private double GetBestGapDistance(RBSK rbsk, Action <double> progressCallBack = null)
{
//Caluclate gap distnace if it hasn't been set
//Auto Find the gap distance
//Scan from 20 - 300, the range which gives us consistent results is the right one
int start = 20;
int end = 300;
int interval = 1;
Video.SetFrame(0);
Image <Gray, Byte> firstFrame = Video.GetGrayFrameImage();
Dictionary <int, PointF> nosePoints = new Dictionary <int, PointF>();
for (int i = start; i <= end; i += interval)
{
using (Image <Gray, Byte> filteredImage = firstFrame.SmoothMedian(5))
using (Image <Gray, Byte> binaryImage = filteredImage.ThresholdBinary(new Gray(30), new Gray(255)))
{
rbsk.Settings.GapDistance = i;
Point[] temp = null;
PointF[] mousePoints = RBSKService.RBSKParallel(binaryImage, rbsk, ref temp);
if (mousePoints != null)
{
//We've found a set of points for this gap distance, store it
nosePoints.Add(i, mousePoints[2]);
}
}
double progressValue = ((i - start) / ((double)end - start)) * 100;
if (progressCallBack != null)
{
progressCallBack(progressValue);
}
}
const double threshold = 20;
PointF? previousPoint = null;
List <int> currentSelection = new List <int>();
int bestCounter = 0;
double bestDistanceSoFar = -1;
foreach (KeyValuePair <int, PointF> kvp in nosePoints)
{
PointF currentPoint = kvp.Value;
//Do we have a value?
if (previousPoint.HasValue)
{
//Is the previous point within the threshold distance of the current point
if (currentPoint.Distance(previousPoint.Value) < threshold)
{
currentSelection.Add(kvp.Key);
previousPoint = currentPoint;
}
else
{
//We're not within the threshold, compare the current list to see if it's the best
if (currentSelection.Count > bestCounter)
{
bestCounter = currentSelection.Count;
bestDistanceSoFar = currentSelection.Average();
}
currentSelection.Clear();
previousPoint = null;
}
}
else
{
previousPoint = currentPoint;
}
}
if (currentSelection.Count > bestCounter)
{
bestDistanceSoFar = currentSelection.Average();
}
if (bestDistanceSoFar == -1)
{
bestDistanceSoFar = 100;
}
return(bestDistanceSoFar);
}
private void UpdateFrameNumber()
{
Video.SetFrame(SliderValue);
using (Image <Bgr, Byte> orig = Video.GetFrameImage())
using (Image <Gray, Byte> origGray = orig.Convert <Gray, Byte>())
using (Image <Gray, Byte> binary = origGray.ThresholdBinary(new Gray(ThresholdValue), new Gray(255)))
using (Image <Gray, Byte> subbed = BinaryBackground.AbsDiff(binary))
{
CvBlobs blobs = new CvBlobs();
BlobDetector.Detect(subbed, blobs);
CvBlob mouseBlob = null;
double maxArea = -1;
foreach (var blob in blobs.Values)
{
if (blob.Area > maxArea)
{
mouseBlob = blob;
maxArea = blob.Area;
}
}
//double gapDistance = GetBestGapDistance(rbsk);
double gapDistance = 50;
RBSK.Settings.GapDistance = gapDistance;
//PointF[] headPoints = ProcessFrame(orig, RBSK);
PointF center = mouseBlob.Centroid;
//LineSegment2DF[] targetPoints = null;
Point[] mouseContour = mouseBlob.GetContour();
orig.DrawPolyline(mouseContour, true, new Bgr(Color.Cyan));
Image1 = ImageService.ToBitmapSource(orig);
PointF[] result;
if (HeadPoints != null)
{
result = HeadPoints[SliderValue].HeadPoints;
}
else
{
double prob = 0;
RBSK headRbsk = MouseService.GetStandardMouseRules();
