private void CheckPointDistance(DSAR_Blob tb, float distanceThreshold)
{
//check distances between remaining points
for (int m = 0; m < tb.corner_pixels.Count; m++)
{
for (int n = 0; n < tb.corner_pixels.Count; n++)
{
if (m != n)
{
if (Vector2.Distance(tb.corner_pixels[m], tb.corner_pixels[n]) < (tb.pixels_in_blob.Count * distanceThreshold))
{
tb.corner_pixels[n] = new Vector2(-1, -1);
}
}
}
}
//remove points that are too close together
for (int p = tb.corner_pixels.Count - 1; p > 0; p--)
{
if (tb.corner_pixels[p] == new Vector2(-1, -1))
{
tb.corner_pixels.Remove(tb.corner_pixels[p]);
}
}
}
private void CheckPointAngle(DSAR_Blob tb, float angleThreshold)
{
//check angles between points
float[] angles = new float[tb.pixels_in_bb.Count];
for (int j = 0; j < tb.pixels_in_bb.Count; j++)
{
if (j != 0 && j != tb.pixels_in_bb.Count - 1)
{
angles[j] = Vector2.Angle((tb.pixels_in_bb[j] - tb.pixels_in_bb[j - 1]), (tb.pixels_in_bb[j] - tb.pixels_in_bb[j + 1]));
}
else if (j == 0)
{
angles[j] = Vector2.Angle((tb.pixels_in_bb[j] - tb.pixels_in_bb[tb.pixels_in_bb.Count - 1]), (tb.pixels_in_bb[j] - tb.pixels_in_bb[j + 1]));
}
else if (j == tb.pixels_in_bb.Count)
{
angles[j] = Vector2.Angle((tb.pixels_in_bb[j] - tb.pixels_in_bb[j - 1]), (tb.pixels_in_bb[j] - tb.pixels_in_bb[0]));
}
}
//remove points that are almost on the same vector
for (int p = tb.pixels_in_bb.Count - 1; p > 0; p--)
{
if (Mathf.Abs(angles[p]) < angleThreshold)
{
tb.pixels_in_bb.Remove(tb.pixels_in_bb[p]);
}
}
}
public bool solveShapes(int i)
{
//continue only of the cell is black
if (!isBlack(c [i]))
{
return(false);
}
//first time called for new blob
if (!isRecursive)
{
isRecursive = true;
//GameObject tempBlob = Instantiate(blob);
blobs.Add(blob);
currentBlob = blobs [blobs.Count - 1].GetComponent <DSAR_Blob> ();
b_count = 0;
}
b_count++;
// commented out because its interfering
//currentBlob.pixels_in_blob.Add (i);
//check above pixel
if (i + c_w < c.Length)
{
if (!isWhite(c[i + c_w]))
{
c[i] = newColor;
if (isBlack(c[i + c_w]))
{
solveShapes(i + c_w);
}
return(true);
}
}
//check left pixel
if (i % c_w != 0)
{
if (!isWhite(c [i - 1]))
{
c [i] = newColor;
if (isBlack(c [i - 1]))
{
solveShapes(i - 1);
}
return(true);
}
}
//check right pixel
if ((i + 1) % c_w != 0 && i < (c_w * c_h))
{
if (!isWhite(c [i + 1]))
{
c [i] = newColor;
if (isBlack(c [i + 1]))
{
solveShapes(i + 1);
}
return(true);
}
}
//check below pixel
if (i - c_w >= 0)
{
if (!isWhite(c[i - c_w]))
{
c[i] = newColor;
if (isBlack(c[i - c_w]))
{
solveShapes(i - c_w);
}
return(true);
}
}
return(false);
}
private float CheckCornerColours2(DSAR_Blob tb)
{
int totalWhiteCount = 0;
int totalEdgeCount = 0;
for (int j = 0; j < tb.pixels_in_blob.Count; j++)
{
int pixelNum = (int)((c_w * tb.pixels_in_blob[j].y) + tb.pixels_in_blob[j].x);
int whiteCount = 0;
if (c[pixelNum] == Color.white)
{
whiteCount++;
}
if (c[pixelNum + 1] == Color.white)
{
whiteCount++;
}
if (c[pixelNum - 1] == Color.white)
{
whiteCount++;
}
if (c[pixelNum + c_w] == Color.white)
{
whiteCount++;
}
if (c[pixelNum - c_w] == Color.white)
{
whiteCount++;
}
if (c[pixelNum + c_w + 1] == Color.white)
{
whiteCount++;
}
if (c[pixelNum + c_w - 1] == Color.white)
{
whiteCount++;
}
if (c[pixelNum - c_w + 1] == Color.white)
{
whiteCount++;
}
if (c[pixelNum - c_w - 1] == Color.white)
{
whiteCount++;
}
if (whiteCount > 0)
{
totalWhiteCount += whiteCount;
totalEdgeCount += 1;
}
//Debug.Log(whiteCount);
//is corner if most pixels around are white
if (whiteCount >= 5)
{
//is corner
tb.corner_pixels.Add(tb.pixels_in_blob[j]);
}
}
return(totalWhiteCount / totalEdgeCount);
