/// <summary>
/// Gets two points defining the axis of the object.
/// </summary>
///
public LineSegment GetAxis(AxisOrientation axis)
{
double x1, y1;
double x2, y2;
if (axis == AxisOrientation.Horizontal)
{
y1 = Math.Cos(-Angle - Math.PI) * Rectangle.Height / 2.0;
x1 = Math.Sin(-Angle - Math.PI) * Rectangle.Width / 2.0;
y2 = Math.Cos(-Angle) * Rectangle.Height / 2.0;
x2 = Math.Sin(-Angle) * Rectangle.Width / 2.0;
}
else
{
y1 = Math.Cos(-(Angle + Math.PI / 2) - Math.PI) * Rectangle.Height / 2.0;
x1 = Math.Sin(-(Angle + Math.PI / 2) - Math.PI) * Rectangle.Width / 2.0;
y2 = Math.Cos(-(Angle + Math.PI / 2)) * Rectangle.Height / 2.0;
x2 = Math.Sin(-(Angle + Math.PI / 2)) * Rectangle.Width / 2.0;
}
Point start = new Point((float)(Center.X + x1), (float)(Center.Y + y1));
Point end = new Point((float)(Center.X + x2), (float)(Center.Y + y2));
if (start.DistanceTo(end) == 0)
{
return(null);
}
return(new LineSegment(start, end));
}
// Mouse click on the image - accept new point or reject it (depending on mouse button)
private void pictureBox_MouseClick(object sender, MouseEventArgs e)
{
if (pointIndexToLocate != -1)
{
pictureBox.Cursor = Cursors.Default;
pictureBox.Capture = false;
statusLabel.Text = string.Empty;
if (e.Button == MouseButtons.Left)
{
int x = Math.Max(0, Math.Min(e.X, imageSize.Width - 1));
int y = Math.Max(0, Math.Min(e.Y, imageSize.Height - 1));
imagePoints[pointIndexToLocate] = new Accord.Point(x - imageSize.Width / 2, imageSize.Height / 2 - y);
TextBox imagePointTextBox = (TextBox)imagePointsGroupBox.Controls[string.Format("imagePoint{0}Box", pointIndexToLocate + 1)];
imagePointTextBox.Text = imagePoints[pointIndexToLocate].ToString();
}
else
{
imagePoints[pointIndexToLocate] = pointPreviousValue;
}
ClearEstimation();
pointIndexToLocate = -1;
pictureBox.Invalidate();
}
}
private void ChangeTimerGaussParameters(float x, float y)
{
_gaussTimer?.Stop();
_gaussTimer?.Dispose();
_gaussTimer = new Timer();
_gaussTimer.Interval = _gaussRefreshTime;
_gaussTimer.Tick += (s, ea) =>
{
textBoxPosition.Text = "X: " + x.ToString() + "; " + "Y: " + y.ToString();
Bitmap bitmap = (Bitmap)_bitmap.Clone();
Dictionary <string, List <double> > fitting = Analyzer.GaussianFittingXY(bitmap, (int)x, (int)y, (int)_gaussSize);
//Refresh crop
Bitmap cropImage = new Bitmap(bitmap);
Rectangle rect = new Rectangle((int)((x - _gaussSize / 2) < 0 ? 0 : (x - _gaussSize / 2)), (int)((y - _gaussSize / 2) < 0 ? 0 : (y - _gaussSize / 2)), (int)_gaussSize, (int)_gaussSize);
if (rect.X + rect.Width > bitmap.Width || rect.Y + rect.Height > bitmap.Height)
{
rect.Width = Math.Min(bitmap.Width - rect.X, bitmap.Height - rect.Y);
rect.Height = rect.Width;
_gaussSize = rect.Height;
}
cropImage = cropImage.Clone(rect, cropImage.PixelFormat);
BeginInvoke((Action)(() =>
{
pictureBoxSnap.Image = cropImage;
_chartXLine.Clear();
List <List <double> > input = new List <List <double> >();
input.Add(fitting["xLine"]);
input.Add(fitting["gXLine"]);
_chartXLine.Values = input;
_chartXLine.Draw();
splitContainer3.Panel1.Controls.Clear();
splitContainer3.Panel1.Controls.Add(_chartXLine);
_chartYLine.Clear();
input = new List <List <double> >();
input.Add(fitting["yLine"]);
input.Add(fitting["gYLine"]);
_chartYLine.Values = input;
_chartYLine.Draw();
splitContainer3.Panel2.Controls.Clear();
splitContainer3.Panel2.Controls.Add(_chartYLine);
}));
if (_followLight)
{
Point newPosition = Analyzer.FollowLight((Bitmap)cropImage.Clone(), (int)x, (int)y, (int)_gaussSize);
if (newPosition != new Point(x, y))
{
ChangeTimerGaussParameters(newPosition.X, newPosition.Y);
}
}
};
_gaussTimer.Start();
}
/// <summary>
/// Initializes a new instance of the <see cref="Blob"/> class.
