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 CamService(MainWindow mainWindow,
string parentGridName,
CamServiceWorkingMode mode = CamServiceWorkingMode.Work)
{
this.mode = mode;
this.mainWindow = mainWindow;
this.parentGridName = parentGridName;
logger = MainWindow.ServiceContainer.Resolve <Logger>();
drawService = MainWindow.ServiceContainer.Resolve <DrawService>();
configService = MainWindow.ServiceContainer.Resolve <ConfigService>();
measureService = new MeasureService(this);
var camIndex = -1;
switch (parentGridName)
{
case "Cam1Grid":
camNumber = 1;
setupPoint = new PointF(configService.Read <float>(SettingsType.Cam1X),
configService.Read <float>(SettingsType.Cam1Y));
camIndex = GetCamIndex(SettingsType.Cam1Id);
break;
case "Cam2Grid":
camNumber = 2;
setupPoint = new PointF(configService.Read <float>(SettingsType.Cam2X),
configService.Read <float>(SettingsType.Cam2Y));
camIndex = GetCamIndex(SettingsType.Cam2Id);
break;
case "Cam3Grid":
camNumber = 3;
setupPoint = new PointF(configService.Read <float>(SettingsType.Cam3X),
configService.Read <float>(SettingsType.Cam3Y));
camIndex = GetCamIndex(SettingsType.Cam3Id);
break;
case "Cam4Grid":
camNumber = 4;
setupPoint = new PointF(configService.Read <float>(SettingsType.Cam4X),
configService.Read <float>(SettingsType.Cam4Y));
camIndex = GetCamIndex(SettingsType.Cam4Id);
break;
}
resolutionWidth = configService.Read <int>(SettingsType.ResolutionWidth);
resolutionHeight = configService.Read <int>(SettingsType.ResolutionHeight);
movesExtraction = configService.Read <int>(SettingsType.MovesExtraction);
movesDart = configService.Read <int>(SettingsType.MovesDart);
movesNoise = configService.Read <int>(SettingsType.MovesNoise);
smoothGauss = configService.Read <int>(SettingsType.SmoothGauss);
toBullAngle = MeasureService.FindAngle(setupPoint, DrawService.projectionCenterPoint);
videoCapture = new VideoCapture(camIndex, VideoCapture.API.DShow);
videoCapture.SetCaptureProperty(CapProp.FrameWidth, resolutionWidth);
videoCapture.SetCaptureProperty(CapProp.FrameHeight, resolutionHeight);
GetSlidersData();
RefreshImageBoxes();
}
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" +
$"{(int) contourWidth}\n"
));
}
public DetectedThrow GetThrow()
{
logger.Debug($"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);
}
public CamService(CamNumber camNumber,
ILogger logger,
DrawService drawService,
IConfigService configService)
{
this.camNumber = camNumber;
this.logger = logger;
this.drawService = drawService;
this.configService = configService;
var camIndex = -1;
switch (camNumber)
{
case CamNumber._1:
camIndex = GetCamIndexById(configService.Cam1Id);
thresholdSlider = configService.Cam1ThresholdSliderValue;
roiPosYSlider = configService.Cam1RoiPosYSliderValue;
roiHeightSlider = configService.Cam1RoiHeightSliderValue;
surfaceSlider = configService.Cam1SurfaceSliderValue;
surfaceCenterSlider = configService.Cam1SurfaceCenterSliderValue;
camSetupPoint = new PointF(configService.Cam1XSetupValue,
configService.Cam1YSetupValue);
break;
case CamNumber._2:
camIndex = GetCamIndexById(configService.Cam2Id);
thresholdSlider = configService.Cam2ThresholdSliderValue;
roiPosYSlider = configService.Cam2RoiPosYSliderValue;
roiHeightSlider = configService.Cam2RoiHeightSliderValue;
surfaceSlider = configService.Cam2SurfaceSliderValue;
surfaceCenterSlider = configService.Cam2SurfaceCenterSliderValue;
