private Mat Compressing(Mat SourceMat, double intensity)
{
ImageEncodingParam param = new ImageEncodingParam(ImwriteFlags.JpegQuality, checked ((byte)Convert.ToInt32((1.0 - intensity) * 100.0)));
byte[] buffer = SourceMat.ImEncode(".jpg", param);
return(Mat.ImDecode(buffer));
}
static void Main(string[] args)
{
Mat img = new Mat(new Size(640, 480), MatType.CV_8UC3);
bool save;
ImageEncodingParam[] prms = new ImageEncodingParam[] {
new ImageEncodingParam(ImwriteFlags.JpegQuality, 100),
new ImageEncodingParam(ImwriteFlags.JpegProgressive, 1)
};
save = Cv2.ImWrite("CV.jpeg", img, prms);
Console.WriteLine(save);
}
public static byte[] PackImg(IRHeader header, ndarray img, int quality = 95, string img_fmt = ".jpg")
{
int[] encodeParams = null;
OpenCvSharp.ImageEncodingParam imageEncodingParam = new ImageEncodingParam(ImwriteFlags.JpegQuality, quality);
if (img_fmt.ToLower() == ".jpg" || img_fmt.ToLower() == ".jpeg")
{
encodeParams = new int[] { }
}
;
Cv2.ImEncode(img_fmt, new Mat(img.GetMemPtr()), out var buf, imageEncodingParam);
return(Pack(header, buf));
}
}
/// <summary>
/// Сохранение первого кадра при возникновении простоя
/// </summary>
/// <param name="time">Время начала простоя</param>
/// <param name="curFrame">Кадр с простоем</param>
public static void SaveImg(DateTime time, Mat curFrame, bool downtimeEnd = false)
{
var folderName = "Сохраненные кадры работы";
if (!Directory.Exists(folderName))
{
Directory.CreateDirectory(folderName);
}
var date = time.ToShortDateString();
folderName += "\\" + time.ToShortDateString();
if (!Directory.Exists(folderName))
{
Directory.CreateDirectory(folderName);
}
var n = new ImageEncodingParam(ImwriteFlags.JpegOptimize, 100);
var s = time.ToLongTimeString().Replace(':', '.');
Cv2.ImWrite($"{folderName}\\{s} ({(!downtimeEnd ? "Начало" : "Конец")} простоя).jpeg", curFrame, n);
}
public static int Main(string[] args)
{
SerialPort serial;
try
{
IEnumerable <PortInfo> ports = PortInfo.GetPorts();
string port = ports.FirstOrDefault((pi) => pi.Description == serialDevice)?.DeviceID;
if (port != null)
{
serial = new SerialPort(port, baudRate);
}
else
{
throw new IOException("Could not connect to serial port.");
}
}
catch (Exception ex)
{
Console.WriteLine(ex);
return(1);
}
Console.WriteLine();
TcpListener listener = new TcpListener(IPAddress.Any, 5050);
re:
try
{
listener.Start();
Console.WriteLine("Listening " + listener.LocalEndpoint);
using (var client = listener.AcceptTcpClient())
{
listener.Stop();
Console.WriteLine("Connection established " + client.Client.RemoteEndPoint);
using (NetworkStream stream = client.GetStream())
{
int width, height, fps, quality;
using (var reader = new BinaryReader(stream, System.Text.Encoding.ASCII, true))
{
using (var writer = new BinaryWriter(stream, System.Text.Encoding.ASCII, true))
{
width = reader.ReadInt32();
height = reader.ReadInt32();
fps = reader.ReadInt32();
quality = reader.ReadInt32();
Console.WriteLine("Parameters received:");
Console.WriteLine($" Width: {width}");
Console.WriteLine($" Height: {height}");
Console.WriteLine($" Fps: {fps}");
Console.WriteLine($" Quality: {quality}");
var encoderParam = new ImageEncodingParam(ImwriteFlags.JpegQuality, quality);
using (var cap = new VideoCapture(0)
{
FrameWidth = width, FrameHeight = height, Fps = fps
})
{
Console.WriteLine("Started video capturing...");
Mat imgMatrix = new Mat();
Mat mask = new Mat();
Mat tresh = new Mat();
try
{
Scalar lastSeen = default(Scalar);
bool autoPilot = false,
camAuto = false,
moveAuto = false,
none;
while (client.Connected && stream.CanWrite)
{
Command commandTaken = (Command)reader.ReadByte();
autoPilot = commandTaken.HasFlag(Command.AutoPilot);
camAuto = commandTaken.HasFlag(Command.CamAuto);
moveAuto = commandTaken.HasFlag(Command.MoveAuto);
none = commandTaken == Command.None;
