/// <summary>
/// creates a circle shape
/// </summary>
/// <param name="centre_x">
/// centre x coordinate of the circle <see cref="System.Single"/>
/// </param>
/// <param name="centre_y">
/// centre y coordinate of the circle <see cref="System.Single"/>
/// </param>
/// <param name="radius">
/// radius of teh circle <see cref="System.Single"/>
/// </param>
/// <param name="circumference_steps">
/// number of steps to use when drawing the circle <see cref="System.Int32"/>
/// </param>
/// <returns>
/// polygon representing a circle <see cref="polygon2D"/>
/// </returns>
public static polygon2D CreateCircle(float centre_x, float centre_y,
float radius, int circumference_steps)
{
polygon2D circle = new polygon2D();
for (int i = 0; i < circumference_steps; i++)
{
float angle = i * (float)Math.PI * 2 / circumference_steps;
float x = centre_x + (radius * (float)Math.Sin(angle));
float y = centre_y + (radius * (float)Math.Cos(angle));
circle.Add(x, y);
}
return(circle);
}
/// <summary>
/// returns a copy of the polygon
/// </summary>
/// <returns></returns>
public polygon2D Copy()
{
polygon2D new_poly = new polygon2D();
new_poly.name = name;
new_poly.type = type;
new_poly.occupied = occupied;
if (x_points != null)
{
for (int i = 0; i < x_points.Count; i++)
{
float x = x_points[i];
float y = y_points[i];
new_poly.Add(x, y);
}
}
return (new_poly);
}
/// <summary>
/// locates the centre position of a spot
/// </summary>
/// <param name="raw_image_mono">mono image data</param>
/// <param name="raw_image_width">image width</param>
/// <param name="raw_image_height">image height</param>
/// <param name="search_region">region within which to search</param>
/// <param name="black_on_white">whether this image contains dark markings on a lighter background</param>
/// <param name="centre_x">returned x centre position</param>
/// <param name="centre_y">returned y centre position</param>
private static unsafe void LocateSpotCentre(byte* raw_image_mono,
int raw_image_width, int raw_image_height,
polygon2D search_region,
bool black_on_white,
ref float centre_x, ref float centre_y)
{
centre_x = 0;
centre_y = 0;
// get dimensions of the region to be searched
int tx = (int)search_region.left();
int ty = (int)search_region.top();
int bx = (int)search_region.right();
int by = (int)search_region.bottom();
int r = (bx - tx) / 3;
if (r < 1) r = 1;
int search_r = (bx - tx) / 4;
if (search_r < 1) search_r = 1;
// centre of the search region
float search_centre_x = 0;
float search_centre_y = 0;
search_region.GetSquareCentre(ref search_centre_x, ref search_centre_y);
//search_region.getCentreOfGravity(ref search_centre_x, ref search_centre_y);
int image_pixels = raw_image_width * raw_image_height;
float max = 0;
float v;
for (float offset_y = search_centre_y - search_r; offset_y <= search_centre_y + search_r; offset_y += 0.5f)
{
for (float offset_x = search_centre_x - search_r; offset_x <= search_centre_x + search_r; offset_x += 0.5f)
{
float tot = 0;
for (int yy = (int)(offset_y - r); yy <= (int)(offset_y + r); yy += 2)
{
int n0 = yy * raw_image_width;
for (int xx = (int)(offset_x - r); xx <= (int)(offset_x + r); xx += 2)
{
int n1 = n0 + xx;
if ((n1 > -1) && (n1 < image_pixels))
{
if (black_on_white)
v = 255 - raw_image_mono[n1];
else
v = raw_image_mono[n1];
tot += v * v;
}
}
}
if (tot > max)
{
max = tot;
centre_x = offset_x;
centre_y = offset_y;
}
}
}
}
/// <summary>
/// initialise the grid
/// </summary>
/// <param name="dimension_x"></param>
/// <param name="dimension_y"></param>
/// <param name="perimeter"></param>
/// <param name="border_cells"></param>
/// <param name="simple_orientation"></param>
public void init(int dimension_x, int dimension_y,
polygon2D perimeter, int border_cells,
bool simple_orientation)
{
this.border_cells = border_cells;
this.perimeter = perimeter;
cell = new grid2Dcell[dimension_x][];
for (int x = 0; x < dimension_x; x++)
cell[x] = new grid2Dcell[dimension_y];
line = new ArrayList[2];
float length1, length2, length3, length4;
int index = 0;
for (int i = 0; i < 2; i++)
{
line[i] = new ArrayList();
int idx1 = index + i;
if (idx1 >= 4) idx1 -= 4;
int idx2 = index + i + 1;
if (idx2 >= 4) idx2 -= 4;
float x0 = (float)perimeter.x_points[idx1];
float y0 = (float)perimeter.y_points[idx1];
float x1 = (float)perimeter.x_points[idx2];
float y1 = (float)perimeter.y_points[idx2];
length1 = perimeter.getSideLength(idx1);
int next_idx1 = idx1 + 1;
if (next_idx1 >= 4) next_idx1 -= 4;
length3 = perimeter.getSideLength(next_idx1);
float w0 = Math.Abs(x1 - x0);
float h0 = Math.Abs(y1 - y0);
int idx3 = index + i + 2;
if (idx3 >= 4) idx3 -= 4;
int idx4 = index + i + 3;
if (idx4 >= 4) idx4 -= 4;
float x2 = (float)perimeter.x_points[idx3];
float y2 = (float)perimeter.y_points[idx3];
float x3 = (float)perimeter.x_points[idx4];
float y3 = (float)perimeter.y_points[idx4];
length2 = perimeter.getSideLength(idx3);
int next_idx3 = next_idx1 + 2;
if (next_idx3 >= 4) next_idx3 -= 4;
length4 = perimeter.getSideLength(next_idx3);
float w1 = Math.Abs(x3 - x2);
float h1 = Math.Abs(y3 - y2);
int dimension = dimension_x;
if (!simple_orientation)
{
if (i > 0)
dimension = dimension_y;
}
else
{
if (h0 > w0) dimension = dimension_y;
}
// how much shorter is one line than the other on the opposite axis?
