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);
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var matCaptured = new Mat())
{
var retrieveElapsed = Stopwatch.StartNew();
CameraCapture.Retrieve(matCaptured);
retrieveElapsed.Stop();
if (_readyRectangle.IsEmpty)
{
_detectorInput.ErodeDilateIterations = (int)spinDilateIterations.Value;
_detectorInput.Settings.Roi = GetRegionOfInterestFromControls();
_detectorInput.Captured = matCaptured;
var output = _colorDetector.Process(_detectorInput);
DrawReticle(output.CapturedImage, output.CentralPoint.ToPoint(), Color.Aqua);
if (output.IsDetected)
{
var radius = 50;
var circle = new CircleF(output.CentralPoint, radius);
var color = new Bgr(Color.Yellow);
output.CapturedImage.Draw(circle, color, 3);
var ballTextLocation = output.CentralPoint.ToPoint();
ballTextLocation.X += radius;
// output.CapturedImage.Draw("ball", ballTextLocation, FontFace.HersheyPlain, 3, color);
}
if (checkBoxRoi.Checked)
{
output.CapturedImage.Draw(_detectorInput.Settings.Roi, Color.Green.ToBgr(), 3);
}
if (!_imageBoxSelector.SeedingRectangle.IsEmpty)
{
output.CapturedImage.Draw(_imageBoxSelector.SeedingRectangle, new Bgr(Color.Chartreuse));
}
imageBoxCaptured.Image = output.CapturedImage;
imageBoxFiltered.Image = output.ThresholdImage;
NotifyStatus(
"Retrieved frame in {0}, {1}"
, retrieveElapsed.Elapsed.ToHumanReadable(HumanReadableTimeSpanOptions.Abbreviated)
, output);
}
else
{
DoAutoThresholding(matCaptured);
}
ResizeImageControls();
}
}
private bool IsColourFullFrame(CameraProcessInput input)
{
var isFullFrameColour = false;
// detect all black
using (new TemporaryThresholdSettings(_colourDetectorInput, ThresholdSettings.Get(0, 0, 0, 180, 255, 40)))
{
_colourDetectorInput.Captured = input.Captured;
var colourOutput = _colourDetector.Process(_colourDetectorInput);
const int fullFrameMinimumPercent = 70;
var fullFramePixelCount = colourOutput.CapturedImage.Width * colourOutput.CapturedImage.Height;
var mimimumColourPixelCount = fullFramePixelCount * fullFrameMinimumPercent / 100;
isFullFrameColour = colourOutput.MomentArea > mimimumColourPixelCount;
}
return(isFullFrameColour);
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
var detector = new ColourDetector();
var input = new ColourDetectorInput
{
Captured = matCaptured
, Settings = Settings
, SetCapturedImage = false
};
var result = detector.Process(input);
if (result.IsDetected)
{
Log.Info(result);
}
}
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
var detector = new ColourDetector();
var input = new ColourDetectorInput
{
Captured = matCaptured
,Settings= Settings
,SetCapturedImage = false
};
var result = detector.Process(input);
if (result.IsDetected)
{
Log.Info(result);
}
}
}
protected override ColourTrackingPanTiltOutput DoProcess(CameraProcessInput input)
{
var colourDetectorInput = new ColourDetectorInput();
colourDetectorInput.Captured = input.Captured;
colourDetectorInput.SetCapturedImage = input.SetCapturedImage;
colourDetectorInput.Settings = Settings;
var colourDetectorOutput = _colourDetector.Process(colourDetectorInput);
var targetPoint = CentrePoint;
if (colourDetectorOutput.IsDetected)
{
targetPoint = colourDetectorOutput.CentralPoint.ToPoint();
}
var output = ReactToTarget(targetPoint);
output.Absorb(colourDetectorOutput);
return(output);
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var matCaptured = new Mat())
{
CameraCapture.Retrieve(matCaptured);
var input = new ColourDetectorInput
{
Captured = matCaptured
, Settings = Settings
, SetCapturedImage = false
};
var result = _detector.Process(input);
if (result.IsDetected)
{
if (!_objectCurrentlyDetected)
{
_debounceWatch.Start();
_objectCurrentlyDetected = true;
}
SweeperToRed();
Log.Info(m => m("Red detected! {0}", result));
}
else
{
var isInDebouncePeriod = _debounceWatch.IsRunning && _debounceWatch.ElapsedMilliseconds < 800;
if (_objectCurrentlyDetected && !isInDebouncePeriod)
{
_debounceWatch.Reset();
Log.Info(m => m("Red gone"));
SweeperToGreen();
_objectCurrentlyDetected = false;
}
}
}
}
public override void ImageGrabbedHandler(object sender, EventArgs e)
{
using (var matCaptured = new Mat())
{
var retrieveElapsed = Stopwatch.StartNew();
CameraCapture.Retrieve(matCaptured);
retrieveElapsed.Stop();
ResizeImageControls(matCaptured);
_detectorInput.Settings.Roi = GetRegionOfInterestFromControls();
_detectorInput.Captured = matCaptured;
var output = _colorDetector.Process(_detectorInput);
if (output.IsDetected)
{
var radius = 50;
var circle = new CircleF(output.CentralPoint, radius);
var color = new Bgr(Color.Yellow);
output.CapturedImage.Draw(circle, color, 3);
var ballTextLocation = output.CentralPoint.ToPoint();
ballTextLocation.X += radius;
// output.CapturedImage.Draw("ball", ballTextLocation, FontFace.HersheyPlain, 3, color);
}
if (checkBoxRoi.Checked)
{
output.CapturedImage.Draw(_detectorInput.Settings.Roi, Color.Green.ToBgr());
}
//#region circle detection
//var watch = Stopwatch.StartNew();
//double cannyThreshold = 180.0;
//double circleAccumulatorThreshold = 120;
//CircleF[] circles = CvInvoke.HoughCircles(
// thresholdImage
// , HoughType.Gradient
// , 2.0
// , 20.0
// , cannyThreshold
// , circleAccumulatorThreshold
// , 5);
//watch.Stop();
//NotifyStatus("Hough circles - {0} ms; ", watch.ElapsedMilliseconds);
//#endregion
//#region draw circles
//var circleImage = matCaptured.ToImage<Bgr, byte>();
//foreach (CircleF circle in circles)
//{
// circleImage.Draw(circle, new Bgr(Color.Brown), 2);
//}
//#endregion
imageBoxCaptured.Image = output.CapturedImage;
imageBoxFiltered.Image = output.ThresholdImage;
NotifyStatus(
"Retrieved frame in {0}, {1}"
, retrieveElapsed.Elapsed.ToHumanReadable(HumanReadableTimeSpanOptions.Abbreviated)
, output);
}
}