public Form1()
{
InitializeComponent();
Location = new Point(1920 - this.Size.Width, 0);
keyboard = new Keyboard();
screen = new Screenshot();
cruiseSensor = new CruiseSensor();
cruiseSensor.screen = screen;
cruiseSensor.debugWindow = pictureBox2;
compassRecognizer = new CompassSensor(screen, pictureBox2);
menuSensor = new MenuSensor(screen, pictureBox2);
pilot = new PilotJumper();
pilot.keyboard = keyboard;
pilot.compassRecognizer = compassRecognizer;
pilot.screen = screen;
pilot.cruiseSensor = cruiseSensor;
relogger = new Relogger();
relogger.keyboard = keyboard;
relogger.menuSensor = menuSensor;
// If you want to run one of the experiments, call it here so it runs on startup
//OpenCVExperiments.MatchSafDisengag2();
//OpenCVExperiments.MatchCorona();
//OpenCVExperiments.MatchImpact();
//OpenCVExperiments.MatchMenu();
//OpenCVExperiments.FindTargetsTest();
//OpenCVExperiments.FindCompasses();
//OpenCVExperiments.Subtarget();
//OpenCVExperiments.Kalman();
//OpenCVExperiments.CurrentLocationLocked();
//OpenCVExperiments.CheckDrop();
}
/// <summary>
/// Search for a red-channel compass-sized circle in the image.
/// </summary>
/// <param name="image"></param>
/// <returns></returns>
private CircleSegment FindCircle(Bitmap image)
{
Mat source = BitmapConverter.ToMat(image);
//Convert input images to gray
Mat reds = CruiseSensor.IsolateYellow(source);
// these parameters were tuned using the test functionality
CircleSegment[] circles = Cv2.HoughCircles(reds,
HoughMethods.Gradient,
dp: 2f, // this was tuned by experimentation
minDist: 500, // this is huge so we only find the best one
param1: 200, // this was tuned by experimentation
param2: 30, // this is quite low so we usually find something
minRadius: 22,
maxRadius: 28);
if (circles.Length != 1)
{
pictureBox2.Image = image;
if (circles.Length > 1)
{
throw new System.ArgumentException("More than one valid circle...");
}
if (circles.Length < 1)
{
throw new System.ArgumentException("No valid circles");
}
}
return(circles[0]);
}
/// <summary>
/// Similar to match screen but matches by rough colour blob. Good for menu elements that scale in some ships (so the text is too hard to match directly).
/// </summary>
/// <returns></returns>
public bool MatchMenuColour(Mat template)
{
Mat mscreenValue = CruiseSensor.IsolateYellow(BitmapConverter.ToMat(screen.bitmap));
Mat templateValue = CruiseSensor.IsolateYellow(template);
Mat matches = mscreenValue.MatchTemplate(templateValue, TemplateMatchModes.CCorrNormed);
double minVal, maxVal;
matches.MinMaxLoc(out minVal, out maxVal);
return maxVal > 0.9;
}
internal static void Subtarget()
{
Mat source = new Mat("res3/subtarget-test.png");
Mat targettemplate = new Mat("res3/subtarget.png");
Mat redSource = CruiseSensor.IsolateRed(source);
Mat redTarget = CruiseSensor.IsolateRed(targettemplate);
Mat matchImage = new Mat();
Cv2.MatchTemplate(redSource, redTarget, matchImage, TemplateMatchModes.CCorrNormed);
Window w0 = new Window(redSource);
Window w1 = new Window(matchImage);
Window w2 = new Window(matchImage.Threshold(0.7, 1.0, ThresholdTypes.Tozero));
}
public static void MatchCorona()
{
Bitmap screen = new Bitmap("Screenshot_0028.bmp");
Bitmap cropped = CompassSensor.Crop(screen, screen.Width * 1 / 3, screen.Height * 1 / 3, screen.Width * 2 / 3, screen.Height * 2 / 3);
Mat screenwhole = BitmapConverter.ToMat(cropped);
// erase the vivid areas, otherwise the blur subtraction turns yellow near red to green
Mat brightHSV = screenwhole.CvtColor(ColorConversionCodes.BGR2HSV);
Mat darkAreasMask = brightHSV.InRange(InputArray.Create(new int[] { 0, 0, 0 }), InputArray.Create(new int[] { 180, 255, 180 }));
Mat darkAreas = new Mat();
screenwhole.CopyTo(darkAreas, darkAreasMask);
Mat screenblur = darkAreas - darkAreas.Blur(new OpenCvSharp.Size(10, 10));
Window w3 = new Window(screenblur);
//screenblur.SaveImage("sharplines.png");
Mat sourceHSV = screenblur.CvtColor(ColorConversionCodes.BGR2HSV);
/* Paint.Net uses HSV [0..360], [0..100], [0..100].
* OpenCV uses H: 0 - 180, S: 0 - 255, V: 0 - 255
* Paint.NET colors:
* 73 100 18 brightest part of green edge
* 72 98 9 very dark green
* suggested range [70..180], [80..100], [8..100] (paint.net)
* suggested range [35..90], [204..255], [20..255] (openCV)
* */
Mat mask = sourceHSV.InRange(InputArray.Create(new int[] { 35, 204, 20 }), InputArray.Create(new int[] { 90, 255, 255 }));
Mat sourceHSVFiltered = new Mat();
sourceHSV.CopyTo(sourceHSVFiltered, mask);
Window w5 = new Window("yellowfilter", sourceHSVFiltered.CvtColor(ColorConversionCodes.HSV2BGR));
Mat sourceGrey = sourceHSVFiltered.Split()[2].InRange(32, 256); // Value channel is pretty good as a greyscale conversion
Window w6 = new Window("yellowFilterValue", sourceGrey);
LineSegmentPoint[] result = sourceGrey.HoughLinesP(1, 3.1415 / 180, 5, 10, 2);
List <Point2d> points = new List <Point2d>();
foreach (var line in result)
{
points.Add(line.P1);
points.Add(line.P2);
darkAreas.Line(line.P1, line.P2, new Scalar(255, 0, 255));
}
CircleSegment c = CruiseSensor.ComputeCircle(points);
darkAreas.Circle(c.Center, (int)c.Radius, new Scalar(255, 255, 0));
Window w9 = new Window("final", darkAreas);
}
private bool AlignTarget()
{
try
{
Mat screenCentre = screen.ScreenCentre(diameter: 300);
Point2f offset = cruiseSensor.FindTriQuadrant(screenCentre) - cruiseSensor.FindShipPointer(CruiseSensor.IsolateYellow(screenCentre));
return(FineAlign(-offset));
}
catch (Exception e)
{
status = e.Message;
}
AlignCompass();
return(false); // only fine align can confirm we are aligned to the target
}
