public static void CamTracking(Mat curImg, VidLoc.RealTimeTrackLoc realTimeTrack, PreVidStream vidProvider, IDriver driver, BreakDiffDebugReporter debugReporter)
{
//realTimeTrack.CurPos = image1Ind;
realTimeTrack.LookAfterReset();
if (!realTimeTrack.ShouldStop())
{
int origImageInd = realTimeTrack.CurPos;
debugReporter.ReportInProcessing(true);
VidLoc.FindObjectDown(vidProvider, curImg, realTimeTrack, debugReporter);
debugReporter.ReportInProcessing(false);
//var lookBackCount = 0;
//while (realTimeTrack.diff < 0.5 && lookBackCount < 3)
//{
// driver.Stop();
// realTimeTrack.LongLook();
// VidLoc.FindObjectDown(vidProvider, curImg, realTimeTrack, debugReporter);
// //info.Text = text = $"Tracked vid at ${image1Ind} cam at ${image2Ind} next point ${realTimeTrack.NextPos} ${realTimeTrack.vect} ===> diff {realTimeTrack.diff} LB {lookBackCount}";
// //Console.WriteLine(text);
// lookBackCount++;
//}
vidProvider.Pos = origImageInd;
}
driver.Track(realTimeTrack);
//if (debugReporter.DebugMode)
//{
//Mat m1 = vidProvider.GetCurMat();
//breakAndDiff(m1, curImg, debugReporter);
//}
}
public void CamTracking(Mat curImg, VidLoc.RealTimeTrackLoc realTimeTrack, PreVidStream vidProvider, IDriver driver, BreakDiffDebugReporter debugReporter)
{
debugReporter.ReportInProcessing(true);
results = haar.Detect(curImg);
result.Width = 0;
result.Height = 0;
if (results != null && results.Length > 0)
{
results = results.OrderByDescending(r => r.Width * r.Height).ToArray();
result = results[0];
}
debugReporter.ReportInProcessing(false);
realTimeTrack.CurPos = 0;
DiffVect vect = new DiffVect();
vect.Vector = realTimeTrack.vect;
debugReporter.ReportStepChanges(new StepChangeReporter(curImg, results, result), vect);
if (result.Width == 0)
{
//debugReporter.InfoReport($"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 void CamTracking(Mat curImg, VidLoc.RealTimeTrackLoc realTimeTrack, PreVidStream vidProvider, IDriver driver, BreakDiffDebugReporter debugReporter)
{
VidLoc.CamTracking(curImg, realTimeTrack, vidProvider, driver, debugReporter);
}
