private void CreateVisionProcess(ref SettingsRepository.SettingsRepository setRepo)
{
colorVideoSource = new ColorVideoSource();
colorVideoSource.ResultReady += DisplayVideo;
Hsv min = new Hsv((int)setRepo.Get("min-h")
, (int)setRepo.Get("min-s")
, (int)setRepo.Get("min-v")),
max = new Hsv((int)setRepo.Get("max-h")
, (int)setRepo.Get("max-s")
, (int)setRepo.Get("max-v"));
filter = new HsvFilter(colorVideoSource, min, max);
roadDetector = new RoadCenterDetector(filter);
// roadDetector.Perceptor.perspectiveTransform.ResultReady += DisplayVideo;
visRoad = new VisualiseSimpleRoadModel(roadDetector.Perceptor.roadDetector);
invPerp = new PerspectiveCorrectionRgb(visRoad, CamModel.dstPerspective, CamModel.srcPerspective);
brain = new FollowTheRoadBrainCentre(roadDetector, carController);
brain.evNewTargetWheelAngeCalculated += new FollowTheRoadBrainCentre.newTargetWheelAngeCalculatedEventHandler(brain_evNewTargetWheelAngeCalculated);
brain.evNewTargetSpeedCalculated += new FollowTheRoadBrainCentre.newTargetSpeedCalculatedEventHandler(brain_evNewTargetSpeedCalculated);
roadDetector.Perceptor.laneDetector.Tau = (int) setRepo.Get("tau");
roadDetector.Perceptor.laneDetector.Threshold = (byte)((int)setRepo.Get("threshold"));
roadDetector.Perceptor.laneDetector.VerticalOffset = (int) setRepo.Get("v-offset");
visRoad.ResultReady += DisplayVideo;
invPerp.ResultReady += DisplayVideo;
colorVideoSource.Start();
}
private void PrepareVisionProcess()
{
colorVideoSource = new ColorVideoSource(getVideoSource());
colorVideoSource.ResultReady += DisplayVideo;
// light green lines
Hsv minColor = new Hsv(95 / 2, 0.6 * 255, 0.5 * 255);
Hsv maxColor = new Hsv(180 / 2, 255, 0.74 * 255);
filter = new HsvFilter(colorVideoSource, minColor, maxColor);
roadDetector = new RoadCenterDetector(filter);
// roadDetector.Perceptor.perspectiveTransform.ResultReady += DisplayVideo;
// road center points, kalman filtered
kalmanFilteredRoadCenter = new DrawColoredPointSets(roadDetector);
kalmanFilteredRoadCenter.ResultReady += DisplayVideo;
kalmanFilteredRoadCenter.Active = true;
filtered = new DrawPoints(roadDetector.Perceptor.laneDetector);
filtered.ResultReady += DisplayVideo;
filtered.Active = true;
visRoad = new VisualiseSimpleRoadModel(roadDetector.Perceptor.roadDetector);
visRoad.ResultReady += DisplayVideo;
invPerp = new PerspectiveCorrectionRgb(visRoad, CamModel.dstPerspective, CamModel.srcPerspective);
//invPerp = new PerspectiveCorrectionRgb(colorVideoSource, CamModel.srcPerspective, CamModel.dstPerspective);
invPerp.ResultReady += DisplayVideo;
roadDetector.RoadCenterSupply += roadCenter;
}
