private void FindMarker(Image<Rgb, byte> image, int offsetX, int offsetY, int width, int height, ref Image<Rgb, byte> outputImage)
{
if (_glyphRecognizer != null)
{
// go through all found glyphs, highlight them and put the recognized ones in a list
_recognizedGlyphs.Clear();
_recognizedQuads.Clear();
var glyphs = _glyphRecognizer.FindGlyphs(image.Bitmap);
foreach (var glyph in glyphs)
{
// highlight quadrilateral (of all found glyphs)
var quad = glyph.Quadrilateral;
if (IsRenderContent && quad != null && quad.Count == 4)
{
outputImage.DrawPolyline(
new[]
{
new Point(quad[0].X + offsetX, quad[0].Y + offsetY),
new Point(quad[1].X + offsetX, quad[1].Y + offsetY),
new Point(quad[2].X + offsetX, quad[2].Y + offsetY),
new Point(quad[3].X + offsetX, quad[3].Y + offsetY)
},
true, Rgbs.Red, 1);
// write numbers on edge points (of all found glyphs)
var i = 0;
foreach (var point in quad)
{
outputImage.Draw(i++.ToString(CultureInfo.InvariantCulture), ref EmguFont, new Point(point.X + offsetX, point.Y + offsetY), Rgbs.TrueRed);
}
}
// if glyphs are recognized then store and draw name
var recQuad = glyph.RecognizedQuadrilateral;
var recGlyph = glyph.RecognizedGlyph;
if (recQuad != null && recGlyph != null)
{
_recognizedGlyphs.Add(recGlyph.Name, recGlyph);
_recognizedQuads.Add(recGlyph.Name, recQuad);
if (IsRenderContent)
{
String label = recGlyph.Name;
Point labelPos = new Point(recQuad[2].X + offsetX, recQuad[2].Y + offsetY);
outputImage.Draw(label, ref EmguFontBig, labelPos, Rgbs.Green);
}
}
}
// update all entries in glyph table using recognized glyphs
for (int i = 0; i < _glyphTable.Length; i++)
{
var name = i.ToString(CultureInfo.InvariantCulture);
Glyph glyph = null;
List<IntPoint> quad = null;
if (_recognizedGlyphs.ContainsKey(name)) glyph = _recognizedGlyphs[name];
if (_recognizedQuads.ContainsKey(name)) quad = _recognizedQuads[name];
// if glyph for this entry was recognized, update entry
if (glyph != null && quad != null)
{
// if there is no entry yet, create it
if (_glyphTable[i] == null)
_glyphTable[i] = new GlyphMetadata();
var gmd = _glyphTable[i];
gmd.aliveFrames++;
IntPoint upVector1 = quad[0] - quad[3];
IntPoint upVector2 = quad[1] - quad[2];
upVector1 = (upVector1 + upVector2) / 2;
double orientation = Math.Atan2(upVector1.Y, upVector2.X);
// always keep only the last X frames in list
if (gmd.prevX.Count == MinFramesProperty)
{
gmd.prevX.RemoveAt(0);
gmd.prevY.RemoveAt(0);
gmd.prevOrientations.RemoveAt(0);
}
gmd.prevX.Add(quad[0].X);
gmd.prevY.Add(quad[0].Y);
gmd.prevOrientations.Add(orientation);
// check if marker stops moving and rotating
if (Math.Abs(gmd.prevX.Max() - gmd.prevX.Min()) < 5
&& Math.Abs(gmd.prevY.Max() - gmd.prevY.Min()) < 5
&& gmd.aliveFrames >= MinFramesProperty)
{
double radOrientation = gmd.prevOrientations.Average() + Math.PI / 2;
if (IsRenderContent)
{
Point p1 = new Point(quad[0].X + offsetX, quad[0].Y + offsetY);
Point p2 = new Point(
(int)(quad[0].X + offsetX + Math.Cos(orientation) * 100.0),
(int)(quad[0].Y + offsetY + Math.Sin(orientation) * 100.0)
);
outputImage.Draw(new LineSegment2D(p1, p2), Rgbs.Yellow, 2);
}
double degOrientation = orientation.RadiansToDegree() + 90;
// find bounding rectangle
float minX = image.Width;
float minY = image.Height;
float maxX = 0;
float maxY = 0;
foreach (IntPoint p in quad)
{
minX = Math.Min(minX, p.X);
minY = Math.Min(minY, p.Y);
maxX = Math.Max(maxX, p.X);
maxY = Math.Max(maxY, p.Y);
}
float centerX = offsetX + minX + (maxX - minX) / 2.0f;
float centerY = offsetY + minY + (maxY - minY) / 2.0f;
if (IsRenderContent)
outputImage.Draw(new Cross2DF(new PointF(centerX, centerY), 6, 6), Rgbs.Red, 1);
// Stage data for later push
Stage(new Marker(this, string.Format("Glyph{0}", name))
{
Id = name,
Center = new System.Windows.Point(centerX / width, centerY / height),
Angle = degOrientation
});
if (IsRenderContent)
{
// bring to human readable form
radOrientation = Math.Round(radOrientation, 2);
degOrientation = Math.Round(degOrientation, 2);
String label = radOrientation + " " + degOrientation;
Point labelPos = new Point(quad[0].X + offsetX, quad[0].Y + offsetY);
outputImage.Draw(label, ref EmguFontBig, labelPos, Rgbs.Yellow);
}
}
}
else
{
// if glyph disappeared remove entry from table
_recognizedGlyphs[name] = null;
}
}
}
}
