public void CamTracking(Mat curImg, VidLoc.RealTimeTrackLoc realTimeTrack, PreVidStream vidProvider, IDriver driver, BreakDiffDebugReporter debugReporter)
{
debugReporter.ReportInProcessing(true);
results = haar.Detect(curImg);
result.Width = 0;
result.Height = 0;
if (results != null && results.Length > 0)
{
results = results.OrderByDescending(r => r.Width * r.Height).ToArray();
result = results[0];
}
debugReporter.ReportInProcessing(false);
realTimeTrack.CurPos = 0;
DiffVect vect = new DiffVect();
vect.Vector = realTimeTrack.vect;
debugReporter.ReportStepChanges(new StepChangeReporter(curImg, results, result), vect);
if (result.Width == 0)
{
//debugReporter.InfoReport($"NA");
driver.Stop();
}
else
{
double diff = (curImg.Width / 2) - ((result.X + result.Width) / 2);
//debugReporter.InfoReport($"{(diff > 0? "L":"R") } diff {diff.ToString("0.0")} imw ${((result.X + result.Width) / 2)}");
realTimeTrack.vect = new DiffVector(diff, 0, 0);
driver.Track(realTimeTrack);
}
}
public static DiffVect CompDiff(Mat input, Mat comp, BreakDiffDebugReporter reporter)
{
var processor = new ShiftVecProcessor(input, comp);
var vect = processor.GetAllDiffVect();
if (reporter != null)
{
reporter.ReportStepChanges(processor, vect);
}
return(vect);
}