public override List<TableObject> DetectRotation(List<TableObject> ObjectList)
{
DateTime start = DateTime.Now;
//No bitmaps -> no rotation detection
if (ObjectList.Where(o => o.ExtractedBitmap != null).Count() == 0)
return ObjectList;
List<TableObject> ObjectsWithBitmap = ObjectList.Where(o => o.ExtractedBitmap != null).ToList();
int objects = ObjectsWithBitmap.Count();
int index = 0;
int _threadcount = 0;
ManualResetEvent[] resetEvents;
//Start 4 threads, only if >= 4 threads
if (objects >= 4)
{
_threadcount = 4;
resetEvents = new ManualResetEvent[4];
for (int i=4; i > 0; i--)
{
Thread t1 = new Thread(new ParameterizedThreadStart(Work));
t1.Name = "ObjectTable RotationDetection Thread #" + i.ToString();
//Copy 1/i*objectcount of the objects to the new thread
int amount = (int) Math.Round((1.0/i)*objects);
TableObject[] threadobjects = new TableObject[amount];
ObjectsWithBitmap.CopyTo(index, threadobjects, 0, amount);
objects -= amount;
index += amount;
resetEvents[i-1] = new ManualResetEvent(false);
t1.Start(new object[] {threadobjects,resetEvents[i-1]});
}
WaitHandle.WaitAll(resetEvents);
}
else
{
//Single thread
_threadcount = 1;
ManualResetEvent manualReset = new ManualResetEvent(false);
Thread t = new Thread(new ParameterizedThreadStart(Work));
t.Name = "ObjectTable RotationDetection Thread -";
t.Start(new object[] {ObjectsWithBitmap.ToArray(),manualReset});
manualReset.WaitOne();
}
//Performance
this.RotationDetectionDuration = (int) Math.Round((DateTime.Now - start).TotalMilliseconds);
return ObjectList;
}
private void CalculateRotation(TableObject obj)
{
TPoint rPoint = null, bPoint = null;
//calculate the average values
int x = 0, y = 0;
int avRed=0, avGreen=0, avBlue=0;
for (x = 0; x < obj.ExtractedBitmap.Width - 2; x++)
{
for (y = 0; y < obj.ExtractedBitmap.Height - 2; y++)
{
Color c = obj.ExtractedBitmap.GetPixel(x, y);
avRed += c.R;
avGreen += c.G;
avBlue += c.B;
}
}
int Pixels = obj.ExtractedBitmap.Height*obj.ExtractedBitmap.Width;
avRed = (int) Math.Round((double)avRed / Pixels);
avGreen = (int)Math.Round((double)avGreen / Pixels);
avBlue = (int)Math.Round((double)avBlue / Pixels);
//check for every suitable point, whether the point itself and at least 7 direct neighbours are red
x = 1;
y = 1;
//The Points at the border have not enought direct neighbours
for (x = 1; x < obj.ExtractedBitmap.Width-2; x++)
{
for (y = 1; y < obj.ExtractedBitmap.Height - 2; y++ )
{
if (rPoint == null)
{
bool red = true;
int count = CountPOints(obj, red, y, x,avRed,avBlue,avGreen);
if (count >= 7)
rPoint = new TPoint(x, y, TPoint.PointCreationType.screen);
}
}
}
//Same for blue point
for (x = 1; x < obj.ExtractedBitmap.Width - 2; x++)
{
for (y = 1; y < obj.ExtractedBitmap.Height - 2; y++)
{
if (bPoint == null)
{
bool red = false;
int count = CountPOints(obj, red, y, x, avRed, avBlue, avGreen);
if (count >= 7)
bPoint = new TPoint(x, y, TPoint.PointCreationType.screen);
}
}
}
//Were two points recognized?
