private void Compare()
{
ResultDO result = imgComparer.CompareImages((Bitmap)pictureBox1.Image, (Bitmap)pictureBox2.Image);
pictureBox3.Image = result.ResultImage;
LaserSpot left = result.LaserSpots[0];
LaserSpot center = result.LaserSpots[result.ResultImage.Width / 2];
LaserSpot right = result.LaserSpots[result.ResultImage.Width - 1];
labelLeftPixel.Text = left.IsOverThreashold ? left.PixelToCenter + " px" : "?";
labelCenterPixel.Text = center.IsOverThreashold ? center.PixelToCenter + " px" : "?";
labelRightPixel.Text = right.IsOverThreashold ? right.PixelToCenter + " px" : "?";
}
public unsafe ResultDO CompareImages(Bitmap img1, Bitmap img2)
{
byte threshold = 30;
BitmapData img1BmpData = img1.LockBits(new Rectangle(0, 0, img1.Width, img1.Height), ImageLockMode.ReadWrite, img1.PixelFormat);
BitmapData img2BmpData = img2.LockBits(new Rectangle(0, 0, img2.Width, img2.Height), ImageLockMode.ReadWrite, img2.PixelFormat);
byte img1BitsPerPixel = GetBitsPerPixel(img1BmpData.PixelFormat);
byte img2BitsPerPixel = GetBitsPerPixel(img2BmpData.PixelFormat);
byte *img1Scan0 = (byte *)img1BmpData.Scan0.ToPointer();
byte *img2Scan0 = (byte *)img2BmpData.Scan0.ToPointer();
Dictionary <int, LaserSpot> laserSpots = new Dictionary <int, LaserSpot>();
for (int width = 0; width < img1BmpData.Width; ++width)
{
// create LaserSpot
laserSpots[width] = new LaserSpot(img1, width, threshold);
for (int height = 0; height < img1BmpData.Height; ++height)
{
byte *img1Data = img1Scan0 + height * img1BmpData.Stride + width * img1BitsPerPixel / 8;
byte *img2Data = img2Scan0 + height * img2BmpData.Stride + width * img2BitsPerPixel / 8;
// red diff
byte diff = (byte)Math.Abs(img1Data[2] - img2Data[2]);
// all diff
//double img1Magnitude = 1 / 3d * (img1Data[0] + img1Data[1] + img1Data[2]);
//double img2Magnitude = 1 / 3d * (img2Data[0] + img2Data[1] + img2Data[2]);
//double diff = Math.Abs(img1Magnitude - img2Magnitude);
if (height < img1.Height / 2)
{
LaserSpot currentSpot = laserSpots[width];
if (currentSpot.Difference < diff)
{
currentSpot.PosY = height;
currentSpot.Difference = diff;
}
}
// grayScale Image
img1Data[0] = img1Data[1] = img1Data[2] = (byte)(255 - diff);
// black and white image
//if (diff > threshold) {
// img1Data[0] = 0;
// img1Data[1] = 0;
// img1Data[2] = 0;
//} else {
// img1Data[0] = 255;
// img1Data[1] = 255;
// img1Data[2] = 255;
//}
// horizon
if (height == (img1.Height / 2))
{
img1Data[0] = 255;
img1Data[1] = img1Data[2] = 0;
}
}
}
img1.UnlockBits(img1BmpData);
img2.UnlockBits(img1BmpData);
return(new ResultDO {
ResultImage = img1,
LaserSpots = laserSpots
});
}
public unsafe ResultDO CompareImages(Bitmap img1, Bitmap img2, Image resultBackground)
{
byte threshold = 60;
BitmapData img1BmpData = img1.LockBits(new Rectangle(0, 0, img1.Width, img1.Height), ImageLockMode.ReadWrite, img1.PixelFormat);
byte img1BitsPerPixel = GetBitsPerPixel(img1BmpData.PixelFormat);
byte * img1Scan0 = (byte *)img1BmpData.Scan0.ToPointer();
BitmapData img2BmpData = img2.LockBits(new Rectangle(0, 0, img2.Width, img2.Height), ImageLockMode.ReadWrite, img2.PixelFormat);
byte img2BitsPerPixel = GetBitsPerPixel(img2BmpData.PixelFormat);