float shortening = 0;
//if (h0 > w0)
{
if (length3 > length4)
shortening = (length3 - length4) / length3;
else
shortening = (length4 - length3) / length4;
}
for (int j = -border_cells; j <= dimension + border_cells; j++)
{
// locate the position along the first line
float xx0, yy0; // position along the first line
float fraction = j / (float)dimension;
// modify for foreshortening
//if ((h0 > w0) && (shortening > 0))
if (shortening > 0)
{
fraction = (fraction * (1.0f - shortening)) + ((float)Math.Sin(fraction * (float)Math.PI / 2) * shortening);
if (length3 > length4) fraction = 1.0f - fraction;
}
if (w0 > h0)
{
float grad = (y1 - y0) / (x1 - x0);
if (x1 > x0)
xx0 = x0 + (w0 * fraction);
else
xx0 = x0 - (w0 * fraction);
yy0 = y0 + ((xx0 - x0) * grad);
}
else
{
float grad = (x1 - x0) / (y1 - y0);
if (y1 > y0)
yy0 = y0 + (h0 * fraction);
else
yy0 = y0 - (h0 * fraction);
xx0 = x0 + ((yy0 - y0) * grad);
}
// locate the position along the second line
float xx1, yy1; // position along the second line
if (w1 > h1)
{
float grad = (y2 - y3) / (x2 - x3);
if (x2 > x3)
xx1 = x3 + (w1 * fraction);
else
xx1 = x3 - (w1 * fraction);
yy1 = y3 + ((xx1 - x3) * grad);
}
else
{
float grad = (x2 - x3) / (y2 - y3);
if (y2 > y3)
yy1 = y3 + (h1 * fraction);
else
yy1 = y3 - (h1 * fraction);
xx1 = x3 + ((yy1 - y3) * grad);
}
// add the line to the list
line[i].Add(xx0);
line[i].Add(yy0);
line[i].Add(xx1);
line[i].Add(yy1);
}
}
// find interceptions between lines
poltLineIntercepts();
// create grid cells
initialiseCells();
}
/// <summary>
/// returns a grey scale histogram for the given image within the given perimeter region
/// </summary>
/// <param name="bmp">image data</param>
/// <param name="wdth">width of the image</param>
/// <param name="hght">height of the image</param>
/// <param name="bytes_per_pixel">number of bytes per pixel</param>
/// <param name="levels">histogram levels</param>
/// <param name="perimeter">perimeter region inside which to calculate the histogram</param>
/// <returns></returns>
public static float[] GetGreyHistogram(byte[] bmp,
int wdth, int hght,
int bytes_per_pixel,
int levels,
polygon2D perimeter)
{
float[] hist = new float[levels];
int tx = (int)perimeter.left();
int ty = (int)perimeter.top();
int bx = (int)perimeter.right();
int by = (int)perimeter.bottom();
for (int y = ty; y <= by; y++)
{
if ((y > -1) && (y < hght))
{
for (int x = tx; x <= bx; x++)
{
if ((x > -1) && (x < wdth))
{
if (perimeter.isInside(x, y))
{
int n = ((y * wdth) + x) * bytes_per_pixel;
float intensity = 0;
for (int col = 0; col < bytes_per_pixel; col++)
intensity += bmp[n + col];
intensity /= bytes_per_pixel;
int bucket = (int)Math.Round(intensity * levels / 255);
if (bucket >= levels) bucket = levels - 1;
hist[bucket]++;
}
}
}
}
}
// normalise the histogram
float max = 1;
for (int level = 0; level < levels; level++)
if (hist[level] > max) max = hist[level];
for (int level = 0; level < levels; level++)
hist[level] = hist[level] / max;
return (hist);
}
/// <summary>
/// return true if this polygon overlaps with another
/// </summary>
/// <param name="other"></param>
/// <returns></returns>
public bool overlaps(polygon2D other)
{
int i;
bool retval = false;
i = 0;
while ((i < x_points.Count) && (retval == false))
{
if (other.isInside(x_points[i],y_points[i])) retval=true;
i++;
}
i = 0;
while ((i < other.x_points.Count) && (retval == false))
{
if (isInside((float)other.x_points[i], (float)other.y_points[i])) retval = true;
i++;
}
return (retval);
/// <summary>
/// shows the detected centre square
/// </summary>
/// <param name="filename">raw image filename</param>
/// <param name="square">square to be displayed</param>
/// <param name="output_filename">filename to save as</param>
private static void ShowSquare(string filename, polygon2D square,
string output_filename)
{
Bitmap bmp = (Bitmap)Bitmap.FromFile(filename);
byte[] img = new byte[bmp.Width * bmp.Height * 3];
BitmapArrayConversions.updatebitmap(bmp, img);
square.show(img, bmp.Width, bmp.Height, 0, 255, 0, 0);
Bitmap output_bmp = new Bitmap(bmp.Width, bmp.Height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
BitmapArrayConversions.updatebitmap_unsafe(img, output_bmp);
if (output_filename.ToLower().EndsWith("jpg"))
output_bmp.Save(output_filename, System.Drawing.Imaging.ImageFormat.Jpeg);
if (output_filename.ToLower().EndsWith("bmp"))
output_bmp.Save(output_filename, System.Drawing.Imaging.ImageFormat.Bmp);
}
/// <summary>
/// finds the interception points between grid lines
/// </summary>
private void poltLineIntercepts()
{
if (line != null)
{
// create an array to store the line intercepts
int intercepts_x = line[0].Count/4;
int intercepts_y = line[1].Count/4;
line_intercepts = new float[intercepts_x, intercepts_y, 2];
for (int i = 0; i < line[0].Count; i += 4)
{
// get the first line coordinates
ArrayList lines0 = line[0];
float x0 = (float)lines0[i];
float y0 = (float)lines0[i + 1];
float x1 = (float)lines0[i + 2];
float y1 = (float)lines0[i + 3];
for (int j = 0; j < line[1].Count; j += 4)
{
// get the second line coordinates
ArrayList lines1 = line[1];
float x2 = (float)lines1[j];
float y2 = (float)lines1[j + 1];
float x3 = (float)lines1[j + 2];
float y3 = (float)lines1[j + 3];
// find the interception between the two lines
float ix = 0, iy = 0;
geometry.intersection(x0, y0, x1, y1, x2, y2, x3, y3, ref ix, ref iy);
// store the intercept position
line_intercepts[i/4, j/4, 0] = ix;
