public override bool CheckShape(CalibrationShape shape)
{
int cx = shape.GravityCenter.X.Round();
int cy = shape.GravityCenter.Y.Round();
int redCount = 0;
for(int dx = -_r; dx <= _r; ++dx)
{
for(int dy= -_r; dy <= _r; ++dy)
{
redCount = Image[cy + dy, cx + dx, (int)RGBChannel.Red] > _minRed ?
redCount + 1 : redCount;
}
}
return redCount > _winSize * 0.75;
}
// 1) Move around the border and FF for each 'Unvisited', fill background ( dark ) with 'Background'
// 2) During FF mark some white field and now start FF and fill light area with 'WhiteField'
// We assume white field is one big connected area ( with 'holes' for calibration shapes )
// 3) If during WF some unvisited dark area is run into, FF it with 'Shape', create CalibrationShape
// for it and add its points, save index in pixel codes
public override void FindCalibrationPoints()
{
//if(UseMedianFilter)
//{
// // Preprocess with median filter to remove some noise (edges should stay in same place )
// MedianFilter filter = new MedianFilter();
// filter.FilterBorder = false;
// filter.Image = Image.ImageMatrix;
// filter.WindowRadius = MedianFilterRadius;
// ImageGray.ImageMatrix = filter.ApplyFilter();
//}
PrimaryShapeChecker.Image = Image;
_pixelCodes = new DenseMatrix(Image.RowCount, Image.ColumnCount);
CalibShapes = new List<CalibrationShape>(32);
_whiteBorder = new List<TPoint2D<int>>();
// Fill whole background first
FillBackground();
_currentShape = null;
CalibShapes.Add(null); // Reserve slot for primary shape
if(_whiteBorder.Count == 0)
{
// No white field detected -> error
MessageBox.Show("No white field detected on calibration image: no calibration points can be found");
return;
}
// Fill white field and shapes (inside FillWhiteField)
FillWhiteField();
if(CalibShapes[0] == null)
{
MessageBox.Show("No primary calibration shape (reddish) detected on calibration image: no calibration points can be found");
return;
}
// Now find main white field ( one with primary shape ) and remove all shapes
// not from this field
uint primaryField = CalibShapes[0].Index;
for(int i = 1; i < CalibShapes.Count;)
{
if(CalibShapes[i].Index != primaryField)
{
CalibShapes.RemoveAt(i);
continue;
}
++i;
}
// At this point CalibrationShapes should be created, so find its centers
// and sort them to form grid
FillCalibrationGrid();
// From each valid shape from grid, create CalibrationPoint
Points = new List<CalibrationPoint>();
foreach(var shape in CalibGrid)
{
if(shape != null && !shape.IsInvalid)
Points.Add(new CalibrationPoint()
{
Img = shape.GravityCenter,
RealGridPos = shape.GridPos
});
}
((ShapeGridLinesExtractor)LinesExtractor).CalibGrid = CalibGrid;
}
private void FindLocalAxes(out CalibrationShape shapeX, out CalibrationShape shapeY)
{
// Find calibration grid axes
// 1) Sort shapes by distance to primary shape
CalibShapes.Sort((s1, s2) =>
{
// Compares distance of s1 and s2 to primary shape
return (s1.GravityCenter - CalibShapes[0].GravityCenter).LengthSquared().CompareTo(
(s2.GravityCenter - CalibShapes[0].GravityCenter).LengthSquared());
});
// 2) Find direction vectors from PS to closest one and then find
// closest one with direction rotated by 90deg ( by comparing its dot product ->
// for 90deg its 0, having like 10deg tolerance we have :
// dot(A,B) / (|A||B|) = cos(a) < 0.17
// Use 2 next closest ones
shapeX = null;
shapeY = null;
Vector2 direction_1 = (CalibShapes[1].GravityCenter - CalibShapes[0].GravityCenter);
direction_1.Normalise();
shapeX = CalibShapes[1];
//Vector2 direction_2 = direction_1;
//int pointNum = 2;
//for(; pointNum < CalibShapes.Count; ++pointNum)
//{
// // Find direction and dot product
// direction_2 = (CalibShapes[pointNum].GravityCenter - CalibShapes[0].GravityCenter);
// direction_2.Normalise();
// if(Math.Abs(direction_1.CosinusTo(direction_2)) < 0.17)
// {
// // Found prependicular direction
// shapeY = CalibShapes[pointNum];
// break;
// }
//}
Vector2 direction_2 = (CalibShapes[2].GravityCenter - CalibShapes[0].GravityCenter);
direction_2.Normalise();
double cos2 = Math.Abs(direction_1.CosinusTo(direction_2));
Vector2 direction_3 = (CalibShapes[3].GravityCenter - CalibShapes[0].GravityCenter);
direction_3.Normalise();
double cos3 = Math.Abs(direction_1.CosinusTo(direction_3));
// Choose one with angle closer to 90deg (so cos closer to 0)
direction_2 = cos2 < cos3 ? direction_2 : direction_3;
shapeY = cos2 < cos3 ? CalibShapes[2] : CalibShapes[3];
// Now depending on sign of sin(a), we can determine which axis is X and Y
// Using cross-product of d1 and d2 ( casting it to 3d with z = 0 ) we have sin(a) = (d1.x * d2.y - d1.y * d2.x)
// If sin(a) > 0, then d1 is local x axis, d2 is y
if(direction_1.SinusTo(direction_2) > 0.0)
{
AxisX = direction_1;
AxisY = direction_2;
}
else
{
AxisX = direction_2;
AxisY = direction_1;
var temp = shapeY;
shapeY = shapeX;
shapeX = temp;
}
}
private void InitCalibrationGrid(CalibrationShape shapeX, CalibrationShape shapeY)
{
CalibGrid = new CalibrationGrid(4, 4);
CalibGrid.Add(0, 0, CalibShapes[0]);
CalibShapes.RemoveAt(0);
CalibGrid.Add(0, 1, shapeX);
CalibShapes.Remove(shapeX);
CalibGrid.Add(1, 0, shapeY);
CalibShapes.Remove(shapeY);
}
private void AddDummyShape(int x, int y, Vector2 eP)
{
CalibrationShape dummy = new CalibrationShape();
dummy.GravityCenter = eP;
dummy.IsInvalid = true;
CalibGrid.Add(y, x, dummy);
}
void FillShape(int y, int x)
{
_flood = new IterativeBasicFloodAlgorithm();
_flood.ImageHeight = Image.RowCount;
_flood.ImageWidth = Image.ColumnCount;
_flood.FillCondition = ShapeFillCondition;
_flood.FillAction = ShapeFillAction;
// Create new CalibrationShape and set index in pixelcodes
_currentShape = new CalibrationShape();
_currentShape.Index = (uint)_currentWhiteField;
_pixelCodes[y, x] = CellCodeToFloat(CellCode.Unvisited);
_flood.FloodFill(y, x);
_currentShape.FindCenter();
// Check if its primary shape -> should have very high red value
if(PrimaryShapeChecker.CheckShape(_currentShape))
{
CalibShapes[0] = _currentShape;
}
else
{
CalibShapes.Add(_currentShape);
}
}
public abstract bool CheckShape(CalibrationShape shape);
