public GlintConfiguration(int numGlints)
{
count = numGlints;
centers = new GTPoint[numGlints];
blobs = new Blobs();
for (int i = 0; i < numGlints; i++)
{
centers[i] = new GTPoint();
blobs.BlobDir[i] = new Blob();
}
}
public GlintConfiguration(GlintConfiguration src)
{
count = src.Count;
centers = new GTPoint[count];
blobs = new Blobs();
for (int i = 0; i < count; i++)
{
centers[i] = new GTPoint(src.centers[i]);
blobs.BlobDir[i] = new Blob();
blobs.BlobDir[i] = src.blobs.BlobDir.ElementAt(i).Value;
}
}
public GlintConfiguration(Blobs blobs)
{
count = blobs.Count;
centers = new GTPoint[blobs.Count];
int i = 0;
foreach (Blob b in blobs.BlobList)
{
centers[i] = new GTPoint(b.CenterOfGravity.X, b.CenterOfGravity.Y);
i++;
}
//OrderGlints();
this.blobs = blobs;
}
public Blobs DetectBlobs(Image<Gray, byte> image, int threshold, double minSize, double maxSize, bool isGlint)
{
// Detect blobs
if (isGlint) // Todo: Run recursive blob detection on small ROI images for improved detection/performance
blobCounter.ProcessImage(image.ThresholdBinary(new Gray(threshold), new Gray(255)));
else
blobCounter.ProcessImage(image.ThresholdToZeroInv(new Gray(threshold)));
// Filtering
if (isFiltering) // turn off above
{
blobCounter.FilterBlobs = true;
blobCounter.MinHeight = (int)minSize;
blobCounter.MinWidth = (int)minSize;
blobCounter.MaxHeight = (int)maxSize;
blobCounter.MaxWidth = (int)maxSize;
blobCounter.ObjectsOrder = ObjectsOrder.Area;
}
// Get blob info
var blobs = new Blobs(blobCounter.GetObjectsInformation());
//grahamScan = new GrahamConvexHull();
// Set blobs properties (edges etc)
foreach (Blob blob in blobs.BlobDir.Values)
{
var leftEdge = new List<IntPoint>();
var rightEdge = new List<IntPoint>();
var topEdge = new List<IntPoint>();
var bottomEdge = new List<IntPoint>();
// collect edge points
blobCounter.GetBlobsLeftAndRightEdges(blob, out leftEdge, out rightEdge);
blobCounter.GetBlobsTopAndBottomEdges(blob, out topEdge, out bottomEdge);
blobs.leftEdges.Add(blob.ID, leftEdge);
blobs.rightEdges.Add(blob.ID, rightEdge);
blobs.topEdges.Add(blob.ID, topEdge);
blobs.bottomEdges.Add(blob.ID, bottomEdge);
// find convex hull
//List<IntPoint> edgePoints = new List<IntPoint>();
//edgePoints.AddRange(leftEdge);
//edgePoints.AddRange(rightEdge);
//List<IntPoint> hull = grahamScan.FindHull(edgePoints);
//blobs.hulls.Add(blob.ID, hull);
// find quadrilateral
//List<IntPoint> quadrilateral = PointsCloud.FindQuadrilateralCorners(hull);
//blobs.quadrilaterals.Add(blob.ID, quadrilateral);
//// shift all points for vizualization
//AForge.IntPoint shift = new IntPoint( 1, 1 );
//PointsCloud.Shift( leftEdge, shift );
//PointsCloud.Shift( rightEdge, shift );
//PointsCloud.Shift( topEdge, shift );
//PointsCloud.Shift( bottomEdge, shift );
//PointsCloud.Shift( hull, shift );
//PointsCloud.Shift( quadrilateral, shift );
}
return blobs;
}
public GlintConfiguration(Blob blob0, Blob blob1)
{
count = 2;
centers = new GTPoint[2];
blobs = new Blobs();
blobs.BlobDir[0] = blob0;
blobs.BlobDir[1] = blob1;
centers[0] = new GTPoint(blob0.CenterOfGravity.X, blob0.CenterOfGravity.Y);
centers[1] = new GTPoint(blob1.CenterOfGravity.X, blob1.CenterOfGravity.Y);
}
private static Matrix<int> GetDistanceMatrix(Blobs blobs, int minDistance, int maxDistance)
{
int N = blobs.Count;
var distMatrix = new Matrix<double>(N, N);
var distMatrixThr = new Matrix<int>(N, N);
distMatrixThr.SetIdentity();
for (int i = 0; i < N; i++)
{
for (int j = i; j < N; j++)
{
double dist = Operations.Distance(blobs.BlobList[i].CenterOfGravity, blobs.BlobList[j].CenterOfGravity);
if (dist >= minDistance && dist <= maxDistance)
{
distMatrixThr[i, j] = 1;
}
}
}
return distMatrixThr;
}
private GlintConfiguration FilterConfigsByDistance(Blobs blobs, List<Point> combinations,
GTPoint initialLocation)
{
int N = combinations.Count;
double minDistance = 100000000;
double avgDist = 0;
int correctConfigIndex = 0;
for (int i = 0; i < N; i++)
{
double dist1 = Operations.Distance(blobs.BlobList[(int) combinations[i].X].CenterOfGravity, initialLocation);
double dist2 = Operations.Distance(blobs.BlobList[(int) combinations[i].Y].CenterOfGravity, initialLocation);
avgDist = (dist1 + dist2)/2;
if (avgDist < minDistance)
{
correctConfigIndex = i;
minDistance = avgDist;
}
}
return new GlintConfiguration(blobs.BlobList[(int) combinations[correctConfigIndex].X],
blobs.BlobList[(int) combinations[correctConfigIndex].Y]);
}
private GlintConfiguration FilterConfigsBySize(Blobs blobs, List<Point> combinations, GTPoint initialLocation)
{
int N = combinations.Count;
double maxSize = 0;
double combinationSize;
int correctConfigIndex = 0;
for (int i = 0; i < N; i++)
{
combinationSize = blobs.BlobList[(int) combinations[i].X].Area +
blobs.BlobList[(int) combinations[i].Y].Area;
if (combinationSize > maxSize)
{
correctConfigIndex = i;
maxSize = combinationSize;
}
}
return new GlintConfiguration(blobs.BlobList[(int) combinations[correctConfigIndex].X],
blobs.BlobList[(int) combinations[correctConfigIndex].Y]);
}
/// <summary>
/// Calculates the optimal valid configuration and eliminates the rest of the blobs.
