/// <summary>
/// sudo mono picamcv.con.exe -m=pantiltmultimode
/// </summary>
public MultimodePanTiltController(
IPanTiltMechanism panTiltMech
, CaptureConfig captureConfig
, IScreen screen
, IServerToCameraBus serverToCameraBus
, params IOutputProcessor[] outputPipelines) : base(panTiltMech, captureConfig)
{
_screen = screen;
_serverToCameraBus = serverToCameraBus;
_outputPipelines = outputPipelines;
_colourSettingsRepository = new ColourSettingsRepository();
_faceTrackingController = new FaceTrackingPanTiltController(panTiltMech, captureConfig);
_camshiftTrackingController = new CamshiftPanTiltController(panTiltMech, captureConfig);
_colourTrackingController = new ColourTrackingPanTiltController(panTiltMech, captureConfig);
_thresholdSelector = new ThresholdSelector();
_thresholdSelector.ColourCheckTick += thresholdSelector_ColourCheckTick;
_colourDetectorInput = new ColourDetectorInput();
_colourDetectorInput.SetCapturedImage = true;
var repoSettings = _colourSettingsRepository.Read();
if (repoSettings != null)
{
_colourDetectorInput.Settings = repoSettings;
}
_faceTrackManager = new FaceTrackStateManager(screen);
_colourTrackManager = new ColourTrackStateManager(screen);
_staticManager = new StaticStateManager(screen);
_autonomousManager = new AutonomousTrackStateManager(this, screen);
SoundService = new SoundService();
screen.Clear();
ChangeMode(ProcessingMode.Autonomous);
_autonomousManager.IsFaceFound = i => _faceTrackingController.Process(i).IsDetected;
_autonomousManager.IsColourFullFrame = IsColourFullFrame;
_faceTrackingController.ClassifierParams.MinSize = new Size(20, 20);
_faceTrackingController.ClassifierParams.MaxSize = new Size(50, 50);
screen.WriteLine(_faceTrackingController.ClassifierParams.ToString());
InitController();
ServoSettleTimeChanged += (s, e) =>
{
_faceTrackingController.ServoSettleTime = ServoSettleTime;
_colourTrackingController.ServoSettleTime = ServoSettleTime;
};
_colourDetector = new ColourDetector();
}
private void btnReadSettings_Click(object sender, EventArgs e)
{
if (_colorSettingsRepo.IsPresent)
{
_detectorInput.Settings = _colorSettingsRepo.Read();
UpdateMomentSlidersFromSettings();
UpdateThresholdSlidersFromSettings();
NotifyStatus("Read settings from repository");
}
else
{
Log.Info("Settings not found");
}
}
protected override CameraPanTiltProcessOutput DoProcess(CameraProcessInput input)
{
var output = new CameraPanTiltProcessOutput();
ProcessingMode nextState = State;
switch (State)
{
case ProcessingMode.Static:
var staticHackOutput = new StaticTrackingPanTiltOutput();
nextState = _staticManager.AcceptOutput(staticHackOutput);
break;
case ProcessingMode.ColourTrackFromFileSettings:
_colourDetectorInput.Settings = _colourSettingsRepository.Read();
_screen.WriteLine($"Read colour settings {_colourDetectorInput.Settings}");
nextState = ProcessingMode.ColourObjectTrack;
break;
case ProcessingMode.ColourObjectTrack:
var colourOutput = ProcessColour(input);
output = colourOutput;
if (Ticks % (90 * 3) == 0) // provide some feedback on moment size but don't spam
{
_screen.WriteLine("colTrack:" + colourOutput);
}
nextState = _colourTrackManager.AcceptOutput(colourOutput);
break;
case ProcessingMode.FaceDetection:
var faceTrackOutput = _faceTrackingController.Process(input);
nextState = _faceTrackManager.AcceptOutput(faceTrackOutput);
output = faceTrackOutput;
break;
//case ProcessingMode.CamshiftTrack:
// var camshiftOutput = _camshiftTrackingController.Process(input);
// if (camshiftOutput.Target == Point.Empty)
// {
// SetMode(ProcessingMode.Autonomous);
// }
// output = camshiftOutput;
// break;
case ProcessingMode.ColourObjectSelect:
_screen.WriteLine($"Threshold training for {_thresholdSelector.RequiredMomentAreaInRoiPercent}% ROI coverage");
var thresholdSettings = _thresholdSelector.Select(input.Captured, _regionOfInterest);
_screen.WriteLine($"Threshold tuning complete: {thresholdSettings}");
