public FindDisplay()
{
// create glyph database for 5x5 glyphs
var glyphDatabase = new GlyphDatabase(5);
try
{
using (var stream = new StreamReader("Resources/TagDefinitions.txt"))
{
String line;
do
{
line = stream.ReadLine();
if (line != null)
{
var tokens = line.Split(' ');
var tagId = tokens[0];
var code = tokens[1];
var matrix = new byte[5, 5];
var i = 0;
for (var y = 0; y < 5; y++)
{
for (var x = 0; x < 5; x++)
{
matrix[y, x] = byte.Parse(code.Substring(i++, 1));
}
}
glyphDatabase.Add(new Glyph(tagId, matrix));
}
} while (line != null);
}
_glyphRecognizer = new GlyphRecognizer(glyphDatabase)
{
MaxNumberOfGlyphsToSearch = 1
};
_glyphTable = new GlyphMetadata[glyphDatabase.Count];
PropertyChanged += (s, e) =>
{
switch (e.PropertyName)
{
case MinFramesPropertyName:
_glyphTable = new GlyphMetadata[glyphDatabase.Count];
break;
}
};
}
catch (Exception e)
{
LogFormat(e + e.Message + e.StackTrace);
}
}
public GlyphDecoder()
{
// create glyph database for 5x5 glyphs
GlyphDatabase glyphDatabase = new GlyphDatabase(5);
try
{
using (StreamReader sr = new StreamReader("Resources/TagDefinitions.txt"))
{
String line;
do
{
line = sr.ReadLine();
if (line != null)
{
var tokens = line.Split(' ');
var tagID = tokens[0];
var code = tokens[1];
var matrix = new byte[5, 5];
int i = 0;
for (int y = 0; y < 5; y++)
{
for (int x = 0; x < 5; x++)
{
matrix[y, x] = byte.Parse(code.Substring(i++, 1));
}
}
glyphDatabase.Add(new Glyph(tagID, matrix));
}
} while (line != null);
}
_glyphRecognizer = new GlyphRecognizer(glyphDatabase);
_glyphRecognizer.MaxNumberOfGlyphsToSearch = GLYPHSTOSEARCHFOR;
PropertyChanged += (s, e) =>
{
switch (e.PropertyName)
{
case MinFramesPropertyName:
_glyphTable = new GlyphMetadata[GLYPHCOUNT];
break;
}
};
}
catch (Exception e)
{
LogFormat(e + e.Message + e.StackTrace);
}
}
public MainWindow()
{
InitializeComponent();
GlyphDatabase glyphDatabase = new GlyphDatabase(5);
glyphDatabase.Add(new Glyph("Glider", new byte[, ] {
{ 0, 0, 0, 0, 0 },
{ 0, 0, 1, 0, 0 },
{ 0, 1, 1, 0, 0 },
{ 0, 0, 1, 1, 0 },
{ 0, 0, 0, 0, 0 },
}));
_glyphRecognizer = new GlyphRecognizer(5);
_glyphRecognizer.GlyphDatabase = glyphDatabase;
InitializeCapturer();
InitializeComboBox_Webcams();
if (ComboBox_Webcams.Items.Count > 0)
{
ComboBox_Webcams.SelectedIndex = 0;
}
}
// Used to create the glyphs and the GRATF glyph recognizer
private void CreateGlyphRecognizer()
{
GlyphDatabase glyphDatabase = new GlyphDatabase(5);
// Create glyph database for 5x5 glyphs. Ones represent white squares, 0 black.