/// </summary>
///
/// <param name="source">Source blob to copy.</param>
///
/// <remarks><para>This copy constructor leaves <see cref="Image"/> property not initialized. The blob's
/// image may be extracted later using <see cref="BlobCounterBase.ExtractBlobsImage( Bitmap, Blob, bool )"/>
/// or <see cref="BlobCounterBase.ExtractBlobsImage( UnmanagedImage, Blob, bool )"/> method.</para></remarks>
///
public Blob(Blob source)
{
// copy everything except image
id = source.id;
rect = source.rect;
cog = source.cog;
area = source.area;
fullness = source.fullness;
colorMean = source.colorMean;
colorStdDev = source.colorStdDev;
}
public void RansacLineConstructorTest()
{
Point[] points = new Point[500];
{
for (int i = 0; i < points.Length; i++)
{
double x = i;
double y = i; //+ 5 * Accord.Math.Tools.Random.NextDouble();
points[i] = new Point((float)x, (float)y);
}
RansacLine target = new RansacLine(0.80, 0.9);
Line actual = target.Estimate(points);
Line expected = Line.FromPoints(points[0], points[499]);
Assert.AreEqual(expected.Slope, actual.Slope, 1e-3);
Assert.AreEqual(expected.Intercept, actual.Intercept, 1e-2);
}
{
for (int i = 0; i < points.Length; i++)
{
double x = i;
double y = i + 5 * Accord.Math.Tools.Random.NextDouble();
points[i] = new Point((float)x, (float)y);
}
RansacLine target = new RansacLine(0.80, 0.9);
Line actual = target.Estimate(points);
Assert.AreEqual(1.0, actual.Slope, 1e-3);
Assert.AreEqual(0.0, actual.Intercept, 1e-2);
}
{
for (int i = 0; i < points.Length; i++)
{
double x = i + 50;
double y = i + 50 + 5 * Accord.Math.Tools.Random.NextDouble();
points[i] = new Point((float)x, (float)y);
}
RansacLine target = new RansacLine(0.80, 0.9);
Line actual = target.Estimate(points);
Assert.AreEqual(1.0, actual.Slope, 1e-3);
Assert.AreEqual(0.0, actual.Intercept, 1e-2);
}
}
public void RansacLineConstructorTest()
{
Point[] points = new Point[500];
{
for (int i = 0; i < points.Length; i++)
{
double x = i;
double y = i; //+ 5 * Accord.Math.Tools.Random.NextDouble();
points[i] = new Point((float)x, (float)y);
}
RansacLine target = new RansacLine(0.80, 0.9);
Line actual = target.Estimate(points);
Line expected = Line.FromPoints(points[0], points[499]);
Assert.AreEqual(expected.Slope, actual.Slope, 1e-3);
Assert.AreEqual(expected.Intercept, actual.Intercept, 1e-2);
}
{
for (int i = 0; i < points.Length; i++)
{
double x = i;
double y = i + 5 * Accord.Math.Tools.Random.NextDouble();
points[i] = new Point((float)x, (float)y);
}
RansacLine target = new RansacLine(0.80, 0.9);
Line actual = target.Estimate(points);
Assert.AreEqual(1.0, actual.Slope, 1e-3);
Assert.AreEqual(0.0, actual.Intercept, 1e-2);
}
{
for (int i = 0; i < points.Length; i++)
{
double x = i + 50;
double y = i + 50 + 5 * Accord.Math.Tools.Random.NextDouble();
points[i] = new Point((float)x, (float)y);
}
RansacLine target = new RansacLine(0.80, 0.9);
Line actual = target.Estimate(points);
Assert.AreEqual(1.0, actual.Slope, 1e-3);
Assert.AreEqual(0.0, actual.Intercept, 1e-2);
}
}
// One of the locate point button were clicked
private void locatePointButton_Click(object sender, EventArgs e)
{
pictureBox.Capture = true;
Button sourceButton = (Button)sender;
