private CamshiftOutput DoCamShift(Mat frame, Image <Bgr, byte> inputImage)
{
var input = new TrackingInput();
if (_readyRectangle != Rectangle.Empty)
{
input.Config.ObjectOfInterest = _readyRectangle;
input.Config.StartNewTrack = true;
_readyRectangle = Rectangle.Empty;
}
input.Captured = frame;
var output = _camshiftDetector.Process(input);
if (!output.ObjectOfInterest.Equals(RotatedRect.Empty))
{
var vertices = output.ObjectOfInterest.GetVertices();
var points = vertices.ToList().ConvertAll(f => f.ToPoint()).ToArray();
CvInvoke.Polylines(inputImage, points, true, new Bgr(Color.Red).MCvScalar, 2);
}
return(output);
}
protected override CameraPanTiltProcessOutput DoProcess(CameraProcessInput input)
{
var trackingInput = new TrackingInput();
trackingInput.Config = TrackConfig;
trackingInput.Captured = input.Captured;
trackingInput.SetCapturedImage = false;
var camshiftOutput = _detector.Process(trackingInput);
TrackConfig.StartNewTrack = false; // turn it off after inititalising
CameraPanTiltProcessOutput output;
if (camshiftOutput.HasObjectOfInterest)
{
var targetPoint = camshiftOutput.ObjectOfInterest.Center.ToPoint();
output = ReactToTarget(targetPoint);
}
else
{
output = ReactToTarget(CentrePoint);
}
return(output);
}