private void VisualizeWeightCenter(WeightCenter w, int rows, int cols, byte[, ,] destination)
{
int wx, wy;
// Visualize weight centres
if ((w.x > 0) && (w.y > 0))
{
wx = w.x;
wy = w.y;
//Draw white pixels on X and Y axis
for (int i = -20; i < 20; i++)
{
//Checks if a white cross is drawn outside the picture
if (((wx + i) > (cols - 1)) || ((wy + i) > (rows - 1)))
{
break;
}
if (((wx + i) <= 0) || ((wy + i) <= 0))
{
break;
}
//pixels are indexed as row -> col, therefore wy and wx are in this order, row = wy, col = wx
destination[wy + i, wx, 2] = destination[wy + i, wx, 1] = destination[wy + i, wx, 0] = 255;
destination[wy, wx + i, 2] = destination[wy, wx + i, 1] = destination[wy, wx + i, 0] = 255;
}
}
}
} // End FindSpots
private WeightCenter CalculateWeightCenter(byte[, ,] source, int x, int y, int width,
int height, FilterColors color)
{
int sum_x = 0, sum_y = 0, n = 0;
for (int i = 0; i < height; i++)
{
for (int j = 0; j < width; j++)
{
if (source[i + y, j + x, (byte)color] == 255)
{
sum_x += j;
sum_y += i;
n++;
}
}
}
WeightCenter w;
if (n > 0)
{
w = new WeightCenter(
x + (int)sum_x / n,
y + (int)sum_y / n, y);
}
else
{
w = WeightCenter.Empty;
}
return(w);
}
private void FindBinaryCode(byte[, ,] original, Point3D[] sourceBinPars, Point3D[] destBinPars)
{
List <Point3D> binarPlacesHomography = Geometry.homography_calc(
new List <Point3D>(dataMouse.binarPlacesBase), sourceBinPars, destBinPars);
WeightCenter binFound = FindBinaryPlace(binarPlacesHomography, original);
List <Point3D> binar8Codes = new List <Point3D>(Geometry.CloneList(dataMouse.binarSpotsSide01));
// Rotate the 8 binary codes according the founded position
Geometry.p_rotZ(binar8Codes, dataMouse.SinCosDescriptor[binFound.rowStart], 1);
binar8Codes = Geometry.homography_calc(binar8Codes, sourceBinPars, destBinPars);
if (checkBoxVizDetectedSpots.Checked)
{
DrawPoints(original, binar8Codes, FrameRows, FrameCols);
}
}
public static Color GetColor(byte[, ,] imgSource, WeightCenter p, int borderPixels)
{
int RSum = 0, GSum = 0, BSum = 0;
int pixelCounter = 0;
for (int i = p.y - borderPixels; i <= p.y + borderPixels; i++)
{
for (int j = p.x - borderPixels; j <= p.x + borderPixels; j++)
{
RSum += imgSource[i, j, 2];
GSum += imgSource[i, j, 1];
BSum += imgSource[i, j, 0];
pixelCounter++;
}
}
byte resultR = (byte)(RSum / pixelCounter);
byte resultG = (byte)(GSum / pixelCounter);
byte resultB = (byte)(BSum / pixelCounter);
return(Color.FromArgb(resultR, resultG, resultB));
}
// Returns the correct order of weight centers if exactly five spots are detected
private List <Point3D> DetectFace(byte[, ,] data, byte[, ,] original, List <WeightCenter> weights, int rows, int cols, FilterColors color)
{
// Five points from the sides descriptor - destination for homography
Point3D[] destP = new Point3D[5];
// Side 6
//destP[0] = new Point3D(-11.8513, -16.3120, -31.4164);
//destP[1] = new Point3D(-19.1759, 6.2306, -31.4164);
//destP[2] = new Point3D(0.0000, 20.1627, -31.4164);
//destP[3] = new Point3D(19.1759, 6.2306, -31.4164);
//destP[4] = new Point3D(11.8514, -16.3120, -31.4164);
// Side 1
destP[4] = new Point3D(11.8514, 16.3119, 31.4164);
destP[3] = new Point3D(19.1759, -6.2307, 31.4164);
destP[2] = new Point3D(0.0000, -20.1627, 31.4164);
destP[1] = new Point3D(-19.1759, -6.2306, 31.4164);
destP[0] = new Point3D(-11.8513, 16.3120, 31.4164);
int[,] indexWeightsDetect =
{
{ 0, 1, 2, 3, 4 },
{ 0, 1, 2, 4, 3 },
{ 0, 1, 3, 2, 4 },
{ 0, 1, 3, 4, 2 },
{ 0, 2, 1, 3, 4 },
{ 0, 2, 1, 4, 3 },
{ 0, 2, 3, 1, 4 },
{ 0, 2, 3, 4, 1 },
{ 0, 3, 1, 2, 4 },
{ 0, 3, 1, 4, 2 },
{ 0, 3, 2, 1, 4 },
{ 0, 3, 2, 4, 1 }
};
int[] indexCamera = { 4, 3, 4, 3, 4, 3, 4, 3, 4, 3, 4, 3 };
int[] indexDescrPars = { 3, 4, 3, 4, 3, 4, 3, 4, 3, 4, 3, 4 };
//Point3D[] destPars_fourthP = Geometry.homography_calc_pars(
// new Point3D[] { destP[0], destP[1], destP[2], destP[4] });
//Point3D[] destPars_fifthP = Geometry.homography_calc_pars(
// new Point3D[] { destP[0], destP[1], destP[2], destP[3] });
//Point3D[][] destPars = new Point3D[][] { destPars_fourthP, destPars_fifthP };
double distance;
double distanceMin = 10000;
int jMin = 0;
int[] weightIndexes = new int[5];
