/// <summary>
/// Converts a paper color to a string representation.
/// </summary>
/// <param name="paperColor">PaperColor to convert to string.</param>
/// <returns></returns>
public static string PaperColorToString(PaperColor paperColor)
{
switch(paperColor)
{
case PaperColor.UNKNOWN:
return "Unknown";
case PaperColor.YELLOW:
return "Yellow";
case PaperColor.GREEN:
return "Green";
default:
return "Invalid Enum Value";
}
}
/// <summary>
/// Adds paper colors from a contour into the grid.
/// </summary>
/// <param name="contourImage">Source image.</param>
/// <param name="papers">Grid to add paper colors to.</param>
/// <param name="paperContours">Contours to add to grid.</param>
/// <param name="paperColor">Color of paper to add to grid.</param>
private void detectColumns(Image<Bgr, byte> contourImage, Paper[,] papers, List<Contour<Point>> paperContours, PaperColor paperColor)
{
foreach (Contour<Point> paperContour in paperContours)
{
int x;
int xMidPoint = paperContour.BoundingRectangle.X + paperContour.BoundingRectangle.Width / 2;
if (xMidPoint < contourImage.Width * LEFT_WIDTH_THRESHOLD)
{
x = 0;
}
else if (xMidPoint > contourImage.Width * RIGHT_WIDTH_THRESHOLD)
{
x = 2;
}
else
{
x = 1;
}
int y;
int yMidPoint = paperContour.BoundingRectangle.Y + paperContour.BoundingRectangle.Height / 2;
if (yMidPoint < contourImage.Height * TOP_HEIGHT_THRESHOLD)
{
y = 0;
} else if(yMidPoint > contourImage.Height * BOTTOM_HEIGHT_THRESHOLD)
{
y = 2;
}
else
{
y = 1;
}
Paper currentPaper = papers[y, x];
currentPaper.Color = paperColor;
currentPaper.XMidPoint = xMidPoint;
currentPaper.YMidPoint = yMidPoint;
currentPaper.ParentImageWidth = contourImage.Width;
currentPaper.ParentImageHeight = contourImage.Height;
}
}
/// <summary>
/// Display the detected digit and coloumns of paper colors on the UI.
/// </summary>
/// <param name="digitDetected">Detected Digit</param>
/// <param name="paperColors">All Paper Colors Detected</param>
public void DigitDetected(int digitDetected, PaperColor[] paperColors)
{
if (this.InvokeRequired)
{
DigitDetectionCallbackSetDigit callback = new DigitDetectionCallbackSetDigit(DigitDetected);
try
{
this.Invoke(callback, new object[] { digitDetected, paperColors });
}
catch (ObjectDisposedException)
{
// No Op
}
}
else
{
this.detectedDigitLbl.Text = digitDetected.ToString();
this.cell0Txt.Text = PaperColorUtils.PaperColorToString(paperColors[0]);
this.cell1Txt.Text = PaperColorUtils.PaperColorToString(paperColors[1]);
this.cell2Txt.Text = PaperColorUtils.PaperColorToString(paperColors[2]);
this.cell3Txt.Text = PaperColorUtils.PaperColorToString(paperColors[3]);
this.cell4Txt.Text = PaperColorUtils.PaperColorToString(paperColors[4]);
this.cell5Txt.Text = PaperColorUtils.PaperColorToString(paperColors[5]);
this.cell6Txt.Text = PaperColorUtils.PaperColorToString(paperColors[6]);
this.cell7Txt.Text = PaperColorUtils.PaperColorToString(paperColors[7]);
this.cell8Txt.Text = PaperColorUtils.PaperColorToString(paperColors[8]);
this.cell9Txt.Text = PaperColorUtils.PaperColorToString(paperColors[9]);
this.cell10Txt.Text = PaperColorUtils.PaperColorToString(paperColors[10]);
this.cell11Txt.Text = PaperColorUtils.PaperColorToString(paperColors[11]);
this.cell12Txt.Text = PaperColorUtils.PaperColorToString(paperColors[12]);
this.cell13Txt.Text = PaperColorUtils.PaperColorToString(paperColors[13]);
this.cell14Txt.Text = PaperColorUtils.PaperColorToString(paperColors[14]);
}
}
/// <summary>
/// Detects and stores the center columns in the current paper grid.
/// See <see cref="State.COLUMN_DETECTION"/>.
/// </summary>
/// <param name="papers">Current Paper Grid</param>
/// <returns><see cref="State.STEER_TO_MOVE"/> if there are more
/// columns. <see cref="State.CALCULATE_DIGIT"/> if all columns
/// have now been checked.</returns>
private State columnDetection(Paper[,] papers)
{
PaperColor[] paperColorColumn = new PaperColor[3];
// Top Column
paperColorColumn[0] = papers[0, 1].Color;
// Middle Column
paperColorColumn[1] = papers[1, 1].Color;
// Bottom Column
paperColorColumn[2] = papers[2, 1].Color;
this.paperColumns.Add(paperColorColumn);
if (this.paperColumns.Count < COLUMN_COUNT)
{
return State.STEER_TO_MOVE;
}
else
{
return State.CALCULATE_DIGIT;
}
}
/// <summary>
/// Calculates the digit represented by all of the
/// paper color columns. The detected digit is sent
/// to the UI using
/// <see cref="IDigitDetectionCallback.DigitDetected(int, PaperColor[])"/>.
/// </summary>
/// <param name="papers">Current Paper Grid</param>
/// <returns><see cref="State.STEER_720_DEGREES"/></returns>
private State calculateDigit(Paper[,] papers)
{
// The columns are read top to bottom; however, the digit needs to
// be bottom to top, which translate into left to right when the
// digit is compared.
for (int i = 0; i < this.paperColumns.Count; i++)
{
PaperColor temp = this.paperColumns[i][0];
this.paperColumns[i][0] = this.paperColumns[i][2];
this.paperColumns[i][2] = temp;
}
if (this.direction == Direction.LEFT)
{
this.paperColumns.Reverse();
}
// Convert paper color columns to an array
PaperColor[] paperColors = new PaperColor[this.paperColumns.Count * 3];
for (int i = 0; i < paperColumns.Count; i++)
{
for(int j = 0; j < 3; j++)
{
paperColors[i * papers.GetLength(0) + j] = this.paperColumns[i][j];
}
}
int matchNumber = 0;
int matchCount = 0;
// Find the digit that is the closest match. The idea behind
// this algorithm is that the closest match is the digit with
// the most papers in common with the digit represented by
// the paper viewed by the robot. In the event that the robot
// is unable to read a sheet of paper, this algorithm assumes
// that it would have been a match.
for(int i = 0; i < this.digitsToMatch.GetLength(0); i++)
{
int currentMatchCount = 0;
for(int j = 0; j < this.digitsToMatch.GetLength(1); j++)
{
if(paperColors[j] == PaperColor.UNKNOWN)
{
currentMatchCount++;
} else if(paperColors[j] == this.digitsToMatch[i, j])
{
currentMatchCount++;
}
}
if(currentMatchCount > matchCount)
{
matchNumber = i;
matchCount = currentMatchCount;
}
}
this.callback.DigitDetected(matchNumber, paperColors);
return State.STEER_720_DEGREES;
}