if (cap.Read(imgMatrix))
{
Cv2.CvtColor(imgMatrix, mask, ColorConversionCodes.BGR2HSV);
Cv2.InRange(mask, greenLower, greenUpper, tresh);
Cv2.Erode(tresh, tresh, null, iterations: 2);
Cv2.Dilate(tresh, tresh, null, iterations: 2);
Cv2.FindContours(
tresh,
out Point[][] contours,
out HierarchyIndex[] hierarchyIndexes,
RetrievalModes.External,
ContourApproximationModes.ApproxSimple
);
if (contours.Length > 0)
{
contours.OrderBy(element => Cv2.ContourArea(element));
Point[] max = contours[contours.Length - 1];
Cv2.MinEnclosingCircle(max, out Point2f xy, out float radius);
//Moments M = Cv2.Moments(max);
//Point center = new Point((M.M10 / M.M00), (M.M01 / M.M00));
Point center = new Point(xy.X, xy.Y);
if (radius > 10.0f)
{
Cv2.Circle(imgMatrix, center, (int)radius, new Scalar(0, 255, 255), thickness: 2);
Cv2.Circle(imgMatrix, center, 5, new Scalar(0, 0, 255), thickness: -1);
//find the ball which region on the screen horizontally [0-5]
int xRegion = center.X.Map(0, width, 0, 3);
//find the ball which region on the screen vertically [0-5]
int yRegion = center.Y.Map(0, height, 0, 3);
//find the ball is too far from camera or too close
int zRegion = ((int)radius).Map(10, 400, 0, 3);
lastSeen = FindBallCoordinates((int)radius, center, new Point(width / 2, height / 2));
#region Automatic Decisions
Command command = 0;
if (autoPilot)
{
if (xRegion < 1 && yRegion < 1)
{
command |= Command.CamLeft | Command.CamUp;
}
else if (xRegion < 1 && yRegion > 1)
{
command |= Command.CamLeft | Command.CamDown;
}
else if (xRegion > 1 && yRegion < 1)
{
command |= Command.CamRight | Command.CamUp;
}
else if (xRegion > 1 && yRegion > 1)
{
command |= Command.CamRight | Command.CamDown;
}
else if (xRegion < 1)
{
command |= Command.CamLeft;
}
else if (xRegion > 1)
{
command |= Command.CamRight;
}
else if (yRegion < 1)
{
command |= Command.CamUp;
}
else if (yRegion > 1)
{
command |= Command.CamDown;
}
if (zRegion > 1)
{
command |= Command.MoveBackward;
}
else if (zRegion < 1)
{
command |= Command.MoveForward;
}
byte[] message = { (byte)command };
serial.Write(message, 0, 1);
}
else if (camAuto)
{
if (xRegion < 1 && yRegion < 1)
{
command |= Command.CamLeft | Command.CamUp;
}
else if (xRegion < 1 && yRegion > 1)
{
command |= Command.CamLeft | Command.CamDown;
}
else if (xRegion > 1 && yRegion < 1)
{
command |= Command.CamRight | Command.CamUp;
}
else if (xRegion > 1 && yRegion > 1)
{
command |= Command.CamRight | Command.CamDown;
}
else if (xRegion < 1)
{
command |= Command.CamLeft;
}
else if (xRegion > 1)
{
command |= Command.CamRight;
}
else if (yRegion < 1)
{
command |= Command.CamUp;
}
else if (yRegion > 1)
{
command |= Command.CamDown;
}
byte[] message = { (byte)(command | (commandTaken & Command.MoveAuto)) };
serial.Write(message, 0, 1);
}
else if (moveAuto)
{
if (zRegion > 1 && xRegion < 1)
{
command |= Command.MoveForward | Command.MoveLeft;
}
else if (zRegion > 1 && xRegion > 1)
{
command |= Command.MoveForward | Command.MoveRight;
}
else if (zRegion < 1 && xRegion < 1)
{
command |= Command.MoveBackward | Command.MoveRight;
}
else if (zRegion < 1 && xRegion > 1)
{
command |= Command.MoveBackward | Command.MoveLeft;
}
else if (zRegion > 1)
{
command |= Command.MoveBackward;
}
else if (zRegion < 1)
{
command |= Command.MoveForward;
}
else if (xRegion < 1)
{
command |= Command.MoveLeft;
}
else if (xRegion > 1)
{
command |= Command.MoveRight;
}
byte[] message = { (byte)(command | (commandTaken & Command.CamAuto)) };
serial.Write(message, 0, 1);
}
else if (none)
{
byte[] message = { (byte)(commandTaken) };
serial.Write(message, 0, 1);
}
#endregion
}
else
{
Console.WriteLine($"{lastSeen.ToString()}");
}
}
Cv2.ImEncode(".jpg", imgMatrix, out byte[] result, encoderParam);
writer.Write(result.Length);
stream.Write(result, 0, result.Length);
}
