public MeasureService(CamService camService) { this.camService = camService; logger = MainWindow.ServiceContainer.Resolve <Logger>(); drawService = MainWindow.ServiceContainer.Resolve <DrawService>(); throwService = MainWindow.ServiceContainer.Resolve <ThrowService>(); configService = MainWindow.ServiceContainer.Resolve <ConfigService>(); minContourArc = configService.Read <int>(SettingsType.MinContourArc); camFovAngle = configService.Read <double>(SettingsType.CamFovAngle); }
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 string FindContourOnRoiFrame(CamService cam) { var allContours = new VectorOfVectorOfPoint(); CvInvoke.FindContours(cam.RoiFrame, allContours, new Mat(), RetrType.External, ChainApproxMethod.ChainApproxNone); var contour = new VectorOfPoint(); var contourArс = 0.0; var contourArea = 0.0; var contourWidth = 0.0; for (var i = 0; i < allContours.Size; i++) { var tempContour = allContours[i]; var tempContourArс = CvInvoke.ArcLength(tempContour, true); if (tempContourArс > contourArс) { contour = tempContour; contourArс = tempContourArс; } } if (contourArс > 0) { contourArea = CvInvoke.ContourArea(contour); var rect = CvInvoke.MinAreaRect(contour); 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 contourBoxPoint4 = new PointF(box[3].X, (float)cam.roiPosYSlider + box[3].Y); var side1 = MeasureService.FindDistance(contourBoxPoint1, contourBoxPoint2); var side2 = MeasureService.FindDistance(contourBoxPoint4, contourBoxPoint1); contourWidth = side1 < side2 ? side1 : side2; } return(Converter.ToString($"Contour\n" + $"Arc:\n" + $"{(int) contourArс}\n" + $"Area:\n" + $"{(int) contourArea}\n" + $"Width:\n" + $"{(int) contourWidth}\n" )); }
private void FindThrowOnRemainingCams(CamService succeededCam) { logger.Info($"Finding throws from remaining cams start. Succeeded cam: {succeededCam.camNumber}"); foreach (var cam in cams.Where(cam => cam != succeededCam)) { cam.FindThrow(); cam.FindAndProcessDartContour(); } var thrw = throwService.GetThrow(); if (thrw != null) { OnThrowDetected?.Invoke(thrw); } logger.Info($"Finding throws from remaining cams end"); }
private DartContour TryFindDartContour(CamService cam) { var frame = workingMode == DetectionServiceWorkingMode.Detection ? cam.ThrowExtractedRoiFrame : cam.RoiFrame; var allContours = new VectorOfVectorOfPoint(); CvInvoke.FindContours(frame, allContours, new Mat(), RetrType.External, ChainApproxMethod.ChainApproxNone); var contour = new VectorOfPoint(); var contourArea = 0.0; for (var i = 0; i < allContours.Size; i++) { var tempContour = allContours[i]; var tempContourArea = CvInvoke.ContourArea(tempContour); if (tempContourArea > contourArea) { contourArea = tempContourArea; contour = tempContour; } } DartContour dartContour = null; if (contourArea > 0) { dartContour = new DartContour(contour, contourArea); } return(dartContour); }
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)); }
private MovesDetectionResult DetectMoves(CamService cam) { var maxDartContourArc = configService.MaxContourArcValue * 1.5; var maxDartContourArea = configService.MaxContourAreaValue * 1.5; var maxDartContourWidth = configService.MaxContourWidthValue * 1.5; var minDartContourArc = configService.MinContourArcValue; var minDartContourArea = configService.MinContourAreaValue; var minDartContourWidth = configService.MinContourWidthValue; var allContours = new VectorOfVectorOfPoint(); CvInvoke.FindContours(cam.ThrowExtractedRoiFrame, allContours, new Mat(), RetrType.External, ChainApproxMethod.ChainApproxNone); if (!detectionEnabled || allContours.Size == 0) { return(MovesDetectionResult.Nothing); } var contourWithMaxArc = new VectorOfPoint(); var contourWithMaxArea = new VectorOfPoint(); var contourWithMaxWidth = new VectorOfPoint(); var maxArс = 0.0; var maxArea = 0.0; var maxWidth = 0.0; for (var i = 0; i < allContours.Size; i++) { var tempContour = allContours[i]; var tempContourArс = CvInvoke.ArcLength(tempContour, true); if (tempContourArс > maxArс) { maxArс = tempContourArс; contourWithMaxArc = tempContour; } var tempContourArea = CvInvoke.ContourArea(tempContour); if (tempContourArea > maxArea) { maxArea = tempContourArea; contourWithMaxArea = tempContour; } var rect = CvInvoke.MinAreaRect(tempContour); 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 contourBoxPoint4 = new PointF(box[3].X, (float)cam.roiPosYSlider + box[3].Y); var side1 = MeasureService.FindDistance(contourBoxPoint1, contourBoxPoint2); var side2 = MeasureService.FindDistance(contourBoxPoint4, contourBoxPoint1); var tempContourWidth = side1 < side2 ? side1 : side2; if (tempContourWidth > maxWidth) { maxWidth = tempContourWidth; contourWithMaxWidth = tempContour; } } if (workingMode == DetectionServiceWorkingMode.Crossing || maxArс >= minDartContourArc && maxArс <= maxDartContourArc && maxArea >= minDartContourArea && maxArea <= maxDartContourArea && maxWidth >= minDartContourWidth && maxWidth <= maxDartContourWidth && contourWithMaxArc.Equals(contourWithMaxArea) && contourWithMaxArea.Equals(contourWithMaxWidth) && contourWithMaxWidth.Equals(contourWithMaxArc) ) { return(MovesDetectionResult.Throw); } if (maxArс > maxDartContourArc || maxArea > maxDartContourArea || maxWidth > maxDartContourWidth) { return(MovesDetectionResult.Extraction); } return(MovesDetectionResult.Nothing); }