protected void Start()
{
RangeDetector = RangeDetector ?? GetComponentInChildren <TagDetector>();
parentTowerComponent = parentTowerComponent ?? GetComponentInParent <TowerComponent>() ?? null;
ParentTowerLegacy = ParentTowerLegacy ?? GetComponentInParent <TowerControllerLegacy>() ?? null;
ParentTowerSlot = parentTowerSlot ?? GetComponentInParent <TowerSlotController>() ?? null;
}
void Start()
{
rb = GetComponent <Rigidbody>();
//Get Scripts
tagDetectorScript = gameObject.GetComponentInChildren <TagDetector>();
//Set the jump timer
jumpTimer = DefaultJumpTime + JumpBoosterDelay;
}
void Start()
{
playerDetector = transform.GetChild(0).gameObject.GetComponent <TagDetector>();
startPosition = transform.position;
motor = GetComponent <PlayerMotor>();
path = new NavMeshPath();
lastPath = new NavMeshPath();
}
public override void InitBehavior()
{
Detector = Detector ?? UnitObject.RangeDetector;
}
private void FindTags(Mat frame)
{
Debug.WriteLine("");
using (var frameImage = frame.ToPipelineImage())
{
var imageRGB = frameImage.RgbImage.Clone();
var cropImageSize = new Size(128, 128);
var detectSubrectArea = 25 * ((cropImageSize.Width * cropImageSize.Height) / (64 * 64));
var tagDetector = new TagDetector(cropImageSize);
var frameOneColorImageFiltered = frameImage.IsolateColorBlack(100);
var rects = frameOneColorImageFiltered.Clone().FindRectangles(1000);
foreach (var rect in rects.OrderByDescending(_ => _.BoundingBoxArea))
{
var rectBoundingBox = rect.BoundingBox;
// Ignore largest rectangles detected at the edge of image due to contrasting area.
if (rectBoundingBox.Left < 5 || rectBoundingBox.Top < 5 ||
rectBoundingBox.Right > frameOneColorImageFiltered.Width - 5 || rectBoundingBox.Bottom > frameOneColorImageFiltered.Height - 5)
{
continue;
}
// Attempt to detect if there is large inner rectangle. It may only indicate inner boundary of tag,
// otherwise it's presence will render tag unusable.
var hasLargeInnerRect = false;
// ReSharper disable once LoopCanBeConvertedToQuery
foreach (var otherRect in rects)
{
if (otherRect.Equals(rect))
{
continue;
}
var otherRectBoundingBox = otherRect.BoundingBox;
if (rectBoundingBox.Contains(otherRectBoundingBox))
{
if ((otherRectBoundingBox.Width * otherRectBoundingBox.Height) / (rectBoundingBox.Width * rectBoundingBox.Height) > 0.7)
{
hasLargeInnerRect = true;
break;
}
}
}
// Skip current rectangle if we have detected a large ineer rectangle.
if (hasLargeInnerRect)
{
continue;
}
imageRGB.Draw(rect.BoundingBoxInt, new Rgb(255, 0, 0));
// Extract image part defined by rectangle and normalize it so it's axis aligned.
using (var rectImage = frameOneColorImageFiltered
.GetAxisAlignedImagePart(
rect,
new Quadrilateral(new PointF(0, 0), new PointF(0, cropImageSize.Height), new PointF(cropImageSize.Width, cropImageSize.Height), new PointF(cropImageSize.Width, 0)),
cropImageSize))
{
_viewers[1].Image = rectImage;
// Find rectangles within cropped image.
var detectedSubrects = rectImage.FindRectangles(detectSubrectArea);
// We must have at least two rectangles to proceed with tag detection.
if (detectedSubrects.Length >= 2)
{
for (var cornerIndex = 0; cornerIndex < 4; cornerIndex++)
{
imageRGB.Draw(cornerIndex.ToString(), new Point((int)rect.Points[cornerIndex].X, (int)rect.Points[cornerIndex].Y), FontFace.HersheyPlain, 1.5D, new Rgb(Color.SpringGreen), 2);
imageRGB.Draw(new CircleF(new PointF(rect.Points[cornerIndex].X, rect.Points[cornerIndex].Y), 5), new Rgb(Color.Magenta), 2);
}
// Check if cropped image contains a tag markers.
var tagDetectionResult = tagDetector.IsTag(detectedSubrects, rect);
if (tagDetectionResult.IsTagPresent)
{
Debug.WriteLine("{0} ||| {1} ||| X={2},Y={3}", tagDetectionResult.RotationAngle, tagDetectionResult.Confidence, rect.MinX, rect.MinY);
using (var normalizedTagImage = tagDetector.NormalizeTagImage(rectImage, tagDetectionResult, true, true))
{
if (_storedImage == null)
{
_storedImage = normalizedTagImage.Copy(new Rectangle(5, 5, normalizedTagImage.Width - 10, normalizedTagImage.Height - 10));
}
using (var matchResult = normalizedTagImage.MatchTemplate(_storedImage, TemplateMatchingType.CcoeffNormed))
{
double[] minValues, maxValues;
Point[] minLocations, maxLocations;
matchResult.MinMax(out minValues, out maxValues, out minLocations, out maxLocations);
if (maxValues[0] > 0.8)
{
Debug.WriteLine("!!!!!!!!!!!!!!! {0} {1}", maxValues[0], maxLocations[0]);
}
}
//Debug.WriteLine(normalizedTagImage.GetSubRect(new Rectangle(0, 0, cropImageSize.Width, 5)).CountNonzero()[0]);
//normalizedTagImage.Draw(new Rectangle(0, 0, (int)(cropImageSize.Width * 0.2), (int)(cropImageSize.Height * 0.2)), new Gray(255), -1);
_viewers[2].Image = normalizedTagImage;
}
}
}
}
}
_viewers[0].Image = imageRGB;
imageRGB.Dispose();
}
}