headRbsk.Settings.GapDistance = 65;
headRbsk.Settings.BinaryThreshold = 20;
List <List <PointF> > allKeyPoints = headRbsk.FindKeyPoints(mouseContour, headRbsk.Settings.NumberOfSlides, false);
result = headRbsk.FindPointsFromRules(allKeyPoints[0], binary, ref prob);
}
if (result != null)
{
using (Image <Bgr, Byte> test = orig.Clone())
{
foreach (var point in result)
{
test.Draw(new CircleF(point, 3), new Bgr(Color.Red), 3);
}
Image1 = ImageService.ToBitmapSource(test);
}
}
else
{
return;
}
RotatedRect rotatedRect = CvInvoke.MinAreaRect(mouseContour.Select(x => new PointF(x.X, x.Y)).ToArray());
//Console.WriteLine("Size: " + rotatedRect.Size);
ISkeleton skel = ModelResolver.Resolve <ISkeleton>();
Image <Gray, Byte> tempBinary = binary.Clone();
System.Drawing.Rectangle rect = mouseBlob.BoundingBox;
Image <Gray, Byte> binaryRoi = tempBinary.GetSubRect(rect);
using (Image <Bgr, Byte> displayImage = subbed.Convert <Bgr, Byte>())
using (Image <Gray, Byte> skelImage = skel.GetSkeleton(binaryRoi))
using (Image <Bgr, Byte> drawImage = orig.Clone())
using (Image <Bgr, Byte> tempImage2 = new Image <Bgr, byte>(drawImage.Size))
{
//-----------------------------------------
if (SkelImage != null)
{
SkelImage.Dispose();
}
SkelImage = skelImage.Clone();
//--------------------------------------------
tempImage2.SetValue(new Bgr(Color.Black));
ISpineFinding spineFinder = ModelResolver.Resolve <ISpineFinding>();
spineFinder.NumberOfCycles = 3;
spineFinder.NumberOfIterations = 1;
spineFinder.SkeletonImage = skelImage;
//spineFinder.RotatedRectangle = rotatedRect;
Image5 = ImageService.ToBitmapSource(skelImage);
const int delta = 20;
double smallestAngle = double.MaxValue;
Point tailPoint = Point.Empty;
for (int i = 0; i < mouseContour.Length; i++)
{
int leftDelta = i - delta;
int rightDelta = i + delta;
if (leftDelta < 0)
{
leftDelta += mouseContour.Length;
}
if (rightDelta >= mouseContour.Length)
{
rightDelta -= mouseContour.Length;
}
Point testPoint = mouseContour[i];
Point leftPoint = mouseContour[leftDelta];
Point rightPoint = mouseContour[rightDelta];
Vector v1 = new Vector(leftPoint.X - testPoint.X, leftPoint.Y - testPoint.Y);
Vector v2 = new Vector(rightPoint.X - testPoint.X, rightPoint.Y - testPoint.Y);
double angle = Math.Abs(Vector.AngleBetween(v1, v2));
if (angle < 30 && angle > 9)
{
if (angle < smallestAngle)
{
smallestAngle = angle;
tailPoint = testPoint;
}
}
}
PointF headCornerCorrect = new PointF(result[2].X - rect.X, result[2].Y - rect.Y);
PointF tailCornerCorrect = new PointF(tailPoint.X - rect.X, tailPoint.Y - rect.Y);
PointF[] spine = spineFinder.GenerateSpine(headCornerCorrect, tailCornerCorrect);
Point topCorner = mouseBlob.BoundingBox.Location;
PointF[] spineCornerCorrected = new PointF[spine.Length];
for (int i = 0; i < spine.Length; i++)
{
spineCornerCorrected[i] = new PointF(spine[i].X + topCorner.X, spine[i].Y + topCorner.Y);
}
ITailFinding tailFinding = ModelResolver.Resolve <ITailFinding>();
double rotatedWidth = rotatedRect.Size.Width < rotatedRect.Size.Height ? rotatedRect.Size.Width : rotatedRect.Size.Height;
List <Point> bodyPoints;
if (result != null)
{
double firstDist = result[2].DistanceSquared(spineCornerCorrected.First());