}
private void CheckCornerColours(DSAR_Blob tb)
{
for (int j = 0; j < tb.pixels_in_bb.Count; j++)
{
int pixelNum = (int)((c_w * tb.pixels_in_bb[j].y) + tb.pixels_in_bb[j].x);
int whiteCount = 0;
if (c[pixelNum] == Color.white)
{
whiteCount++;
}
if (c[pixelNum + 1] == Color.white)
{
whiteCount++;
}
if (c[pixelNum - 1] == Color.white)
{
whiteCount++;
}
if (c[pixelNum + c_w] == Color.white)
{
whiteCount++;
}
if (c[pixelNum - c_w] == Color.white)
{
whiteCount++;
}
if (c[pixelNum + c_w + 1] == Color.white)
{
whiteCount++;
}
if (c[pixelNum + c_w - 1] == Color.white)
{
whiteCount++;
}
if (c[pixelNum - c_w + 1] == Color.white)
{
whiteCount++;
}
if (c[pixelNum - c_w - 1] == Color.white)
{
whiteCount++;
}
//Debug.Log(whiteCount);
//is corner if most pixels around are white
if (whiteCount >= 5)
{
//is corner
}
else
{
tb.pixels_in_bb[j] = new Vector2(-1, -1);
}
}
//remove points that are too close together
for (int p = tb.pixels_in_bb.Count - 1; p > 0; p--)
{
if (tb.pixels_in_bb[p] == new Vector2(-1, -1))
{
tb.pixels_in_bb.Remove(tb.pixels_in_bb[p]);
}
}
}
/**********************************************************************************/
// W O R K I N G F I L T E R
/**********************************************************************************/
private void BlobDetectionFilter()
{
for (int i = 0; i < data.Length; i++)
{
avBrightness += ((data[i].r + data[i].g + data[i].b) / 3);
}
avBrightness /= c.Length;
avBrightness *= 0.5f;
//determine if pixels could be part of a blob
for (int i = 0; i < data.Length; i++)
{
if ((data[i].r + data[i].g + data[i].b) / 3 < avBrightness)
{
c[i] = Color.black;
GoodPixels[i] = true;
}
else
{
c[i] = Color.white;
}
}
for (int i = 0; i < GoodPixels.Length; i++)
{
pixels_in_blob = new List <Vector2>();
if (GoodPixels[i])
{
Vector3 Blob = BlobFind(i);
if (Blob.z > 100)
{
Blobs[count * 3] = Blob.x;
Blobs[(count * 3) + 1] = Blob.y;
Blobs[(count * 3) + 2] = Blob.z;
if (firstScan)
{
GameObject tempBlob = Instantiate(blob);
blobs.Add(tempBlob);
DSAR_Blob tb = tempBlob.GetComponent <DSAR_Blob>();
tb.blobID = count;
tb.pixels_in_blob = pixels_in_blob;
//check for corners
//float avWhitePixels = CheckCornerColours2(tb);
//check radius lines from center of blob
Vector4 sValues = CheckRadiusOfShape(new Vector2((int)(Blob.x / Blob.z), (int)(Blob.y / Blob.z)), pixels_in_blob.Count);
//place bounding box dot on each vertice
for (int j = 0; j < tb.corner_pixels.Count; j++)
{
GameObject bbpoint = Instantiate(BB_Point);
tempBlob.GetComponent <DSAR_Blob>().corner_gos.Add(bbpoint);
bbpoint.transform.parent = tempBlob.transform;
bbpoint.GetComponent <GUITexture>().pixelInset = new Rect(tb.corner_pixels[j].x - 10, tb.corner_pixels[j].y - 10, 20, 20);
}
//tempBlob.GetComponent<GUIText>().text = sValues.x + ", " + sValues.y + ", " + sValues.z + ", " + sValues.w;
//determine what the shape is based on the values obtained above
if (sValues == new Vector4(0, 0, 0, 0))
{
//no shape
tempBlob.GetComponent <GUIText>().text = "";
}
else if (sValues.x == 12)
{
//circle or square
if (Mathf.Abs(sValues.z - sValues.w) < 1f)
{
//circle or square, check corners
if (tb.corner_pixels.Count >= 4)
{
//square
tempBlob.GetComponent <GUIText>().text = "Square";
}
else
{
//circle
tempBlob.GetComponent <GUIText>().text = "Circle";
}
}
else
{
//square
tempBlob.GetComponent <GUIText>().text = "Square";
}
}
else if (sValues.y == 1)
{
//rectangle
tempBlob.GetComponent <GUIText>().text = "Rectangle";
}
else
{
//triangle
tempBlob.GetComponent <GUIText>().text = "Triangle";
}
tempBlob.name = tempBlob.GetComponent <GUIText>().text;
