public SetWindow(ref MyFlags flags, ref Game game, Tracker tracker)
{
InitializeComponent();
_flags = flags;
_game = game;
_tracker = tracker;
nudHue0L.Value = flags.configs.hue0Lower;
nudHue0H.Value = flags.configs.hue0Upper;
nudHue1L.Value = flags.configs.hue1Lower;
nudHue1H.Value = flags.configs.hue1Upper;
nudHue2L.Value = flags.configs.hue2Lower;
nudHue2H.Value = flags.configs.hue2Upper;
nudSat0L.Value = flags.configs.saturation0Lower;
nudSat1L.Value = flags.configs.saturation1Lower;
nudSat2L.Value = flags.configs.saturation2Lower;
nudValueL.Value = flags.configs.valueLower;
nudAreaL.Value = flags.configs.areaLower;
checkBox_DebugMode.Checked = game.DebugMode;
cbPorts.Items.Clear();
foreach (string port in _tracker.validPorts)
{
cbPorts.Items.Add(port);
}
if (_tracker.serial != null && _tracker.serial.IsOpen)
{
cbPorts.Text = _tracker.serial.PortName;
}
BringToFront();
}
public void PeopleFilter(MyFlags flags)
{
if (!flags.calibrated)
{
return;
}
for (int i = 0; i < flags.currPersonNum; ++i)
{
Point2f[] res = LogicToCamera(new Point2f[] { flags.posPersonStart[i] });
flags.posPersonStart[i] = res[0];
}
}
public CoordinateConverter(MyFlags myFlags)
{
camCorners = new Point2f[4];
logicCorners = new Point2f[4];
showCorners = new Point2f[4];
cam2logic = new Mat();
show2cam = new Mat();
logic2show = new Mat();
show2logic = new Mat();
cam2show = new Mat();
logic2cam = new Mat();
logicCorners[0].X = 0;
logicCorners[0].Y = 0;
logicCorners[1].X = myFlags.logicSize.Width;
logicCorners[1].Y = 0;
logicCorners[2].X = 0;
logicCorners[2].Y = myFlags.logicSize.Height;
logicCorners[3].X = myFlags.logicSize.Width;
logicCorners[3].Y = myFlags.logicSize.Height;
showCorners[0].X = 0;
showCorners[0].Y = 0;
showCorners[1].X = myFlags.showSize.Width;
showCorners[1].Y = 0;
showCorners[2].X = 0;
showCorners[2].Y = myFlags.showSize.Height;
showCorners[3].X = myFlags.showSize.Width;
showCorners[3].Y = myFlags.showSize.Height;
camCorners[0].X = 0;
camCorners[0].Y = 0;
camCorners[1].X = myFlags.cameraSize.Width;
camCorners[1].Y = 0;
camCorners[2].X = 0;
camCorners[2].Y = myFlags.cameraSize.Height;
camCorners[3].X = myFlags.cameraSize.Width;
camCorners[3].Y = myFlags.cameraSize.Height;
show2cam = Cv2.GetPerspectiveTransform(showCorners, camCorners);
cam2show = Cv2.GetPerspectiveTransform(camCorners, showCorners);
}
public void UpdateCorners(Point2f[] corners, MyFlags myFlags)
{
if (corners == null)
{
return;
}
if (corners.Length != 4)
{
return;
}
else
{
showCorners = corners;
}
logic2show = Cv2.GetPerspectiveTransform(logicCorners, showCorners);
show2logic = Cv2.GetPerspectiveTransform(showCorners, logicCorners);
camCorners = Cv2.PerspectiveTransform(showCorners, show2cam);
cam2logic = Cv2.GetPerspectiveTransform(camCorners, logicCorners);
logic2cam = Cv2.GetPerspectiveTransform(logicCorners, camCorners);
myFlags.calibrated = true;
}
public void Locate(Mat mat, MyFlags localiseFlags)
{
if (mat == null || mat.Empty())
{
return;
}
if (localiseFlags == null)
{
return;
}
using (Mat hsv = new Mat())
using (Mat ball = new Mat())
using (Mat car1 = new Mat())
using (Mat car2 = new Mat())
//using (Mat merged = new Mat())
using (Mat black = new Mat(mat.Size(), MatType.CV_8UC1))
{
Cv2.CvtColor(mat, hsv, ColorConversionCodes.RGB2HSV);
MyFlags.LocConfigs configs = localiseFlags.configs;
Cv2.InRange(hsv,
new Scalar(configs.hue0Lower, configs.saturation0Lower, configs.valueLower),
new Scalar(configs.hue0Upper, 255, 255),
ball);
Cv2.InRange(hsv,
new Scalar(configs.hue1Lower, configs.saturation1Lower, configs.valueLower),
new Scalar(configs.hue1Upper, 255, 255),
car1);
Cv2.InRange(hsv,
new Scalar(configs.hue2Lower, configs.saturation2Lower, configs.valueLower),
new Scalar(configs.hue2Upper, 255, 255),
