public ColorDetectRunner(ICaptureGrab capture)
: base(capture)
{
Settings = new ColourDetectSettings();
// useful defaults - red under lights
Settings.LowThreshold = new MCvScalar(140, 57, 25);
Settings.HighThreshold = new MCvScalar(187, 153, 82);
Settings.MomentArea = new RangeF(200,400);
}
protected CameraConsumerRunner(ICaptureGrab captureGrabber)
{
_fpsTracker = new FpsTracker();
_fpsTracker.ReportEveryNthFrame = 50;
_fpsTracker.ReportFrames= s => Log.Info(m=>m(s));
CameraCapture = captureGrabber;
CameraCapture.ImageGrabbed += ImageGrabbedHandler;
CameraCapture.ImageGrabbed += _fpsTracker.NotifyImageGrabbed;
}
private void AssignCaptureToConsumers(ICaptureGrab capture)
{
foreach (var consumer in _consumers)
{
consumer.CameraCapture = capture;
var tabPage = _tabPageLinks.Find(kvp => kvp.Value == consumer).Key;
tabPage.Controls.Add(consumer);
consumer.Dock = DockStyle.Fill;
consumer.StatusUpdated += consumer_StatusUpdated;
}
}
private void AssignCaptureToConsumers(ICaptureGrab capture)
{
foreach (var consumer in _consumers)
{
consumer.CameraCapture = capture;
var tabPage = _tabPageLinks.Find(kvp => kvp.Value == consumer).Key;
tabPage.Controls.Add(consumer);
consumer.Dock = DockStyle.Fill;
consumer.StatusUpdated += consumer_StatusUpdated;
}
}
/*
*
* CV_CAP_PROP_POS_MSEC Current position of the video file in milliseconds.
* CV_CAP_PROP_POS_FRAMES 0-based index of the frame to be decoded/captured next.
* CV_CAP_PROP_POS_AVI_RATIO Relative position of the video file
* CV_CAP_PROP_FRAME_WIDTH Width of the frames in the video stream.
* CV_CAP_PROP_FRAME_HEIGHT Height of the frames in the video stream.
* CV_CAP_PROP_FPS Frame rate.
* CV_CAP_PROP_FOURCC 4-character code of codec.
* CV_CAP_PROP_FRAME_COUNT Number of frames in the video file.
* CV_CAP_PROP_FORMAT Format of the Mat objects returned by retrieve() .
* CV_CAP_PROP_MODE Backend-specific value indicating the current capture mode.
* CV_CAP_PROP_BRIGHTNESS Brightness of the image (only for cameras).
* CV_CAP_PROP_CONTRAST Contrast of the image (only for cameras).
* CV_CAP_PROP_SATURATION Saturation of the image (only for cameras).
* CV_CAP_PROP_HUE Hue of the image (only for cameras).
* CV_CAP_PROP_GAIN Gain of the image (only for cameras).
* CV_CAP_PROP_EXPOSURE Exposure (only for cameras).
* CV_CAP_PROP_CONVERT_RGB Boolean flags indicating whether images should be converted to RGB.
* CV_CAP_PROP_WHITE_BALANCE Currently unsupported
* CV_CAP_PROP_RECTIFICATION Rectification flag for stereo cameras (note: only supported by DC1394 v 2.x backend currently)
*
*/
public static CaptureConfig GetCaptureProperties(this ICaptureGrab capture)
{
if (capture == null)
{
return(null);
}
var settings = new CaptureConfig();
settings.Resolution.Height = Convert.ToInt32(capture.GetCaptureProperty(CapProp.FrameHeight));
settings.Resolution.Width = Convert.ToInt32(capture.GetCaptureProperty(CapProp.FrameWidth));
settings.Framerate = Convert.ToInt32(capture.GetCaptureProperty(CapProp.Fps));
settings.Monochrome = Convert.ToBoolean(capture.GetCaptureProperty(CapProp.Monochrome));
return(settings);
}
/// <summary>
/// So we can replace with a new framerate
/// </summary>
public void UpdateCaptureGrabber(ICaptureGrab captureGrabber)
{
if (CameraCapture != null)
{
CameraCapture.ImageGrabbed -= InternalImageGrabbedHandler;
CameraCapture.Stop();
}
CameraCapture = captureGrabber;
CameraCapture.ImageGrabbed += InternalImageGrabbedHandler;
if (Started)
{
CameraCapture.Start();
}
}
private void MainForm_Load(object sender, EventArgs e)
{
var captureDevice = CaptureDevice.Usb;
//var captureDevice = CaptureDevice.Pi;
