/// <summary>
/// Find the location of the first always black spot
/// </summary>
/// <param name="binarPlaces">Five projected probable locations</param>
/// <param name="original">The source image, where the spots will be searched</param>
/// <returns>Location on the image and its number</returns>
private WeightCenter FindBinaryPlace(byte[, ,] original, List <Point3D> binarPlaces)
{
int sumMin = 765; // 255 * 3 - the max sum possible
int sum;
byte R, G, B; // b0g1r2
Point3D pMin = null;
int foundedPosition = 0;
for (int i = 0; i < 5; i++)
{
if ((binarPlaces[i].X < 0) || (binarPlaces[i].Y < 0) ||
(binarPlaces[i].X >= original.GetLength(1)) ||
(binarPlaces[i].Y >= original.GetLength(0)))
{
return(WeightCenter.Empty);
}
R = original[(int)(binarPlaces[i].Y), (int)(binarPlaces[i].X), 2];
G = original[(int)(binarPlaces[i].Y), (int)(binarPlaces[i].X), 1];
B = original[(int)(binarPlaces[i].Y), (int)(binarPlaces[i].X), 0];
sum = R + G + B;
if (sum < sumMin) // Find the darkest spot
{
foundedPosition = i;
sumMin = sum;
pMin = binarPlaces[i];
}
}
WeightCenter w = new WeightCenter((int)pMin.X, (int)pMin.Y, foundedPosition);
//Visualization.VisualizeWeightCenter(w, imgOriginal.Data, FrameRows, FrameCols, 100);
//Visualization.VisualizeWeightCenter(w, imgR.Data, FrameRows, FrameCols);
return(new WeightCenter((int)pMin.X, (int)pMin.Y, foundedPosition));
}
} // End FindSpots
/// <summary>
///
/// </summary>
/// <param name="source"></param>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="width"></param>
/// <param name="height"></param>
/// <param name="color"></param>
/// <returns></returns>
private static WeightCenter CalculateWeightCenter(byte[, ,] source, int x, int y,
int width, int height, FilterColors color)
{
int sum_x = 0, sum_y = 0, n = 0;
for (int i = 0; i < height; i++)
{
for (int j = 0; j < width; j++)
{
if (source[i + y, j + x, (byte)color] == 255)
{
sum_x += j;
sum_y += i;
n++;
}
}
}
WeightCenter w;
if (n > 0)
{
w = new WeightCenter(
x + (int)Math.Round((double)(sum_x / n), 0),
y + (int)Math.Round((double)(sum_y / n), 0), y);
}
else
{
w = WeightCenter.Empty;
}
return(w);
}
public bool Equals(WeightCenter w)
{
// Return true if the fields match:
return((this.x == w.x) &&
(this.x == w.y) &&
(this.rowStart == w.rowStart));
}
private void RetrieveColorInformation(FilterColors color, byte[,,] original,
WeightCenter colorSpotLocation, Point3D whiteSpotLocation, Point3D blackSpotLocation)
{
if (WhiteSpot == Color.Empty)
{
WhiteSpot = ImageProcessing.GetColor(
original,
new WeightCenter((int)whiteSpotLocation.X, (int)whiteSpotLocation.Y, 0), 0);
}
if (BlackSpot == Color.Empty)
{
BlackSpot = ImageProcessing.GetColor(
original,
new WeightCenter((int)blackSpotLocation.X, (int)blackSpotLocation.Y, 0), 0);
}
Color colorSpot = ImageProcessing.GetColor(original, colorSpotLocation, 0);
switch (color)
{
case FilterColors.B:
if (BlueSpot == Color.Empty)
{
BlueSpot = colorSpot;
}
break;
case FilterColors.G:
if (GreenSpot == Color.Empty)
{
GreenSpot = colorSpot;
}
break;
case FilterColors.R:
if (RedSpot == Color.Empty)
{
RedSpot = colorSpot;
}
break;
case FilterColors.Y:
if (YellowSpot == Color.Empty)
{
YellowSpot = colorSpot;
}
break;
default:
break;
}
RecalcVectors();
RotateColorVectors();
}
public static void VisualizeWeightCenter(WeightCenter w, byte[, ,] destination, int FrameRows, int FrameCols, byte colorCross = 255)