// Note that the ID needs to match the name of the robot
glyphDatabase.Add(new Glyph("0", new byte[5, 5] {
{ 0, 0, 0, 0, 0 },
{ 0, 1, 0, 1, 0 },
{ 0, 0, 1, 0, 0 },
{ 0, 1, 0, 0, 0 },
{ 0, 0, 0, 0, 0 }
}));
glyphDatabase.Add(new Glyph("1", new byte[5, 5] {
{ 0, 0, 0, 0, 0 },
{ 0, 1, 1, 0, 0 },
{ 0, 0, 1, 1, 0 },
{ 0, 1, 1, 0, 0 },
{ 0, 0, 0, 0, 0 }
}));
glyphDatabase.Add(new Glyph("2", new byte[5, 5] {
{ 0, 0, 0, 0, 0 },
{ 0, 1, 1, 0, 0 },
{ 0, 0, 1, 0, 0 },
{ 0, 1, 0, 1, 0 },
{ 0, 0, 0, 0, 0 }
}));
glyphDatabase.Add(new Glyph("3", new byte[5, 5] {
{ 0, 0, 0, 0, 0 },
{ 0, 1, 1, 0, 0 },
{ 0, 0, 1, 1, 0 },
{ 0, 0, 1, 0, 0 },
{ 0, 0, 0, 0, 0 }
}));
glyphDatabase.Add(new Glyph("4", new byte[5, 5] {
{ 0, 0, 0, 0, 0 },
{ 0, 1, 1, 1, 0 },
{ 0, 0, 1, 0, 0 },
{ 0, 1, 0, 1, 0 },
{ 0, 0, 0, 0, 0 }
}));
glyphDatabase.Add(new Glyph("5", new byte[5, 5] {
{ 0, 0, 0, 0, 0 },
{ 0, 0, 1, 0, 0 },
{ 0, 1, 1, 1, 0 },
{ 0, 0, 1, 1, 0 },
{ 0, 0, 0, 0, 0 }
}));
glyphDatabase.Add(new Glyph("6", new byte[5, 5] {
{ 0, 0, 0, 0, 0 },
{ 0, 1, 1, 0, 0 },
{ 0, 1, 0, 1, 0 },
{ 0, 0, 1, 0, 0 },
{ 0, 0, 0, 0, 0 }
}));
glyphDatabase.Add(new Glyph("7", new byte[5, 5] {
{ 0, 0, 0, 0, 0 },
{ 0, 0, 1, 1, 0 },
{ 0, 1, 1, 0, 0 },
{ 0, 1, 0, 0, 0 },
{ 0, 0, 0, 0, 0 }
}));
glyphDatabase.Add(new Glyph("8", new byte[5, 5] {
{ 0, 0, 0, 0, 0 },
{ 0, 1, 1, 1, 0 },
{ 0, 1, 0, 0, 0 },
{ 0, 1, 0, 1, 0 },
{ 0, 0, 0, 0, 0 }
}));
glyphDatabase.Add(new Glyph("9", new byte[5, 5] {
{ 0, 0, 0, 0, 0 },
{ 0, 1, 0, 0, 0 },
{ 0, 0, 0, 1, 0 },
{ 0, 0, 1, 0, 0 },
{ 0, 0, 0, 0, 0 }
}));
recognizer = new GlyphRecognizer(glyphDatabase);
recognizer.MaxNumberOfGlyphsToSearch = glyphDatabase.Count;
}
public GlyphImageProcessor(GlyphDatabase database)
{
_recognizer = new GlyphRecognizer(database);
}
public GlyphImageProcessor(int size)
{
recognizer = new GlyphRecognizer(size);
GlyphVisualizationData visualizationData;
byte[,] data;
GlyphDatabase gDB = new GlyphDatabase(5);
if (size == 5)
{
#region Monitors
//Monitor 1
data = new byte[5, 5];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 1;
data[1, 3] = 0;
data[1, 4] = 0;
data[2, 0] = 0;
data[2, 1] = 0;
data[2, 2] = 1;
data[2, 3] = 0;
data[2, 4] = 0;
data[3, 0] = 0;
data[3, 1] = 0;
data[3, 2] = 0;
data[3, 3] = 1;
data[3, 4] = 0;
data[4, 0] = 0;
data[4, 1] = 0;
data[4, 2] = 0;
data[4, 3] = 0;
data[4, 4] = 0;
Glyph S1 = new Glyph("Monitor1", data);
visualizationData = new GlyphVisualizationData(Color.Red);
S1.UserData = visualizationData;
//Monitor 2
data = new byte[5, 5];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 0;
