public double ReadValue(IndicatorData data, DebugState debugState)
{
if (TryFindCircleInFullFrame(data, out var circle))
{
var focus = data.Frame.Copy(Math2.CropCircle(circle, 10));
debugState.Add(focus);
List <double> ret = new List <double>();
foreach (var line in GetLinesFromFocusImage(focus, circle, debugState))
{
CvInvoke.Line(focus, line.P1, line.P2, new Bgr(Color.Yellow).MCvScalar, 2);
var knots = ReadKnotsFromNeedleLine(line);
if (IsValueInExpectedRange(knots))
{
ret.Add(knots);
}
}
return(CalculateResultFromAllResults(ret, debugState));
}
else
{
debugState.SetError("No circles");
}
return(double.NaN);
}
public double ReadValue(IndicatorData data, DebugState debugState)
{
if (TryFindRollCircleInFullFrame(data, out CircleF rollIndicatorCicle))
{
var FocusRect = Math2.CropCircle(rollIndicatorCicle, 10);
var focus = data.Frame.SafeCopy(FocusRect);
debugState.Add(focus);
// Isolate the outside ring
Mat maskInnerAlt = new Mat(focus.Size, DepthType.Cv8U, 3);
maskInnerAlt.SetTo(new MCvScalar(1));
CvInvoke.Circle(maskInnerAlt, new Point(focus.Size.Width / 2, focus.Size.Height / 2), (int)(rollIndicatorCicle.Radius - (rollIndicatorCicle.Radius * 0.2)), new Bgr(Color.White).MCvScalar, -1);
CvInvoke.Circle(maskInnerAlt, new Point(focus.Size.Width / 2, focus.Size.Height / 2), (int)(rollIndicatorCicle.Radius - (rollIndicatorCicle.Radius * 0.275)), new Bgr(Color.Black).MCvScalar, -1);
var outerMovingRingOnly = focus.Copy(maskInnerAlt.ToImage <Gray, byte>());
var outerMovingRingWithoutBottom = outerMovingRingOnly.Copy(new Rectangle(0, 0, outerMovingRingOnly.Width, (int)(outerMovingRingOnly.Height))); // - (outerMovingRingOnly.Height * 0.29)
var ring_hsv_unfiltered = outerMovingRingWithoutBottom.Convert <Hsv, byte>().InRange(new Hsv(20, 0, 85), new Hsv(180, 255, 255));
var ring_hsv = Utils.RemoveBlobs(ring_hsv_unfiltered, 1, 500);
debugState.Add(outerMovingRingOnly);
debugState.Add(outerMovingRingWithoutBottom);
debugState.Add(ring_hsv);
debugState.Add(ring_hsv_unfiltered);
return(ReadRollAngleFromRingImage(ring_hsv, focus, debugState));
}
else
{
debugState.SetError($"ROLL: Main circles");
}
return(double.NaN);
}
public double ReadValue(IndicatorData data, DebugState debugState)
{
if (TryFindCircleInFullFrame(data, out var circle))
{
var focus = data.Frame.SafeCopy(Math2.CropCircle(circle, 15));
var vs_blackimg = focus.Convert <Hsv, byte>().DynLowInRange(dyn_lower, new Hsv(180, 255, 255));
debugState.Add(focus);
debugState.Add(vs_blackimg);
int margin = 10;
var vspeedMask = new Mat(focus.Size, DepthType.Cv8U, 3);
vspeedMask.SetTo(new MCvScalar(1));
CvInvoke.Circle(vspeedMask, Point.Round(new PointF(circle.Radius + margin, circle.Radius + margin)), (int)(circle.Radius - (circle.Radius * 0.1)), new Bgr(Color.White).MCvScalar, -1);
vs_blackimg = vs_blackimg.Copy(vspeedMask.ToImage <Gray, byte>());
var vspeed_inner_only = vs_blackimg.Copy(new Rectangle(0, 0, vs_blackimg.Width / 2, vs_blackimg.Height));
debugState.Add(vspeed_inner_only);
Rectangle center = GetCenterBoxFromImage(focus);
foreach (var line in CvInvoke.HoughLinesP(vspeed_inner_only, 1, Math.PI / 45.0, 20, 20, 14))
{
if (center.Contains(line.P1) || center.Contains(line.P2))
{
CvInvoke.Line(focus, line.P1, line.P2, new Bgr(Color.Yellow).MCvScalar, 2);
LineSegment2D needleLine;
if (center.Contains(line.P1))
{
needleLine = new LineSegment2D(line.P2, line.P1);
}
else
{
needleLine = new LineSegment2D(line.P1, line.P2);
}
var angle = (Math2.GetPolarHeadingFromLine(needleLine) - 270);
// bias up to account for skew
angle += 2.75;
if (line.Length > 63)
{
debugState.SetError($"Rejected length: {line.Length}");
}
return(angle);
}
}
}
return(double.NaN);
}
public static bool TryFindRollCircleInFullFrame(IndicatorData data, out CircleF ret)
{
ret = default(CircleF);
if (Timeline.Data[data.Id].Roll.ForIndicatorUse != null)
{
// We found our own hint, return it.