camSetupPoint = new PointF(configService.Cam2XSetupValue,
configService.Cam2YSetupValue);
break;
case CamNumber._3:
camIndex = GetCamIndexById(configService.Cam3Id);
thresholdSlider = configService.Cam3ThresholdSliderValue;
roiPosYSlider = configService.Cam3RoiPosYSliderValue;
roiHeightSlider = configService.Cam3RoiHeightSliderValue;
surfaceSlider = configService.Cam3SurfaceSliderValue;
surfaceCenterSlider = configService.Cam3SurfaceCenterSliderValue;
camSetupPoint = new PointF(configService.Cam3XSetupValue,
configService.Cam3YSetupValue);
break;
case CamNumber._4:
camIndex = GetCamIndexById(configService.Cam4Id);
thresholdSlider = configService.Cam4ThresholdSliderValue;
roiPosYSlider = configService.Cam4RoiPosYSliderValue;
roiHeightSlider = configService.Cam4RoiHeightSliderValue;
surfaceSlider = configService.Cam4SurfaceSliderValue;
surfaceCenterSlider = configService.Cam4SurfaceCenterSliderValue;
camSetupPoint = new PointF(configService.Cam4XSetupValue,
configService.Cam4YSetupValue);
break;
default:
throw new ArgumentOutOfRangeException(nameof(camNumber), camNumber, null);
}
resolutionWidth = configService.CamsResolutionWidth;
resolutionHeight = configService.CamsResolutionHeight;
smoothGauss = configService.SmoothGaussValue;
camFovAngle = configService.CamsFovAngle;
videoCapture = new VideoCapture(camIndex, VideoCapture.API.DShow);
videoCapture.SetCaptureProperty(CapProp.FrameWidth, resolutionWidth);
videoCapture.SetCaptureProperty(CapProp.FrameHeight, resolutionHeight);
var projectionCenterPoint = new PointF((float)DrawService.ProjectionFrameSide / 2,
(float)DrawService.ProjectionFrameSide / 2);
toBullAngle = MeasureService.FindAngle(camSetupPoint, projectionCenterPoint);
}
private DetectedThrow PrepareThrowData(PointF poi, Ray firstRay, Ray secondRay)
{
var sectors = new List <int>()
{
14, 9, 12, 5, 20,
1, 18, 4, 13, 6,
10, 15, 2, 17, 3,
19, 7, 16, 8, 11
};
var projectionCenterPoint = new PointF((float)DrawService.ProjectionFrameSide / 2,
(float)DrawService.ProjectionFrameSide / 2);
var angle = MeasureService.FindAngle(projectionCenterPoint, poi);
var distance = MeasureService.FindDistance(projectionCenterPoint, poi);
var sector = 0;
var type = ThrowType.Single;
if (distance >= DrawService.ProjectionCoefficient * 95 &&
distance <= DrawService.ProjectionCoefficient * 105)
{
type = ThrowType.Tremble;
}
else if (distance >= DrawService.ProjectionCoefficient * 160 &&
distance <= DrawService.ProjectionCoefficient * 170)
{
type = ThrowType.Double;
}
// Find sector
if (distance <= DrawService.ProjectionCoefficient * 7)
{
sector = 50;
type = ThrowType.Bull;
}
else if (distance > DrawService.ProjectionCoefficient * 7 &&
distance <= DrawService.ProjectionCoefficient * 17)
{
sector = 25;
type = ThrowType._25;
}
else if (distance > DrawService.ProjectionCoefficient * 170)
{
sector = 0;
type = ThrowType.Zero;
}
else
{
var startRadSector = MeasureService.StartRadSector_1114;
var radSector = startRadSector;
foreach (var proceedSector in sectors)
{
if (angle >= radSector && angle < radSector + MeasureService.SectorStepRad)
{
sector = proceedSector;
break;
}
sector = 11; // todo - works, but not looks pretty
radSector += MeasureService.SectorStepRad;
}
}
return(new DetectedThrow(poi, firstRay, secondRay, sector, type, DrawService.ProjectionFrameSide));
}
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);
}
