private ColourDetectorOutput LocateColour()
{
var output = new ColourDetectorOutput();
const int captureBufferBurn = 2; // first image is stale, need to capture the second one
Image <Bgr, byte> capturedImage = null;
for (int i = 0; i < captureBufferBurn; i++)
{
capturedImage = GetCameraCapture();
//DoStep("Captured {0} image", i);
}
using (var capturedMat = capturedImage.Mat)
{
var colourDetectorInput = new ColourDetectorInput();
colourDetectorInput.Captured = capturedMat;
colourDetectorInput.SetCapturedImage = false;
colourDetectorInput.Settings = Settings;
output = _colourDetector.Process(colourDetectorInput);
}
if (ColourCaptured != null)
{
output.CapturedImage = capturedImage;
ColourCaptured(this, output);
}
return(output);
}
void _calibratingPanTiltController_ColourCaptured(object sender, ColourDetectorOutput e)
{
if (e.IsDetected)
{
DrawReticle(e.CapturedImage, e.CentralPoint.ToPoint(), Color.Yellow);
}
DrawReticle(e.CapturedImage, _captureConfig.Resolution.GetCenter(), Color.Red);
WriteText(e.CapturedImage, 10, _calibratingPanTiltController.CurrentSetting.ToString());
imageBoxCaptured.Image = e.CapturedImage;
}
public void Absorb(ColourDetectorOutput output)
{
_isDetected = output.IsDetected;
MomentArea = output.MomentArea;
ThresholdImage = output.ThresholdImage;
}
