private void SetVisualizerPositions()
{
vizR = new FormVisualizer(FormVisualizer.DisplayMode.Emgu, "Red");
vizG = new FormVisualizer(FormVisualizer.DisplayMode.Emgu, "Green");
vizB = new FormVisualizer(FormVisualizer.DisplayMode.Emgu, "Blue");
vizY = new FormVisualizer(FormVisualizer.DisplayMode.Emgu, "Yellow");
RegistryKey rk = null;
try
{
rk = Registry.LocalMachine.OpenSubKey("SOFTWARE\\" + this.ProductName);
if ((rk != null) && ((string)rk.GetValue("R_K", "-1") != "-1"))
{
FormWebCamEmgu.ReadWindowState(rk, vizR, "Red");
FormWebCamEmgu.ReadWindowState(rk, vizG, "Green");
FormWebCamEmgu.ReadWindowState(rk, vizB, "Blue");
FormWebCamEmgu.ReadWindowState(rk, vizY, "Yellow");
}
}
catch (Exception)
{
MessageBox.Show("Problem occurred while reading registry saved properties");
}
finally
{
if (rk != null)
{
rk.Dispose();
}
}
vizR.Show();
vizG.Show();
vizB.Show();
vizY.Show();
}
/// <summary>
/// Detect the orientation of camera toward descriptor
/// </summary>
/// <param name="filtered">Filtered image array</param>
/// <param name="original">Original image array</param>
/// <param name="colorIndex">Define which color filter is used</param>
/// <returns>Four points. Camera place, center
/// of projection and two orientations(X and Y)</returns>
public List <Point3D> Detection(
Image <Bgr, byte> imgContainer,
byte[, ,] original, FilterColors colorIndex,
int FrameRows, int FrameCols,
List <Point3D> CenterProjXY)
{
FilterColors frameColor = colorIndex;
// Correction is made for yellow color, which value is 4,
// but a image array consists only of three color channels.
// The color is used as index in that array
if (colorIndex == FilterColors.Y)
{
colorIndex = FilterColors.R;
}
List <WeightCenter> sp = SpotDetection.FindSpots(imgContainer.Data, original, colorIndex, FrameRows, FrameCols);
if (sp == null)
{
return(null);
}
Point3D[][] orientation = DetectFace(sp, FrameRows);
// In case five color spots are detected the processing of current frame continues
if (orientation == null)
{
return(null);
}
// Draw the corrected points on image
Visualization.DrawPoints(original, new List <Point3D>(orientation[2]), FrameRows, FrameCols, 128);
WeightCenter binFound;
List <Point3D> bin8Location = CalcBinaryPlaces(original, orientation[0], orientation[1], out binFound);
// Draw the exact 8 spots of binary code
//Visualization.DrawPoints(original, bin8Location, FrameRows, FrameCols, 150);
int sideNumber = ReadBinaryCode(original, bin8Location);
if (sideNumber < 0)
{
return(null);
}
#region Visualization of binary code location
//if (imgVisualizePoints != null)
//{
// int rows = original.GetLength(0);
// int cols = original.GetLength(1);
// Visualization.DrawPoints(imgVisualizePoints.Data, binar8Codes, rows, cols);
//}
//Number 3 has problem
//if (color == FilterColors.Blue)
// mainTextViz.SetText(sideNumber.ToString());
#endregion
// Compare side number and color if they match correctly
if (!CheckSideNumberColor(sideNumber, frameColor))
{
return(null);
}
List <Point3D> fourPdescriptor = new List <Point3D>(5);
fourPdescriptor.Add(dataMouse.ColorSpotsDescriptorSmall[0]);
