public bool EmergencyDrop()
{
//Top Left: 814x298
//Size: 295x104
int start_x = 700;
int start_y = 200;
Bitmap cropped = CompassSensor.Crop(screen.bitmap, start_x, start_y, start_x + 400, start_y + 300);
Mat screenarea = BitmapConverter.ToMat(cropped);
Mat yellow = IsolateYellow(screenarea);
Mat template = new Mat("res3/estop.png", ImreadModes.GrayScale);
Mat result = new Mat(yellow.Size(), yellow.Type());
Cv2.MatchTemplate(yellow, template, result, TemplateMatchModes.CCoeffNormed);
double minVal, maxVal;
OpenCvSharp.Point minLoc, maxLoc;
result.MinMaxLoc(out minVal, out maxVal, out minLoc, out maxLoc);
if (maxVal > 0.7)
{
debugWindow.Image = CompassSensor.Crop(BitmapConverter.ToBitmap(yellow), maxLoc.X, maxLoc.Y, maxLoc.X + template.Width, maxLoc.Y + template.Height);
return(true);
}
return(false);
}
/// <summary>
/// If we're fueling, see if our tank is full
/// </summary>
public bool FuelComplete()
{
//Top Left: 1034x254
//Size: 115x40
int start_x = 1034;
int start_y = 254;
Bitmap cropped = CompassSensor.Crop(screen.bitmap, start_x, start_y, start_x + 300, start_y + 100);
Mat screenarea = BitmapConverter.ToMat(cropped);
Mat yellow = IsolateYellow(screenarea);
Mat template = new Mat("res3/fuel_full.png", ImreadModes.GrayScale);
Mat result = new Mat(yellow.Size(), yellow.Type());
Cv2.MatchTemplate(yellow, template, result, TemplateMatchModes.CCoeffNormed);
double minVal, maxVal;
OpenCvSharp.Point minLoc, maxLoc;
result.MinMaxLoc(out minVal, out maxVal, out minLoc, out maxLoc);
//Console.WriteLine(string.Format("Match fuel capacity: minVal {0}, maxVal {1}", minVal, maxVal));
//debugWindow.Image = CompassSensor.Crop(BitmapConverter.ToBitmap(yellow), maxLoc.X, maxLoc.Y, maxLoc.X + template.Width, maxLoc.Y + template.Height);
//debugWindow2.Image = BitmapConverter.ToBitmap(template);
if (maxVal > 0.8)
{
//Console.WriteLine(string.Format("Match fuel full is true: {0}", maxVal));
debugWindow.Image = CompassSensor.Crop(BitmapConverter.ToBitmap(yellow), maxLoc.X, maxLoc.Y, maxLoc.X + template.Width, maxLoc.Y + template.Height);
return(true);
}
return(false);
}
//The current location is locked if the "locked target" icon is overriding the blue "current location" i
public bool CurrentLocationLocked()
{
Bitmap cropped = CompassSensor.Crop(screen.bitmap, 460, 220, 1300, 800);
Mat screenarea = BitmapConverter.ToMat(cropped);
Mat[] channels = screenarea.Split();
Mat blue = channels[0];
Mat template = new Mat("res3/current_location.png", ImreadModes.GrayScale);
Mat result = new Mat(blue.Size(), blue.Type());
Cv2.MatchTemplate(blue, template, result, TemplateMatchModes.CCoeffNormed);
double minVal, maxVal;
OpenCvSharp.Point minLoc, maxLoc;
result.MinMaxLoc(out minVal, out maxVal, out minLoc, out maxLoc);
Console.WriteLine(string.Format("Current location lock maxval: {0}", maxVal));
if (maxVal > 0.9)
{
//It's still showing up and therefore not locked.
return(false);
}
debugWindow.Image = CompassSensor.Crop(BitmapConverter.ToBitmap(blue), maxLoc.X, maxLoc.Y, maxLoc.X + template.Width, maxLoc.Y + template.Height);
return(true);
}
/// <summary>
/// See if the FUEL SCOOPING notification is being displayed
/// </summary>
public bool MatchScooping()
{
//Top left corner: 843x73
//Size: 196x17
//Bitmap cropped = CompassSensor.Crop(screen.bitmap, screen.bitmap.Width - 400, 0, screen.bitmap.Width - 100, 300);
int start_x = 740;
int start_y = 50;
Bitmap cropped = CompassSensor.Crop(screen.bitmap, start_x, start_y, start_x + 400, start_y + 60);
Mat screenarea = BitmapConverter.ToMat(cropped);
Mat yellow = IsolateYellow(screenarea);
Mat template = new Mat("res3/scoop_active.png", ImreadModes.GrayScale);
Mat result = new Mat(yellow.Size(), yellow.Type());
Cv2.MatchTemplate(yellow, template, result, TemplateMatchModes.CCoeffNormed);
double minVal, maxVal;
OpenCvSharp.Point minLoc, maxLoc;
result.MinMaxLoc(out minVal, out maxVal, out minLoc, out maxLoc);
Console.WriteLine(string.Format("Match scooping: minVal {0}, maxVal {1}", minVal, maxVal));
//debugWindow.Image = CompassSensor.Crop(BitmapConverter.ToBitmap(yellow), maxLoc.X, maxLoc.Y, maxLoc.X + template.Width, maxLoc.Y + template.Height);
//debugWindow2.Image = BitmapConverter.ToBitmap(template);
if (maxVal > 0.4)
{
Console.WriteLine(string.Format("Match scooping is true: {0}", maxVal));
debugWindow.Image = CompassSensor.Crop(BitmapConverter.ToBitmap(yellow), maxLoc.X, maxLoc.Y, maxLoc.X + template.Width, maxLoc.Y + template.Height);
return(true);
}
Console.WriteLine("Match scooping is not true");
return(false);
}
/// <summary>
/// Try to match (part of) a large green circle on the screen.