if (Environment.OSVersion.Platform == PlatformID.Unix)
{
captureDevice = CaptureDevice.Pi;
}
_capture = CaptureFactory.GetCapture(captureDevice);
//_capture = new CaptureFile(@"D:\Data\Documents\Pictures\2014\20140531_SwimmingLessons\MVI_8742.MOV");
SetupCameraConsumers(_capture);
SetupFramerateTracking(_capture);
// SetCaptureProperties(); //access violation with logitech
}
public CameraBasedPanTiltRunner(
IPanTiltMechanism panTiltMech
, ICaptureGrab captureGrabber
, IController <CameraPanTiltProcessOutput> controller
, IScreen screen)
: base(panTiltMech)
{
_controller = controller;
Screen = screen;
FpsTracker = new FpsTracker();
FpsTracker.ReportEveryNthFrame = 2;
FpsTracker.ReportFrames = s => Screen.WriteLine(s);
UpdateCaptureGrabber(captureGrabber);
_keyHandler = controller as IKeyHandler;
}
public CameraBasedPanTiltRunner(
IPanTiltMechanism panTiltMech
, ICaptureGrab captureGrabber
, IController<CameraPanTiltProcessOutput> controller
, IScreen screen)
: base(panTiltMech)
{
_controller = controller;
Screen = screen;
FpsTracker = new FpsTracker();
FpsTracker.ReportEveryNthFrame = 2;
FpsTracker.ReportFrames = s => Screen.WriteLine(s);
UpdateCaptureGrabber(captureGrabber);
_keyHandler = controller as IKeyHandler;
}
public ServoSorter(
ICaptureGrab capture
,ConsoleOptions options) : base(capture)
{
_servoPosition = 70;
Settings = options.ColourSettings;
_debounceWatch = new Stopwatch();
var deviceFactory = new Pca9685DeviceFactory();
var device = deviceFactory.GetDevice(options.UseFakeDevice);
SetLogLevel(device);
_pwmControl = new ServoSortPwmControl(device);
_pwmControl.Init();
_detector = new ColourDetector();
}
public ServoSorter(
ICaptureGrab capture
, ConsoleOptions options) : base(capture)
{
_servoPosition = 70;
Settings = options.ColourSettings;
_debounceWatch = new Stopwatch();
var deviceFactory = new Pca9685DeviceFactory();
var device = deviceFactory.GetDevice(options.UseFakeDevice);
SetLogLevel(device);
_pwmControl = new ServoSortPwmControl(device);
_pwmControl.Init();
_detector = new ColourDetector();
}
public CameraBasedPanTiltRunner(
IPanTiltMechanism panTiltMech
, ICaptureGrab captureGrabber
, IController<CameraPanTiltProcessOutput> controller
, IScreen screen)
: base(panTiltMech)
{
_controller = controller;
Screen = screen;
FpsTracker = new FpsTracker();
FpsTracker.ReportEveryNthFrame = 2;
FpsTracker.ReportFrames = s => Screen.WriteLine(s);
CameraCapture = captureGrabber;
CameraCapture.ImageGrabbed += InternalImageGrabbedHandler;
CaptureConfig = captureGrabber.GetCaptureProperties();
}
public ColorDetectRunner(ICaptureGrab capture, ColourDetectSettings settings)
: base(capture)
{
Settings = settings;
}
static void Main(string[] args)
{
var appData = ExecutionEnvironment.GetApplicationMetadata();
Log.Info(appData);
var options = new ConsoleOptions(args);
if (options.ShowHelp)
{
Console.WriteLine("Options:");
options.OptionSet.WriteOptionDescriptions(Console.Out);
return;
}
ICaptureGrab capture = null;
if (options.Mode != Mode.simple)
{
var captureDevice = CaptureDevice.Usb;
if (Environment.OSVersion.Platform == PlatformID.Unix)
{
captureDevice = CaptureDevice.Pi;
}
capture = CaptureFactory.GetCapture(captureDevice);
var captureProperties = capture.GetCaptureProperties();
Log.Info(m => m("Capture properties: {0}", captureProperties));
SafetyCheckRoi(options, captureProperties);
}
IRunner runner;
Log.Info(options);
switch (options.Mode)
{
case Mode.simple: runner = new SimpleCv();
break;
case Mode.colourdetect:
var colorDetector = new ColorDetectRunner(capture);
if (options.HasColourSettings)
{