line_intercepts[i/4, j/4, 1] = iy;
}
}
// update the perimeter
border_perimeter = new polygon2D();
float xx = line_intercepts[0, 0, 0];
float yy = line_intercepts[0, 0, 1];
border_perimeter.Add(xx, yy);
xx = line_intercepts[intercepts_x - 1, 0, 0];
yy = line_intercepts[intercepts_x - 1, 0, 1];
border_perimeter.Add(xx, yy);
xx = line_intercepts[intercepts_x - 1, intercepts_y - 1, 0];
yy = line_intercepts[intercepts_x - 1, intercepts_y - 1, 1];
border_perimeter.Add(xx, yy);
xx = line_intercepts[0, intercepts_y - 1, 0];
yy = line_intercepts[0, intercepts_y - 1, 1];
border_perimeter.Add(xx, yy);
}
}
/// <summary>
/// constructor
/// </summary>
/// <param name="dimension_x">number of cells across the grid</param>
/// <param name="dimension_y">number of cells down the grid</param>
/// <param name="cx">centre of the grid</param>
/// <param name="cy">centre of the grid</param>
/// <param name="orientation">orientation of the grid in radians</param>
/// <param name="average_spacing_x">grid spacing in the x axis</param>
/// <param name="average_spacing_y">grid spacing in the y axis</param>
/// <param name="phase_offset_x">phase offset in the x axis</param>
/// <param name="phase_offset_y">phase offset in the y axis</param>
/// <param name="border_cells">number of cells to use as a border around the grid</param>
public grid2D(int dimension_x, int dimension_y,
float cx, float cy,
float orientation,
float average_spacing_x, float average_spacing_y,
float phase_offset_x, float phase_offset_y,
int border_cells,
bool orientation_simple)
{
// create a perimeter region
polygon2D perimeter = new polygon2D();
float length_x = average_spacing_x * dimension_x;
float length_y = average_spacing_y * dimension_y;
float half_length_x = length_x / 2;
float half_length_y = length_y / 2;
// adjust for phase
cx += (average_spacing_x * phase_offset_x / (2 * (float)Math.PI)) * (float)Math.Sin(orientation);
cy -= (average_spacing_y * phase_offset_y / (2 * (float)Math.PI)) * (float)Math.Cos(orientation);
// find the mid point of the top line
float px1 = cx + (half_length_y * (float)Math.Sin(orientation));
float py1 = cy + (half_length_y * (float)Math.Cos(orientation));
// find the top left vertex
float x0 = px1 + (half_length_x * (float)Math.Sin(orientation - (float)(Math.PI / 2)));
float y0 = py1 + (half_length_x * (float)Math.Cos(orientation - (float)(Math.PI / 2)));
// find the top right vertex
float x1 = px1 + (half_length_x * (float)Math.Sin(orientation + (float)(Math.PI / 2)));
float y1 = py1 + (half_length_x * (float)Math.Cos(orientation + (float)(Math.PI / 2)));
// find the bottom vertices by mirroring around the centre
float x2 = cx + (cx - x0);
float y2 = cy + (cy - y0);
float x3 = cx - (x1 - cx);
float y3 = cy - (y1 - cy);
// update polygon with the perimeter vertices
perimeter.Add(x0, y0);
perimeter.Add(x1, y1);
perimeter.Add(x2, y2);
perimeter.Add(x3, y3);
int dim_x = dimension_x;
int dim_y = dimension_y;
float first_side_length = perimeter.getSideLength(0);
float second_side_length = perimeter.getSideLength(1);
if (((dimension_x > dimension_y + 2) &&
(second_side_length > first_side_length)) ||
((dimension_y > dimension_x + 2) &&
(first_side_length > second_side_length)))
{
dim_x = dimension_y;
dim_y = dimension_x;
}
// initialise using this perimeter
init(dim_x, dim_y, perimeter, border_cells, orientation_simple);
}
/// <summary>
/// scale the polygon to a new image size
/// </summary>
/// <param name="original_image_width"></param>
/// <param name="original_image_height"></param>
/// <param name="new_image_width"></param>
/// <param name="new_image_height"></param>
/// <returns></returns>
public polygon2D Scale(int original_image_width, int original_image_height,
int new_image_width, int new_image_height)
{
polygon2D rescaled = new polygon2D();
for (int i = 0; i < x_points.Count; i++)
{
float x = x_points[i] * new_image_width / original_image_width;
float y = y_points[i] * new_image_height / original_image_height;
rescaled.Add(x, y);
}
return (rescaled);
}
/// <summary>
/// return a scaled version of the polygon
/// </summary>
/// <param name="factor"></param>
/// <returns></returns>
public polygon2D Scale(float factor)
{
polygon2D rescaled = new polygon2D();
float centre_x = 0, centre_y = 0;
getCentreOfGravity(ref centre_x, ref centre_y);
for (int i = 0; i < x_points.Count; i++)
{
float dx = x_points[i] - centre_x;
float dy = y_points[i] - centre_y;
float x = (float)(centre_x + (dx * factor));
float y = (float)(centre_y + (dy * factor));
rescaled.Add(x, y);
}
return (rescaled);
}
/// <summary>
/// snaps the vertices of the polygon to a grid having the given spacing
/// </summary>
/// <param name="grid_spacing">spacing of the grid</param>
/// <returns>fitted polygon</returns>
public polygon2D SnapToGrid(float grid_spacing)
{
polygon2D result = new polygon2D();
if (x_points != null)
{
for (int i = 0; i < x_points.Count; i++)
{
float x = x_points[i] / grid_spacing;
x = (float)Math.Round(x) * grid_spacing;
float y = y_points[i] / grid_spacing;
y = (float)Math.Round(y) * grid_spacing;
result.Add(x, y);
}
}
return (result);
/// <summary>
/// returns the difference in the positions of vertices
/// compared to another polygon
/// </summary>
/// <param name="other">the other polygon</param>
/// <returns></returns>
public float Compare(polygon2D other)
{
float difference = 0;
// vertices exist
if ((x_points != null) && (other.x_points != null))
{
// same number of vertices