double lastDist = result[2].DistanceSquared(spineCornerCorrected.Last());
if (firstDist < lastDist)
{
spineCornerCorrected = spineCornerCorrected.Reverse().ToArray();
}
}
double waistLength;
double pelvicArea1, pelvicArea2;
tailFinding.FindTail(mouseContour, spineCornerCorrected, displayImage, rotatedWidth, mouseBlob.Centroid, out bodyPoints, out waistLength, out pelvicArea1, out pelvicArea2);
Console.WriteLine(smallestAngle);
if (!tailPoint.IsEmpty)
{
drawImage.Draw(new CircleF(tailPoint, 4), new Bgr(Color.Red), 3);
}
if (bodyPoints != null && bodyPoints.Count > 0)
{
Point[] bPoints = bodyPoints.ToArray();
double volume = MathExtension.PolygonArea(bPoints);
Emgu.CV.Structure.Ellipse fittedEllipse = PointCollection.EllipseLeastSquareFitting(bPoints.Select(x => x.ToPointF()).ToArray());
//CvInvoke.Ellipse(drawImage, fittedEllipse.RotatedRect, new MCvScalar(0, 0, 255), 2);
Console.WriteLine("Volume: " + volume + " - " + (fittedEllipse.RotatedRect.Size.Width * fittedEllipse.RotatedRect.Size.Height) + ", Waist Length: " + waistLength);
//Alter this to something better
if (MathExtension.PolygonArea(bPoints) > (rotatedRect.Size.Height * rotatedRect.Size.Width) / 6 || true)
{
//tempImage2.FillConvexPoly(bPoints, new Bgr(Color.White));
tempImage2.DrawPolyline(bPoints, true, new Bgr(Color.White));
PointF centroid = MathExtension.FindCentroid(bPoints);
System.Drawing.Rectangle minRect;
Image <Gray, Byte> temp2 = new Image <Gray, byte>(tempImage2.Width + 2, tempImage2.Height + 2);
CvInvoke.FloodFill(tempImage2, temp2, centroid.ToPoint(), new MCvScalar(255, 255, 255), out minRect, new MCvScalar(5, 5, 5), new MCvScalar(5, 5, 5));
using (Image <Gray, Byte> nonZeroImage = tempImage2.Convert <Gray, Byte>())
{
int[] volume2 = nonZeroImage.CountNonzero();
Console.WriteLine("Volume2: " + volume2[0]);
//int tester = 9;
//using (Image<Gray, Byte> t1 = nonZeroImage.Erode(tester))
//using (Image<Gray, Byte> t2 = t1.Dilate(tester))
//using (Image<Gray, Byte> t3 = t2.Erode(tester))
//using (Image<Gray, Byte> t4 = t3.Dilate(tester))
//using (Image<Gray, Byte> t5 = t4.Erode(tester))
//using (Image<Gray, Byte> t6 = t5.Dilate(tester))
//using (Image<Gray, Byte> t7 = t6.Erode(tester))
//{
// Image6 = ImageService.ToBitmapSource(t7);
//}
}
tempImage2.Draw(new CircleF(centroid, 2), new Bgr(Color.Blue), 2);
double distanceToSpine = double.MaxValue;
PointF p11 = PointF.Empty, p22 = PointF.Empty;
for (int i = 1; i < spineCornerCorrected.Length; i++)
{
PointF point1 = spineCornerCorrected[i - 1];
PointF point2 = spineCornerCorrected[i];
double cDist = MathExtension.MinDistanceFromLineToPoint(point1, point2, centroid);
if (cDist < distanceToSpine)
{
p11 = point1;
p22 = point2;
distanceToSpine = cDist;
}
}
PointSideVector psv = MathExtension.FindSide(p11, p22, centroid);
if (psv == PointSideVector.Below)
{
distanceToSpine *= -1;
}
Console.WriteLine(distanceToSpine + ",");
}
}
for (int i = 1; i < spine.Length; i++)
{
PointF point1 = spine[i - 1];
PointF point2 = spine[i];
point1.X += topCorner.X;
point1.Y += topCorner.Y;
point2.X += topCorner.X;
point2.Y += topCorner.Y;
LineSegment2D line = new LineSegment2D(new Point((int)point1.X, (int)point1.Y), new Point((int)point2.X, (int)point2.Y));