colorDetector.Settings = options.ColourSettings;
}
runner = colorDetector;
break;
case Mode.haar:
var relativePath = string.Format(@"haarcascades{0}haarcascade_frontalface_default.xml", Path.DirectorySeparatorChar);
var cascadeFilename = Path.Combine(appData.ExeFolder, relativePath);
var cascadeContent = File.ReadAllText(cascadeFilename);
runner = new CascadeRunner(capture, cascadeContent);
break;
case Mode.servosort:
runner = new ServoSorter(capture, options);
break;
default:
throw KrakenException.Create("Option mode {0} needs wiring up", options.Mode);
}
runner.Run();
}
private void btnStartStop_Click(object sender, EventArgs e)
{
if (_capture == null)
{
SetupCapture();
}
if (_capture != null)
{
if (CameraCaptureInProgress)
{
//stop the capture
btnStartStop.Text = "Start Capture";
_capture.Dispose();
_capture = null;
}
else
{
btnStartStop.Text = "Stop";
_capture.Start();
toolStripLabelSettings.Text = _capture.GetCaptureProperties().ToString();
}
CameraCaptureInProgress = !CameraCaptureInProgress;
}
}
public NoopRunner(ICaptureGrab capture) : base(capture)
{
}
private void SetupFramerateTracking(ICaptureGrab capture)
{
capture.ImageGrabbed += _fpsTracker.NotifyImageGrabbed;
_fpsTracker.ReportFrames = s => InvokeUI(() => { toolStripLabelFrames.Text = s; });
}
public ColorDetectRunner(ICaptureGrab capture, ColourDetectSettings settings)
: base(capture)
{
Settings = settings;
}
/// <summary>
/// So we can replace with a new framerate
/// </summary>
public void UpdateCaptureGrabber(ICaptureGrab captureGrabber)
{
if (CameraCapture != null)
{
CameraCapture.ImageGrabbed -= InternalImageGrabbedHandler;
CameraCapture.Stop();
}
CameraCapture = captureGrabber;
CameraCapture.ImageGrabbed += InternalImageGrabbedHandler;
if (Started)
{
CameraCapture.Start();
}
}
private void SetupCapture()
{
if (_capture != null)
{
_capture.Dispose();
}
var request = new CaptureRequest
{
Device = CaptureDevice.Usb
,CameraIndex = (int) spinEditCameraIndex.Value
};
request.Config = HarvestFormCaptureConfig();
if (radFile.Checked)
{
request.File = _videoFileSource;
}
//var captureDevice = CaptureDevice.Pi;
if (EnvironmentService.IsUnix)
{
request.Device = CaptureDevice.Pi;
}
CapturePi.DoMatMagic("CreateCapture");
_capture = CaptureFactory.GetCapture(request);
AssignCaptureToConsumers(_capture);
SetupFramerateTracking(_capture);
tabControlMain_SelectedIndexChanged(null, null);
}
public CascadeRunner(ICaptureGrab capture, string casacdeXmlContent)
: base(capture)
{
_detector = new CascadeDetector(casacdeXmlContent);
}
public NoopRunner(ICaptureGrab capture)
: base(capture)
{
}
public static void SetCaptureProperties(this ICaptureGrab capture, CaptureProperties properties)
{
capture.SetCaptureProperty(CapProp.FrameHeight, properties.FrameHeight);
capture.SetCaptureProperty(CapProp.FrameWidth, properties.FrameWidth);
}
static void Main(string[] args)
{
var appData = ExecutionEnvironment.GetApplicationMetadata();
Log.Info(appData);
_consoleOptions = new ConsoleOptions(args);
if (_consoleOptions.ShowHelp)
{
Console.WriteLine("Options:");
_consoleOptions.OptionSet.WriteOptionDescriptions(Console.Out);
return;
}
CapturePi.DoMatMagic("CreateCapture");
var noCaptureGrabs = new[] { Mode.simple, Mode.pantiltjoy, Mode.ipReport };
var i2cRequired = new[] { Mode.pantiltface, Mode.pantiltjoy, Mode.pantiltcolour, Mode.pantiltmultimode };
ICaptureGrab capture = null;
if (!noCaptureGrabs.Contains(_consoleOptions.Mode))
{
var config = CaptureConfig.Parse(_consoleOptions.CaptureConfig);
capture = BuildCaptureGrabber(config);
Log.Info($"Requested capture {capture.RequestedConfig}");
}
IPanTiltMechanism panTiltMech = null;
