private bool PointInsideOfReferenceVolume(IList <Plane> referencePlanes, Core.Ray r, double t)
{
Vector my3DPoint = r.At(t);
for (int i = 0; i < referencePlanes.Count; i++)
{
if (referencePlanes[i].SignedDistanceTo(my3DPoint) >= _minimumDistanceToReferencePlane)
{
return(false);
}
}
return(true);
}
/// <summary>
/// Process image
/// </summary>
/// <param name="s">Setup</param>
/// <param name="image">Image</param>
/// <param name="points">Found points</param>
/// <param name="pixels">Corresponding pixels for each point</param>
/// <returns>True if successful, false otherwise</returns>
public bool Process(
Setup s, Emgu.CV.Image <Bgr, byte> image,
out List <Vector> points, out List <System.Drawing.Point> pixels)
{
pixels = null;
points = null;
// 1. Update values needed by algorithms
Bundle b = new Bundle();
BundleBookmarks bb = new BundleBookmarks(b);
bb.ROI = _roi;
bb.ReferencePlanes = s.ReferenceBody.ReferencePlanes;
bb.Image = image;
bb.LaserColor = s.Laser.Color;
// 2. Extract laser line
if (!_line_algorithm.FindLaserLine(bb.Bundle))
{
return(false);
}
// 3. Filter laser points
if (!_line_filter.FilterLaserLine(bb.Bundle))
{
return(false);
}
if (bb.LaserPixel.Count < 3)
{
return(false);
}
// 4. Detect laser plane
List <Ray> eye_rays = new List <Ray>(Core.Ray.EyeRays(s.Camera.Intrinsics, bb.LaserPixel.ToArray()));
bb.EyeRays = eye_rays;
if (!_plane_algorithm.FindLaserPlane(bb.Bundle))
{
return(false);
}
// 5. Filter laser plane
if (!_plane_filter.FilterLaserPlane(bb.Bundle))
{
return(false);
}
// 6. Extract relevant points in ROI
pixels = new List <System.Drawing.Point>();
points = new List <Vector>();
List <System.Drawing.PointF> laser_pixel = bb.LaserPixel;
Plane laser_plane = bb.LaserPlane;
IList <Plane> reference_planes = s.ReferenceBody.AllPlanes;
for (int i = 0; i < laser_pixel.Count; ++i)
{
// Round to nearest pixel
System.Drawing.Point p = laser_pixel[i].ToNearestPoint();
double t;
if (_roi.Contains(p))
{
Core.Ray r = eye_rays[i];
if (Core.Intersection.RayPlane(r, laser_plane, out t))
{
if (this.PointInsideOfReferenceVolume(reference_planes, r, t))
{
System.Drawing.Point in_roi = Core.IndexHelper.MakeRelative(p, _roi);
pixels.Add(p);
_point_accum.Accumulate(in_roi, r, t);
points.Add(_point_accum.Extract(in_roi));
}
}
}
}
s.Positioner.TransformPoints(ref points);
return(points.Count > 0);
}