public Bitmap Fill()
{
PointedColorFloodFill bucket = new PointedColorFloodFill();
_fillpic = _pic.Clone(new Rectangle(0, 0, _pic.Width, _pic.Height), System.Drawing.Imaging.PixelFormat.Format24bppRgb);
bucket.FillColor = _color;
bucket.Tolerance = _pic.GetPixel(x, y);
bucket.StartingPoint = new IntPoint(x, y);
return(bucket.Apply(_fillpic));
}
/// <summary>
/// Flood fill in a BFS manner, so as not to overwhelm the stack
/// </summary>
/// <param name="image">the image we wish to fill on</param>
/// <param name="xpixel">the x pixel to sample from</param>
/// <param name="ypixel">the y pixel to sample from</param>
/// <param name="threshold">the threshold of difference</param>
/// <returns>the background which can be subtracted</returns>
public static Bitmap FloodFill(Bitmap image, int xpixel, int ypixel, double threshold, Bgr myColor)
{
Bitmap jpg = AForge.Imaging.Image.Clone(image, PixelFormat.Format24bppRgb);
AForge.Imaging.Filters.PointedColorFloodFill filter = new PointedColorFloodFill();
int thresh = (int)threshold;
filter.Tolerance = Color.FromArgb(thresh, thresh, thresh);
filter.FillColor = Color.Black;
filter.StartingPoint = new IntPoint(xpixel, ypixel);
return(filter.Apply(jpg));
}
void searchSolution(Bitmap rgb)
{
long start = DateTime.Now.Ticks / 10000;
Globals.FRAMES_PROCESSED_TRIANGULAR++;
int com_x_sum = 0, com_y_sum = 0, com_x_y_point_count = 0;
Globals.HARVEST_SIGN_ID++;
//if (redTestPoints == null)
// calculateRedTestPoints();
Bitmap bmp = sf.Apply(rgb);
GeoTransChromosome sampleChromosome = new GeoTransChromosome(bmp, sf, this, null);
Population tmpPopulation = new Population(Constants.GA_POPULATION_SIZE,
sampleChromosome,
sampleChromosome,
new EliteSelection()
);
tmpPopulation.MutationRate = Constants.GA_MUTATION_RATE;
tmpPopulation.CrossoverRate = Constants.GA_CROSSOVER_RATE;
if (population == null || population.BestChromosome == null || population.BestChromosome.Fitness < RS_THRESHOLD / 4)
{
// fresh population
}
else
{
// half from previous
for (int j = 0; j < tmpPopulation.Size / 2; j++)
{
((GeoTransChromosome)tmpPopulation[j]).copyContent((GeoTransChromosome)population[j]);
}
}
population = tmpPopulation;
Graphics gg = null;
/*
Bitmap bmp_x = null;
if (1!=1)
{
bmp_x = new Bitmap(Constants.IMAGE_WIDTH, Constants.IMAGE_HEIGHT * 2, PixelFormat.Format24bppRgb);
gg = Graphics.FromImage(bmp_x);
gg.DrawImage(bmp, 0, 0);
gg.DrawImage(rgb, 0, Constants.IMAGE_HEIGHT);
for (int x = 0; x < population.Size; x++)
{
GeoTransChromosome chromo = (GeoTransChromosome)population[x];
gg.DrawRectangle(Pens.Cyan, chromo.X, chromo.Y, 1, 1);
}
}
*/
int i = 0;
do
{
long start_epoch = DateTime.Now.Ticks / 10000;
Globals.FRAMES_PROCESSED_GA_RUNEPOCH++;
// run one epoch of genetic algorithm
population.RunEpoch();
if (Constants.EVALUATE_TIME_ENABLED)
{
int x = (int)(DateTime.Now.Ticks / 10000 - start_epoch);
if (x >= 0)
{
Globals.TIME_GA_RUNEPOCH_MIN = x < Globals.TIME_GA_RUNEPOCH_MIN ? x : Globals.TIME_GA_RUNEPOCH_MIN;
Globals.TIME_GA_RUNEPOCH_MAX = x > Globals.TIME_GA_RUNEPOCH_MAX ? x : Globals.TIME_GA_RUNEPOCH_MAX;
Globals.TIME_GA_RUNEPOCH_TOTAL += x;
}
}
i++;
} while (i < Constants.GA_NUMBER_ITERATIONS);
GeoTransChromosome bestChromo = null;
float rs = 0;
if (population.BestChromosome != null && population.BestChromosome.Fitness > RS_THRESHOLD)
{
bestChromo = (GeoTransChromosome)population.BestChromosome;