pointIndexToLocate = int.Parse((string)sourceButton.Tag);
pointPreviousValue = imagePoints[pointIndexToLocate];
imagePoints[pointIndexToLocate] = emptyPoint;
statusLabel.Text = string.Format("Locate point #{0} in the image ...", pointIndexToLocate + 1);
pictureBox.Invalidate();
}
private Accord.Point[] PerformProjection(Vector3[] model, Matrix4x4 transformationMatrix, int viewSize)
{
Accord.Point[] projectedPoints = new Accord.Point[model.Length];
for (int i = 0; i < model.Length; i++)
{
Vector3 scenePoint = (transformationMatrix * model[i].ToVector4()).ToVector3();
projectedPoints[i] = new Accord.Point(
(int)(scenePoint.X / scenePoint.Z * viewSize),
(int)(scenePoint.Y / scenePoint.Z * viewSize));
}
return(projectedPoints);
}
/// <summary>
/// Initializes a new instance of the <see cref="Blob"/> class.
/// </summary>
///
/// <param name="source">Source blob to copy.</param>
/// <param name="copyImage">Set to true to copy the blob Image</param>
///
/// <remarks><para>This copy constructor leaves <see cref="Image"/> property not initialized unless
/// <see param="copyImage"/> is set to true. The blob's image may be extracted later using
/// <see cref="BlobCounterBase.ExtractBlobsImage( Bitmap, Blob, bool )"/>
/// or <see cref="BlobCounterBase.ExtractBlobsImage( UnmanagedImage, Blob, bool )"/> method.</para></remarks>
///
public Blob(Blob source, bool copyImage = false)
{
// copy everything except image
id = source.id;
rect = source.rect;
cog = source.cog;
area = source.area;
fullness = source.fullness;
colorMean = source.colorMean;
colorStdDev = source.colorStdDev;
if (copyImage)
{
image = source.image;
}
}
private void PictureBoxStream_Click(object sender, EventArgs e)
{
//Bitmap bitmap = (Bitmap)pictureBoxStream.Image.Clone();
_followLight = false;
if (_bitmap == null)
{
return;
}
Bitmap bitmap = (Bitmap)_bitmap.Clone();
//Calculate the position on bitmap
float x0 = 0;
float y0 = 0;
float bitmapW = pictureBoxStream.Width;
float bitmapH = pictureBoxStream.Height;
if (pictureBoxStream.Width / (float)pictureBoxStream.Height < bitmap.Width / (float)bitmap.Height)
{
bitmapW = pictureBoxStream.Width;
bitmapH = bitmapW * bitmap.Height / bitmap.Width;
y0 = (float)(pictureBoxStream.Height - bitmapH) / 2;
}
else if (pictureBoxStream.Width / (float)pictureBoxStream.Height > bitmap.Width / (float)bitmap.Height)
{
bitmapH = pictureBoxStream.Height;
bitmapW = bitmapH * bitmap.Width / bitmap.Height;
x0 = (float)(pictureBoxStream.Width - bitmapW) / 2;
}
float x = ((MouseEventArgs)e).Location.X - x0;
float y = ((MouseEventArgs)e).Location.Y - y0;
//Real coordinate in image
x *= bitmap.Width / bitmapW;
y *= bitmap.Height / bitmapH;
_gaussPosition = new Point((int)x, (int)y);
ChangeTimerGaussParameters((int)x, (int)y);
}
private void Recalculate()
{
int pointsCount = objectPoints.Length;
objectScenePoints = new Vector3[pointsCount];
projectedPoints = new Accord.Point[pointsCount];
int cx = ClientRectangle.Width / 2;
int cy = ClientRectangle.Height / 2;
for (int i = 0; i < pointsCount; i++)
{
objectScenePoints[i] = (perspectiveMatrix *
(viewMatrix *
(worldMatrix * objectPoints[i].ToVector4()))).ToVector3();
projectedPoints[i] = new Accord.Point(
