/// <summary>
/// finds the interception points between grid lines
/// </summary>
private void poltLineIntercepts()
{
if (line != null)
{
// create an array to store the line intercepts
int intercepts_x = line[0].Count / 4;
int intercepts_y = line[1].Count / 4;
line_intercepts = new float[intercepts_x, intercepts_y, 2];
for (int i = 0; i < line[0].Count; i += 4)
{
// get the first line coordinates
ArrayList lines0 = line[0];
float x0 = (float)lines0[i];
float y0 = (float)lines0[i + 1];
float x1 = (float)lines0[i + 2];
float y1 = (float)lines0[i + 3];
for (int j = 0; j < line[1].Count; j += 4)
{
// get the second line coordinates
ArrayList lines1 = line[1];
float x2 = (float)lines1[j];
float y2 = (float)lines1[j + 1];
float x3 = (float)lines1[j + 2];
float y3 = (float)lines1[j + 3];
// find the interception between the two lines
float ix = 0, iy = 0;
geometry.intersection(x0, y0, x1, y1, x2, y2, x3, y3, ref ix, ref iy);
// store the intercept position
line_intercepts[i / 4, j / 4, 0] = ix;
line_intercepts[i / 4, j / 4, 1] = iy;
}
}
// update the perimeter
border_perimeter = new polygon2D();
float xx = line_intercepts[0, 0, 0];
float yy = line_intercepts[0, 0, 1];
border_perimeter.Add(xx, yy);
xx = line_intercepts[intercepts_x - 1, 0, 0];
yy = line_intercepts[intercepts_x - 1, 0, 1];
border_perimeter.Add(xx, yy);
xx = line_intercepts[intercepts_x - 1, intercepts_y - 1, 0];
yy = line_intercepts[intercepts_x - 1, intercepts_y - 1, 1];
border_perimeter.Add(xx, yy);
xx = line_intercepts[0, intercepts_y - 1, 0];
yy = line_intercepts[0, intercepts_y - 1, 1];
border_perimeter.Add(xx, yy);
}
}
/// <summary>
/// simple function used to test grid creation
/// </summary>
/// <param name="filename">filename of the test image to be created</param>
public static void Test(string filename)
{
int image_width = 640;
int image_height = 480;
int dimension_x = 10;
int dimension_y = 10;
Bitmap bmp = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
byte[] img = new byte[image_width * image_height * 3];
polygon2D test_poly;
grid2D grid;
test_poly = new polygon2D();
test_poly.Add(image_width * 15 / 100, image_height * 20 / 100);
test_poly.Add(image_width * 40 / 100, image_height * 20 / 100);
test_poly.Add(image_width * 40 / 100, image_height * 40 / 100);
test_poly.Add(image_width * 15 / 100, image_height * 40 / 100);
grid = new grid2D(dimension_x, dimension_y, test_poly, 0, false);
grid.ShowLines(img, image_width, image_height, 0, 255, 0, 0);
int half_width = image_width / 2;
test_poly = new polygon2D();
test_poly.Add(half_width + (image_width * 20 / 100), image_height * 20 / 100);
test_poly.Add(half_width + (image_width * 35 / 100), image_height * 20 / 100);
test_poly.Add(half_width + (image_width * 40 / 100), image_height * 40 / 100);
test_poly.Add(half_width + (image_width * 15 / 100), image_height * 40 / 100);
grid = new grid2D(dimension_x, dimension_y, test_poly, 0, false);
grid.ShowLines(img, image_width, image_height, 0, 255, 0, 0);
int half_height = image_height / 2;
test_poly = new polygon2D();
test_poly.Add(image_width * 15 / 100, half_height + (image_height * 24 / 100));
test_poly.Add(image_width * 40 / 100, half_height + (image_height * 20 / 100));
test_poly.Add(image_width * 40 / 100, half_height + (image_height * 40 / 100));
test_poly.Add(image_width * 15 / 100, half_height + (image_height * 36 / 100));
grid = new grid2D(dimension_x, dimension_y, test_poly, 0, false);
grid.ShowLines(img, image_width, image_height, 0, 255, 0, 0);
test_poly = new polygon2D();
test_poly.Add(half_width + (image_width * 20 / 100), half_height + (image_height * 24 / 100));
test_poly.Add(half_width + (image_width * 35 / 100), half_height + (image_height * 20 / 100));
test_poly.Add(half_width + (image_width * 40 / 100), half_height + (image_height * 40 / 100));
test_poly.Add(half_width + (image_width * 15 / 100), half_height + (image_height * 36 / 100));
grid = new grid2D(dimension_x, dimension_y, test_poly, 0, false);