ret = (CircleF)Timeline.Data[data.Id].Roll.ForIndicatorUse;
return(true);
}
var localRect = MovementRect;
if (data.Id > 0 &&
Timeline.Data[data.Id - 1] != null &&
Timeline.Data[data.Id - 1].Roll != null &&
Timeline.Data[data.Id - 1].Roll.ForIndicatorUse != null)
{
// Our hint from last time.
localRect = Math2.CropCircle((CircleF)Timeline.Data[data.Id - 1].Roll.ForIndicatorUse, 10);
}
// Crop and blur
var cropped_frame = data.Frame.SafeCopy(localRect).PyrUp().PyrDown();
var MovementFrameGray = new Mat();
CvInvoke.CvtColor(cropped_frame, MovementFrameGray, ColorConversion.Bgr2Gray);
// Locate the attitude and possibly vertical speed indicators.
var circles = CvInvoke.HoughCircles(MovementFrameGray, HoughType.Gradient, 2.0, 20, 10, 180, 60, 80);
if (circles.Length == 0)
{
// Couldn't find initial circle
return(false);
}
// Pick the topmost circle and crop.
var rollIndicatorCicle = circles.OrderBy(c => c.Center.Y).First();
rollIndicatorCicle.Radius = 64;
rollIndicatorCicle.Center = rollIndicatorCicle.Center.Add(localRect.Location);
ret = rollIndicatorCicle;
Timeline.Data[data.Id].Roll.ForIndicatorUse = ret;
return(true);
}
public double ReadValue(IndicatorData data, DebugState debugState)
{
if (TryFindCircleInFullFrame(data, out var circ))
{
var focusRect = Math2.CropCircle(circ, 15);
var focus = data.Frame.SafeCopy(focusRect);
var focusHsv = focus.Convert <Hsv, byte>();
var focusHsvText = focusHsv.DynLowInRange(dyn_lower, new Hsv(180, 255, 255));
var focusHsvTriangleMask = focusHsv.InRange(new Hsv(0, 0, 0), new Hsv(180, 140, 255));
var focusHsvTextOnly = focusHsvText.Copy(focusHsvTriangleMask);
debugState.Add(focus);
var blobs = Utils.DetectAndFilterBlobs(focusHsvTextOnly, 25, 250).
Where(b => b.Centroid.Y >= 5).OrderByDescending(b => b.Area).Take(4);
var focusHsvOnlyBlobs = Utils.RemoveAllButBlobs(focusHsvTextOnly, blobs);
debugState.Add(focusHsvOnlyBlobs);
var parts = GetPacksFromImage(focusHsvOnlyBlobs, blobs, debugState);
var ret = ComputeHeadingFromPacks(data.Id, parts, focus, debugState);
if (!double.IsNaN(ret))
{
// Adjust now that N and S are near-vertical and the blobs are more regular.
ret = RefineAngle(ret, focusHsvOnlyBlobs);
// Adjust based on the dots on the glareshield.
ret += GetGlareShieldSkewAngle(focusRect, data, debugState);
// Add a fixed cab skew to account for the vertical perspective.
ret -= 1;
ret = Math2.ClampAngle(ret);
// Proof for the debug info.
