private void buttonOK_Click(object sender, EventArgs e)
{
if (radioLeft.Checked)
{
_result = SideResult.LEFT;
}
else if (radioRight.Checked)
{
_result = SideResult.RIGHT;
}
else
{
_result = SideResult.CANCEL;
}
this.Close();
}
private SideResult GetCoords(bool leftSide)
{
var activePoints = leftSide ? LeftActivePoints : RightActivePoints;
var FastMotionHist = leftSide ? LeftFastMotionHist : RightFastMotionHist;
var SlowMotionHist = leftSide ? LeftSlowMotionHist : RightSlowMotionHist;
var StationaryHist = leftSide ? LeftStationaryHist : RightStationaryHist;
var prevSoln = leftSide ? LeftMostRecentSoln : RightMostRecentSoln;
//Fast tail
var fastTail = FastMotionHist
.FromPointList(FastMotionModel, activePoints)
.GetTail(TailPercent, AppSettings.Default.FastThreshold);
//Slow tail
var slowTail = SlowMotionHist
.FromPointList(SlowMotionModel, activePoints)
.GetTail(TailPercent, AppSettings.Default.SlowThreshold);
//Combine and then Median filter
slowTail.AddRange(fastTail);
var tailsDeNoised = slowTail.MedianFilter(radius: 1);
//Check for extremely slow - stationary
var statTail = StationaryHist
.FromPointList(StationaryModel, activePoints)
.GetTail(0.05, AppSettings.Default.StationaryThreshold);
//Pick the model with most points
tailsDeNoised = tailsDeNoised.Count > statTail.Count ? tailsDeNoised : statTail;
//Or if not even stationary's (e.g. very fast), bail with prev soln
if (tailsDeNoised.Count < 10)
{
return(prevSoln);
}
//Tips
//Centroid
var centroid = GetCentroid(tailsDeNoised);
//Crawl to tip
var crawlSurface = leftSide ? LeftCrawlSurface : RightCrawlSurface;
if (crawlSurface == null)
{
crawlSurface = new Frame(Space.StandardWidth, Space.StandardHeight);
if (leftSide)
{
LeftCrawlSurface = crawlSurface;
}
else
{
RightCrawlSurface = crawlSurface;
}
}
var pointList = tailsDeNoised.Select(p => p.Item1).ToList();
crawlSurface.ColorPixels(activePoints, Color.Yellow);
crawlSurface.ColorPixels(pointList, Color.White);
var ctr = new SpacePoint(Space)
.FromPriorSpace(new WPoint(leftSide ? -0.5 : 0.5, 0))
.StandardPoint;
//Could do with lookup table
var tip = CrawlToTip(crawlSurface, centroid, ctr, 1, AppSettings.Default.TipCrawlerRadius.Rounded(), AppSettings.Default.MaxTipCrawlerHop);
var baseLoc = CrawlToTip(crawlSurface, centroid, ctr, 1, AppSettings.Default.TipCrawlerRadius.Rounded(), AppSettings.Default.MaxTipCrawlerHop, crawlingAway: false);
//For Debugging
//crawlSurface.MarkPoint(baseLoc, inner: Color.Yellow, outer: Color.Black);
//crawlSurface.MarkPoint(centroid, outer: Color.Black);
//crawlSurface.MarkPoint(tip, inner: Color.Orange, outer: Color.Black);
//crawlSurface.MarkPoint(ctr, inner: Color.Purple, outer: Color.Black);
//Sectors
var sectors = ComputeSectorWeights(tailsDeNoised, Space.StandardWidth, Space.StandardHeight, Space.HeadAngle);
var result = new SideResult()
{
Tip = new SpacePoint(Space).FromStandardSpace(tip),
Base = new SpacePoint(Space).FromStandardSpace(baseLoc),
DetectedPoints = pointList.Select(sp => new SpacePoint(Space).FromStandardSpace(sp)).ToList(),
SectorCounts = sectors
};
if (leftSide)
{
LeftMostRecentSoln = result;
}
else
{
RightMostRecentSoln = result;
}
return(result);
}
private void buttonCancel_Click(object sender, EventArgs e)
{
_result = SideResult.CANCEL;
this.Close();
}
public SideSelector()
{
_result = SideResult.CANCEL;
InitializeComponent();
}