drawImage.Draw(line, new Bgr(Color.Aqua), 2);
tempImage2.Draw(line, new Bgr(Color.Cyan), 2);
}
drawImage.Draw(new CircleF(mouseBlob.Centroid, 2), new Bgr(Color.Blue), 2);
Image3 = ImageService.ToBitmapSource(drawImage);
Image6 = ImageService.ToBitmapSource(tempImage2);
double rotatedRectArea = rotatedRect.Size.Width * rotatedRect.Size.Height;
if (rotatedRectArea < 75000)
{
//Console.WriteLine(rotatedRectArea);
//return;
}
else
{
//Console.WriteLine(rotatedRectArea);
}
double height = rotatedRect.Size.Height;
double width = rotatedRect.Size.Width;
//double angle = rotatedRect.Angle;
bool heightLong = height > width;
double halfLength;
PointF[] vertices = rotatedRect.GetVertices();
if (heightLong)
{
halfLength = height;
}
else
{
halfLength = width;
}
halfLength /= 2;
PointF[] sidePoints1 = new PointF[4], midPoints = new PointF[2];
PointF p1 = vertices[0], p2 = vertices[1], p3 = vertices[2], p4 = vertices[3];
double d1 = p1.DistanceSquared(p2);
double d2 = p2.DistanceSquared(p3);
if (d1 < d2)
{
//p1 and p2, p3 and p4 are side points
sidePoints1[0] = p1;
sidePoints1[1] = p2;
sidePoints1[2] = p4;
sidePoints1[3] = p3;
midPoints[0] = p1.MidPoint(p4);
midPoints[1] = p2.MidPoint(p3);
}
else
{
//p2 and p3, p1 and p4 are side points
sidePoints1[0] = p1;
sidePoints1[1] = p4;
sidePoints1[2] = p2;
sidePoints1[3] = p3;
midPoints[0] = p1.MidPoint(p2);
midPoints[1] = p3.MidPoint(p4);
}
PointF intersection1 = PointF.Empty;
PointF intersection2 = PointF.Empty;
using (Image <Gray, Byte> halfTest1 = origGray.CopyBlank())
using (Image <Gray, Byte> halfTest2 = origGray.CopyBlank())
{
Point[] rect1 = new Point[] { new Point((int)sidePoints1[0].X, (int)sidePoints1[0].Y), new Point((int)midPoints[0].X, (int)midPoints[0].Y), new Point((int)midPoints[1].X, (int)midPoints[1].Y), new Point((int)sidePoints1[1].X, (int)sidePoints1[1].Y) };
Point[] rect2 = new Point[] { new Point((int)sidePoints1[2].X, (int)sidePoints1[2].Y), new Point((int)midPoints[0].X, (int)midPoints[0].Y), new Point((int)midPoints[1].X, (int)midPoints[1].Y), new Point((int)sidePoints1[3].X, (int)sidePoints1[3].Y) };
if (MathExtension.PolygonContainsPoint(rect1, center))
{
//Rect 1 is head, look for line in r2
}
else if (MathExtension.PolygonContainsPoint(rect2, center))
{
//Rect 2 is head, look for line in r1
}
else
{
//Something has gone wrong
}
halfTest1.FillConvexPoly(rect1, new Gray(255));
halfTest2.FillConvexPoly(rect2, new Gray(255));
//Image5 = ImageService.ToBitmapSource(halfTest1);
//Image6 = ImageService.ToBitmapSource(halfTest2);
//binary.Copy(holder1, halfTest1);
//binary.Copy(holder2, halfTest2);
int count1, count2;
//using (Image<Gray, Byte> binaryInverse = subbed.Not())
using (Image <Gray, Byte> holder1 = subbed.Copy(halfTest1))
using (Image <Gray, Byte> holder2 = subbed.Copy(halfTest2))
{
//Image4 = ImageService.ToBitmapSource(subbed);
//Image5 = ImageService.ToBitmapSource(holder1);
//Image6 = ImageService.ToBitmapSource(holder2);
count1 = holder1.CountNonzero()[0];
count2 = holder2.CountNonzero()[0];
}
PointF qr1 = PointF.Empty, qr2 = PointF.Empty, qr3 = PointF.Empty, qr4 = PointF.Empty;
if (count1 > count2)
{
//holder 1 is head, holder 2 is rear
qr1 = sidePoints1[2];
