/// <summary> /// Find ball location in frame in defined area /// </summary> /// <param name="image">Image to detect ball</param> /// <param name="timeStamp">Time Stamp of an image</param> /// <param name="detectionArea">Area to search ball in. If Selected: /// area will be defined based on last stored location and maximum possible speed. /// [Default is Full to search in all frame] /// </param> /// <returns>[True] if ball location found, [False] otherwise</returns> public abstract bool FindBallLocationInFrame(Image<Gray, byte> image, DateTime timeStamp, eDetectionArea detectionArea = eDetectionArea.Full);
/// <summary>
/// Find ball location in frame in defined area
/// </summary>
/// <param name="image">Image to detect ball</param>
/// <param name="timeStamp">Time Stamp of an image</param>
/// <param name="detectionArea">Area to search ball in. If Selected:
/// area will be defined based on last stored location and maximum possible speed.
/// [Default is Full to search in all frame]
/// </param>
/// <returns>[True] if ball location found, [False] otherwise</returns>
public override bool FindBallLocationInFrame(Image <Gray, byte> image, DateTime timeStamp, eDetectionArea detectionArea = eDetectionArea.Full)
{
using (image = image.Clone())
{
int additionalOffsetX = 0;
int additionalOffsetY = 0;
if (detectionArea.Equals(eDetectionArea.Selected))
{
TimeSpan deltaT = timeStamp - ImagingData.LastKnownBallLocation.Timestamp;
double searchRadius = MAX_BALL_SPEED * deltaT.TotalSeconds;
int maxX = (Convert.ToInt32(ImagingData.LastKnownBallLocation.X + searchRadius) > image.Width) ?
image.Width : Convert.ToInt32(ImagingData.LastKnownBallLocation.X + searchRadius);
int maxY = (Convert.ToInt32(ImagingData.LastKnownBallLocation.Y + searchRadius) > image.Height) ?
image.Height : Convert.ToInt32(ImagingData.LastKnownBallLocation.Y + searchRadius);
additionalOffsetX = (Convert.ToInt32(ImagingData.LastKnownBallLocation.X - searchRadius) < 0) ?
0 : Convert.ToInt32(ImagingData.LastKnownBallLocation.X - searchRadius);
additionalOffsetY = (Convert.ToInt32(ImagingData.LastKnownBallLocation.Y - searchRadius) < 0) ?
0 : Convert.ToInt32(ImagingData.LastKnownBallLocation.Y - searchRadius);
List <System.Drawing.PointF> croppingPoints = new List <System.Drawing.PointF>()
{
new System.Drawing.PointF(maxX, maxY),
new System.Drawing.PointF(maxX, additionalOffsetY),
new System.Drawing.PointF(additionalOffsetX, maxY),
new System.Drawing.PointF(additionalOffsetX, additionalOffsetY)
};
image = Crop(image, croppingPoints);
ComputerVisionMonitors[eComputerVisionMonitor.MonitorB].ShowFrame(image);
}
CircleF[] pos = DetectCircles(image, ImagingData.BallRadius, ImagingData.BallRadiusError * 2, ImagingData.BallRadius * 5);
if (pos.Length > 0)
{
double xLocation = pos[0].Center.X + additionalOffsetX;
double yLocation = pos[0].Center.Y + additionalOffsetY;
UpdateCoordinates(xLocation, yLocation, timeStamp, Brushes.Red);
return(true);
}
Log.Print(String.Format("Ball not found in {0} area", detectionArea.ToString()), eCategory.Debug, LogTag.IMAGE);
ImagingData.BallCoords = new BallCoordinates(timeStamp);
return(false);
}
}
/// <summary>
/// Find ball location in frame in defined area
/// </summary>
/// <param name="image">Image to detect ball</param>
/// <param name="timeStamp">Time Stamp of an image</param>
/// <param name="detectionArea">Area to search ball in. If Selected:
/// area will be defined based on last stored location and maximum possible speed.
/// [Default is Full to search in all frame]
/// </param>
/// <returns>[True] if ball location found, [False] otherwise</returns>
public override bool FindBallLocationInFrame(Image<Gray, byte> image, DateTime timeStamp, eDetectionArea detectionArea = eDetectionArea.Full)
{
using (image = image.Clone())
{
int additionalOffsetX = 0;
int additionalOffsetY = 0;
if (detectionArea.Equals(eDetectionArea.Selected))
{
TimeSpan deltaT = timeStamp - ImagingData.LastKnownBallLocation.Timestamp;
double searchRadius = MAX_BALL_SPEED * deltaT.TotalSeconds;
int maxX = (Convert.ToInt32(ImagingData.LastKnownBallLocation.X + searchRadius) > image.Width) ?
image.Width : Convert.ToInt32(ImagingData.LastKnownBallLocation.X + searchRadius);
int maxY = (Convert.ToInt32(ImagingData.LastKnownBallLocation.Y + searchRadius) > image.Height) ?
image.Height : Convert.ToInt32(ImagingData.LastKnownBallLocation.Y + searchRadius);
additionalOffsetX = (Convert.ToInt32(ImagingData.LastKnownBallLocation.X - searchRadius) < 0) ?
0 : Convert.ToInt32(ImagingData.LastKnownBallLocation.X - searchRadius);
additionalOffsetY = (Convert.ToInt32(ImagingData.LastKnownBallLocation.Y - searchRadius) < 0) ?
0 : Convert.ToInt32(ImagingData.LastKnownBallLocation.Y - searchRadius);
List<System.Drawing.PointF> croppingPoints = new List<System.Drawing.PointF>()
{
new System.Drawing.PointF(maxX, maxY),
new System.Drawing.PointF(maxX, additionalOffsetY),
new System.Drawing.PointF(additionalOffsetX, maxY),
new System.Drawing.PointF(additionalOffsetX, additionalOffsetY)
};
image = Crop(image, croppingPoints);
ComputerVisionMonitors[eComputerVisionMonitor.MonitorB].ShowFrame(image);
}
CircleF[] pos = DetectCircles(image, ImagingData.BallRadius, ImagingData.BallRadiusError * 2, ImagingData.BallRadius * 5);
if (pos.Length > 0)
{
double xLocation = pos[0].Center.X + additionalOffsetX;
double yLocation = pos[0].Center.Y + additionalOffsetY;
UpdateCoordinates(xLocation, yLocation, timeStamp, Brushes.Red);
return true;
}
Log.Print(String.Format("Ball not found in {0} area", detectionArea.ToString()), eCategory.Debug, LogTag.IMAGE);
ImagingData.BallCoords = new BallCoordinates(timeStamp);
return false;
}
}
/// <summary> /// Find ball location in frame in defined area /// </summary> /// <param name="image">Image to detect ball</param> /// <param name="timeStamp">Time Stamp of an image</param> /// <param name="detectionArea">Area to search ball in. If Selected: /// area will be defined based on last stored location and maximum possible speed. /// [Default is Full to search in all frame] /// </param> /// <returns>[True] if ball location found, [False] otherwise</returns> public abstract bool FindBallLocationInFrame(Image <Gray, byte> image, DateTime timeStamp, eDetectionArea detectionArea = eDetectionArea.Full);