grid.ShowLines(img, image_width, image_height, 0, 255, 0, 0);
BitmapArrayConversions.updatebitmap_unsafe(img, bmp);
bmp.Save(filename);
}
private void Snake(bool[,] binary_image, bool BlackOnWhite,
int max_itterations,
Random rnd)
{
bool SnakeComplete = false;
//set the initial parameters for the snake
prevSnakeStationaryPoints = 0;
snakeStationary = 0;
// itterate until the snake can get no smaller
int i = 0;
while ((!SnakeComplete) && (i < max_itterations))
{
SnakeComplete = Update(binary_image, BlackOnWhite, elasticity, gravity, rnd);
i++;
}
// create a new polygon shape
shape = new polygon2D();
for (i = 0; i < no_of_points; i++)
{
shape.Add((int)SnakePoint[i, SNAKE_X], (int)SnakePoint[i, SNAKE_Y]);
}
}
/// <summary>
/// creates a circle shape
/// </summary>
/// <param name="centre_x">
/// centre x coordinate of the circle <see cref="System.Single"/>
/// </param>
/// <param name="centre_y">
/// centre y coordinate of the circle <see cref="System.Single"/>
/// </param>
/// <param name="radius">
/// radius of the circle <see cref="System.Single"/>
/// </param>
/// <param name="circumference_steps">
/// number of steps to use when drawing the circle <see cref="System.Int32"/>
/// </param>
/// <returns>
/// polygon representing a circle <see cref="polygon2D"/>
/// </returns>
public static polygon2D CreateCircle(float centre_x, float centre_y,
float radius, int circumference_steps)
{
polygon2D circle = new polygon2D();
for (int i = 0; i < circumference_steps; i++)
{
float angle = i * (float)Math.PI * 2 / circumference_steps;
float x = centre_x + (radius * (float)Math.Sin(angle));
float y = centre_y + (radius * (float)Math.Cos(angle));
circle.Add(x, y);
}
return(circle);
}
/// <summary>
/// detects a square around the centre dot on the calibration pattern
/// </summary>
/// <param name="dots">detected dots</param>
/// <param name="centredots">returned dots belonging to the centre square</param>
/// <returns>centre square</returns>
private static polygon2D GetCentreSquare(hypergraph dots,
ref List<CalibrationDot> centredots)
{
centredots = new List<CalibrationDot>();
// find the centre dot
CalibrationDot centre = null;
int i = 0;
while ((i < dots.Nodes.Count) && (centre == null))
{
CalibrationDot dot = (CalibrationDot)dots.Nodes[i];
if (dot.centre) centre = dot;
i++;
}
// look for the four surrounding dots
List<CalibrationDot> centre_dots = new List<CalibrationDot>();
List<double> distances = new List<double>();
i = 0;
for (i = 0; i < dots.Nodes.Count; i++)
{
CalibrationDot dot = (CalibrationDot)dots.Nodes[i];
if (!dot.centre)
{
double dx = dot.x - centre.x;
double dy = dot.y - centre.y;
double dist = Math.Sqrt(dx * dx + dy * dy);
if (distances.Count == 4)
{
int index = -1;
double max_dist = 0;
for (int j = 0; j < 4; j++)
{
if (distances[j] > max_dist)
{
index = j;
max_dist = distances[j];
}
}
if (dist < max_dist)
{
distances[index] = dist;
centre_dots[index] = dot;
}
}
else
{
distances.Add(dist);
centre_dots.Add(dot);
}
}
}
polygon2D centre_square = null;
if (centre_dots.Count == 4)
{
centre_square = new polygon2D();
for (i = 0; i < 4; i++)
centre_square.Add(0, 0);
double xx = centre.x;
double yy = centre.y;
int index = 0;
for (i = 0; i < 4; i++)
{
if ((centre_dots[i].x < xx) &&
(centre_dots[i].y < yy))
{
xx = centre_dots[i].x;
yy = centre_dots[i].y;
centre_square.x_points[0] = (float)xx;
centre_square.y_points[0] = (float)yy;
index = i;
}
}
centredots.Add(centre_dots[index]);
xx = centre.x;
yy = centre.y;
for (i = 0; i < 4; i++)
{
if ((centre_dots[i].x > xx) &&
(centre_dots[i].y < yy))
{
xx = centre_dots[i].x;
yy = centre_dots[i].y;
centre_square.x_points[1] = (float)xx;
centre_square.y_points[1] = (float)yy;
index = i;
}
}
centredots.Add(centre_dots[index]);
xx = centre.x;
yy = centre.y;
for (i = 0; i < 4; i++)
{
if ((centre_dots[i].x > xx) &&
(centre_dots[i].y > yy))
{
xx = centre_dots[i].x;
yy = centre_dots[i].y;
centre_square.x_points[2] = (float)xx;
centre_square.y_points[2] = (float)yy;
index = i;
}
}
centredots.Add(centre_dots[index]);
