/// <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);
}
