public static DiffVect CompDiff(Mat input, Mat comp, BreakDiffDebugReporter reporter)
{
var processor = new ShiftVecProcessor(input, comp);
var vect = processor.GetAllDiffVect();
if (reporter != null)
{
reporter.ReportStepChanges(processor, vect);
}
return(vect);
}
public static void breakAndDiff(Mat m1, Mat m2, BreakDiffDebugReporter reporter)
{
var curProcessor = new ShiftVecProcessor(m1, m2);
//Mat res = ShiftVecDector.BreakAndNearMatches(m1, m2);
var vect = curProcessor.GetAllDiffVect();
Mat res = curProcessor.ShowAllStepChange(vect);
reporter.Report(res, vect);
}
public void CamTracking(Mat curImg, VidLoc.RealTimeTrackLoc realTimeTrack, PreVidStream vidProvider, IDriver driver, BreakDiffDebugReporter debugReporter)
{
VidLoc.CamTracking(curImg, realTimeTrack, vidProvider, driver, debugReporter);
}
public static void CamTracking(Mat curImg, VidLoc.RealTimeTrackLoc realTimeTrack, PreVidStream vidProvider, IDriver driver, BreakDiffDebugReporter debugReporter)
{
//realTimeTrack.CurPos = image1Ind;
realTimeTrack.LookAfterReset();
if (!realTimeTrack.ShouldStop())
{
int origImageInd = realTimeTrack.CurPos;
debugReporter.ReportInProcessing(true);
VidLoc.FindObjectDown(vidProvider, curImg, realTimeTrack, debugReporter);
debugReporter.ReportInProcessing(false);
//var lookBackCount = 0;
//while (realTimeTrack.diff < 0.5 && lookBackCount < 3)
//{
// driver.Stop();
// realTimeTrack.LongLook();
// VidLoc.FindObjectDown(vidProvider, curImg, realTimeTrack, debugReporter);
// //info.Text = text = $"Tracked vid at ${image1Ind} cam at ${image2Ind} next point ${realTimeTrack.NextPos} ${realTimeTrack.vect} ===> diff {realTimeTrack.diff} LB {lookBackCount}";
// //Console.WriteLine(text);
// lookBackCount++;
//}
vidProvider.Pos = origImageInd;
}
driver.Track(realTimeTrack);
//if (debugReporter.DebugMode)
//{
//Mat m1 = vidProvider.GetCurMat();
//breakAndDiff(m1, curImg, debugReporter);
//}
}
public static void FindObjectDown(PreVidStream stream, Mat curr, RealTimeTrackLoc prms, BreakDiffDebugReporter reporter)
{
const int LookBack = 2;
int from = prms.CurPos - LookBack;
int to = from + prms.LookAfter + LookBack;
if (to == 0 || to > stream.Total)
{
to = stream.Total;
}
if (from < 0)
{
from = 0;
}
var skipAvgs = prms.CurPos >= LookBack ? LookBack : LookBack - prms.CurPos;
List <DiffVect> processed = new List <DiffVect>();
//double dxT = 0, dyT = 0;
//int numD = 0;
for (int pos = from; pos < to; pos++)
{
var loc = FindInRage(stream, curr, 1, pos, pos + 1);
processed.Add(loc);
}
if (processed[2].Vector.Diff > 0.5)
{
for (var i = 0; i < LookBack; i++)
{
processed.RemoveAt(0);
}
}
//processed.OrderByDescending(x => x.Vector.Diff).Take(3);
prms.DebugAllLooks = processed;
var sorted = SortProcessDiffVects(processed).Take(5);
var curMax = sorted.FirstOrDefault();
if (curMax == null || curMax.VidPos >= stream.Total - 1)
{
Console.WriteLine($"max not found from={from} to={to} total={stream.Total}");
return;
}
//Console.WriteLine($"max at {curMax.Pos} {curMax.diff.ToString("0.00")}");
prms.NextPos = curMax.VidPos;
prms.diff = curMax.Vector.Diff;
prms.vect = curMax.Vector;
stream.Pos = curMax.VidPos;
var diff = CompDiff(curr, stream.GetCurMat(), reporter);
//var nextVect = stream.Vectors[curMax.VidPos]; //orig way
var nextVect = new DiffVector(sorted.Average(x => x.Vector.X), sorted.Average(y => y.Vector.Y), sorted.Average(d => d.Vector.Diff));
//diff: negative if need to turn left
//vect: positive if need to turn left
prms.vect = new DiffVector(nextVect.X + (diff.Vector.X / 10.0), nextVect.Y + diff.Vector.Y, diff.Vector.Diff);
reporter.InfoReport($"===> {(prms.vect.X>0?"L":"R")} ({prms.vect}) nextX {nextVect.X} diffX {diff.Vector.X} pos {curMax.VidPos}", true);
prms.diffVect = diff;
prms.nextVect = nextVect;
}
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);
}
}