xx = centre.x;
yy = centre.y;
for (i = 0; i < 4; i++)
{
if ((centre_dots[i].x < xx) &&
(centre_dots[i].y > yy))
{
xx = centre_dots[i].x;
yy = centre_dots[i].y;
centre_square.x_points[3] = (float)xx;
centre_square.y_points[3] = (float)yy;
index = i;
}
}
centredots.Add(centre_dots[index]);
}
return (centre_square);
}
/// <summary>
/// returns an ideally spaced grid over the actual detected spots
/// </summary>
/// <param name="grid"></param>
/// <returns></returns>
private static grid2D OverlayIdealGrid(CalibrationDot[,] grid,
List<CalibrationDot> corners,
ref int grid_offset_x, ref int grid_offset_y,
int random_seed)
{
grid2D overlay_grid = null;
int grid_tx = -1;
int grid_ty = -1;
int grid_bx = -1;
int grid_by = -1;
int offset_x = 0;
int offset_y = 0;
bool found = false;
int max_region_area = 0;
// try searching horizontally and vertically
// then pick the result with the greatest area
for (int test_orientation = 0; test_orientation < 2; test_orientation++)
{
bool temp_found = false;
int temp_grid_tx = -1;
int temp_grid_ty = -1;
int temp_grid_bx = -1;
int temp_grid_by = -1;
int temp_offset_x = 0;
int temp_offset_y = 0;
switch (test_orientation)
{
case 0:
{
while ((temp_offset_y < 5) && (!temp_found))
{
temp_offset_x = 0;
while ((temp_offset_x < 3) && (!temp_found))
{
temp_grid_tx = temp_offset_x;
temp_grid_ty = temp_offset_y;
temp_grid_bx = grid.GetLength(0) - 1 - temp_offset_x;
temp_grid_by = grid.GetLength(1) - 1 - temp_offset_y;
if ((temp_grid_bx < grid.GetLength(0)) &&
(temp_grid_tx < grid.GetLength(0)) &&
(temp_grid_by < grid.GetLength(1)) &&
(temp_grid_ty < grid.GetLength(1)) &&
(temp_grid_ty >= 0) &&
(temp_grid_by >= 0) &&
(temp_grid_tx >= 0) &&
(temp_grid_bx >= 0))
{
if ((grid[temp_grid_tx, temp_grid_ty] != null) &&
(grid[temp_grid_bx, temp_grid_ty] != null) &&
(grid[temp_grid_bx, temp_grid_by] != null) &&
(grid[temp_grid_tx, temp_grid_by] != null))
{
temp_found = true;
}
}
temp_offset_x++;
}
temp_offset_y++;
}
break;
}
case 1:
{
while ((temp_offset_x < 3) && (!temp_found))
{
temp_offset_y = 0;
while ((temp_offset_y < 5) && (!temp_found))
{
temp_grid_tx = temp_offset_x;
temp_grid_ty = temp_offset_y;
temp_grid_bx = grid.GetLength(0) - 1 - temp_offset_x;
temp_grid_by = grid.GetLength(1) - 1 - temp_offset_y;
if ((temp_grid_bx < grid.GetLength(0)) &&
(temp_grid_tx < grid.GetLength(0)) &&
(temp_grid_by < grid.GetLength(1)) &&
(temp_grid_ty < grid.GetLength(1)) &&
(temp_grid_ty >= 0) &&
(temp_grid_by >= 0) &&
(temp_grid_tx >= 0) &&
(temp_grid_bx >= 0))
{
if ((grid[temp_grid_tx, temp_grid_ty] != null) &&
(grid[temp_grid_bx, temp_grid_ty] != null) &&
(grid[temp_grid_bx, temp_grid_by] != null) &&
(grid[temp_grid_tx, temp_grid_by] != null))
{
temp_found = true;
}
}
temp_offset_y++;
}
temp_offset_x++;
}
break;
}
}
temp_offset_y = temp_grid_ty - 1;
while (temp_offset_y >= 0)
{
if ((temp_offset_y < grid.GetLength(1)) &&
(temp_offset_y >= 0))
{
if ((grid[temp_grid_tx, temp_offset_y] != null) &&
(grid[temp_grid_bx, temp_offset_y] != null))
{
temp_grid_ty = temp_offset_y;
temp_offset_y--;
}
else break;
}
else break;
}
temp_offset_y = temp_grid_by + 1;
while (temp_offset_y < grid.GetLength(1))
{
if ((temp_offset_y < grid.GetLength(1)) &&
(temp_offset_y >= 0))
{
if ((grid[temp_grid_tx, temp_offset_y] != null) &&
(grid[temp_grid_bx, temp_offset_y] != null))
{
temp_grid_by = temp_offset_y;
temp_offset_y++;
}
else break;
}
else break;
}
if (temp_found)
{
int region_area = (temp_grid_bx - temp_grid_tx) * (temp_grid_by - temp_grid_ty);
if (region_area > max_region_area)
{
max_region_area = region_area;
found = true;
grid_tx = temp_grid_tx;
grid_ty = temp_grid_ty;
grid_bx = temp_grid_bx;
grid_by = temp_grid_by;
offset_x = temp_offset_x;
offset_y = temp_offset_y;
}
}
}
if (found)
{
// record the positions of the corners
corners.Add(grid[grid_tx, grid_ty]);
corners.Add(grid[grid_bx, grid_ty]);
corners.Add(grid[grid_bx, grid_by]);
corners.Add(grid[grid_tx, grid_by]);
double dx, dy;
double x0 = grid[grid_tx, grid_ty].x;