(int)(cx * objectScenePoints[i].X),
(int)(cy * objectScenePoints[i].Y));
}
Invalidate();
}
private Accord.Point[] PerformProjection(Vector3[] model, Matrix4x4 transformationMatrix, int viewSize)
{
Accord.Point[] projectedPoints = new Accord.Point[model.Length];
for (int i = 0; i < model.Length; i++)
{
Vector3 scenePoint = (transformationMatrix * model[i].ToVector4()).ToVector3();
projectedPoints[i] = new Accord.Point(
(int)(scenePoint.X / scenePoint.Z * viewSize),
(int)(scenePoint.Y / scenePoint.Z * viewSize));
}
return projectedPoints;
}
private void Recalculate( )
{
int pointsCount = objectPoints.Length;
objectScenePoints = new Vector3[pointsCount];
projectedPoints = new Accord.Point[pointsCount];
int cx = ClientRectangle.Width / 2;
int cy = ClientRectangle.Height / 2;
for ( int i = 0; i < pointsCount; i++ )
{
objectScenePoints[i] = ( perspectiveMatrix *
( viewMatrix *
( worldMatrix * objectPoints[i].ToVector4( ) ) ) ).ToVector3( );
projectedPoints[i] = new Accord.Point(
(int) ( cx * objectScenePoints[i].X ),
(int) ( cy * objectScenePoints[i].Y ) );
}
Invalidate( );
}
// One of the locate point button were clicked
private void locatePointButton_Click(object sender, EventArgs e)
{
pictureBox.Capture = true;
Button sourceButton = (Button)sender;
pointIndexToLocate = int.Parse((string)sourceButton.Tag);
pointPreviousValue = imagePoints[pointIndexToLocate];
imagePoints[pointIndexToLocate] = emptyPoint;
statusLabel.Text = string.Format("Locate point #{0} in the image ...", pointIndexToLocate + 1);
pictureBox.Invalidate();
}
// Mouse click on the image - accept new point or reject it (depending on mouse button)
private void pictureBox_MouseClick(object sender, MouseEventArgs e)
{
if (pointIndexToLocate != -1)
{
pictureBox.Cursor = Cursors.Default;
pictureBox.Capture = false;
statusLabel.Text = string.Empty;
if (e.Button == MouseButtons.Left)
{
int x = Math.Max(0, Math.Min(e.X, imageSize.Width - 1));
int y = Math.Max(0, Math.Min(e.Y, imageSize.Height - 1));
imagePoints[pointIndexToLocate] = new Accord.Point(x - imageSize.Width / 2, imageSize.Height / 2 - y);
TextBox imagePointTextBox = (TextBox)imagePointsGroupBox.Controls[string.Format("imagePoint{0}Box", pointIndexToLocate + 1)];
imagePointTextBox.Text = imagePoints[pointIndexToLocate].ToString();
}
else
{
imagePoints[pointIndexToLocate] = pointPreviousValue;
}
ClearEstimation();
pointIndexToLocate = -1;
pictureBox.Invalidate();
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Blob"/> class.
/// </summary>
///
/// <param name="source">Source blob to copy.</param>
///
/// <remarks><para>This copy constructor leaves <see cref="Image"/> property not initialized. The blob's
/// image may be extracted later using <see cref="BlobCounterBase.ExtractBlobsImage( Bitmap, Blob, bool )"/>
/// or <see cref="BlobCounterBase.ExtractBlobsImage( UnmanagedImage, Blob, bool )"/> method.</para></remarks>
///
public Blob(Blob source)
{
// copy everything except image
id = source.id;
rect = source.rect;
cog = source.cog;
area = source.area;
fullness = source.fullness;
colorMean = source.colorMean;
colorStdDev = source.colorStdDev;
}
/// <summary>
/// Gets two points defining the axis of the object.
