private void DoAutoThresholding(Mat frame)
{
if (_readyRectangle != Rectangle.Empty)
{
_thresholdSelector.ErodeDilateIterations = (int)spinDilateIterations.Value;
_thresholdSelector.RequiredMomentAreaInRoiPercent = (int)spinEditAutoTunePercent.Value;
var autoSelected = _thresholdSelector.Select(frame, _readyRectangle);
_detectorInput.Settings.Absorb(autoSelected);
UpdateThresholdSlidersFromSettings();
_readyRectangle = Rectangle.Empty;
}
else
{
imageBoxCaptured.Image = frame;
}
}
protected override CameraPanTiltProcessOutput DoProcess(CameraProcessInput input)
{
var output = new CameraPanTiltProcessOutput();
ProcessingMode nextState = State;
switch (State)
{
case ProcessingMode.ColourObjectTrack:
var colourOutput = ProcessColour(input);
output = colourOutput;
if (Ticks % 60 == 0) // provide some feedback on moment size but don't spam
{
_screen.WriteLine(colourOutput.ToString());
}
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.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 (nextState != State)
{
_screen.WriteLine($"Changing to {nextState}");
State = nextState;
switch (nextState)
{
case ProcessingMode.Autonomous:
_autonomousManager.Reset(); // Reset the timers
break;
case ProcessingMode.ColourObjectTrack:
_screen.WriteLine($"Color detector settings: {_colourDetectorInput.Settings}");
break;
}
}
return(output);
}
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);
}