double y0 = grid[grid_tx, grid_ty].y;
double x1 = grid[grid_bx, grid_ty].x;
double y1 = grid[grid_bx, grid_ty].y;
double x2 = grid[grid_tx, grid_by].x;
double y2 = grid[grid_tx, grid_by].y;
double x3 = grid[grid_bx, grid_by].x;
double y3 = grid[grid_bx, grid_by].y;
polygon2D perimeter = new polygon2D();
perimeter.Add((float)x0, (float)y0);
perimeter.Add((float)x1, (float)y1);
perimeter.Add((float)x3, (float)y3);
perimeter.Add((float)x2, (float)y2);
int grid_width = grid_bx - grid_tx;
int grid_height = grid_by - grid_ty;
int min_hits = 0;
double min_dx = 0, min_dy = 0;
// try various perimeter sizes
double min_dist = double.MaxValue;
int max_perim_size_tries = 100;
polygon2D best_perimeter = perimeter;
Random rnd = new Random(random_seed);
for (int perim_size = 0; perim_size < max_perim_size_tries; perim_size++)
{
// try a small range of translations
for (int nudge_x = -10; nudge_x <= 10; nudge_x++)
{
for (int nudge_y = -5; nudge_y <= 5; nudge_y++)
{
// create a perimeter at this scale and translation
polygon2D temp_perimeter = perimeter.Scale(1.0f + (perim_size * 0.1f / max_perim_size_tries));
temp_perimeter = temp_perimeter.ScaleSideLength(0, 0.95f + ((float)rnd.NextDouble() * 0.1f));
temp_perimeter = temp_perimeter.ScaleSideLength(2, 0.95f + ((float)rnd.NextDouble() * 0.1f));
for (int i = 0; i < temp_perimeter.x_points.Count; i++)
{
temp_perimeter.x_points[i] += nudge_x;
temp_perimeter.y_points[i] += nudge_y;
}
// create a grid based upon the perimeter
grid2D temp_overlay_grid = new grid2D(grid_width, grid_height, temp_perimeter, 0, false);
// how closely does the grid fit the actual observations ?
double temp_min_dist = min_dist;
BestFit(grid_tx, grid_ty, grid,
temp_overlay_grid, ref min_dist,
ref min_dx, ref min_dy, ref min_hits,
ref grid_offset_x, ref grid_offset_y);
// record the closest fit
if (temp_min_dist < min_dist)
{
best_perimeter = temp_perimeter;
overlay_grid = temp_overlay_grid;
}
}
}
}
if (min_hits > 0)
{
dx = min_dx;
dy = min_dy;
Console.WriteLine("dx: " + dx.ToString());
Console.WriteLine("dy: " + dy.ToString());
x0 += dx;
y0 += dy;
x1 += dx;
y1 += dy;
x2 += dx;
y2 += dy;
x3 += dx;
y3 += dy;
perimeter = new polygon2D();
perimeter.Add((float)x0, (float)y0);
perimeter.Add((float)x1, (float)y1);
perimeter.Add((float)x3, (float)y3);
perimeter.Add((float)x2, (float)y2);
overlay_grid = new grid2D(grid_width, grid_height, perimeter, 0, false);
}
}
return (overlay_grid);
}
/// <summary>
/// simple function used to test grid creation
/// </summary>
/// <param name="filename">filename of the test image to be created</param>
public static void Test(string filename)
{
int image_width = 640;
int image_height = 480;
int dimension_x = 10;
int dimension_y = 10;
Bitmap bmp = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
byte[] img = new byte[image_width * image_height * 3];
polygon2D test_poly;
grid2D grid;
test_poly = new polygon2D();
test_poly.Add(image_width * 15 / 100, image_height * 20 / 100);
test_poly.Add(image_width * 40 / 100, image_height * 20 / 100);
test_poly.Add(image_width * 40 / 100, image_height * 40 / 100);
test_poly.Add(image_width * 15 / 100, image_height * 40 / 100);
grid = new grid2D(dimension_x, dimension_y, test_poly, 0, false);
grid.ShowLines(img, image_width, image_height, 0, 255, 0, 0);
int half_width = image_width / 2;
test_poly = new polygon2D();
test_poly.Add(half_width + (image_width * 20 / 100), image_height * 20 / 100);
test_poly.Add(half_width + (image_width * 35 / 100), image_height * 20 / 100);
test_poly.Add(half_width + (image_width * 40 / 100), image_height * 40 / 100);
test_poly.Add(half_width + (image_width * 15 / 100), image_height * 40 / 100);
grid = new grid2D(dimension_x, dimension_y, test_poly, 0, false);
grid.ShowLines(img, image_width, image_height, 0, 255, 0, 0);
int half_height = image_height / 2;
test_poly = new polygon2D();
test_poly.Add(image_width * 15 / 100, half_height + (image_height * 24 / 100));
test_poly.Add(image_width * 40 / 100, half_height + (image_height * 20 / 100));