/// </summary>
///
public LineSegment GetAxis(AxisOrientation axis)
{
double x1, y1;
double x2, y2;
if (axis == AxisOrientation.Horizontal)
{
y1 = Math.Cos(-Angle - Math.PI) * Rectangle.Height / 2.0;
x1 = Math.Sin(-Angle - Math.PI) * Rectangle.Width / 2.0;
y2 = Math.Cos(-Angle) * Rectangle.Height / 2.0;
x2 = Math.Sin(-Angle) * Rectangle.Width / 2.0;
}
else
{
y1 = Math.Cos(-(Angle + Math.PI / 2) - Math.PI) * Rectangle.Height / 2.0;
x1 = Math.Sin(-(Angle + Math.PI / 2) - Math.PI) * Rectangle.Width / 2.0;
y2 = Math.Cos(-(Angle + Math.PI / 2)) * Rectangle.Height / 2.0;
x2 = Math.Sin(-(Angle + Math.PI / 2)) * Rectangle.Width / 2.0;
}
Point start = new Point((float)(Center.X + x1), (float)(Center.Y + y1));
Point end = new Point((float)(Center.X + x2), (float)(Center.Y + y2));
if (start.DistanceTo(end) == 0)
return null;
return new LineSegment(start, end);
}
public void Load(string fileName)
{
FileStream strm = new FileStream(fileName, FileMode.Open);
StreamReader reader = new StreamReader(strm);
// read header
string rawLine = reader.ReadLine();
int counter = 0;
while ((rawLine = reader.ReadLine()) != null)
{
string[] elements = rawLine.Split(new string[] { ";" }, StringSplitOptions.RemoveEmptyEntries);
double parameter1 = Convert.ToDouble(elements[1]);
double parameter2 = Convert.ToDouble(elements[2]);
Line2D line = new Line2D(parameter1, parameter2, counter < m_rows);
if (counter < m_rows)
{
m_rowLines.Add(line);
}
else
{
m_columnLines.Add(line);
}
counter++;
}
// now do the intersections
for (int i = 0; i < m_rows; i++)
{
Line2D row = m_rowLines[i];
for (int j = 0; j < m_cols; j++)
{
Line2D column = m_columnLines[j];
Point? intersection = row.IntersectWith(column);
if (intersection != null)
{
m_gridPoints[i, j] = intersection.Value;
}
}
}
// now fill the polygons
RansacHomographyEstimator ransac = new RansacHomographyEstimator(0.001, 0.99);
for (int i = 0; i < m_rows - 1; i++)
{
for (int j = 0; j < m_cols - 1; j++)
{
m_polygons[i, j] = new Polygon2D();
m_polygons[i, j].Points.Add(m_gridPoints[i, j]);
m_polygons[i, j].Points.Add(m_gridPoints[i, j + 1]);
m_polygons[i, j].Points.Add(m_gridPoints[i + 1, j + 1]);
m_polygons[i, j].Points.Add(m_gridPoints[i + 1, j]);
if (Constants.DebugPrint)
{
Debug.WriteLine("\tPolygon:");
Debug.WriteLine("\t\t" + m_polygons[i, j].Points[0]);
Debug.WriteLine("\t\t" + m_polygons[i, j].Points[1]);
Debug.WriteLine("\t\t" + m_polygons[i, j].Points[2]);
Debug.WriteLine("\t\t" + m_polygons[i, j].Points[3]);
}
Accord.Point[] templatePts = new Accord.Point[4];
templatePts[0] = new Accord.Point(j / (float)(m_cols - 1), i / (float)(m_rows - 1));
templatePts[1] = new Accord.Point((j + 1) / (float)(m_cols - 1), i / (float)(m_rows - 1));
templatePts[2] = new Accord.Point((j + 1) / (float)(m_cols - 1), (i + 1) / (float)(m_rows - 1));
templatePts[3] = new Accord.Point(j / (float)(m_cols - 1), (i + 1) / (float)(m_rows - 1));
Accord.Point[] realPoints = new Accord.Point[4];
for (int k = 0; k < 4; k++)
{
realPoints[k] = new Accord.Point((float)m_polygons[i, j].Points[k].X, (float)m_polygons[i, j].Points[k].Y);
}
Accord.Point[][] matchedPoints = new Accord.Point[2][];
matchedPoints[1] = templatePts;
matchedPoints[0] = realPoints;
MatrixH homography = ransac.Estimate(matchedPoints);
m_homographies.Add(m_polygons[i, j], homography);
}
}
reader.Close();
reader.Dispose();
reader = null;
strm.Close();
strm.Dispose();
strm = null;
}