data[1, 3] = 1;
data[1, 4] = 0;
data[2, 0] = 0;
data[2, 1] = 0;
data[2, 2] = 1;
data[2, 3] = 0;
data[2, 4] = 0;
data[3, 0] = 0;
data[3, 1] = 0;
data[3, 2] = 0;
data[3, 3] = 1;
data[3, 4] = 0;
data[4, 0] = 0;
data[4, 1] = 0;
data[4, 2] = 0;
data[4, 3] = 0;
data[4, 4] = 0;
Glyph S2 = new Glyph("Monitor2", data);
visualizationData = new GlyphVisualizationData(Color.Red);
S2.UserData = visualizationData;
//Monitor 3
data = new byte[5, 5];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 0;
data[1, 3] = 0;
data[1, 4] = 0;
data[2, 0] = 0;
data[2, 1] = 1;
data[2, 2] = 1;
data[2, 3] = 0;
data[2, 4] = 0;
data[3, 0] = 0;
data[3, 1] = 0;
data[3, 2] = 0;
data[3, 3] = 1;
data[3, 4] = 0;
data[4, 0] = 0;
data[4, 1] = 0;
data[4, 2] = 0;
data[4, 3] = 0;
data[4, 4] = 0;
Glyph S3 = new Glyph("Monitor3", data);
visualizationData = new GlyphVisualizationData(Color.Red);
S3.UserData = visualizationData;
//Monitor 4
data = new byte[5, 5];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 1;
data[1, 3] = 1;
data[1, 4] = 0;
data[2, 0] = 0;
data[2, 1] = 0;
data[2, 2] = 1;
data[2, 3] = 0;
data[2, 4] = 0;
data[3, 0] = 0;
data[3, 1] = 0;
data[3, 2] = 0;
data[3, 3] = 1;
data[3, 4] = 0;
data[4, 0] = 0;
data[4, 1] = 0;
data[4, 2] = 0;
data[4, 3] = 0;
data[4, 4] = 0;
Glyph S4 = new Glyph("Monitor4", data);
visualizationData = new GlyphVisualizationData(Color.Red);
S4.UserData = visualizationData;
//Monitor 5
data = new byte[5, 5];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 0;
data[1, 3] = 1;
data[1, 4] = 0;
data[2, 0] = 0;
data[2, 1] = 0;
data[2, 2] = 1;
data[2, 3] = 1;
data[2, 4] = 0;
data[3, 0] = 0;
data[3, 1] = 0;
data[3, 2] = 0;
data[3, 3] = 1;
data[3, 4] = 0;
data[4, 0] = 0;
data[4, 1] = 0;
data[4, 2] = 0;
data[4, 3] = 0;
data[4, 4] = 0;
Glyph S5 = new Glyph("Monitor5", data);
visualizationData = new GlyphVisualizationData(Color.Red);
S5.UserData = visualizationData;
//Monitor 6
data = new byte[5, 5];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 0;
data[1, 3] = 1;
data[1, 4] = 0;
data[2, 0] = 0;
data[2, 1] = 0;
data[2, 2] = 1;
data[2, 3] = 1;
data[2, 4] = 0;
data[3, 0] = 0;
data[3, 1] = 1;
data[3, 2] = 0;
data[3, 3] = 1;
data[3, 4] = 0;
data[4, 0] = 0;
data[4, 1] = 0;
data[4, 2] = 0;
data[4, 3] = 0;
data[4, 4] = 0;
Glyph S6 = new Glyph("Monitor6", data);
visualizationData = new GlyphVisualizationData(Color.Red);
S6.UserData = visualizationData;
//Monitor 7
data = new byte[5, 5];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 0;
data[1, 3] = 1;
data[1, 4] = 0;
data[2, 0] = 0;
data[2, 1] = 0;