if ((rPoint == null) || (bPoint == null))
return;
//Calculate the vector
x = rPoint.ScreenX - bPoint.ScreenX;
y = rPoint.ScreenY - bPoint.ScreenY;
obj.DirectionVector = new System.Windows.Vector(x, y);
obj.RotationDefined = true;
}
private int CountPOints(TableObject obj, bool red, int y, int x, int avRed, int avBlue, int avGreen)
{
int count = 0;
Color c;
//Check 9 points (1 point and 8 neighbours)
c = obj.ExtractedBitmap.GetPixel(x, y);
if (CheckThreshold(c, red,avRed,avBlue,avGreen))
count++;
c = obj.ExtractedBitmap.GetPixel(x + 1, y);
if (CheckThreshold(c, red, avRed, avBlue, avGreen))
count++;
c = obj.ExtractedBitmap.GetPixel(x - 1, y);
if (CheckThreshold(c, red, avRed, avBlue, avGreen))
count++;
c = obj.ExtractedBitmap.GetPixel(x, y + 1);
if (CheckThreshold(c, red, avRed, avBlue, avGreen))
count++;
c = obj.ExtractedBitmap.GetPixel(x, y - 1);
if (CheckThreshold(c, red, avRed, avBlue, avGreen))
count++;
c = obj.ExtractedBitmap.GetPixel(x - 1, y - 1);
if (CheckThreshold(c, red, avRed, avBlue, avGreen))
count++;
c = obj.ExtractedBitmap.GetPixel(x + 1, y + 1);
if (CheckThreshold(c, red, avRed, avBlue, avGreen))
count++;
c = obj.ExtractedBitmap.GetPixel(x - 1, y + 1);
if (CheckThreshold(c, red, avRed, avBlue, avGreen))
count++;
c = obj.ExtractedBitmap.GetPixel(x + 1, y - 1);
if (CheckThreshold(c, red, avRed, avBlue, avGreen))
count++;
return count;
}
private static void SaveDebugBitmap(int thresholdBlack, short[,] greyArray, int thresholdWhite, TableObject obj)
{
int x,y;
Bitmap bmp = new Bitmap(obj.ExtractedBitmap.Width, obj.ExtractedBitmap.Height);
for (x = 0; x < bmp.Width; x++)
{
for (y = 0; y < bmp.Width; y++)
{
if (greyArray[x, y] >= thresholdWhite)
bmp.SetPixel(x, y, Color.White);
else if (greyArray[x, y] <= thresholdBlack)
bmp.SetPixel(x, y, Color.Black);
else
bmp.SetPixel(x, y, Color.Lime);
}
}
bmp.Save("bwrotation_" + obj.ObjectID.ToString() + ".bmp");
}
public object Clone()
{
TableObject obj = new TableObject();
if (Center != null)
obj.Center = Center.Clone();
obj.CenterDefined = CenterDefined;
if (ExtractedBitmap != null)
obj.ExtractedBitmap = (Bitmap)ExtractedBitmap.Clone();
obj.Height = Height;
obj.ObjectID = ObjectID;
obj.Radius = Radius;
obj.DirectionVector = DirectionVector;
obj.RotationDefined = RotationDefined;
obj.TrackingStatus = TrackingStatus;
obj.TrackingFrameExistence = TrackingFrameExistence;
return obj;
}
/// <summary>
/// Checks wheter the object is on a Menu field. Returns false, too, when the object is on a empty menu field
/// </summary>
/// <param name="obj"></param>
/// <returns></returns>
public bool IsOnMenuField(TableObject obj)
{
//Check for proper initialisation: if not, reinitialize
if (_b1 == null)
{
GetRegions(out _b4, out _b3, out _b2, out _b1);
}
if (_b1.IsInRegion(obj.Center))
{
if (_objectList.Count > 0)
return true;
}
else if (_b2.IsInRegion(obj.Center))
{
if (_objectList.Count > 1)
return true;
}
else if (_b3.IsInRegion(obj.Center))
{
if (_objectList.Count > 2)
return true;
}
else if (_b4.IsInRegion(obj.Center))
{
if (_objectList.Count > 3)
return true;
}
return false;
}
private static short[,] ConvertToGreyArray(TableObject obj, out int average)
{
short[,] greyArray = new short[obj.ExtractedBitmap.Width,obj.ExtractedBitmap.Height];
average = 0;
int x, y;
for (x = 0; x < obj.ExtractedBitmap.Width; x++)
{
for (y = 0; y < obj.ExtractedBitmap.Height; y++)
{
Color c = obj.ExtractedBitmap.GetPixel(x, y);
greyArray[x, y] = (short) Math.Round(0.299*c.R + 0.587*c.G + 0.144*c.B);
average += (short) Math.Round(0.299*c.R + 0.587*c.G + 0.144*c.B);
}
}
return greyArray;
}
public Type GetSimObjectType(TableObject obj)
{
if (!IsOnMenuField(obj))
return null;
//On which menu field
int m = GetMenueField(obj);
MenuObject mobj = _objectList[_index + m];
//return type
return mobj.type;
}
/// <summary>
/// Returns the number of the menu field (0-3). -1 if the object isnt on a menue filed
/// </summary>
/// <param name="obj"></param>
/// <returns></returns>
public int GetMenueField(TableObject obj)
{
if (_b1.IsInRegion(obj.Center))
{
if (_objectList.Count > 0)
return 0;
}
else if (_b2.IsInRegion(obj.Center))
