public DetectedBall(TennisBall ball, Double gpsDistance, long timestampMillis)
{
this.ball = ball;
this.gpsDistance = gpsDistance;
this.cameraDistance = this.ball.DistanceToCenter;
this.timestampMillis = timestampMillis;
}
private void ProcessFrame(Mat frame)
{
// Convert to Image type
Image <Bgr, byte> frameImage = frame.ToImage <Bgr, byte>();
// Apply Gaussian Blur and Perform HSV masking
Image <Bgr, byte> blur = frameImage.SmoothGaussian(GAUSSIAN_KERNELSIZE);
Image <Gray, byte> mask = blur.Convert <Hsv, byte>().InRange(minHSV, maxHSV);
// Erode and Dilate
mask = mask.Erode(2).Dilate(2);
// Produce a Colored mask and Grayscaled mask
Image <Bgr, byte> coloredMask = mask.Convert <Bgr, byte>() & frameImage;
Image <Gray, byte> grayMask = mask & frameImage.Convert <Gray, byte>();
//Image<Gray, byte> grayMask = coloredMask.Convert<Gray, byte>();
// Find the tennis ball
CircleF candidateBall = new CircleF();
bool isBallDetected = FindTennisBall(grayMask, ref candidateBall);
lock (ballLock)
{
this.tennisBall = isBallDetected ? new TennisBall(candidateBall) : null;
}
if (isBallDetected)
{
ballTimestamp = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
}
}
// For use with webcams that use a device ID
public Camera(int cameraDeviceId)
{
StartCamera(cameraDeviceId);
this.tennisBall = null;
this.ballLock = new Object();
this.frameStack = new ConcurrentStack <Mat>();
}
// For use with IP cameras that use a URL
public Camera(String cameraUrl)
{
StartCamera(cameraUrl);
this.tennisBall = null;
this.ballLock = new Object();
this.frameStack = new ConcurrentStack <Mat>();
}
public TennisBall(TennisBall ball)
{
if (ball != null)
{
this.centerPoint = new Coordinate(ball.CenterPoint);
this.radius = ball.Radius;
this.distanceToCenter = ball.DistanceToCenter;
this.angle = ball.Angle;
}
}
public TennisBall GetBallCopy()
{
TennisBall ball = null;
lock (ballLock)
{
if (this.tennisBall != null)
{
ball = new TennisBall(this.tennisBall);
}
}
return(ball);
}