int rx = bestChromo.X, ry = bestChromo.Y, rr = bestChromo.Width;
rs = (float)bestChromo.Fitness;
if (Constants.HARVEST_TYPE == Constants.HarvestType.harvestAll || Constants.HARVEST_TYPE == Constants.HarvestType.harvestMisses)
{
rgb.Save(Constants.base_folder + "hasat\\" + Globals.HARVEST_SIGN_ID + "_0.bmp");
bmp.Save(Constants.base_folder + "hasat\\" + Globals.HARVEST_SIGN_ID + "_1.bmp");
}
// findTriangle(bestChromo.X, bestChromo.Y, bmp, ref rx, ref ry, ref rr, ref rs);
if (rs < RS_THRESHOLD || rr==0)
{
if (gg != null)
{
gg.DrawRectangle(Pens.Red, bestChromo.X - 1, bestChromo.Y - 1, 3, 3);
gg.DrawRectangle(Pens.Red, bestChromo.X - bestChromo.Width / 2, bestChromo.Y - bestChromo.Width / 2, bestChromo.Width, bestChromo.Width);
}
bestChromo = null;
}
else
{
rr = (int)(Constants.CAPTURE_RESIZE_TRIANGLE * rr);
int xx = (int)(rr * Math.Cos(Math.PI * 30 / 180)); // üçgenin kenarı: 2 . xx
int yy = (int)(rr * Math.Sin(Math.PI * 30 / 180)); // üçgenin yüksekliği: 3 . yy
int x_left = rx - xx;
int y_top = ry - (2 * yy) - ((3*yy)/10);
rgb = new Crop(new Rectangle(x_left,
y_top,
(x_left + 2 * xx > rgb.Width - 1 ? rgb.Width - 1 - x_left : 2 * xx),
(y_top + 2 * xx > rgb.Height - 1 ? rgb.Height - 1 - y_top : 2 * xx))).Apply(rgb);
if (gg != null)
{
gg.DrawImage(rgb, 1, Constants.IMAGE_HEIGHT + 1);
gg.DrawRectangle(Pens.DarkOrchid, rx - 1, ry - 1, 3, 3);
gg.DrawRectangle(Pens.Green, x_left, y_top, rgb.Width, rgb.Height);
}
rgb = new ResizeBicubic(Constants.SIGN_WIDTH, Constants.SIGN_HEIGHT).Apply(rgb);
if (panel != null)
{
Graphics g = panel.getPanelGraphics();
g.DrawRectangle(Pens.Silver, 5, 4, Constants.SIGN_WIDTH, Constants.SIGN_HEIGHT);
g.DrawImage(rgb, new Point(5, 4));
}
if (Constants.HARVEST_TYPE == Constants.HarvestType.harvestAll || Constants.HARVEST_TYPE == Constants.HarvestType.harvestMisses)
rgb.Save(Constants.base_folder + "hasat\\" + Globals.HARVEST_SIGN_ID + "_3_" +rs+ ".bmp");
rgb = AutoBrightnessProcessor.autoBrightness(rgb, Rectangle.Empty, Constants.AUTOBRIGHTNESS_BASE_LUM);
if (Constants.HARVEST_TYPE == Constants.HarvestType.harvestAll || Constants.HARVEST_TYPE == Constants.HarvestType.harvestMisses)
rgb.Save(Constants.base_folder + "hasat\\" + Globals.HARVEST_SIGN_ID + "_4.bmp");
int dynamic_gray = 0;
if (Constants.LABELING_TYPE == Constants.LabelingType.redBlackWhite)
rgb = new ColorLabelFilter(new Color[] { Color.FromArgb(255, 0, 0), Color.White, Color.Black }, true).Apply(rgb);
else if (Constants.LABELING_TYPE == Constants.LabelingType.blackAndWhite)
{
rgb = new ColorLabelFilter(new Color[] { Color.White, Color.FromArgb(dynamic_gray, dynamic_gray, dynamic_gray) }, true).Apply(rgb);
}
if (Constants.HARVEST_TYPE == Constants.HarvestType.harvestAll || Constants.HARVEST_TYPE == Constants.HarvestType.harvestMisses)
rgb.Save(Constants.base_folder + "hasat\\" + Globals.HARVEST_SIGN_ID + "_5.bmp");
int start_x = 0, start_y = 0;
int y = 0;
for (; y < Constants.SIGN_HEIGHT && (start_x+start_y)==0; y++)
{
for (int x = 0; x < Constants.SIGN_WIDTH; x++)
{
Color clr = rgb.GetPixel(x, y);
if (clr.R == 0)
{
start_x = x;
start_y = y;
break;
}
}
}
PointedColorFloodFill filter = new PointedColorFloodFill();
filter.Tolerance = Color.FromArgb(0, 0, 0);
filter.FillColor = Color.FromArgb(255, 255, 255);
filter.StartingPoint = new Point(start_x, start_y);