if (x_points.Count == other.x_points.Count)
{
for (int i = 0; i < x_points.Count; i++)
{
float dx = Math.Abs(x_points[i] - other.x_points[i]);
float dy = Math.Abs(y_points[i] - other.y_points[i]);
difference += dx + dy;
}
}
}
return (difference);
/// <summary>
/// does this polygon overlap with the other, within the given screen dimensions
/// </summary>
/// <param name="other">other polygon object</param>
/// <param name="image_width">image width</param>
/// <param name="image_height">image height</param>
/// <returns></returns>
public bool overlaps(polygon2D other, int image_width, int image_height)
{
int i;
bool retval = false;
i = 0;
while ((i < x_points.Count) && (retval == false))
{
if (other.isInside(x_points[i] * 1000 / image_width, y_points[i] * 1000 / image_height)) retval = true;
i++;
}
i = 0;
while ((i < other.x_points.Count) && (retval == false))
{
if (isInside((float)other.x_points[i] * image_width / 1000, (float)other.y_points[i] * image_height / 1000)) retval = true;
i++;
}
return (retval);
/// <summary>
/// simple function used to test grid creation
/// </summary>
/// <param name="filename">filename of the test image to be created</param>
public static void Test(string filename)
{
int image_width = 640;
int image_height = 480;
int dimension_x = 10;
int dimension_y = 10;
Bitmap bmp = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
byte[] img = new byte[image_width * image_height * 3];
polygon2D test_poly;
grid2D grid;
test_poly = new polygon2D();
test_poly.Add(image_width * 15 / 100, image_height * 20 / 100);
test_poly.Add(image_width * 40 / 100, image_height * 20 / 100);
test_poly.Add(image_width * 40 / 100, image_height * 40 / 100);
test_poly.Add(image_width * 15 / 100, image_height * 40 / 100);
grid = new grid2D(dimension_x, dimension_y, test_poly, 0, false);
grid.ShowLines(img, image_width, image_height, 0, 255, 0, 0);
int half_width = image_width / 2;
test_poly = new polygon2D();
test_poly.Add(half_width + (image_width * 20 / 100), image_height * 20 / 100);
test_poly.Add(half_width + (image_width * 35 / 100), image_height * 20 / 100);
test_poly.Add(half_width + (image_width * 40 / 100), image_height * 40 / 100);
test_poly.Add(half_width + (image_width * 15 / 100), image_height * 40 / 100);
grid = new grid2D(dimension_x, dimension_y, test_poly, 0, false);
grid.ShowLines(img, image_width, image_height, 0, 255, 0, 0);
int half_height = image_height / 2;
test_poly = new polygon2D();
test_poly.Add(image_width * 15 / 100, half_height + (image_height * 24 / 100));
test_poly.Add(image_width * 40 / 100, half_height + (image_height * 20 / 100));
test_poly.Add(image_width * 40 / 100, half_height + (image_height * 40 / 100));
test_poly.Add(image_width * 15 / 100, half_height + (image_height * 36 / 100));
grid = new grid2D(dimension_x, dimension_y, test_poly, 0, false);
grid.ShowLines(img, image_width, image_height, 0, 255, 0, 0);
test_poly = new polygon2D();
test_poly.Add(half_width + (image_width * 20 / 100), half_height + (image_height * 24 / 100));
test_poly.Add(half_width + (image_width * 35 / 100), half_height + (image_height * 20 / 100));
test_poly.Add(half_width + (image_width * 40 / 100), half_height + (image_height * 40 / 100));
test_poly.Add(half_width + (image_width * 15 / 100), half_height + (image_height * 36 / 100));
grid = new grid2D(dimension_x, dimension_y, test_poly, 0, false);
grid.ShowLines(img, image_width, image_height, 0, 255, 0, 0);
BitmapArrayConversions.updatebitmap_unsafe(img, bmp);
bmp.Save(filename);
}
/// <summary>
/// constructor
/// </summary>
/// <param name="dimension_x">number of cells across the grid</param>
/// <param name="dimension_y">number of cells down the grid</param>
/// <param name="perimeter">perimeter of the grid</param>
/// <param name="border_cells">number of cells to use as a border around the grid</param>
/// <param name="orientation_simple"></param>
public grid2D(int dimension_x, int dimension_y,
polygon2D perimeter, int border_cells,
bool orientation_simple)
{
init(dimension_x, dimension_y, perimeter, border_cells, orientation_simple);
}
/// <summary>
/// returns a value indicating how square the given region is
/// </summary>
/// <param name="square">
/// region to be processed <see cref="polygon2D"/>
/// </param>
/// <returns>
/// squareness value <see cref="System.Single"/>
/// </returns>
private static float Squareness(polygon2D square)
{
float measure1 = square.getSideLength(0) / square.getSideLength(1);
measure1 = Math.Abs(1.0f - measure1);
float measure2 = square.getSideLength(0) / square.getSideLength(2);
measure2 = Math.Abs(1.0f - measure2);
float measure3 = square.getSideLength(1) / square.getSideLength(3);
measure3 = Math.Abs(1.0f - measure3);
float result = 1.0f / (1.0f + (measure1 + measure2 + measure3));
return(result);
}
/// <summary>
/// detect a grid within the given image using the given perimeter polygon
/// </summary>
/// <param name="img">image data</param>
/// <param name="img_width">width of the image</param>
/// <param name="img_height">height of the image</param>
/// <param name="bytes_per_pixel">number of bytes per pixel</param>
/// <param name="perimeter">bounding perimeter within which the grid exists</param>
/// <param name="spot_centres">previously detected spot centres</param>
/// <param name="minimum_dimension_horizontal">minimum number of cells across</param>
/// <param name="maximum_dimension_horizontal">maximum number of cells across</param>