test_poly.Add(image_width * 40 / 100, half_height + (image_height * 40 / 100));
test_poly.Add(image_width * 15 / 100, half_height + (image_height * 36 / 100));
grid = new grid2D(dimension_x, dimension_y, test_poly, 0, false);
grid.ShowLines(img, image_width, image_height, 0, 255, 0, 0);
test_poly = new polygon2D();
test_poly.Add(half_width + (image_width * 20 / 100), half_height + (image_height * 24 / 100));
test_poly.Add(half_width + (image_width * 35 / 100), half_height + (image_height * 20 / 100));
test_poly.Add(half_width + (image_width * 40 / 100), half_height + (image_height * 40 / 100));
test_poly.Add(half_width + (image_width * 15 / 100), half_height + (image_height * 36 / 100));
grid = new grid2D(dimension_x, dimension_y, test_poly, 0, false);
grid.ShowLines(img, image_width, image_height, 0, 255, 0, 0);
BitmapArrayConversions.updatebitmap_unsafe(img, bmp);
bmp.Save(filename);
}
/// <summary>
/// finds the interception points between grid lines
/// </summary>
private void poltLineIntercepts()
{
if (line != null)
{
// create an array to store the line intercepts
int intercepts_x = line[0].Count/4;
int intercepts_y = line[1].Count/4;
line_intercepts = new float[intercepts_x, intercepts_y, 2];
for (int i = 0; i < line[0].Count; i += 4)
{
// get the first line coordinates
ArrayList lines0 = line[0];
float x0 = (float)lines0[i];
float y0 = (float)lines0[i + 1];
float x1 = (float)lines0[i + 2];
float y1 = (float)lines0[i + 3];
for (int j = 0; j < line[1].Count; j += 4)
{
// get the second line coordinates
ArrayList lines1 = line[1];
float x2 = (float)lines1[j];
float y2 = (float)lines1[j + 1];
float x3 = (float)lines1[j + 2];
float y3 = (float)lines1[j + 3];
// find the interception between the two lines
float ix = 0, iy = 0;
geometry.intersection(x0, y0, x1, y1, x2, y2, x3, y3, ref ix, ref iy);
// store the intercept position
line_intercepts[i/4, j/4, 0] = ix;
line_intercepts[i/4, j/4, 1] = iy;
}
}
// update the perimeter
border_perimeter = new polygon2D();
float xx = line_intercepts[0, 0, 0];
float yy = line_intercepts[0, 0, 1];
border_perimeter.Add(xx, yy);
xx = line_intercepts[intercepts_x - 1, 0, 0];
yy = line_intercepts[intercepts_x - 1, 0, 1];
border_perimeter.Add(xx, yy);
xx = line_intercepts[intercepts_x - 1, intercepts_y - 1, 0];
yy = line_intercepts[intercepts_x - 1, intercepts_y - 1, 1];
border_perimeter.Add(xx, yy);
xx = line_intercepts[0, intercepts_y - 1, 0];
yy = line_intercepts[0, intercepts_y - 1, 1];
border_perimeter.Add(xx, yy);
}
}
/// <summary>
/// constructor
/// </summary>
/// <param name="dimension_x">number of cells across the grid</param>
/// <param name="dimension_y">number of cells down the grid</param>
/// <param name="cx">centre of the grid</param>
/// <param name="cy">centre of the grid</param>
/// <param name="orientation">orientation of the grid in radians</param>
/// <param name="average_spacing_x">grid spacing in the x axis</param>
/// <param name="average_spacing_y">grid spacing in the y axis</param>
/// <param name="phase_offset_x">phase offset in the x axis</param>
/// <param name="phase_offset_y">phase offset in the y axis</param>
/// <param name="border_cells">number of cells to use as a border around the grid</param>
public grid2D(int dimension_x, int dimension_y,
float cx, float cy,
float orientation,
float average_spacing_x, float average_spacing_y,
float phase_offset_x, float phase_offset_y,
int border_cells,
bool orientation_simple)
{
// create a perimeter region
polygon2D perimeter = new polygon2D();
float length_x = average_spacing_x * dimension_x;
float length_y = average_spacing_y * dimension_y;
float half_length_x = length_x / 2;
float half_length_y = length_y / 2;
// adjust for phase
cx += (average_spacing_x * phase_offset_x / (2 * (float)Math.PI)) * (float)Math.Sin(orientation);
cy -= (average_spacing_y * phase_offset_y / (2 * (float)Math.PI)) * (float)Math.Cos(orientation);
// find the mid point of the top line
