public void StartRecognition(RangeImage rangeImage)
{
rangeData = rangeImage;
height = rangeImage.Height;
width = rangeImage.Width;
bm = new Bitmap(width, height);
g = Graphics.FromImage(bm);
image.BackgroundImage = bm;
image.BackgroundImageLayout = ImageLayout.None;
image.Size = new Size(width, height);
g.Clear(Color.White);
SphereRecognition sr = new SphereRecognition();
//System.Windows.Forms.MessageBox.Show("W/H = " + width + "/" + height);
image.Bounds = new Rectangle(0, 0, width, height);
paintImage();
edges = sr.detectEdges(rangeData, float.Parse(conf1.Text));
//doFix();
/**/
paintEdges();
List<Sphere> spheres = sr.FindSpheres(rangeData, edges, int.Parse(maxRadius.Text), int.Parse(minRadius.Text), float.Parse(conf1.Text), float.Parse(conf2.Text));
Sphere actual;
for (int i = 0; i < spheres.Count; i++)
{
actual = spheres[i];
//int tmp = actual.center.X;
actual.center.Y = height - actual.center.Y;
//actual.center.Y = tmp;
//actual.center.X += (int)(actual.radius*1.35f);
g.DrawEllipse(Pens.Blue, (int)actual.center.X - actual.radius, ((int)actual.center.Y - actual.radius), (int)actual.radius * 2, (int)actual.radius * 2);
g.DrawLine(Pens.Blue, (actual.center.X - 1), (actual.center.Y - 1) - 5, (actual.center.X - 1), (actual.center.Y - 1) + 5);
g.DrawLine(Pens.Blue, (actual.center.X - 1) - 5, (actual.center.Y - 1), (actual.center.X - 1) + 5, (actual.center.Y - 1));
image.Refresh();
//g.DrawEllipse(Pens.Blue, (int)actual.center.Y - actual.radius, ((int)actual.center.X - actual.radius), (int)actual.radius * 2, (int)actual.radius * 2);
//g.DrawLine(Pens.Blue, (actual.center.Y - 1), (actual.center.X - 1) - 5, (actual.center.Y - 1), (actual.center.X - 1) + 5);
//g.DrawLine(Pens.Blue, (actual.center.Y - 1) - 5, (actual.center.X - 1), (actual.center.Y - 1) + 5, (actual.center.X - 1));
float formula2 = ((17f / 9 * (float)actual.radius) - 94f / 9f) / 1000f;
String algo = "haha " + actual.radius * (Math.Cos(89.9 * (Math.PI / 180)) * actual.avgDistance) + "\n" + (actual.midPoints - actual.avgDistance) + "\n" + Math.Abs(actual.midPoints - actual.avgDistance) + "\n" + formula2 + "\n" + (Math.Abs(actual.midPoints - actual.avgDistance) - formula2);
//System.Windows.Forms.MessageBox.Show("ABSOLUTE=\nX="+actual.absolutePosition.X+"\nY="+actual.absolutePosition.Y+"\nZ="+actual.absolutePosition.Z+"\n\nx=" + actual.center.X + "\ny=" + actual.center.Y + "\n\nR=" + actual.radius + "\nDiffC=" + actual.diffCircumference + "\nS=" + actual.score + "\nAVGD=" + actual.avgDistance + "\nAVGM=" + actual.midPoints + "\nAVGE=" + actual.avgEdges + "\n\n\n" + algo);
//paintImage();
//paintEdges();
}
/**/
}
/**
* @brief Event handler. Called by button7 for click events.
* @param sender An object - Source of the event
* @param e An EventArgs - Event Information
*/
private void button7_Click(object sender, EventArgs e)
{
SphereRecognition sr = new SphereRecognition();
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
sr = new SphereRecognition();
hm = new HeightMap(RangeImage.Read(openFileDialog1.FileName));
hm.createMap();
heightMap = hm.bool_grid;
detectedSpheres = sr.FindSpheres(RangeImage.Read(openFileDialog1.FileName), null, 35, 7, 0.2f, 70f);
spherePositions.Clear();
sphereRadii.Clear();
detectedDrones.Clear();
prepareSpheres();
findDrones();
}
}