Exemplo n.º 1
0
        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";

            InitialCaiServer();
            MessageBox.Show("TCP IP is " + server.getUsedIP().ToString() + "  port is " + server.getPort().ToString());
            udp = new CaiNetwork.CaiUDP();
            MessageBox.Show("UDP IP is " + udp.broadcastIpEndPoint.Address.ToString() + "  port is " + udp.broadcastIpEndPoint.Port.ToString());

            // Init
            flags = new MyFlags();
            flags.Init();
            flags.Start();
            ptsShowCorners = new Point2f[4];
            cc             = new CoordinateConverter(flags);
            localiser      = new Localiser();
            capture        = new VideoCapture();
            // threadCamera = new Thread(CameraReading);
            capture.Open(0);
            timeCamNow  = DateTime.Now;
            timeCamPrev = timeCamNow;

            car1 = new Point2i();
            car2 = new Point2i();

            buttonStart.Enabled   = true;
            buttonPause.Enabled   = false;
            button_AReset.Enabled = false;
            button_BReset.Enabled = 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");
            }
        }
Exemplo n.º 2
0
        public void PassengersFilter(MyFlags flags)
        {
            if (!flags.calibrated)
            {
                return;
            }

            for (int i = 0; i < flags.currPassengerNum; ++i)
            {
                Point2f[] res = LogicToCamera(new Point2f[] { flags.posPassengerStart[i], flags.posPassengerEnd[i] });
                flags.posPassengerStart[i] = res[0];
                flags.posPassengerEnd[i]   = res[1];
            }
        }
Exemplo n.º 3
0
 public SetWindow(ref MyFlags flags, ref Game game)
 {
     InitializeComponent();
     _flags                     = flags;
     _game                      = game;
     nudHue1L.Value             = flags.configs.hue1Lower;
     nudHue1H.Value             = flags.configs.hue1Upper;
     nudHue2L.Value             = flags.configs.hue2Lower;
     nudHue2H.Value             = flags.configs.hue2Upper;
     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;
 }
Exemplo n.º 4
0
        public Tracker()
        {
            InitializeComponent();

            InitialCaiServer();
            MessageBox.Show("TCP IP is " + server.getUsedIP().ToString() + "  port is " + server.getPort().ToString());
            udp = new CaiNetwork.CaiUDP();
            MessageBox.Show("UDP IP is " + udp.broadcastIpEndPoint.Address.ToString() + "  port is " + udp.broadcastIpEndPoint.Port.ToString());

            tbsPoint = new TextBox[] { tbPoint1, tbPoint2, tbPoint3, tbPoint4 };
            // Init
            flags = new MyFlags();
            flags.Init();
            flags.Start();
            ptsShowCorners = new Point2f[4];
            cc             = new CoordinateConverter(flags);
            localiser      = new Localiser();
            capture        = new VideoCapture();
            // threadCamera = new Thread(CameraReading);
            /****************************************** 修改了此处,调用电脑自带摄像头 ******************************************/
            capture.Open(0);
            //capture.Open(1);
            timeCamNow  = DateTime.Now;
            timeCamPrev = timeCamNow;

            car1 = new Point2i();
            car2 = new Point2i();

            buttonStart.Enabled  = true;
            buttonPause.Enabled  = false;
            button_reset.Enabled = 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");
            }
            portCB.Items.AddRange(System.IO.Ports.SerialPort.GetPortNames());
            myID = 'A';
        }
Exemplo n.º 5
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);
        }
Exemplo n.º 6
0
        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;
        }
Exemplo n.º 7
0
        public void Locate(Mat mat, MyFlags localiseFlags)
        {
            if (mat == null || mat.Empty())
            {
                return;
            }
            if (localiseFlags == null)
            {
                return;
            }
            using (Mat hsv = 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.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);

                                Point2i[][] contours1, contours2;

                                contours1 = Cv2.FindContoursAsArray(car1, RetrievalModes.External, ContourApproximationModes.ApproxSimple);
                                contours2 = Cv2.FindContoursAsArray(car2, RetrievalModes.External, ContourApproximationModes.ApproxSimple);

                                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 c1 in centres1)
                                {
                                    Cv2.Circle(mat, c1, 10, new Scalar(0x1b, 0xff, 0xa7), -1);
                                }
                                foreach (Point2i c2 in centres2)
                                {
                                    Cv2.Circle(mat, c2, 10, new Scalar(0x00, 0x98, 0xff), -1);
                                }
                                if (localiseFlags.gameState != GameState.Unstart)
                                {
                                    for (int i = 0; i < localiseFlags.currPassengerNum; ++i)
                                    {
                                        int  x1       = localiseFlags.posPassengerEnd[i].X;
                                        int  y1       = localiseFlags.posPassengerEnd[i].Y;
                                        int  x2       = localiseFlags.posPassengerStart[i].X;
                                        int  y2       = localiseFlags.posPassengerStart[i].Y;
                                        int  x10      = x1 - 8;
                                        int  y10      = y1 - 8;
                                        int  x20      = x2 - 8;
                                        int  y20      = y2 - 8;
                                        Rect rectDest = new Rect(x10, y10, 16, 16);
                                        Rect rectSrc  = new Rect(x20, y20, 16, 16);
                                        switch (localiseFlags.passengerState[i])
                                        {
                                        case Camp.CampA:
                                            Cv2.Rectangle(mat, rectDest, new Scalar(0x1b, 0xff, 0xa7), -1);
                                            break;