private void FindMarker(Image <Rgb, byte> image, int offsetX, int offsetY, int width, int height, ref Image <Rgb, byte> outputImage)
{
if (_glyphRecognizer != null)
{
// go through all found glyphs, highlight them and put the recognized ones in a list
_recognizedGlyphs.Clear();
_recognizedQuads.Clear();
var glyphs = _glyphRecognizer.FindGlyphs(image.Bitmap);
foreach (var glyph in glyphs)
{
// highlight quadrilateral (of all found glyphs)
var quad = glyph.Quadrilateral;
if (IsRenderContent && quad != null && quad.Count == 4)
{
outputImage.DrawPolyline(
new[]
{
new Point(quad[0].X + offsetX, quad[0].Y + offsetY),
new Point(quad[1].X + offsetX, quad[1].Y + offsetY),
new Point(quad[2].X + offsetX, quad[2].Y + offsetY),
new Point(quad[3].X + offsetX, quad[3].Y + offsetY)
},
true, Rgbs.Red, 1);
// write numbers on edge points (of all found glyphs)
var i = 0;
foreach (var point in quad)
{
outputImage.Draw(i++.ToString(CultureInfo.InvariantCulture), ref EmguFont, new Point(point.X + offsetX, point.Y + offsetY), Rgbs.TrueRed);
}
}
// if glyphs are recognized then store and draw name
var recQuad = glyph.RecognizedQuadrilateral;
var recGlyph = glyph.RecognizedGlyph;
if (recQuad != null && recGlyph != null)
{
_recognizedGlyphs.Add(recGlyph.Name, recGlyph);
_recognizedQuads.Add(recGlyph.Name, recQuad);
if (IsRenderContent)
{
String label = recGlyph.Name;
Point labelPos = new Point(recQuad[2].X + offsetX, recQuad[2].Y + offsetY);
outputImage.Draw(label, ref EmguFontBig, labelPos, Rgbs.Green);
}
}
}
// update all entries in glyph table using recognized glyphs
for (int i = 0; i < _glyphTable.Length; i++)
{
var name = i.ToString(CultureInfo.InvariantCulture);
Glyph glyph = null;
List <IntPoint> quad = null;
if (_recognizedGlyphs.ContainsKey(name))
{
glyph = _recognizedGlyphs[name];
}
if (_recognizedQuads.ContainsKey(name))
{
quad = _recognizedQuads[name];
}
// if glyph for this entry was recognized, update entry
if (glyph != null && quad != null)
{
// if there is no entry yet, create it
if (_glyphTable[i] == null)
{
_glyphTable[i] = new GlyphMetadata();
}
var gmd = _glyphTable[i];
gmd.aliveFrames++;
IntPoint upVector1 = quad[0] - quad[3];
IntPoint upVector2 = quad[1] - quad[2];
upVector1 = (upVector1 + upVector2) / 2;
double orientation = Math.Atan2(upVector1.Y, upVector2.X);
// always keep only the last X frames in list
if (gmd.prevX.Count == MinFramesProperty)
{
gmd.prevX.RemoveAt(0);
gmd.prevY.RemoveAt(0);
gmd.prevOrientations.RemoveAt(0);
}
gmd.prevX.Add(quad[0].X);
gmd.prevY.Add(quad[0].Y);
gmd.prevOrientations.Add(orientation);
// check if marker stops moving and rotating
if (Math.Abs(gmd.prevX.Max() - gmd.prevX.Min()) < 5 &&
Math.Abs(gmd.prevY.Max() - gmd.prevY.Min()) < 5 &&
gmd.aliveFrames >= MinFramesProperty)
{
double radOrientation = gmd.prevOrientations.Average() + Math.PI / 2;
if (IsRenderContent)
{
Point p1 = new Point(quad[0].X + offsetX, quad[0].Y + offsetY);
Point p2 = new Point(
(int)(quad[0].X + offsetX + Math.Cos(orientation) * 100.0),
(int)(quad[0].Y + offsetY + Math.Sin(orientation) * 100.0)
);
outputImage.Draw(new LineSegment2D(p1, p2), Rgbs.Yellow, 2);
}
double degOrientation = orientation.RadiansToDegree() + 90;
// find bounding rectangle
float minX = image.Width;
float minY = image.Height;
float maxX = 0;
float maxY = 0;
foreach (IntPoint p in quad)
{
minX = Math.Min(minX, p.X);
minY = Math.Min(minY, p.Y);
maxX = Math.Max(maxX, p.X);
maxY = Math.Max(maxY, p.Y);
}
float centerX = offsetX + minX + (maxX - minX) / 2.0f;
float centerY = offsetY + minY + (maxY - minY) / 2.0f;
if (IsRenderContent)
{
outputImage.Draw(new Cross2DF(new PointF(centerX, centerY), 6, 6), Rgbs.Red, 1);
}
// Stage data for later push
Stage(new Marker(this, string.Format("Glyph{0}", name))
{
Id = name,
Center = new System.Windows.Point(centerX / width, centerY / height),
Angle = degOrientation
});
if (IsRenderContent)
{
// bring to human readable form
radOrientation = Math.Round(radOrientation, 2);
degOrientation = Math.Round(degOrientation, 2);
String label = radOrientation + " " + degOrientation;
Point labelPos = new Point(quad[0].X + offsetX, quad[0].Y + offsetY);
outputImage.Draw(label, ref EmguFontBig, labelPos, Rgbs.Yellow);
}
}
}
else
{
// if glyph disappeared remove entry from table
_recognizedGlyphs[name] = null;
}
}
}
}