fourPdescriptor.Add(dataMouse.ColorSpotsDescriptorSmall[1]);
fourPdescriptor.Add(dataMouse.ColorSpotsDescriptorSmall[2]);
fourPdescriptor.Add(dataMouse.ColorSpotsDescriptorSmall[3]);
fourPdescriptor.Add(dataMouse.ColorSpotsDescriptorSmall[4]);
Point3D[] cameraProjectionPoints = orientation[2];
int binPosition = binFound.rowStart;
List <Point3D> fourPprojection = new List <Point3D>(4);
// Order points in counter clock wise from binary code
fourPprojection.Add(cameraProjectionPoints[dataMouse.indexBinaryPositionReorder[binPosition, 0]]);
fourPprojection.Add(cameraProjectionPoints[dataMouse.indexBinaryPositionReorder[binPosition, 1]]);
fourPprojection.Add(cameraProjectionPoints[dataMouse.indexBinaryPositionReorder[binPosition, 2]]);
fourPprojection.Add(cameraProjectionPoints[dataMouse.indexBinaryPositionReorder[binPosition, 3]]);
fourPprojection.Add(cameraProjectionPoints[dataMouse.indexBinaryPositionReorder[binPosition, 4]]);
// For distance check
List <Point3D> FoundSpots = Geometry.CloneList(fourPprojection);
ImageProcessing.ConvertXY(fourPprojection, FrameRows);
//FourP.ToDraw = true;
//FourP.FourPointCalibrationMain(fourPdescriptor, CenterProjXY, fourPprojection);
//FiveVariants(fourPprojection, CenterProjXY, fourPdescriptor);
Point3D[] sourceViewPars = Geometry.align_calc_pars(new Point3D[] {
dataMouse.ColorSpotsDescriptorSmall[0],
dataMouse.ColorSpotsDescriptorSmall[1],
dataMouse.ColorSpotsDescriptorSmall[2]
});
// sideNumber-1 is the index of the detected side
Point3D[] destViewPars = Geometry.align_calc_pars(new Point3D[] {
dataMouse.ColorSpotSides[sideNumber - 1][0],
dataMouse.ColorSpotSides[sideNumber - 1][1],
dataMouse.ColorSpotSides[sideNumber - 1][2]
});
// Averaging five result from 4-point transformation
List <Point3D> fourP = new List <Point3D>();
int n = 0;
List <List <Point3D> > fourPoint = new List <List <Point3D> >();
//Rotate elements in list and calculate four point transform
for (int i = 0; i < fourPprojection.Count; i++)
{
List <List <Point3D> > pl1 = Geometry.cal_4p_trans(fourPdescriptor.GetRange(0, 4), CenterProjXY, fourPprojection.GetRange(0, 4));
if (pl1 != null)
{
fourPoint.Add(pl1[1]);
// Align camera toward descriptor
Geometry.align((fourPoint[n]), sourceViewPars, destViewPars);
//Add weight in fifth point in X value
fourPoint[n].Add(WeightDistance(fourPoint[n], FoundSpots, sideNumber, original, CenterProjXY, FrameRows, FrameCols, true));
n++;
}
//Add first in last position. Remove firs.
fourPdescriptor.Add(fourPdescriptor[0]);
fourPdescriptor.RemoveAt(0);
fourPprojection.Add(fourPprojection[0]);
fourPprojection.RemoveAt(0);
}
//Remove worst result
double maxDist = -1;
double currDist = 0;
n = 0;
for (int i = 0; i < fourPoint.Count; i++)
{
currDist = fourPoint[i][4].X;
if (currDist > maxDist)
{
maxDist = currDist;
n = i;
}
}
if ((fourPoint.Count != 0) && (fourPoint.Count >= 2) && (fourPoint[n][4].X > 10))
{
fourPoint.RemoveAt(n);
}
fourP = FormWebCamEmgu.AverageViewPointsWeight(false, fourPoint);
if (fourP == null)
{
return(null);
}
fourP.Add(WeightDistance(fourP, FoundSpots, sideNumber, original, CenterProjXY, FrameRows, FrameCols, false));
return(fourP);
}