debugState.Add(focus.Rotate(ret, new Bgr(0, 0, 0)));
return(CheckResultValidity(ret, data.Id));
}
}
else
{
debugState.SetError("Couldn't find initial circle.");
}
return(double.NaN);
}
private static bool TryFindCircleInFullFrame(IndicatorData data, out CircleF ret)
{
ret = default(CircleF);
if (RollIndicator.TryFindRollCircleInFullFrame(data, out var circle))
{
circle.Center = new PointF(circle.Center.X + 140, circle.Center.Y + 70);
circle.Radius = 55;
var firstCrop = Math2.CropCircle(circle, 10);
var focus = data.Frame.SafeCopy(firstCrop);
var circles = CvInvoke.HoughCircles(focus.Convert <Hsv, byte>()[2], HoughType.Gradient, 2.0, 20, 10, 180, 45, 55);
if (circles.Length == 1)
{
circles[0].Center = circles[0].Center.Add(firstCrop.Location);
circles[0].Radius = 50;
ret = circles[0];
return(true);
}
}
return(false);
}
private static bool TryFindCircleInFullFrame(IndicatorData data, out CircleF ret)
{
ret = default(CircleF);
if (RollIndicator.TryFindRollCircleInFullFrame(data, out var circle))
{
circle.Center = new PointF(circle.Center.X + 1055, circle.Center.Y - 20);
circle.Radius = 70;
var firstCrop = Math2.CropCircle(circle, 40);
var focus = data.Frame.SafeCopy(firstCrop);
var focusHsv = focus.Convert <Hsv, byte>().PyrUp().PyrDown();
var circles = CvInvoke.HoughCircles(focusHsv[2], HoughType.Gradient, 2.0, 80, 10, 80, 60, 80);
if (circles.Length == 1)
{
var circ = circles[0];
circles[0].Center = circles[0].Center.Add(firstCrop.Location);
circles[0].Radius = 64;
ret = circles[0];
return(true);
}
}
return(false);
}
public double ReadValue(IndicatorData data, DebugState debugState)
{
if (TryFindCircleInFullFrame(data, out var circle))
{
var focus = data.Frame.SafeCopy(Math2.CropCircle(circle, 15));
var vs_blackimg = focus.Convert <Hsv, byte>().DynLowInRange(dyn_lower, new Hsv(180, 255, 255)).PyrUp().PyrDown();
var markedup_frame = vs_blackimg.Convert <Bgr, byte>();
debugState.Add(focus);
debugState.Add(vs_blackimg);
debugState.Add(markedup_frame);
var cannyEdges3 = new Mat();
CvInvoke.Canny(vs_blackimg, cannyEdges3, 10, 120);
Mat dialatedCanny = new Mat();
CvInvoke.Dilate(cannyEdges3, dialatedCanny, null, new Point(-1, -1), 1, BorderType.Default, new Gray(0).MCvScalar);
Rectangle center = GetCenterBoxFromImage(focus);
CvInvoke.Rectangle(markedup_frame, center, new Bgr(Color.Red).MCvScalar, 1);
var lines = CvInvoke.HoughLinesP(dialatedCanny, 1, Math.PI / 45.0, 20, 16, 0).OrderByDescending(l => l.Length);
foreach (var line in lines)
{
CvInvoke.Line(markedup_frame, line.P1, line.P2, new Bgr(Color.Red).MCvScalar, 1);
if (center.Contains(line.P1) || center.Contains(line.P2))
{
LineSegment2D needleLine;
if (center.Contains(line.P1))
{
needleLine = new LineSegment2D(line.P2, line.P1);
}
else
{
needleLine = new LineSegment2D(line.P1, line.P2);
}
var angle = Math2.GetPolarHeadingFromLine(needleLine);
var hundreds = Math.Round((angle / 360) * 999);
CvInvoke.Line(focus, needleLine.P1, needleLine.P2, new Bgr(Color.Yellow).MCvScalar, 2);
var candidates = new List <double>();
for (var i = 0; i < 9; i++)
{
candidates.Add(hundreds + (i * 1000));
}
var ret = candidates.OrderBy(c => Math.Abs(c - Timeline.Altitude)).First();
if (!double.IsNaN(Timeline.Altitude))
{
var delta = Math.Abs(ret - Timeline.Altitude);
if (delta > 400)
{
debugState.SetError($"Bad value {delta} > 400");
return(double.NaN);
}
}
else
{
return(0);
}
return(ret);
}
}
}
return(double.NaN);
}