public override string ToString()
{
if (Vector == null)
{
Vector = new DiffVector(0, 0, 0);
}
return($"{Vector.X},{Vector.Y} {Vector.Diff.ToString("0.00")}");
}
public static void FindObjectDown(PreVidStream stream, Mat curr, RealTimeTrackLoc prms, BreakDiffDebugReporter reporter)
{
const int LookBack = 2;
int from = prms.CurPos - LookBack;
int to = from + prms.LookAfter + LookBack;
if (to == 0 || to > stream.Total)
{
to = stream.Total;
}
if (from < 0)
{
from = 0;
}
var skipAvgs = prms.CurPos >= LookBack ? LookBack : LookBack - prms.CurPos;
List <DiffVect> processed = new List <DiffVect>();
//double dxT = 0, dyT = 0;
//int numD = 0;
for (int pos = from; pos < to; pos++)
{
var loc = FindInRage(stream, curr, 1, pos, pos + 1);
processed.Add(loc);
}
if (processed[2].Vector.Diff > 0.5)
{
for (var i = 0; i < LookBack; i++)
{
processed.RemoveAt(0);
}
}
//processed.OrderByDescending(x => x.Vector.Diff).Take(3);
prms.DebugAllLooks = processed;
var sorted = SortProcessDiffVects(processed).Take(5);
var curMax = sorted.FirstOrDefault();
if (curMax == null || curMax.VidPos >= stream.Total - 1)
{
Console.WriteLine($"max not found from={from} to={to} total={stream.Total}");
return;
}
//Console.WriteLine($"max at {curMax.Pos} {curMax.diff.ToString("0.00")}");
prms.NextPos = curMax.VidPos;
prms.diff = curMax.Vector.Diff;
prms.vect = curMax.Vector;
stream.Pos = curMax.VidPos;
var diff = CompDiff(curr, stream.GetCurMat(), reporter);
//var nextVect = stream.Vectors[curMax.VidPos]; //orig way
var nextVect = new DiffVector(sorted.Average(x => x.Vector.X), sorted.Average(y => y.Vector.Y), sorted.Average(d => d.Vector.Diff));
//diff: negative if need to turn left
//vect: positive if need to turn left
prms.vect = new DiffVector(nextVect.X + (diff.Vector.X / 10.0), nextVect.Y + diff.Vector.Y, diff.Vector.Diff);
reporter.InfoReport($"===> {(prms.vect.X>0?"L":"R")} ({prms.vect}) nextX {nextVect.X} diffX {diff.Vector.X} pos {curMax.VidPos}", true);
prms.diffVect = diff;
prms.nextVect = nextVect;
}