float px1 = cx + (half_length_y * (float)Math.Sin(orientation));
float py1 = cy + (half_length_y * (float)Math.Cos(orientation));
// find the top left vertex
float x0 = px1 + (half_length_x * (float)Math.Sin(orientation - (float)(Math.PI / 2)));
float y0 = py1 + (half_length_x * (float)Math.Cos(orientation - (float)(Math.PI / 2)));
// find the top right vertex
float x1 = px1 + (half_length_x * (float)Math.Sin(orientation + (float)(Math.PI / 2)));
float y1 = py1 + (half_length_x * (float)Math.Cos(orientation + (float)(Math.PI / 2)));
// find the bottom vertices by mirroring around the centre
float x2 = cx + (cx - x0);
float y2 = cy + (cy - y0);
float x3 = cx - (x1 - cx);
float y3 = cy - (y1 - cy);
// update polygon with the perimeter vertices
perimeter.Add(x0, y0);
perimeter.Add(x1, y1);
perimeter.Add(x2, y2);
perimeter.Add(x3, y3);
int dim_x = dimension_x;
int dim_y = dimension_y;
float first_side_length = perimeter.getSideLength(0);
float second_side_length = perimeter.getSideLength(1);
if (((dimension_x > dimension_y + 2) &&
(second_side_length > first_side_length)) ||
((dimension_y > dimension_x + 2) &&
(first_side_length > second_side_length)))
{
dim_x = dimension_y;
dim_y = dimension_x;
}
// initialise using this perimeter
init(dim_x, dim_y, perimeter, border_cells, orientation_simple);
}
/// <summary>
/// returns an ideal grid with perfectly regular spacing
/// </summary>
/// <param name="grid"></param>
/// <param name="image_width"></param>
/// <param name="image_height"></param>
/// <returns>
/// </returns>
private static grid2D GetIdealGrid(CalibrationDot[,] grid,
int image_width, int image_height)
{
grid2D ideal_grid = null;
float ideal_spacing = 0;
double centre_x = image_width / 2;
double centre_y = image_height / 2;
double min_dist = double.MaxValue;
int grid_cx=0, grid_cy=0;
for (int x = 0; x < grid.GetLength(0); x++)
{
for (int y = 0; y < grid.GetLength(1); y++)
{
if (grid[x, y] != null)
{
double dx = grid[x, y].x - centre_x;
double dy = grid[x, y].y - centre_y;
double dist = dx*dx + dy*dy;
if (dist < min_dist)
{
min_dist = dist;
grid_cx = x;
grid_cy = y;
}
}
}
}
if (grid_cx > 0)
{
int[] orientation_histogram = new int[361];
List<double>[] orientations = new List<double>[361];
double average_dist = 0;
int hits = 0;
int local_search = 2;
for (int x = grid_cx - local_search; x <= grid_cx + local_search; x++)
{
if ((x >= 0) && (x < grid.GetLength(0)-1))
{
for (int y = grid_cy - local_search; y <= grid_cy + local_search; y++)
{
if ((y >= 1) && (y < grid.GetLength(1)-1))
{
if (grid[x, y] != null)
{
for (int i = 0; i < grid[x, y].Links.Count; i++)
{
CalibrationLink link = (CalibrationLink)grid[x, y].Links[i];
CalibrationDot from_dot = (CalibrationDot)link.From;
double dx = grid[x, y].x - from_dot.x;
double dy = grid[x, y].y - from_dot.y;
double dist = Math.Sqrt(dx*dx + dy*dy);
if (dist > 0)
{
double orientation = Math.Asin(dx / dist);
if (orientation < 0) orientation += Math.PI;
if (dy < 0) orientation = (Math.PI * 2) - orientation;
orientation = orientation / Math.PI * 180;
int bucket = (int)orientation;
orientation_histogram[bucket]++;
if (orientations[bucket] == null) orientations[bucket] = new List<double>();
orientations[bucket].Add(orientation);
average_dist += Math.Sqrt(dx*dx + dy*dy);
hits++;
}
}
}
}
}
}
}
if (hits > 0) average_dist = average_dist / hits;
ideal_spacing = (float)average_dist;
int max_orientation_response = 0;
int best_ang = 0;
for (int ang = 0; ang < 90; ang++)
{
int response = orientation_histogram[ang] +
orientation_histogram[ang + 90] +
orientation_histogram[ang + 180];
if (response > max_orientation_response)
{
max_orientation_response = response;
best_ang = ang;
}
}
double average_orientation = 0;
hits = 0;
for (int offset = 0; offset < 3; offset++)
{
if (orientations[best_ang + offset] != null)
{
for (int ang = 0; ang < orientations[best_ang + offset].Count; ang++)
{
average_orientation += orientations[best_ang + offset][ang] - (Math.PI*offset/2);
hits++;
}
}
}
if (hits > 0)
{
average_orientation /= hits;
