public Tracker()
{
InitializeComponent();
//UI
label_RedBG.SendToBack();
label_BlueBG.SendToBack();
label_RedBG.Controls.Add(label_CarA);
label_RedBG.Controls.Add(labelAScore);
label_BlueBG.Controls.Add(label_CarB);
int newX = label_CarB.Location.X - label_BlueBG.Location.X;
int newY = label_CarB.Location.Y - label_BlueBG.Location.Y;
label_CarB.Location = new System.Drawing.Point(newX, newY);
label_BlueBG.Controls.Add(labelBScore);
newX = labelBScore.Location.X - label_BlueBG.Location.X;
newY = labelBScore.Location.Y - label_BlueBG.Location.Y;
labelBScore.Location = new System.Drawing.Point(newX, newY);
label_GameCount.Text = "上半场";
InitialCaiServer();
MessageBox.Show("TCP IP is " + server.getUsedIP().ToString() + " port is " + server.getPort().ToString());
udp = new CaiNetwork.CaiUDP();
MessageBox.Show("UDP IP is " + udp.broadcastIpEndPoint.Address.ToString() + " port is " + udp.broadcastIpEndPoint.Port.ToString());
// Init
flags = new MyFlags();
flags.Init();
flags.Start();
ptsShowCorners = new Point2f[4];
cc = new CoordinateConverter(flags);
localiser = new Localiser();
capture = new VideoCapture();
// threadCamera = new Thread(CameraReading);
capture.Open(0);
timeCamNow = DateTime.Now;
timeCamPrev = timeCamNow;
car1 = new Point2i();
car2 = new Point2i();
buttonStart.Enabled = true;
buttonPause.Enabled = false;
button_AReset.Enabled = false;
button_BReset.Enabled = false;
Game.LoadMap();
game = new Game();
if (capture.IsOpened())
{
capture.FrameWidth = flags.cameraSize.Width;
capture.FrameHeight = flags.cameraSize.Height;
capture.ConvertRgb = true;
timer100ms.Interval = 75;
timer100ms.Start();
//Cv2.NamedWindow("binary");
}
}
public void PassengersFilter(MyFlags flags)
{
if (!flags.calibrated)
{
return;
}
for (int i = 0; i < flags.currPassengerNum; ++i)
{
Point2f[] res = LogicToCamera(new Point2f[] { flags.posPassengerStart[i], flags.posPassengerEnd[i] });
flags.posPassengerStart[i] = res[0];
flags.posPassengerEnd[i] = res[1];
}
}
public SetWindow(ref MyFlags flags, ref Game game)
{
InitializeComponent();
_flags = flags;
_game = game;
nudHue1L.Value = flags.configs.hue1Lower;
nudHue1H.Value = flags.configs.hue1Upper;
nudHue2L.Value = flags.configs.hue2Lower;
nudHue2H.Value = flags.configs.hue2Upper;
nudSat1L.Value = flags.configs.saturation1Lower;
nudSat2L.Value = flags.configs.saturation2Lower;
nudValueL.Value = flags.configs.valueLower;
nudAreaL.Value = flags.configs.areaLower;
checkBox_DebugMode.Checked = game.DebugMode;
}
public Tracker()
{
InitializeComponent();
InitialCaiServer();
MessageBox.Show("TCP IP is " + server.getUsedIP().ToString() + " port is " + server.getPort().ToString());
udp = new CaiNetwork.CaiUDP();
MessageBox.Show("UDP IP is " + udp.broadcastIpEndPoint.Address.ToString() + " port is " + udp.broadcastIpEndPoint.Port.ToString());
tbsPoint = new TextBox[] { tbPoint1, tbPoint2, tbPoint3, tbPoint4 };
// Init
flags = new MyFlags();
flags.Init();
flags.Start();
ptsShowCorners = new Point2f[4];
cc = new CoordinateConverter(flags);
localiser = new Localiser();
capture = new VideoCapture();