data[2, 2] = 1;
data[2, 3] = 0;
data[2, 4] = 0;
data[3, 0] = 0;
data[3, 1] = 0;
data[3, 2] = 0;
data[3, 3] = 1;
data[3, 4] = 0;
data[4, 0] = 0;
data[4, 1] = 0;
data[4, 2] = 0;
data[4, 3] = 0;
data[4, 4] = 0;
Glyph S7 = new Glyph("Monitor7", data);
visualizationData = new GlyphVisualizationData(Color.Red);
S7.UserData = visualizationData;
//Monitor 8
data = new byte[5, 5];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 1;
data[1, 3] = 1;
data[1, 4] = 0;
data[2, 0] = 0;
data[2, 1] = 0;
data[2, 2] = 0;
data[2, 3] = 1;
data[2, 4] = 0;
data[3, 0] = 0;
data[3, 1] = 1;
data[3, 2] = 1;
data[3, 3] = 1;
data[3, 4] = 0;
data[4, 0] = 0;
data[4, 1] = 0;
data[4, 2] = 0;
data[4, 3] = 0;
data[4, 4] = 0;
Glyph S8 = new Glyph("Monitor8", data);
visualizationData = new GlyphVisualizationData(Color.Red);
S8.UserData = visualizationData;
//Monitor 9
data = new byte[5, 5];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[1, 0] = 0;
data[1, 1] = 0;
data[1, 2] = 1;
data[1, 3] = 0;
data[1, 4] = 0;
data[2, 0] = 0;
data[2, 1] = 1;
data[2, 2] = 0;
data[2, 3] = 1;
data[2, 4] = 0;
data[3, 0] = 0;
data[3, 1] = 0;
data[3, 2] = 1;
data[3, 3] = 1;
data[3, 4] = 0;
data[4, 0] = 0;
data[4, 1] = 0;
data[4, 2] = 0;
data[4, 3] = 0;
data[4, 4] = 0;
Glyph S9 = new Glyph("Monitor9", data);
visualizationData = new GlyphVisualizationData(Color.Red);
S9.UserData = visualizationData;
//Monitor 10
data = new byte[5, 5];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 1;
data[1, 3] = 1;
data[1, 4] = 0;
data[2, 0] = 0;
data[2, 1] = 1;
data[2, 2] = 0;
data[2, 3] = 0;
data[2, 4] = 0;
data[3, 0] = 0;
data[3, 1] = 1;
data[3, 2] = 0;
data[3, 3] = 1;
data[3, 4] = 0;
data[4, 0] = 0;
data[4, 1] = 0;
data[4, 2] = 0;
data[4, 3] = 0;
data[4, 4] = 0;
Glyph S10 = new Glyph("Monitor10", data);
visualizationData = new GlyphVisualizationData(Color.Red);
S10.UserData = visualizationData;
#endregion Monitors
#region Roomba glyph
//Roomba
data = new byte[5, 5];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 0;
data[1, 3] = 1;
data[1, 4] = 0;
data[2, 0] = 0;
data[2, 1] = 1;
data[2, 2] = 1;
data[2, 3] = 1;
data[2, 4] = 0;
data[3, 0] = 0;
data[3, 1] = 1;
data[3, 2] = 1;
data[3, 3] = 1;
data[3, 4] = 0;
data[4, 0] = 0;
data[4, 1] = 0;
data[4, 2] = 0;
data[4, 3] = 0;
data[4, 4] = 0;
Glyph roomba = new Glyph("Roomba", data);
visualizationData = new GlyphVisualizationData(Color.Yellow);
roomba.UserData = visualizationData;
#endregion Roomba glyph
gDB = new GlyphDatabase(5);
gDB.Add(S1);
gDB.Add(S2);
gDB.Add(S3);
gDB.Add(S4);
gDB.Add(S5);
gDB.Add(S6);
gDB.Add(S7);
