private ColourTrackingPanTiltOutput ProcessColour(CameraProcessInput input)
{
_colourDetectorInput.Captured = input.Captured;
_colourTrackingController.Settings = _colourDetectorInput.Settings;
var colourOutput = _colourTrackingController.Process(_colourDetectorInput);
colourOutput.CapturedImage = GetBgr(colourOutput.ThresholdImage);
return(colourOutput);
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
if (_calibrationInProgress)
{
return;
}
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
var statusAccumulation = new StringBuilder();
var bgrImage = matCaptured.ToImage <Bgr, byte>();
DrawReticle(bgrImage, _centre, Color.Red);
if (UserReticle != null)
{
DrawReticle(bgrImage, UserReticle.Value, Color.Green);
}
var input = new CameraProcessInput();
input.SetCapturedImage = true;
input.Captured = matCaptured;
CameraPanTiltProcessOutput output = null;
if (chkBoxColourTracking.Checked)
{
var result = _colourTrackingController.Process(input);
output = result;
if (result.IsDetected)
{
DrawReticle(bgrImage, result.Target, Color.Yellow);
}
imageBoxFiltered.Image = result.ThresholdImage;
statusAccumulation.AppendFormat("{0} moment area", result.MomentArea);
// WriteText(bgrImage, _captureConfig.Resolution.Height - 10, "Colour Tracking");
}
if (chkBoxFaceTracker.Checked)
{
// WriteText(bgrImage, _captureConfig.Resolution.Height - 50, "Face Tracking");
var result = _faceTrackingController.Process(input);
output = result;
if (result.IsDetected)
{
foreach (var face in result.Faces)
{
bgrImage.Draw(face.Region, new Bgr(Color.Yellow), 2);
}
DrawReticle(bgrImage, result.Target, Color.Yellow);
}
statusAccumulation.AppendFormat("{0} faces detected", result.Faces.Count);
}
if (chkBoxMotionTracking.Checked)
{
// WriteText(bgrImage, _captureConfig.Resolution.Height - 75, "Motion Tracking");
var result = _motionTrackingController.Process(input);
output = result;
if (result.IsDetected)
{
foreach (var motionSection in result.MotionSections)
{
bgrImage.Draw(motionSection.Region, new Bgr(Color.Green));
}
if (result.TargetedMotion != null)
{
bgrImage.Draw(result.TargetedMotion.Region, new Bgr(Color.Red), 2);
}
}
statusAccumulation.AppendFormat("{0} motions", result.MotionSections.Count);
imageBoxFiltered.Image = result.ForegroundImage;
}
if (chkMultimode.Checked)
{
var multimodeOutput = _multimodePanTiltController.Process(input);
output = multimodeOutput;
if (output.Target != Point.Empty)
{
DrawReticle(bgrImage, output.Target, Color.Yellow);
}
}
if (output != null)
{
if (output.IsServoInMotion)
{
statusAccumulation.AppendFormat(", Waiting for servo");
}
else
{
statusAccumulation.AppendFormat(", tracking took {0}", output.Elapsed.ToHumanReadable());
}
NotifyStatus(statusAccumulation.ToString());
}
imageBoxCaptured.Image = bgrImage;
}
}