qr2 = sidePoints1[2].MidPoint(midPoints[0]);
qr3 = sidePoints1[3].MidPoint(midPoints[1]);
qr4 = sidePoints1[3];
}
else if (count1 < count2)
{
//holder 2 is head, holder 1 is year
qr1 = sidePoints1[0];
qr2 = sidePoints1[0].MidPoint(midPoints[0]);
qr3 = sidePoints1[1].MidPoint(midPoints[1]);
qr4 = sidePoints1[1];
}
//fat line is qr2, qr3
PointF centerPoint = qr2.MidPoint(qr3);
PointF i1 = qr2;
PointF i2 = qr3;
intersection1 = MathExtension.PolygonLineIntersectionPoint(centerPoint, i1, mouseContour);
intersection2 = MathExtension.PolygonLineIntersectionPoint(centerPoint, i2, mouseContour);
}
double deltaX = halfLength * Math.Cos(rotatedRect.Angle * MathExtension.Deg2Rad);
double deltaY = halfLength * Math.Sin(rotatedRect.Angle * MathExtension.Deg2Rad);
const double scaleFactor = 0.25;
PointF newPoint = new PointF((float)(center.X - (deltaX * scaleFactor)), (float)(center.Y - (deltaY * scaleFactor)));
PointF intersectionPoint1 = PointF.Empty;
PointF intersectionPoint2 = PointF.Empty;
Point[] temp = null;
PointF[] headPoints = RBSKService.RBSKParallel(binary, MouseService.GetStandardMouseRules(), ref temp);
if (headPoints != null)
{
PointF tip = headPoints[2];
//targetPoints = new LineSegment2DF[3];
Point centerInt = new Point((int)newPoint.X, (int)newPoint.Y);
//targetPoints[0] = new LineSegment2DF(centerInt, new PointF(tip.X, tip.Y));
Vector forwardVec = new Vector(tip.X - newPoint.X, tip.Y - newPoint.Y);
Vector rotatedVec = new Vector(-forwardVec.Y, forwardVec.X);
PointF i1 = new PointF((float)(newPoint.X + (rotatedVec.X * 1)), (float)(newPoint.Y + (rotatedVec.Y * 1)));
PointF i2 = new PointF((float)(newPoint.X - (rotatedVec.X * 1)), (float)(newPoint.Y - (rotatedVec.Y * 1)));
//targetPoints[1] = new LineSegment2DF(centerInt, i1);
//targetPoints[2] = new LineSegment2DF(centerInt, i2);
intersectionPoint1 = MathExtension.PolygonLineIntersectionPoint(newPoint, i1, mouseContour);
intersectionPoint2 = MathExtension.PolygonLineIntersectionPoint(newPoint, i2, mouseContour);
}
//displayImage.Draw(mouseBlob.BoundingBox, new Bgr(Color.Red), 2);
displayImage.Draw(new CircleF(mouseBlob.Centroid, 3), new Bgr(Color.Blue), 2);
displayImage.Draw(rotatedRect, new Bgr(Color.Yellow), 3);
//displayImage.Draw(mouseContour, new Bgr(Color.Aqua), 2);
//displayImage.FillConvexPoly(new Point[] { new Point((int)sidePoints1[0].X, (int)sidePoints1[0].Y), new Point((int)midPoints[0].X, (int)midPoints[0].Y), new Point((int)midPoints[1].X, (int)midPoints[1].Y), new Point((int)sidePoints1[1].X, (int)sidePoints1[1].Y) }, new Bgr(Color.Blue));
//if (targetPoints != null)
//{
// displayImage.Draw(targetPoints[0], new Bgr(Color.Green), 2);
// displayImage.Draw(targetPoints[1], new Bgr(Color.Green), 2);
// displayImage.Draw(targetPoints[2], new Bgr(Color.Green), 2);
//}
//if (!intersection1.IsEmpty && !intersection2.IsEmpty)
//{
// LineSegment2DF lineSegment = new LineSegment2DF(intersection1, intersection2);
// displayImage.Draw(lineSegment, new Bgr(Color.MediumPurple), 4);
// //Console.WriteLine(lineSegment.Length);
//}
//displayImage.Draw(new CircleF(newPoint, 4), new Bgr(Color.MediumPurple), 3);
//Console.WriteLine(rotatedRect.Angle);
Image4 = ImageService.ToBitmapSource(displayImage);
}
}
}