// threadCamera = new Thread(CameraReading);
/****************************************** 修改了此处，调用电脑自带摄像头 ******************************************/
capture.Open(0);
//capture.Open(1);
timeCamNow = DateTime.Now;
timeCamPrev = timeCamNow;
car1 = new Point2i();
car2 = new Point2i();
buttonStart.Enabled = true;
buttonPause.Enabled = false;
button_reset.Enabled = false;
Game.LoadMap();
game = new Game();
if (capture.IsOpened())
{
capture.FrameWidth = flags.cameraSize.Width;
capture.FrameHeight = flags.cameraSize.Height;
capture.ConvertRgb = true;
timer100ms.Interval = 75;
timer100ms.Start();
//Cv2.NamedWindow("binary");
}
portCB.Items.AddRange(System.IO.Ports.SerialPort.GetPortNames());
myID = 'A';
}
public CoordinateConverter(MyFlags myFlags)
{
camCorners = new Point2f[4];
logicCorners = new Point2f[4];
showCorners = new Point2f[4];
cam2logic = new Mat();
show2cam = new Mat();
logic2show = new Mat();
show2logic = new Mat();
cam2show = new Mat();
logic2cam = new Mat();
logicCorners[0].X = 0;
logicCorners[0].Y = 0;
logicCorners[1].X = myFlags.logicSize.Width;
logicCorners[1].Y = 0;
logicCorners[2].X = 0;
logicCorners[2].Y = myFlags.logicSize.Height;
logicCorners[3].X = myFlags.logicSize.Width;
logicCorners[3].Y = myFlags.logicSize.Height;
showCorners[0].X = 0;
showCorners[0].Y = 0;
showCorners[1].X = myFlags.showSize.Width;
showCorners[1].Y = 0;
showCorners[2].X = 0;
showCorners[2].Y = myFlags.showSize.Height;
showCorners[3].X = myFlags.showSize.Width;
showCorners[3].Y = myFlags.showSize.Height;
camCorners[0].X = 0;
camCorners[0].Y = 0;
camCorners[1].X = myFlags.cameraSize.Width;
camCorners[1].Y = 0;
camCorners[2].X = 0;
camCorners[2].Y = myFlags.cameraSize.Height;
camCorners[3].X = myFlags.cameraSize.Width;
camCorners[3].Y = myFlags.cameraSize.Height;
show2cam = Cv2.GetPerspectiveTransform(showCorners, camCorners);
cam2show = Cv2.GetPerspectiveTransform(camCorners, showCorners);
}
public void UpdateCorners(Point2f[] corners, MyFlags myFlags)
{
if (corners == null)
{
return;
}
if (corners.Length != 4)
{
return;
}
else
{
showCorners = corners;
}
logic2show = Cv2.GetPerspectiveTransform(logicCorners, showCorners);
show2logic = Cv2.GetPerspectiveTransform(showCorners, logicCorners);
camCorners = Cv2.PerspectiveTransform(showCorners, show2cam);
cam2logic = Cv2.GetPerspectiveTransform(camCorners, logicCorners);
logic2cam = Cv2.GetPerspectiveTransform(logicCorners, camCorners);
myFlags.calibrated = true;
}
public void Locate(Mat mat, MyFlags localiseFlags)
{
if (mat == null || mat.Empty())
{
return;
}
if (localiseFlags == null)
{
return;
}
using (Mat hsv = new Mat())
using (Mat car1 = new Mat())
using (Mat car2 = new Mat())
using (Mat merged = new Mat())
using (Mat black = new Mat(mat.Size(), MatType.CV_8UC1))
{
Cv2.CvtColor(mat, hsv, ColorConversionCodes.RGB2HSV);
MyFlags.LocConfigs configs = localiseFlags.configs;
Cv2.InRange(hsv,
new Scalar(configs.hue1Lower, configs.saturation1Lower, configs.valueLower),
new Scalar(configs.hue1Upper, 255, 255),
car1);
Cv2.InRange(hsv,
new Scalar(configs.hue2Lower, configs.saturation2Lower, configs.valueLower),
