public group()
{
points = new Cartesian[defaultNumberOfPoints];
for (int i = 0; i < defaultNumberOfPoints; i++)
{
points[i] = new Cartesian(-1,-1);
}
edge1 = new Cartesian(-1, -1);
edge2 = new Cartesian(-1, -1);
}
public void setEdges(Cartesian point)
{
if (n == 0)
{
edge1.set(point);
n++;
}
else if (n == 1)
{
edge2.set(point);
}
}
private void drawRoad(Cartesian pos1, Cartesian pos2)
{
double m = (pos2.y - pos2.y) / (pos2.x - pos1.x);
double j;
for (int i = pos1.x; i < pos2.x; i++)
{
j = m * i + pos1.y;
frontier_pic.SetPixel(i, (int)j, Color.Red);
}
}
private void nextImage_button_Click(object sender, EventArgs e)
{
Cartesian[] frontier;
group[] frontierGroups;
numberOfFrontiers = 0;
numberOfGroups = 0;
#region Open A Picture
OpenFileDialog ofd = new OpenFileDialog();
ofd.Title = "Select next image file.";
ofd.Filter = "Png Images(*.png)|*.png|Jpeg Images(*.jpg)|*.jpg";
ofd.Filter += "|Bitmap Images(*.bmp)|*.bmp";
if (ofd.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
StreamReader streamReader = new StreamReader(ofd.FileName);
input_pic = (Bitmap)Bitmap.FromStream(streamReader.BaseStream);
streamReader.Close();
}
#endregion
numberOfFrontiers = 0;
numberOfGroups = 0;
frontier = new Cartesian[defaultNumberOfFrontiers];
for (int i = 0; i < defaultNumberOfFrontiers; i++)
{
frontier[i] = new Cartesian(0, 0);
}
frontierGroups = new group[defaultNumberOfFrontiers];
for (int i = 0; i < defaultNumberOfFrontiers; i++)
{
frontierGroups[i] = new group(20);
}
Bitmap temp_input = new Bitmap(input_pic);
drawRobotPosition(temp_input, pos_X, pos_Y, Color.Purple);
input_pictureBox.Image = temp_input;
getAllPixels(input_pic);
frontier_pic = applyFilter(input_pic);
frontier_pictureBox.Image = frontier_pic;
bool truth = true;
for (int i = 0; i < frontier_pic.Width; i++)
{
for (int j = 0; j < frontier_pic.Height; j++)
{
d[i, j] = 0;
}
}
for (int i = 0; i < frontier_pic.Width; i++)
{
for (int j = 0; j < frontier_pic.Height; j++)
{
if (colorDetecting(frontier_pic, i, j) == 1)
{
d[i, j] = 1;
}
}
}
numberOfGroups = 2;
do
{
truth = detectGroups(frontier_pic);
x_queue.Clear();
y_queue.Clear();
}
while (truth);
#region reGroup(frontier_pic);
for (int k = 2; k < numberOfGroups; k++)
{
for (int i = 0; i < frontier_pic.Width; i++)
{
for (int j = 0; j < frontier_pic.Height; j++)
{
if (d[i, j] == k)
{
frontierGroups[k - 2].setPoint(i, j);
}
}
}
}
#endregion
numberOfGroups = numberOfGroups - 2;
#region detectFrontier(frontier_pic);
for (int i = 0; i < numberOfGroups; i++)
{
frontier[numberOfFrontiers] = frontierGroups[i].returnRandomPoint();
drawFrontiers(frontier_pic, frontier[numberOfFrontiers].x, frontier[numberOfFrontiers].y, Color.Red);
numberOfFrontiers++;
}
#endregion
#region selectFrontier(frontier_pic);
Cartesian pos = new Cartesian(pos_X, pos_Y);
double distance = 5000;
Cartesian temp = new Cartesian(-1, -1);
int index = -1;
for (int i = 0; i < numberOfFrontiers; i++)
{
if (!frontier[i].check_parameter)
{
if (distance > pos.distanceCalculator(frontier[i]))
{
distance = pos.distanceCalculator(frontier[i]);
temp.x = frontier[i].x;
temp.y = frontier[i].y;
index = i;
}
}
}
if (temp.x == -1 || temp.y == -1)
MessageBox.Show("Finish");
else
{
pos_X = temp.x; pos_Y = temp.y;
frontier[index].check();
drawFrontiers(frontier_pic, pos_X, pos_Y, Color.Blue);
}
#endregion
}
private bool detectGroups(Bitmap pic)
{
Cartesian resource = new Cartesian();
Cartesian temp = new Cartesian();
resource = detectFirstWhitePoint(pic);
if ((resource.x < 0) || (resource.y < 0))
{
return false;
}
x_queue.Enqueue(resource.x);
y_queue.Enqueue(resource.y);
while (x_queue.Count > 0 && y_queue.Count > 0)
{
temp.x = x_queue.Dequeue();
temp.y = y_queue.Dequeue();
d[temp.x, temp.y] = numberOfGroups;
for (int i = -1; i <= 1; i++)
{
for (int j = -1; j <= 1; j++)
{
if (d[temp.x + i, temp.y + j] == 1)
{
x_queue.Enqueue(temp.x + i);
y_queue.Enqueue(temp.y + j);
}
}
}
}
numberOfGroups++;
return true;
}
private Cartesian detectFirstWhitePoint(Bitmap pic)
{
Cartesian output = new Cartesian(-1, -1);
bool check = false;
for (int i = 0; i < pic.Width; i++)
{
for (int j = 0; j < pic.Height; j++)
{
if (d[i,j] == 1) /*if (colorDetecting(pic, i, j) == 1)*/
{
output.x = i;
output.y = j;
check = true;
break;
}
}
if (check)
break;
}
return output;
}
public void setPoint(Cartesian input)
{
points[numberOfPoints].set(input);
numberOfPoints++;
}
public void set(Cartesian input)
{
x = input.x;
y = input.y;
}
public double distanceCalculator(Cartesian input)
{
double sum = Math.Pow((this.x - input.x), 2) + Math.Pow((this.y - input.y), 2);
return Math.Sqrt(sum);
}