gDB.Add(S8);
gDB.Add(S9);
gDB.Add(S10);
gDB.Add(roomba);
}
else if (size == 6)
{
Color MarkerColor = Color.GreenYellow;
#region Objects 6*6 glype
data = new byte[6, 6];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[0, 5] = 0;
data[1, 0] = 0;
data[1, 1] = 0;
data[1, 2] = 1;
data[1, 3] = 0;
data[1, 4] = 1;
data[1, 5] = 0;
data[2, 0] = 0;
data[2, 1] = 1;
data[2, 2] = 0;
data[2, 3] = 1;
data[2, 4] = 0;
data[2, 5] = 0;
data[3, 0] = 0;
data[3, 1] = 0;
data[3, 2] = 1;
data[3, 3] = 0;
data[3, 4] = 1;
data[3, 5] = 0;
data[4, 0] = 0;
data[4, 1] = 1;
data[4, 2] = 0;
data[4, 3] = 1;
data[4, 4] = 1;
data[4, 5] = 0;
data[5, 0] = 0;
data[5, 1] = 0;
data[5, 2] = 0;
data[5, 3] = 0;
data[5, 4] = 0;
data[5, 5] = 0;
Glyph o1 = new Glyph("Marker_6_1", data);
visualizationData = new GlyphVisualizationData(MarkerColor);
o1.UserData = visualizationData;
data = new byte[6, 6];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[0, 5] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 0;
data[1, 3] = 0;
data[1, 4] = 1;
data[1, 5] = 0;
data[2, 0] = 0;
data[2, 1] = 0;
data[2, 2] = 0;
data[2, 3] = 1;
data[2, 4] = 0;
data[2, 5] = 0;
data[3, 0] = 0;
data[3, 1] = 0;
data[3, 2] = 1;
data[3, 3] = 0;
data[3, 4] = 1;
data[3, 5] = 0;
data[4, 0] = 0;
data[4, 1] = 1;
data[4, 2] = 0;
data[4, 3] = 0;
data[4, 4] = 1;
data[4, 5] = 0;
data[5, 0] = 0;
data[5, 1] = 0;
data[5, 2] = 0;
data[5, 3] = 0;
data[5, 4] = 0;
data[5, 5] = 0;
Glyph o2 = new Glyph("Marker_6_2", data);
visualizationData = new GlyphVisualizationData(MarkerColor);
o2.UserData = visualizationData;
data = new byte[6, 6];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[0, 5] = 0;
data[1, 0] = 0;
data[1, 1] = 0;
data[1, 2] = 1;
data[1, 3] = 1;
data[1, 4] = 0;
data[1, 5] = 0;
data[2, 0] = 0;
data[2, 1] = 0;
data[2, 2] = 1;
data[2, 3] = 0;
data[2, 4] = 1;
data[2, 5] = 0;
data[3, 0] = 0;
data[3, 1] = 1;
data[3, 2] = 0;
data[3, 3] = 0;
data[3, 4] = 0;
data[3, 5] = 0;
data[4, 0] = 0;
data[4, 1] = 0;
data[4, 2] = 1;
data[4, 3] = 1;
data[4, 4] = 0;
data[4, 5] = 0;
data[5, 0] = 0;
data[5, 1] = 0;
data[5, 2] = 0;
data[5, 3] = 0;
data[5, 4] = 0;
data[5, 5] = 0;
Glyph o3 = new Glyph("Marker_6_3", data);
visualizationData = new GlyphVisualizationData(MarkerColor);
o3.UserData = visualizationData;
data = new byte[6, 6];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[0, 5] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 0;
data[1, 3] = 1;
data[1, 4] = 0;
data[1, 5] = 0;
data[2, 0] = 0;
data[2, 1] = 0;
data[2, 2] = 1;
data[2, 3] = 1;
data[2, 4] = 0;
data[2, 5] = 0;