Bitmap rgb_flood_fill = filter.Apply(rgb);
int black_region_found_at_center = 0;
y = 4 * (Constants.SIGN_HEIGHT / 10);
for (int x = 4 * (Constants.SIGN_WIDTH / 10); x < 6 * (Constants.SIGN_WIDTH / 10); x += 2)
{
Color clr = rgb_flood_fill.GetPixel(x, y);
if (clr.R == 0)
{
black_region_found_at_center++;
}
}
if (black_region_found_at_center < 8)
{
y = 6 * (Constants.SIGN_HEIGHT / 10);
for (int x = 4 * (Constants.SIGN_WIDTH / 10); x < 6 * (Constants.SIGN_WIDTH / 10); x += 2)
{
Color clr = rgb_flood_fill.GetPixel(x, y);
if (clr.R == 0)
{
black_region_found_at_center++;
}
}
}
if (black_region_found_at_center >= 5)
{
rgb = rgb_flood_fill;
}
BitmapData image_data = rgb.LockBits(new Rectangle(0, 0, rgb.Width, rgb.Height), ImageLockMode.ReadWrite, rgb.PixelFormat);
int bpp = 3;
int nOffset = image_data.Stride - rgb.Width * bpp;
System.IntPtr Scan0 = image_data.Scan0;
unsafe
{
byte* p = (byte*)Scan0;
for (y = 0; y < Constants.SIGN_HEIGHT; y++)
{
// for each pixel
for (int x = 0; x < Constants.SIGN_WIDTH; x++, p += bpp)
{
if (y >= Constants.SIGN_HEIGHT - 12 || y <= 14 || x >= Constants.SIGN_WIDTH - 12 || x <= 12
||
(x <= Constants.SIGN_WIDTH / 2 && y <= (Constants.SIGN_HEIGHT) - 2 * x + 8)
|| (x > Constants.SIGN_WIDTH / 2 && y <= 2 * (x - Constants.SIGN_HEIGHT / 2) + 8)
)
{
p[RGB.R] = 255;
p[RGB.G] = 255;
p[RGB.B] = 255;
}
else if (p[RGB.R] == 0)
{
com_x_sum += x;
com_y_sum += y;
com_x_y_point_count++;
}
}
p += nOffset;
}
}
rgb.UnlockBits(image_data);
if (com_x_y_point_count < 10)
bestChromo = null;
else if (Constants.HARVEST_TYPE > Constants.HarvestType.noHarvest)
{
if (Constants.HARVEST_TYPE == Constants.HarvestType.harvestIntoFolder)
{
string[] signs = Globals.SIGN_IN_FRAME.Split(',');
for (int j = 1; j < signs.Length; j++)
{
if (!Directory.Exists(Constants.base_folder + "hasat\\" + signs[j]))
Directory.CreateDirectory(Constants.base_folder + "hasat\\" + signs[j]);
lock (Globals.HARVEST_LOCK)
{
rgb.Save(Constants.base_folder + "hasat\\" + signs[j] + "\\" + Globals.HARVEST_SIGN_ID + ".bmp");
}
}
}
else
{
rgb.Save(Constants.base_folder + "hasat\\" + Globals.HARVEST_SIGN_ID + "_6.bmp");
}
}
gtcBmp = rgb;
}
}
if (Constants.EVALUATE_TIME_ENABLED)
{
int x = (int)(DateTime.Now.Ticks / 10000 - start);
if (x >= 0)
{
Globals.TIME_TRIANGLE_MIN = x < Globals.TIME_TRIANGLE_MIN ? x : Globals.TIME_TRIANGLE_MIN;
Globals.TIME_TRIANGLE_MAX = x > Globals.TIME_TRIANGLE_MAX ? x : Globals.TIME_TRIANGLE_MAX;
Globals.TIME_TRIANGLE_TOTAL += x;
}
}
if (bestChromo != null)
{
if (panel != null)
{
Graphics g = panel.getPanelGraphics();
g.DrawRectangle(Pens.Silver, 5, 74, Constants.SIGN_WIDTH, Constants.SIGN_HEIGHT);
g.DrawImage(gtcBmp, new Point(5, 74));
}
if (msgService != null)
{
VisionMessage vm = new VisionMessage(gtcBmp.Height, gtcBmp.Width, ByteTools.pixelFormatToBPP(gtcBmp.PixelFormat), gtcBmp);
// Center of Mass
vm.CoM_X = com_x_sum / (com_x_y_point_count == 0 ? 1 : com_x_y_point_count);
vm.CoM_Y = com_y_sum / (com_x_y_point_count == 0 ? 1 : com_x_y_point_count);
msgService.sendMsg(vm);
}
}
else
{
if (Globals.RIGHT_PANEL_SHOWING_STH)
{
Globals.RIGHT_PANEL_SHOWING_STH = false;
Graphics g = panel.getPanelGraphics();
g.Clear(Color.Silver);
}
}
//if (rs > RS_THRESHOLD)
// bmp_x.Save(Constants.base_folder + "hasat\\" + Globals.HARVEST_SIGN_ID + "_" +rs+ "_" +sf.BlueCoeff+ "_" +sf.GreenCoeff+ ".bmp");
threadRunning = false;
}