                                        case Camp.CampB:
                                            Cv2.Rectangle(mat, rectDest, new Scalar(0x00, 0x98, 0xff), -1);
                                            break;

                                        case Camp.None:
                                            // Cv2.Circle(mat, localiseFlags.posPassengerStart[i], 5, new Scalar(0xd8, 0x93, 0xce), -1);
                                            if (i != 4)
                                            {
                                                Cv2.Rectangle(mat, rectSrc, new Scalar(0xf3, 0x96, 0x21), -1);
                                            }
                                            else
                                            {
                                                Cv2.Rectangle(mat, rectSrc, new Scalar(0x58, 0xee, 0xff), -1);
                                            }
                                            break;

                                        default:
                                            break;
                                        }
                                    }
                                }

                                Cv2.Merge(new Mat[] { car1, car2, black }, merged);
                                Cv2.ImShow("binary", merged);
                            }
        }
Exemplo n.º 8
0
        public void Locate(Mat mat, MyFlags localiseFlags)
        {
            if (mat == null || mat.Empty())
            {
                return;
            }
            if (localiseFlags == null)
            {
                return;
            }
            {
                /*
                 * using (Mat hsv = 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.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);
                 *
                 *  Point2i[][] contours1, contours2;
                 *
                 *  contours1 = Cv2.FindContoursAsArray(car1, RetrievalModes.External, ContourApproximationModes.ApproxSimple);
                 *  contours2 = Cv2.FindContoursAsArray(car2, RetrievalModes.External, ContourApproximationModes.ApproxSimple);
                 *
                 *  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 c1 in centres1) Cv2.Circle(mat, c1, 10, new Scalar(0x1b, 0xff, 0xa7), -1);
                 *  foreach (Point2i c2 in centres2) Cv2.Circle(mat, c2, 10, new Scalar(0x00, 0x98, 0xff), -1);
                 */
                Cv2.Circle(mat, localiseFlags.posCarA, 4, new Scalar(0x1b, 0xff, 0xa7), -1);  // 画车
                Cv2.Circle(mat, localiseFlags.posCarB, 4, new Scalar(0x00, 0x98, 0xff), -1);
                int  x_destination    = localiseFlags.nextDestination.X - 4;
                int  y_destination    = localiseFlags.nextDestination.Y - 4;
                Rect rect_destination = new Rect(x_destination, y_destination, 8, 8);
                Cv2.Rectangle(mat, rect_destination, new Scalar(0x58, 0xee, 0xff), -1);  // next target point
                int  x_predCurPosition = localiseFlags.predCurPosition.X - 4;
                int  y_predCurPosition = localiseFlags.predCurPosition.Y - 4;
                Rect rect_pred         = new Rect(x_predCurPosition, y_predCurPosition, 8, 8);
                Cv2.Rectangle(mat, rect_pred, new Scalar(0x58, 0xee, 0xff), -1);  // pred current point
                Cv2.Line(mat, localiseFlags.predCurPosition, localiseFlags.nextDestination, new Scalar(100, 105, 200), 2);
                if (localiseFlags.gameState != GameState.Unstart)
                {
                    for (int i = 0; i < localiseFlags.currPassengerNum; ++i)
                    {
                        int  x1       = localiseFlags.posPassengerEnd[i].X;
                        int  y1       = localiseFlags.posPassengerEnd[i].Y;
                        int  x2       = localiseFlags.posPassengerStart[i].X;
                        int  y2       = localiseFlags.posPassengerStart[i].Y;
                        int  x10      = x1 - 4;
                        int  y10      = y1 - 4;
                        int  x20      = x2 - 4;
                        int  y20      = y2 - 4;
                        Rect rectDest = new Rect(x10, y10, 8, 8);
                        Rect rectSrc  = new Rect(x20, y20, 8, 8);
                        switch (localiseFlags.passengerState[i])
                        {
                        case Camp.CampA:
                            Cv2.Rectangle(mat, rectDest, new Scalar(0x1b, 0xff, 0xa7), -1);
                            Cv2.Line(mat, localiseFlags.posCarA, localiseFlags.posPassengerEnd[i], new Scalar(0x1b, 0xff, 0xa7), 1);
                            break;

                        case Camp.CampB:
                            Cv2.Rectangle(mat, rectDest, new Scalar(0x00, 0x98, 0xff), -1);
                            Cv2.Line(mat, localiseFlags.posCarB, localiseFlags.posPassengerEnd[i], new Scalar(0x00, 0x98, 0xff), 1);
                            break;

                        case Camp.None:
                            // Cv2.Circle(mat, localiseFlags.posPassengerStart[i], 5, new Scalar(0xd8, 0x93, 0xce), -1);
                            Cv2.Rectangle(mat, rectSrc, new Scalar(0xf3, 0x96, 0x21), -1);
                            Cv2.Rectangle(mat, rectDest, new Scalar(0x58, 0xee, 0xff), -1);
                            Cv2.Line(mat, localiseFlags.posPassengerStart[i], localiseFlags.posPassengerEnd[i], new Scalar(0xf3, 0x96, 0x21), 1);
                            break;

                        default:
                            break;
                        }
                    }
                }
                //Cv2.Merge(new Mat[] { car1, car2, black }, merged);
                //Cv2.ImShow("binary", merged);
            }
        }