new Scalar(configs.hue2Upper, 255, 255),
car2);
Point2i[][] contours1, contours2;
contours1 = Cv2.FindContoursAsArray(car1, RetrievalModes.External, ContourApproximationModes.ApproxSimple);
contours2 = Cv2.FindContoursAsArray(car2, RetrievalModes.External, ContourApproximationModes.ApproxSimple);
foreach (Point2i[] c1 in contours1)
{
Point2i centre = new Point2i();
Moments moments = Cv2.Moments(c1);
centre.X = (int)(moments.M10 / moments.M00);
centre.Y = (int)(moments.M01 / moments.M00);
double area = moments.M00;
if (area < configs.areaLower)
{
continue;
}
centres1.Add(centre);
}
foreach (Point2i[] c2 in contours2)
{
Point2i centre = new Point2f();
Moments moments = Cv2.Moments(c2);
centre.X = (int)(moments.M10 / moments.M00);
centre.Y = (int)(moments.M01 / moments.M00);
double area = moments.M00;
if (area < configs.areaLower)
{
continue;
}
centres2.Add(centre);
}
foreach (Point2i c1 in centres1)
{
Cv2.Circle(mat, c1, 10, new Scalar(0x1b, 0xff, 0xa7), -1);
}
foreach (Point2i c2 in centres2)
{
Cv2.Circle(mat, c2, 10, new Scalar(0x00, 0x98, 0xff), -1);
}
if (localiseFlags.gameState != GameState.Unstart)
{
for (int i = 0; i < localiseFlags.currPassengerNum; ++i)
{
int x1 = localiseFlags.posPassengerEnd[i].X;
int y1 = localiseFlags.posPassengerEnd[i].Y;
int x2 = localiseFlags.posPassengerStart[i].X;
int y2 = localiseFlags.posPassengerStart[i].Y;
int x10 = x1 - 8;
int y10 = y1 - 8;
int x20 = x2 - 8;
int y20 = y2 - 8;
Rect rectDest = new Rect(x10, y10, 16, 16);
Rect rectSrc = new Rect(x20, y20, 16, 16);
switch (localiseFlags.passengerState[i])
{
case Camp.CampA:
Cv2.Rectangle(mat, rectDest, new Scalar(0x1b, 0xff, 0xa7), -1);
break;
case Camp.CampB:
Cv2.Rectangle(mat, rectDest, new Scalar(0x00, 0x98, 0xff), -1);
break;
case Camp.None:
// Cv2.Circle(mat, localiseFlags.posPassengerStart[i], 5, new Scalar(0xd8, 0x93, 0xce), -1);
if (i != 4)
{
Cv2.Rectangle(mat, rectSrc, new Scalar(0xf3, 0x96, 0x21), -1);
}
else
{
Cv2.Rectangle(mat, rectSrc, new Scalar(0x58, 0xee, 0xff), -1);
}
break;
default:
break;
}
}
}
Cv2.Merge(new Mat[] { car1, car2, black }, merged);
Cv2.ImShow("binary", merged);
}
}
public void Locate(Mat mat, MyFlags localiseFlags)
{
if (mat == null || mat.Empty())
{
return;
}
if (localiseFlags == null)
{
return;
}
{
/*
* using (Mat hsv = new Mat())
* using (Mat car1 = new Mat())
* using (Mat car2 = new Mat())
* //using (Mat merged = new Mat())
* using (Mat black = new Mat(mat.Size(), MatType.CV_8UC1))
* {
* Cv2.CvtColor(mat, hsv, ColorConversionCodes.RGB2HSV);
* MyFlags.LocConfigs configs = localiseFlags.configs;
* Cv2.InRange(hsv,
* new Scalar(configs.hue1Lower, configs.saturation1Lower, configs.valueLower),
* new Scalar(configs.hue1Upper, 255, 255),
* car1);
* Cv2.InRange(hsv,
* new Scalar(configs.hue2Lower, configs.saturation2Lower, configs.valueLower),
* new Scalar(configs.hue2Upper, 255, 255),
* car2);
*
* Point2i[][] contours1, contours2;
*
* contours1 = Cv2.FindContoursAsArray(car1, RetrievalModes.External, ContourApproximationModes.ApproxSimple);