data[3, 0] = 0;
data[3, 1] = 0;
data[3, 2] = 1;
data[3, 3] = 1;
data[3, 4] = 0;
data[3, 5] = 0;
data[4, 0] = 0;
data[4, 1] = 1;
data[4, 2] = 0;
data[4, 3] = 0;
data[4, 4] = 1;
data[4, 5] = 0;
data[5, 0] = 0;
data[5, 1] = 0;
data[5, 2] = 0;
data[5, 3] = 0;
data[5, 4] = 0;
data[5, 5] = 0;
Glyph o4 = new Glyph("Marker_6_4", data);
visualizationData = new GlyphVisualizationData(MarkerColor);
o4.UserData = visualizationData;
data = new byte[6, 6];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[0, 5] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 0;
data[1, 3] = 0;
data[1, 4] = 1;
data[1, 5] = 0;
data[2, 0] = 0;
data[2, 1] = 1;
data[2, 2] = 1;
data[2, 3] = 0;
data[2, 4] = 1;
data[2, 5] = 0;
data[3, 0] = 0;
data[3, 1] = 1;
data[3, 2] = 0;
data[3, 3] = 1;
data[3, 4] = 0;
data[3, 5] = 0;
data[4, 0] = 0;
data[4, 1] = 0;
data[4, 2] = 0;
data[4, 3] = 0;
data[4, 4] = 1;
data[4, 5] = 0;
data[5, 0] = 0;
data[5, 1] = 0;
data[5, 2] = 0;
data[5, 3] = 0;
data[5, 4] = 0;
data[5, 5] = 0;
Glyph o5 = new Glyph("Marker_6_5", data);
visualizationData = new GlyphVisualizationData(MarkerColor);
o5.UserData = visualizationData;
data = new byte[6, 6];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[0, 5] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 0;
data[1, 3] = 0;
data[1, 4] = 1;
data[1, 5] = 0;
data[2, 0] = 0;
data[2, 1] = 0;
data[2, 2] = 0;
data[2, 3] = 1;
data[2, 4] = 1;
data[2, 5] = 0;
data[3, 0] = 0;
data[3, 1] = 0;
data[3, 2] = 1;
data[3, 3] = 0;
data[3, 4] = 1;
data[3, 5] = 0;
data[4, 0] = 0;
data[4, 1] = 1;
data[4, 2] = 0;
data[4, 3] = 0;
data[4, 4] = 0;
data[4, 5] = 0;
data[5, 0] = 0;
data[5, 1] = 0;
data[5, 2] = 0;
data[5, 3] = 0;
data[5, 4] = 0;
data[5, 5] = 0;
Glyph o6 = new Glyph("Marker_6_6", data);
visualizationData = new GlyphVisualizationData(MarkerColor);
o6.UserData = visualizationData;
data = new byte[6, 6];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[0, 5] = 0;
data[1, 0] = 0;
data[1, 1] = 0;
data[1, 2] = 1;
data[1, 3] = 0;
data[1, 4] = 0;
data[1, 5] = 0;
data[2, 0] = 0;
data[2, 1] = 1;
data[2, 2] = 1;
data[2, 3] = 1;
data[2, 4] = 0;
data[2, 5] = 0;
data[3, 0] = 0;
data[3, 1] = 0;
data[3, 2] = 0;
data[3, 3] = 1;
data[3, 4] = 1;
data[3, 5] = 0;
data[4, 0] = 0;
data[4, 1] = 1;
data[4, 2] = 0;
data[4, 3] = 0;
data[4, 4] = 0;
data[4, 5] = 0;
data[5, 0] = 0;
data[5, 1] = 0;
data[5, 2] = 0;
data[5, 3] = 0;
data[5, 4] = 0;
data[5, 5] = 0;
Glyph o7 = new Glyph("Marker_6_7", data);
visualizationData = new GlyphVisualizationData(MarkerColor);
o7.UserData = visualizationData;