/// <param name="minimum_dimension_vertical">minimum number of cells down</param>
/// <param name="maximum_dimension_vertical">maximum number of cells down</param>
/// <param name="known_grid_spacing">known grid spacing (cell diameter) value in pixels</param>
/// <param name="known_even_dimension">set to true if it is known that the number of cells in horizontal and vertical axes is even</param>
/// <param name="border_cells">extra cells to add as a buffer zone around the grid</param>
/// <param name="horizontal_scale_spacings">description used on the spacings diagram</param>
/// <param name="vertical_scale_spacings">description used on the spacings diagram</param>
/// <param name="average_spacing_horizontal"></param>
/// <param name="average_spacing_vertical"></param>
/// <param name="output_img"></param>
/// <param name="output_img_width"></param>
/// <param name="output_img_height"></param>
/// <param name="output_img_type"></param>
/// <param name="ideal_grid_colour">colour used to draw the ideal grid</param>
/// <param name="detected_grid_colour">colour used to draw the detected grid</param>
/// <param name="simple_orientation"></param>
/// <returns>2D grid</returns>
public static grid2D DetectGrid(byte[] img, int img_width, int img_height, int bytes_per_pixel,
polygon2D perimeter, ArrayList spot_centres,
int minimum_dimension_horizontal, int maximum_dimension_horizontal,
int minimum_dimension_vertical, int maximum_dimension_vertical,
float known_grid_spacing, bool known_even_dimension,
int border_cells,
String horizontal_scale_spacings, String vertical_scale_spacings,
ref float average_spacing_horizontal,
ref float average_spacing_vertical,
ref byte[] output_img, int output_img_width, int output_img_height,
int output_img_type,
byte[] ideal_grid_colour, byte[] detected_grid_colour,
bool simple_orientation)
{
int tx = (int)perimeter.left();
int ty = (int)perimeter.top();
int bx = (int)perimeter.right();
int by = (int)perimeter.bottom();
// adjust spot centre positions so that they're relative to the perimeter
// top left position
if (spot_centres != null)
{
for (int i = 0; i < spot_centres.Count; i += 2)
{
spot_centres[i] = (float)spot_centres[i] - tx;
spot_centres[i + 1] = (float)spot_centres[i + 1] - ty;
}
}
int wdth = bx - tx;
int hght = by - ty;
// create an image of the grid area
byte[] grid_img = image.createSubImage(img, img_width, img_height, bytes_per_pixel,
tx, ty, bx, by);
// get the orientation of the perimeter
float dominant_orientation = perimeter.GetSquareOrientation();
// find the horizontal and vertical dimensions of the grid perimeter
float grid_horizontal = perimeter.GetSquareHorizontal();
float grid_vertical = perimeter.GetSquareVertical();
// detect grid within the perimeter
int cells_horizontal = 0, cells_vertical = 0;
float horizontal_phase_offset = 0;
float vertical_phase_offset = 0;
if (spot_centres == null)
DetectGrid(grid_img, wdth, hght, bytes_per_pixel,
dominant_orientation, known_grid_spacing,
grid_horizontal, grid_vertical,
minimum_dimension_horizontal, maximum_dimension_horizontal,
minimum_dimension_vertical, maximum_dimension_vertical,
horizontal_scale_spacings, vertical_scale_spacings,
ref average_spacing_horizontal, ref average_spacing_vertical,
ref horizontal_phase_offset, ref vertical_phase_offset,
ref cells_horizontal, ref cells_vertical,
ref output_img, output_img_width, output_img_height, output_img_type,
ideal_grid_colour, detected_grid_colour);
else
DetectGrid(spot_centres, grid_img, wdth, hght, bytes_per_pixel,
dominant_orientation, known_grid_spacing,
grid_horizontal, grid_vertical,
minimum_dimension_horizontal, maximum_dimension_horizontal,
minimum_dimension_vertical, maximum_dimension_vertical,
horizontal_scale_spacings, vertical_scale_spacings,
ref average_spacing_horizontal, ref average_spacing_vertical,
ref horizontal_phase_offset, ref vertical_phase_offset,
ref cells_horizontal, ref cells_vertical,
ref output_img, output_img_width, output_img_height, output_img_type,
ideal_grid_colour, detected_grid_colour);
grid2D detectedGrid = null;
// apply some range limits
bool range_limited = false;
if (cells_horizontal < 3)
{
cells_horizontal = 3;
range_limited = true;
}
if (cells_vertical < 3)
{
cells_vertical = 3;
range_limited = true;
}
if (cells_horizontal > maximum_dimension_horizontal)
{
cells_horizontal = maximum_dimension_horizontal;
range_limited = true;
}
if (cells_vertical > maximum_dimension_vertical)
{
cells_vertical = maximum_dimension_vertical;
range_limited = true;
}
if (range_limited)
{
Console.WriteLine("WARNING: When detecting the grid the matrix dimension had to be artificially restricted.");
Console.WriteLine(" This probably means that there is a problem with the original image");
}
// if we know the number of cells should be even correct any inaccuracies
if (known_even_dimension)
{
cells_horizontal = (int)(cells_horizontal / 2) * 2;
cells_vertical = (int)(cells_vertical / 2) * 2;
}
// get the centre of the region
float cx = tx + ((bx - tx) / 2);
float cy = ty + ((by - ty) / 2);
detectedGrid = new grid2D(cells_horizontal, cells_vertical,
cx, cy, dominant_orientation,
average_spacing_horizontal, average_spacing_vertical,
horizontal_phase_offset, vertical_phase_offset,
border_cells, simple_orientation);
return (detectedGrid);
}
public static byte[] ShowRawImagePerimeter(byte[] img, int img_width, int img_height,
polygon2D perim,
int r, int g, int b,