//tempBlob.GetComponent<GUIText>().text = sValues.x + ", " + sValues.y + ", " + sValues.z + ", " + sValues.w;
/*
*
* //Triangle
* // s = 1, 2, 3
* // w = 2
* //Square
* // s = 9, 10
* // s = 2, 3
* //Circle
* // s = 6, 7, 8
* // w = 2
* //Rectangle
* // s = 2, 3
* // w = 2, 3
*
* switch(tb.corner_pixels.Count){
* case 0:
* tempBlob.GetComponent<GUIText>().text = "Circle";
* break;
* case 1:
* tempBlob.GetComponent<GUIText>().text = "Circle";
* break;
* case 2:
* tempBlob.GetComponent<GUIText>().text = "Circle";
* break;
* case 3:
* tempBlob.GetComponent<GUIText>().text = "Triangle";
* break;
* case 4:
* tempBlob.GetComponent<GUIText>().text = "Rectangle";
* break;
* case 5:
* tempBlob.GetComponent<GUIText>().text = "Pentagon";
* break;
* case 6:
* tempBlob.GetComponent<GUIText>().text = "Hexagon";
* break;
* case 7:
* tempBlob.GetComponent<GUIText>().text = "Heptagon";
* break;
* case 8:
* tempBlob.GetComponent<GUIText>().text = "Octogon";
* break;
* case 9:
* tempBlob.GetComponent<GUIText>().text = "Nonagon";
* break;
* case 10:
* tempBlob.GetComponent<GUIText>().text = "Decagon";
* break;
* default:
* tempBlob.GetComponent<GUIText>().text = "???";
* break;
* }
*
*
* Vector2[] tempBB = new Vector2[tb.pixels_in_blob.Count];
* tb.numPixelsBB = chainHull_2D(tb.pixels_in_blob.ToArray(), tb.pixels_in_blob.Count, tempBB);
*
* for(int j=0; j<tb.numPixelsBB; j++){
* tb.pixels_in_bb.Add(tempBB[j]);
* }
*
* CheckCornerColours(tb);
* //CheckPointAngle(tb, 30);
* CheckPointDistance(tb, 0.001f);
* //int sValues = CheckRadiusOfShape(new Vector2((int)(Blob.x/Blob.z), (int)(Blob.y/Blob.z)));
*
* //place bounding box dot on each vertice
* for(int j=0; j<tb.pixels_in_bb.Count; j++){
* GameObject bbpoint = Instantiate(BB_Point);
* bbpoint.GetComponent<GUITexture>().pixelInset = new Rect(tb.pixels_in_bb[j].x-10, tb.pixels_in_bb[j].y-10, 20, 20);
* }
*
* tempBlob.GetComponent<GUIText>().text = "C: " + tb.pixels_in_bb.Count + ", S: " + sValues;
*
* //for(int k=0; k<tb.numPixelsBB-1; k++){
* //if(k==(tb.numPixelsBB-1))
* // VectorLine.SetLine(Color.green, tb.pixels_in_bb[k], tb.pixels_in_bb[0]);
* //else
* // VectorLine.SetLine(Color.green, tb.pixels_in_bb[k], tb.pixels_in_bb[k+1]);
* //}
*
* //VectorLine.SetLine (Color.green, topLeft, topRight);
* //VectorLine.SetLine (Color.green, topRight, rightTop);
* //VectorLine.SetLine (Color.green, rightTop, rightBottom);
* //VectorLine.SetLine (Color.green, rightBottom, bottomRight);
* //VectorLine.SetLine (Color.green, bottomRight, bottomLeft);
* //VectorLine.SetLine (Color.green, bottomLeft, leftBottom);
* //VectorLine.SetLine (Color.green, leftBottom, leftTop);
* //VectorLine.SetLine (Color.green, leftTop, topLeft); */
}
DSAR_Blob curBlobScript = blobs[count].GetComponent <DSAR_Blob>();
curBlobScript.blob_velocity = new Vector2(curBlobScript.blob_position_center.x - (Blob.x / Blob.z), curBlobScript.blob_position_center.y - (Blob.y / Blob.z));
curBlobScript.blob_position_center = new Vector2((int)(Blob.x / Blob.z), (int)(Blob.y / Blob.z));
curBlobScript.blob_size = (int)Blob.z;
GUITexture curBlobIndicator = blobs[count].GetComponent <GUITexture>();
curBlobIndicator.pixelInset = new Rect((int)(Blob.x / Blob.z) - 10, (int)(Blob.y / Blob.z) - 10, 20, 20);
blobs[count].GetComponent <GUIText>().pixelOffset = new Vector2((int)(Blob.x / Blob.z), (int)(Blob.y / Blob.z));
count++;
}
}
}
pixelCheckTexture.SetPixels32(newTexColours);
pixelCheckTexture.Apply();
targetGUI.texture = pixelCheckTexture;
for (int i = 0; i < data.Length; i++)
{
Blobs[i] = 0;
}
GoodPixels = new bool[data.Length];
count = 0;
firstScan = false;
}
