public void OnUpdateColorDefinition(UpdateColorDefinition update)
{
ColorDefinition def = update.Body;
if (!def.Validate())
{
update.ResponsePort.Post(
Fault.FromCodeSubcodeReason(
FaultCodes.Receiver,
DsspFaultCodes.OperationFailed,
"ColorDefinition is not valid."
)
);
return;
}
ColorSet set = _state.Colors.Find(def.Compare);
if (set == null)
{
update.ResponsePort.Post(
Fault.FromCodeSubcodeReason(
FaultCodes.Receiver,
DsspFaultCodes.UnknownEntry,
"ColorSet List does not contain an entry for: " + def.Name
)
);
return;
}
int index = set.Colors.FindIndex(def.CompareColor);
if (index >= 0)
{
set.Colors[index] = def;
update.ResponsePort.Post(DefaultUpdateResponseType.Instance);
_state.UpdateColorSetMap();
SendNotification(_submgrPort, update, Filter.ColorDefinitions.ToString());
}
else
{
update.ResponsePort.Post(
Fault.FromCodeSubcodeReason(
FaultCodes.Receiver,
DsspFaultCodes.UnknownEntry,
"ColorSet Definition List does not contain an entry for: " + def.Name
)
);
}
}
public IEnumerator <ITask> OnHttpPost(HttpPost httpPost)
{
HttpListenerContext context = httpPost.Body.Context;
NameValueCollection parameters = null;
Fault fault = null;
try
{
ReadFormData readForm = new ReadFormData(httpPost);
_utilitiesPort.Post(readForm);
yield return(Arbiter.Choice(
readForm.ResultPort,
delegate(NameValueCollection success)
{
parameters = success;
},
delegate(Exception e)
{
LogError("Error reading form data", e);
fault = Fault.FromException(e);
}
));
if (fault != null)
{
yield break;
}
string name = string.Empty;
string deleteName = null;
string expandName = null;
int left = 0;
int top = 0;
int width = 0;
int height = 0;
int deleteY = 0;
int deleteCb = 0;
int deleteCr = 0;
double threshold = 1.0;
int minBlobSize = 0;
bool showPartial = false;
bool despeckle = false;
bool updateSettings = false;
bool save = false;
foreach (string key in parameters.Keys)
{
if (key.StartsWith("Delete."))
{
string[] segments = key.Split('.');
deleteName = segments[1];
deleteY = int.Parse(segments[2]);
deleteCb = int.Parse(segments[3]);
deleteCr = int.Parse(segments[4]);
}
else if (key.StartsWith("ExpandY."))
{
string[] segments = key.Split('.');
expandName = segments[1];
deleteY = int.Parse(segments[2]);
deleteCb = int.Parse(segments[3]);
deleteCr = int.Parse(segments[4]);
}
else
{
switch (key)
{
case "Save":
save = true;
break;
case "Threshold":
threshold = double.Parse(parameters[key]);
break;
case "ShowPartial":
showPartial = parameters[key] == "on";
break;
case "Despeckle":
despeckle = parameters[key] == "on";
break;
case "UpdateSettings":
updateSettings = true;
break;
case "MinBlobSize":
minBlobSize = int.Parse(parameters[key]);
break;
case "New.Left":
left = int.Parse(parameters[key]);
break;
case "New.Top":
top = int.Parse(parameters[key]);
break;
case "New.Width":
width = int.Parse(parameters[key]);
break;
case "New.Height":
height = int.Parse(parameters[key]);
break;
case "New.Name":
name = parameters[key].Trim();
break;
default:
break;
}
}
}
if (save)
{
yield return(Arbiter.Choice(
SaveState(_state.SmallCopy),
EmptyHandler,
EmptyHandler
));
}
else if (!string.IsNullOrEmpty(deleteName))
{
ColorDefinition definition = new ColorDefinition(deleteName, deleteY, deleteCb, deleteCr);
RemoveColorDefinition remove = new RemoveColorDefinition(definition);
OnRemoveColorDefinition(remove);
}
else if (!string.IsNullOrEmpty(expandName))
{
ColorDefinition definition = new ColorDefinition(expandName, deleteY, deleteCb, deleteCr);
ColorSet set = _state.Colors.Find(definition.Compare);
if (set != null)
{
ColorDefinition existing = set.Colors.Find(definition.CompareColor);
definition.SigmaCb = existing.SigmaCb;
definition.SigmaCr = existing.SigmaCr;
if (existing.SigmaY < 1)
{
definition.SigmaY = 2;
}
else
{
definition.SigmaY = 3 * existing.SigmaY / 2;
}
}
UpdateColorDefinition update = new UpdateColorDefinition(definition);
OnUpdateColorDefinition(update);
}
else if (updateSettings)
{
UpdateSettings update = new UpdateSettings(
new Settings(
threshold,
showPartial,
despeckle,
minBlobSize
)
);
OnUpdateSettings(update);
}
else
{
webcam.QueryFrameResponse response = null;
yield return(Arbiter.Choice(
_webcamPort.QueryFrame(),
delegate(webcam.QueryFrameResponse success)
{
response = success;
},
delegate(Fault failure)
{
LogError("Unable to query frame for update", failure);
}
));
if (response == null)
{
yield break;
}
int right = left + width;
int bottom = top + height;
byte[] data = response.Frame;
int stride = data.Length / response.Size.Height;
int rowOffset = left * 3;
int offset;
int r, g, b;
int[] yProjection = new int[256];
int[] cbProjection = new int[256];
int[] crProjection = new int[256];
int count = 0;
double yMean = 0;
double cbMean = 0;
double crMean = 0;
for (int y = top; y < bottom; y++)
{
offset = rowOffset + y * stride;
for (int x = left; x < right; x++)
{
b = data[offset++];
g = data[offset++];
r = data[offset++];
ColorDefinition pixel = new ColorDefinition(r, g, b, "pixel");
yProjection[pixel.Y]++;
cbProjection[pixel.Cb]++;
crProjection[pixel.Cr]++;
count++;
yMean += pixel.Y;
cbMean += pixel.Cb;
crMean += pixel.Cr;
}
}
if (count <= 16)
{
LogError("The area was too small to generalize a color");
yield break;
}
yMean /= count;
cbMean /= count;
crMean /= count;
double ySigma = CalculateStdDev(yMean, yProjection, count);
double cbSigma = CalculateStdDev(cbMean, cbProjection, count);
double crSigma = CalculateStdDev(crMean, crProjection, count);
ColorDefinition definition = new ColorDefinition(
name,
(int)Math.Round(yMean),
(int)Math.Round(cbMean),
(int)Math.Round(crMean)
);
definition.SigmaY = (int)Math.Max(1, Math.Round(2 * ySigma));
definition.SigmaCb = (int)Math.Max(1, Math.Round(2 * cbSigma));
definition.SigmaCr = (int)Math.Max(1, Math.Round(2 * crSigma));
if (!string.IsNullOrEmpty(expandName))
{
definition.Name = expandName;
UpdateColorDefinition update = new UpdateColorDefinition(definition);
OnUpdateColorDefinition(update);
}
else
{
AddColorDefinition add = new AddColorDefinition(definition);
OnAddColorDefinition(add);
}
}
}
finally
{
httpPost.ResponsePort.Post(new HttpResponseType(HttpStatusCode.OK, _state.SmallCopy, _transform));
}
}