int line_width)
{
byte[] new_img = (byte[])img.Clone();
perim.show(new_img, img_width, img_height,
r, g, b, line_width);
return(new_img);
}
/// <summary>
/// returns an ideally spaced grid over the actual detected spots
/// </summary>
/// <param name="grid"></param>
/// <returns></returns>
private static grid2D OverlayIdealGrid(calibrationDot[,] grid,
List<calibrationDot> corners,
ref int grid_offset_x, ref int grid_offset_y,
int random_seed)
{
grid2D overlay_grid = null;
int grid_tx = -1;
int grid_ty = -1;
int grid_bx = -1;
int grid_by = -1;
int offset_x = 0;
int offset_y = 0;
bool found = false;
int max_region_area = 0;
// try searching horizontally and vertically
// then pick the result with the greatest area
for (int test_orientation = 0; test_orientation < 2; test_orientation++)
{
bool temp_found = false;
int temp_grid_tx = -1;
int temp_grid_ty = -1;
int temp_grid_bx = -1;
int temp_grid_by = -1;
int temp_offset_x = 0;
int temp_offset_y = 0;
switch (test_orientation)
{
case 0:
{
while ((temp_offset_y < 5) && (!temp_found))
{
temp_offset_x = 0;
while ((temp_offset_x < 3) && (!temp_found))
{
temp_grid_tx = temp_offset_x;
temp_grid_ty = temp_offset_y;
temp_grid_bx = grid.GetLength(0) - 1 - temp_offset_x;
temp_grid_by = grid.GetLength(1) - 1 - temp_offset_y;
if ((temp_grid_bx < grid.GetLength(0)) &&
(temp_grid_tx < grid.GetLength(0)) &&
(temp_grid_by < grid.GetLength(1)) &&
(temp_grid_ty < grid.GetLength(1)) &&
(temp_grid_ty >= 0) &&
(temp_grid_by >= 0) &&
(temp_grid_tx >= 0) &&
(temp_grid_bx >= 0))
{
if ((grid[temp_grid_tx, temp_grid_ty] != null) &&
(grid[temp_grid_bx, temp_grid_ty] != null) &&
(grid[temp_grid_bx, temp_grid_by] != null) &&
(grid[temp_grid_tx, temp_grid_by] != null))
{
temp_found = true;
}
}
temp_offset_x++;
}
temp_offset_y++;
}
break;
}
case 1:
{
while ((temp_offset_x < 3) && (!temp_found))
{
temp_offset_y = 0;
while ((temp_offset_y < 5) && (!temp_found))
{
temp_grid_tx = temp_offset_x;
temp_grid_ty = temp_offset_y;
temp_grid_bx = grid.GetLength(0) - 1 - temp_offset_x;
temp_grid_by = grid.GetLength(1) - 1 - temp_offset_y;
if ((temp_grid_bx < grid.GetLength(0)) &&
(temp_grid_tx < grid.GetLength(0)) &&
(temp_grid_by < grid.GetLength(1)) &&
(temp_grid_ty < grid.GetLength(1)) &&
(temp_grid_ty >= 0) &&
(temp_grid_by >= 0) &&
(temp_grid_tx >= 0) &&
(temp_grid_bx >= 0))
{
if ((grid[temp_grid_tx, temp_grid_ty] != null) &&
(grid[temp_grid_bx, temp_grid_ty] != null) &&
(grid[temp_grid_bx, temp_grid_by] != null) &&
(grid[temp_grid_tx, temp_grid_by] != null))
{
temp_found = true;
}
}
temp_offset_y++;
}
temp_offset_x++;
}
break;
}
}
temp_offset_y = temp_grid_ty - 1;
while (temp_offset_y >= 0)
{
if ((temp_offset_y < grid.GetLength(1)) &&
(temp_offset_y >= 0))
{
if ((grid[temp_grid_tx, temp_offset_y] != null) &&
(grid[temp_grid_bx, temp_offset_y] != null))
{
temp_grid_ty = temp_offset_y;
temp_offset_y--;
}
else break;
}
else break;
}
temp_offset_y = temp_grid_by + 1;
while (temp_offset_y < grid.GetLength(1))
{
if ((temp_offset_y < grid.GetLength(1)) &&
(temp_offset_y >= 0))
{
if ((grid[temp_grid_tx, temp_offset_y] != null) &&
(grid[temp_grid_bx, temp_offset_y] != null))
{
temp_grid_by = temp_offset_y;
temp_offset_y++;
}
else break;
}
else break;
}
if (temp_found)
{
int region_area = (temp_grid_bx - temp_grid_tx) * (temp_grid_by - temp_grid_ty);
if (region_area > max_region_area)
{
max_region_area = region_area;
found = true;
grid_tx = temp_grid_tx;
grid_ty = temp_grid_ty;
grid_bx = temp_grid_bx;
grid_by = temp_grid_by;
offset_x = temp_offset_x;
offset_y = temp_offset_y;
}
}
}
if (found)
{
// record the positions of the corners
corners.Add(grid[grid_tx, grid_ty]);
corners.Add(grid[grid_bx, grid_ty]);
corners.Add(grid[grid_bx, grid_by]);
corners.Add(grid[grid_tx, grid_by]);
double dx, dy;
double x0 = grid[grid_tx, grid_ty].x;
double y0 = grid[grid_tx, grid_ty].y;
double x1 = grid[grid_bx, grid_ty].x;
double y1 = grid[grid_bx, grid_ty].y;
double x2 = grid[grid_tx, grid_by].x;
double y2 = grid[grid_tx, grid_by].y;
double x3 = grid[grid_bx, grid_by].x;
double y3 = grid[grid_bx, grid_by].y;
polygon2D perimeter = new polygon2D();
perimeter.Add((float)x0, (float)y0);
perimeter.Add((float)x1, (float)y1);
perimeter.Add((float)x3, (float)y3);
perimeter.Add((float)x2, (float)y2);
int grid_width = grid_bx - grid_tx;
int grid_height = grid_by - grid_ty;
int min_hits = 0;
double min_dx = 0, min_dy = 0;
// try various perimeter sizes
double min_dist = double.MaxValue;
int max_perim_size_tries = 100;
polygon2D best_perimeter = perimeter;
MersenneTwister rnd = new MersenneTwister(random_seed);
for (int perim_size = 0; perim_size < max_perim_size_tries; perim_size++)
{
// try a small range of translations
for (int nudge_x = -10; nudge_x <= 10; nudge_x++)
{
for (int nudge_y = -5; nudge_y <= 5; nudge_y++)
{
// create a perimeter at this scale and translation
polygon2D temp_perimeter = perimeter.Scale(1.0f + (perim_size * 0.1f / max_perim_size_tries));
temp_perimeter = temp_perimeter.ScaleSideLength(0, 0.95f + ((float)rnd.NextDouble() * 0.1f));
temp_perimeter = temp_perimeter.ScaleSideLength(2, 0.95f + ((float)rnd.NextDouble() * 0.1f));
for (int i = 0; i < temp_perimeter.x_points.Count; i++)
{
temp_perimeter.x_points[i] += nudge_x;
temp_perimeter.y_points[i] += nudge_y;
}
// create a grid based upon the perimeter
grid2D temp_overlay_grid = new grid2D(grid_width, grid_height, temp_perimeter, 0, false);
// how closely does the grid fit the actual observations ?