car2);
if (localiseFlags.showMask)
{
Cv2.ImShow("Ball", ball);
Cv2.ImShow("CarA", car1);
Cv2.ImShow("CarB", car2);
}
else
{
Cv2.DestroyAllWindows();
}
Point2i[][] contours0, contours1, contours2;
contours0 = Cv2.FindContoursAsArray(ball, RetrievalModes.External, ContourApproximationModes.ApproxSimple);
contours1 = Cv2.FindContoursAsArray(car1, RetrievalModes.External, ContourApproximationModes.ApproxSimple);
contours2 = Cv2.FindContoursAsArray(car2, RetrievalModes.External, ContourApproximationModes.ApproxSimple);
foreach (Point2i[] c0 in contours0)
{
Point2i centre = new Point2i();
Moments moments = Cv2.Moments(c0);
centre.X = (int)(moments.M10 / moments.M00);
centre.Y = (int)(moments.M01 / moments.M00);
double area = moments.M00;
if (area <= configs.areaLower / 9)
{
continue;
}
centres0.Add(centre);
}
foreach (Point2i[] c1 in contours1)
{
Point2i centre = new Point2i();
Moments moments = Cv2.Moments(c1);
centre.X = (int)(moments.M10 / moments.M00);
centre.Y = (int)(moments.M01 / moments.M00);
double area = moments.M00;
if (area <= configs.areaLower)
{
continue;
}
centres1.Add(centre);
}
foreach (Point2i[] c2 in contours2)
{
Point2i centre = new Point2f();
Moments moments = Cv2.Moments(c2);
centre.X = (int)(moments.M10 / moments.M00);
centre.Y = (int)(moments.M01 / moments.M00);
double area = moments.M00;
if (area <= configs.areaLower)
{
continue;
}
centres2.Add(centre);
}
//foreach (Point2i c0 in centres0) Cv2.Circle(mat, c0, 3, new Scalar(0x1b, 0xa7, 0xff), -1);
foreach (Point2i c1 in centres1)
{
Cv2.Circle(mat, c1, 10, new Scalar(0x3c, 0x14, 0xdc), -1);
}
foreach (Point2i c2 in centres2)
{
Cv2.Circle(mat, c2, 10, new Scalar(0xff, 0x00, 0x00), -1);
}
if (localiseFlags.gameState != GameState.Unstart)
{
for (int i = 0; i < localiseFlags.currPersonNum; ++i)
{
int x10 = localiseFlags.posPersonStart[i].X - 8;
int y10 = localiseFlags.posPersonStart[i].Y - 8;
Cv2.Rectangle(mat, new Rect(x10, y10, 16, 16), new Scalar(0x00, 0xff, 0x00), -1);
}
}
//Cv2.Merge(new Mat[] { car1, car2, black }, merged);
//Cv2.ImShow("binary", merged);
}
}
public Tracker()
{
InitializeComponent();
//UI
label_RedBG.SendToBack();
label_BlueBG.SendToBack();
label_RedBG.Controls.Add(label_CarA);
label_RedBG.Controls.Add(labelAScore);
label_BlueBG.Controls.Add(label_CarB);
int newX = label_CarB.Location.X - label_BlueBG.Location.X;
int newY = label_CarB.Location.Y - label_BlueBG.Location.Y;
label_CarB.Location = new System.Drawing.Point(newX, newY);
label_BlueBG.Controls.Add(labelBScore);
newX = labelBScore.Location.X - label_BlueBG.Location.X;
newY = labelBScore.Location.Y - label_BlueBG.Location.Y;
labelBScore.Location = new System.Drawing.Point(newX, newY);
label_GameCount.Text = "上半场";
// Init
flags = new MyFlags();
flags.Init();
flags.Start();
capture = new VideoCapture();
// threadCamera = new Thread(CameraReading);
capture.Open(0);
flags.cameraSize.Width = capture.FrameWidth;
flags.cameraSize.Height = capture.FrameHeight;
flags.showSize.Width = pbCamera.Width;
flags.showSize.Height = pbCamera.Height;
ptsShowCorners = new Point2f[4];
cc = new CoordinateConverter(flags);
localiser = new Localiser();
timeCamNow = DateTime.Now;
timeCamPrev = timeCamNow;
ball = new Point2f[0];
car1 = new Point2i();
car2 = new Point2i();
buttonStart.Enabled = true;
buttonPause.Enabled = false;
buttonEnd.Enabled = false;
button_AReset.Enabled = false;
button_BReset.Enabled = false;
validPorts = SerialPort.GetPortNames();
alreadySet = false;
//Game.LoadMap();
game = new Game();
if (capture.IsOpened())
{
capture.FrameWidth = flags.cameraSize.Width;
capture.FrameHeight = flags.cameraSize.Height;
capture.ConvertRgb = true;
timer100ms.Interval = 75;
timer100ms.Start();
//Cv2.NamedWindow("binary");
}
}