float pattern_orientation = (float)average_orientation;
float offset_x = (float)grid[grid_cx, grid_cy].x;
float offset_y = (float)grid[grid_cx, grid_cy].y;
float r = ideal_spacing * dots_across;
polygon2D perimeter = new polygon2D();
perimeter.Add(-r + offset_x, -r + offset_y);
perimeter.Add(r + offset_x, -r + offset_y);
perimeter.Add(r + offset_x, r + offset_y);
perimeter.Add(-r + offset_x, r + offset_y);
perimeter.rotate((float)average_orientation / 180 * (float)Math.PI, offset_x, offset_y);
ideal_grid = new grid2D(dots_across*2, dots_across*2, perimeter, 0, false);
int grid_width = grid.GetLength(0);
int grid_height = grid.GetLength(1);
int idx = 0;
int xx=0, yy=0;
float ideal_x, ideal_y;
for (int orient = 0; orient < 8; orient++)
{
for (int x = 0; x < grid_width; x++)
{
for (int y = 0; y < grid_height; y++)
{
if (grid[x, y] != null)
{
switch(orient)
{
case 0:
{
xx = (x - grid_cx) + dots_across;
yy = (y - grid_cy) + dots_across;
break;
}
case 1:
{
xx = (x - grid_cx) + dots_across;
yy = (grid_cy - y) + dots_across;
break;
}
case 2:
{
xx = (grid_cx - x) + dots_across;
yy = (y - grid_cy) + dots_across;
break;
}
case 3:
{
xx = (grid_cx - x) + dots_across;
yy = (grid_cy - y) + dots_across;
break;
}
case 4:
{
xx = (y - grid_cy) + dots_across;
yy = (x - grid_cx) + dots_across;
break;
}
case 5:
{
xx = (y - grid_cy) + dots_across;
yy = (grid_cx - x) + dots_across;
break;
}
case 6:
{
xx = (grid_cy - y) + dots_across;
yy = (x - grid_cx) + dots_across;
break;
}
case 7:
{
xx = (grid_cy - y) + dots_across;
yy = (grid_cx - x) + dots_across;
break;
}
}
if ((xx >= 0) && (xx < ideal_grid.cell.Length) &&
(yy >= 0) && (yy < ideal_grid.cell[0].Length))
{
ideal_x = ideal_grid.cell[xx][yy].perimeter.x_points[idx];
ideal_y = ideal_grid.cell[xx][yy].perimeter.y_points[idx];
if (orient == 0)
{
grid[x, y].rectified_x = ideal_x;
grid[x, y].rectified_y = ideal_y;
}
else
{
double diff_x1 = grid[x, y].rectified_x - grid[x, y].x;
double diff_y1 = grid[x, y].rectified_y - grid[x, y].y;
double dist1 = diff_x1*diff_x1 + diff_y1*diff_y1;
double diff_x2 = ideal_x - grid[x, y].x;
double diff_y2 = ideal_y - grid[x, y].y;
double dist2 = diff_x2*diff_x2 + diff_y2*diff_y2;
if (dist2 < dist1)
{
grid[x, y].rectified_x = ideal_x;
grid[x, y].rectified_y = ideal_y;
}
}
}
}
}
}
}
}
}
return(ideal_grid);
}
/// <summary>
/// returns a copy of the polygon
/// </summary>
/// <returns></returns>
public polygon2D Copy()
{
polygon2D new_poly = new polygon2D();
new_poly.name = name;
new_poly.type = type;
new_poly.occupied = occupied;
if (x_points != null)
{
for (int i = 0; i < x_points.Count; i++)
{
float x = x_points[i];
float y = y_points[i];
new_poly.Add(x, y);
}
}
return (new_poly);
}
/// <summary>
/// scale the polygon to a new image size
/// </summary>
/// <param name="original_image_width"></param>
/// <param name="original_image_height"></param>
/// <param name="new_image_width"></param>
/// <param name="new_image_height"></param>
/// <returns></returns>
public polygon2D Scale(int original_image_width, int original_image_height,
int new_image_width, int new_image_height)
{
polygon2D rescaled = new polygon2D();
for (int i = 0; i < x_points.Count; i++)
{
float x = x_points[i] * new_image_width / original_image_width;
float y = y_points[i] * new_image_height / original_image_height;
rescaled.Add(x, y);
}
return (rescaled);
}
/// <summary>
/// return a scaled version of the polygon
/// </summary>
/// <param name="factor"></param>
/// <returns></returns>
public polygon2D Scale(float factor)
{
polygon2D rescaled = new polygon2D();
float centre_x = 0, centre_y = 0;
getCentreOfGravity(ref centre_x, ref centre_y);
for (int i = 0; i < x_points.Count; i++)
{
float dx = x_points[i] - centre_x;
float dy = y_points[i] - centre_y;
float x = (float)(centre_x + (dx * factor));
float y = (float)(centre_y + (dy * factor));
rescaled.Add(x, y);
}
return (rescaled);
}
/// <summary>
/// snaps the vertices of the polygon to a grid having the given spacing
/// </summary>