double temp_min_dist = min_dist;
BestFit(grid_tx, grid_ty, grid,
temp_overlay_grid, ref min_dist,
ref min_dx, ref min_dy, ref min_hits,
ref grid_offset_x, ref grid_offset_y);
// record the closest fit
if (temp_min_dist < min_dist)
{
best_perimeter = temp_perimeter;
overlay_grid = temp_overlay_grid;
}
}
}
}
if (min_hits > 0)
{
dx = min_dx;
dy = min_dy;
Console.WriteLine("dx: " + dx.ToString());
Console.WriteLine("dy: " + dy.ToString());
x0 += dx;
y0 += dy;
x1 += dx;
y1 += dy;
x2 += dx;
y2 += dy;
x3 += dx;
y3 += dy;
perimeter = new polygon2D();
perimeter.Add((float)x0, (float)y0);
perimeter.Add((float)x1, (float)y1);
perimeter.Add((float)x3, (float)y3);
perimeter.Add((float)x2, (float)y2);
overlay_grid = new grid2D(grid_width, grid_height, perimeter, 0, false);
}
}
return (overlay_grid);
}
/// <summary>
/// returns a polygon representing the periphery of a square region
/// </summary>
/// <param name="edges">
/// edges within the square region <see cref="List`1"/>
/// </param>
/// <param name="erode_dilate">
/// erosion or dilation level <see cref="System.Int32"/>
/// </param>
/// <param name="perim">
/// returned periphery <see cref="polygon2D"/>
/// </param>
/// <returns>
/// set of edges around the periphery <see cref="List`1"/>
/// </returns>
private static List<List<int>> GetSquarePeriphery(List<int> edges,
int erode_dilate,
ref polygon2D perim)
{
List<List<int>> result = new List<List<int>>();
perim = new polygon2D();
// find the bounding box for all edges
int tx = 99999;
int ty = 99999;
int bx = -99999;
int by = -99999;
for (int i = edges.Count-2; i >= 0; i -= 2)
{
int x = edges[i];
int y = edges[i+1];
if (x < tx) tx = x;
if (y < ty) ty = y;
if (x > bx) bx = x;
if (y > by) by = y;
}
int w = bx - tx;
int h = by - ty;
if ((w > 0) && (h > 0))
{
int[] left = new int[h+1];
int[] right = new int[h+1];
int[] top = new int[w+1];
int[] bottom = new int[w+1];
for (int i = edges.Count - 2; i >= 0; i -= 2)
{
int x = edges[i];
int x2 = x - tx;
int y = edges[i+1];
int y2 = y - ty;
// left side
if ((left[y2] == 0) ||
(x < left[y2]))
left[y2] = x;
// right side
if ((right[y2] == 0) ||
(x > right[y2]))
right[y2] = x;
// top
if ((top[x2] == 0) ||
(y < top[x2]))
top[x2] = y;
// bottom
if ((bottom[x2] == 0) ||
(y > bottom[x2]))
bottom[x2] = y;
}
#if SHOW_TIMINGS
stopwatch timer_best_fit = new stopwatch();
timer_best_fit.Start();
#endif
// find a best fit line for the left side
int best_start = 0;
int best_end = 0;
int hits = BestFitLine(left, ref best_start, ref best_end);
float left_x0 = left[best_start];
float left_y0 = ty + best_start;
float left_x1 = left[best_end];
float left_y1 = ty + best_end;
/*
BestFitLineAverage(left,
ref left_x0, ref left_y0,
ref left_x1, ref left_y1);
left_y0 += ty;
left_y1 += ty;
*/
// find a best fit line for the right side
best_start = 0;
best_end = 0;
hits = BestFitLine(right, ref best_start, ref best_end);
float right_x0 = right[best_start];
float right_y0 = ty + best_start;
float right_x1 = right[best_end];
float right_y1 = ty + best_end;
/*
BestFitLineAverage(right,
ref right_x0, ref right_y0,
ref right_x1, ref right_y1);
right_y0 += ty;
right_y1 += ty;
*/
// find a best fit line for the top side
best_start = 0;
best_end = 0;
hits = BestFitLine(top, ref best_start, ref best_end);
float top_x0 = tx + best_start;
float top_y0 = top[best_start];
float top_x1 = tx + best_end;
float top_y1 = top[best_end];
/*
BestFitLineAverage(top,
ref top_x0, ref top_y0,
ref top_x1, ref top_y1);
top_x0 += tx;
top_x1 += tx;
*/
// find a best fit line for the bottom side
best_start = 0;
best_end = 0;
hits = BestFitLine(bottom, ref best_start, ref best_end);
float bottom_x0 = tx + best_start;
float bottom_y0 = bottom[best_start];
float bottom_x1 = tx + best_end;
float bottom_y1 = bottom[best_end];
/*
BestFitLineAverage(bottom,
ref bottom_x0, ref bottom_y0,
ref bottom_x1, ref bottom_y1);
bottom_x0 += tx;
bottom_x1 += tx;
*/
#if SHOW_TIMINGS
timer_best_fit.Stop();
if (timer_best_fit.time_elapsed_mS > 20)
Console.WriteLine("GetSquarePeriphery: best fit " + timer_best_fit.time_elapsed_mS.ToString() );
#endif
// find the intersection between the left side and the top side
float ix=0;
float iy = 0;
geometry.intersection(left_x1, left_y1, left_x0, left_y0,
top_x1, top_y1, top_x0, top_y0,
ref ix, ref iy);
perim.Add(ix, iy);
// find the intersection between the right side and the top side
ix = 0;
iy = 0;
geometry.intersection(right_x1, right_y1, right_x0, right_y0,
top_x0, top_y0, top_x1, top_y1,
ref ix, ref iy);
perim.Add(ix, iy);
// find the intersection between the right side and the bottom side
ix = 0;
iy = 0;
geometry.intersection(right_x1, right_y1, right_x0, right_y0,
bottom_x0, bottom_y0, bottom_x1, bottom_y1,
ref ix, ref iy);
perim.Add(ix, iy);
