = motionSettings;
_calibratingPanTiltController.GetCameraCapture = PullImage;
_calibratingPanTiltController.WaitStep = CalibrationWaitStep;
_calibratingPanTiltController.ColourCaptured += _calibratingPanTiltController_ColourCaptured;
// default check states
chkBoxColourTracking.Checked = false;
chkBoxFaceTracker.Checked = false;
chkBoxMotionTracking.Checked = false;
chkMultimode.Checked = false;
Log.InfoFormat("MotionSettings: {0}", motionSettings);
}
protected override void OnSubscribe()
{
_captureConfig = CameraCapture.GetCaptureProperties();
_centre = _captureConfig.Resolution.GetCenter();
txtReticleX.Text = _centre.X.ToString();
txtReticleY.Text = _centre.Y.ToString();
InitI2C();
var screen = new TextboxScreen(txtScreen);
var colorSettings = _colourSettingsRepo.Read();
var motionSettings = _motionSettingsRepo.Read();
// these should be disposed if not null
_faceTrackingController = new FaceTrackingPanTiltController(PanTiltMechanism, _captureConfig);
_colourTrackingController = new ColourTrackingPanTiltController(PanTiltMechanism, _captureConfig);
_motionTrackingController = new MotionTrackingPanTiltController(PanTiltMechanism, _captureConfig, screen);
_calibratingPanTiltController = new CalibratingPanTiltController(PanTiltMechanism, new CalibrationReadingsRepository(), screen);
_colourTrackingController.Settings = colorSettings;
_calibratingPanTiltController.Settings = colorSettings;
_motionTrackingController.Settings = motionSettings;
_calibratingPanTiltController.GetCameraCapture = PullImage;
_calibratingPanTiltController.WaitStep = CalibrationWaitStep;
_calibratingPanTiltController.ColourCaptured += _calibratingPanTiltController_ColourCaptured;
Log.InfoFormat("MotionSettings: {0}", motionSettings);
}
protected override void OnSubscribe()
{
base.OnSubscribe();
_captureConfig = CameraCapture.GetCaptureProperties();
_centre = _captureConfig.Resolution.GetCenter();
txtReticleX.Text = _centre.X.ToString();
txtReticleY.Text = _centre.Y.ToString();
var screen = new TextboxScreen(txtScreen);
//var imageTransmitter = new BsonPostImageTransmitter();
var imageTransmitter = new BsonPostJpegTransmitter();
var colorSettings = _colourSettingsRepo.Read();
var motionSettings = _motionSettingsRepo.Read();
// these should be disposed if not null
_faceTrackingController = new FaceTrackingPanTiltController(PanTiltMechanism, _captureConfig);
_colourTrackingController = new ColourTrackingPanTiltController(PanTiltMechanism, _captureConfig);
_motionTrackingController = new MotionTrackingPanTiltController(PanTiltMechanism, _captureConfig, screen);
// if haven't subscribed first time yet
if (_multimodePanTiltController == null)
{
_remoteScreen = new RemoteTextboxScreen(CameraHubProxy, txtScreen);
_remoteImageSender = new RemoteImageSender(imageTransmitter, CameraHubProxy);
CameraHubProxy.SettingsChanged += (o, s) =>
{
_remoteScreen.WriteLine($"Camera received new settings: {s}");
_remoteImageSender.SendEveryPeriod = s.TransmitImagePeriod;
_remoteImageSender.Enabled = s.EnableImageTransmit;
_remoteScreen.Enabled = s.EnableConsoleTransmit;
};
}
else
{
// don't resubscribe and get duplicate events on cameraHubProxy
_multimodePanTiltController.Unsubscribe();
}
_multimodePanTiltController = new MultimodePanTiltController(
PanTiltMechanism
, _captureConfig
, _remoteScreen
, CameraHubProxy
, _remoteImageSender);
_calibratingPanTiltController = new CalibratingPanTiltController(PanTiltMechanism, new CalibrationReadingsRepository(), screen);
_colourTrackingController.Settings = colorSettings;
_calibratingPanTiltController.Settings = colorSettings;
_motionTrackingController.Settings = motionSettings;
_calibratingPanTiltController.GetCameraCapture = PullImage;
_calibratingPanTiltController.WaitStep = CalibrationWaitStep;
_calibratingPanTiltController.ColourCaptured += _calibratingPanTiltController_ColourCaptured;
// default check states
chkBoxColourTracking.Checked = false;
chkBoxFaceTracker.Checked = false;
chkBoxMotionTracking.Checked = false;
chkMultimode.Checked = false;
Log.InfoFormat("MotionSettings: {0}", motionSettings);
}