/// <param name="grid_spacing">spacing of the grid</param>
/// <returns>fitted polygon</returns>
public polygon2D SnapToGrid(float grid_spacing)
{
polygon2D result = new polygon2D();
if (x_points != null)
{
for (int i = 0; i < x_points.Count; i++)
{
float x = x_points[i] / grid_spacing;
x = (float)Math.Round(x) * grid_spacing;
float y = y_points[i] / grid_spacing;
y = (float)Math.Round(y) * grid_spacing;
result.Add(x, y);
}
}
return (result);
/// <summary>
/// returns a copy of this polygon with each vetex randomly perturbed
/// </summary>
/// <param name="max_displacement">
/// maximum perturbation <see cref="System.Single"/>
/// </param>
/// <param name="rnd">
/// random number generator <see cref="Random"/>
/// </param>
/// <returns>
/// polygon object <see cref="polygon2D"/>
/// </returns>
public polygon2D Jiggle(float max_displacement, Random rnd)
{
polygon2D result = null;
if (x_points != null)
{
result = new polygon2D();
float max = max_displacement*2;
for (int i = 0; i < x_points.Count; i++)
{
float jiggled_x = x_points[i] + ((float)rnd.NextDouble() * max) - max_displacement;
float jiggled_y = x_points[i] + ((float)rnd.NextDouble() * max) - max_displacement;
result.Add(jiggled_x, jiggled_y);
}
}
return(result);
}
/// <summary>
/// constructor
/// </summary>
/// <param name="dimension_x">number of cells across the grid</param>
/// <param name="dimension_y">number of cells down the grid</param>
/// <param name="cx">centre of the grid</param>
/// <param name="cy">centre of the grid</param>
/// <param name="orientation">orientation of the grid in radians</param>
/// <param name="average_spacing_x">grid spacing in the x axis</param>
/// <param name="average_spacing_y">grid spacing in the y axis</param>
/// <param name="phase_offset_x">phase offset in the x axis</param>
/// <param name="phase_offset_y">phase offset in the y axis</param>
/// <param name="border_cells">number of cells to use as a border around the grid</param>
public grid2D(int dimension_x, int dimension_y,
float cx, float cy,
float orientation,
float average_spacing_x, float average_spacing_y,
float phase_offset_x, float phase_offset_y,
int border_cells,
bool orientation_simple)
{
// create a perimeter region
polygon2D perimeter = new polygon2D();
float length_x = average_spacing_x * dimension_x;
float length_y = average_spacing_y * dimension_y;
float half_length_x = length_x / 2;
float half_length_y = length_y / 2;
// adjust for phase
cx += (average_spacing_x * phase_offset_x / (2 * (float)Math.PI)) * (float)Math.Sin(orientation);
cy -= (average_spacing_y * phase_offset_y / (2 * (float)Math.PI)) * (float)Math.Cos(orientation);
// find the mid point of the top line
float px1 = cx + (half_length_y * (float)Math.Sin(orientation));
float py1 = cy + (half_length_y * (float)Math.Cos(orientation));
// find the top left vertex
float x0 = px1 + (half_length_x * (float)Math.Sin(orientation - (float)(Math.PI / 2)));
float y0 = py1 + (half_length_x * (float)Math.Cos(orientation - (float)(Math.PI / 2)));
// find the top right vertex
float x1 = px1 + (half_length_x * (float)Math.Sin(orientation + (float)(Math.PI / 2)));
float y1 = py1 + (half_length_x * (float)Math.Cos(orientation + (float)(Math.PI / 2)));
// find the bottom vertices by mirroring around the centre
float x2 = cx + (cx - x0);
float y2 = cy + (cy - y0);
float x3 = cx - (x1 - cx);
float y3 = cy - (y1 - cy);
// update polygon with the perimeter vertices
perimeter.Add(x0, y0);
perimeter.Add(x1, y1);
perimeter.Add(x2, y2);
perimeter.Add(x3, y3);
int dim_x = dimension_x;
int dim_y = dimension_y;
float first_side_length = perimeter.getSideLength(0);
float second_side_length = perimeter.getSideLength(1);
if (((dimension_x > dimension_y + 2) &&
(second_side_length > first_side_length)) ||
((dimension_y > dimension_x + 2) &&
(first_side_length > second_side_length)))
{
dim_x = dimension_y;
dim_y = dimension_x;
}
// initialise using this perimeter
init(dim_x, dim_y, perimeter, border_cells, orientation_simple);
}
