///////////////////////////////////////////////////////////////////////////
//
public RobotLocator(ParticleFinder pi)
{
_particles = pi.Particles;
imgheight = pi.imgheight;
imgwidth = pi.imgwidth;
findTargets();
if (_particles.Count == 3) {
targetleft = _particles[0];
targetmid = _particles[1];
targetright = _particles[2];
}
else if (_particles.Count == 2) {
Particle p1 = _particles[0];
Particle p2 = _particles[1];
int center = imgwidth / 2;
if (p1.area > p2.area) {
targetleft = p1;
targetmid = p2;
}
else {
targetmid = p1;
targetright = p2;
}
}
else if (_particles.Count == 1) {
targetmid = _particles[0];
}
}
public void Start()
{
_settings = null;
_particlefinder = new ParticleFinder(Settings.Default.Luminance, false, 60 * 25);
_camera = new CameraMJPG(Settings.Default.CameraURL, Settings.Default.FrameRate, Settings.Default.Compression);
// _camera = new Camera(Settings.Default.CameraURL, Settings.Default.FrameRate);
_trim = Settings.Default.Trim;
_camera.Start();
}
void findByAspectRatio(ParticleFinder pi)
{
// look for mid goal, find the biggest particle with the right aspect ratio
foreach (Particle p in pi.Particles)
{
if ((p.aspectratio > midaspectmin) && (p.aspectratio < midaspectmax))
{
if ((targetmid == null) || (p.area > targetmid.area))
{
targetmid = p;
}
}
}
// look for side goals
if (targetmid != null)
{
foreach (Particle p in pi.Particles)
{
if ((p.aspectratio > sideaspectmin) && (p.aspectratio < sideaspectmax))
{
// we've got a side particle
if (targetmid.right < p.left)
{
if ((targetright == null) || (p.area > targetright.area))
{
targetright = p; // take the biggest one
}
}
else if (targetmid.left > p.right)
{
if ((targetleft == null) || (p.area > targetleft.area))
{
targetleft = p; // take the biggest one
}
}
}
}
}
else
{
// if we couldn't find anything above, look for the largest particle
foreach (Particle p in pi.Particles)
{
if ((targetmid == null) || (p.area > targetmid.area))
{
targetmid = p;
}
}
}
}
///////////////////////////////////////////////////////////////////////////
//
public RobotLocator(ParticleFinder pi)
{
_particles = pi.Particles;
imgheight = pi.imgheight;
imgwidth = pi.imgwidth;
findTargets();
if (_particles.Count == 3)
{
targetleft = _particles[0];
targetmid = _particles[1];
targetright = _particles[2];
}
else if (_particles.Count == 2)
{
Particle p1 = _particles[0];
Particle p2 = _particles[1];
int center = imgwidth / 2;
if (p1.area > p2.area)
{
targetleft = p1;
targetmid = p2;
}
else
{
targetmid = p1;
targetright = p2;
}
}
else if (_particles.Count == 1)
{
targetmid = _particles[0];
}
}
public void Start()
{
_settings = null;
_particlefinder = new ParticleFinder(Settings.Default.Luminance, false, 60 * 25);
_camera = new CameraMJPG(Settings.Default.CameraURL, Settings.Default.FrameRate, Settings.Default.Compression);
// _camera = new Camera(Settings.Default.CameraURL, Settings.Default.FrameRate);
_trim = Settings.Default.Trim;
_camera.Start();
}
void findByAspectRatio(ParticleFinder pi)
{
// look for mid goal, find the biggest particle with the right aspect ratio
foreach (Particle p in pi.Particles) {
if ((p.aspectratio > midaspectmin) && (p.aspectratio < midaspectmax)) {
if ((targetmid == null) || (p.area > targetmid.area))
targetmid = p;
}
}
// look for side goals
if (targetmid != null) {
foreach (Particle p in pi.Particles) {
if ((p.aspectratio > sideaspectmin) && (p.aspectratio < sideaspectmax)) {
// we've got a side particle
if (targetmid.right < p.left) {
if ((targetright == null) || (p.area > targetright.area))
targetright = p; // take the biggest one
}
else if (targetmid.left > p.right) {
if ((targetleft == null) || (p.area > targetleft.area))
targetleft = p; // take the biggest one
}
}
}
}
else {
// if we couldn't find anything above, look for the largest particle
foreach (Particle p in pi.Particles) {
if ((targetmid == null) || (p.area > targetmid.area)) {
targetmid = p;
}
}
}
}
