public void CamTracking(Mat curImg, VidLoc.RealTimeTrackLoc realTimeTrack, PreVidStream vidProvider, IDriver driver, BreakDiffDebugReporter debugReporter)
{
debugReporter.ReportInProcessing(true);
results = haar.Detect(curImg);
result.Width = 0;
result.Height = 0;
if (results != null && results.Length > 0)
{
results = results.OrderByDescending(r => r.Width * r.Height).ToArray();
result = results[0];
}
debugReporter.ReportInProcessing(false);
realTimeTrack.CurPos = 0;
DiffVect vect = new DiffVect();
vect.Vector = realTimeTrack.vect;
debugReporter.ReportStepChanges(new StepChangeReporter(curImg, results, result), vect);
if (result.Width == 0)
{
//debugReporter.InfoReport($"NA");
driver.Stop();
}
else
{
double diff = (curImg.Width / 2) - ((result.X + result.Width) / 2);
//debugReporter.InfoReport($"{(diff > 0? "L":"R") } diff {diff.ToString("0.0")} imw ${((result.X + result.Width) / 2)}");
realTimeTrack.vect = new DiffVector(diff, 0, 0);
driver.Track(realTimeTrack);
}
}
public Mat ShowAllStepChange(DiffVect diffs)
{
var compareToImage = compareTo.Clone();
{
ShowStepChange(diffs, compareToImage);
}
return(compareToImage);
}
public Mat ShowAllStepChange(DiffVect vect)
{
foreach (var rect in results)
{
CvInvoke.Rectangle(input, rect, new MCvScalar(100));
}
if (result.Width != 0)
{
CvInvoke.Rectangle(input, result, new MCvScalar(200));
}
return(input);
}
public static DiffVect FindInRage(PreVidStream stream, Mat curr, int steping = 1, int from = 0, int to = 0)
{
if (to == 0 || to > stream.Total)
{
to = stream.Total;
}
if (from < 0)
{
from = 0;
}
DiffVect curMax = null;
for (int pos = from; pos < to; pos += steping)
{
stream.Pos = pos;
var processor = new ShiftVecProcessor(curr, stream.GetCurMat());
var all = processor.GetAllDiffVect();
all.VidPos = pos;
var maxGood = all.Vector.Diff;
if (curMax == null)
{
curMax = all;
}
else
{
if (maxGood > curMax.Vector.Diff)
{
curMax = all;
}
}
}
//Console.WriteLine($"max at {curMax.Pos} {curMax.diff.ToString("0.00")}");
if (steping == 1)
{
return(curMax);
}
return(FindInRage(stream, curr, 1, curMax.VidPos - steping, curMax.VidPos + steping));
}
public Mat ShowStepChange(DiffVect diffVect, Mat compareToImage)
{
var x = diffVect.Location.X;
int y = diffVect.Location.Y;
using (var corped = new Mat(input, diffVect.SrcRect))
{
if (compareToImage == null)
{
compareToImage = compareTo.Clone();
}
//CvInvoke.Rectangle(compareToImage, new Rectangle(x, y, CutSize, CutSize), new MCvScalar(0));
var toRect = new Rectangle(x + (int)diffVect.Vector.X, y + (int)diffVect.Vector.Y, diffVect.SrcRect.Width, diffVect.SrcRect.Height);
corped.CopyTo(new Mat(compareToImage, toRect));
//CvInvoke.Rectangle(compareToImage, new Rectangle(x, y, CutSize, CutSize), new MCvScalar(200));
CvInvoke.Rectangle(compareToImage, toRect, new MCvScalar(100));
CvInvoke.Line(compareToImage, new Point(x, y), toRect.Location, new MCvScalar(150));
CvInvoke.PutText(compareToImage, diffVect.Vector.Diff.ToString("0.00"), ClonePointWithYOff(toRect.Location, 10), FontFace.HersheyPlain, 1, new MCvScalar(10));
CvInvoke.PutText(compareToImage, diffVect.Vector.X.ToString("0.00"), ClonePointWithYOff(toRect.Location, 20), FontFace.HersheyPlain, 1, new MCvScalar(10));
return(compareToImage);
}
}
public DiffVect CalculateDiffVectDbg(Rectangle srcRect, Action <DiffDebug> dbgAct)
{
using (var corped = new Mat(input, srcRect))
{
//var cmpToRect = ShiftVecDector.getExtCropRect(compareTo, x, y, CutSize, CmpExtend);
//using (var cmpToCorp = new Mat(compareTo, cmpToRect))
var cmpToCorp = compareTo;
{
//corped.Save(@"d:\temp\test\" + x + "_" + y + ".jpg");
using (var matched = cmpToCorp.ToImage <Gray, Byte>().MatchTemplate(corped.ToImage <Gray, Byte>(), TemplateMatchingType.CcoeffNormed))
{
double[] minValues, maxValues;
Point[] minLocs, maxLocs;
matched.MinMax(out minValues, out maxValues, out minLocs, out maxLocs);
Point maxLoc = maxLocs[0];
double maxVal = maxValues[0];
var diffVect = new DiffVect {
Location = srcRect.Location, SrcRect = srcRect, Vector = new DiffVector(maxLoc.X - srcRect.X, maxLoc.Y - srcRect.Y, maxVal)
};
//Console.WriteLine(" got " + diffVect);
if (dbgAct != null)
{
dbgAct(new DiffDebug
{
Vect = diffVect,
orig = corped,
area = cmpToCorp,
diffMap = matched,
SrcRect = srcRect,
//CompareToRect = cmpToRect,
});
}
return(diffVect);
}
}
}
}