List <Point3D> homographyRes;//, weightListCurrent;
List <Point3D> homographyMin = null, weightListMin = null;
Point3D[] hmMinSourcePars = null, hmMinDestPars = null;
List <Point3D> weightsList = new List <Point3D>(15);
foreach (WeightCenter item in weights)
{
weightsList.Add(new Point3D(item.x, item.y, 0));
}
//if ((weights[0].rowStart == weights[1].rowStart) &&
// (weights[1].rowStart != weights[2].rowStart) ||
// (weights[3].rowStart != weights[4].rowStart))
//{
// weightsList.Reverse();
//}
//ConvertXY(weightsList, rows);
for (int i = 0; i < 12; i++)
{
Point3D[] sourcePars = Geometry.homography_calc_pars(new Point3D[] {
weightsList[indexWeightsDetect[i, 0]],
weightsList[indexWeightsDetect[i, 1]],
weightsList[indexWeightsDetect[i, 2]],
weightsList[indexDescrPars[i]]
});
Point3D[] destPars = Geometry.homography_calc_pars(
new Point3D[] { destP[0], destP[1], destP[2], destP[indexDescrPars[i]] });
List <Point3D> currList = new List <Point3D>(1);
currList.Add(weightsList[indexCamera[i]]);
homographyRes = Geometry.homography_calc(currList, sourcePars, destPars);
distance = Geometry.Distance(homographyRes[0], destP[indexCamera[i]]);
if (distance < distanceMin)
{
distanceMin = distance;
homographyMin = homographyRes;
hmMinSourcePars = sourcePars;
hmMinDestPars = destPars;
weightIndexes[0] = indexWeightsDetect[i, 0];
weightIndexes[1] = indexWeightsDetect[i, 1];
weightIndexes[2] = indexWeightsDetect[i, 2];
weightIndexes[3] = indexWeightsDetect[i, 3];
weightIndexes[4] = indexWeightsDetect[i, 4];
//// For correct order of points
//if (j == 0) // This should be fixed in future
//{
// Point3D pTemp = homographyMin[3];
// homographyMin[3] = homographyMin[4];
// homographyMin[4] = pTemp;
// pTemp = weightListMin[3];
// weightListMin[3] = weightListMin[4];
// weightListMin[4] = pTemp;
//}
}
}
MessageBox.Show("DistMin = " + distanceMin.ToString());
if (distanceMin < 1)
{
List <Point3D> binarPlaces = new List <Point3D>(5);
List <Point3D> weightsReordered = new List <Point3D>(5);
for (int i = 0; i < 5; i++)
{
weightsReordered.Add(weightsList[weightIndexes[i]]);
}
// If true is returned, recalc parameters
if (CheckOrder(weightsReordered, rows))
{
// Mirrored binary places coordinates
binarPlaces.Add(new Point3D(3.7171, 16.8942, 0.0000));
binarPlaces.Add(new Point3D(-14.9187, 8.7557, 0.0000));
binarPlaces.Add(new Point3D(-12.9373, -11.4829, 0.0000));
binarPlaces.Add(new Point3D(6.9230, -15.8525, 0.0000));
binarPlaces.Add(new Point3D(17.2160, 1.6855, 0.0000));
}
else
{
binarPlaces.Add(new Point3D(-3.6793, 16.9995, 0.0000));
binarPlaces.Add(new Point3D(-17.3045, 1.7539, 0.0000));
binarPlaces.Add(new Point3D(-7.0154, -15.9155, 0.0000));
binarPlaces.Add(new Point3D(12.9687, -11.5903, 0.0000));
binarPlaces.Add(new Point3D(15.0305, 8.7524, 0.0000));
}
List <Point3D> binarPlacesHomography = Geometry.homography_calc(binarPlaces, hmMinDestPars, hmMinSourcePars);
WeightCenter binFound = FindBinaryPlace(binarPlacesHomography, original);
if (checkBoxWriteDetected.Checked)
{
using (StreamWriter str = new StreamWriter("homography.txt", true))
{
//List<Point3D> weightListConverted = Geometry.CloneList(weightsList);
//ConvertXY(weightListConverted, rows);
//foreach (Point3D pt in weightListConverted)
//{
// str.WriteLine(pt.X.ToString() + "," + pt.Y.ToString() + "," + pt.Z.ToString());
//}
//str.WriteLine();
//foreach (Point3D pt in homographyMin)
//{
// str.WriteLine(pt.X.ToString() + "," + pt.Y.ToString() + "," + pt.Z.ToString());
//}
//str.WriteLine();
List <Point3D> weightListConverted = Geometry.CloneList(weightListMin);
ConvertXY(weightListConverted, rows);
foreach (Point3D pt in weightListConverted)
{
str.WriteLine(pt.X.ToString() + "," + pt.Y.ToString() + "," + pt.Z.ToString());
}
str.WriteLine();
}
}
if (checkBoxVizDetectedSpots.Checked)
{
//DrawPoints(data, weightListMin, rows, cols);
//ConvertYX(binarPlacesHomography, rows);
//DrawPoints(original, binarPlacesHomography, rows, cols);
VisualizeWeightCenter(binFound, rows, cols, original);
}
//List<List<Point3D>> result = new List<List<Point3D>>(3);
//result.Add(weightListMin);
return(binarPlacesHomography);
}
else
{
return(null);
}
}