data = new byte[6, 6];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[0, 5] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 1;
data[1, 3] = 0;
data[1, 4] = 0;
data[1, 5] = 0;
data[2, 0] = 0;
data[2, 1] = 0;
data[2, 2] = 1;
data[2, 3] = 0;
data[2, 4] = 0;
data[2, 5] = 0;
data[3, 0] = 0;
data[3, 1] = 0;
data[3, 2] = 1;
data[3, 3] = 1;
data[3, 4] = 1;
data[3, 5] = 0;
data[4, 0] = 0;
data[4, 1] = 0;
data[4, 2] = 1;
data[4, 3] = 0;
data[4, 4] = 0;
data[4, 5] = 0;
data[5, 0] = 0;
data[5, 1] = 0;
data[5, 2] = 0;
data[5, 3] = 0;
data[5, 4] = 0;
data[5, 5] = 0;
Glyph o8 = new Glyph("Marker_6_8", data);
visualizationData = new GlyphVisualizationData(MarkerColor);
o8.UserData = visualizationData;
data = new byte[6, 6];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[0, 5] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 0;
data[1, 3] = 0;
data[1, 4] = 1;
data[1, 5] = 0;
data[2, 0] = 0;
data[2, 1] = 0;
data[2, 2] = 1;
data[2, 3] = 1;
data[2, 4] = 0;
data[2, 5] = 0;
data[3, 0] = 0;
data[3, 1] = 1;
data[3, 2] = 0;
data[3, 3] = 1;
data[3, 4] = 0;
data[3, 5] = 0;
data[4, 0] = 0;
data[4, 1] = 0;
data[4, 2] = 1;
data[4, 3] = 0;
data[4, 4] = 1;
data[4, 5] = 0;
data[5, 0] = 0;
data[5, 1] = 0;
data[5, 2] = 0;
data[5, 3] = 0;
data[5, 4] = 0;
data[5, 5] = 0;
Glyph o9 = new Glyph("Marker_6_9", data);
visualizationData = new GlyphVisualizationData(MarkerColor);
o9.UserData = visualizationData;
data = new byte[6, 6];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[0, 5] = 0;
data[1, 0] = 0;
data[1, 1] = 0;
data[1, 2] = 1;
data[1, 3] = 0;
data[1, 4] = 1;
data[1, 5] = 0;
data[2, 0] = 0;
data[2, 1] = 1;
data[2, 2] = 1;
data[2, 3] = 1;
data[2, 4] = 1;
data[2, 5] = 0;
data[3, 0] = 0;
data[3, 1] = 0;
data[3, 2] = 1;
data[3, 3] = 1;
data[3, 4] = 0;
data[3, 5] = 0;
data[4, 0] = 0;
data[4, 1] = 1;
data[4, 2] = 0;
data[4, 3] = 1;
data[4, 4] = 1;
data[4, 5] = 0;
data[5, 0] = 0;
data[5, 1] = 0;
data[5, 2] = 0;
data[5, 3] = 0;
data[5, 4] = 0;
data[5, 5] = 0;
Glyph o10 = new Glyph("Marker_6_10", data);
visualizationData = new GlyphVisualizationData(MarkerColor);
o10.UserData = visualizationData;
data = new byte[6, 6];
data[0, 0] = 0;
data[0, 1] = 0;
data[0, 2] = 0;
data[0, 3] = 0;
data[0, 4] = 0;
data[0, 5] = 0;
data[1, 0] = 0;
data[1, 1] = 1;
data[1, 2] = 0;
data[1, 3] = 0;
data[1, 4] = 1;
data[1, 5] = 0;
data[2, 0] = 0;
data[2, 1] = 1;
data[2, 2] = 0;
data[2, 3] = 0;
data[2, 4] = 1;
data[2, 5] = 0;
data[3, 0] = 0;
data[3, 1] = 1;
data[3, 2] = 0;
data[3, 3] = 0;
data[3, 4] = 1;
data[3, 5] = 0;
data[4, 0] = 0;
data[4, 1] = 1;