/// </summary>
public CircleSegment FindCorona()
{
// see the Experiments for how this works
Bitmap cropped = CompassSensor.Crop(screen.bitmap,
screen.bitmap.Width * 1 / 3,
screen.bitmap.Height * 1 / 3,
screen.bitmap.Width * 2 / 3,
screen.bitmap.Height * 2 / 3);
Mat screenwhole = BitmapConverter.ToMat(cropped);
Point2f ShipPointerOffset = new Point2f(0, 0);
try
{
ShipPointerOffset = FindShipPointer(IsolateYellow(screenwhole));
}
catch (Exception)
{
// If we can't find the ship pointer (it's hard to see it against the sun) then use the middle of the screen.
}
// erase the vivid areas, otherwise the blur subtraction turns yellow near red to green
Mat brightHSV = screenwhole.CvtColor(ColorConversionCodes.BGR2HSV);
Mat darkAreasMask = brightHSV.InRange(InputArray.Create(new int[] { 0, 0, 0 }), InputArray.Create(new int[] { 180, 255, 180 }));
Mat darkAreas = new Mat();
screenwhole.CopyTo(darkAreas, darkAreasMask);
Mat screenblur = darkAreas - darkAreas.Blur(new OpenCvSharp.Size(10, 10));
Mat sourceHSV = screenblur.CvtColor(ColorConversionCodes.BGR2HSV);
Mat mask = sourceHSV.InRange(InputArray.Create(new int[] { 35, 204, 20 }), InputArray.Create(new int[] { 90, 255, 255 }));
Mat sourceHSVFiltered = new Mat();
sourceHSV.CopyTo(sourceHSVFiltered, mask);
Mat sourceGrey = sourceHSVFiltered.Split()[2].InRange(32, 256);
LineSegmentPoint[] result = sourceGrey.HoughLinesP(1, 3.1415 / 180, 5, 10, 2);
List <Point2d> points = new List <Point2d>();
foreach (var line in result)
{
points.Add(line.P1);
points.Add(line.P2);
}
if (points.Count < 8)
{
throw new ArgumentException("Not enough points in corona circle");
}
CircleSegment c = ComputeCircle(points);
sourceGrey.Line(c.Center, ShipPointerOffset, 255);
c.Center -= ShipPointerOffset; // adjust for camera movement by taking ship pointer offset
sourceGrey.Circle(c.Center, (int)c.Radius, 255);
debugWindow.Image = BitmapConverter.ToBitmap(sourceGrey);
return(c);
}
public static void MatchJumpEnd()
{
Bitmap screen = new Bitmap("Screenshot_0029.bmp");
var d = 30;
Bitmap image = CompassSensor.Crop(screen, new Rectangle(screen.Width / 2 - d, screen.Height / 2 - d, d * 2, d * 2));
Mat screencentre = BitmapConverter.ToMat(image);
Window w1 = new Window(screencentre);
Mat hsv = screencentre.CvtColor(ColorConversionCodes.BGR2HSV);
var x = hsv.Mean();
}
/// <summary>
/// Crop out the central region of the screen (convenience function)
/// </summary>
/// <param name="diameter"></param>
/// <returns></returns>
public Mat ScreenCentre(int diameter)
{
Bitmap s = bitmap;
OpenCvSharp.Point centre = new OpenCvSharp.Point(s.Width, s.Height);
Rectangle screenCentre = new Rectangle((int)((s.Width - diameter) * 0.5), (int)((s.Height - diameter) * 0.5), diameter, diameter);
Bitmap image = CompassSensor.Crop(s, screenCentre);
return(BitmapConverter.ToMat(image));
}
public static void MatchCorona()
{
Bitmap screen = new Bitmap("Screenshot_0028.bmp");
Bitmap cropped = CompassSensor.Crop(screen, screen.Width * 1 / 3, screen.Height * 1 / 3, screen.Width * 2 / 3, screen.Height * 2 / 3);
Mat screenwhole = BitmapConverter.ToMat(cropped);
// erase the vivid areas, otherwise the blur subtraction turns yellow near red to green
Mat brightHSV = screenwhole.CvtColor(ColorConversionCodes.BGR2HSV);
Mat darkAreasMask = brightHSV.InRange(InputArray.Create(new int[] { 0, 0, 0 }), InputArray.Create(new int[] { 180, 255, 180 }));
Mat darkAreas = new Mat();
screenwhole.CopyTo(darkAreas, darkAreasMask);
Mat screenblur = darkAreas - darkAreas.Blur(new OpenCvSharp.Size(10, 10));
Window w3 = new Window(screenblur);
//screenblur.SaveImage("sharplines.png");
Mat sourceHSV = screenblur.CvtColor(ColorConversionCodes.BGR2HSV);
/* Paint.Net uses HSV [0..360], [0..100], [0..100].
