private void FindAndProcessDartContour(CamService cam)
{
var dartContour = TryFindDartContour(cam);
if (dartContour != null)
{
var toDartRay = ProcessDartContour(cam, dartContour);
throwService.SaveRay(toDartRay);
Application.Current.Dispatcher.Invoke(() => { camsDetectionBoard.DrawRay(toDartRay); });
}
}
public void ProcessDartContour()
{
logger.Debug($"Process dartContour for cam_{camService.camNumber} start");
// Moments and centerpoint
// var contourMoments = CvInvoke.Moments(processedContour);
// var contourCenterPoint = new PointF((float) (contourMoments.M10 / contourMoments.M00),
// (float) camService.roiPosYSlider + (float) (contourMoments.M01 / contourMoments.M00));
// Find contour rectangle
var rect = CvInvoke.MinAreaRect(dartContour.ContourPoints);
var box = CvInvoke.BoxPoints(rect);
var contourBoxPoint1 = new PointF(box[0].X, (float)camService.roiPosYSlider + box[0].Y);
var contourBoxPoint2 = new PointF(box[1].X, (float)camService.roiPosYSlider + box[1].Y);
var contourBoxPoint3 = new PointF(box[2].X, (float)camService.roiPosYSlider + box[2].Y);
var contourBoxPoint4 = new PointF(box[3].X, (float)camService.roiPosYSlider + box[3].Y);
// Setup vertical contour middlepoints
var contourHeight = FindDistance(contourBoxPoint1, contourBoxPoint2);
var contourWidth = FindDistance(contourBoxPoint4, contourBoxPoint1);
PointF contourBoxMiddlePoint1;
PointF contourBoxMiddlePoint2;
if (contourWidth > contourHeight)
{
contourBoxMiddlePoint1 = FindMiddle(contourBoxPoint1, contourBoxPoint2);
contourBoxMiddlePoint2 = FindMiddle(contourBoxPoint4, contourBoxPoint3);
}
else
{
contourBoxMiddlePoint1 = FindMiddle(contourBoxPoint4, contourBoxPoint1);
contourBoxMiddlePoint2 = FindMiddle(contourBoxPoint3, contourBoxPoint2);
}
// Find spikeLine to surface
var spikeLinePoint1 = contourBoxMiddlePoint1;
var spikeLinePoint2 = contourBoxMiddlePoint2;
var spikeLineLength = camService.surfacePoint2.Y - contourBoxMiddlePoint2.Y;
var spikeAngle = FindAngle(contourBoxMiddlePoint2, contourBoxMiddlePoint1);
spikeLinePoint1.X = (float)(contourBoxMiddlePoint2.X + Math.Cos(spikeAngle) * spikeLineLength);
spikeLinePoint1.Y = (float)(contourBoxMiddlePoint2.Y + Math.Sin(spikeAngle) * spikeLineLength);
// Find point of impact with surface
PointF?camPoi = FindLinesIntersection(spikeLinePoint1, spikeLinePoint2, camService.surfacePoint1, camService.surfacePoint2);
// Translate cam surface POI to dartboard projection
var frameWidth = camService.RoiLastThrowFrame.Cols;
var frameSemiWidth = frameWidth / 2;
var camFovSemiAngle = camFovAngle / 2;
var projectionToCenter = new PointF();
var surfacePoiToCenterDistance = FindDistance(camService.surfaceCenterPoint1, camPoi.GetValueOrDefault());
var surfaceLeftToPoiDistance = FindDistance(camService.surfaceLeftPoint1, camPoi.GetValueOrDefault());
var surfaceRightToPoiDistance = FindDistance(camService.surfaceRightPoint1, camPoi.GetValueOrDefault());
var projectionCamToCenterDistance = frameSemiWidth / Math.Sin(Math.PI * camFovSemiAngle / 180.0) * Math.Cos(Math.PI * camFovSemiAngle / 180.0);
var projectionCamToPoiDistance = Math.Sqrt(Math.Pow(projectionCamToCenterDistance, 2) + Math.Pow(surfacePoiToCenterDistance, 2));
var projectionPoiToCenterDistance = Math.Sqrt(Math.Pow(projectionCamToPoiDistance, 2) - Math.Pow(projectionCamToCenterDistance, 2));
var poiCamCenterAngle = Math.Asin(projectionPoiToCenterDistance / projectionCamToPoiDistance);
projectionToCenter.X = (float)(camService.setupPoint.X - Math.Cos(camService.toBullAngle) * projectionCamToCenterDistance);
projectionToCenter.Y = (float)(camService.setupPoint.Y - Math.Sin(camService.toBullAngle) * projectionCamToCenterDistance);
if (surfaceLeftToPoiDistance < surfaceRightToPoiDistance)
{
poiCamCenterAngle *= -1;
}
var projectionPoi = new PointF
{
X = (float)(camService.setupPoint.X + Math.Cos(camService.toBullAngle + poiCamCenterAngle) * 2000),
Y = (float)(camService.setupPoint.Y + Math.Sin(camService.toBullAngle + poiCamCenterAngle) * 2000)
};
// Draw line from cam through projection POI
var rayPoint = projectionPoi;
var angle = FindAngle(camService.setupPoint, rayPoint);
rayPoint.X = (float)(camService.setupPoint.X + Math.Cos(angle) * 2000);
rayPoint.Y = (float)(camService.setupPoint.Y + Math.Sin(angle) * 2000);
drawService.ProjectionDrawLine(camService.setupPoint, rayPoint, new Bgr(Color.DodgerBlue).MCvScalar);
var ray = new Ray(camService.camNumber, camService.setupPoint, rayPoint, dartContour.Arc);
throwService.SaveRay(ray);
logger.Debug($"Process dartContour for cam_{camService.camNumber} end. Ray saved:{ray}");
}