/// It uses the number of light sources.
/// </summary>
public GlintConfiguration GetValidConfiguration(Blobs blobs, GTPoint initialLocation)
{
var validConfig = new GlintConfiguration(4);
var candidateGlintCenters = new Matrix<double>(blobs.Count, blobs.Count);
Matrix<int> distMatrixThr;
var combinations = new List<Point>();
var validConfigurations = new List<GlintConfiguration>();
var indicesValidConfigs = new List<int>();
distMatrixThr = GetDistanceMatrix(blobs, MinDistBetweenGlints, MaxDistBetweenGlints);
for (int i = 0; i < distMatrixThr.Rows; i++)
{
combinations.AddRange(GetCombinations(distMatrixThr.GetRow(i).Clone(), i));
}
if (combinations.Count > 0)
validConfig = FilterConfigsByDistance(blobs, combinations, initialLocation);
else
validConfig = new GlintConfiguration(1);
return validConfig;
}
public Blobs DetectBlobs(Image <Gray, byte> image, int threshold, double minSize, double maxSize, bool isGlint)
{
// Detect blobs
if (isGlint) // Todo: Run recursive blob detection on small ROI images for improved detection/performance
{
blobCounter.ProcessImage(image.ThresholdBinary(new Gray(threshold), new Gray(255)));
}
else
{
blobCounter.ProcessImage(image.ThresholdToZeroInv(new Gray(threshold)));
}
// Filtering
if (isFiltering) // turn off above
{
blobCounter.FilterBlobs = true;
blobCounter.MinHeight = (int)minSize;
blobCounter.MinWidth = (int)minSize;
blobCounter.MaxHeight = (int)maxSize;
blobCounter.MaxWidth = (int)maxSize;
blobCounter.ObjectsOrder = ObjectsOrder.Area;
}
// Get blob info
var blobs = new Blobs(blobCounter.GetObjectsInformation());
//grahamScan = new GrahamConvexHull();
// Set blobs properties (edges etc)
foreach (Blob blob in blobs.BlobDir.Values)
{
var leftEdge = new List <IntPoint>();
var rightEdge = new List <IntPoint>();
var topEdge = new List <IntPoint>();
var bottomEdge = new List <IntPoint>();
// collect edge points
blobCounter.GetBlobsLeftAndRightEdges(blob, out leftEdge, out rightEdge);
blobCounter.GetBlobsTopAndBottomEdges(blob, out topEdge, out bottomEdge);
blobs.leftEdges.Add(blob.ID, leftEdge);
blobs.rightEdges.Add(blob.ID, rightEdge);
blobs.topEdges.Add(blob.ID, topEdge);
blobs.bottomEdges.Add(blob.ID, bottomEdge);
// find convex hull
//List<IntPoint> edgePoints = new List<IntPoint>();
//edgePoints.AddRange(leftEdge);
//edgePoints.AddRange(rightEdge);
//List<IntPoint> hull = grahamScan.FindHull(edgePoints);
//blobs.hulls.Add(blob.ID, hull);
// find quadrilateral
//List<IntPoint> quadrilateral = PointsCloud.FindQuadrilateralCorners(hull);
//blobs.quadrilaterals.Add(blob.ID, quadrilateral);
//// shift all points for vizualization
//AForge.IntPoint shift = new IntPoint( 1, 1 );
//PointsCloud.Shift( leftEdge, shift );
//PointsCloud.Shift( rightEdge, shift );
//PointsCloud.Shift( topEdge, shift );
//PointsCloud.Shift( bottomEdge, shift );
//PointsCloud.Shift( hull, shift );
//PointsCloud.Shift( quadrilateral, shift );
}
return(blobs);
}
