public DetectedThrow GetThrow()
{
if (rays.Count < 2)
{
rays.Clear();
return(null);
}
var firstBestRay = rays.OrderByDescending(i => i.ContourArea).ElementAt(0);
var secondBestRay = rays.OrderByDescending(i => i.ContourArea).ElementAt(1);
rays.Clear();
var poi = MeasureService.FindLinesIntersection(firstBestRay.CamPoint,
firstBestRay.RayPoint,
secondBestRay.CamPoint,
secondBestRay.RayPoint);
if (float.IsNaN(poi.X) || float.IsNaN(poi.Y))
{
return(null);
}
var thrw = PrepareThrowData(poi, firstBestRay, secondBestRay);
return(thrw);
}
public DetectedThrow GetThrow()
{
logger.Debug($"Calculate throw start");
if (rays.Count < 2)
{
logger.Debug($"Rays count < 2. Calculate throw end.");
rays.Clear();
return(null);
}
rays.ForEach(r => logger.Info($"Ray:'{r}'"));
var firstBestRay = rays.OrderByDescending(i => i.ContourArc).ElementAt(0);
var secondBestRay = rays.OrderByDescending(i => i.ContourArc).ElementAt(1);
rays.Clear();
logger.Info($"Best rays:'{firstBestRay}' and '{secondBestRay}'");
var poi = MeasureService.FindLinesIntersection(firstBestRay.CamPoint,
firstBestRay.RayPoint,
secondBestRay.CamPoint,
secondBestRay.RayPoint);
if (float.IsNaN(poi.X) || float.IsNaN(poi.Y))
{
logger.Info($"Corrupted poi. Abort");
return(null);
}
var thrw = PrepareThrowData(poi);
drawService.ProjectionDrawLine(firstBestRay.CamPoint, firstBestRay.RayPoint, new Bgr(Color.Aqua).MCvScalar, true);
drawService.ProjectionDrawLine(secondBestRay.CamPoint, secondBestRay.RayPoint, new Bgr(Color.Aqua).MCvScalar, false);
drawService.ProjectionDrawThrow(poi, false);
drawService.PrintThrow(thrw);
logger.Info($"Throw:{thrw}");
logger.Debug($"Calculate throw end.");
return(thrw);
}
private Ray ProcessDartContour(CamService cam, DartContour dartContour)
{
// 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)cam.roiPosYSlider + box[0].Y);
var contourBoxPoint2 = new PointF(box[1].X, (float)cam.roiPosYSlider + box[1].Y);
var contourBoxPoint3 = new PointF(box[2].X, (float)cam.roiPosYSlider + box[2].Y);
var contourBoxPoint4 = new PointF(box[3].X, (float)cam.roiPosYSlider + box[3].Y);
// Setup vertical contour middlepoints
var contourHeight = MeasureService.FindDistance(contourBoxPoint1, contourBoxPoint2);
var contourWidth = MeasureService.FindDistance(contourBoxPoint4, contourBoxPoint1);
PointF contourBoxMiddlePoint1;
PointF contourBoxMiddlePoint2;
if (contourWidth > contourHeight)
{
contourBoxMiddlePoint1 = MeasureService.FindMiddle(contourBoxPoint1, contourBoxPoint2);
contourBoxMiddlePoint2 = MeasureService.FindMiddle(contourBoxPoint4, contourBoxPoint3);
}
else
{
contourBoxMiddlePoint1 = MeasureService.FindMiddle(contourBoxPoint4, contourBoxPoint1);
contourBoxMiddlePoint2 = MeasureService.FindMiddle(contourBoxPoint3, contourBoxPoint2);
}
// Find spikeLine to surface
var spikeLinePoint1 = contourBoxMiddlePoint1;
var spikeLinePoint2 = contourBoxMiddlePoint2;
var spikeLineLength = cam.surfaceSlider - contourBoxMiddlePoint2.Y;
var spikeAngle = MeasureService.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 = MeasureService.FindLinesIntersection(spikeLinePoint1,
spikeLinePoint2,
new PointF(0,
(float)cam.surfaceSlider),
new PointF(cam.resolutionWidth,
(float)cam.surfaceSlider));
// Translate cam surface POI to dartboard projection
var frameSemiWidth = cam.resolutionWidth / 2;
var camFovSemiAngle = cam.camFovAngle / 2;
var projectionToCenter = new PointF();
var surfacePoiToCenterDistance = MeasureService.FindDistance(new PointF((float)cam.surfaceCenterSlider,
(float)cam.surfaceSlider),
camPoi.GetValueOrDefault());
var surfaceLeftToPoiDistance = MeasureService.FindDistance(new PointF((float)cam.surfaceCenterSlider - cam.resolutionWidth / 3,
(float)cam.surfaceSlider),
camPoi.GetValueOrDefault());
var surfaceRightToPoiDistance = MeasureService.FindDistance(new PointF((float)cam.surfaceCenterSlider + cam.resolutionWidth / 3,
(float)cam.surfaceSlider),
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)(cam.camSetupPoint.X - Math.Cos(cam.toBullAngle) * projectionCamToCenterDistance);
projectionToCenter.Y = (float)(cam.camSetupPoint.Y - Math.Sin(cam.toBullAngle) * projectionCamToCenterDistance);
if (surfaceLeftToPoiDistance < surfaceRightToPoiDistance)
{
poiCamCenterAngle *= -1;
}
var projectionPoi = new PointF((float)(cam.camSetupPoint.X + Math.Cos(cam.toBullAngle + poiCamCenterAngle) * 2000),
(float)(cam.camSetupPoint.Y + Math.Sin(cam.toBullAngle + poiCamCenterAngle) * 2000));
// Draw line from cam through projection POI
var rayPoint = projectionPoi;
var angle = MeasureService.FindAngle(cam.camSetupPoint, rayPoint);
rayPoint.X = (float)(cam.camSetupPoint.X + Math.Cos(angle) * 2000);
rayPoint.Y = (float)(cam.camSetupPoint.Y + Math.Sin(angle) * 2000);
return(new Ray(cam.camNumber, cam.camSetupPoint, rayPoint, dartContour.Area));
}