_colourDetectorInput.SetCapturedImage = true;
_colourDetectorInput.Settings.MomentArea = new RangeF(50, 10000);
_colourDetectorInput.Settings.Accept(thresholdSettings);
//_isColourTrained = true;
nextState = ProcessingMode.ColourObjectTrack;
break;
case ProcessingMode.Autonomous:
nextState = _autonomousManager.AcceptInput(input);
if (nextState == ProcessingMode.ColourObjectTrack)
{
}
break;
case ProcessingMode.CamshiftSelect:
throw new NotImplementedException();
}
if (output.CapturedImage == null)
{
output.CapturedImage = input.Captured.ToImage <Bgr, byte>();
}
ProcessOutputPipeline(output);
if (_forcedNextState != ProcessingMode.Unknown)
{
nextState = _forcedNextState;
_forcedNextState = ProcessingMode.Unknown;
}
if (nextState != State)
{
_screen.WriteLine($"Changing {State} to {nextState}");
switch (nextState)
{
case ProcessingMode.Static:
_staticManager.Reset();
break;
case ProcessingMode.Autonomous:
if (State == ProcessingMode.FaceDetection) // coming out of face detection
{
SoundService.PlayAsync("cant-see-you.wav");
}
MoveAbsolute(50, 60);
_autonomousManager.Reset(); // Reset the timers
break;
case ProcessingMode.ColourObjectTrack:
_colourTrackManager.Reset();
_screen.WriteLine($"Color detector settings: {_colourDetectorInput.Settings}");
SoundService.PlayAsync("color-tracking.wav");
break;
case ProcessingMode.FaceDetection:
_faceTrackManager.Reset();
SoundService.PlayAsync("face-tracking.wav");
_screen.WriteLine(ClassifierParams.ToString());
break;
}
State = nextState;
}
return(output);
}
protected override void OnSubscribe()
{
base.OnSubscribe();
_captureConfig = CameraCapture.GetCaptureProperties();
_centre = _captureConfig.Resolution.GetCenter();
txtReticleX.Text = _centre.X.ToString();
txtReticleY.Text = _centre.Y.ToString();
var screen = new TextboxScreen(txtScreen);
//var imageTransmitter = new BsonPostImageTransmitter();
var imageTransmitter = new BsonPostJpegTransmitter();
var colorSettings = _colourSettingsRepo.Read();
var motionSettings = _motionSettingsRepo.Read();
// these should be disposed if not null
_faceTrackingController = new FaceTrackingPanTiltController(PanTiltMechanism, _captureConfig);
_colourTrackingController = new ColourTrackingPanTiltController(PanTiltMechanism, _captureConfig);
_motionTrackingController = new MotionTrackingPanTiltController(PanTiltMechanism, _captureConfig, screen);
// if haven't subscribed first time yet
if (_multimodePanTiltController == null)
{
_remoteScreen = new RemoteTextboxScreen(CameraHubProxy, txtScreen);
_remoteImageSender = new RemoteImageSender(imageTransmitter, CameraHubProxy);
CameraHubProxy.SettingsChanged += (o, s) =>
{
_remoteScreen.WriteLine($"Camera received new settings: {s}");
_remoteImageSender.SendEveryPeriod = s.TransmitImagePeriod;
_remoteImageSender.Enabled = s.EnableImageTransmit;
_remoteScreen.Enabled = s.EnableConsoleTransmit;
};
}
else
{
// don't resubscribe and get duplicate events on cameraHubProxy
_multimodePanTiltController.Unsubscribe();
}
_multimodePanTiltController = new MultimodePanTiltController(
PanTiltMechanism
, _captureConfig
, _remoteScreen
, CameraHubProxy
, _remoteImageSender);
_calibratingPanTiltController = new CalibratingPanTiltController(PanTiltMechanism, new CalibrationReadingsRepository(), screen);
_colourTrackingController.Settings = colorSettings;
_calibratingPanTiltController.Settings = colorSettings;
_motionTrackingController.Settings = motionSettings;
_calibratingPanTiltController.GetCameraCapture = PullImage;
_calibratingPanTiltController.WaitStep = CalibrationWaitStep;
_calibratingPanTiltController.ColourCaptured += _calibratingPanTiltController_ColourCaptured;
// default check states
chkBoxColourTracking.Checked = false;
chkBoxFaceTracker.Checked = false;
chkBoxMotionTracking.Checked = false;
chkMultimode.Checked = false;
Log.InfoFormat("MotionSettings: {0}", motionSettings);
}