IScreen screen = null;
if (i2cRequired.Contains(_consoleOptions.Mode))
{
var pwmDeviceFactory = new Pca9685DeviceFactory();
var pwmDevice = pwmDeviceFactory.GetDevice(_consoleOptions.UseFakeDevice);
panTiltMech = new PanTiltMechanism(pwmDevice);
screen = new ConsoleScreen();
screen.Clear();
}
else
{
Log.Info("Pan Tilt is not required");
}
IRunner runner;
Log.Info(_consoleOptions);
switch (_consoleOptions.Mode)
{
case Mode.noop:
var noopRunner = new NoopRunner(capture);
noopRunner.ReportFramesPerSecond = true;
runner = noopRunner;
break;
case Mode.simple: runner = new SimpleCv();
break;
case Mode.colourdetect:
var colorDetector = new ColorDetectRunner(capture);
if (_consoleOptions.HasColourSettings)
{
colorDetector.Settings = _consoleOptions.ColourSettings;
}
runner = colorDetector;
break;
case Mode.haar:
var relativePath = $@"haarcascades{Path.DirectorySeparatorChar}haarcascade_frontalface_default.xml";
var cascadeFilename = Path.Combine(appData.ExeFolder, relativePath);
var cascadeContent = File.ReadAllText(cascadeFilename);
runner = new CascadeRunner(capture, cascadeContent);
break;
case Mode.servosort:
runner = new ServoSorter(capture, _consoleOptions);
break;
case Mode.pantiltjoy:
var joyController = new JoystickPanTiltController(panTiltMech);
runner = new TimerRunner(joyController, screen);
break;
case Mode.pantiltface:
var controllerF = new FaceTrackingPanTiltController(panTiltMech, capture.RequestedConfig);
runner = new CameraBasedPanTiltRunner(panTiltMech, capture, controllerF, screen);
break;
case Mode.pantiltmultimode:
var cameraHubProxy = new CameraHubProxy();
cameraHubProxy.Connect();
var remoteScreen = new RemoteConsoleScreen(cameraHubProxy);
var piServerClient = new BsonPostImageTransmitter();
var imageTransmitter = new RemoteImageSender(piServerClient, cameraHubProxy);
cameraHubProxy.SettingsChanged += (sender, s) =>
{
remoteScreen.Enabled = s.EnableConsoleTransmit;
imageTransmitter.Enabled = s.EnableImageTransmit;
};
var controllerMultimode = new MultimodePanTiltController(panTiltMech, capture.RequestedConfig, remoteScreen, cameraHubProxy, imageTransmitter);
var cameraBasedRunner = new CameraBasedPanTiltRunner(panTiltMech, capture, controllerMultimode, screen);
runner = cameraBasedRunner;
cameraHubProxy.UpdateCapture += (s, e) =>
{
remoteScreen.WriteLine($"Changing capture settings to {e}");
var newGrabber = BuildCaptureGrabber(e);
cameraBasedRunner.UpdateCaptureGrabber(newGrabber);
};
break;
case Mode.pantiltcolour:
var controllerC = new ColourTrackingPanTiltController(panTiltMech, capture.RequestedConfig);
if (_consoleOptions.HasColourSettings)
{
controllerC.Settings = _consoleOptions.ColourSettings;
}
else
{
throw KrakenException.Create("Colour settings not found");
}
runner = new CameraBasedPanTiltRunner(panTiltMech, capture, controllerC, screen);
break;
case Mode.ipReport:
var hub = new CameraHubProxy();
runner = new IpReporter(hub);
break;
default:
throw KrakenException.Create("Option mode {0} needs wiring up", _consoleOptions.Mode);
}
runner.Run();
}
private void SetupFramerateTracking(ICaptureGrab capture)
{
capture.ImageGrabbed += _fpsTracker.NotifyImageGrabbed;
_fpsTracker.ReportFrames = s => Invoke((MethodInvoker) delegate { labelFrameRate.Text = s; });
}
private void SetupFramerateTracking(ICaptureGrab capture)
{
capture.ImageGrabbed += _fpsTracker.NotifyImageGrabbed;
_fpsTracker.ReportFrames = s => InvokeUI(() => { toolStripLabelFrames.Text = s; });
}
public CascadeRunner(ICaptureGrab capture, string casacdeXmlContent)
: base(capture)
{
_detector = new CascadeDetector(casacdeXmlContent);
}