* OpenCV uses H: 0 - 180, S: 0 - 255, V: 0 - 255
* Paint.NET colors:
* 73 100 18 brightest part of green edge
* 72 98 9 very dark green
* suggested range [70..180], [80..100], [8..100] (paint.net)
* suggested range [35..90], [204..255], [20..255] (openCV)
* */
Mat mask = sourceHSV.InRange(InputArray.Create(new int[] { 35, 204, 20 }), InputArray.Create(new int[] { 90, 255, 255 }));
Mat sourceHSVFiltered = new Mat();
sourceHSV.CopyTo(sourceHSVFiltered, mask);
Window w5 = new Window("yellowfilter", sourceHSVFiltered.CvtColor(ColorConversionCodes.HSV2BGR));
Mat sourceGrey = sourceHSVFiltered.Split()[2].InRange(32, 256); // Value channel is pretty good as a greyscale conversion
Window w6 = new Window("yellowFilterValue", sourceGrey);
LineSegmentPoint[] result = sourceGrey.HoughLinesP(1, 3.1415 / 180, 5, 10, 2);
List <Point2d> points = new List <Point2d>();
foreach (var line in result)
{
points.Add(line.P1);
points.Add(line.P2);
darkAreas.Line(line.P1, line.P2, new Scalar(255, 0, 255));
}
CircleSegment c = CruiseSensor.ComputeCircle(points);
darkAreas.Circle(c.Center, (int)c.Radius, new Scalar(255, 255, 0));
Window w9 = new Window("final", darkAreas);
}
public bool MatchSafDisengag()
{
// MatchTemplate doesn't allow for scaling / rotation. Allow more leeway by reducing resolution?
Bitmap image = CompassSensor.Crop(screen.bitmap, new Rectangle(800, 650, 300, 200));
Mat source = BitmapConverter.ToMat(image);
Mat blues = source.Split()[0];
Mat clean = blues.EmptyClone();
clean.SetTo(0); // make sure the matrix is blank.
blues.CopyTo(clean, blues.InRange(250, 255));
Mat matches = clean.MatchTemplate(templatesaf, TemplateMatchModes.CCoeffNormed);
double minVal, maxVal;
matches.MinMaxLoc(out minVal, out maxVal);
return(maxVal > 0.4); // see experiments, MatchSafDisengag2
}
public static void MatchSafDisengag2()
{
Bitmap screen = new Bitmap("Screenshot_0022.bmp");
Bitmap image = CompassSensor.Crop(screen, new Rectangle(800, 700, 350, 150));
Mat source = BitmapConverter.ToMat(image);
Mat blues = source.Split()[0];
Mat clean = blues.EmptyClone();
clean.SetTo(0); // make sure the matrix is blank.
blues.CopyTo(clean, blues.InRange(250, 255));
Mat matches = clean.MatchTemplate(new Mat("res3/safdisengag250.png", ImreadModes.GrayScale), TemplateMatchModes.CCoeffNormed);
clean.ImWrite("safdisengag250.png");
double minVal, maxVal;
matches.MinMaxLoc(out minVal, out maxVal);
Window w2 = new Window(clean);
Window w3 = new Window(matches);
Window w5 = new Window(matches.InRange(0.4, 1));
}
/// <summary>
/// See if the IMPACT warning is being displayed
/// </summary>
public bool MatchImpact()
{
Bitmap cropped = CompassSensor.Crop(screen.bitmap, screen.bitmap.Width - 400, 0, screen.bitmap.Width - 100, 300);
Mat screenarea = BitmapConverter.ToMat(cropped);
Mat red = IsolateRed(screenarea);
Mat template = new Mat("res3/impacttemplate.png", ImreadModes.GrayScale);
Mat result = new Mat(red.Size(), red.Type());
Cv2.MatchTemplate(red, template, result, TemplateMatchModes.CCoeffNormed);
double minVal, maxVal;
OpenCvSharp.Point minLoc, maxLoc;
result.MinMaxLoc(out minVal, out maxVal, out minLoc, out maxLoc);
if (maxVal > 0.4)
{
debugWindow.Image = CompassSensor.Crop(BitmapConverter.ToBitmap(red), maxLoc.X, maxLoc.Y, maxLoc.X + template.Width, maxLoc.Y + template.Height);
return(true);
}
return(false);
}