// find the intersection between the left side and the bottom side
ix = 0;
iy = 0;
geometry.intersection(left_x1, left_y1, left_x0, left_y0,
bottom_x0, bottom_y0, bottom_x1, bottom_y1,
ref ix, ref iy);
perim.Add(ix, iy);
// left and right
List<int> left_edges = new List<int>();
List<int> right_edges = new List<int>();
for (int y = h; y >= 0; y--)
{
if (left[y] != 0)
{
left_edges.Add(left[y]);
left_edges.Add(ty + y);
}
if (right[y] != 0)
{
right_edges.Add(right[y]);
right_edges.Add(ty + y);
}
}
// top and bottom
List<int> top_edges = new List<int>();
List<int> bottom_edges = new List<int>();
for (int x = w; x >= 0; x--)
{
if (top[x] != 0)
{
top_edges.Add(tx + x);
top_edges.Add(top[x]);
}
if (bottom[x] != 0)
{
bottom_edges.Add(tx + x);
bottom_edges.Add(bottom[x]);
}
}
float aspect_check = perim.getShortestSide() / perim.getLongestSide();
if (aspect_check > 0.2f)
{
result.Add(left_edges);
result.Add(right_edges);
result.Add(top_edges);
result.Add(bottom_edges);
}
else perim = null;
}
// shrink the perimeter according to the erosion/dilation value
if ((perim != null) && (erode_dilate != 0))
{
if (perim.x_points != null)
{
float shrink_percent = (erode_dilate*2) / (perim.getPerimeterLength()/4.0f);
perim = perim.Scale(1.0f - shrink_percent);
}
else perim = null;
}
return(result);
}
/// <summary>
/// detects a square around the centre dot on the calibration pattern
/// </summary>
/// <param name="dots">detected dots</param>
/// <param name="centredots">returned dots belonging to the centre square</param>
/// <returns>centre square</returns>
private static polygon2D GetCentreSquare(hypergraph dots,
ref List<calibrationDot> centredots)
{
centredots = new List<calibrationDot>();
// find the centre dot
calibrationDot centre = null;
int i = 0;
while ((i < dots.Nodes.Count) && (centre == null))
{
calibrationDot dot = (calibrationDot)dots.Nodes[i];
if (dot.centre) centre = dot;
i++;
}
// look for the four surrounding dots
List<calibrationDot> centre_dots = new List<calibrationDot>();
List<double> distances = new List<double>();
i = 0;
for (i = 0; i < dots.Nodes.Count; i++)
{
calibrationDot dot = (calibrationDot)dots.Nodes[i];
if (!dot.centre)
{
double dx = dot.x - centre.x;
double dy = dot.y - centre.y;
double dist = Math.Sqrt(dx * dx + dy * dy);
if (distances.Count == 4)
{
int index = -1;
double max_dist = 0;
for (int j = 0; j < 4; j++)
{
if (distances[j] > max_dist)
{
index = j;
max_dist = distances[j];
}
}
if (dist < max_dist)
{
distances[index] = dist;
centre_dots[index] = dot;
}
}
else
{
distances.Add(dist);
centre_dots.Add(dot);
}
}
}
polygon2D centre_square = null;
if (centre_dots.Count == 4)
{
centre_square = new polygon2D();
for (i = 0; i < 4; i++)
centre_square.Add(0, 0);
double xx = centre.x;
double yy = centre.y;
int index = 0;
for (i = 0; i < 4; i++)
{
if ((centre_dots[i].x < xx) &&
(centre_dots[i].y < yy))
{
xx = centre_dots[i].x;
yy = centre_dots[i].y;
centre_square.x_points[0] = (float)xx;
centre_square.y_points[0] = (float)yy;
index = i;
}
}
centredots.Add(centre_dots[index]);
xx = centre.x;
yy = centre.y;
for (i = 0; i < 4; i++)
{
if ((centre_dots[i].x > xx) &&
(centre_dots[i].y < yy))
{
xx = centre_dots[i].x;
yy = centre_dots[i].y;
centre_square.x_points[1] = (float)xx;
centre_square.y_points[1] = (float)yy;
index = i;
}
}
centredots.Add(centre_dots[index]);
xx = centre.x;
yy = centre.y;
for (i = 0; i < 4; i++)
{
if ((centre_dots[i].x > xx) &&
(centre_dots[i].y > yy))
{
xx = centre_dots[i].x;
yy = centre_dots[i].y;
centre_square.x_points[2] = (float)xx;
centre_square.y_points[2] = (float)yy;
index = i;
}
}
centredots.Add(centre_dots[index]);
xx = centre.x;
yy = centre.y;
for (i = 0; i < 4; i++)
{
if ((centre_dots[i].x < xx) &&
(centre_dots[i].y > yy))
{
xx = centre_dots[i].x;
yy = centre_dots[i].y;
centre_square.x_points[3] = (float)xx;
centre_square.y_points[3] = (float)yy;
index = i;
}
}
centredots.Add(centre_dots[index]);
}
return (centre_square);
}
/// <summary>
/// returns a copy of this polygon with each vetex randomly perturbed
/// </summary>
/// <param name="max_displacement">
/// maximum perturbation <see cref="System.Single"/>
/// </param>
/// <param name="rnd">
/// random number generator <see cref="Random"/>
/// </param>
/// <returns>
/// polygon object <see cref="polygon2D"/>
/// </returns>
public polygon2D Jiggle(float max_displacement, Random rnd)
{
polygon2D result = null;
if (x_points != null)
{
result = new polygon2D();
float max = max_displacement*2;
for (int i = 0; i < x_points.Count; i++)
{
float jiggled_x = x_points[i] + ((float)rnd.NextDouble() * max) - max_displacement;
float jiggled_y = x_points[i] + ((float)rnd.NextDouble() * max) - max_displacement;
result.Add(jiggled_x, jiggled_y);
}
}
return(result);
}