* contours2 = Cv2.FindContoursAsArray(car2, RetrievalModes.External, ContourApproximationModes.ApproxSimple);
*
* foreach (Point2i[] c1 in contours1)
* {
* Point2i centre = new Point2i();
* Moments moments = Cv2.Moments(c1);
* centre.X = (int)(moments.M10 / moments.M00);
* centre.Y = (int)(moments.M01 / moments.M00);
* double area = moments.M00;
* if (area < configs.areaLower) continue;
* centres1.Add(centre);
* }
* foreach (Point2i[] c2 in contours2)
* {
* Point2i centre = new Point2f();
* Moments moments = Cv2.Moments(c2);
* centre.X = (int)(moments.M10 / moments.M00);
* centre.Y = (int)(moments.M01 / moments.M00);
* double area = moments.M00;
* if (area < configs.areaLower) continue;
* centres2.Add(centre);
* }
*
* foreach (Point2i c1 in centres1) Cv2.Circle(mat, c1, 10, new Scalar(0x1b, 0xff, 0xa7), -1);
* foreach (Point2i c2 in centres2) Cv2.Circle(mat, c2, 10, new Scalar(0x00, 0x98, 0xff), -1);
*/
Cv2.Circle(mat, localiseFlags.posCarA, 4, new Scalar(0x1b, 0xff, 0xa7), -1); // 画车
Cv2.Circle(mat, localiseFlags.posCarB, 4, new Scalar(0x00, 0x98, 0xff), -1);
int x_destination = localiseFlags.nextDestination.X - 4;
int y_destination = localiseFlags.nextDestination.Y - 4;
Rect rect_destination = new Rect(x_destination, y_destination, 8, 8);
Cv2.Rectangle(mat, rect_destination, new Scalar(0x58, 0xee, 0xff), -1); // next target point
int x_predCurPosition = localiseFlags.predCurPosition.X - 4;
int y_predCurPosition = localiseFlags.predCurPosition.Y - 4;
Rect rect_pred = new Rect(x_predCurPosition, y_predCurPosition, 8, 8);
Cv2.Rectangle(mat, rect_pred, new Scalar(0x58, 0xee, 0xff), -1); // pred current point
Cv2.Line(mat, localiseFlags.predCurPosition, localiseFlags.nextDestination, new Scalar(100, 105, 200), 2);
if (localiseFlags.gameState != GameState.Unstart)
{
for (int i = 0; i < localiseFlags.currPassengerNum; ++i)
{
int x1 = localiseFlags.posPassengerEnd[i].X;
int y1 = localiseFlags.posPassengerEnd[i].Y;
int x2 = localiseFlags.posPassengerStart[i].X;
int y2 = localiseFlags.posPassengerStart[i].Y;
int x10 = x1 - 4;
int y10 = y1 - 4;
int x20 = x2 - 4;
int y20 = y2 - 4;
Rect rectDest = new Rect(x10, y10, 8, 8);
Rect rectSrc = new Rect(x20, y20, 8, 8);
switch (localiseFlags.passengerState[i])
{
case Camp.CampA:
Cv2.Rectangle(mat, rectDest, new Scalar(0x1b, 0xff, 0xa7), -1);
Cv2.Line(mat, localiseFlags.posCarA, localiseFlags.posPassengerEnd[i], new Scalar(0x1b, 0xff, 0xa7), 1);
break;
case Camp.CampB:
Cv2.Rectangle(mat, rectDest, new Scalar(0x00, 0x98, 0xff), -1);
Cv2.Line(mat, localiseFlags.posCarB, localiseFlags.posPassengerEnd[i], new Scalar(0x00, 0x98, 0xff), 1);
break;
case Camp.None:
// Cv2.Circle(mat, localiseFlags.posPassengerStart[i], 5, new Scalar(0xd8, 0x93, 0xce), -1);
Cv2.Rectangle(mat, rectSrc, new Scalar(0xf3, 0x96, 0x21), -1);
Cv2.Rectangle(mat, rectDest, new Scalar(0x58, 0xee, 0xff), -1);
Cv2.Line(mat, localiseFlags.posPassengerStart[i], localiseFlags.posPassengerEnd[i], new Scalar(0xf3, 0x96, 0x21), 1);
break;
default:
break;
}
}
}
//Cv2.Merge(new Mat[] { car1, car2, black }, merged);
//Cv2.ImShow("binary", merged);
}
}