data[4, 2] = 1;
data[4, 3] = 1;
data[4, 4] = 1;
data[4, 5] = 0;
data[5, 0] = 0;
data[5, 1] = 0;
data[5, 2] = 0;
data[5, 3] = 0;
data[5, 4] = 0;
data[5, 5] = 0;
Glyph o11 = new Glyph("Marker_6_11", data);
visualizationData = new GlyphVisualizationData(MarkerColor);
o11.UserData = visualizationData;
#endregion objects 6*6 glyph
gDB = new GlyphDatabase(6);
gDB.Add(o1);
gDB.Add(o2);
gDB.Add(o3);
gDB.Add(o4);
gDB.Add(o5);
gDB.Add(o6);
gDB.Add(o7);
gDB.Add(o8);
gDB.Add(o9);
gDB.Add(o10);
gDB.Add(o11);
}
GlyphDatabase = gDB;
}
void camera_NewFrame(object sender, NewFrameEventArgs eventArgs)
{
float sizeHalf = 113.0f / 2;
Vector3[] glyphModel = new Vector3[]
{
new Vector3(-sizeHalf, 0, sizeHalf),
new Vector3(sizeHalf, 0, sizeHalf),
new Vector3(sizeHalf, 0, -sizeHalf),
new Vector3(-sizeHalf, 0, -sizeHalf),
};
try
{
GlyphRecognizer gr = new GlyphRecognizer(glyphDatabase);
List <ExtractedGlyphData> glyphs = gr.FindGlyphs(eventArgs.Frame);
System.Drawing.Image img = (Bitmap)eventArgs.Frame.Clone();
double x = 0;
double y = 0;
String glyphName = String.Empty;
AForge.Point[] glyphPoints = new AForge.Point[4];
foreach (var glyph in glyphs)
{
if (glyph.RecognizedGlyph != null)
{
glyphName = glyph.RecognizedGlyph.Name;
x = (glyph.Quadrilateral[0].X + glyph.Quadrilateral[2].X) / 2;
y = (glyph.Quadrilateral[0].Y + glyph.Quadrilateral[2].Y) / 2;
for (int i = 0; i < 4; i++)
{
glyphPoints[i] = new AForge.Point(
(int)(glyph.RecognizedQuadrilateral[i].X - x),
(int)y - glyph.RecognizedQuadrilateral[i].Y);
}
break;
}
}
MemoryStream ms = new MemoryStream();
img.Save(ms, ImageFormat.Bmp);
ms.Seek(0, SeekOrigin.Begin);
BitmapImage bi = new BitmapImage();
bi.BeginInit();
bi.StreamSource = ms;
bi.EndInit();
bi.Freeze();
Dispatcher.BeginInvoke(new ThreadStart(delegate
{
//Canvas.SetLeft(pictureGlyph, x-60);
//Canvas.SetTop(pictureGlyph, y-60);
image1.Source = bi;
Title = "Found glyphs " + glyphs.Count + " " + glyphName;
if (glyphName != "")
{
Dispatcher.BeginInvoke(new ThreadStart(delegate
{
Console.WriteLine(MODEL_PATH);
MODEL_PATH = CurrentGallery.UrlPrefix + "\\" + glyphName + ".3ds";
float yaw, pitch, roll;
CoplanarPosit posit = new CoplanarPosit(glyphModel, 1);
Matrix3x3 positRotation;
Vector3 positTranslation;
posit.EstimatePose(glyphPoints, out positRotation, out positTranslation);
positRotation.ExtractYawPitchRoll(out yaw, out pitch, out roll);
visualisation3Dmodel(MODEL_PATH, yaw, pitch, roll, new Vector3D(positTranslation.X, positTranslation.Y, positTranslation.Z));
}));
}
}));
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