{
if (_objectList.Count > 1)
return 1;
}
else if (_b3.IsInRegion(obj.Center))
{
if (_objectList.Count > 2)
return 2;
}
else if (_b4.IsInRegion(obj.Center))
{
if (_objectList.Count > 3)
return 3;
}
return -1;
}
private List<TableObject> GenerateTableObjects(List<ObjectPoint> pointlist, DepthImage image)
{
List<TableObject> tableobjects = new List<TableObject>();
foreach (ObjectPoint op in pointlist)
{
TableObject tobj = new TableObject();
tobj.Center = new TPoint(op.X, op.Y, TPoint.PointCreationType.depth);
tobj.CenterDefined = true;
tobj.Radius = op.RectSize;
tobj.Height = image.Data[op.X, op.Y];
tableobjects.Add(tobj);
}
return tableobjects;
}
private void MatchObjects(ref List<TrackObject> TrackObjList, TableObject.ETrackingStatus TrackStatusFilter, double CertainityThreshold, TableObject.ETrackingStatus AssignedStatus = TableObject.ETrackingStatus.NotTracked)
{
//Calculate the certainity for the selected objects
List<int> UsedIDs = CalculateCertainity(ref TrackObjList, TrackStatusFilter);
/*//For objects with a very good certainity value, assign objectid
foreach (TrackObject to in TrackObjList.Where(obj => obj.TrackCertainity >= CertainityThreshold))
{
to.ObjReference.ObjectID = to.BestCertainityWithID;
to.ObjReference.TrackingStatus = TrackStatusFilter;
//If the assigned TrackStatus is defined, use it
if (AssignedStatus != TableObject.ETrackingStatus.NotTracked)
to.ObjReference.TrackingStatus = AssignedStatus;
}*/
//There might be several objects with the same proposed ID. For each ObjectID, take the object with the best Certainity
foreach (int checkID in UsedIDs)
{
TrackObject maxCertainityRef = null;
double maxCertainity = 0.0;
//Gett all proposed objs for this ID, and with the minimum required threshold
foreach(TrackObject tobj in TrackObjList.Where(obj => obj.BestCertainityWithID == checkID).Where(obj => obj.TrackCertainity >= CertainityThreshold))
{
//Take the object with the best Certainity
if (tobj.TrackCertainity > maxCertainity)
{
maxCertainity = tobj.TrackCertainity;
maxCertainityRef = tobj;
}
}
//Assign ID to the "best" object
if (maxCertainityRef != null)
{
maxCertainityRef.ObjReference.ObjectID = maxCertainityRef.BestCertainityWithID;
maxCertainityRef.ObjReference.TrackingStatus = TrackStatusFilter;
//If the assigned TrackStatus is defined, use it
if (AssignedStatus != TableObject.ETrackingStatus.NotTracked)
maxCertainityRef.ObjReference.TrackingStatus = AssignedStatus;
}
}
}
private List<int> CalculateCertainity(ref List<TrackObject> newFrameObjects, TableObject.ETrackingStatus filter)
{
//Get only the desired objects
List<TableObject> recentObjects =
_historyTrackList.GetLastFrame().ObjectList.Where(obj => obj.TrackingStatus == filter).ToList();
//Dont track old objects that are already assigned to new ones (ID)
List<int> AlreadyAssignedIDs = new List<int>();
foreach (TrackObject obj in newFrameObjects)
{
if (obj.ObjReference.ObjectID != 0)
AlreadyAssignedIDs.Add(obj.ObjReference.ObjectID);
}
//Create a List with each ID that will be used
List<int> UsedIDs = new List<int>();
//Calculate certainity for each object that isn't tracked
foreach (TrackObject to in newFrameObjects.Where(obj =>obj.ObjReference.TrackingStatus == TableObject.ETrackingStatus.NotTracked))
{
foreach(TableObject proposedObject in recentObjects)
{
//Compare each object from the last frame
//and calculate the Certainity in % (value from 0 to 1)
//distance between objects
double distance = proposedObject.Center.DistanceTo(to.ObjReference.Center,TPoint.PointCreationType.depth);
//The negative percentage (distance / max distance) is the certainity
double certainity = 1 - (distance/MaxDistance);
//if this certainity value is better than the saved one, store the new values an the object id for later
//but only if the stored object isn't assigned to another object
if ((to.TrackCertainity < certainity) && (!AlreadyAssignedIDs.Contains(proposedObject.ObjectID)))
{
to.TrackCertainity = certainity;
to.BestCertainityWithID = proposedObject.ObjectID;
if (!UsedIDs.Contains(proposedObject.ObjectID))
UsedIDs.Add(proposedObject.ObjectID);
}
}
}
return UsedIDs;
}