byte * img2Scan0 = (byte *)img2BmpData.Scan0.ToPointer();
Bitmap diffImg = GetFilledBitmap(img1.Width, img1.Height, Brushes.White);
BitmapData diffImgBmpData = diffImg.LockBits(new Rectangle(0, 0, diffImg.Width, diffImg.Height), ImageLockMode.ReadWrite, diffImg.PixelFormat);
byte diffImgBitsPerPixel = GetBitsPerPixel(diffImgBmpData.PixelFormat);
byte * diffImgScan0 = (byte *)diffImgBmpData.Scan0.ToPointer();
Dictionary <int, LaserSpot> laserSpots = new Dictionary <int, LaserSpot>();
for (int width = 0; width < img1BmpData.Width; width++)
{
// create LaserSpot
laserSpots[width] = new LaserSpot(img1, width, threshold);
for (int height = 0; height < img1BmpData.Height; height++)
{
byte *img1Data = img1Scan0 + height * img1BmpData.Stride + width * img1BitsPerPixel / 8;
byte *img2Data = img2Scan0 + height * img2BmpData.Stride + width * img2BitsPerPixel / 8;
byte *diffImgData = diffImgScan0 + height * diffImgBmpData.Stride + width * diffImgBitsPerPixel / 8;
// red diff
byte diff = (byte)Math.Abs(img1Data[2] - img2Data[2]);
// all diff
//double img1Magnitude = 1 / 3d * (img1Data[0] + img1Data[1] + img1Data[2]);
//double img2Magnitude = 1 / 3d * (img2Data[0] + img2Data[1] + img2Data[2]);
//double diff = Math.Abs(img1Magnitude - img2Magnitude);
if (height < img1.Height / 2)
{
LaserSpot currentSpot = laserSpots[width];
if (currentSpot.Difference < diff)
{
currentSpot.PosY = height;
currentSpot.Difference = diff;
}
}
// grayScale Image
diffImgData[0] = diffImgData[1] = diffImgData[2] = (byte)(255 - diff);
// horizon
if (height == (diffImg.Height / 2))
{
diffImgData[0] = 255;
diffImgData[1] = diffImgData[2] = 0;
}
// vertical
if (width == (diffImg.Width / 2))
{
diffImgData[0] = 255;
diffImgData[1] = diffImgData[2] = 0;
}
}
}
img1.UnlockBits(img1BmpData);
img2.UnlockBits(img2BmpData);
diffImg.UnlockBits(diffImgBmpData);
// create resultImage
Bitmap resultImg = new Bitmap(resultBackground);
BitmapData resultImgBmpData = resultImg.LockBits(new Rectangle(0, 0, resultImg.Width, resultImg.Height), ImageLockMode.ReadWrite, resultImg.PixelFormat);
byte resultImgBitsPerPixel = GetBitsPerPixel(resultImgBmpData.PixelFormat);
byte * resultImgScan0 = (byte *)resultImgBmpData.Scan0.ToPointer();
decimal cmToPixelFactor = 2m;
int camX = resultImg.Width / 2;
int camY = resultImg.Height;
for (int i = 0; i < laserSpots.Keys.Count; i++)
{
LaserSpot spot = laserSpots[i];
if (spot.IsOverThreashold)
{
int pixelFromVerticalCenter = i - img1.Width / 2;
decimal cmFromVerticalCenter = spot.Distance * 0.6m * pixelFromVerticalCenter / (img1.Width / 2); // opening angle = 1.2
int x = camX + (int)(cmFromVerticalCenter * cmToPixelFactor);
int y = camY - (int)(spot.Distance * cmToPixelFactor);
if (x > 0 && x < resultImg.Width && y > 0 && y < resultImg.Height)
{
byte *resultImgData = resultImgScan0 + y * resultImgBmpData.Stride + x * resultImgBitsPerPixel / 8;
resultImgData[0] = 0; // blue
resultImgData[1] = 0; // green
resultImgData[2] = 0; // red
resultImgData[3] = 255; // alpha
}
}
}
resultImg.UnlockBits(resultImgBmpData);
return(new ResultDO {
DiffImage = diffImg,
ResultImage = resultImg,
LaserSpots = laserSpots
});
}