{
int wx, wy;
if ((w.x > 0) && (w.y > 0))
{
int crossHairSize = 4;
wx = w.x;
wy = w.y;
// Draw white pixels on X and Y axis
for (int i = (-1 * crossHairSize); i < crossHairSize; i++)
{
// Checks if a white cross is drawn outside the picture
if (((wx + i) > (FrameCols - 1)) || ((wy + i) > (FrameRows - 1)))
{
break;
}
if (((wx + i) <= 1) || ((wy + i) <= 1))
{
break;
}
// pixels are indexed as row -> col, therefore wy and wx are in this order, row = wy, col = wx
if ((colorCross > 255) || (colorCross < 0))
{
colorCross = 255;
}
if ((wy > FrameRows - 1) || (wy < 0))
{
break;
}
if ((wx > FrameCols - 1) || (wx < 0))
{
break;
}
destination[wy + i, wx, 2] = destination[wy + i, wx, 1] = destination[wy + i, wx, 0] = colorCross;
destination[wy, wx + i, 2] = destination[wy, wx + i, 1] = destination[wy, wx + i, 0] = colorCross;
}
}
}
private void zoomPicBox1_MouseClick(object sender, MouseEventArgs e)
{
int x = zoomPicBox1.CurrentState.OriginalX;
int y = zoomPicBox1.CurrentState.OriginalY;
WeightCenter coordinates = new WeightCenter(x, y, 0);
Color pixelColor = ImageProcessing.GetColor(imageCopy.Data,
coordinates, (int)numericUpDownBorderPixels.Value);
labelPixelColor.Text = string.Format("{0} {1} {2}", pixelColor.R, pixelColor.G, pixelColor.B);
textBoxPixelColor.BackColor = pixelColor;
Vector3D pixelVector = new Vector3D(pixelColor);
pixelVector.Normalize();
textBoxPixelColor.Text = pixelVector.ToString();
if (MouseRecognitionModule.IsInitialized)
{
Vector3D redVector, greenVector, blueVector, yellowVector;
redVector = MouseRecognitionModule.RedVector;
greenVector = MouseRecognitionModule.GreenVector;
blueVector = MouseRecognitionModule.BlueVector;
yellowVector = MouseRecognitionModule.YellowVector;
Vector3D currentVector = new Vector3D(pixelColor);
currentVector.Normalize();
// Distances
double distance = Geometry.Distance(currentVector, redVector);
textBoxRDist.Text = distance.ToString();
distance = Geometry.Distance(currentVector, greenVector);
textBoxGDist.Text = distance.ToString();
distance = Geometry.Distance(currentVector, blueVector);
textBoxBDist.Text = distance.ToString();
distance = Geometry.Distance(currentVector, yellowVector);
textBoxYDist.Text = distance.ToString();
}
}
/// <summary>
/// Calculate the exact 8 locations of binary code for reading
/// </summary>
/// <param name="original">Frame from which will be founded the always first black spot</param>
/// <param name="sourceBinPars">Orientation parameters of descriptor</param>
/// <param name="destBinPars">Orientation parameters of projection from camera</param>
/// <returns>Eight positions of binary code according projection</returns>
private List <Point3D> CalcBinaryPlaces(byte[, ,] original, Point3D[] sourceBinPars, Point3D[] destBinPars, out WeightCenter binFound)
{
List <Point3D> binarPlacesHomography = Geometry.homography_calc(
new List <Point3D>(dataMouse.binarPlacesBase), sourceBinPars, destBinPars);
binFound = FindBinaryPlace(original, binarPlacesHomography);
if (binFound == WeightCenter.Empty)
{
return(null);
}
List <Point3D> binar8Codes = new List <Point3D>(Geometry.CloneList(dataMouse.binarSpotsSide01));
// Rotate the 8 binary codes according the founded position
Geometry.p_rotZ(binar8Codes, dataMouse.SinCosDescriptor[binFound.rowStart], 1);
binar8Codes = Geometry.homography_calc(binar8Codes, sourceBinPars, destBinPars);
return(binar8Codes);
}
