/// <summary>
/// Initialize the projective mapping.
/// </summary>
/// <param name="size">Real world dimension of the reference rectangle.</param>
/// <param name="quadImage">Image coordinates of the reference rectangle.</param>
public void Initialize(SizeF size, QuadrilateralF quadImage)
{
PointF originImage = initialized ? Untransform(PointF.Empty) : quadImage.D;
this.size = size;
this.quadImage = quadImage.Clone();
mapping.Update(new QuadrilateralF(size.Width, size.Height), quadImage);
SetOrigin(originImage);
this.initialized = true;
valid = quadImage.IsConvex;
}
/// <summary>
/// Initialize the projective mapping from a quadrilateral.
/// size: Real world dimension of the reference rectangle.
/// quadImage: Image coordinates of the reference rectangle.
/// </summary>
public void Initialize(SizeF sizeWorld, QuadrilateralF quadImage)
{
//PointF originImage = initialized ? Untransform(PointF.Empty) : quadImage.D;
PointF originImage = quadImage.D;
this.size = sizeWorld;
this.quadImage = quadImage.Clone();
mapping.Update(new QuadrilateralF(size.Width, size.Height), quadImage);
origin = mapping.Backward(originImage);
this.initialized = true;
valid = quadImage.IsConvex;
perspective = !quadImage.IsAxisAlignedRectangle;
}
/// <summary>
/// Takes a circle in image space and returns a cooresponding ellipse in image space.
/// This is an ill posed problem. The center is respected but the radius could be taken
/// anywhere around the circle in image space, and that yields different radii in world space.
/// We use the point along the X axis as the radius.
/// </summary>
public Ellipse GetEllipseFromCircle(PointF center, float radius, out PointF radiusLeftInImage, out PointF radiusRightInImage)
{
radiusLeftInImage = new PointF(center.X - radius, center.Y);
radiusRightInImage = new PointF(center.X + radius, center.Y);
if (calibratorType == CalibratorType.Line)
{
return(new Ellipse(center, radius, radius, 0));
}
// Rebuild the world-space circle based on center and radius alone.
PointF centerInWorld = GetPoint(center);
// Estimate the radius in world space.
// Get scalar will assumes reference direction to be X-axis in image space.
float radiusInWorld = GetScalar(radius);
// Get the intersection points of a horizontal diameter.
// This is used to draw a line from the center to the outline of the ellipse in perspective.
radiusLeftInImage = GetImagePoint(centerInWorld.Translate(-radiusInWorld, 0));
radiusRightInImage = GetImagePoint(centerInWorld.Translate(radiusInWorld, 0));
// Get the square enclosing the circle for mapping.
PointF a = GetImagePoint(centerInWorld.Translate(-radiusInWorld, -radiusInWorld));
PointF b = GetImagePoint(centerInWorld.Translate(radiusInWorld, -radiusInWorld));
PointF c = GetImagePoint(centerInWorld.Translate(radiusInWorld, radiusInWorld));
PointF d = GetImagePoint(centerInWorld.Translate(-radiusInWorld, radiusInWorld));
QuadrilateralF quadImage = new QuadrilateralF(a, b, c, d);
ProjectiveMapping mapping = new ProjectiveMapping();
mapping.Update(QuadrilateralF.CenteredUnitSquare, quadImage);
return(mapping.Ellipse());
}
public override void Draw(Graphics canvas, DistortionHelper distorter, IImageToViewportTransformer transformer, bool selected, long currentTimestamp)
{
double opacityFactor = infosFading.GetOpacityTrackable(trackingTimestamps, currentTimestamp);
if (opacityFactor <= 0)
{
return;
}
QuadrilateralF quad = transformer.Transform(quadImage);
bool drawEdgesOnly = !planeIsConvex || (!styleHelper.Perspective && !quadImage.IsAxisAlignedRectangle);
using (penEdges = styleHelper.GetPen(opacityFactor, 1.0))
using (SolidBrush br = styleHelper.GetBrush(opacityFactor))
{
foreach (PointF p in quad)
{
canvas.FillEllipse(br, p.Box(4));
}
if (!drawEdgesOnly)
{
if (distorter != null && distorter.Initialized)
{
QuadrilateralF undistortedQuadImage = distorter.Undistort(quadImage);
projectiveMapping.Update(quadPlane, undistortedQuadImage);
}
else
{
projectiveMapping.Update(quadPlane, quadImage);
}
DrawGrid(canvas, penEdges, projectiveMapping, distorter, transformer);
}
else
{
// Non convex quadrilateral or non rectangle 2d grid: only draw the edges.
canvas.DrawLine(penEdges, quad.A, quad.B);
canvas.DrawLine(penEdges, quad.B, quad.C);
canvas.DrawLine(penEdges, quad.C, quad.D);
canvas.DrawLine(penEdges, quad.D, quad.A);
}
}
}
public override void Draw(Graphics canvas, DistortionHelper distorter, IImageToViewportTransformer transformer, bool selected, long currentTimestamp)
{
double opacityFactor = infosFading.GetOpacityFactor(currentTimestamp);
if (opacityFactor <= 0)
{
return;
}
QuadrilateralF quad = transformer.Transform(quadImage);
using (penEdges = styleHelper.GetPen(opacityFactor, 1.0))
using (SolidBrush br = styleHelper.GetBrush(opacityFactor))
{
foreach (PointF p in quad)
{
canvas.FillEllipse(br, p.Box(4));
}
if (planeIsConvex)
{
if (distorter != null && distorter.Initialized)
{
QuadrilateralF undistortedQuadImage = distorter.Undistort(quadImage);
projectiveMapping.Update(quadPlane, undistortedQuadImage);
}
else
{
projectiveMapping.Update(quadPlane, quadImage);
}
//DrawDiagonals(canvas, penEdges, quadPlane, projectiveMapping, distorter, transformer);
DrawGrid(canvas, penEdges, projectiveMapping, distorter, transformer);
}
else
{
// Non convex quadrilateral: only draw the edges.
canvas.DrawLine(penEdges, quad.A, quad.B);
canvas.DrawLine(penEdges, quad.B, quad.C);
canvas.DrawLine(penEdges, quad.C, quad.D);
canvas.DrawLine(penEdges, quad.D, quad.A);
}
}
}
/// <summary>
/// Takes a circle in real world coordinates and returns a cooresponding ellipse in image coordinates.
/// </summary>
public Ellipse GetEllipseFromCircle(PointF center, float radius)
{
if (calibratorType == CalibratorType.Line)
{
return(new Ellipse(GetImagePoint(center), GetImageScalar(radius), GetImageScalar(radius), 0));
}
// Get the square enclosing the circle for mapping.
PointF a = GetImagePoint(center.Translate(-radius, -radius));
PointF b = GetImagePoint(center.Translate(radius, -radius));
PointF c = GetImagePoint(center.Translate(radius, radius));
PointF d = GetImagePoint(center.Translate(-radius, radius));
QuadrilateralF quadImage = new QuadrilateralF(a, b, c, d);
ProjectiveMapping mapping = new ProjectiveMapping();
mapping.Update(QuadrilateralF.CenteredUnitSquare, quadImage);
return(mapping.Ellipse());
}
